Direct-current voltage control method and system for hydraulic energy storage type wave power generation device

Abstract

The invention discloses a direct-current voltage control method and system for a hydraulic energy storage type wave power generation device, and relates to the technical field of direct-current voltage control. The hydraulic energy storage type wave power generation device is regulated and controlled by adopting a direct-current voltage control model, random interference signals in electrical quantity parameters can be filtered out, and the control accuracy of the direct-current voltage control model is improved. Accurate regulation and control of the hydraulic energy storage type wave power generation device are achieved, and the operation reliability of the hydraulic energy storage type wave power generation device is improved. The problems that in the prior art, the direct-current voltage of a hydraulic energy storage type wave power generation device is mainly adjusted through a proportional-integral controller, but in a complex operation environment, the controller is difficult to avoid being influenced by random noise, the control performance of the controller is reduced, and the power generation efficiency is low are solved. And the operation reliability of the hydraulic energy storage type wave power generation device is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of direct current voltage control, and in particular to a direct current voltage control method and system for a hydraulic energy storage type wave power generation device. Background Art

[0002] Wave energy is an important component of ocean energy, with huge reserves and broad prospects for development and utilization. my country is a major maritime country with extremely rich wave energy resources. The development and utilization of these wave energy resources is one of the important contents of my country's marine renewable energy development and utilization. The main means of wave energy development is wave power generation. Wave power generation devices are built on the sea and transmit electricity to the shore through submarine composite cables. Since the wavelength, wave height and wave period are all changing, the energy of the waves is unstable and discontinuous. Therefore, wave energy power generation devices need to convert unstable and discontinuous wave input into stable electrical output.

[0003] At present, the existing hydraulic energy storage wave power generation device usually converts unstable wave energy into stable output electrical energy through the energy conversion process of wave energy-hydraulic energy-electrical energy. However, since the power generation device often works in a complex and harsh environment, it is difficult to avoid the existence of many random interference factors in the system, which cause disturbances to the safe and stable operation of the control system, resulting in the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under the influence of random interference, thereby reducing the reliability of the operation of the hydraulic energy storage wave power generation device. Summary of the invention

[0004] The present invention provides a direct current voltage control method and system for a hydraulic energy storage type wave power generation device, which solves the technical problem that the existing hydraulic energy storage type wave power generation device usually converts unstable wave energy into stable output electric energy through an energy conversion process such as wave energy-hydraulic energy-electric energy, but because the power generation device often works in a complex and harsh environment, it is difficult to avoid the existence of many random interference factors in the system, which cause disturbances to the safe and stable operation of the control system and the normal operation of the control system, resulting in the hydraulic energy storage type wave power generation device being unable to maintain a stable direct current voltage under the influence of random interference, thereby reducing the reliability of the operation of the hydraulic energy storage type wave power generation device.

[0005] A first aspect of the present invention provides a method for controlling a DC voltage of a hydraulic energy storage wave power generation device, comprising:

[0006] Acquire electrical quantity parameters of the hydraulic energy storage type wave power generation device, and input the electrical quantity parameters into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module;

[0007] Performing electrical quantity preprocessing on the electrical quantity parameter by the conversion module to obtain an output current component parameter;

[0008] The DC voltage of the electrical quantity parameter is optimized and controlled by the first optimization control module to obtain a first reference current component;

[0009] Performing voltage regulation on the output current component parameter and the first reference current component parameter by the second optimization control module to obtain a voltage regulation instruction;

[0010] The voltage of the hydraulic energy storage type wave power generation device is regulated by the voltage regulation instruction.

[0011] Optionally, the electrical quantity parameters include three-phase voltage parameters and three-phase current parameters, the transformation module includes a first coordinate transformer, a second coordinate transformer and a phase-locked loop, and the step of performing electrical quantity preprocessing on the electrical quantity parameters by the transformation module to obtain output current component parameters includes:

[0012] Inputting the three-phase voltage parameters into the phase-locked loop to perform a power angle extraction operation to obtain a power angle;

[0013] Performing coordinate transformation on the three-phase current parameters by the first coordinate transformer to obtain initial current component parameters;

[0014] The second coordinate converter performs coordinate transformation on the initial current component parameter and the power angle to obtain an output current component parameter.

[0015] Optionally, the first optimization control module includes a first difference operator and a first optimization controller, and the step of optimizing and controlling the DC voltage of the electrical quantity parameter by the first optimization control module to obtain the first reference current component includes:

[0016] The first difference operator performs difference processing on the DC voltage of the electrical quantity parameter and a preset reference DC voltage to obtain a DC voltage deviation;

[0017] The DC voltage deviation is input into the first optimization controller for filtering optimization control to obtain a first reference current component, wherein the first optimization controller includes a proportional controller, a low lag filter controller, an integrator and a first adder.

