Control method of variable-speed pumped storage unit based on alternating-current excitation and electromechanical transient model

Abstract

The embodiment of the invention provides a control method of a variable-speed pumped storage unit based on alternating-current excitation and an electromechanical transient model, relates to the technical field of electric power, and can improve the stability and reliability of an electric power system. The control method of the variable-speed pumped storage unit based on the alternating-current excitation and electromechanical transient model comprises the following steps: constructing an outer ring control model based on an obtained outer ring gain parameter, a power reference value and a power actual value; constructing an inner loop control model based on the obtained current inner loop gain parameter, the rotor current reference value, the rotor current actual value and a predetermined feedforward compensation voltage; inputting the obtained outer ring parameters of the variable-speed pumped storage unit into an outer ring control model to generate a current instruction of the variable-speed pumped storage unit; inputting the current instruction and the obtained current actual rotor current value into an inner ring control model to generate a voltage control instruction of the variable-speed pumped storage unit; and controlling the variable-speed pumped storage unit based on the voltage control instruction.

Description

Technical Field

[0001] The present application relates to the field of electric power technology, and in particular to a control method for a variable speed pumped storage unit based on AC excitation and electromechanical transient models. Background Art

[0002] The variable speed pumped storage unit is an energy storage and regulation device used in the power system. Compared with the traditional pumped storage unit, the variable speed pumped storage unit can adjust the speed under different working conditions. The working principle of the variable speed pumped storage unit is to use the excess power of the power system when the power demand is low to pump water from the lower reservoir to the upper reservoir for storage. When the power demand is peak, the water in the upper reservoir is released to the lower reservoir, and the turbine generator set is used to generate electricity to meet the power demand of the power grid. Therefore, the flexibility and reliability of the power system can be effectively improved by reasonably controlling the variable speed pumped storage unit.

[0003] In the process of using variable-speed pumped storage units, in order to formulate control strategies for variable-speed pumped storage units and analyze their behavioral characteristics, it is necessary to establish a model of the variable-speed pumped storage units. However, there are still some gaps in the modeling of variable-speed pumped storage units including phase-locked loop characteristics, stability analysis after modeling, and control strategy formulation, which affects the flexibility and reliability of the power system after the variable-speed pumped storage units are connected to the power system, and even causes voltage problems, synchronous instability problems, and broadband oscillation problems. Summary of the invention

[0004] In order to solve the above problems, the present application provides a control method for a variable speed pumped storage unit based on AC excitation and electromechanical transient model.

[0005] In a first aspect, a control method for a variable speed pumped storage unit based on AC excitation and electromechanical transient model is provided, comprising:

[0006] An outer loop control model is constructed based on the acquired outer loop gain parameters, power reference values ​​and power actual values;

[0007] An inner loop control model is constructed based on the acquired current inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage;

[0008] The obtained outer loop parameters of the variable speed pumped storage unit are input into the outer loop control model to generate the current command of the variable speed pumped storage unit; wherein the outer loop parameters include: the voltage reference value, power reference value, power actual value, speed reference value, rotor speed, terminal voltage, and grid connection point voltage of the generator of the variable speed pumped storage unit;

[0009] The current command and the obtained actual value of the current rotor current are input into the inner loop control model to generate a voltage control command for the variable speed pumped storage unit;

[0010] Controlling a variable speed pumped storage unit based on voltage control instructions.

[0011] Further, the outer loop control model includes an active outer loop control model and a reactive outer loop control model; the power reference value includes an active power reference value and a reactive power reference value; the power actual value includes an active power actual value and a reactive power actual value;

[0012] The outer loop control model is constructed based on the obtained outer loop gain parameters, power reference value and power actual value, including:

[0013] An active outer loop control model is constructed based on the outer loop gain parameter, active power reference value and active power actual value;

[0014] A reactive outer loop control model is constructed based on the outer loop gain parameters, reactive power reference value and reactive power actual value.

[0015] Further, the inner loop control model includes a rotor d-axis inner loop control model and a q-axis current inner loop control model; the rotor current reference value includes a rotor d-axis current reference value and a rotor q-axis current reference value; the rotor current actual value includes a rotor d-axis current actual value and a rotor q-axis current actual value; the feedforward compensation control voltage includes a d-axis feedforward compensation control voltage and a q-axis feedforward compensation control voltage;

[0016] An inner loop control model is constructed based on the obtained inner loop gain parameters, rotor current reference value, rotor current actual value and predetermined feedforward compensation voltage, including:

[0017] A rotor d-axis inner loop control model is constructed based on the inner loop gain parameter, the rotor d-axis current reference value, the rotor d-axis current actual value and the d-axis feedforward compensation control voltage;

[0018] The rotor q-axis inner loop control model is constructed based on the inner loop gain parameters, the rotor q-axis current reference value, the rotor q-axis current actual value and the q-axis feedforward compensation control voltage.

[0019] Further, the step of determining the feedforward compensation control voltage includes:

[0020] Determine the d-axis feedforward compensation control voltage based on the acquired slip angular velocity, leakage inductance coefficient, stator voltage, stator resistance, stator current, stator leakage inductance, excitation reactance, mutual inductance between stator and rotor, and stator self-inductance;

[0021] The q-axis feedforward compensation control voltage is determined based on the slip angular velocity, leakage inductance coefficient, stator resistance, stator current, stator leakage inductance and excitation reactance.

[0022] In a second aspect, the present application provides a control device for a variable speed pumped storage unit based on AC excitation and electromechanical transient model, comprising:

[0023] An outer loop construction module, used to construct an outer loop control model based on the acquired outer loop gain parameter, power reference value and power actual value;

[0024] An inner loop construction module, used for constructing an inner loop control model based on the acquired current inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage;

[0025] A current generation module is used to input the acquired outer loop parameters of the variable speed pumped storage unit into the outer loop control model to generate a current command of the variable speed pumped storage unit; wherein the outer loop parameters include: a voltage reference value, a power reference value, an actual power value, a speed reference value, a rotor speed, a terminal voltage, and a grid connection point voltage of the generator of the variable speed pumped storage unit;

[0026] A voltage generation module, used for inputting the current command and the acquired current actual value of the rotor current into the inner loop control model to generate a voltage control command for the variable speed pumped storage unit;

[0027] A control module is used to control a variable speed pumped storage unit based on a voltage control instruction.

