Method and device for suppressing subsynchronous oscillation of network construction type doubly-fed wind turbine generator

Abstract

The invention discloses a method and a device for suppressing subsynchronous oscillation of a network construction type doubly-fed wind turbine generator, and relates to the technical field of electrical engineering and power system control. In order to solve the technical problems in the prior art that the robustness of a control method is insufficient and the system decoupling is insufficient in an existing subsynchronous oscillation suppression method of a network construction type doubly-fed wind turbine generator system, the invention provides a subsynchronous oscillation suppression method of a network construction type doubly-fed wind turbine generator system. According to the technical scheme, the method comprises the steps that a dynamic model based on stator dq-axis current, rotor dq-axis current and rotor angular speed of the doubly-fed induction motor is established; then, carrying out reversibility analysis on the current equation of the rotor to confirm the reversibility of the current equation; thirdly, decoupling the rotor current equation by applying an inverse system theory, and generating a controllable pseudo-linear system; besides, the robustness of the pseudo-linear system is enhanced by adopting an internal model control strategy, and system errors are compensated in real time through a first-order low-pass filter so as to optimize response to modeling errors and external disturbance. The method can be applied to work of a wind power generation control system.

Description

Technical Field

[0001] The invention relates to the field of electrical engineering and power system control technology. Specifically, the invention relates to a method and device for suppressing subsynchronous oscillation of a grid-connected double-fed wind turbine. Background Art

[0002] With the rapid development of renewable energy, wind power generation has become one of the important green energy sources worldwide. Wind turbines, especially doubly-fed induction wind turbines (DFIGs), are widely used in modern power systems due to their high efficiency and adjustable power output. However, during the connection with the grid, especially when using series compensation lines (such as series compensation lines), doubly-fed wind turbines may generate sub-synchronous oscillations (SSO), which in turn affects the stability of the power system.

[0003] Current status of existing technology research Subsynchronous oscillation (SSO) is a low-frequency oscillation caused by electrical resonance in the power system, which usually occurs when the power system is disturbed or the load changes. Traditional power systems are mostly composed of synchronous generators, which have good damping capacity and can effectively suppress subsynchronous oscillations. However, with the large-scale access of wind power generation, especially the application of doubly fed induction wind turbines (DFIG), the problem of subsynchronous oscillations has become increasingly prominent.

[0004] Doubly-fed induction turbine (DFIG) is a wind turbine that can independently control active and reactive power within a certain range. Its control strategy is usually to adjust the rotor current in synchronization with the grid to achieve optimal power output. At present, the commonly used control strategy is grid-following control, but in the process of replacing synchronous units with a large number of wind turbines, this strategy will significantly reduce the damping and inertia characteristics of the system, thereby affecting the stability of the system. In order to solve this problem, grid-forming control technology has gradually become a research hotspot. By simulating the rotor motion equation of the synchronous generator, that is, by adjusting the rotor current and grid synchronization, grid-forming control can provide inertia and damping support for the grid, effectively improving the dynamic stability of the system.

[0005] However, when a grid-type doubly-fed wind turbine interacts with a series compensation line (such as a series compensation line), it may cause subsynchronous oscillation. This is because the series compensation line will cause electrical resonance, especially under high power or low load conditions, the coupling between the wind turbine and the compensation line may cause subsynchronous oscillation problems in the power grid. Existing technologies mainly focus on suppressing subsynchronous oscillations through additional damping suppression strategies inside the unit and external compensation equipment.

[0006] Additional damping control strategy: Application of additional damping control strategy: Additional damping control strategy is widely used to suppress subsynchronous oscillations of wind turbines to improve the stability of the system. This strategy enhances the damping characteristics of the system by introducing additional damping terms in the control system, thereby effectively suppressing subsynchronous oscillations. However, although additional damping control can significantly improve the dynamic performance of the system, it also has some disadvantages. First, excessive damping may cause the wind turbine to respond too slowly and reduce the transient response performance of the system. Secondly, in a complex power grid environment, the design of additional damping terms may face high adjustment difficulties, especially when the system operating conditions change greatly, the effect of damping control may be unstable. In addition, the additional damping strategy has high requirements for the hardware implementation and parameter adjustment of the system, which increases the complexity of the control system.

[0007] Introducing external compensation equipment: Some studies have attempted to enhance the stability of power systems by adding external compensation equipment, such as static synchronous compensators (STATCOMs), etc. Although this method can suppress subsynchronous oscillations to a certain extent, it requires additional hardware equipment, which increases the cost and complexity of the system.

