A DC voltage control method and system for a hydraulic energy storage wave power generation device

Abstract

This invention discloses a DC voltage control method and system for a hydraulic energy storage wave power generation device, belonging to the field of DC voltage control technology. By employing a DC voltage control model to regulate the hydraulic energy storage wave power generation device, this invention can filter out random interference signals in electrical parameters, achieving precise regulation of the device and improving its operational reliability. It solves the technical problem that existing technologies mainly use proportional-integral controllers to regulate the DC voltage of hydraulic energy storage wave power generation devices. However, in complex operating environments, these controllers are inevitably affected by random noise, leading to a decline in control performance and reduced operational reliability.

Description

Technical Field

[0001] This invention relates to the field of DC voltage control technology, and in particular to a DC voltage control method and system for a hydraulic energy storage wave power generation device. Background Technology

[0002] Wave energy is an important component of ocean energy, with enormous reserves and broad prospects for development and utilization. my country, as a major maritime nation, possesses extremely rich available wave energy resources, and the development and utilization of these resources is a crucial aspect of my country's marine renewable energy development and utilization. The primary method for wave energy development is wave power generation. Wave power generation devices are built at sea and transmit electricity to shore via submarine composite cables. Because wavelength, wave height, and wave period are all variable, wave energy is unstable and discontinuous. Therefore, wave power generation devices need to convert the unstable and discontinuous wave input into stable electrical output.

[0003] Currently, existing hydraulic energy storage wave power generation devices typically convert unstable wave energy into stable output electrical energy through a wave energy-hydraulic energy-electric energy conversion process. However, since the power generation devices often operate in complex and harsh environments, many random interference factors are unavoidable in the system, causing disturbances to the safe and stable operation of the control system. This results in the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under the influence of random interference, reducing the reliability of the hydraulic energy storage wave power generation device operation. Summary of the Invention

[0004] This invention provides a DC voltage control method and system for a hydraulic energy storage wave power generation device. It solves the technical problem that existing hydraulic energy storage wave power generation devices typically convert unstable wave energy into stable electrical output through an energy conversion process such as wave energy-hydraulic energy-electrical energy. However, because the power generation device often operates in complex and harsh environments, many random interference factors are unavoidable in the system, causing disturbances to the safe and stable operation of the control system and disrupting its normal operation. This results in the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under the influence of random interference, reducing the reliability of the hydraulic energy storage wave power generation device.

[0005] The first aspect of this invention provides a DC voltage control method for a hydraulic energy storage wave power generation device, comprising:

[0006] The electrical parameters of the hydraulic energy storage wave power generation device are obtained, and the electrical 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;

[0007] The electrical quantity parameters are preprocessed by the transformation module to obtain the output current component parameters.

[0008] The first optimization control module optimizes and controls the DC voltage of the electrical quantity parameters to obtain the first reference current component.

[0009] The second optimization control module adjusts the voltage of the output current component parameters and the first reference current component parameters to obtain a voltage adjustment command.

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

[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 through the transformation module to obtain the output current component parameters includes:

[0012] The three-phase voltage parameters are input into the phase-locked loop to perform a power angle extraction operation, thus obtaining the power angle.

[0013] The initial current component parameters are obtained by performing coordinate transformation on the three-phase current parameters using the first coordinate transformer.

[0014] The output current component parameters are obtained by performing coordinate transformation on the initial current component parameters and the power angle using the second coordinate transformer.

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

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

[0017] The DC voltage deviation is input to the first optimization controller for filtering and optimization control to obtain the first reference current component. The first optimization controller includes a proportional controller, a low-hysteresis 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 and optimization control to obtain the first reference current component includes:

[0019] The DC voltage deviation is proportionally controlled by the proportional controller to obtain a proportional target value;

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

[0021] The integral target value is obtained by integrating the proportional target value using the integrator.

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

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

[0024] The proportional target value is filtered by the first-order inertial filter to obtain a first filtered value;

[0025] The target proportional 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 inertial filter connected in sequence.

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

[0027] Optionally, the second optimization control module includes a first current component controller, a second current component controller, and an SVPWM modulator. The step of adjusting the voltage of the output current component parameters and the first reference current component parameters through the second optimization control module to obtain a voltage adjustment command includes:

[0028] The output current component parameters, the pre-acquired second reference current component parameters, and the first voltage setpoint are input into the first current component controller to obtain the first reference voltage component. The first current component controller includes a second difference operator, a second optimization controller, a first proportional operator, and a third difference operator.