[0028] Further, the outer loop control model includes an active outer loop control model and a reactive outer loop control model; the power reference value includes an active power reference value and a reactive power reference value; the power actual value includes an active power actual value and a reactive power actual value;

[0029] The outer loop building blocks include:

[0030] An active outer loop construction unit, used for constructing an active outer loop control model based on an outer loop gain parameter, an active power reference value and an active power actual value;

[0031] The reactive outer loop construction unit is used to construct a reactive outer loop control model based on the outer loop gain parameter, the reactive power reference value and the reactive power actual value.

[0032] Further, the inner loop control model includes a rotor d-axis inner loop control model and a q-axis current inner loop control model; the rotor current reference value includes a rotor d-axis current reference value and a rotor q-axis current reference value; the rotor current actual value includes a rotor d-axis current actual value and a rotor q-axis current actual value; the feedforward compensation control voltage includes a d-axis feedforward compensation control voltage and a q-axis feedforward compensation control voltage;

[0033] The inner loop building blocks include:

[0034] A d-axis construction unit, used to construct a rotor d-axis inner loop control model based on an inner loop gain parameter, a rotor d-axis current reference value, a rotor d-axis current actual value, and a d-axis feedforward compensation control voltage;

[0035] The q-axis construction unit is used to construct a rotor q-axis inner loop control model based on an inner loop gain parameter, a rotor q-axis current reference value, a rotor q-axis current actual value, and a q-axis feedforward compensation control voltage.

[0036] Further, the step of determining the feedforward compensation control voltage includes:

[0037] Determine the d-axis feedforward compensation control voltage based on the acquired slip angular velocity, leakage inductance coefficient, stator voltage, stator resistance, stator current, stator leakage inductance, excitation reactance, mutual inductance between stator and rotor, and stator self-inductance;

[0038] The q-axis feedforward compensation control voltage is determined based on the slip angular velocity, leakage inductance coefficient, stator resistance, stator current, stator leakage inductance and excitation reactance.

[0039] In a third aspect, the present application 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, the steps of the control method of the variable speed pumped storage unit based on AC excitation and electromechanical transient model are implemented.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method of the variable speed pumped storage unit based on AC excitation and electromechanical transient model.

[0041] In a fifth aspect, the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the control method of the variable speed pumped storage unit based on AC excitation and electromechanical transient model.

[0042] The technical solution provided by the embodiment of the present application establishes an outer loop control model and an inner loop control model of a variable speed pumped storage unit to more accurately characterize the behavior characteristics of the variable speed pumped storage unit and improve the accuracy of modeling. Furthermore, the final voltage control instruction is generated by combining the model constructed by the outer loop parameters and the inner loop parameters to control the variable speed pumped storage unit so that the variable speed pumped storage unit can effectively improve the stability and reliability of the power system after being connected to the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate some embodiments of this specification or technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 A schematic structural diagram of a model of a conventional variable-speed pumped-storage unit provided in an embodiment of the present application;

[0045] Figure 2 A schematic structural diagram of a model of another conventional variable-speed pumped-storage unit provided in an embodiment of the present application;

[0046] Figure 3 A flow chart of a control method for a variable speed pumped storage unit based on AC excitation and electromechanical transient model provided in an embodiment of the present application;

[0047] Figure 4 A flow chart of another control method of a variable speed pumped storage unit based on AC excitation and electromechanical transient model provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of the structure of an active outer loop control model provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of a reactive outer loop control model provided in an embodiment of the present application;

[0050] Figure 7 A flow chart of another control method of a variable speed pumped storage unit based on AC excitation and electromechanical transient model provided in an embodiment of the present application;

[0051] Figure 8 A schematic diagram of the structure of an inner loop control model provided in an embodiment of the present application;

[0052] Fig. 9 A control block diagram of AC excitation provided in an embodiment of the present application;

[0053] Fig.10 A schematic diagram of a structure of a steady-state equivalent circuit of a doubly-fed induction motor provided in an embodiment of the present application;

[0054] Fig.11 A flow chart of another control method of a variable speed pumped storage unit based on AC excitation and electromechanical transient model provided in an embodiment of the present application;

[0055] Fig.12A schematic diagram of the overall structure of an AC excitation control system provided in an embodiment of the present application;

[0056] Fig.13 A schematic diagram of the structure of a phase-locked loop model provided in an embodiment of the present application;

[0057] Fig.14 A schematic diagram of the structure of a simulation system provided in an embodiment of the present application;

[0058] Fig.15 A comparative schematic diagram of a simulation provided in an embodiment of the present application;

[0059] Fig.16 A comparative schematic diagram of another simulation provided in an embodiment of the present application;

[0060] Fig.17 A comparative schematic diagram of another simulation provided in an embodiment of the present application;

[0061] Fig.18 A schematic diagram of the structure of a control device for a variable speed pumped storage unit based on AC excitation and electromechanical transient model provided in an embodiment of the present application;

[0062] Fig.19 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in some embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on some embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0064] It should be noted that the terms "first", "second", etc. in the specification and claims of this document and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of this document described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment. It should be noted that the acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of relevant laws and regulations.

[0065] As described in the background technology, there are still certain gaps in the modeling of variable-speed pumped-storage units with phase-locked loop characteristics, stability analysis after modeling, and control strategy formulation, especially the modeling of the AC excitation system and speed regulation system of variable-speed pumped-storage units with phase-locked loop characteristics.

