Slope type gravity energy storage system power control method based on permanent magnet synchronous motor

Abstract

The invention provides a slope type gravity energy storage system power control method based on a permanent magnet synchronous motor, and the method comprises the steps: outputting the d-axis and q-axis voltage instruction values of a network side through a network side proportional-integral controller based on a DC bus voltage feedback value and a reactive power feedback value of the network side converter, and carrying out the reactive power control of the network side converter; based on the active power feedback value and the d-axis inductance current value of the motor-side converter, a motor-side proportional-integral controller is utilized to output motor-side d-axis and q-axis voltage instruction values, and active power control is carried out on the motor-side converter; based on the rotating speed feedback value of the permanent magnet synchronous motor, a weight dispatching instruction value is obtained through a rotating speed proportional-integral controller, and rotating speed control is conducted on the permanent magnet synchronous motor; according to the invention, the grid-side converter, the motor-side converter and the permanent magnet synchronous motor are cooperatively controlled, the operation state of the gravity energy storage system is accurately adjusted based on various feedback signals, and stable output of power and efficient management of energy can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of energy storage, and in particular to a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor. Background Art

[0002] At present, energy storage has become one of the key energy technologies to promote the development of renewable energy grid connection. It can effectively solve the problem of balancing the input and output power of the power grid, and has many functions such as peak regulation, frequency regulation, phase regulation, and system backup. It is a new power system based on renewable energy. There are many energy storage methods that can be used at present, mainly including electrochemical energy storage, gravity energy storage, electromagnetic energy storage, compressed air energy storage, etc. Among them, gravity energy storage is a low-cost and relatively safe energy storage technology that can achieve large-capacity and high-efficiency energy storage and utilization. Its basic principle is to lift and lower solid heavy objects to achieve the mutual conversion of electrical energy and gravitational potential energy. Compared with pumped storage, slope gravity energy storage system can overcome geographical and topographical limitations and flexibly configure the capacity of energy storage system according to renewable energy consumption;

[0003] Traditional gravity energy storage systems (such as pumped storage systems) use synchronous motors to connect to the grid. This is because the water flow is continuous. Increasing and decreasing the pumped storage power only adjusts the water flow. Therefore, the power conversion on the grid side is smooth, and there is no power shock during steady-state operation. Unlike pumped storage systems, the weight blocks of ramp-type gravity energy storage systems are discrete and can only be stacked and unloaded in unit quantities, which will cause torque shocks to the synchronous motors. The speed of the synchronous motors is synchronized with the power grid, which converts the torque shocks into power shocks on the grid side. The continuous stacking and unloading of weight blocks will affect the power quality on the grid side.

[0004] In summary, the slope-type gravity energy storage system in the prior art uses a synchronous motor to connect to the grid, which may cause grid-side power shock and dynamic balance caused by discrete operation of heavy objects, resulting in a decrease in grid-side power quality. Summary of the invention

[0005] In order to solve the problem that the slope type gravity energy storage system in the prior art uses a synchronous motor to connect to the grid, and there will be power impact and dynamic balance on the grid side caused by discrete operation of heavy objects, resulting in a decrease in the quality of grid-side power, the present invention proposes a power control method for a slope type gravity energy storage system based on a permanent magnet synchronous motor, comprising:

[0006] Based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, a grid-side proportional-integral controller is used to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value, and reactive power control is performed on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value;

[0007] Based on the collected active power feedback value and d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system, a motor-side proportional-integral controller is used to output a motor-side d-axis voltage command value and a motor-side q-axis voltage command value, and active power control is performed on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value;

[0008] Based on the collected speed feedback value of the permanent magnet synchronous motor in the slope type gravity energy storage system, a speed proportional integral controller is used to obtain a heavy object dispatching instruction value, and according to the heavy object dispatching instruction value, the speed of the permanent magnet synchronous motor in the slope type gravity energy storage system is controlled;

[0009] Among them, the grid-side proportional-integral controller includes: a DC bus voltage proportional-integral controller, a grid-side d-axis current proportional-integral controller, a power proportional-integral controller and a grid-side q-axis current proportional-integral controller; the motor-side proportional-integral controller includes: an active power proportional-integral controller, a motor-side q-axis current proportional-integral controller, and a motor-side d-axis current proportional-integral controller.

[0010] Optionally, the DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system are collected, and a grid-side proportional-integral controller is used to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value, including:

[0011] Based on the collected DC bus voltage feedback value of the grid-side converter in the ramp-type gravity energy storage system, a DC bus voltage proportional-integral controller is used to output a grid-side d-axis current reference value;

[0012] According to the grid-side d-axis current reference value, a grid-side d-axis current proportional-integral controller is used to obtain a grid-side d-axis voltage command value;

[0013] Based on the collected reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, a power proportional integral controller is used to output a grid-side q-axis current reference value;

[0014] According to the grid-side q-axis current reference value, a grid-side q-axis current proportional-integral controller is used to obtain a grid-side q-axis voltage command value.

[0015] Optionally, performing reactive power control on a grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value includes:

[0016] Performing inverse coordinate transformation on the grid-side d-axis voltage command value and the grid-side q-axis voltage command value to obtain three-phase voltage command values ​​corresponding to the grid-side converter;

[0017] Performing space vector modulation on the three-phase voltage command value corresponding to the grid-side converter to obtain a switch tube drive signal;

[0018] Reactive power control is performed on the grid-side converter according to the switch tube driving signal.

[0019] Optionally, the method of outputting a motor-side d-axis voltage command value and a motor-side q-axis voltage command value based on the collected active power feedback value and d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system and using a motor-side proportional-integral controller comprises:

[0020] According to the collected active power feedback value of the motor-side converter in the ramp-type gravity energy storage system, an active power proportional integral controller is used to output a motor-side q-axis current reference value;

[0021] According to the motor side q-axis current reference value, using the motor side q-axis current proportional-integral controller, obtain the motor side q-axis voltage command value;

[0022] According to the collected d-axis inductance current value of the motor side converter in the ramp-type gravity energy storage system and the preset motor side d-axis current reference value, the motor side d-axis current proportional-integral controller is used to obtain the motor side d-axis voltage command value.