[0029] The output current component parameters, the first reference current component parameters, and the pre-acquired second voltage setpoint are input into the second current component controller to obtain the 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 command.

[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 parameters include a first output current component and a second output current component. The step of inputting the output current component parameters, the first reference current component parameters, and a pre-acquired second voltage setpoint value into the second current component controller to obtain the second reference voltage component includes:

[0032] The first deviation current component is obtained by performing a difference operation on the first reference current component parameter and the second output current component through the fourth difference operator.

[0033] The first deviation current component is filtered and optimized by the third optimization controller to obtain the first deviation voltage component;

[0034] The first proportional current component is obtained by performing a proportional operation on the first output current component using the second proportional arithmetic unit.

[0035] The fifth difference arithmetic unit performs voltage regulation processing on the first deviation voltage component, the first proportional current component, and the pre-acquired second voltage setpoint to obtain the second reference voltage component.

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

[0037] The acquisition module is used to acquire electrical quantity parameters of the hydraulic energy storage 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;

[0038] The preprocessing module is used to preprocess the electrical quantity parameters through the transformation module to obtain the output current component parameters;

[0039] The first optimization control module is used to optimize and control the DC voltage of the electrical quantity parameter to obtain the first reference current component.

[0040] The second optimization control module is used to adjust the voltage of the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage adjustment command.

[0041] The adjustment module is used to regulate the voltage of the hydraulic energy storage wave power generation device through the voltage adjustment command.

[0042] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the steps of the DC voltage control method for the hydraulic energy storage wave power generation device as described in any of the preceding claims.

[0043] The fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the DC voltage control method for a hydraulic energy storage wave power generation device as described in any of the preceding claims.

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

[0045] By acquiring the electrical parameters of the hydraulic energy storage wave power generation device and inputting these parameters into a preset DC voltage control model for optimized control, a voltage regulation command is obtained. The DC voltage control model is equipped with an optimization controller to eliminate random interference, enabling precise regulation of the DC voltage of the hydraulic energy storage wave power generation device under high random interference conditions. This overcomes the technical problem that, since power generation devices often operate in complex and harsh environments, many random interference factors are unavoidable in the system, causing disturbances to the safe and stable operation of the control system. This leads to the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under the influence of random interference, reducing the reliability of the hydraulic energy storage wave power generation device. Compared with traditional PI controllers, this invention uses a DC voltage control model to regulate the hydraulic energy storage wave power generation device, which can filter out random interference signals in the electrical parameters, achieve precise regulation of the hydraulic energy storage wave power generation device, and improve the reliability of the hydraulic energy storage wave power generation device. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart illustrating the steps of a DC voltage control method for a hydraulic energy storage wave power generation device according to Embodiment 1 of the present invention.

[0048] Figure 2 This is a flowchart illustrating the steps of a DC voltage control method for a hydraulic energy storage wave power generation device according to Embodiment 2 of the present invention.

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

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

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

[0052] Figure 6 This is a schematic diagram of the structure of the hydraulic energy storage wave power generation device provided in Embodiment 2 of the present invention;

[0053] Figure 7 The output waveform diagram of the controlled object of the optimized controller provided in Embodiment 2 of the present invention;

[0054] Figure 8 The output waveform diagram of the optimized controller provided in Embodiment 2 of the present invention;

[0055] Figure 9 The output waveform diagram of the controlled object of the conventional PI controller provided in Embodiment 2 of the present invention;

[0056] Figure 10 This is the output waveform diagram of a conventional PI controller provided in Embodiment 2 of the present invention;

[0057] Figure 11 This is 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] Figure 12 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention;

[0059] The meanings of the symbols in the attached diagrams 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 Implementation

[0061] This invention provides a DC voltage control method and system for a hydraulic energy storage wave power generation device. This addresses the problem that existing hydraulic energy storage wave power generation devices typically convert unstable wave energy into stable electrical output through a wave energy-hydraulic energy-electrical energy conversion process. However, because these devices often operate in complex and harsh environments, numerous random interference factors inevitably exist within the system, causing disturbances to the safe and stable operation of the control system. This results in the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under the influence of random interference, thus reducing the reliability of the device's operation.