[0066] For example, Figure 1 As shown, it is a structural schematic diagram of a model of a traditional variable speed pumped storage unit provided by the present application. In the modeling process of the traditional variable speed pumped storage unit, the variable current excitation motor / frequency converter is equivalent to a controllable current source, and the current inner loop control box capacitor charging and discharging process of the variable current excitation and the coupling characteristics between the generator and the rotor converter control are ignored, and only the outer loop active and reactive power control is retained. The unit capacity of the variable speed pumped storage unit is very large. If the above content is ignored, it is difficult to reflect the excitation and control characteristics of the variable speed pumped storage unit itself and the synchronous stability and voltage stability problems, resulting in limited use scenarios and application scope of the model. Therefore, due to the above problems in the modeling of the variable speed pumped storage unit, when the variable speed pumped storage unit is connected to the power system, it is impossible to formulate an accurate control strategy and effectively analyze the unit characteristics, which affects the stability and reliability of the power system.

[0067] Another exemplary example is Figure 2As shown, it is a structural schematic diagram of another traditional variable speed pumped storage unit model provided by the present application, and the model does not consider the inner loop control, and only includes the outer loop control process. Specifically, the model includes a steady-state operation control module and a fault ride-through operation control module; the acquired outer loop parameters of the variable speed pumped storage unit are input into the outer loop control model to generate the current command of the variable speed pumped storage unit. In addition to the steady-state operation control module and the fault ride-through operation control module, the outer loop control model also includes a fault ride-through state judgment module. The fault ride-through state judgment module detects the voltage of the unit's grid-connected point to determine whether it meets the preset voltage range (i.e., the allowable operating range) of the fault ride-through curve. Since the model does not consider the inner loop control, its actual application process is different from that of the model. Figure 1 The corresponding model has similar problems.

[0068] Based on this, the present application provides a control method for a variable speed pumped storage unit based on AC excitation and electromechanical transient model, such as Figure 3 As shown, it is a flow chart of a control method of a variable speed pumped storage unit based on AC excitation and electromechanical transient model provided in an embodiment of the present application, comprising the following steps:

[0069] S101: construct an outer loop control model based on the acquired outer loop gain parameter, power reference value and power actual value.

[0070] S102: constructing an inner loop control model based on the acquired current inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage.

[0071] S103, inputting the acquired outer loop parameters of the variable speed pumped storage unit into the outer loop control model to generate a current command of the variable speed pumped storage unit.

[0072] The outer loop parameters include: voltage reference value, power reference value, actual power value, speed reference value, rotor speed, terminal voltage, and grid connection point voltage of the generator of the variable speed pumped storage unit.

[0073] S104, inputting the current command and the acquired current actual value of the rotor current into the inner loop control model to generate a voltage control command for the variable speed pumped storage unit.

[0074] S105. Control the variable speed pumped storage unit based on the voltage control instruction.

[0075] The technical solution provided by the embodiment of the present application establishes an outer loop control model and an inner loop control model of a variable speed pumped storage unit to more accurately characterize the behavior characteristics of the variable speed pumped storage unit and improve the accuracy of modeling. Furthermore, the final voltage control instruction is generated by combining the model constructed by the outer loop parameters and the inner loop parameters to control the variable speed pumped storage unit so that the variable speed pumped storage unit can effectively improve the stability and reliability of the power system after being connected to the power system.

[0076] The following is an explanation of each of the above steps:

[0077] S101: construct an outer loop control model based on the acquired outer loop gain parameter, power reference value and power actual value.

[0078] The outer loop control model includes an active outer loop control model and a reactive outer loop control model. The power reference value includes an active power reference value and a reactive power reference value; and the power actual value includes an active power actual value and a reactive power actual value.

[0079] Specifically, an active outer loop control model is constructed based on an outer loop gain parameter, an active power reference value and an active power actual value.

[0080] A reactive outer loop control model is constructed based on the outer loop gain parameters, reactive power reference value and reactive power actual value.

[0081] S102: constructing an inner loop control model based on the acquired current inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage.

[0082] Among them, the inner loop control model includes the rotor d-axis inner loop control model and the q-axis current inner loop control model; the rotor current reference value includes the rotor d-axis current reference value and the rotor q-axis current reference value; the rotor current actual value includes the rotor d-axis current actual value and the rotor q-axis current actual value; the feedforward compensation control voltage includes the d-axis feedforward compensation control voltage and the q-axis feedforward compensation control voltage.

[0083] Specifically, a rotor d-axis inner loop control model is constructed based on an inner loop gain parameter, a rotor d-axis current reference value, a rotor d-axis current actual value, and a d-axis feedforward compensation control voltage.

[0084] A q-axis current inner loop control model is constructed based on the inner loop gain parameters, q-axis current reference value, q-axis current actual value, and q-axis feedforward compensation control voltage.

[0085] S103, inputting the acquired outer loop parameters of the variable speed pumped storage unit into the outer loop control model to generate a current command of the variable speed pumped storage unit.

[0086] Among them, the outer loop parameters include: the voltage reference value, power reference value, power actual value, speed reference value, rotor speed, terminal voltage, and unit grid connection point voltage of the generator of the variable-speed pumped storage unit; the power reference value includes the active power reference value and the reactive power reference value; the power actual value includes the active power actual value and the reactive power actual value; the current command includes the active current command (also called the d-axis current component) and the reactive current command (also called the q-axis current component).

[0087] Specifically, the acquired active power reference value, active power actual value and other parameters are input into the active outer loop control model to generate an active current instruction.

[0088] The acquired reactive power reference value, reactive power actual value and other parameters are input into the reactive power outer loop control model to generate reactive current command.

[0089] S104, inputting the current command and the acquired current actual value of the rotor current into the inner loop control model to generate a voltage control command for the variable speed pumped storage unit.

[0090] The rotor current includes a rotor d-axis current component and a rotor q-axis current component, and the voltage control command includes an active voltage command (also called a d-axis voltage component) and a reactive voltage command (also called a q-axis voltage component).

[0091] Specifically, the active current command and the rotor d-axis current component are input into the rotor d-axis inner loop control model to generate the d-axis voltage component.

[0092] The reactive current command and the q-axis component of the rotor current are input into the q-axis current inner loop control model to generate the q-axis voltage component.

[0093] S105. Control the variable speed pumped storage unit based on the voltage control instruction.

[0094] Exemplarily, a voltage control instruction is input to the generator and converter system of the variable speed pumped storage unit to adjust the voltage of the variable speed pumped storage unit so that the stability and reliability of the power system can be effectively improved after the unit is connected to the power system.

