Grid-type wind power frequency regulation control method and system for improving rotor recovery speed

Abstract

The present invention provides a grid-type wind power frequency regulation control method and system for improving rotor recovery speed, comprising: determining an extended state observer of a first-order system containing disturbances; determining a virtual synchronous permanent magnet synchronous direct drive motor rotor motion equation to obtain an expanded state equation; observing the expanded state equation using the extended state observer to obtain a disturbance estimate; defining a position tracking error variable of the control system, determining a sliding mode surface based on the tracking error variable, performing differential processing on the sliding mode surface, and determining an unknown dynamic term in a compensation system based on a result of the differential processing and a disturbance estimate; eliminating the influence of the estimation error of the extended state observer through an adaptive control term to be designed in the unknown dynamic term, observing and estimating internal and external disturbances of the system in real time through the extended state observer, and using the disturbance estimate as a compensation amount of a sliding mode controller, thereby improving the frequency regulation stability during the rotor recovery speed process.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power frequency regulation, and in particular to a grid-type wind power frequency regulation control method and system for improving rotor recovery speed. Background Art

[0002] In a new power system dominated by renewable energy, wind power is becoming the primary power source. Virtual synchronous generator (VSG) technology, which simulates the characteristics of synchronous generators to enhance the inertia and damping support capabilities of the inverter, is an important means of improving power system stability. Permanent magnet synchronous direct-drive wind turbines (PMSGs) based on VSG technology provide stable frequency support for the power grid by incorporating the synchronous machine's rotor motion equations.

[0003] Existing research has proposed a variety of control strategies, including grid-type control strategies and schemes that combine overspeed control with VSG control. However, existing research has not fully considered the coupling relationship between the wind turbine rotor and the grid-side virtual synchronous control, as well as the risks of instability such as rotor stall. Therefore, it is necessary to further improve the control method to enhance the inertia support and frequency response capabilities of the wind turbine. In addition, the speed limit of the wind turbine rotor may lead to the risk of a secondary frequency drop when the frequency control strategy is inappropriate. To this end, existing studies have reduced the impact of frequency drops by designing droop control methods, smoothing the power change curve, and adjusting the power during the speed recovery process.

[0004] However, these methods fail to fully consider the frequency constraints of wind turbines during the transition from frequency support to speed recovery. Therefore, a comprehensive analysis of the wind turbine frequency response over the entire process is needed to improve the stability of wind turbine speed recovery and the safety of frequency support. Summary of the Invention

[0005] The present invention provides a grid-type wind power frequency modulation control method and system for improving rotor recovery speed, which is used to solve the defect of poor frequency modulation control stability in the wind turbine speed recovery stage in the prior art.

[0006] In a first aspect, the present invention provides a grid-type wind power frequency regulation control method for improving rotor recovery speed, comprising:

[0007] Determine the extended state observer for first-order systems involving disturbances;

[0008] Determining a virtual synchronous permanent magnet synchronous direct drive motor rotor motion equation, and deforming the rotor motion equation to obtain an equation in an expanded state;

[0009] Observing the equation after the expansion state using the expanded state observer to obtain a disturbance estimate;

[0010] defining a position tracking error variable of the control system, determining a sliding surface based on the tracking error variable, performing a differentiation process on the sliding surface, and determining an unknown dynamic term in the compensation system based on a result of the differentiation process and the disturbance estimate;

[0011] The influence of the estimation error of the extended state observer is eliminated by the adaptive control term to be designed in the unknown dynamic term.

[0012] According to a grid-type wind power frequency modulation control method for improving rotor recovery speed provided by the present invention, the method for determining the adaptive control item to be designed includes:

[0013] Determine the parameters and symbolic functions to be set;

[0014] Determining an adaptive parameter based on the parameter to be set, the sign function, and the sliding surface;

[0015] An adaptive control law for the adaptive control item to be designed is obtained through the adaptive parameters and the tracking error variable.