[0018] Optionally, the step of inputting the DC voltage deviation into the first optimization controller for filtering optimization control to obtain a first reference current component includes:

[0019] Proportional control is performed on the DC voltage deviation by the proportional controller to obtain a proportional target value;

[0020] The low hysteresis filter controller is used to filter the proportional target value to obtain a filtered target value;

[0021] Performing an integration operation on the proportional target value by the integrator to obtain an integral target value;

[0022] The first adder performs addition processing on the filtering target value and the integration target value to obtain a first reference current component.

[0023] Optionally, the low lag filter controller includes a first-order inertial filter, a second-order filter and a second adder, and the step of filtering the proportional target value by the low lag filter controller to obtain the filtered target value includes:

[0024] Filtering the proportional target value through the first-order inertial filter to obtain a first filtered value;

[0025] The proportional target value is filtered by the second-order filter to obtain a second filtered value, wherein the second-order filter includes an actual differentiator and a second-order inertia filter connected in sequence;

[0026] The first filter value and the second filter value are added by the second adder to obtain a filter target value.

[0027] Optionally, the second optimization control module includes a first current component controller, a second current component controller and an SVPWM modulator, and the step of performing voltage regulation on the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage regulation instruction includes:

[0028] Input the output current component parameter, the pre-acquired second reference current component parameter and the first voltage given value into the first current component controller to obtain a first reference voltage component, wherein the first current component controller includes a second difference operator, a second optimization controller, a first proportional operator and a third difference operator;

[0029] Inputting the output current component parameter, the first reference current component parameter and a pre-acquired second voltage given value into the second current component controller to obtain a second reference voltage component;

[0030] The first reference voltage component and the second reference voltage component are modulated and converted by the SVPWM modulator to obtain a voltage regulation instruction.

[0031] Optionally, the second current component controller includes a fourth difference operator, a third optimization controller, a second proportional operator and a fifth difference operator, the output current component parameter includes a first output current component and a second output current component, and the step of inputting the output current component parameter, the first reference current component parameter and a pre-acquired second voltage given value into the second current component controller to obtain a second reference voltage component includes:

[0032] Performing a difference operation on the first reference current component parameter and the second output current component by the fourth difference operator to obtain a first deviation current component;

[0033] Performing filtering optimization control on the first deviation current component by the third optimization controller to obtain a first deviation voltage component;

[0034] Performing proportional operation on the first output current component by the second proportional operator to obtain a first proportional current component;

[0035] The first deviation voltage component, the first proportional current component and the pre-acquired second voltage given value are subjected to voltage regulation processing by the fifth difference operator to obtain a second reference voltage component.

[0036] The second aspect of the present invention provides a direct current voltage control system for a hydraulic energy storage wave power generation device, comprising:

[0037] A collection module, used for acquiring electrical quantity parameters of the hydraulic energy storage type wave power generation device, and inputting the electrical quantity parameters into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module;

[0038] A preprocessing module, used for performing electrical quantity preprocessing on the electrical quantity parameter through the conversion module to obtain an output current component parameter;

[0039] A first optimization control module, configured to optimize the DC voltage of the electrical quantity parameter through the first optimization control module to obtain a first reference current component;

[0040] A second optimization control module, configured to perform voltage regulation on the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage regulation instruction;

[0041] The regulating module is used to regulate the voltage of the hydraulic energy storage type wave power generation device through the voltage regulation instruction.

[0042] A third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the DC voltage control method of the hydraulic energy storage type wave power generation device as described in any one of the above items.

[0043] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, the DC voltage control method of the hydraulic energy storage type wave power generation device as described in any one of the above items is implemented.

[0044] It can be seen from the above technical solutions that the present invention has the following advantages:

[0045] The electrical quantity parameters of the hydraulic energy storage wave power generation device are obtained, and the electrical quantity parameters are input into a preset DC voltage control model for optimization control to obtain a voltage regulation instruction. The DC voltage control model is provided with an optimization controller for eliminating random interference, so that the DC voltage control model can accurately control the DC voltage of the hydraulic energy storage wave power generation device under high random interference conditions, thereby overcoming the technical problem that since the power generation device often works in a complex and harsh environment, it is difficult to avoid the presence of many random interference factors in the system, which causes disturbances to the safe and stable operation of the control system, resulting in the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under the influence of random interference, thereby reducing the reliability of the operation of the hydraulic energy storage wave power generation device. Compared with the traditional PI controller, the present invention uses a DC voltage control model to control the hydraulic energy storage wave power generation device, which can filter out random interference signals in the electrical quantity parameters, achieve accurate control of the hydraulic energy storage wave power generation device, and improve the reliability of the operation of the hydraulic energy storage wave power generation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 A flow chart of the steps of a method for controlling a DC voltage of a hydraulic energy storage wave power generation device provided in the first embodiment of the present invention;

[0048] Figure 2 A flow chart of the steps of a method for controlling a DC voltage of a hydraulic energy storage wave power generation device provided in the second embodiment of the present invention;

[0049] Figure 3A schematic diagram of the structure of a DC voltage control model provided in Embodiment 2 of the present invention;

[0050] Figure 4 A schematic diagram of the structure of a first optimization controller provided in Embodiment 2 of the present invention;