[0062] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0063] Please see Figure 1 , Figure 1 The flowchart illustrates the steps of a DC voltage control method for a hydraulic energy storage wave power generation device according to Embodiment 1 of the present invention.

[0064] This invention provides a DC voltage control method for a hydraulic energy storage wave power generation device, comprising:

[0065] Step 101: Obtain the electrical quantity parameters of the hydraulic energy storage wave power generation device and input the electrical quantity parameters into the 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 parameters refer to the operating parameters of the input and output sides of the grid-connected inverter in a hydraulic energy storage wave power generation device, including but not limited to the three-phase voltage of the grid, the three-phase output current of the grid-connected inverter, and the DC input voltage of the grid-connected inverter.

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

[0068] Step 102: Perform electrical quantity preprocessing on the electrical quantity parameters through the transformation module to obtain the output current component parameters;

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

[0070] Step 103: Optimize and control the DC voltage of the electrical quantity parameters through the first optimization control module to obtain the first reference current component;

[0071] In this embodiment of the invention, the DC voltage of the electrical quantity parameter is optimized and controlled by the first optimization control module to obtain the first reference current component. The first optimization control module includes a first difference arithmetic unit and a first optimization controller connected in sequence.

[0072] Step 104: The output current component parameters and the first reference current component parameters are voltage-regulated by the second optimization control module to obtain a voltage regulation command;

[0073] In this embodiment of the invention, the output current component parameters and the first reference current component parameters are voltage-regulated by the second optimization control module to obtain a voltage regulation command. The second optimization control module includes a first current component controller, a second current component controller, and an SVPWM modulator.

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

[0075] In this embodiment of the invention, a voltage regulation command 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 command, maintains DC voltage stability, and achieves stable power output.

[0076] In this embodiment of the invention, electrical parameters of the hydraulic energy storage wave power generation device are acquired and input into a preset DC voltage control model for optimized control to obtain a voltage regulation command. The DC voltage control model is equipped with an optimization controller to eliminate random interference, enabling the DC voltage control model to accurately regulate the DC voltage of the hydraulic energy storage wave power generation device under high random interference conditions. This overcomes the technical problem that, since the power generation device often operates in complex and harsh environments, many random interference factors are unavoidable in the system, causing disturbances to the safe and stable operation of the control system. This leads to the hydraulic energy storage wave power generation device being unable to maintain a stable DC voltage under random interference, reducing the reliability of the hydraulic energy storage wave power generation device. Compared with traditional IP controllers, this invention uses a DC voltage control model to regulate the hydraulic energy storage wave power generation device, which can filter out random interference signals in the electrical parameters, achieve precise regulation of the hydraulic energy storage wave power generation device, and improve the reliability of the hydraulic energy storage wave power generation device.

[0077] Please see Figure 2 , Figure 2 This is a flowchart illustrating the steps of a DC voltage control method for a hydraulic energy storage wave power generation device provided in Embodiment 2 of the present invention.

[0078] This invention provides a DC voltage control method for a hydraulic energy storage wave power generation device, comprising:

[0079] Step 201: Obtain the electrical quantity parameters of the hydraulic energy storage wave power generation device and input the electrical quantity parameters into the 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, for reference Figure 6 As shown, the hydraulic energy storage wave power generation device consists of key components such as a wave-absorbing float 3, a hydraulic cylinder 1, an accumulator 4, an oil tank 2, a hydraulic motor 5, a permanent magnet synchronous generator 6, a rectifier 7, a grid-connected inverter 8, and a 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, converting the energy into hydraulic energy and storing it in the accumulator 4. When the pressure in the accumulator 4 reaches a certain value, the hydraulic valve opens, and the high-pressure hydraulic oil drives the hydraulic motor 5 to rotate, which in turn drives the permanent magnet synchronous generator 6 to generate electricity. After rectification and inversion, the wave energy is finally converted into stable electrical energy that meets grid connection requirements. In the AC-DC-AC power conversion stage, DC voltage stability is a key factor for the safe and stable power transmission of the hydraulic energy storage wave power generation system. In this embodiment, the grid-connected inverter maintains DC voltage stability by performing closed-loop control on its input side DC voltage, thereby achieving normal power output of the hydraulic energy storage wave power generation device.