[0016] According to the present invention, a grid-type wind power frequency regulation control method for improving rotor recovery speed further includes:

[0017] The tanh function is used to replace the sign function to obtain a new adaptive reaching law;

[0018] When the system is far away from the sliding surface, in order to approach the mode, the speed change term converges to a value greater than the adaptive control term to be designed. value, improve the approach speed; among them, , is the adaptive control item to be designed, s is the sliding surface;

[0019] When the system is close to the sliding surface, it is in sliding mode. When the sliding surface approaches 0, the power term approaches 0, thereby weakening the chattering.

[0020] According to a grid-type wind power frequency modulation control method for improving rotor recovery speed provided by the present invention, the adaptive control law for the adaptive control item to be designed is:

[0021] ;

[0022] in, and are the parameters to be set; is the adaptive parameter, is the adaptive control item to be designed, is the tracking error variable, s is the sliding surface, and sgn is the sign function.

[0023] According to a grid-type wind power frequency regulation control method for improving rotor recovery speed provided by the present invention, the novel adaptive reaching law is:

[0024] ;

[0025] in, is the filter factor, s is the sliding surface, is the adaptive control item to be designed, represents the state variables of the extended state observer, Represents the state variable feedback correction parameter 、 As parameters, , .

[0026] According to a grid-type wind power frequency modulation control method for improving rotor recovery speed provided by the present invention, the method of determining an extended state observer of a first-order system containing disturbances includes:

[0027] determining a first-order system including a disturbance, and expanding the disturbance in the first-order system into a new state variable;

[0028] Combined with the total disturbance real-time action, a nonlinear system is constructed;

[0029] A nonlinear function is determined and introduced into the nonlinear system, and combined with the first-order system to obtain an extended state observer.

[0030] According to a grid-type wind power frequency regulation control method for improving rotor recovery speed provided by the present invention, after obtaining the extended state observer, the method further includes:

[0031] Command Status , expansion state ,enter , input coefficient , construct a new state observer as follows:

[0032] ;

[0033] in, 、 、 、 To select parameters, is the output power of the synchronous direct drive motor, 、 They are and The estimated value of is the virtual angular frequency, is the electromagnetic power, is the tracking error variable, is a nonlinear function , is the adaptive control item to be designed, is the system parameter.

[0034] According to a grid-type wind power frequency modulation control method for improving rotor recovery speed provided by the present invention, the nonlinear function is as follows:

[0035] ;

[0036] in, is the tracking error, is a nonlinear factor, is the filter factor, The value range is (0,1), The value is (5T, 10T).

[0037] According to a grid-type wind power frequency modulation control method for improving rotor recovery speed provided by the present invention, the virtual synchronous permanent magnet synchronous direct drive motor rotor motion equation is an equation in the rotor recovery speed process.

[0038] In a second aspect, the present invention further provides a grid-type wind power frequency regulation control system for improving rotor recovery speed, comprising:

[0039] A determination module for determining an extended state observer of a first-order system including disturbances;

[0040] An estimation module is used to determine the rotor motion equation of the virtual synchronous permanent magnet synchronous direct drive motor, and deform the rotor motion equation to obtain the equation after the expanded state; and observe the equation after the expanded state using the expanded state observer to obtain a disturbance estimate;

[0041] a compensation module, configured to define a position tracking error variable of the control system, determine a sliding surface based on the tracking error variable, perform a differential process on the sliding surface, and determine an unknown dynamic term in the compensation system based on a result of the differential process and the disturbance estimate;

[0042] The elimination module is used to eliminate the influence of the estimation error of the extended state observer through the adaptive control term to be designed in the unknown dynamic term.

[0043] In a third aspect, the present invention also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a grid-type wind power frequency regulation control method for improving the rotor recovery speed as described in any one of the above-mentioned methods is implemented.

[0044] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a grid-type wind power frequency regulation control method for improving the rotor recovery speed as described in any one of the above.

[0045] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described grid-type wind power frequency regulation control methods for improving rotor recovery speed.