[0051] Figure 5 A schematic diagram of the structure of a low hysteresis filter controller provided in Embodiment 2 of the present invention;

[0052] Figure 6 A schematic diagram of the structure of a hydraulic energy storage wave power generation device provided in the second embodiment of the present invention;

[0053] Figure 7 The output waveform diagram of the controlled object of the optimization controller provided in the second embodiment of the present invention;

[0054] Figure 8 The output waveform diagram of the optimization controller provided in the second embodiment of the present invention;

[0055] Fig. 9 The output waveform diagram of the controlled object of the conventional PI controller provided in the second embodiment of the present invention;

[0056] Fig.10 This is a conventional PI controller output waveform diagram provided in the second embodiment of the present invention;

[0057] Fig.11 A structural block diagram of a DC voltage control system for a hydraulic energy storage wave power generation device provided in Embodiment 3 of the present invention;

[0058] Fig.12 A structural block diagram of an electronic device provided in Embodiment 4 of the present invention;

[0059] The meanings of the accompanying drawings are as follows:

[0060] 1. Hydraulic cylinder; 2. Oil tank; 3. Wave-absorbing float; 4. Accumulator; 5. Hydraulic motor; 6. Permanent magnet synchronous generator; 7. Rectifier; 8. Grid-connected inverter. DETAILED DESCRIPTION

[0061] The embodiment of the present invention provides a method and system for controlling the DC voltage of a hydraulic energy storage wave power generation device, which is used to solve the technical problem that the existing hydraulic energy storage wave power generation device usually converts unstable wave energy into stable output electrical energy through the energy conversion process of wave energy-hydraulic energy-electrical energy, but because the power generation device often works in a complex and harsh environment, it is difficult to avoid the existence of many random interference factors in the system, which cause disturbances to the safe and stable operation of the control system, resulting in the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under the influence of random interference, thereby reducing the reliability of the operation of the hydraulic energy storage wave power generation device.

[0062] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] See also Figure 1 , Figure 1 This is a flowchart of the steps of a direct current voltage control method for a hydraulic energy storage wave power generation device provided in Embodiment 1 of the present invention.

[0064] The present invention provides a method for controlling a DC voltage of a hydraulic energy storage wave power generation device, comprising:

[0065] Step 101, obtaining electrical quantity parameters of the hydraulic energy storage wave power generation device, and inputting the electrical quantity parameters into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module;

[0066] Electrical quantity parameters refer to the operating parameters of the input and output sides of the grid-connected inverter in the hydraulic energy storage wave power generation device, including but not limited to the three-phase voltage of the power grid, the three-phase current output of the grid-connected inverter, and the DC voltage input of the grid-connected inverter.

[0067] In an embodiment of the present invention, electrical quantity parameters of the hydraulic energy storage wave power generation device are collected in real time, and the electrical quantity parameters are input into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module.

[0068] Step 102: preprocess the electrical quantity parameters through a conversion module to obtain output current component parameters;

[0069] In the embodiment of the present invention, the electrical quantity parameters are preprocessed by a conversion module to obtain output current component parameters, wherein the conversion module includes a Clark converter, a phase-locked loop PLL and a Park converter.

[0070] Step 103: optimizing and controlling the DC voltage of the electrical quantity parameter by a first optimization control module to obtain a first reference current component;

[0071] In an embodiment of the present invention, a first optimization control module performs reference optimization control on a DC voltage of an electrical quantity parameter to obtain a first reference current component, wherein the first optimization control module includes a first difference operator and a first optimization controller connected in sequence.

[0072] Step 104: voltage-regulate the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage regulation instruction;

[0073] In an embodiment of the present invention, the output current component parameter and the first reference current component parameter are voltage regulated by a second optimization control module to obtain a voltage regulation instruction, wherein the second optimization control module includes a first current component controller, a second current component controller and an SVPWM modulator.

[0074] Step 105: voltage regulation of the hydraulic energy storage wave power generation device through voltage regulation instructions.

[0075] In the embodiment of the present invention, a voltage regulation instruction is sent to the grid-connected inverter of the hydraulic energy storage wave power generation device, so that the grid-connected inverter responds to the voltage regulation instruction, maintains the DC voltage stability, and realizes stable power output.

[0076] In the embodiment of the present invention, the electrical quantity parameters of the hydraulic energy storage wave power generation device are obtained, and the electrical quantity parameters are input into a preset DC voltage control model for optimization control to obtain a voltage regulation instruction. The DC voltage control model is provided with an optimization controller for eliminating random interference, so that the DC voltage control model can accurately control the DC voltage of the hydraulic energy storage wave power generation device under high random interference conditions, thereby overcoming the technical problem that since the power generation device often works in a complex and harsh environment, it is difficult to avoid the presence of many random interference factors in the system, which causes disturbances to the safe and stable operation of the control system, resulting in the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under random interference, thereby reducing the reliability of the operation of the hydraulic energy storage wave power generation device. Compared with the traditional IP controller, the present invention uses a DC voltage control model to control the hydraulic energy storage wave power generation device, which can filter out random interference signals in the electrical quantity parameters, achieve accurate control of the hydraulic energy storage wave power generation device, and improve the reliability of the operation of the hydraulic energy storage wave power generation device.