[0023] Optionally, the step of obtaining the motor side q-axis voltage command value by using the motor side q-axis current proportional-integral controller according to the motor side q-axis current reference value includes:

[0024] Comparing the motor-side q-axis current reference value with the acquired motor-side q-axis current actual value to obtain a q-axis current deviation of the motor-side converter;

[0025] According to the q-axis current deviation, a motor-side q-axis current proportional-integral controller is used to output a motor-side q-axis voltage control value;

[0026] The motor side q-axis voltage control value and the pre-calculated motor side q-axis feedforward voltage are summed to obtain the motor side q-axis voltage command value.

[0027] Optionally, performing active power control on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value includes:

[0028] Performing inverse coordinate transformation on the motor-side d-axis voltage command value and the motor-side q-axis voltage command value to obtain a three-phase voltage command value of the motor-side converter;

[0029] Performing space vector modulation on the three-phase voltage command value of the motor-side converter to generate a motor-side drive signal;

[0030] According to the motor-side driving signal, active power control is performed on the motor-side converter of the ramp-type gravity energy storage system.

[0031] Optionally, the speed proportional integral controller is used to obtain the heavy object dispatching instruction value based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp-type gravity energy storage system, including:

[0032] Based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp type gravity energy storage system and the acquired speed reference value of the permanent magnet synchronous motor, a speed proportional integral controller is used to output a weight quantity command value;

[0033] Dividing the weight quantity instruction value into an integer part and a decimal part, and soft-starting the integer part;

[0034] The integer part after soft start and the decimal part are reassembled into the heavy object dispatch instruction value.

[0035] Optionally, the expression corresponding to the weight quantity instruction value is as follows:

[0036]

[0037] Where N represents the weight quantity instruction value; n * represents the speed feedback value of the permanent magnet synchronous motor; n represents the speed reference value of the permanent magnet synchronous motor; k p_n represents the proportional coefficient of the speed proportional-integral controller; represents the integral coefficient of the speed proportional integral controller; s represents a complex frequency domain variable.

[0038] Based on the same inventive concept, the present invention also provides a power control system of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor, comprising:

[0039] A grid-side power control module, which is used to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, and to perform reactive power control on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value;

[0040] A motor-side power control module, for outputting a motor-side d-axis voltage command value and a motor-side q-axis voltage command value based on the collected active power feedback value and d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system, and performing active power control on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value;

[0041] A speed control module, for obtaining a heavy object dispatching instruction value based on the collected speed feedback value of the permanent magnet synchronous motor in the slope type gravity energy storage system by using a speed proportional integral controller, and performing speed control on the permanent magnet synchronous motor in the slope type gravity energy storage system according to the heavy object dispatching instruction value;

[0042] Among them, the grid-side proportional-integral controller includes: a DC bus voltage proportional-integral controller, a grid-side d-axis current proportional-integral controller, a power proportional-integral controller and a grid-side q-axis current proportional-integral controller; the motor-side proportional-integral controller includes: an active power proportional-integral controller, a motor-side q-axis current proportional-integral controller, and a motor-side d-axis current proportional-integral controller.

[0043] Optionally, the grid-side power control module includes:

[0044] The grid-side d-axis current output submodule is used to output a grid-side d-axis current reference value based on the collected DC bus voltage feedback value of the grid-side converter in the ramp-type gravity energy storage system and using a DC bus voltage proportional-integral controller;

[0045] A grid-side d-axis voltage output submodule, used to obtain a grid-side d-axis voltage command value according to the grid-side d-axis current reference value and using a grid-side d-axis current proportional-integral controller;

[0046] The grid-side q-axis current output submodule is used to output a grid-side q-axis current reference value based on the acquired reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system and using a power proportional integral controller;

[0047] The grid-side q-axis voltage output submodule is used to obtain a grid-side q-axis voltage command value according to the grid-side q-axis current reference value and using a grid-side q-axis current proportional-integral controller.

[0048] Optionally, the grid-side power control module further includes:

[0049] A grid-side coordinate transformation submodule, used for performing inverse coordinate transformation on the grid-side d-axis voltage command value and the grid-side q-axis voltage command value to obtain a three-phase voltage command value corresponding to the grid-side converter;

[0050] A grid-side modulation submodule, used for performing space vector modulation on the three-phase voltage command value corresponding to the grid-side converter to obtain a switch tube drive signal;

[0051] The grid-side driving submodule is used to perform reactive power control on the grid-side converter according to the switch tube driving signal.

[0052] Optionally, the motor-side power control module includes:

[0053] The motor-side q-axis current output submodule is used to output the motor-side q-axis current reference value by using the active power proportional integral controller according to the collected active power feedback value of the motor-side converter in the ramp-type gravity energy storage system;

[0054] The motor side q-axis voltage output submodule is used to obtain the motor side q-axis voltage command value according to the motor side q-axis current reference value and using the motor side q-axis current proportional-integral controller;

[0055] The motor side d-axis voltage output submodule is used to obtain the motor side d-axis voltage command value by using the motor side d-axis current proportional-integral controller according to the collected d-axis inductance current value of the motor side converter in the ramp-type gravity energy storage system and the preset motor side d-axis current reference value.

[0056] Optionally, the motor-side q-axis voltage output submodule includes:

[0057] A motor-side q-axis deviation calculation unit, used for comparing the motor-side q-axis current reference value with the acquired motor-side q-axis current actual value to obtain a q-axis current deviation of the motor-side converter;

[0058] A motor-side q-axis voltage control unit, used to output a motor-side q-axis voltage control value according to the q-axis current deviation by using a motor-side q-axis current proportional-integral controller;

[0059] The motor side q-axis voltage calculation unit is used to sum the motor side q-axis voltage control value and the pre-calculated motor side q-axis feedforward voltage to obtain the motor side q-axis voltage command value.