[0046] The grid-type wind power frequency regulation control method and system for improving the rotor recovery speed provided by the present invention include: determining an extended state observer of a first-order system containing disturbances; determining a rotor motion equation of a virtual synchronous permanent magnet synchronous direct drive motor, and deforming the rotor motion equation to obtain an equation after the expanded state; observing the equation after the expanded state using the extended state observer to obtain a disturbance estimate; defining a position tracking error variable of the control system, determining a sliding mode surface based on the tracking error variable, performing differential processing on the sliding mode surface, and determining an unknown dynamic term in the compensation system based on the result of the differential processing and the disturbance estimate; eliminating the influence of the estimation error of the extended state observer through an adaptive control term to be designed in the unknown dynamic term, observing and estimating the internal and external disturbances of the system in real time through the extended state observer, and using the disturbance estimate as the compensation amount of the sliding mode controller, thereby effectively eliminating the influence of the disturbance on the controller and improving the frequency regulation stability during the rotor recovery speed process. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 1 is a flow chart of a grid-type wind power frequency regulation control method for improving rotor recovery speed provided in this embodiment;

[0049] Figure 2 is a schematic diagram of the novel adaptive sliding mode motion provided by this embodiment;

[0050] Figure 3 This is a schematic diagram of the wind turbine's active high power response;

[0051] Figure 4 is a schematic diagram of the generator rotor angular velocity curve;

[0052] Figure 5 is a schematic diagram of the generator power curve;

[0053] Figure 6 This is a schematic diagram of the power transmission of the tie line;

[0054] Figure 7 This is a schematic structural diagram of a grid-type wind power frequency modulation control system for improving rotor recovery speed provided by the present invention;

[0055] Figure 8 Schematic diagram of the structure of the electronic device provided in this embodiment. DETAILED DESCRIPTION

[0056] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0057] Figure 1 This is a flow chart of a grid-type wind power frequency regulation control method for improving rotor recovery speed provided in this embodiment.

[0058] like Figure 1 As shown, the grid-type wind power frequency regulation control method for improving rotor recovery speed provided by the embodiment of the present invention mainly includes the following steps:

[0059] 101. Determine the extended state observer for a first-order system involving disturbances.

[0060] In a specific implementation, the extended state observer can observe and estimate the disturbance of the closed-loop system in real time and compensate for the unknown disturbance factors in the feedback control. For a time-varying nonlinear system with external disturbance, the first-order system including the disturbance can be expressed as:

[0061] (1)

[0062] in, are the estimated values ​​of the state variables, is the state variable of adaptive state predictive control; and are the input and output of the system respectively; is the disturbance of the system output; is the system parameter; is the unknown real-time action.

[0063] In order to observe the disturbance of the system, the disturbance is expanded into a new state variable , the system is rewritten as:

[0064] (2)

[0065] Where, is the real-time action of the total disturbance of the system, represents the original state variable, express State variables with respect to time in the time domain, Represents the new state variables generated by expansion after the system perturbation, further constructing the nonlinear system:

[0066] (3)

[0067] in, and are the estimated values ​​of the nonlinear system state variables and control variables, represents the state variables of the extended state observer, represents the state variable feedback correction parameter, 、 is the adjustment gain of the output error, the nonlinear function It can be achieved right The accurate tracking expression is:

[0068] (4)

[0069] in, is the tracking error, is a nonlinear factor, is the filtering factor. Usually the value range is (0,1), The value is (5T,10T). The function is brought into equation (3), and according to equation (1), let , input coefficient , we can get the extended state observer as (5):

[0070] (5)

[0071] in, Indicates the system rated angular frequency, represents the nonlinear error factor, represents the state variables of the extended state observer, Represents the state variable feedback correction parameter.

[0072] 102. Determine the rotor motion equation of the virtual synchronous permanent magnet synchronous direct drive motor and transform the rotor motion equation to obtain the equation after the expansion state.

