Backstepping sliding mode control method, system and device of power grid frequency control system and medium

Abstract

The invention relates to the technical field of power grid control, and provides a backstepping sliding mode control method, system and device for a power grid frequency control system and a medium. Establishing a system state space form equation set according to the state variable of the power grid system; setting a control target according to the spatial form equation set; designing input control according to the control target; determining a step sliding mode controller according to the input control; and the backstepping sliding mode controller is used for judging whether the power grid is stable or not. According to the invention, through a hybrid control strategy combining sliding mode control and backstepping control, the problems of high calculation complexity and many limitations in practical application in the traditional technology are solved, the stability and robustness of the control system are improved, and the stable operation of the system is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid control, and provides a backstepping sliding mode control method, system, device and medium for a power grid frequency control system. Background Art

[0002] In the existing technology, in order to solve the problem of load frequency control (LFC) of power systems, researchers have proposed a variety of control strategies, mainly including traditional proportional-integral-derivative (PID) control, fuzzy logic control (FLC), neural network control, sliding mode control (SMC) and model predictive control (MPC).

[0003] Traditional PID controller: PID control is widely used in the field of load frequency control because of its simple design and easy implementation. However, PID controller is highly dependent on the system operating environment and is difficult to cope with nonlinearity, uncertainty and complex dynamic disturbances in power systems.

[0004] Fuzzy logic control and neural network control: FLC and neural network control methods are introduced to deal with the nonlinear problems of the system. These methods optimize the control performance by adjusting the control rules or using self-learning algorithms, but they usually require high parameter adjustment accuracy and computing resources, are complex in design, and lack real-time performance.

[0005] Sliding mode control: Sliding mode control has gained attention in LFC because of its strong robustness and suitability for uncertain systems. However, traditional sliding mode control has a serious "jittering" problem, which affects the control accuracy and stability of the system. In addition, although high-order sliding mode control can alleviate jitter to a certain extent, its dependence on the derivative of the sliding surface makes the implementation process complicated.

[0006] Model predictive control: MPC achieves a relatively ideal control effect by optimizing dynamic system performance and constraints, especially showing good adaptability in wind energy access and large-scale complex systems. However, the MPC design process is complex and the optimization calculation is time-consuming, which makes it difficult to meet the power system's requirements for high real-time performance and high response speed.

[0007] Control methods based on optimization algorithms: Genetic algorithms, particle swarm optimization algorithms, etc. are used to optimize controller parameters. Although these methods improve control accuracy, they have high computational complexity and are more limited in practical applications.

[0008] In the above-mentioned prior art, although the sliding mode control has strong robustness, it cannot fully meet the requirements of high-performance load frequency control due to its significant chattering problem; at the same time, PID control and fuzzy control have poor control effects when facing complex nonlinear and multi-region coupling systems; and methods such as MPC have high computational complexity and limited real-time performance. The above-mentioned technical solutions are difficult to simultaneously meet the multiple requirements of robustness, real-time performance, and response speed of load frequency control of power systems. Summary of the invention

[0009] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a backstepping sliding mode control method, system, device and medium for a power grid frequency control system, which realizes the stability and robustness of the control system and ensures the technical effect of the smooth operation of the system.

[0010] The present invention provides a backstepping sliding mode control method for a power grid frequency control system, comprising: S1: Establish the system state space formal equations according to the state variables of the power grid system; S2: setting a control target according to the spatial form equation group; S3: designing input control according to the control target; S4: using the input control to track the reference signal and determine the backstepping sliding mode controller; S5: Using the backstepping sliding mode controller to determine whether the power grid is stable.

[0011] According to a backstepping sliding mode control method for a power grid frequency control system provided by the present invention, step S1 comprises: S11: Measure the state variables of the power grid system, including: frequency deviation, governor valve position deviation, generator output deviation and tie line power deviation; S12: Establishing a system state space formal equation group according to the state variables; in, , , , is the first area coefficient, is the second area coefficient, is the total number of regions, For the The frequency deviation of the region, For the The governor valve position deviation in each area, For the Generator output deviation in each region, For the Regions and The power deviation of the tie line in each area, No. The frequency deviation of the region, No. The governor valve position deviation in each area, For the Generator output deviation in each region, For the The load disturbance of the controller in each area, For the The load disturbance of the controller in each area, For the The controller output signal of each zone, For the The controller output signal of each zone, For the The power system gain of a region, For the The power system gain of a region, For the The time constant of the power system in a region, For the The time constant of the power system in a region, is the connection coefficient, For the The speed adjustment coefficient of each area, For the The speed adjustment coefficient of each area, For the The speed regulator time constant for each region is For the The speed regulator time constant for each region is For the The turbine time constant of each region is For the The turbine time constant of each region is is the first parameter, is the second parameter, is the third parameter, is the fourth parameter, is the fifth parameter, is the sixth parameter, is the seventh parameter, is the eighth parameter, is the ninth parameter, is the tenth parameter, is the eleventh parameter, is the twelfth parameter, is the thirteenth parameter, The fourteenth parameter, is the fifteenth parameter, is the sixteenth parameter, is the seventeenth parameter, is the eighteenth parameter, is the nineteenth parameter, for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of .