[0060] Optionally, the motor-side power control module further includes:

[0061] A motor side coordinate transformation submodule, used for performing inverse coordinate transformation on the motor side d-axis voltage command value and the motor side q-axis voltage command value to obtain a three-phase voltage command value of the motor side converter;

[0062] A motor-side modulation submodule, used for performing space vector modulation on the three-phase voltage command value of the motor-side converter to generate a motor-side drive signal;

[0063] The motor side control submodule is used to perform active power control on the motor side converter of the ramp type gravity energy storage system according to the motor side drive signal.

[0064] Optionally, the speed control module includes:

[0065] A heavy object instruction output submodule is used to output a heavy object quantity instruction value by using a speed proportional integral controller based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp type gravity energy storage system and the acquired speed reference value of the permanent magnet synchronous motor;

[0066] An instruction processing submodule, used for dividing the weight quantity instruction value into an integer part and a decimal part, and performing a soft start on the integer part;

[0067] The dispatch instruction generation submodule is used to recompose the integer part after soft start and the decimal part into a heavy object dispatch instruction value.

[0068] Optionally, the expression corresponding to the weight quantity instruction value is as follows:

[0069]

[0070] Where N represents the weight quantity instruction value; n * represents the speed feedback value of the permanent magnet synchronous motor; n represents the speed reference value of the permanent magnet synchronous motor; k p_n represents the proportional coefficient of the speed proportional-integral controller; represents the integral coefficient of the speed proportional integral controller; s represents a complex frequency domain variable.

[0071] In another aspect, the present invention further provides an electronic device, comprising: at least one processor and a memory; the memory and the processor are connected via a bus;

[0072] The memory is used to store one or more programs;

[0073] When the one or more programs are executed by the at least one processor, a power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor as described above is implemented.

[0074] On the other hand, the present invention further provides a computer-readable storage medium having an execution program stored thereon, and when the execution program is executed, a power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor as described above is implemented.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] The present invention provides a power control method and system for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor, comprising: based on the collected DC bus voltage feedback value and reactive power feedback value of a grid-side converter in the ramp-type gravity energy storage system, using a grid-side proportional-integral controller to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value, and performing reactive power control on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value; based on the collected active power feedback value and d-axis inductance current value of a motor-side converter in the ramp-type gravity energy storage system, using a motor-side proportional-integral controller, Output the motor side d-axis voltage command value and the motor side q-axis voltage command value, and according to the motor side d-axis voltage command value and the motor side q-axis voltage command value, perform active power control on the motor side converter in the ramp type gravity energy storage system; based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp type gravity energy storage system, use the speed proportional integral controller to obtain the heavy object scheduling command value, and according to the heavy object scheduling command value, perform speed control on the permanent magnet synchronous motor in the ramp type gravity energy storage system; wherein the grid side proportional integral controller includes: a DC bus voltage proportional integral controller, a grid side d-axis current proportional integral controller, a power A proportional-integral controller and a grid-side q-axis current proportional-integral controller; the motor-side proportional-integral controller includes: an active power proportional-integral controller, a motor-side q-axis current proportional-integral controller, and a motor-side d-axis current proportional-integral controller; on the grid side, the present application uses a DC bus voltage feedback value and a reactive power feedback value, combined with the d-axis and q-axis voltage command values ​​output by the proportional-integral controller, to accurately control the grid-side converter, which can effectively smooth the grid-side power output, reduce the power impact caused by the discrete stacking and unloading of heavy objects, and improve the grid-side power quality; on the motor side, the active power feedback value and the inductor current feedback value are used, through the motor-side proportional-integral The controller adjusts the d-axis and q-axis voltages to achieve efficient active power control of the motor-side converter, so that the gravity energy storage system has the ability to respond quickly and precisely control in dynamic operation; in addition, based on the speed feedback value of the permanent magnet synchronous motor, the speed proportional integral controller outputs the weight scheduling command value, and slightly adjusts the speed of the weight to make full use of the kinetic energy stored in the weight itself to achieve power balance; therefore, the present invention can achieve stable power output and efficient management of system energy by collaboratively controlling the grid-side converter, the motor-side converter and the permanent magnet synchronous motor in the ramp-type gravity energy storage system, and precisely adjusting the system operating state based on a variety of feedback signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 A schematic flow chart of a power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0078] Figure 2 A schematic structural diagram of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0079] Figure 3 A schematic diagram of a power control framework of a grid-side converter in a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0080] Figure 4 A schematic diagram of a power control framework of a machine-side converter in a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0081] Figure 5 A schematic diagram of a speed control framework of a permanent magnet synchronous motor in a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0082] Figure 6 A schematic diagram of waveforms of a given speed and a feedback speed of a permanent magnet synchronous motor in a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0083] Figure 7 A schematic diagram of the waveforms of the electromagnetic torque and the load torque of a permanent magnet synchronous motor in a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0084] Figure 8 A schematic diagram of grid-side power waveform in a power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0085] Fig. 9 A schematic diagram of the structural composition of a power control system of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor provided by the present invention;

[0086] Fig.10 The present invention provides a schematic structural diagram of an electronic device. DETAILED DESCRIPTION

[0087] The present invention proposes a power control method, system, device and medium for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor. The specific implementation manner of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0088] Embodiment 1:

[0089] The present invention provides a power control method for a ramp type gravity energy storage system based on a permanent magnet synchronous motor. The flow chart is as follows: Figure 1 As shown, including:

[0090] Step 1: Based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, a grid-side proportional-integral controller is used to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value, and reactive power control is performed on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value;

[0091] Step 2: Based on the collected active power feedback value and d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system, a motor-side proportional-integral controller is used to output a motor-side d-axis voltage command value and a motor-side q-axis voltage command value, and active power control is performed on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value;

[0092] Step 3: Based on the collected speed feedback value of the permanent magnet synchronous motor in the slope type gravity energy storage system, a speed proportional integral controller is used to obtain a heavy object dispatching instruction value, and the speed of the permanent magnet synchronous motor in the slope type gravity energy storage system is controlled according to the heavy object dispatching instruction value;

[0093] Among them, the grid-side proportional-integral controller includes: a DC bus voltage proportional-integral controller, a grid-side d-axis current proportional-integral controller, a power proportional-integral controller and a grid-side q-axis current proportional-integral controller; the motor-side proportional-integral controller includes: an active power proportional-integral controller, a motor-side q-axis current proportional-integral controller and a motor-side d-axis current proportional-integral controller.