[0073] Combined with the virtual synchronous direct drive motor rotor motion equation, we get (6):

[0074] (6)

[0075] in, represents the moment of inertia, Indicates the rated angular frequency, represents the input mechanical power, represents the output electromagnetic power, and D represents the system damping.

[0076] Formula (6) is a nonlinear differential equation and cannot be estimated directly using the extended observer. , at this time, formula (6) can be transformed into (7):

[0077] (7)

[0078] Written in first-order standard form, as (8):

[0079] (8)

[0080] Mechanical power output of the fan satisfy , then the expanded state of equation (8) can be written as equation (9):

[0081] (9)

[0082] 103. Use the expanded state observer to observe the equation after the expanded state and obtain the disturbance estimate.

[0083] Sliding mode variable structure control has the advantages of simple algorithm and strong robustness. It uses the extended state observer to estimate and compensate for the influence of disturbances such as unknown dynamic terms of the system through the adaptive sliding mode control law, thereby ensuring the performance of grid-type direct-drive wind power frequency support control.

[0084] 104. Define the position tracking error variable of the control system, determine the sliding surface based on the tracking error variable, perform differential processing on the sliding surface, and determine the unknown dynamic terms in the compensation system based on the results of the differential processing and the disturbance estimate.

[0085] Define position tracking error variables For (10):

[0086] (10)

[0087] Where, is the output virtual angular frequency of the virtual synchronous direct drive motor, for The estimated value of , according to the tracking error variable, defines the sliding surface as (11):

[0088] (11)

[0089] Where: is a positive gain parameter, where , is a positive gain parameter, and differentiating the variable s, we can get (12):

[0090] (12)

[0091] In order to deal with the unknown dynamic terms such as strong nonlinear terms and parameter uncertainty terms that are regarded as total disturbances in the system, the disturbance estimate is obtained by the designed extended state observer and used to compensate for the unknown dynamic terms in the system, as shown in (13):

[0092] (13)

[0093] Where: represents the nonlinear error factor of the disturbance estimate, represents the adaptive control parameter with additional stabilization function, Contains known dynamic terms and the disturbance term estimated by the extended state observer; Used to have a calming effect on the system; is the adaptive control term to be designed to eliminate the influence of the state expansion observer; are the parameters to be designed.

[0094] 105. The influence of the estimation error of the extended state observer is eliminated by designing the adaptive control term in the unknown dynamic term.

[0095] In order to reduce the impact of the estimation error of the extended state observer on the control system, a method for adaptive control term The new adaptive control law is used to determine the parameters to be set and the sign function; based on the parameters to be set, the sign function and the sliding surface, the adaptive parameters are determined; through the adaptive parameters and the tracking error variable, the adaptive control law for the adaptive control item to be designed is obtained, as shown in (14):

[0096] (14)

[0097] in, and are the parameters to be set; is the adaptive parameter, is the adaptive control item to be designed, is the tracking error variable, s is the sliding surface, and sgn is the sign function.

[0098] In order to further weaken the chattering, the tanh function is used instead of the sign function. Compared with the sign function, the tanh function is smoother and has no mutation. The new adaptive reaching law is (15):

[0099] (15);

[0100] in, is the filter factor, s is the sliding surface, is the adaptive control item to be designed, represents the state variables of the extended state observer, represents the state variable feedback correction parameter, 、 As parameters, , When the system is far away from the sliding surface, in order to approach the mode, the speed change term converges to a value greater than the adaptive control term to be designed. value, improve the approach speed; among them, , is the adaptive control term to be designed, s is the sliding surface; when the system is close to the sliding surface, it is a sliding mode. When the sliding surface approaches 0, the power term approaches 0 to weaken the chattering, such as Figure 2 By controlling the system state to slide on the sliding surface, control objectives such as stability, trajectory tracking, and chatter suppression can be achieved. At the same time, the system state is estimated based on the extended state observer and external disturbances are offset.