[0012] According to a backstepping sliding mode control method for a power grid frequency control system provided by the present invention, the control target in step S2 includes a tracking error and a sliding mode surface.

[0013] According to a backstepping sliding mode control method for a power grid frequency control system provided by the present invention, step S2 comprises: S21: Definition Tracking error in the region : in, For the The target value of the generator output deviation in each region, is the first judgment coefficient; S22: According to the The tracking error calculation for each region The filtered tracking error of the region : in, is the second judgment coefficient; S23: Define the sliding surface : in, is the third sliding surface coefficient; S24: Definition Tracking error in the region : in, For the The target value of the generator output deviation in each region, is the first tracking error parameter, A second tracking error parameter; S25: According to the The tracking error calculation for each region The filtered tracking error of the region : in, for The first derivative of is the third judgment coefficient.

[0014] According to a backstepping sliding mode control method for a power grid frequency control system provided by the present invention, step S3 comprises: S31: Calculation : in, for The second derivative of is the first derivative coefficient, is the second derivative coefficient, is the third derivative coefficient, is the fourth derivative coefficient, is the fifth derivative coefficient, is the sixth derivative coefficient, is the first derivative coefficient parameter, is the second derivative coefficient parameter, is the third derivative coefficient parameter; S32: Calculation : in, for The second derivative of is the seventh derivative coefficient, is the eighth derivative coefficient, is the ninth derivative coefficient, is the tenth derivative coefficient, is the eleventh derivative coefficient, is the twelfth derivative coefficient, is the thirteenth derivative coefficient, is the fourteenth derivative coefficient, is the fifteenth derivative coefficient; S33: Design input control: in, For the Input control for each area, For the Input control for each area, is the fourth judgment coefficient, is the fifth judgment coefficient.

[0015] According to a backstepping sliding mode control method for a power grid frequency control system provided by the present invention, step S4 comprises: S41: Since the system is not disturbed by external factors, = =0, Translated as: ; S42: Calculate the The first derivative of the tracking error in the region : ; S43: Define a backstepping sliding mode controller : .

[0016] According to a backstepping sliding mode control method for a power grid frequency control system provided by the present invention, step S5 comprises: The grid frequency control is stable when the following conditions are met: in, It is a backstepping sliding mode controller. When any one of the items is not satisfied, the grid frequency control is unstable.

[0017] The present invention also provides a backstepping sliding mode control system for a power grid frequency control system, comprising: Model building module: establish a system state space form equation group according to the state variables of the power grid system; set a control target according to the space form equation group; design input control according to the control target; Tracking module: using the input control to track the reference signal and determine the backstepping sliding mode controller; Stability judgment module: uses the backstepping sliding mode controller to judge whether the power grid is stable.

[0018] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of a backstepping sliding mode control method for a power grid frequency control system as described in any one of the above are implemented.

[0019] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a backstepping sliding mode control method for a power grid frequency control system as described in any one of the above.

[0020] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The present invention provides a backstepping sliding mode control method, system, device and medium for a power grid frequency control system. A hybrid control strategy combining sliding mode control with backstepping control is used to achieve the following technical effects: 1. Reduce the chattering phenomenon in sliding mode control and improve the control stability and dynamic response performance.

[0021] 2. Improve the robustness of the system under uncertain parameters and external disturbances and reduce frequency oscillations.

[0022] 3. Reduce the dependence on accurate modeling of the system and improve the adaptability of the control method.

[0023] 4. Optimize the control design process, simplify the controller implementation difficulty and reduce the computational complexity.

[0024] 5. Realize dynamic decoupling control of multi-region interconnected systems and enhance the adaptability to complex coupling relationships.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a flow chart of a backstepping sliding mode control method for a power grid frequency control system provided by the present invention.

[0028] Figure 2 It is a structural schematic diagram of a backstepping sliding mode control device of a power grid frequency control system provided by the present invention.