[0094] The general slope gravity energy storage system usually adopts synchronous motor grid connection. Due to the discreteness of the weight block, it can only be stacked and unloaded in unit quantity. This operation will cause the synchronous motor to generate torque shock, and the speed of the synchronous motor must be synchronized with the power grid. Therefore, the torque shock will be further converted into power shock on the grid side. The continuous heavy operation seriously affects the power quality on the grid side, and it is difficult to achieve stable power output. In response to this problem, a large number of studies have been carried out at home and abroad. The main coping methods include using heavy object scheduling to make the heavy blocks cooperate to reduce power fluctuations, or adding additional energy storage devices such as batteries, supercapacitors and other energy storage units to balance system power fluctuations. However, these methods either rely on complex scheduling strategies or increase system cost and complexity, and fail to fully utilize the characteristics of the energy storage system itself. To this end, the present invention replaces the traditional synchronous motor with a permanent magnet synchronous motor, and uses its efficient and accurate speed control characteristics to solve the power shock problem of the traditional system. Specifically, the method of the present invention is based on the DC bus voltage feedback value and reactive power feedback value of the grid-side converter, and uses a proportional-integral controller to output the grid-side d-axis and q-axis voltage command values ​​to achieve stable control of the grid-side power; on the motor side, based on the active power feedback and the inductor current feedback, the motor-side proportional-integral controller is used to adjust the voltage command value to accurately control the power output of the motor-side converter. At the same time, combined with the speed feedback of the permanent magnet synchronous motor, the speed proportional-integral controller is used to generate the heavy object scheduling command value, accurately control the speed of the heavy object, and achieve slight fluctuation regulation, so as to effectively buffer the power impact by using the kinetic energy stored in the heavy object and smooth the grid-side power output. Compared with the traditional method, the method of the present invention does not require additional energy storage equipment, and by controlling the slight fluctuation of the heavy object speed, it can significantly reduce the grid-side power impact and significantly improve the grid-side power quality; at the same time, the high efficiency and good dynamic response characteristics of the permanent magnet synchronous motor enable the energy storage system to have higher stability and operation efficiency, and give full play to the kinetic energy regulation potential of the gravity energy storage system itself.

[0095] As Figure 2Taking the slope gravity energy storage system based on permanent magnet synchronous motor as an example, the slope gravity energy storage system mainly consists of two parts: mechanical system and electrical system. The mechanical system mainly consists of low-level storage yard, high-level storage yard, mountain slope and track, heavy object transport vehicle, transmission mechanism and gearbox, which is mainly responsible for the mutual conversion of potential energy and kinetic energy of heavy objects. The electrical system mainly consists of permanent magnet synchronous motor, motor side converter (MSC), bus capacitor, chopper protection device (Chopper), grid side converter (GSC), grid side filter inductor and transformer. The electrical system is responsible for the mutual conversion of kinetic energy and electromagnetic energy and the power interaction between the energy storage system and the power grid. The present invention introduces the gravity energy storage system in order to realize the mutual conversion between the gravitational potential energy of the heavy objects and the grid-side electric energy by controlling the height change of the heavy objects. For example, under the energy storage condition, the system operates in the electric state, lifts the heavy objects from the low-level stockpile along the slope to the high-level stockpile, and converts the electric energy into the gravitational potential energy of the heavy objects and stores it; under the power feeding condition, the system operates in the power generation state, and according to the scheduling requirements, lifts the heavy objects from the high-level stockpile along the slope to the low-level stockpile, and converts the gravitational potential energy of the heavy objects into electric energy and feeds it to the power grid.

[0096] By controlling the power of the above-mentioned ramp-type gravity energy storage system based on permanent magnet synchronous motor, the stable output of system power can be achieved. In the specific implementation, the control process of the grid-side converter is one of the core links of the technical solution. Based on the collected DC bus voltage feedback value and reactive power feedback value, the grid-side d-axis and q-axis voltage command values ​​are gradually generated through the proportional-integral controller, which can ensure the stable output of grid-side power. Specifically:

[0097] In one implementation, the process of outputting a grid-side d-axis voltage command value and a grid-side q-axis voltage command value by using a grid-side proportional-integral controller based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system in step 1 may include:

[0098] Based on the collected DC bus voltage feedback value of the grid-side converter in the ramp-type gravity energy storage system, a DC bus voltage proportional-integral controller is used to output a grid-side d-axis current reference value;

[0099] According to the grid-side d-axis current reference value, a grid-side d-axis current proportional-integral controller is used to obtain a grid-side d-axis voltage command value;

[0100] Based on the collected reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, a power proportional integral controller is used to output a grid-side q-axis current reference value;

[0101] According to the grid-side q-axis current reference value, the grid-side q-axis current proportional-integral controller is used to obtain the grid-side q-axis voltage command value;

[0102] In this implementation, by constructing a dual closed-loop control structure with the grid-side DC bus voltage and reactive power feedback value as input, the dynamic calculation of the grid-side d-axis and q-axis voltage command values ​​can be accurately realized, the d-axis current reference value is generated by the DC bus voltage proportional-integral controller, and the d-axis voltage command value is further obtained by using the d-axis current proportional-integral controller. At the same time, the q-axis current reference value is generated based on the reactive power feedback value and the q-axis voltage command value is calculated, thereby realizing the decoupling control of active power and reactive power. This design greatly improves the control accuracy and response speed, and ensures the system's ability to quickly adjust the grid-side voltage and power under dynamic conditions. Through the dual closed-loop control method in this implementation, not only the steady-state performance of the system is effectively improved, but also the robustness and anti-disturbance ability in the dynamic adjustment process can be significantly enhanced, so that the system can adapt to the complex and changeable power grid environment; at the same time, the introduction of the proportional-integral controller minimizes the steady-state error and optimizes the dynamic characteristics, providing a more stable and efficient control basis for subsequent power regulation.