[0008] Control method based on inverse system theory: In recent years, some studies have proposed to decouple complex multiple-input multiple-output (MIMO) systems through inverse system theory and transform them into easy-to-control subsystems. This method can effectively simplify the control process of the system, but in practical applications it still faces problems such as difficulty in parameter setting.

[0009] Technical issues Although the prior art has proposed several solutions, the following technical problems still exist in practical applications: Insufficient robustness of control methods: Existing control methods, especially PI control, have poor robustness when facing complex nonlinear and time-varying disturbances of the system, and it is difficult to effectively suppress subsynchronous oscillations.

[0010] Insufficient system decoupling: Although the existing control strategies can suppress some subsynchronous oscillations, the strong coupling between wind turbines and the grid often leads to poor control effects. Especially when interacting with series compensation lines, the nonlinear coupling effect of the system makes the parameter adjustment of the control method complicated and the effect unstable.

[0011] High cost and complexity of additional compensation equipment: Some solutions use external compensation equipment to increase the stability of the system. Although this can have a certain effect, it increases the cost and maintenance difficulty of the system and is not suitable for large-scale applications. Summary of the invention

[0012] In order to solve the technical problems existing in the prior art, such as the insufficient robustness of the control method and the insufficient system decoupling in the existing subsynchronous oscillation suppression method of the grid-type doubly-fed wind turbine, the technical solution provided by the present invention is as follows: A method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator system, comprising: Establishing a dynamic model of a doubly-fed induction motor, the model being established based on the stator dq axis current, the rotor dq axis current and the rotor angular velocity of the motor; Conduct reversibility analysis on the rotor current equation of the doubly-fed induction motor and determine the steps of its reversibility; Based on the inverse system theory, the rotor current equation is decoupled to generate a controllable pseudo-linear system; The controllable pseudo-linear system is applied to the step before the original motor system; Also includes: The robustness of the controllable pseudo-linear system is enhanced by an internal model control strategy, a first-order low-pass filter is used to achieve real-time compensation of system errors, and the response of the system to modeling errors and external disturbances is optimized.

[0013] Furthermore, a preferred embodiment is provided, wherein the dynamic model calibrates parameters by using data analysis technology based on real-time operating data of the wind turbine generator system.

[0014] Furthermore, a preferred embodiment is provided, wherein the reversibility analysis includes calculating a Jacobian matrix and performing simulation verification on the motor performance under predetermined operating conditions to ensure that the current equation of the rotor of the doubly-fed induction motor meets the reversibility requirements.

[0015] Furthermore, a preferred embodiment is provided, wherein the inverse system theory includes decoupling and optimization processing.

[0016] Furthermore, a preferred embodiment is provided, wherein the internal model control strategy includes adjusting the time constant of the filter to adapt to the real-time changes in the motor load.

[0017] Furthermore, a preferred embodiment is provided, wherein the step before applying the controllable pseudo-linear system to the original motor system is implemented through modular design.

[0018] Based on the same inventive concept, the present invention also provides a subsynchronous oscillation suppression device for a grid-type doubly-fed wind turbine generator set, comprising: Establishing a dynamic model of a doubly-fed induction motor, wherein the model is based on a module established by stator dq axis current, rotor dq axis current and rotor angular velocity of the motor; Conduct reversibility analysis on the rotor current equation of the doubly-fed induction motor and determine its reversibility module; Based on the inverse system theory, the rotor current equation is decoupled to generate a controllable pseudo-linear system module; Applying the controllable pseudo-linear system to the module before the original motor system; Also includes: The robustness of the controllable pseudo-linear system is enhanced by an internal model control strategy, a first-order low-pass filter is used to achieve real-time compensation of system errors, and a module for optimizing the system's response to modeling errors and external disturbances.

[0019] Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program. When the computer program is read by a computer, the computer executes the described method.

[0020] Based on the same inventive concept, the present invention also provides a computer, including a processor and a storage medium. When the processor reads a computer program stored in the storage medium, the computer executes the method described.

[0021] Based on the same inventive concept, the present invention also provides a computer program product, which is a computer program. When the computer program is executed, the method described above is implemented.