[0081] In this embodiment of the invention, the electrical parameters of the hydraulic energy storage wave power generation device are acquired in real time, and the electrical 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: Perform electrical quantity preprocessing on the electrical quantity parameters through the transformation module to obtain the output current component parameters;

[0083] Further, see Figure 3 As shown, the electrical 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. Step 202 includes the following sub-steps:

[0084] S11. Input the three-phase voltage parameters into the phase-locked loop to perform power angle extraction operation and obtain the power angle;

[0085] In this embodiment of the invention, the three-phase voltage parameters (i.e., the three-phase voltage e of the power grid) are controlled by a phase-locked loop (PLL). a e b e c Perform a power angle extraction operation to obtain the power angle (i.e., θ).

[0086] S12. The three-phase current parameters are transformed by the first coordinate transformer to obtain the initial current component parameters.

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

[0088] In this embodiment of the invention, the three-phase current parameters (i.e., the three-phase current i output by the grid-connected inverter) are converted by a first coordinate transformer (i.e., a Clark transformer). a i b i c Perform coordinate transformation to obtain the initial current component parameters (i.e., i). α i β ).

[0089] S13. The initial current component parameters and power angle are transformed by the second coordinate transformer to obtain the output current component parameters.

[0090] The output current component parameters refer to the i-th current in the three-phase stationary coordinate system. 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., i d i q .

[0091] In this embodiment of the invention, the initial current component parameters (i.e., i) are... α i β The power angle (θ) and the output current component parameters (i.e., i) are input into the second coordinate transformer (Park transformer) 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 arithmetic unit and a first optimization controller. The first difference arithmetic unit performs difference processing on the DC voltage of the electrical quantity parameter and the preset reference DC voltage to obtain the DC voltage deviation.

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

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

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

[0096]

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

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

[0099] S21. The DC voltage deviation is optimized by a proportional controller to obtain the proportional target value.

[0100] In the embodiments of the present invention, see Figure 4 As shown, the DC voltage deviation (i.e., Δu) dc The input is used to perform proportional optimization control to obtain the proportional target value.

[0101] S22. The proportional target value is filtered by a low-hysteresis filter controller to obtain the filtered target value;

[0102] It should be noted that the transfer function of the low-hysteresis filter controller is as follows:

[0103]

[0104] Among them, G FOIF (s) is the transfer function of a 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-hysteresis filter controller includes a first-order inertial filter, a second-order filter, and a second adder. S22 includes the following sub-steps:

[0106] S221. The proportional target value is filtered by a first-order inertial filter to obtain the first filtered value;

[0107] In this embodiment of the invention, the target proportional 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 a first-order inertial filter is specifically:

[0109]

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

[0111] S222. The proportional target value is filtered by a second-order filter to obtain a second filtered value. The second-order filter includes an actual differentiator and a second-order inertial filter connected in sequence.

[0112] In this embodiment of the invention, the proportional target value is filtered sequentially by an actual differentiator and a second-order inertial filter to obtain a second filtered value.

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

[0114]

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

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

[0117]

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

[0119] S223. The first filter value and the second filter value are added by the second adder to obtain the target filter value.

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

[0121] S23. Integrate the proportional target value using an integrator to obtain the integral target value;

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

[0123] S24. The first adder is used to add the target value of the filter and the target value of the integration to obtain the first reference current component.

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

[0125] Step 205: The output current component parameters and the first reference current component parameters are voltage-regulated by the second optimization control module to obtain a voltage regulation command;

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

[0127] S31. Input the output current component parameters, the pre-acquired second reference current component parameters and the first voltage setpoint into the first current component controller to obtain the first reference voltage component. The first current component controller includes a second difference arithmetic unit, a second optimization controller, a first proportional arithmetic unit and a third difference arithmetic unit.

[0128] In this embodiment of the invention, the first reference voltage component is obtained by optimizing the output current component parameters, the pre-acquired second reference current component parameters, and the first voltage setpoint through the first current component controller.

[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. Input the output current component parameters, the first reference current component parameters, and the pre-acquired second voltage setpoint into the second current component controller to obtain the second reference voltage component.