[0077] See also Figure 2 , Figure 2 This is a flow chart of the steps of a direct current voltage control method for a hydraulic energy storage wave power generation device provided in Embodiment 2 of the present invention.

[0078] The present invention provides a method for controlling a DC voltage of a hydraulic energy storage wave power generation device, comprising:

[0079] Step 201, obtaining electrical quantity parameters of the hydraulic energy storage wave power generation device, and inputting the electrical quantity parameters into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module;

[0080] It should be noted that, see Figure 6 As shown, the hydraulic energy storage wave power generation device is composed of key components such as wave absorbing float 3, hydraulic cylinder 1, accumulator 4, oil tank 2, hydraulic motor 5, permanent magnet synchronous generator 6, rectifier 7, grid-connected inverter 8, and DC voltage controller. The hydraulic energy storage wave power generation device captures intermittent and unstable wave energy through the wave absorbing float 3 and the hydraulic cylinder 1, and converts the energy into hydraulic energy and stores it in the accumulator 4; when the pressure of the accumulator 4 reaches a certain value, the hydraulic valve is opened, and the high-pressure hydraulic oil drives the hydraulic motor 5 to rotate, and drives the permanent magnet synchronous generator 6 to generate electricity; after the electric energy conversion form of rectification and inversion, the wave energy is finally converted into stable electric energy that meets the grid connection requirements. In the AC-DC-AC power conversion link, the stability of DC voltage is the key factor for the safe and stable power transmission of the hydraulic energy storage wave power generation system. In the embodiment of the present invention, the grid-connected inverter maintains the stability of the DC voltage by closed-loop control of the DC voltage on its input side, so as to achieve the normal output of the power generated by the hydraulic energy storage wave power generation device.

[0081] In an embodiment of the present invention, electrical quantity parameters of the hydraulic energy storage wave power generation device are acquired in real time, and the electrical quantity parameters are input into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module.

[0082] Step 202: preprocess the electrical quantity parameters through the conversion module to obtain output current component parameters;

[0083] Further, see Figure 3 As shown, the electrical quantity parameters include three-phase voltage parameters and three-phase current parameters, the transformation module includes a first coordinate transformer, a second coordinate transformer and a phase-locked loop, and step 202 includes the following sub-steps:

[0084] S11, inputting the three-phase voltage parameters into a phase-locked loop to perform a power angle extraction operation to obtain a power angle;

[0085] In the embodiment of the present invention, the three-phase voltage parameter (i.e. the three-phase voltage e of the power grid) is measured by a phase-locked loop (PLL). a 、e b 、e c ) to perform the power angle extraction operation and obtain the power angle (i.e., θ).

[0086] S12, performing coordinate transformation on the three-phase current parameters by a first coordinate transformer to obtain initial current component parameters;

[0087] The initial current component parameter refers to the i in the three-phase stationary coordinate system. a 、i b 、ic After the coordinate transformation, the α-axis and β-axis components in the two-phase stationary coordinate system (α-β coordinate system), i α 、i β .

[0088] In the embodiment of the present invention, the three-phase current parameter (ie, the three-phase current i output by the grid-connected inverter) is converted by a first coordinate converter (ie, Clark converter) a 、i b 、i c ) to perform coordinate transformation and obtain the initial current component parameters (i.e., i α 、i β ).

[0089] S13, performing coordinate transformation on the initial current component parameter and the power angle through a second coordinate transformer to obtain an output current component parameter.

[0090] Output current component parameters refer to the three-phase stationary coordinate system i a 、i b 、i c After coordinate transformation, the d-axis and q-axis components in the two-phase synchronous rotating coordinate system (dq coordinate system), i.e. d 、i q .

[0091] In the embodiment of the present invention, the initial current component parameter (i.e., i α 、i β ) and the power angle (i.e. θ) are input into the second coordinate converter (i.e. Park converter) for coordinate transformation to obtain the output current component parameters (i.e. i d 、i q ).

[0092] Step 203, the first optimization control module includes a first difference operator and a first optimization controller, and the first difference operator performs difference processing on the DC voltage of the electrical quantity parameter and the preset reference DC voltage to obtain a DC voltage deviation;

[0093] In the embodiment of the present invention, the DC voltage of the electrical quantity parameter is input into the first optimization control module for optimization control. The first optimization control module includes a first difference operator and a first optimization controller. The DC voltage of the electrical quantity parameter (i.e., u dc ) and the preset reference DC voltage (i.e. u dc * ) to perform difference calculation and obtain the DC voltage deviation (i.e. Δu dc ).

[0094] Step 204: input the DC voltage deviation into a first optimization controller for filtering optimization control to obtain a first reference current component, wherein the first optimization controller includes a proportional controller, a low lag filter controller, an integrator and a first adder.