[0022] Compared with the prior art, the technical solution provided by the present invention is beneficial in that: By introducing the combination of inverse system decoupling and internal model control, the problems of insufficient control robustness and excessive system coupling in the existing technology are effectively solved. Through inverse system decoupling, the rotor system of the doubly fed wind turbine is converted into an independent two-input and two-output pseudo-linear system. This decoupling process significantly simplifies the complex nonlinear multivariable control problem and improves the controllability and stability of the system. Compared with the traditional PI control method, inverse system decoupling not only avoids the limitations of PI control in strong nonlinear systems, but also reduces the difficulty of parameter adjustment. Most of the existing research focuses on a single control strategy or relies solely on external compensation devices to solve the problem, but these methods either have shortcomings in robustness or increase system costs. The inverse system decoupling scheme provides a simpler and more stable control structure by decoupling nonlinear coupling.

[0023] The introduction of internal model control further improves the robustness of the system, especially in the face of modeling errors and external disturbances. Internal model control can effectively eliminate deviations caused by system changes or external disturbances through real-time compensation of system errors, ensuring control accuracy and stability. Compared with traditional PI control, internal model control has stronger adaptability and can handle rapidly changing disturbances, especially when dealing with subsynchronous oscillations. Although existing studies have also tried to use PI control and external compensation devices, these methods have limited effects when facing nonlinear disturbances, while internal model control can accurately track the dynamic changes of the system and make effective corrections, ensuring the stable operation of the system under complex working conditions.

[0024] By combining inverse system decoupling with internal model control, the present invention achieves stability improvement without adding additional compensation equipment. This solution not only simplifies the control structure of the system and reduces the dependence on hardware equipment, but also can adapt to changes in different series compensation degrees and wind speeds, ensuring wide applicability. Compared with solutions that rely on external equipment, solutions based on inverse systems and internal model control have significant advantages in reducing costs, reducing maintenance workload and improving system reliability.

[0025] It can be applied to the work of wind power generation control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an equivalent topological structure diagram of a two-degree-of-freedom inverse system connected in series before the doubly-fed induction motor rotor system.

[0027] Figure 2 This is a diagram showing the effect of traditional PI and improved inverse system internal model control on subsynchronous oscillation suppression under different series compensation degrees.

[0028] Figure 3 This is a diagram showing the effect of traditional PI and improved inverse system internal model control on subsynchronous oscillation suppression under different wind speeds.

[0029] Figure 4 This is a block diagram of the control principle of a grid-type doubly-fed wind farm based on improved inverse system internal model control.

[0030] Figure 5 This is the system block diagram of internal model control. DETAILED DESCRIPTION

[0031] In order to make the advantages and benefits of the technical solution provided by the present invention more clearly reflected, the technical solution provided by the present invention is now further described in detail in conjunction with the accompanying drawings, specifically: Embodiment 1: This embodiment provides a method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator set, comprising: Establishing a dynamic model of a doubly-fed induction motor, the model being established based on the stator dq axis current, the rotor dq axis current and the rotor angular velocity of the motor; Conduct reversibility analysis on the rotor current equation of the doubly-fed induction motor and determine the steps of its reversibility; Based on the inverse system theory, the rotor current equation is decoupled to generate a controllable pseudo-linear system; The controllable pseudo-linear system is applied to the step before the original motor system; Also includes: The robustness of the controllable pseudo-linear system is enhanced by an internal model control strategy, a first-order low-pass filter is used to achieve real-time compensation of system errors, and the response of the system to modeling errors and external disturbances is optimized.

[0032] The dynamic model calibrates parameters through data analysis technology according to real-time operation data of the wind turbine generator set.

[0033] The reversibility analysis includes calculating the Jacobian matrix and simulating and verifying the motor performance under predetermined operating conditions to ensure that the current equation of the rotor of the doubly-fed induction motor meets the reversibility requirements.

[0034] The inverse system theory includes decoupling and optimization processing.

[0035] The internal model control strategy includes adjusting the time constant of the filter to adapt to the real-time changes of the motor load.

[0036] The step before applying the controllable pseudo-linear system to the original motor system is achieved through modular design.

[0037] Implementation 2: This implementation is a further explanation of the technical solution provided in Implementation 1. Specifically, this implementation describes in detail a method for suppressing subsynchronous oscillation of a grid-connected double-fed wind turbine generator system based on inverse system internal model control. This method combines inverse system theory and internal model control technology to improve the robustness and stability of the power system. The following is a detailed description of the implementation of each step: Building a dynamic model of a doubly-fed induction machine First, a mathematical model is established to reflect the dynamic behavior of the doubly fed induction motor (DFIG), including the dq axis currents of the stator and rotor and the angular velocity of the rotor. This model is based on the physical characteristics of the motor and covers the basic electrical equations of the motor, such as the dynamic relationship of the induced voltage and current and the torque equation of the motor. The output of the model, that is, the calculated values ​​of the stator and rotor currents and the rotor speed, will be used as input data for the next step.