[0131] Furthermore, the second current component controller includes a fourth difference arithmetic unit, a third optimization controller, a second proportional arithmetic unit, and a fifth difference arithmetic unit. The output current component parameters include a first output current component and a second output current component. S32 includes the following sub-steps:

[0132] S321. The first deviation current component is obtained by performing a difference operation on the first reference current component parameter and the second output current component through the fourth difference operator.

[0133] In this embodiment of the invention, the first reference current component parameter (i.e., i) d * ) and the second output current component (i.e., i d The input is processed by the fourth difference arithmetic unit to obtain the first deviation current component (i.e., Δi). d ).

[0134] S322. The first deviation current component is filtered and optimized by the third optimization controller to obtain the first deviation voltage component.

[0135] In this embodiment of the invention, the first deviation current component (i.e., Δi) d The input is given to the third optimization controller for filtering and optimization control, resulting in the first deviation voltage component (i.e., Δu). d ).

[0136] S323. The first output current component is proportionally calculated by the second proportional arithmetic unit to obtain the first proportional current component.

[0137] In this embodiment of the invention, the first output current component (i.e., i) q The input is given to the second proportional amplifier (proportional parameter K=ωL) to perform proportional calculations, thereby obtaining the first proportional current component (i.e., ωLi). q ).

[0138] S324. The first deviation voltage component, the first proportional current component, and the pre-acquired second voltage setpoint are processed by the fifth difference arithmetic unit to obtain the second reference voltage component.

[0139] In this embodiment of the invention, the first deviation voltage component (i.e., Δu) d ), the first proportional current component (i.e., ωLi) q ) and the pre-acquired second voltage given value (i.e., e) d The input is processed by the fifth difference arithmetic unit to obtain the second reference voltage component (i.e., u). d ).

[0140] S335. The first reference voltage component and the second reference voltage component are modulated and converted by the SVPWM modulator to obtain the voltage regulation command.

[0141] In this embodiment of the invention, the first reference voltage component (i.e., u) q ) and the second reference voltage component (i.e., u) d The input is processed by the SVPWM modulator to obtain the voltage regulation command.

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

[0143] In this embodiment of the invention, a voltage regulation command is sent to the grid-connected inverter of the hydraulic energy storage wave power generation device to regulate the voltage of the hydraulic energy storage wave power generation device.

[0144] It is worth mentioning that simulation analysis yielded a comparison of the anti-interference capabilities of the first optimized controller and the conventional PI controller. The parameters of the first optimized controller were set as follows: proportional controller gain K. P =0.8; Integrator time constant T I =200s; Time constant T of the first-order inertial filterFOIF =20s; Actual differentiator gain K AD =0.8, time constant T AD =10s; Second-order inertial filter time constant T SOIF =10s. Set the parameters for the standard PI controller: proportional controller gain K. P =0.8; Integrator time constant T I =200s. Set the controlled object's pass function as follows:

[0145]

[0146] The controller input signal is set to a unit step, and a pseudo-random signal of ±0.1 is added after 100 seconds of operation to obtain a comparison of the simulation results of the first optimized controller and the conventional PI controller.

[0147] pass Figures 7-10 The comparative analysis shows that the control output curve of the conventional PI controller is superimposed with a very obvious interference signal, while the control output of the first optimized controller successfully filters out the interference signal, thus proving that the first optimized controller has superior anti-interference capability of control output.

[0148] In this embodiment of the invention, electrical parameters of the hydraulic energy storage wave power generation device are acquired and input into a preset DC voltage control model for optimized control to obtain a voltage regulation command. The DC voltage control model is equipped with an optimization controller to eliminate random interference, enabling the DC voltage control model to accurately regulate the DC voltage of the hydraulic energy storage wave power generation device under high random interference conditions. This overcomes the technical problem that, since the power generation device often operates in complex and harsh environments, many random interference factors are unavoidable in the system, causing disturbances to the safe and stable operation of the control system. This results in the hydraulic energy storage wave power generation device being unable to output a sustained DC voltage under random interference, reducing the reliability of the hydraulic energy storage wave power generation device. Compared with the traditional PI controller, this invention uses a DC voltage control model to regulate the hydraulic energy storage wave power generation device, which can filter out random interference signals in the electrical parameters, achieve precise regulation of the hydraulic energy storage wave power generation device, and improve the reliability of the hydraulic energy storage wave power generation device.

[0149] Please see Figure 11 , Figure 11 This is 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.