[0095] It should be noted that the transfer function of the first optimization controller is specifically:

[0096]

[0097] Among them, K P is the proportional control coefficient, T I is the time constant of the integrator, G LLF (s) is the transfer function of the low lag filter.

[0098] Further, step 204 includes the following sub-steps:

[0099] S21, performing proportional optimization control on the DC voltage deviation through a proportional controller to obtain a proportional target value;

[0100] In the embodiment of the present invention, refer to Figure 4 As shown, the DC voltage deviation (i.e. Δu dc ) Input the proportional controller to perform proportional optimization control and obtain the proportional target value.

[0101] S22, filtering the proportional target value through a low hysteresis filter controller to obtain a filtered target value;

[0102] It should be noted that the transfer function of the low lag filter controller is specifically:

[0103]

[0104] Among them, G FOIF (s) is the transfer function of the first-order inertial filter, G AD (s) is the transfer function of the actual differentiator, G SOIF (s) is the transfer function of the second-order inertial filter.

[0105] Further, see Figure 5 As shown, the low lag filter controller includes a first-order inertial filter, a second-order filter and a second adder, and S22 includes the following sub-steps:

[0106] S221, filtering the proportional target value through a first-order inertial filter to obtain a first filtered value;

[0107] In the embodiment of the present invention, the proportional target value is input into a first-order inertial filter for filtering to obtain a first filtered value.

[0108] It should be noted that the transfer function of the first-order inertial filter is specifically:

[0109]

[0110] Among them, T FOIF is the time constant of the first-order inertial filter.

[0111] S222, filtering the proportional target value through a second-order filter to obtain a second filtered value, wherein the second-order filter includes an actual differentiator and a second-order inertia filter connected in sequence;

[0112] In the embodiment of the present invention, the proportional target value is filtered by the actual differentiator and the second-order inertial filter in sequence to obtain the second filtered value.

[0113] It should be noted that the transfer function of the actual differentiator is:

[0114]

[0115] Among them, K AD is the gain of the actual differentiator, T AD is the time constant of the actual differentiator;

[0116] The transfer function of the second-order inertial filter is specifically:

[0117]

[0118] Among them, T SOIF is the time constant of the second-order inertia filter.

[0119] S223. Perform an addition operation on the first filter value and the second filter value through a second adder to obtain a filter target value.

[0120] In the embodiment of the present invention, the first filter value and the second filter value are input into the second adder for addition operation to obtain the filter target value.

[0121] S23, performing an integration operation on the proportional target value through an integrator to obtain an integral target value;

[0122] In the embodiment of the present invention, the proportional target value is input into the integrator for integration operation to obtain the integral target value.

[0123] S24. Add the filtering target value and the integration target value through a first adder to obtain a first reference current component.

[0124] In the embodiment of the present invention, the filtering target value and the integral target value are input into the first adder for addition operation to obtain the first reference current component (i.e., i d* ).

[0125] Step 205: voltage-regulate the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage regulation instruction;

[0126] Further, the second optimization control module includes a first current component controller, a second current component controller and a SVPWM modulator, and step 205 includes the following sub-steps:

[0127] S31, inputting the output current component parameter, the pre-acquired second reference current component parameter and the first voltage given value into the first current component controller to obtain the first reference voltage component, wherein the first current component controller includes a second difference operator, a second optimization controller, a first proportional operator and a third difference operator;

[0128] In the embodiment of the present invention, the first current component controller optimizes and controls the output current component parameter, the pre-acquired second reference current component parameter and the first voltage given value to obtain the first reference voltage component.

[0129] It should be noted that the transfer function expressions of the first current component controller and the second current component controller are the same.

[0130] S32, inputting the output current component parameter, the first reference current component parameter and the pre-acquired second voltage given value into the second current component controller to obtain a second reference voltage component;

[0131] Further, the second current component controller includes a fourth difference operator, a third optimization controller, a second proportional operator and a fifth difference operator, the output current component parameter includes a first output current component and a second output current component, and S32 includes the following sub-steps:

[0132] S321, performing a difference operation on the first reference current component parameter and the second output current component by a fourth difference operator to obtain a first deviation current component;

[0133] In the embodiment of the present invention, the first reference current component parameter (i.e., d * ) and the second output current component (i d ) is input into the fourth difference operator for difference operation to obtain the first deviation current component (i.e., Δi d ).

[0134] S322, performing filtering optimization control on the first deviation current component by a third optimization controller to obtain a first deviation voltage component;

[0135] In the embodiment of the present invention, the first deviation current component (ie, Δi d ) is input into the third optimization controller for filtering optimization control to obtain the first deviation voltage component (i.e. Δu d ).

[0136] S323, performing proportional operation on the first output current component by a second proportional operator to obtain a first proportional current component;

[0137] In the embodiment of the present invention, the first output current component (i.e., q ) is input into the second proportional operator (proportional parameter K=ωL) for proportional operation to obtain the first proportional current component (i.e. ωLi q ).