[0029] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention.

[0030] Reference numerals: 101. Model building module; 102. Tracking module; 103. Stability judgment module; 810. Processor; 820. Communication interface; 830. Memory; 840. Communication bus. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0032] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0033] Combine the following Figures 1 to 3 The present invention is described.

[0034] Example like Figure 1 As shown, an embodiment of the present invention provides a backstepping sliding mode control method for a power grid frequency control system, the steps comprising: S1: Establish the system state space formal equations according to the state variables of the power grid system; S2: setting a control target according to the spatial form equation group; S3: designing input control according to the control target; S4: using the input control to track the reference signal and determine the backstepping sliding mode controller; S5: Using the backstepping sliding mode controller to determine whether the power grid is stable.

[0035] Specifically, step S1 includes: S11: Measure the state variables of the power grid system, including: frequency deviation, governor valve position deviation, generator output deviation and tie line power deviation; S12: Establishing a system state space formal equation group according to the state variables; in, , , , is the first area coefficient, is the second area coefficient, is the total number of regions, For the The frequency deviation of the region, For the The governor valve position deviation in each area, For the Generator output deviation in each region, For the Regions and The power deviation of the tie line in each area, No. The frequency deviation of the region, No. The governor valve position deviation in each area, For the Generator output deviation in each region, For the The load disturbance of the controller in each area, For the The load disturbance of the controller in each area, For the The controller output signal of each zone, For the The controller output signal of each zone, For the The power system gain of a region, For the The power system gain of a region, For the The time constant of the power system in a region, For the The time constant of the power system in a region, is the connection coefficient, For the The speed adjustment coefficient of each area, For the The speed adjustment coefficient of each area, For the The speed regulator time constant for each region is For the The speed regulator time constant for each region is For the The turbine time constant of each region is For the The turbine time constant of each region is is the first parameter, is the second parameter, is the third parameter, is the fourth parameter, is the fifth parameter, is the sixth parameter, is the seventh parameter, is the eighth parameter, is the ninth parameter, is the tenth parameter, is the eleventh parameter, is the twelfth parameter, is the thirteenth parameter, The fourteenth parameter, is the fifteenth parameter, is the sixteenth parameter, is the seventeenth parameter, is the eighteenth parameter, is the nineteenth parameter, for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of .

[0036] The embodiment of the present invention designs a feedback controller for a two-region interconnected power system. The controller asymptotically stabilizes the system by measuring the system state as feedback and ensures that all system states remain bounded. , , ,in For time.

[0037] Specifically, step S2 includes: S21: Definition Tracking error in the region : in, For the The target value of the generator output deviation in each region, is the first judgment coefficient, is a positive number; therefore, Can be considered as dominant variable.

[0038] S22: According to the The tracking error calculation for each region The filtered tracking error of the region : in, is the second judgment coefficient, is a positive number; S23: Define the sliding surface : in, is the coefficient of the third sliding surface; the purpose of the embodiment of the present invention is to design a state feedback control law to stabilize the origin of the system. In fact, the control law is designed to simultaneously limit the system motion to the sliding surface On the sliding surface It can be proved that the system state converges to zero.

[0039] S24: Definition Tracking error in the region : in, For the The target value of the generator output deviation in each region, is the first tracking error parameter, The second tracking error parameter.

[0040] S25: According to the The tracking error calculation for each region The filtered tracking error of the region : in, for The first derivative of is the third judgment coefficient.

[0041] Step S3 includes: S31: Calculation : in, for The second derivative of is the first derivative coefficient, is the second derivative coefficient, is the third derivative coefficient, is the fourth derivative coefficient, is the fifth derivative coefficient, is the sixth derivative coefficient, is the first derivative coefficient parameter, is the second derivative coefficient parameter, is the third derivative coefficient parameter; S32: Calculation : in, for The second derivative of is the seventh derivative coefficient, is the eighth derivative coefficient, is the ninth derivative coefficient, is the tenth derivative coefficient, is the eleventh derivative coefficient, is the twelfth derivative coefficient, is the thirteenth derivative coefficient, is the fourteenth derivative coefficient, is the fifteenth derivative coefficient; S33: Design input control: in, For the Input control for each area, For the Input control for each area, is the fourth judgment coefficient, is the fifth judgment coefficient.

[0042] Specifically, step S4 includes: S41: Since the system is not disturbed by external factors, = =0, Translated as: ; S42: Calculate the The first derivative of the tracking error in the region : ; S43: Define a backstepping sliding mode controller : .