[0101] Command Status , expansion state ,enter , input coefficient , construct a new state observer, such as (16):

[0102] (16)

[0103] in, 、 、 、 To select parameters, is the output power of the synchronous direct drive motor, 、 They are and The estimated value of is the virtual angular frequency, is the electromagnetic power, is the tracking error variable, is a nonlinear function , is the adaptive control item to be designed, is the system parameter.

[0104] Select appropriate parameters 、 , 、 The extended state observer can better estimate the output power of the virtual synchronous PMSG ; 、 They are and In the entire estimation process, it is necessary to obtain the parameter 、 ,state and input .in and It is virtual inertia, virtual damping, virtual angular frequency and electromagnetic power The virtual synchronous PMSG active support strategy based on adaptive sliding mode expansion state control can enhance the control system's ability to resist external interference and effectively improve the system's robustness.

[0105] In order to verify the effect of the solution of this application, it is verified by simulation verification. The digital simulation model is the main circuit part of the permanent magnet synchronous direct drive motor system, including the wind turbine, converter circuit and AC grid model. The simulation system includes 3 synchronous generators with a rated capacity of 900MW each, and a wind farm connected by 100 PMSGs, where each PMSG has a rated capacity of 2MW, load L1 is 967MW, and L2 is 1562MW. To verify the effectiveness of the adaptive sliding mode expanded state control (ASM-ESO) strategy under different working conditions, the wind speed is set to 8m / s, a three-phase short circuit fault is set at bus B5, the duration is 0.1s, and the virtual inertia controlled by the traditional virtual synchronous generation technology (VSG) is , virtual damping .

[0106] Figure 3 This is a schematic diagram of the wind turbine's active high power response. Figure 4 is a schematic diagram of the generator rotor angular velocity curve, Figure 5 is a schematic diagram of the generator power curve, Figure 6Schematic diagram of power transmission on the interconnection line. The diagram shows that traditional VSG control relies on constant inertia and damping regulation, requiring significant dynamic adjustments to the wind turbine's electromagnetic output power to cope with disturbances during faults. This results in fluctuations in wind turbine active power and speed, potentially negatively impacting the stability of the wind turbine's rotor shaft system. In contrast, adaptive sliding mode extended state control (ASM-ESO) dynamically compensates for system power shortfalls, reducing wind turbine power oscillations and ensuring stable speed convergence, shortening recovery time and preventing instability. Simultaneously, the system's power angle's first swing is further reduced, accelerating the recovery of active power and system frequency in the transmission line and generator, and shortening oscillation time. Therefore, adaptive sliding mode extended state control (ASM-ESO) provides faster inertia response, ensuring the stability of the wind turbine's rotor shaft system, and significantly improving system stability.

[0107] A meshed PMSG control strategy employs adaptive sliding mode extended state control (ASM-ESO). This strategy uses an extended state observer to observe and estimate internal and external disturbances in real time. This estimation of disturbances serves as a compensation for the sliding mode controller, effectively eliminating the effects of disturbances on the controller and improving system robustness. Compared to adjusting virtual parameters, this strategy is more effective and can mitigate the negative impact of improper parameter settings.

[0108] Based on the same general inventive concept, the present invention also protects a grid-type wind power frequency regulation control system for improving the rotor recovery speed. The grid-type wind power frequency regulation control system for improving the rotor recovery speed described below and the grid-type wind power frequency regulation control method for improving the rotor recovery speed described above can be referenced to each other.

[0109] Figure 7 It is a structural schematic diagram of a grid-type wind power frequency modulation control system for improving rotor recovery speed provided by the present invention.