[0103] In this implementation, the grid-side converter adopts grid voltage-oriented vector control. The specific control process is as follows: Figure 3 As shown, the active power uses the DC bus voltage and the grid-side d-axis inductor current double closed-loop control strategy: the voltage outer loop collects the DC bus voltage (for example, using V dc ) as the feedback value, and the DC bus voltage reference value (for example, using The DC bus voltage deviation value is compared with the DC bus voltage proportional-integral (PI) controller (also called DC bus PI controller) and the limit calculation to obtain the grid-side d-axis current reference value (for example, it can be used The corresponding expression can be as follows:

[0104]

[0105] in, Indicates the grid-side d-axis current reference value; Indicates the DC bus voltage feedback value; V dc Indicates the DC bus voltage reference value; k p_v k represents the proportional coefficient of the DC bus voltage proportional-integral controller; i_v represents the integral coefficient of the DC bus voltage proportional integral controller; s represents a complex frequency domain variable;

[0106] The current loop collects the grid-side inductor current and converts the coordinates of the d-axis inductor current (for example, using i gd ) as the feedback quantity, and compare it with the grid-side d-axis current reference value (for example, using Then, the grid-side d-axis current PI controller is used to add feedforward decoupling to obtain the grid-side d-axis voltage command value (for example, using The corresponding expression can be as follows:

[0107]

[0108] in, Indicates the grid-side d-axis voltage command value; Indicates the grid-side d-axis current reference value; i gd Indicates the grid-side d-axis inductance current; k p_i represents the proportional coefficient of the grid-side d-axis current proportional-integral controller; k i_i represents the integral coefficient of the grid-side d-axis current proportional-integral controller; s represents the complex frequency domain variable; ω g Indicates the grid-side converter voltage angular frequency; L g Represents the grid-side converter inductance; i gq Indicates the grid-side q-axis current reference value; ω g L g i gq Feedforward decoupling added for the grid-side d-axis;

[0109] The above technical solution corresponds to the calculation process of the d-axis voltage command value of the grid-side converter of the ramp-type gravity energy storage system. Through the grid voltage-oriented vector control strategy, the DC bus voltage and the dual closed-loop control of the grid-side d-axis inductor current are combined to achieve precise regulation and stable output of the grid-side power. The voltage outer loop accurately generates the grid-side d-axis current reference value by means of a proportional-integral controller through real-time comparison of the DC bus voltage feedback value with the reference value, ensuring that the DC bus voltage can quickly converge to the set value and maintain the stability of the DC side voltage. The current inner loop further accurately controls the grid-side d-axis inductor current, eliminates the current deviation through the proportional-integral controller, and combines the feedforward decoupling compensation to effectively suppress the interference caused by voltage frequency changes and coupling factors, and finally generates the grid-side d-axis voltage command value, realizing efficient control of the grid-side power. This control process makes full use of the coordination of the voltage outer loop and the current inner loop, has the characteristics of fast dynamic response and high regulation accuracy, can effectively suppress the voltage and current fluctuations in the operation of the gravity energy storage system, and stabilize the DC bus voltage, ensuring the stability and efficiency of the grid-side converter during power transmission. In addition, feedforward decoupling compensation further reduces the coupling effect of the control system, allowing the grid-side converter to track the grid voltage and current commands more accurately, improving the system's robustness and anti-interference capabilities, significantly improving the grid-side power quality and the system's dynamic performance, and meeting the high requirements of the slope-type gravity energy storage system for stable power output in a renewable energy grid-connected environment.

[0110] The process of controlling the reactive power of the grid-side converter may include: the power outer loop converts the reactive power feedback value (for example, using Represented) and reactive power reference value (for example, using Q g The current is then compared with the reactive power PI controller and the limiter to provide the grid-side q-axis current reference value (for example, using The corresponding expression can be as follows:

[0111]

[0112] Among them, k p_q Represents the proportional coefficient of the power PI controller; k i_q represents the integral coefficient of the power PI controller; s represents the complex frequency domain variable;

[0113] and the q-axis inductor current (for example, using i gq After the difference is made, the grid-side q-axis current PI controller is used and feedforward decoupling is added to obtain the grid-side q-axis voltage command value (for example, using The corresponding expression can be as follows:

[0114]

[0115] Among them, k p_i k represents the proportional coefficient of the grid-side q-axis current proportional-integral controller (the same as the proportional coefficient of the grid-side d-axis current proportional-integral controller); i_i Represents the integral coefficient of the grid-side q-axis current proportional-integral controller (the same as the proportional coefficient of the grid-side d-axis current proportional-integral controller); ω g Indicates the grid-side converter voltage angular frequency; L g Represents the grid-side converter inductance; i gd Indicates the grid-side d-axis current reference value; ω g L g i gd That is, the feedforward decoupling added to the grid-side q-axis; s represents a complex frequency domain variable;

[0116] After the grid-side PI controller generates the grid-side d-axis voltage command value and the q-axis voltage command value, in order to apply these voltage command values ​​to the grid-side converter and realize accurate control of the system power, it is necessary to further convert the generated voltage command values ​​into actual control signals to drive the operation of the converter. Specifically:

[0117] In one implementation, the process of performing reactive power control on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value may include:

[0118] Performing inverse coordinate transformation on the grid-side d-axis voltage command value and the grid-side q-axis voltage command value to obtain three-phase voltage command values ​​corresponding to the grid-side converter;

[0119] Performing space vector modulation on the three-phase voltage command value corresponding to the grid-side converter to obtain a switch tube driving signal;

[0120] According to the switch tube driving signal, the reactive power of the grid-side converter is controlled.