[0038] Reversibility Analysis of the Rotor Current Equation The established mathematical model is used to perform a reversibility analysis of the rotor current equation. This analysis aims to confirm the decoupling capability of the model, that is, to analyze whether the stator and rotor current equations can be controlled independently, thereby providing a theoretical basis for the application of inverse system theory. The results of the reversibility analysis will determine whether further decoupling operations of the system can be performed.

[0039] Applying the inverse system decoupling theory Based on the results of reversibility analysis, the inverse system decoupling theory is applied to deal with the rotor system. Through the inverse system theory, the complex multivariable system is converted into two independent one-variable systems, which simplifies the design and implementation of the control strategy. This decoupling allows each variable to be controlled independently, greatly improving the response speed and accuracy of the system. The output of the decoupling, that is, the control signal of the two independent systems, provides the input for the implementation of the internal model control strategy.

[0040] Implementation of Internal Model Control Strategy After the inverse system is decoupled, the internal model control strategy is introduced to further enhance the robustness of the system. The internal model control compensates for external disturbances and model errors through a well-designed feedback loop to ensure that the system can maintain high performance under different operating conditions. This control strategy not only improves the stability of the system, but also optimizes energy efficiency and response time.

[0041] System performance evaluation and optimization Finally, the performance of the entire control system is evaluated and optimized. Use simulation and actual operation data to test the performance of the system under various working conditions, adjust and optimize the control parameters according to the test results, and ensure that the system achieves optimal performance. This step is a summary of the entire control strategy implementation process to ensure that the system can operate stably and reliably in actual applications.

[0042] Through this series of steps, the technical solution provided by this embodiment can effectively suppress the subsynchronous oscillation of the doubly-fed wind turbine under different operating conditions, improve the operating efficiency of the wind turbine and the overall stability of the power grid. In addition, the introduction of internal model control further enhances the system's resistance to various disturbances, ensuring stable operation under extreme or unconventional conditions.

[0043] Implementation Method 3: Combination Figure 1-5 This embodiment is described in detail by using specific examples to further describe the technical solution provided above. Specifically: Step 1: First, establish the fifth-order state equation of the doubly-fed induction motor. The state variables of the system can be expressed as , the rotor current inner loop control adopts a control strategy based on stator flux orientation, that is, , , is the stator voltage amplitude; Step 2: Perform reversibility analysis on the second-order rotor current equation in the fifth-order state equation of the doubly-fed induction motor. About Time T of Derivatives are taken until the output variable The derivative of any dimension of contains So far, when the Jacobian matrix When the rank is full, the rotor current equation is reversible; Step 3: Decouple the rotor system by inverse system decoupling theory, and convert the output of the original system As the input of the inverse system, the input of the original system As the output of the inverse system; Step 4: Connect the obtained inverse system in series before the original system, so that the doubly-fed induction motor rotor system can be decoupled into an independent two-input and two-output pseudo-linear system; Step 5: Introduce internal model control into the pseudo-linear system to improve the robustness of the system to inverse system modeling errors and disturbances.

[0044] The beneficial effects of this embodiment are: 1. The control method provided in this embodiment decouples the original multi-variable, strongly coupled, and strongly nonlinear system into two first-order linear subsystems with single input and single output through inverse system theory, and can solve complex nonlinear system control problems through simple linear control theory.

[0045] 2. The control method provided in this embodiment introduces internal model control on the basis of decoupling the original system by the inverse system, so as to improve the robustness of the system under disturbance.

[0046] 3. Compared with traditional PI control, the control method provided in this embodiment overcomes the limitation that PI control cannot effectively deal with nonlinear signals. Inverse system control simplifies system control by eliminating nonlinear coupling, while internal model control further improves the robustness of the system by compensating for system errors. Combining the advantages of these two, the stability of the wind turbine control system in various disturbances and nonlinear environments is greatly improved.

[0047] 4. The control method provided in this embodiment only needs to combine the inverse system theory and the internal model control to effectively suppress the subsynchronous oscillation generated by the grid-connected wind turbines through series compensation, without the need for additional compensation equipment.

[0048] In practical work: The wind farm consists of 67 1.5MW grid-type doubly-fed wind turbines. Each wind turbine operates in the same state and is boosted to 110KV through transformer 1 (0.69KV / 35KV) and transformer 2 (35KV / 110KV), and finally sent out through the series compensation line.