[0110] like Figure 7 As shown, this embodiment provides a grid-type wind power frequency regulation control system for improving rotor recovery speed, including:

[0111] A determination module 701 is used to determine an extended state observer of a first-order system including a disturbance;

[0112] The estimation module 702 is used to determine the virtual synchronous permanent magnet synchronous direct drive motor rotor motion equation, and transform the rotor motion equation to obtain the equation after the expanded state; observe the equation after the expanded state using the expanded state observer to obtain a disturbance estimate;

[0113] The compensation module 703 is used to define a position tracking error variable of the control system, determine a sliding surface based on the tracking error variable, perform a differential process on the sliding surface, and determine an unknown dynamic term in the compensation system based on the differential process result and the disturbance estimate;

[0114] Elimination module 704 is used to eliminate the influence of the estimation error of the extended state observer through the adaptive control term to be designed in the unknown dynamic term.

[0115] Figure 8 Schematic diagram of the structure of the electronic device provided in this embodiment.

[0116] like Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call logic instructions in the memory 830 to execute a grid-type wind power frequency regulation control method for improving rotor recovery speed, the method comprising: determining an extended state observer for a first-order system containing a disturbance; determining a rotor motion equation of a virtual synchronous permanent magnet synchronous direct-drive motor and deforming the rotor motion equation to obtain an equation after an extended state; observing the equation after an extended state using the extended state observer to obtain a disturbance estimate; defining a position tracking error variable of the control system, determining a sliding mode surface based on the tracking error variable, performing a differential process on the sliding mode surface, and determining an unknown dynamic term in the compensation system based on the differential process result and the disturbance estimate; and eliminating the influence of the extended state observer estimation error by using a to-be-designed adaptive control term in the unknown dynamic term.

[0117] Furthermore, the logic instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0118] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the grid-type wind power frequency regulation control method for improving the rotor recovery speed provided by the above methods. The method includes: determining an extended state observer of a first-order system containing disturbances; determining a rotor motion equation of a virtual synchronous permanent magnet synchronous direct-drive motor, and deforming the rotor motion equation to obtain an equation after the expanded state; using the extended state observer to observe the equation after the expanded state to obtain a disturbance estimate; defining a position tracking error variable of the control system, determining a sliding surface based on the tracking error variable, performing differentiation processing on the sliding surface, and determining an unknown dynamic term in the compensation system based on the result of the differentiation processing and the disturbance estimate; eliminating the influence of the estimation error of the extended state observer through the adaptive control term to be designed in the unknown dynamic term.

[0119] On the other hand, the present invention also provides a non-transient computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the grid-type wind power frequency regulation control method for improving the rotor recovery speed provided by the above-mentioned methods, the method comprising: determining an extended state observer of a first-order system containing disturbances; determining a rotor motion equation of a virtual synchronous permanent magnet synchronous direct-drive motor, and deforming the rotor motion equation to obtain an equation after the expanded state; observing the equation after the expanded state using the extended state observer to obtain a disturbance estimate; defining a position tracking error variable of the control system, determining a sliding surface based on the tracking error variable, performing differentiation processing on the sliding surface, and determining an unknown dynamic term in the compensation system based on the result of the differentiation processing and the disturbance estimate; eliminating the influence of the estimation error of the extended state observer through the adaptive control term to be designed in the unknown dynamic term.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0121] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A grid-type wind power frequency modulation control method for improving rotor recovery speed, characterized in that: include: Determine the extended state observer for first-order systems involving disturbances; Determining a virtual synchronous permanent magnet synchronous direct drive motor rotor motion equation, and deforming the rotor motion equation to obtain an equation in an expanded state; Observing the equation after the expansion state using the expanded state observer to obtain a disturbance estimate; defining a position tracking error variable of the control system, determining a sliding surface based on the tracking error variable, performing a differentiation process on the sliding surface, and determining an unknown dynamic term in the compensation system based on a result of the differentiation process and the disturbance estimate; Eliminating the influence of the estimation error of the extended state observer by the adaptive control term to be designed in the unknown dynamic term; The method for determining the adaptive control item to be designed includes: determining a parameter to be set and a sign function; determining an adaptive parameter based on the parameter to be set, the sign function and the sliding surface; obtaining an adaptive control law for the adaptive control item to be designed through the adaptive parameter and the tracking error variable; using the tanh function to replace the sign function to obtain a new adaptive reaching law; when the system is far away from the sliding surface, it is a reaching mode, and the speed change term converges to a value greater than the adaptive control item to be designed. value, improve the approach speed; among them, , is the adaptive control term to be designed, and s is the sliding surface. When the system is close to the sliding surface, it is in sliding mode. When the sliding surface approaches 0, the power term approaches 0 to weaken the chattering.