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

[0151] The acquisition module 301 is used to acquire electrical quantity parameters of the hydraulic energy storage 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] Preprocessing module 302 is used to preprocess electrical quantity parameters through transformation module to obtain output current component parameters;

[0153] The first optimization control module 303 is used to optimize and control the DC voltage of electrical quantity parameters to obtain the first reference current component.

[0154] The second optimization control module 304 is used to adjust the voltage of the output current component parameters and the first reference current component parameters through the second optimization control module to obtain a voltage adjustment command.

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

[0156] Furthermore, the electrical 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 power angle extraction operations and obtain the power angle.

[0158] The first transformation submodule is used to perform coordinate transformation on the three-phase current parameters through the first coordinate transformer to obtain the initial current component parameters.

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

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

[0161] The voltage deviation submodule is used to perform difference processing between the DC voltage of the electrical quantity parameter and the preset reference DC voltage through the first difference arithmetic unit to obtain the DC voltage deviation;

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

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

[0164] The proportional control unit is used to perform proportional optimization control on the DC voltage deviation to obtain the proportional target value.

[0165] The first filtering unit is used to filter the proportional target value through a low-hysteresis filter controller to obtain the filtered target value.

[0166] The integration unit is used to perform integration calculations on the proportional target value through an integrator to obtain the integral target value;

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

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

[0169] The first-order filtering subunit is used to filter the proportional target value through a first-order inertial filter to obtain the first filtered value.

[0170] The second-order filtering subunit is used to filter the proportional target value through a second-order filter to obtain a second filtered value. The second-order filter includes an actual differentiator and a second-order inertial filter connected in sequence.

[0171] The addition subunit is used to perform addition operations on the first filter value and the second filter value through the second adder to obtain the target filter value.

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

[0173] The first voltage control submodule is used to input the output current component parameters, the pre-acquired second reference current component parameters and the first voltage setpoint into the first current component controller to obtain the first reference voltage component. The first current component controller includes a second difference arithmetic unit, a second optimization controller, a first proportional arithmetic unit and a third difference arithmetic unit.

[0174] The second voltage control submodule is used to input the output current component parameters, the first reference current component parameters and the pre-acquired second voltage setpoint into the second current component controller to obtain the second reference voltage component.

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

[0176] Furthermore, 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 parameters include a first output current component and a second output current component; and the second voltage control submodule includes:

[0177] The difference unit is used to perform difference calculation on the first reference current component parameter and the second output current component through the fourth difference arithmetic unit to obtain the first deviation current component.

[0178] The second filtering unit is used to perform filtering and optimization control on the first deviation current component through the third optimization controller to obtain the first deviation voltage component.

[0179] The proportional operation unit is used to perform proportional operation on the first output current component through the second proportional operation unit to obtain the first proportional current component.

[0180] The adjustment unit is used to perform voltage adjustment processing on the first deviation voltage component, the first proportional current component, and the pre-acquired second voltage setpoint through the fifth difference arithmetic unit to obtain the second reference voltage component.

[0181] Please see Figure 12 , Figure 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. 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 as described in any of the above embodiments.

[0183] Memory 401 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Memory 401 has storage space 403 for program code 413 for performing any of the method steps described above. For example, storage space 403 for program code may include individual program codes 413 for implementing the various steps in the methods described above. This program code may be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact discs (CDs), memory cards, or floppy disks. The program code may be compressed, for example, in a suitable form. When run by a computing processing device, this code causes the computing processing device to perform the various steps in the methods described above.

[0184] Embodiment 5 of the present invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the DC voltage control method of the hydraulic energy storage wave power generation device as described in any of the above embodiments.