[0121] In this implementation, the three-phase voltage command value of the grid-side converter is obtained by inverse coordinate transformation of the grid-side d-axis voltage command value and the q-axis voltage command value, and the switch tube drive signal is generated by space vector pulse width modulation (SVPWM), thereby realizing efficient power control of the grid-side converter of the ramp-type gravity energy storage system. The remaining control method is consistent with the traditional inverter control method, that is, the voltage command value in the dq-axis coordinate system is converted into a three-phase stationary coordinate system voltage signal by inverse coordinate transformation, and the switch tube drive signal is generated after SVPWM modulation to drive the three-phase inverter bridge for power regulation. In the process of realizing the conversion from the voltage command value to the actual control signal, this control method optimizes the quality of the output waveform with the help of SVPWM modulation technology, reduces the harmonic content, and improves the voltage utilization rate of the inverter output. At the same time, the decoupling method of dq axis to three-phase coordinates based on inverse coordinate transformation enables the grid-side converter to independently adjust active power and reactive power, greatly improving the control accuracy and system stability. By accurately generating the switch tube drive signal, it can ensure that the system responds quickly to load and grid fluctuations under dynamic conditions, thereby enhancing the reliability and adaptability of the system.

[0122] After completing the reactive power control of the grid-side converter, in order to achieve the coordinated regulation of the overall power of the ramp-type gravity energy storage system, it is necessary to further accurately control the motor-side converter. By real-time acquisition and adjustment of the active power feedback value and current signal on the motor side, the system can accurately output the d-axis and q-axis voltage command values ​​on the motor side, realize power control of the motor-side converter, and ensure that the system can output power smoothly and effectively cope with power fluctuations during dynamic operation. Specifically:

[0123] In one implementation, the process of outputting the motor side d-axis voltage command value and the motor side q-axis voltage command value based on the collected active power feedback value and d-axis inductance current value of the motor side converter in the ramp-type gravity energy storage system in step 2 using the motor side proportional integral controller may include:

[0124] According to the collected active power feedback value of the motor-side converter in the ramp-type gravity energy storage system, an active power proportional integral controller is used to output a motor-side q-axis current reference value;

[0125] According to the q-axis current reference value of the motor side, the q-axis voltage command value of the motor side is obtained by using the q-axis current proportional-integral controller of the motor side;

[0126] According to the collected d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system and the preset motor-side d-axis current reference value, the motor-side d-axis current proportional-integral controller is used to obtain the motor-side d-axis voltage command value;

[0127] In this implementation, the power management efficiency and responsiveness of the ramp-type gravity energy storage system can be improved through precise motor-side control strategies. Specifically, by collecting the active power feedback value of the motor-side converter, the active power proportional-integral controller is used to output the q-axis current reference value, thus laying the foundation for achieving stable current control. This process ensures that the motor can adjust the output in time under different load conditions and optimize the energy utilization rate; then, the q-axis voltage command value and d-axis current reference value generated by the motor-side q-axis current proportional-integral controller are effectively driven to achieve the best operating state of the motor; at the same time, combined with the d-axis inductor current value, the d-axis voltage command value is accurately output through the d-axis current proportional-integral controller, ensuring that the magnetic field strength of the motor adapts to the load changes, which not only improves the dynamic performance of the motor, but also enhances its stability.

[0128] After the motor-side d-axis voltage command value and q-axis voltage command value are output through the motor-side proportional-integral controller, in order to further improve the control accuracy and dynamic response capability of the motor-side converter, it is necessary to make more precise adjustments to the control process of the q-axis current. By comparing the motor-side q-axis current reference value with the actual value and combining the feedforward compensation method, the current deviation can be effectively suppressed to ensure the accurate output of the motor-side voltage command value, thereby optimizing the power control effect of the motor-side converter. Specifically:

[0129] In one implementation, the process of obtaining the motor side q-axis voltage command value according to the motor side q-axis current reference value by using the motor side q-axis current proportional-integral controller may include:

[0130] Compare the motor side q-axis current reference value and the acquired motor side q-axis current actual value to obtain the q-axis current deviation of the motor side converter;

[0131] According to the q-axis current deviation, the q-axis current proportional-integral controller on the motor side is used to output the q-axis voltage control value on the motor side;

[0132] The motor side q-axis voltage control value and the pre-calculated motor side q-axis feedforward voltage are summed to obtain the motor side q-axis voltage command value;

[0133] In this implementation, the efficient management of the ramp-type gravity energy storage system can be achieved through the precise control of the q-axis current on the motor side. First, by comparing the q-axis current reference value and the actual value on the motor side, the system can obtain the q-axis current deviation in real time. This deviation information is the key, which provides a dynamic feedback basis for subsequent control, enabling the system to respond quickly to load changes; then, the q-axis current proportional-integral controller on the motor side is used to output the q-axis voltage control value according to the deviation, effectively adjusting the current output of the motor. This process ensures that the motor can operate in the best state under various working conditions, improving the reliability and stability of the system; at the same time, the control value is added to the pre-calculated q-axis feedforward voltage to further optimize the voltage command on the motor side, making the motor more sensitive to instantaneous load changes.