[0049] The control system of the grid-type doubly-fed wind turbine is improved by the following steps: Step 1: Establish the fifth-order state equation of the doubly-fed induction motor. The state variables of the system can be expressed as , the rotor current inner loop control adopts a control strategy based on stator flux orientation, that is, , , the fifth-order state equation of the system is established as follows: Step 2: Calculate the output according to the Interactor algorithm About Time T of Derivatives are taken until the output variable The derivative of any dimension of contains until; Step 2-1) Output according to the Interactor algorithm Take the derivative Step 2-2) Get the Jacobian matrix of the system According to the Jacobian matrix The results show that , is a non-singular matrix, the relative order of the system Satisfying the reversibility condition, the system is reversible and two orders can be obtained The first-order subsystem of .

[0050] Step 3: Decouple the rotor system by inverse system decoupling theory, and convert the output of the original system As the input of the inverse system, the input of the original system As the output of the inverse system, the inverse system of the rotor system is obtained as: Step 4: Figure 1 As shown, the obtained inverse system is connected in series before the original system, so that the doubly fed induction motor rotor system can be decoupled into an independent two-input and two-output pseudo-linear system. The transfer function matrix of the pseudo-linear system is; Step 5: Introduce internal model control into the pseudo-linear system to improve the robustness of the system to inverse system modeling errors and disturbances.

[0051] Figure 5 is the system block diagram of internal model control, where It is an internal model controller. It is the controlled system. is the internal model, is the input of the system, is the control output, is an interference signal. is the output of the system.

[0052] Step 5-1) The closed-loop output of the internal model control is When the mathematical model of the controlled object and the internal control model are completely consistent You can get .

[0053] Step 5-2) In actual situations, it is difficult for the mathematical model of the controlled object to be completely consistent with the internal control model, and there are errors, so a low-pass filter needs to be added. , then the internal model control is , the internal model control transfer function is obtained as: Figure 2 Before 3s, the series compensation of the wind farm system was 10% and the wind speed was 12m / s. At 3s, the system series compensation was changed to 35%, 40%, and 45%, respectively, and the system began to oscillate. Under traditional PI control, as the series compensation increased, the system power oscillation became more serious. The improved inverse system plus internal model control was used to replace the current inner loop PI control, and the impact of the increase in series compensation on the system was reduced. The improved inverse system plus internal model control can effectively suppress subsynchronous oscillations under different series compensation.

[0054] Figure 3 Before 3s, the series compensation degree of the wind farm system was 10%, and the wind speeds were 12m / s, 10m / s, and 8m / s respectively. At 3s, the system series compensation degree was changed to 35%, and the system began to oscillate. Under traditional PI control, the oscillation gradually intensified as the wind speed decreased. After the improved inverse system plus internal model control was used to replace the current inner loop PI control, the impact of wind speed on system stability was greatly reduced, and subsynchronous oscillations could be effectively suppressed at different wind speeds.

[0055] Figure 4 is the control structure block diagram of the doubly-fed generator rotor side, where , , , , , They are the three-phase voltage and current of the stator; , , is the three-phase current of the rotor; It is meritorious. It is reactive. is the active reference value, is the reactive power reference value; , are the amplitude and reference value of the rotor excitation voltage respectively; , , are the virtual synchronous angular speed, virtual synchronous phase angle and rotor phase angle , are the virtual damping coefficient and virtual inertia time constant; , , , is the stator and rotor dq axis voltage in the virtual synchronous coordinate system; , , , is the rotor dq axis current and its reference value in virtual synchronous coordinates; , is the stator dq axis current, , is the rotor dq axis current, is the rotor angular velocity, is the speed reference value, is the stator rotation angular velocity, is the filter constant, , is the stator dq axis voltage.

[0056] 2-DOF Inverse System is a two-degree-of-freedom inverse system, Optical Encoder is a photoelectric encoder, Power Grid is a power grid, PQ Calculation represents PQ calculation, Coordinate Transformation represents coordinate transformation, and Inverse System Internal Model Control represents inverse system + internal model control.