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

[0186] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

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

[0188] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0189] If the integrated unit is implemented as 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0190] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A DC voltage control method for a hydraulic energy storage wave power generation device, characterized in that, include: The electrical parameters of the hydraulic energy storage wave power generation device are obtained, and the electrical 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; The electrical quantity parameters are preprocessed by the transformation module to obtain the output current component parameters. The first optimization control module optimizes and controls the DC voltage of the electrical quantity parameters to obtain the first reference current component. The second optimization control module adjusts the voltage of the output current component parameters and the first reference current component parameters to obtain a voltage adjustment command. The voltage of the hydraulic energy storage wave power generation device is regulated by the voltage regulation command. The first optimization control module includes a first difference arithmetic unit and a first optimization controller. The step of optimizing and controlling the DC voltage of the electrical quantity parameter through the first optimization control module to obtain the first reference current component includes: The first difference calculator performs difference processing on the DC voltage of the electrical quantity parameter and the preset reference DC voltage to obtain the DC voltage deviation; The DC voltage deviation is input to the first optimization controller for filtering and optimization control to obtain the first reference current component. The first optimization controller includes a proportional controller, a low-hysteresis filter controller, an integrator, and a first adder. The step of inputting the DC voltage deviation into the first optimization controller for filtering and optimization control to obtain the first reference current component includes: The DC voltage deviation is optimized by the proportional controller to obtain the proportional target value. The target proportional value is filtered by the low-hysteresis filter controller to obtain the filtered target value; The integral target value is obtained by integrating the proportional target value using the integrator. The first adder performs addition on the filter target value and the integration target value to obtain the first reference current component. The low-hysteresis filter controller includes a first-order inertial filter, a second-order filter, and a second adder. The step of filtering the proportional target value through the low-hysteresis filter controller to obtain the filtered target value includes: The proportional target value is filtered by the first-order inertial filter to obtain a first filtered value; The target proportional 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 inertial filter connected in sequence. The first filtered value and the second filtered value are added by the second adder to obtain the target filtered value.

2. The DC voltage control method for the 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. The step of performing electrical quantity preprocessing on the electrical quantity parameters through the transformation module to obtain the output current component parameters includes: The three-phase voltage parameters are input into the phase-locked loop to perform a power angle extraction operation, thus obtaining the power angle. The initial current component parameters are obtained by performing coordinate transformation on the three-phase current parameters using the first coordinate transformer. The output current component parameters are obtained by performing coordinate transformation on the initial current component parameters and the power angle using the second coordinate transformer.

3. The DC voltage control method for the hydraulic energy storage wave power generation device according to any one of claims 1-2, characterized in that, The second optimization control module includes a first current component controller, a second current component controller, and an SVPWM modulator. The step of adjusting the output current component parameters and the first reference current component parameters through the second optimization control module to obtain a voltage adjustment command includes: The output current component parameters, the pre-acquired second reference current component parameters, and the first voltage setpoint are input into the first current component controller to obtain the first reference voltage component. The first current component controller includes a second difference operator, a second optimization controller, a first proportional operator, and a third difference operator. The output current component parameters, the first reference current component parameters, and the pre-acquired second voltage setpoint are input into the second current component controller to obtain the 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 command.

4. The DC voltage control method for the hydraulic energy storage wave power generation device according to claim 3, 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 parameters include a first output current component and a second output current component. The step of inputting the output current component parameters, the first reference current component parameters, and a pre-acquired second voltage setpoint into the second current component controller to obtain the second reference voltage component includes: The first deviation current component is obtained by performing a difference operation on the first reference current component parameter and the second output current component through the fourth difference operator. The first deviation current component is filtered and optimized by the third optimization controller to obtain the first deviation voltage component; The first proportional current component is obtained by performing a proportional operation on the first output current component using the second proportional arithmetic unit. The fifth difference arithmetic unit performs voltage regulation processing on the first deviation voltage component, the first proportional current component, and the pre-acquired second voltage setpoint to obtain the second reference voltage component.

5. A DC voltage control system for a hydraulic energy storage wave power generation device, based on the DC voltage control method for a hydraulic energy storage wave power generation device according to any one of claims 1-4, characterized in that, include: The acquisition module is used to acquire electrical quantity parameters of the hydraulic energy storage 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; The preprocessing module is used to preprocess the electrical quantity parameters through the transformation module to obtain the output current component parameters; The first optimization control module is used to optimize and control the DC voltage of the electrical quantity parameter to obtain the first reference current component. The second optimization control module is used to adjust the voltage of the output current component parameter and the first reference current component parameter through the second optimization control module to obtain a voltage adjustment command. The adjustment module is used to regulate the voltage of the hydraulic energy storage wave power generation device through the voltage adjustment command.

6. An electronic device, characterized in that, The device includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the DC voltage control method for the hydraulic energy storage wave power generation device as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed, it implements the DC voltage control method for the hydraulic energy storage wave power generation device as described in any one of claims 1-4.

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