[0134] In this implementation, the motor-side converter adopts rotor field-oriented vector control. The specific control diagram is as follows: Figure 4 As shown, the active power uses the active power and motor q-axis current double closed-loop control strategy, and the active power outer loop converts the power feedback value (for example, using P g ) and power reference value (for example, using The current is then compared with the active power PI controller and the limiter to provide the motor side q axis current reference value (for example, using The corresponding expression can be as follows:

[0135]

[0136] Among them, k p_p is the proportional coefficient of the active power PI controller; k i_p is the integral coefficient of the active power PI controller; s represents the complex frequency domain variable;

[0137] The current loop collects the motor current and converts the coordinates of the q-axis current (for example, using i mq It is expressed as the feedback quantity and is compared with the q-axis current reference value. The motor side q-axis current PI controller is used to calculate and add the q-axis feedforward voltage to obtain the motor side q-axis voltage command value (for example, using The corresponding expression can be as follows:

[0138]

[0139] Among them, k p_i k represents the proportional coefficient of the motor-side q-axis current PI controller (the same as the proportional coefficient of the grid-side d-axis current proportional-integral controller); i_irepresents the integral coefficient of the PI controller of the q-axis current on the motor side (the same as the proportional coefficient of the proportional-integral controller of the d-axis current on the grid side); s represents the complex frequency domain variable; ω e Indicates the electrical angular frequency of the motor rotor; L d represents the d-axis rotor inductance of the motor; i md Indicates the d-axis current feedback value on the motor side; ψ f Represents the motor magnetic field;

[0140] The motor magnetic field is realized by single closed-loop control of the d-axis current. The d-axis current reference value of the motor side (for example, Indicates that it is 0 in normal operation) and the d-axis inductor current (for example, using i md After the difference is made, the motor side d-axis current PI controller calculates and adds the d-axis feedforward voltage to obtain the motor side d-axis voltage command value (for example, using The corresponding expression can be as follows:

[0141]

[0142] in, Indicates the motor side d-axis voltage command value; k p_i Indicates the proportional coefficient of the motor-side d-axis current PI controller (the same as the proportional coefficient of the grid-side d-axis current proportional-integral controller); k i_i represents the integral coefficient of the motor-side d-axis current PI controller (the same as the integral coefficient of the grid-side d-axis current proportional-integral controller); s represents the complex frequency domain variable; ω e Indicates the electrical angular frequency of the motor rotor; i mq Indicates the q-axis current feedback value on the motor side; L q represents the q-axis rotor inductance of the motor;

[0143] The above technical scheme realizes precise power control of the motor-side converter in the ramp-type gravity energy storage system based on permanent magnet synchronous motor by adopting a rotor magnetic field oriented vector control strategy. In the scheme, the active power control adopts a dual closed-loop control structure of power and motor q-axis current. The active power deviation is processed by a proportional integral (PI) controller through the power outer loop to generate a motor-side q-axis current reference value, and the current deviation is precisely adjusted by the PI controller in the current inner loop, and the q-axis voltage command value is generated in combination with feedforward decoupling compensation, thereby achieving stable output of active power; at the same time, the motor magnetic field is controlled by a single closed-loop d-axis current to ensure stable operation of the magnetic field and optimize the system operation efficiency. In the control of the d-axis, the deviation between the motor-side d-axis current reference value and the feedback value is adjusted by the PI controller, and the motor-side d-axis voltage command value is generated in combination with feedforward compensation, which can effectively suppress magnetic field coupling interference. The implementation of the above technical solution enables the motor-side converter to achieve fast dynamic response and high-precision power regulation, significantly improving the stability and control accuracy of the system. Through the combination of the dual closed-loop control structure and the feedforward decoupling compensation, the system effectively suppresses the interference factors caused by the coupling of current and magnetic field, ensuring the stable control of the voltage and current on the motor side, thereby achieving the precise output of the motor's active power and the stable maintenance of the magnetic field. In addition, the above solution makes full use of the efficient operation characteristics of the permanent magnet synchronous motor, further reduces the system's energy loss, and improves the overall operation efficiency and reliability of the system. Therefore, the above technical solution can ensure the stable power output and dynamic performance of the slope-type gravity energy storage system under complex operating conditions, and meet the system's requirements for high-precision and high-efficiency power regulation.

[0144] After the accurate generation of the q-axis voltage command value on the motor side is completed, in order to realize the overall power control of the motor-side converter, it is also necessary to combine the d-axis voltage command value on the motor side and convert the d-axis and q-axis voltage command values ​​into actual drive signals through coordinate transformation and modulation technology. Specifically:

[0145] In one implementation, the process of performing active power control on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value may include:

[0146] Performing inverse coordinate transformation on the motor side d-axis voltage command value and the motor side q-axis voltage command value to obtain the three-phase voltage command value of the motor side converter;

[0147] Performing space vector modulation on the three-phase voltage command value of the motor-side converter to generate a motor-side drive signal;

[0148] According to the motor-side driving signal, the active power of the motor-side converter of the ramp-type gravity energy storage system is controlled, and the command voltage finally drives the machine-side converter through space vector modulation (SVPWM);

[0149] In this implementation, the efficiency and performance of the ramp-type gravity energy storage system are significantly improved by implementing precise voltage command processing for the power control of the motor-side converter. First, the motor-side d-axis voltage command value and the q-axis voltage command value are successfully converted into three-phase voltage command values ​​by performing inverse coordinate transformation. This process ensures that the motor converter can receive appropriate voltage commands, thereby optimizing the control of the motor; then, the three-phase voltage command value is processed by space vector modulation (SVPWM) technology. This advanced modulation method not only effectively controls the switching state of the motor-side converter, but also improves the quality of the current waveform, reduces harmonic distortion, and improves the overall efficiency of the motor, which not only helps to improve the energy conversion efficiency, but also reduces the temperature rise of the system, which is conducive to extending the service life of the equipment; finally, through the generated motor-side drive signal for power control, the system can accurately adjust the output power of the motor in real time to meet the needs of different loads. In the entire control process, this implementation ensures the response speed and stability of the system, further improves the overall performance and reliability of the ramp-type gravity energy storage system, and makes it show higher efficiency and flexibility in practical applications.