[0095] In some embodiments, the outer loop control model includes an active outer loop control model and a reactive outer loop control model; the power reference value includes an active power reference value and a reactive power reference value; the power actual value includes an active power actual value and a reactive power actual value; Figure 4 As shown, building an outer loop control model based on the acquired outer loop gain parameter, power reference value and power actual value can be specifically implemented as the following steps:

[0096] S201. Construct an active outer loop control model based on an outer loop gain parameter, an active power reference value, and an active power actual value.

[0097] Specifically, the active outer loop control model is characterized by the following formula:

[0098]

[0099] Among them, i rdref Indicates active current command, K p1 and K i1 represents the outer loop gain parameter (K p1 is the proportional outer loop gain parameter, K i1 is the integral outer loop gain parameter), Represents the proportional-integral process of the outer loop gain parameter, P ref Represents the active power reference value (also known as the active power set value), P s Indicates the actual value of active power.

[0100] S202: Construct a reactive outer loop control model based on the outer loop gain parameter, the reactive power reference value and the reactive power actual value.

[0101] Specifically, the reactive outer loop control model is characterized by the following formula:

[0102]

[0103] Among them, i rqref Indicates reactive current command, K p1 and K i1 represents the outer loop gain parameter (K p1 is the proportional outer loop gain parameter, K i1 is the integral outer loop gain parameter), represents the proportional-integral process of the outer loop gain parameter, Q ref Represents the reactive power reference value (also known as the active power setpoint), Q s Indicates the actual value of reactive power.

[0104] It should be noted that, through the above active outer loop control model and reactive outer loop control model, it can be seen that the AC excitation outer loop steady-state operation control of the variable-speed pumped storage unit includes active power control and reactive power control, and the active power control and reactive power control adopt PI link logic.

[0105] Specifically, according to the different operation modes of the variable speed pumped storage unit, the active outer loop control model can include two modes: fixed active power control and fixed speed control. Figure 5 As shown, it is a structural schematic diagram of an active outer loop control model provided by this application, Figure 5The PF module in is the active power control mode judgment module. When the PF module is set to 1, the corresponding control mode is the fixed active power control mode. When the PF module is set to 0, the corresponding control mode is the fixed speed control mode. In addition, Figure 5 T pmeas is the active power measurement time constant, K pp is the power loop proportional gain parameter, T ip is the time constant, dP max The upper limit of active power command change, dP min K is the lower limit of active power command change, pω is the speed loop proportional gain parameter, T iω is the time constant, dω max is the upper limit of the speed command change, dω min is the lower limit of the speed command change, I dmax is the upper limit of active current, I dmin is the lower limit of active current, P gen is the actual value of the generator active power, P ref is the active power reference value, ω ref is the speed reference value (also called the speed set value).

[0106] Correspondingly, according to the different operation modes of the variable speed pumped storage unit, the reactive outer loop control model can include two modes: constant reactive power control and constant voltage control. Figure 6 As shown, it is a structural schematic diagram of a reactive outer loop control model provided by this application, Figure 6 The QF module in is the reactive power control mode judgment module. When the QF module is set to 1, the corresponding control mode is the fixed reactive power control mode. When the QF module is set to 0, the corresponding control mode is the fixed voltage control mode. In addition, Figure 6 T Qmeas is the reactive power measurement time constant, K pQ Reactive loop proportional gain parameter, T iQ is the time constant, dQ max Reactive power command change upper limit, dQ min K is the lower limit of reactive power command change, pV is the voltage loop proportional gain parameter, T iV is the time constant, dU max is the upper limit of voltage command change, dU max is the lower limit of voltage command change, i qmax is the upper and lower limits of reactive current, and i qmin is the lower limit of reactive current, P gen is the actual value of the generator active power, P ref is the active power reference value, ω refis the speed reference value (also called the speed set value).

[0107] From the above content, it can be seen that when constructing the outer loop control model, it is necessary to consider not only the outer loop gain parameters, power reference value, power actual value and other parameters, but also other parameters such as unit speed and other parameters.

[0108] In some embodiments, the inner loop control model includes a rotor d-axis inner loop control model and a q-axis current inner loop control model; the rotor current reference value includes a rotor d-axis current reference value and a rotor q-axis current reference value; the rotor current actual value includes a rotor d-axis current actual value and a rotor q-axis current actual value; the feedforward compensation control voltage includes a d-axis feedforward compensation control voltage and a q-axis feedforward compensation control voltage; Figure 7 As shown, the inner loop control model is constructed based on the acquired inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage, which can be specifically implemented as the following steps:

[0109] S301 , constructing a rotor d-axis inner loop control model based on an inner loop gain parameter, a rotor d-axis current reference value, a rotor d-axis current actual value, and a d-axis feedforward compensation control voltage.

[0110] Specifically, the rotor d-axis inner loop control model is represented by the following formula:

[0111]

[0112] Among them, u rd is the d-axis control component of the AC excitation voltage, K p2 and K i2 is the inner loop gain function, represents the proportional-integral process of the inner loop gain parameter, i rdref is the d-axis current reference value, i rd is the actual value of the d-axis current, Δu rd is the d-axis feedforward compensation control voltage.

[0113] S302 , constructing a rotor q-axis inner loop control model based on the inner loop gain parameter, the rotor q-axis current reference value, the rotor q-axis current actual value and the q-axis feedforward compensation control voltage.

[0114] Specifically, the rotor q-axis inner loop control model is represented by the following formula:

[0115]

[0116] Among them, u rq is the q-axis control component of the AC excitation voltage, K p2 and K i2 is the inner loop gain function, represents the proportional-integral process of the inner loop gain parameter, irqref is the q-axis current reference value, i rq is the actual value of the q-axis current, Δu rq is the q-axis feedforward compensation control voltage.