[0043] Specifically, step S5 includes: The grid frequency control is stable when the following conditions are met: in, is a backstepping sliding mode controller. When any item is not satisfied, the grid frequency control is unstable. According to the given control input, the system can be asymptotically stabilized, that is, , , , , , , .

[0044] The backstepping sliding mode control method of a power grid frequency control system proposed in the present invention has the following technical advantages compared with the prior art: 1. Strong robustness: By combining the anti-disturbance characteristics of sliding mode control and the gradual convergence design of backstepping control, the present invention can significantly improve the stability and robustness of the control system when there are uncertain parameters and load disturbances in the system.

[0045] 2. Reduce the chattering problem: The present invention adopts an improved sliding surface design and chattering suppression algorithm, which significantly alleviates the chattering phenomenon in traditional sliding mode control and ensures the smooth operation of the system.

[0046] 3. Fast dynamic response: The control strategy design achieves fast convergence of frequency dynamic response, which can meet the strict real-time requirements of complex power systems.

[0047] 4. Reduce modeling dependence: The robustness and independence of the control method significantly reduce the dependence on precise mathematical modeling of the system, and can still maintain good performance in complex nonlinear systems.

[0048] 5. Simple design and implementation: By decomposing the overall dynamics of the complex system into low-dimensional subsystem motions and implementing a combination of sliding mode control and backstepping control in each subsystem, the complexity of controller parameter adjustment is reduced.

[0049] 6. Strong adaptability: The present invention is applicable to complex interconnected systems of two or even multiple regions, and can achieve dynamic decoupling of inter-regional coupling effects and improve the overall operating performance of the system.

[0050] A backstepping sliding mode control device for a power grid frequency control system provided by the present invention is described below. The backstepping sliding mode control device for a power grid frequency control system described below and the backstepping sliding mode control method for a power grid frequency control system described above can be referenced to each other.

[0051] like Figure 2 As shown, an embodiment of the present invention provides a backstepping sliding mode control device for a power grid frequency control system, comprising the following modules: Model building module 101: building a system state space form equation group according to the state variables of the power grid system; setting a control target according to the space form equation group; designing an input control according to the control target; Tracking module 102: using the input control to track the reference signal and determine the backstepping sliding mode controller; The stability judgment module 103 uses the backstepping sliding mode controller to judge whether the power grid is stable.

[0052] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute a backstepping sliding mode control method for a power grid frequency control system, the method comprising: S1: Establish the system state space formal equations according to the state variables of the power grid system; S2: setting a control target according to the spatial form equation group; S3: designing input control according to the control target; S4: using the input control to track the reference signal and determine the backstepping sliding mode controller; S5: Using the backstepping sliding mode controller to determine whether the power grid is stable.

[0053] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in 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 and other media that can store program codes.

[0054] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for backstepping sliding mode control of a power grid frequency control system provided above is implemented, and the method comprises: S1: Establish the system state space formal equations according to the state variables of the power grid system; S2: setting a control target according to the spatial form equation group; S3: designing input control according to the control target; S4: using the input control to track the reference signal and determine the backstepping sliding mode controller; S5: Using the backstepping sliding mode controller to determine whether the power grid is stable.

[0055] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0056] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

[0058] It should be noted that the embodiments of the present disclosure may be implemented by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic: the software portion may be stored in a memory and executed by an appropriate instruction execution system such as a microprocessor or dedicated design hardware. Those skilled in the art will appreciate that the above-described apparatus and methods may be implemented using computer executable instructions and / or contained in a processor control code, such as a programmable memory or a data carrier such as an optical or electronic signal carrier providing such code.

[0059] In addition, although the operation of the method of the present disclosure is described in a particular order in the accompanying drawings, this does not require or imply that these operations must be performed in this particular order, or that all the operations shown must be performed to achieve the desired result. On the contrary, the steps depicted in the flow chart can change the order of execution. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution. It should also be noted that the features and functions of two or more devices according to the present disclosure can be embodied in one device. Conversely, the features and functions of a device described above can be further divided into being embodied by multiple devices.

[0060] Although the present disclosure has been described with reference to several specific embodiments, it should be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A backstepping sliding mode control method for a power grid frequency control system, characterized in that: include: S1: Establish the system state space formal equations according to the state variables of the power grid system; S2: setting a control target according to the spatial form equation group; S3: designing input control according to the control target; S4: using the input control to track the reference signal and determine the backstepping sliding mode controller; S5: Using the backstepping sliding mode controller to determine whether the power grid is stable.