[0138] S324, performing voltage regulation processing on the first deviation voltage component, the first proportional current component and the pre-acquired second voltage given value through a fifth difference operator to obtain a second reference voltage component.

[0139] In the embodiment of the present invention, the first deviation voltage component (ie, Δu d ), the first proportional current component (i.e. ωLi q ) and the pre-acquired second voltage given value (ie, e d ) is input into the fifth difference operator for voltage regulation processing to obtain the second reference voltage component (i.e. u d ).

[0140] S335 , performing modulation conversion processing on the first reference voltage component and the second reference voltage component through the SVPWM modulator to obtain a voltage regulation instruction.

[0141] In the embodiment of the present invention, the first reference voltage component (ie, u q ) and the second reference voltage component (i.e. u d ) is input into the SVPWM modulator for modulation conversion processing to obtain the voltage regulation instruction.

[0142] Step 206: voltage regulation of the hydraulic energy storage wave power generation device through voltage regulation instructions.

[0143] In the embodiment of the present invention, a voltage regulation instruction is sent to a grid-connected inverter of a hydraulic energy storage type wave power generation device to perform voltage regulation on the hydraulic energy storage type wave power generation device.

[0144] It is worth mentioning that the anti-interference ability comparison results of the first optimization controller and the conventional PI controller are obtained through simulation analysis. Set the parameters of the first optimization controller: Proportional controller gain K P =0.8; integrator time constant T I =200s; first-order inertial filter time constant TFOIF =20s; actual differentiator gain K AD =0.8, time constant T AD =10s; second-order inertial filter time constant T SOIF =10s. , set the conventional PI controller parameters: proportional controller gain K P =0.8; integrator time constant T I =200s. Set the controlled object transfer function to:

[0145]

[0146] The controller given signal is set to a unit step, and a pseudo-random signal of ±0.1 is added after 100s of running time, so as to obtain a comparison of the simulation results of the first optimized controller and the conventional PI controller.

[0147] pass Figure 7-10 From the comparative analysis, it can be seen that a very obvious interference signal is superimposed on the control output curve of the conventional PI controller, while the control output of the first optimization controller successfully filters out the interference signal, thus confirming that the first optimization controller has superior control output anti-interference ability.

[0148] In the embodiment of the present invention, the electrical quantity parameters of the hydraulic energy storage wave power generation device are obtained, and the electrical quantity parameters are input into a preset DC voltage control model for optimization control to obtain a voltage regulation instruction. The DC voltage control model is provided with an optimization controller for eliminating random interference, so that the DC voltage control model can accurately control the DC voltage of the hydraulic energy storage wave power generation device under high random interference conditions, thereby overcoming the technical problem that since the power generation device often works in a complex and harsh environment, it is difficult to avoid the presence of many random interference factors in the system, which causes disturbances to the safe and stable operation of the control system, resulting in the hydraulic energy storage wave power generation device being unable to output a maintained DC voltage under random interference, thereby reducing the reliability of the operation of the hydraulic energy storage wave power generation device. Compared with the traditional PI controller, the present invention uses a DC voltage control model to control the hydraulic energy storage wave power generation device, which can filter out random interference signals in the electrical quantity parameters, achieve accurate control of the hydraulic energy storage wave power generation device, and improve the reliability of the operation of the hydraulic energy storage wave power generation device.

[0149] See also Fig.11 , Fig.11 This is a structural block diagram of a DC voltage control system of a hydraulic energy storage wave power generation device provided in Embodiment 3 of the present invention.

[0150] The present invention provides a direct current voltage control system for a hydraulic energy storage wave power generation device, comprising:

[0151] The acquisition module 301 is used to obtain the electrical quantity parameters of the hydraulic energy storage type wave power generation device, and input the electrical quantity parameters into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module;

[0152] A preprocessing module 302 is used to perform electrical quantity preprocessing on the electrical quantity parameters through a transformation module to obtain output current component parameters;

[0153] A first optimization control module 303, used to optimize the DC voltage of the electrical quantity parameter through the first optimization control module to obtain a first reference current component;

[0154] A second optimization control module 304 is used to perform voltage regulation on the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage regulation instruction;

[0155] The regulating module 305 is used to regulate the voltage of the hydraulic energy storage type wave power generation device through a voltage regulation instruction.

[0156] Furthermore, the electrical quantity parameters include three-phase voltage parameters and three-phase current parameters, the transformation module includes a first coordinate transformer, a second coordinate transformer and a phase-locked loop, and the preprocessing module 302 includes:

[0157] The extraction submodule is used to input the three-phase voltage parameters into the phase-locked loop to perform a power angle extraction operation to obtain the power angle;

[0158] A first transformation submodule, used for performing coordinate transformation on the three-phase current parameters through a first coordinate transformer to obtain initial current component parameters;

[0159] The second transformation submodule is used to perform coordinate transformation on the initial current component parameters and the power angle through a second coordinate transformer to obtain output current component parameters.