[0057] Specifically, first, after coordinate transformation, the three-phase voltage and current of the doubly-fed induction generator generate two signals, which are used for PQ calculation and virtual synchronous coordinate system transformation respectively; The active and reactive signals output after PQ calculation are used for virtual synchronous active and virtual synchronous reactive operations respectively; The virtual synchronous phase angle signal after the virtual synchronous active operation is divided into two paths, one path is sent to the input end of the adder-subtractor 1, and the other path is input into the coordinate transformation as a reference angle; The stator voltage amplitude signal after virtual synchronous reactive operation is sent to the input end of adder-subtractor 2; There are four signals transformed by the virtual synchronous coordinate system, which are sent to the two-degree-of-freedom inverse system. Among the four signals, one is also connected to the input end of adder-subtractor 2, and the other is connected to the input end of adder-subtractor 3. The other input of adder-subtractor 3 is 0, and the output signal is passed through the PI controller and negated to be signal 3; The output signal of adder-subtractor 2 passes through PI controller and becomes signal 4; After the photoelectric encoder collects the angular velocity and position signals of the doubly-fed induction generator, it performs integration processing to generate a rotor phase angle signal, which is sent to the input end of the adder-subtractor 1; The output of adder-subtractor 1 is divided into two paths, one of which is subjected to dq-abc transformation with the output signal of the two-degree-of-freedom inverse system to generate a PWM signal; The other path performs abc-dq transformation with the three-phase current of the rotor to generate two signals. One path performs d-axis internal model operation with signal four, and the operation result is sent to the two-degree-of-freedom inverse system; the other path performs q-axis internal model operation with signal three, and the operation result is sent to the two-degree-of-freedom inverse system; the two signals are also sent to the two-degree-of-freedom inverse system at the same time.

[0058] This implementation combines the inverse system principle and the internal model control method to replace the PI current inner loop control in the traditional grid-type double-fed wind turbine control structure. Parameter setting is simpler and the physical concept is clear. At the same time, it does not rely on additional compensation equipment and can effectively suppress subsynchronous oscillations under various working conditions.

[0059] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are not intended to be used as limitations on the present invention. Any reasonable modification and improvement of the present invention, combination of implementation modes and equivalent substitution within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator system, comprising: Establishing a dynamic model of a doubly-fed induction motor, the model being established based on the stator dq axis current, the rotor dq axis current and the rotor angular velocity of the motor; Conduct reversibility analysis on the rotor current equation of the doubly-fed induction motor and determine the steps of its reversibility; Based on the inverse system theory, the rotor current equation is decoupled to generate a controllable pseudo-linear system; The controllable pseudo-linear system is applied to the step before the original motor system; It is characterized by further comprising: The robustness of the controllable pseudo-linear system is enhanced by an internal model control strategy, a first-order low-pass filter is used to achieve real-time compensation of system errors, and the response of the system to modeling errors and external disturbances is optimized.

2. A method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator system according to claim 1, characterized in that: The dynamic model calibrates parameters through data analysis technology according to real-time operation data of the wind turbine generator set.

3. A method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator system according to claim 1, characterized in that: The reversibility analysis includes calculating the Jacobian matrix and simulating and verifying the motor performance under predetermined operating conditions to ensure that the current equation of the rotor of the doubly-fed induction motor meets the reversibility requirements.

4. A method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator set according to claim 1, characterized in that: The inverse system theory includes decoupling and optimization processing.

5. A method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator set according to claim 1, characterized in that: The internal model control strategy includes adjusting the time constant of the filter to adapt to the real-time changes of the motor load.

6. A method for suppressing subsynchronous oscillation of a grid-connected doubly-fed wind turbine generator system according to claim 1, characterized in that: The step before applying the controllable pseudo-linear system to the original motor system is achieved through modular design.

7. A subsynchronous oscillation suppression device for a grid-type doubly-fed wind turbine generator system, comprising: Establishing a dynamic model of a doubly-fed induction motor, wherein the model is based on a module established by stator dq axis current, rotor dq axis current and rotor angular velocity of the motor; Conduct reversibility analysis on the rotor current equation of the doubly-fed induction motor and determine its reversibility module; Based on the inverse system theory, the rotor current equation is decoupled to generate a controllable pseudo-linear system module; Applying the controllable pseudo-linear system to the module before the original motor system; It is characterized by further comprising: The robustness of the controllable pseudo-linear system is enhanced by an internal model control strategy, a first-order low-pass filter is used to achieve real-time compensation of system errors, and a module for optimizing the system's response to modeling errors and external disturbances.

8. A computer storage medium for storing a computer program, characterized in that: When the computer program is read by a computer, the computer executes the method of claim 1 .

9. A computer, comprising a processor and a storage medium, characterized in that: When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 1 .

10. A computer program product, being a computer program, characterized in that When the computer program is executed, the method of claim 1 is implemented.

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