[0117] like Figure 8 As shown, it is a structural schematic diagram of an inner loop control model provided in an embodiment of the present application, including a rotor d-axis inner loop control model and a rotor q-axis inner loop control model. Figure 8 in,i rdref is the rotor d-axis current reference value, i rqref is the rotor q-axis current reference value, i rd is the actual value of the rotor d-axis current, i rq is the rotor q-axis current value, K prd D-axis current loop gain parameter, T ird is the time constant, K prq is the q-axis current loop gain parameter, T irq is the time constant, i rdmax is the upper limit of d-axis current, i rdmin is the lower limit of d-axis current, i rqmax is the upper limit of q-axis current, i rqmin is the lower limit of q-axis current, △U rd is the d-axis feedforward compensation control voltage, △U rq is the q-axis feedforward compensation control voltage, u rd is the d-axis control component of the AC excitation voltage, u rq is the q-axis control component of the AC excitation voltage.

[0118] From the above content, it can be seen that the active outer loop control model, the reactive outer loop control model, the rotor d-axis inner loop control model and the rotor q-axis inner loop control model are constructed respectively through corresponding formulas. In order to ensure that the constructed related models can accurately reflect the actual characteristics of the AC excitation control of the variable-speed pumped storage unit, various factors need to be considered when constructing the corresponding formulas.

[0119] Specifically, the determination process of the above formula is described by the following content:

[0120] Taking the doubly-fed variable-speed pumped storage unit as an example, the generator of the doubly-fed variable-speed pumped storage unit (the abbreviation of the doubly-fed variable-speed pumped storage unit) is a doubly-fed asynchronous motor. Unlike the synchronous motor, its excitation control adopts AC excitation control. First, it is necessary to derive the AC excitation control equation of the doubly-fed asynchronous motor, so as to build a refined electromechanical transient model of AC excitation control of the variable-speed pumped storage unit (that is, the outer loop control model and the inner loop control model) on this basis.

[0121] Among them, under steady-state conditions, the transient process of the flux of the stator winding of the doubly fed asynchronous motor is ignored, and the expressions of the stator voltage, rotor voltage, flux, active power and reactive power of the doubly fed motor in per unit form in the dq rotating coordinate system are as follows:

[0122]

[0123]

[0124] In the above expression, u sd is the stator d-axis voltage component, u sq is the stator q-axis voltage component, u rd is the rotor d-axis voltage component, the rotor q-axis voltage component, ψ sd is the stator d-axis flux component, ψ sq is the stator q-axis flux component, ψ rd is the rotor d-axis flux component, ψ rq is the rotor q-axis flux component, ω2 is the slip angular velocity, R s is the stator voltage, R r is the rotor resistance, i sd is the stator d-axis current component, i sq is the stator q-axis current component, i rd is the rotor d-axis current component, i rq is the rotor q-axis current component, L ss is the stator self-inductance, L rr is the rotor self-inductance, L m is the mutual inductance between the stator and rotor, P is the active power, and Q is the reactive power. s -ω r ,ω s is the system synchronization angular frequency, ω r is the rotor rotation angular velocity.

[0125] Based on the stator voltage oriented vector control strategy, the d-axis of the synchronous rotating coordinate system is oriented to the vector direction of the stator voltage. In addition, since the stator resistance is much smaller than the reactance, the influence of the stator resistance is ignored here. According to the above formulas (1) and (3), the following formula can be obtained:

[0126]

[0127] Furthermore, according to the above formula (7), the following formula can be obtained:

[0128]

[0129] Substituting formula (8) into the above formula (5) for active power and reactive power yields:

[0130]

[0131] From the above formula (9), it can be seen that when the stator voltage remains unchanged, the rotor d-axis current component i rd Control the active power P output on the stator side of the doubly fed asynchronous motor. Correspondingly, by controlling the rotor q-axis current component i rq Control the active power Q output on the stator side of the double-fed asynchronous motor. It can be understood that i rd and i rq It is the component of the rotor current on the d-axis and q-axis of the synchronous rotating coordinate system. There is no coupling between the two to ensure the decoupling control of active and reactive power.

[0132] However, the control of the rotor current is achieved by indirectly controlling the excitation voltage of the motor rotor winding. Therefore, it is necessary to further derive the relationship between the output voltage of the rotor inverter and the rotor current. Substituting the above formula (8) into the above formula (4) and eliminating the stator current value, the following formula can be obtained:

[0133]

[0134] in,

[0135] Furthermore, by substituting the above formula (10) into formula (2) and ignoring the transient process of the stator flux, the voltage of the motor rotor winding can be expressed by the following formula:

[0136]

[0137] From the above formulas (9) and (11), it can be seen that in the stator voltage oriented coordinate system, the active power and reactive power are completely decoupled, but the excitation voltage vector is not completely decoupled. rd Control rd , use u rq Control rq At this time, there are cross-coupling terms in the d-axis and q-axis components, and it is necessary to add feedforward compensation links -sσi rq -sψ sq L m / L ss With -sσi rd To suppress the coupling effect, the decoupling control of the excitation voltage is realized. In order to achieve error-free tracking, the outer and inner loops of the AC excitation control system both use PI links, and finally the outer loop control equation (12) and inner loop control equation (13) of the AC excitation control are obtained, as shown below:

[0138]

[0139]

[0140] like Fig. 9 As shown, it is a control block diagram corresponding to the above formula (12) and formula (13), including the control process of the AC excitation outer loop and the control process of the AC excitation inner loop.

[0141] It can be seen that the above formula (12) is the formula corresponding to the active outer loop control model and the reactive outer loop control model, while the above formula (13) is not the formula corresponding to the rotor d-axis inner loop control model and the rotor q-axis inner loop control model. Because the feedforward compensation link in formula (13) uses the measured value of the rotor current for compensation, but the actual site needs to measure the rotor phase signal and angle. If the phase signal and angle are deviated, it will cause the rotor current i formed on the dq axis space to be rd and i rq It does not match the position that needs to be compensated for in the control, thus affecting the control effect. To avoid the above problems, the feedforward compensation link needs to be redesigned. The core idea is to represent the rotor current through the stator current and voltage, and then compensate it in the control of the current inner loop, that is, to use the physical quantity on the stator side for control in the control, thereby avoiding the risk of unsatisfactory control effect due to inaccurate measurement of the rotor current phase signal in the electromagnetic transient model.