2. A backstepping sliding mode control method for a power grid frequency control system according to claim 1, characterized in that: Step S1 includes: S11: Measure the state variables of the power grid system, including: frequency deviation, governor valve position deviation, generator output deviation and tie line power deviation; S12: Establishing a system state space formal equation group according to the state variables; in, , , , is the first area coefficient, is the second area coefficient, is the total number of regions, For the The frequency deviation of the region, No. The frequency deviation of the region, For the The governor valve position deviation in each area, No. The governor valve position deviation in each area, For the Generator output deviation in each region, For the Generator output deviation in each region, For the Regions and The power deviation of the tie line in each area, For the The load disturbance of the controller in each area, For the The load disturbance of the controller in each area, For the The controller output signal of each zone, For the The controller output signal of each zone, For the The power system gain of a region, For the The time constant of the power system in a region, For the The power system gain of a region, For the The time constant of the power system in a region, is the connection coefficient, For the The speed adjustment coefficient of each area, For the The speed regulator time constant for each region is For the The speed adjustment coefficient of each area, For the The speed regulator time constant for each region is For the The turbine time constant of each region is For the The turbine time constant of each region is is the first parameter, is the second parameter, is the third parameter, is the fourth parameter, is the fifth parameter, is the sixth parameter, is the seventh parameter, is the eighth parameter, is the ninth parameter, is the tenth parameter, is the eleventh parameter, is the twelfth parameter, is the thirteenth parameter, The fourteenth parameter, is the fifteenth parameter, is the sixteenth parameter, is the seventeenth parameter, is the eighteenth parameter, is the nineteenth parameter, for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of for The first derivative of .

3. A backstepping sliding mode control method for a power grid frequency control system according to claim 2, characterized in that: The control target in step S2 includes tracking error and sliding surface.

4. A backstepping sliding mode control method for a power grid frequency control system according to claim 3, characterized in that: Step S2 includes: S21: Definition Tracking error in the region : in, For the The target value of the generator output deviation in each region, is the first judgment coefficient; S22: According to the Tracking error calculation for each region The filtered tracking error of the region : in, is the second judgment coefficient; S23: Define the sliding surface : in, is the third sliding surface coefficient; S24: Definition Tracking error in the region : in, For the The target value of the generator output deviation in each region, is the first tracking error parameter, A second tracking error parameter; S25: According to the Tracking error calculation for each region The filtered tracking error of the region : in, for The first derivative of is the third judgment coefficient.

5. A backstepping sliding mode control method for a power grid frequency control system according to claim 4, characterized in that: Step S3 includes: S31: Calculation : in, for The second derivative of is the first derivative coefficient, is the second derivative coefficient, is the third derivative coefficient, is the fourth derivative coefficient, is the fifth derivative coefficient, is the sixth derivative coefficient, is the first derivative coefficient parameter, is the second derivative coefficient parameter, is the third derivative coefficient parameter; S32: Calculation : in, for The second derivative of is the seventh derivative coefficient, is the eighth derivative coefficient, is the ninth derivative coefficient, is the tenth derivative coefficient, is the eleventh derivative coefficient, is the twelfth derivative coefficient, is the thirteenth derivative coefficient, is the fourteenth derivative coefficient, is the fifteenth derivative coefficient; S33: Design input control: in, For the Input control for each area, For the Input control for each area, is the fourth judgment coefficient, is the fifth judgment coefficient.

6. A backstepping sliding mode control method for a power grid frequency control system according to claim 5, characterized in that: Step S4 includes: S41: Since the system is not disturbed by external factors, = =0, Translated as: ； S42: Calculate the The first derivative of the tracking error in the region : ； S43: Define a backstepping sliding mode controller : 。 7. A backstepping sliding mode control method for a power grid frequency control system according to claim 5, characterized in that: Step S5 includes: The grid frequency control is stable when the following conditions are met: in, It is a backstepping sliding mode controller. When any one of the items is not satisfied, the grid frequency control is unstable.

8. A backstepping sliding mode control system of a power grid frequency control system, used to execute a backstepping sliding mode control method of a power grid frequency control system as claimed in any one of claims 1 to 7, characterized in that: include: Model building module: establish the system state space equations according to the state variables of the power grid system; Setting a control target according to the spatial form equation group; designing input control according to the control objective; Tracking module: using the input control to track the reference signal and determine the backstepping sliding mode controller; Stability judgment module: uses the backstepping sliding mode controller to judge whether the power grid is stable.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the backstepping sliding mode control method of a power grid frequency control system as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a backstepping sliding mode control method for a power grid frequency control system as described in any one of claims 1 to 7 are implemented.

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