[0160] Furthermore, the first optimization control module includes a first difference operator and a first optimization controller. The first optimization control module 303 includes:

[0161] A voltage deviation submodule, used for performing difference processing on the DC voltage of the electrical quantity parameter and a preset reference DC voltage through a first difference operator to obtain a DC voltage deviation;

[0162] The reference current component submodule is used to input the DC voltage deviation into the first optimization controller for filtering optimization control to obtain the first reference current component, wherein the first optimization controller includes a proportional controller, a low lag filter controller, an integrator and a first adder.

[0163] Furthermore, the reference current component submodule includes:

[0164] A proportional control unit, used for performing proportional optimization control on a DC voltage deviation through a proportional controller to obtain a proportional target value;

[0165] A first filtering unit, configured to filter the proportional target value through a low hysteresis filter controller to obtain a filtered target value;

[0166] An integration unit, used for performing an integration operation on the proportional target value through an integrator to obtain an integral target value;

[0167] The adding unit is used to perform addition processing on the filtering target value and the integration target value through a first adding operator to obtain a first reference current component.

[0168] Furthermore, the low lag filter controller includes a first-order inertial filter, a second-order filter and a second adder, and the first filtering unit includes:

[0169] A first-order filtering subunit, used for filtering the proportional target value through a first-order inertial filter to obtain a first filtered value;

[0170] A second-order filtering subunit, used for filtering the proportional target value through a second-order filter to obtain a second filtered value, wherein the second-order filter includes an actual differentiator and a second-order inertia filter connected in sequence;

[0171] The adding subunit is used to perform an addition operation on the first filtering value and the second filtering value through a second adding operator to obtain a filtering target value.

[0172] Further, the second optimization control module includes a first current component controller, a second current component controller and a SVPWM modulator, and the second optimization control module 304 includes:

[0173] A first voltage control submodule, used for inputting the output current component parameter, the pre-acquired second reference current component parameter and the first voltage given value into a first current component controller to obtain a first reference voltage component, wherein the first current component controller includes a second difference operator, a second optimization controller, a first proportional operator and a third difference operator;

[0174] A second voltage control submodule, used for inputting the output current component parameter, the first reference current component parameter and the pre-acquired second voltage given value into a second current component controller to obtain a second reference voltage component;

[0175] The modulation submodule is used to perform modulation conversion processing on the first reference voltage component and the second reference voltage component through the SVPWM modulator to obtain a voltage regulation instruction.

[0176] Further, the second current component controller includes a fourth difference operator, a third optimization controller, a second proportional operator and a fifth difference operator, the output current component parameter includes a first output current component and a second output current component, and the second voltage control submodule includes:

[0177] A difference unit, used for performing a difference operation on the first reference current component parameter and the second output current component through a fourth difference operator to obtain a first deviation current component;

[0178] A second filtering unit is used to perform filtering optimization control on the first deviation current component through a third optimization controller to obtain a first deviation voltage component;

[0179] A proportional operation unit, used for performing proportional operation on the first output current component through a second proportional operator to obtain a first proportional current component;

[0180] The regulating unit is used to perform voltage regulation processing on the first deviation voltage component, the first proportional current component and the pre-acquired second voltage given value through a fifth difference operator to obtain a second reference voltage component.

[0181] See also Fig.12 , Fig.12 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention.

[0182] An electronic device according to an embodiment of the present invention includes: a memory 401 and a processor 402, wherein the memory 402 stores a computer program; when the computer program is executed by the processor 402, the processor 402 executes the DC voltage control method of the hydraulic energy storage wave power generation device according to any of the above embodiments.

[0183] The memory 401 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory 401 has a storage space 403 for a program code 413 for executing any method step in the above method. For example, the storage space 403 for the program code may include individual program codes 413 for implementing the various steps in the above method, respectively. These program codes may be read from or written to one or more computer program products. These computer program products include program code carriers such as a hard disk, a compact disk (CD), a memory card or a floppy disk. The program code may be compressed, for example, in an appropriate form. When these codes are run by a computing and processing device, the computing and processing device is caused to execute the various steps in the above-described method.

[0184] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the direct current voltage control method of the hydraulic energy storage type wave power generation device as described in any of the above embodiments is implemented.

[0185] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0186] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0187] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0188] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0189] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for 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 of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0190] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. 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 embodiments of the present invention.

Claims

1. A method for controlling direct current voltage of a hydraulic energy storage wave power generation device, characterized in that: include: Acquire electrical quantity parameters of the hydraulic energy storage type wave power generation device, and input the electrical quantity parameters into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module; Performing electrical quantity preprocessing on the electrical quantity parameters by the conversion module to obtain output current component parameters; The DC voltage of the electrical quantity parameter is optimized and controlled by the first optimization control module to obtain a first reference current component; Performing voltage regulation on the output current component parameter and the first reference current component parameter by the second optimization control module to obtain a voltage regulation instruction; The voltage of the hydraulic energy storage type wave power generation device is regulated by the voltage regulation instruction.