[0142] Specifically, based on Fig.10 The steady-state equivalent circuit of the doubly-fed induction motor is shown in the figure, and the inter-rotor voltage circuit relationship of the variable-speed pumped storage unit is derived. According to the above equivalent circuit diagram, the basic equation of the doubly-fed excitation generator is determined as follows:

[0143]

[0144] i r =i m +i s (17)

[0145] Among them, i s is the stator current, i r is the rotor current, is the stator voltage, is the rotor voltage, is the induced potential, R s is the stator resistance, X sσ is the stator inductance, R r is the rotor resistance, X rσ is the rotor inductance. Stator inductance X sσ =ω s (L ss -L m ), rotor inductance X rσ =ω s (L rr -Lm ).

[0146] Furthermore, the dq component is used to replace the voltage and current in the above formulas (14)-(17) to obtain the feedforward component expression expressed by the stator voltage and current, as shown in the following formula:

[0147]

[0148] Substituting the above formula (18) into the above formula (16) yields the following formula:

[0149]

[0150] Based on the above formula (17) and formula (19), the expression of the dq component of the rotor current is determined as follows:

[0151]

[0152] Define the feedforward variable as the following formula:

[0153]

[0154] Among them, △U rd is the d-axis feedforward compensation control voltage (also called the d-axis current loop feedforward), △U rq is the q-axis feedforward compensation control voltage (also known as the d-axis current loop feedforward).

[0155] Then the control formula of the inner loop of AC excitation current is obtained as shown below:

[0156]

[0157] Furthermore, by substituting formula (20) into the normalized form of the feedforward variable, the obtained feedforward variable is shown in the following formula:

[0158] Δu rd = -ω2σ[(v s +R s i sd +L sσ i sq ) / X m +i sq ]+ω2u s L m / L SS

[0159] Δu rq = -ω2σ[(R s i sq -L sσ i sd ) / X m +isd ] (twenty two)

[0160] From the above content, it can be seen that formula (21) is the formula corresponding to the rotor d-axis inner loop control model and the rotor q-axis inner loop control model.

[0161] In some embodiments, it can be known from the above formula (20) that Fig.11 As shown, determining the feedforward compensation control voltage specifically includes the following steps:

[0162] S401, determining a d-axis feedforward compensation control voltage based on the acquired slip angular velocity, leakage inductance coefficient, stator voltage, stator resistance, stator current, stator leakage inductance, magnetizing reactance, mutual inductance between stator and rotor, and stator self-inductance.

[0163] S402, determining a q-axis feedforward compensation control voltage based on the slip angular velocity, the leakage inductance coefficient, the stator resistance, the stator current, the stator leakage inductance and the magnetizing reactance.

[0164] The stator current includes a stator d-axis current component and a stator q-axis current component.

[0165] Specifically, the d-axis feedforward compensation control voltage and the q-axis feedforward compensation control voltage can be represented by the above formula (22), where ω2 is the slip angular velocity, σ is the leakage inductance coefficient, and v s is the stator voltage, R s is the stator resistance, L sσ is the stator leakage inductance, i sd is the stator d-axis current component, i sq is the stator q-axis current component, X m is the magnetizing reactance, L m is the mutual inductance between the stator and rotor, L ss is the stator mutual inductance.

[0166] like Fig.12 As shown, it is a schematic diagram of the overall structure of an AC excitation control provided by an embodiment of the present application, including four parts: AC excitation outer loop control, AC excitation inner loop control, generator and converter system, and phase-locked loop. Among them, the generator and converter system inputs the machine-end voltage, rotor speed, actual value of active power and actual value of reactive power into the AC excitation outer loop control, and inputs the obtained voltage reference value, active power reference value, reactive power reference value and speed reference value of the generator into the AC excitation outer loop control to generate the d-axis current component and q-axis current component in the current instruction, and then inputs the d-axis current component and the q-axis current component into the AC excitation inner loop control to generate the voltage control instruction (d-axis voltage component and q-axis voltage component).

[0167] In addition, Fig.13FIG. 1 is a schematic diagram of a phase-locked loop model provided in an embodiment of the present application. Fig.13 By collecting the three-phase voltage u sa 、u sb 、u sc Transform it to the voltage u in the synchronous coordinate system sd 、u sq , take the q-axis voltage component u sq After the proportional-integral controller, the phase angle signal θ is obtained.

[0168] In order to verify the accuracy of the electromechanical transient model (i.e., the outer loop control model and the inner loop control model) of the variable speed pumped storage unit provided in this application, the electromechanical transient model and the electromagnetic transient model are simulated and compared. Fig.14 FIG. 1 is a schematic diagram of a simulation system provided in an embodiment of the present application. The simulation system includes a variable speed pumped storage unit and an infinite system.

[0169] In the simulation analysis, the step disturbance conditions of speed, voltage and reactive power are considered, and the simulation results are as follows: Fig.15 , Fig.16 as well as Fig.17 shown. Specifically, Fig.15 Comparison of the simulation results of the electromagnetic transient model (blue) and the electromechanical transient model (red) representing the speed command step. The speed command step is from 0.96pu to 0.95pu. From top to bottom, they are the rotor d-axis current, stator d-axis current, speed, and active power. Fig.16 Comparison of the simulation results of the electromagnetic transient model (blue) and the electromechanical transient model (red) that characterize the reactive command step. The reactive command step is from 0pu to -0.2pu. From top to bottom, they are the rotor q-axis current, stator q-axis current, terminal voltage, and reactive power. Fig.17 Comparison of the simulation results of the electromagnetic transient model (blue) and the electromechanical transient model (red) representing the voltage command step. The voltage command step is 1.025 to 1.0pu, from top to bottom: rotor q-axis current, stator q-axis current, machine terminal voltage, and reactive power.

[0170] It can be seen from the simulation results that the responses of the physical quantities in the two are basically the same, which proves the correctness of the speed control, active power control, reactive power control, and voltage control links, and verifies the correctness of the electromechanical transient model in this application.