2. The grid-type wind power frequency modulation control method for improving rotor recovery speed according to claim 1 is characterized in that: The adaptive control law for the adaptive control item to be designed is: ； in, and are the parameters to be set; is the adaptive parameter, is the tracking error variable, s is the sliding surface, and sgn is the sign function.

3. The grid-type wind power frequency modulation control method for improving rotor recovery speed according to claim 1 is characterized in that: The new adaptive reaching law is: ； in, is the filter factor, s is the sliding surface, is the adaptive control item to be designed, represents the state variables of the extended state observer, represents the state variable feedback correction parameter, 、 As parameters, , .

4. The grid-type wind power frequency modulation control method for improving rotor recovery speed according to claim 1 is characterized in that: Determining an extended state observer for a first-order system including a disturbance includes: determining a first-order system including a disturbance, and expanding the disturbance in the first-order system into a new state variable; Combined with the total disturbance real-time action, a nonlinear system is constructed; A nonlinear function is determined and introduced into the nonlinear system, and combined with the first-order system to obtain an extended state observer.

5. The grid-type wind power frequency modulation control method for improving rotor recovery speed according to claim 4 is characterized in that: After obtaining the extended state observer, the method further includes: Command Status , expansion state ,enter , input coefficient , construct a new state observer as follows: ； in, 、 、 、 To select parameters, is the output power of the synchronous direct drive motor, 、 They are and The estimated value of is the virtual angular frequency, is the electromagnetic power, is the tracking error variable, is a nonlinear function , is the adaptive control item to be designed, is the system parameter.

6. The grid-type wind power frequency modulation control method for improving rotor recovery speed according to claim 5 is characterized in that: The nonlinear function is as follows: ； in, is the tracking error, is a nonlinear factor, is the filter factor, The value range is (0,1), The value is (5T, 10T).

7. The grid-type wind power frequency modulation control method for improving rotor recovery speed according to any one of claims 1 to 6, characterized in that: The virtual synchronous permanent magnet synchronous direct drive motor rotor motion equation is an equation in the process of the rotor recovering speed.

8. A grid-type wind power frequency modulation control system for improving rotor recovery speed, characterized in that: include: A determination module for determining an extended state observer of a first-order system including disturbances; an estimation module, configured to determine a virtual synchronous permanent magnet synchronous direct drive motor rotor motion equation and deform the rotor motion equation to obtain an equation in an expanded state; Observing the equation after the expansion state using the expanded state observer to obtain a disturbance estimate; a compensation module, configured to define a position tracking error variable of the control system, determine a sliding surface based on the tracking error variable, perform a differential process on the sliding surface, and determine an unknown dynamic term in the compensation system based on a result of the differential process and the disturbance estimate; The elimination module is used to eliminate the influence of the estimation error of the extended state observer through the adaptive control term to be designed in the unknown dynamic term, and the determination method of the adaptive control term to be designed includes: determining the parameters to be set and the sign function; determining the adaptive parameters based on the parameters to be set, the sign function and the sliding surface; obtaining the adaptive control law for the adaptive control term to be designed through the adaptive parameters and the tracking error variable; using the tanh function to replace the sign function to obtain a new adaptive reaching law; when the system is far away from the sliding surface, it is a reaching mode, and the speed change term converges to a value greater than the adaptive control term to be designed. value, improve the approach speed; among them, , is the adaptive control term to be designed, and s is the sliding surface. When the system is close to the sliding surface, it is in sliding mode. When the sliding surface approaches 0, the power term approaches 0 to weaken the chattering.

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