2. The method for controlling the DC voltage of a hydraulic energy storage wave power generation device according to claim 1, characterized in that: The electrical quantity parameters include three-phase voltage parameters and three-phase current parameters, the transformation module includes a first coordinate transformer, a second coordinate transformer and a phase-locked loop, and the step of performing electrical quantity preprocessing on the electrical quantity parameters by the transformation module to obtain output current component parameters includes: Inputting the three-phase voltage parameters into the phase-locked loop to perform a power angle extraction operation to obtain a power angle; Performing coordinate transformation on the three-phase current parameters by the first coordinate transformer to obtain initial current component parameters; The second coordinate converter performs coordinate transformation on the initial current component parameter and the power angle to obtain an output current component parameter.

3. The DC voltage control method of the hydraulic energy storage wave power generation device according to claim 1, characterized in that: The first optimization control module includes a first difference operator and a first optimization controller. The step of optimizing and controlling the DC voltage of the electrical quantity parameter by the first optimization control module to obtain the first reference current component includes: The first difference operator performs difference processing on the DC voltage of the electrical quantity parameter and a preset reference DC voltage to obtain a DC voltage deviation; The DC voltage deviation is input into the first optimization controller for filtering optimization control to obtain a first reference current component, wherein the first optimization controller includes a proportional controller, a low lag filter controller, an integrator and a first adder.

4. The method for controlling the DC voltage of a hydraulic energy storage wave power generation device according to claim 3, characterized in that: The step of inputting the DC voltage deviation into the first optimization controller for filtering optimization control to obtain the first reference current component includes: The DC voltage deviation is proportionally optimized and controlled by the proportional controller to obtain a proportional target value; The low hysteresis filter controller is used to filter the proportional target value to obtain a filtered target value; Performing an integration operation on the proportional target value by the integrator to obtain an integral target value; The first adder performs addition processing on the filtering target value and the integration target value to obtain a first reference current component.

5. The method for controlling the DC voltage of a hydraulic energy storage wave power generation device according to claim 4, characterized in that: The low lag filter controller includes a first-order inertial filter, a second-order filter and a second adder. The step of filtering the proportional target value by the low lag filter controller to obtain the filtered target value includes: Filtering the proportional target value through the first-order inertial filter to obtain a first filtered value; The proportional target value is filtered by the second-order filter to obtain a second filtered value, wherein the second-order filter includes an actual differentiator and a second-order inertia filter connected in sequence; The first filter value and the second filter value are added by the second adder to obtain a filter target value.

6. The method for controlling the DC voltage of a hydraulic energy storage wave power generation device according to any one of claims 1 to 5, characterized in that: The second optimization control module includes a first current component controller, a second current component controller and an SVPWM modulator, and the step of performing voltage regulation on the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage regulation instruction includes: Input the output current component parameter, the pre-acquired second reference current component parameter and the first voltage given value into the first current component controller to obtain a first reference voltage component, wherein the first current component controller includes a second difference operator, a second optimization controller, a first proportional operator and a third difference operator; Inputting the output current component parameter, the first reference current component parameter and a pre-acquired second voltage given value into the second current component controller to obtain a second reference voltage component; The first reference voltage component and the second reference voltage component are modulated and converted by the SVPWM modulator to obtain a voltage regulation instruction.

7. The method for controlling the DC voltage of a hydraulic energy storage wave power generation device according to claim 6, characterized in that: The second current component controller includes a fourth difference operator, a third optimization controller, a second proportional operator and a fifth difference operator, the output current component parameter includes a first output current component and a second output current component, and the step of inputting the output current component parameter, the first reference current component parameter and the pre-acquired second voltage given value into the second current component controller to obtain a second reference voltage component includes: Performing a difference operation on the first reference current component parameter and the second output current component by the fourth difference operator to obtain a first deviation current component; Performing filtering optimization control on the first deviation current component by the third optimization controller to obtain a first deviation voltage component; Performing proportional operation on the first output current component by the second proportional operator to obtain a first proportional current component; The first deviation voltage component, the first proportional current component and the pre-acquired second voltage given value are subjected to voltage regulation processing by the fifth difference operator to obtain a second reference voltage component.

8. A DC voltage control system for a hydraulic energy storage wave power generation device, characterized in that: include: A collection module, used for acquiring electrical quantity parameters of the hydraulic energy storage type wave power generation device, and inputting the electrical quantity parameters into a preset DC voltage control model, wherein the DC voltage control model includes a conversion module, a first optimization control module and a second optimization control module; A preprocessing module, used for performing electrical quantity preprocessing on the electrical quantity parameter through the conversion module to obtain an output current component parameter; A first optimization control module, configured to optimize the DC voltage of the electrical quantity parameter through the first optimization control module to obtain a first reference current component; A second optimization control module, configured to perform voltage regulation on the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage regulation instruction; The regulating module is used to regulate the voltage of the hydraulic energy storage type wave power generation device through the voltage regulation instruction.

9. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the direct current voltage control method of the hydraulic energy storage type wave power generation device according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the DC voltage control method of the hydraulic energy storage type wave power generation device according to any one of claims 1 to 7 is implemented.

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