[0171] Among them, the relevant parameters of the variable speed pumped storage unit are shown in Table 1:

[0172] Table 1 Parameters of variable speed pumped storage unit

[0173]

[0174] The technical solution provided by the embodiment of the present application establishes an outer loop control model and an inner loop control model of a variable speed pumped storage unit to more accurately characterize the behavior characteristics of the variable speed pumped storage unit and improve the accuracy of modeling. Furthermore, the final voltage control instruction is generated by combining the model constructed by the outer loop parameters and the inner loop parameters to control the variable speed pumped storage unit so that the variable speed pumped storage unit can effectively improve the stability and reliability of the power system after being connected to the power system.

[0175] It should be noted that the information collected in this application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant countries and regions, take necessary confidentiality measures, do not violate public order and good customs, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0176] It should be noted that the technical solution provided in this application provides users with corresponding operation entrances for them to choose to agree or reject the automated decision-making results; if the user chooses to reject, the expert decision-making process will be entered.

[0177] Fig.18 A control device for a variable speed pumped storage unit based on AC excitation and electromechanical transient model is provided in an embodiment of the present application. The control device for a variable speed pumped storage unit based on AC excitation and electromechanical transient model is used to execute the control method for a variable speed pumped storage unit based on AC excitation and electromechanical transient model, such as Fig.18 As shown, the control device of the variable speed pumped storage unit based on AC excitation and electromechanical transient model includes: an outer loop construction module 1801, an inner loop construction module 1802, a current generation module 1803, a voltage generation module 1804 and a control module 1805.

[0178] The outer loop construction module 1801 is used to construct an outer loop control model based on the acquired outer loop gain parameter, power reference value and power actual value;

[0179] An inner loop construction module 1802 is used to construct an inner loop control model based on the acquired current inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage;

[0180] The current generation module 1803 is used to input the acquired outer loop parameters of the variable speed pumped storage unit into the outer loop control model to generate the current command of the variable speed pumped storage unit; wherein the outer loop parameters include: the voltage reference value, power reference value, power actual value, speed reference value, rotor speed, terminal voltage, and grid connection point voltage of the generator of the variable speed pumped storage unit;

[0181] The voltage generation module 1804 is used to input the current command and the acquired current actual value of the rotor current into the inner loop control model to generate a voltage control command for the variable speed pumped storage unit;

[0182] The control module 1805 is used to control the variable speed pumped storage unit based on the voltage control instruction.

[0183] Further, the outer loop control model includes an active outer loop control model and a reactive outer loop control model; the power reference value includes an active power reference value and a reactive power reference value; the power actual value includes an active power actual value and a reactive power actual value;

[0184] The outer loop building module 1801 includes:

[0185] An active outer loop construction unit, used for constructing an active outer loop control model based on an outer loop gain parameter, an active power reference value and an active power actual value;

[0186] The reactive outer loop construction unit is used to construct a reactive outer loop control model based on the outer loop gain parameter, the reactive power reference value and the reactive power actual value.

[0187] Further, the inner loop control model includes a rotor d-axis inner loop control model and a q-axis current inner loop control model; the rotor current reference value includes a rotor d-axis current reference value and a rotor q-axis current reference value; the rotor current actual value includes a rotor d-axis current actual value and a rotor q-axis current actual value; the feedforward compensation control voltage includes a d-axis feedforward compensation control voltage and a q-axis feedforward compensation control voltage;

[0188] The inner loop building module 1802 includes:

[0189] A d-axis construction unit, used to construct a rotor d-axis inner loop control model based on an inner loop gain parameter, a rotor d-axis current reference value, a rotor d-axis current actual value, and a d-axis feedforward compensation control voltage;

[0190] The q-axis construction unit is used to construct a rotor q-axis inner loop control model based on an inner loop gain parameter, a rotor q-axis current reference value, a rotor q-axis current actual value, and a q-axis feedforward compensation control voltage.

[0191] Further, the step of determining the feedforward compensation control voltage includes:

[0192] Determine the d-axis feedforward compensation control voltage based on the acquired slip angular velocity, leakage inductance coefficient, stator voltage, stator resistance, stator current, stator leakage inductance, excitation reactance, mutual inductance between stator and rotor, and stator self-inductance;

[0193] The q-axis feedforward compensation control voltage is determined based on the slip angular velocity, leakage inductance coefficient, stator resistance, stator current, stator leakage inductance and excitation reactance.

[0194] The technical solution provided by the embodiment of the present application establishes an outer loop control model and an inner loop control model of a variable speed pumped storage unit to more accurately characterize the behavior characteristics of the variable speed pumped storage unit and improve the accuracy of modeling. Furthermore, the final voltage control instruction is generated by combining the model constructed by the outer loop parameters and the inner loop parameters to control the variable speed pumped storage unit so that the variable speed pumped storage unit can effectively improve the stability and reliability of the power system after being connected to the power system.

[0195] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer device, and specifically, the computer device may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0196] An embodiment of the present invention provides a computer device, including a memory and a processor, the memory is used to store information including program instructions, the processor is used to control the execution of the program instructions, and when the program instructions are loaded and executed by the processor, the steps of the embodiment of the control method of the variable speed pumped storage unit based on AC excitation and electromechanical transient model are implemented. For a specific description, please refer to the embodiment of the control method of the variable speed pumped storage unit based on AC excitation and electromechanical transient model.

[0197] Reference below Fig.19 , which shows a schematic diagram of the structure of a computer device 1900 suitable for implementing an embodiment of the present application.

[0198] like Fig.19 As shown, the computer device 1900 includes a central processing unit (CPU) 1901, which can perform various appropriate operations and processes according to a program stored in a read-only memory (ROM) 1902 or a program loaded from a storage part 1908 into a random access memory (RAM) 1903. In the RAM 1903, various programs and data required for the operation of the computer device 1900 are also stored. The CPU 1901, the ROM 1902, and the RAM 1903 are connected to each other via a bus 1904. An input / output (I / O) interface 1905 is also connected to the bus 1904.

[0199] The following components are connected to the I / O interface 1905: an input section 1906 including a keyboard, a mouse, etc.; an output section 1907 including a cathode ray tube (CRT), a liquid crystal feedback device (LCD), etc., and a speaker, etc.; a storage section 1908 including a hard disk, etc.; and a communication section 1909 including a network interface card such as a LAN card, a modem, etc. The communication section 1909 performs communication processing via a network such as the Internet. A drive 1910 is also connected to the I / O interface 1905 as needed. A removable medium 1911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1910 as needed, so that a computer program read therefrom is installed as needed as the storage section 1908.

[0200] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program tangibly contained on a machine-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 1909, and / or installed from the removable medium 1911.

[0201] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0202] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0203] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0204] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0205] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0206] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0207] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0208] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0209] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0210] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0211] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0212] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A control method for a variable speed pumped storage unit based on AC excitation and electromechanical transient model, characterized in that: include: An outer loop control model is constructed based on the acquired outer loop gain parameters, power reference values ​​and power actual values; An inner loop control model is constructed based on the acquired current inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage; The obtained outer loop parameters of the variable speed pumped storage unit are input into the outer loop control model to generate the current command of the variable speed pumped storage unit; wherein the outer loop parameters include: the voltage reference value, power reference value, power actual value, speed reference value, rotor speed, terminal voltage, and unit grid connection point voltage of the generator of the variable speed pumped storage unit; Inputting the current command and the acquired current actual value of the rotor current into the inner loop control model to generate a voltage control command for the variable speed pumped storage unit; The variable speed pumped storage unit is controlled based on the voltage control instruction.

2. The method according to claim 1, characterized in that: The outer loop control model includes an active outer loop control model and a reactive outer loop control model; the power reference value includes an active power reference value and a reactive power reference value; the power actual value includes an active power actual value and a reactive power actual value; The outer loop control model is constructed based on the acquired outer loop gain parameter, power reference value and power actual value, including: Constructing the active outer loop control model based on the outer loop gain parameter, the active power reference value and the active power actual value; The reactive outer loop control model is constructed based on the outer loop gain parameter, the reactive power reference value and the reactive power actual value.

3. The method according to claim 1, characterized in that The inner loop control model includes a rotor d-axis inner loop control model and a q-axis current inner loop control model; the rotor current reference value includes a rotor d-axis current reference value and a rotor q-axis current reference value; the rotor current actual value includes a rotor d-axis current actual value and a rotor q-axis current actual value; the feedforward compensation control voltage includes a d-axis feedforward compensation control voltage and a q-axis feedforward compensation control voltage; The inner loop control model is constructed based on the acquired inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage, including: Constructing the rotor d-axis inner loop control model based on the inner loop gain parameter, the rotor d-axis current reference value, the rotor d-axis current actual value and the d-axis feedforward compensation control voltage; The rotor q-axis inner loop control model is constructed based on the inner loop gain parameter, the rotor q-axis current reference value, the rotor q-axis current actual value and the q-axis feedforward compensation control voltage.

4. The method according to claim 3, characterized in that The step of determining the feedforward compensation control voltage comprises: Determine the d-axis feedforward compensation control voltage based on the acquired slip angular velocity, leakage inductance coefficient, stator voltage, stator resistance, stator current, stator leakage inductance, excitation reactance, mutual inductance between stator and rotor, and stator self-inductance; The q-axis feedforward compensation control voltage is determined based on the slip angular velocity, the leakage inductance coefficient, the stator resistance, the stator current, the stator leakage inductance, and the magnetizing reactance.

5. A control device for a variable speed pumped storage unit based on AC excitation and electromechanical transient model, characterized in that: include: An outer loop construction module, used to construct an outer loop control model based on the acquired outer loop gain parameter, power reference value and power actual value; An inner loop construction module, used for constructing an inner loop control model based on the acquired current inner loop gain parameter, the rotor current reference value, the rotor current actual value and the predetermined feedforward compensation voltage; A current generation module, used for inputting the acquired outer loop parameters of the variable speed pumped storage unit into the outer loop control model to generate the current command of the variable speed pumped storage unit; wherein the outer loop parameters include: the voltage reference value, power reference value, power actual value, speed reference value, rotor speed, terminal voltage, and unit grid connection point voltage of the generator of the variable speed pumped storage unit; A voltage generation module, used for inputting the current command and the acquired current actual value of the rotor current into the inner loop control model to generate a voltage control command for the variable speed pumped storage unit; A control module is used to control the variable speed pumped storage unit based on the voltage control instruction.

6. The device according to claim 5, characterized in that The outer loop control model includes an active outer loop control model and a reactive outer loop control model; the power reference value includes an active power reference value and a reactive power reference value; the power actual value includes an active power actual value and a reactive power actual value; The outer ring building module includes: An active outer loop construction unit, configured to construct the active outer loop control model based on the outer loop gain parameter, the active power reference value and the active power actual value; A reactive outer loop construction unit is used to construct the reactive outer loop control model based on the outer loop gain parameter, the reactive power reference value and the reactive power actual value.

7. The device according to claim 5, characterized in that The inner loop control model includes a rotor d-axis inner loop control model and a q-axis current inner loop control model; the rotor current reference value includes a rotor d-axis current reference value and a rotor q-axis current reference value; the rotor current actual value includes a rotor d-axis current actual value and a rotor q-axis current actual value; the feedforward compensation control voltage includes a d-axis feedforward compensation control voltage and a q-axis feedforward compensation control voltage; The inner loop building blocks include: A d-axis construction unit, configured to construct the rotor d-axis inner loop control model based on the inner loop gain parameter, the rotor d-axis current reference value, the rotor d-axis current actual value and the d-axis feedforward compensation control voltage; The q-axis construction unit is used to construct the rotor q-axis inner loop control model based on the inner loop gain parameter, the rotor q-axis current reference value, the rotor q-axis current actual value and the q-axis feedforward compensation control voltage.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the control method of the variable speed pumped storage unit based on AC excitation and electromechanical transient model as described in any one of claims 1 to 4 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method of the variable speed pumped storage unit based on AC excitation and electromechanical transient model as described in any one of claims 1 to 4 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the control method of a variable speed pumped storage unit based on AC excitation and electromechanical transient model as described in any one of claims 1 to 4 are implemented.

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