[0150] After completing the power control of the motor-side converter, in order to achieve accurate management of the heavy object dispatching in the entire ramp-type gravity energy storage system, it is necessary to further regulate based on the speed feedback value of the permanent magnet synchronous motor. You can choose to balance the system power output by using slight speed fluctuations through real-time monitoring and adjustment of the motor speed to ensure the stability of the grid-side power. Specifically:

[0151] In one implementation, the process of obtaining the heavy object dispatching instruction value in step 3 based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp-type gravity energy storage system by using a speed proportional integral controller may include:

[0152] Based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp gravity energy storage system (for example, using ) and the speed reference value of the permanent magnet synchronous motor obtained (for example, using ω m The speed proportional integral controller is used to output the weight quantity command value (for example, n * express);

[0153] The weight quantity instruction value is divided into an integer part and a decimal part, and the integer part is soft-started;

[0154] The integer part and the decimal part after soft start are recomposed into the heavy object dispatch instruction value;

[0155] In this implementation, if Figure 5As shown, the speed proportional integral controller is used to compare and limit the speed feedback value of the permanent magnet synchronous motor with the speed reference value in real time (for example, the maximum value of the number of heavy objects can be n max Indicates that the minimum number of weights can be n min , generates the weight quantity instruction value, and further separates and soft-starts the weight quantity instruction, thus realizing the precise control of weight scheduling and effectively completing the adjustment of motor speed. During the adjustment process, the weight quantity instruction is divided into integer parts (for example, n int decimal part (for example, using n dec Representation), and soft-start the integer part, and then re-compose the heavy object dispatching instruction with the decimal part, which effectively alleviates the impact on the system caused by the discrete operation of heavy objects and ensures the smooth control of the motor speed; this implementation method forms an overall synergy with the grid-side converter and the machine-side converter control loop: the control loop of the grid-side converter ensures the stability of the DC bus voltage and the precise control of the grid-side reactive power; the control loop of the motor-side converter realizes the regulation of the grid-connected active power, and the heavy object dispatching balances the overall power output of the system through the precise control of the motor speed, ensuring the stability and dynamic response performance of the system operation. This implementation method performs closed-loop regulation of the motor speed through the speed control loop. The system can achieve a smooth speed transition according to the dispatching constraints of the heavy objects, effectively alleviate the torque impact caused by the discrete stacking or unloading of heavy objects, reduce the fluctuation of the grid-side power, and improve the grid-side power quality. On the whole, this implementation method achieves orderly control of the weight speed and motor speed by introducing weight scheduling constraints, compensating for the power fluctuation problem caused by discrete weights in traditional systems. In addition, the soft start module smoothes the weight quantity instructions, and the system shows higher stability and accuracy in dynamic operation. It can avoid system shocks caused by rapid adjustments, and ensure the stability and efficiency of the power output of the slope gravity energy storage system.

[0156] For example, the expression corresponding to the above-mentioned weight quantity instruction value can be as follows:

[0157]

[0158] Where N represents the weight quantity instruction value; n * represents the speed feedback value of the permanent magnet synchronous motor; n represents the speed reference value of the permanent magnet synchronous motor; k p_n Represents the proportional coefficient of the speed proportional-integral controller; represents the integral coefficient of the speed proportional integral controller; s represents a complex frequency domain variable; In this example, the speed proportional integral controller is used to compare and adjust the speed feedback value of the permanent magnet synchronous motor with the speed reference value in real time to generate a heavy object quantity command value. The expression of this command value fully reflects the role of the proportional integral (PI) controller in dynamic adjustment, that is, it quickly responds to the speed deviation through proportional regulation, and eliminates the steady-state error through integral regulation to ensure the precise control of the system. The implementation of this scheme enables the heavy object scheduling to be adjusted in time according to the motor speed deviation, effectively controls the stacking and unloading process of the heavy objects, and thus realizes the stable operation of the motor speed. Through this method, the actual speed of the motor can smoothly follow the speed reference value, and even in the case of speed fluctuations caused by discrete operation of heavy objects, the system can still maintain the average speed unchanged. This control process not only eliminates the influence of speed deviation on system operation, but also alleviates the system torque shock through the precise scheduling of the number of heavy objects, and ensures the stable power output of the gravity energy storage system.

[0159] As Figure 6 The waveform diagram generated by the speed feedback value and the speed reference value of the permanent magnet synchronous motor shown in the figure is taken as an example to simulate the speed process of the motor, in which the speed reference value is the rated speed and remains unchanged, and the speed feedback value is the actual speed of the motor, which is the same as the speed change of the heavy object. The two fluctuate with the stacking and unloading of the heavy objects, but the average speed can stably follow the given value, indicating that the motor speed can be basically unchanged through heavy object scheduling. The electromagnetic torque of the motor obtained by simulation (for example, using T m ) and load torque (for example, using T L The waveform diagram of Figure 7 As shown in the figure, the load torque is provided by the heavy objects, which will increase rapidly as the heavy objects are stacked, and will also decrease rapidly as the heavy objects are unloaded; the size of the motor electromagnetic torque is controlled by the double closed-loop system, and the active power outer loop generates the electromagnetic torque command according to the grid-side power and the motor speed to ensure the stability of the grid-side active power; the grid-side power waveform obtained is as follows Figure 8 As shown (P g Indicates the active power feedback value, Q gRepresents reactive power feedback value), given operating power is 0.9 times rated power. It can be seen from the figure that in the entire operating range, the grid-side active power can be maintained at 0.9pu, and the stacking and unloading of heavy blocks will not cause fluctuations in grid-side power; in this example, the motor speed control strategy based on heavy object scheduling constraints is used to achieve efficient and stable control of motor speed, torque and grid-side power in the ramp-type gravity energy storage system. Specifically, the motor speed control ensures that the actual speed can fluctuate stably around the given speed and the average value remains unchanged by closed-loop adjustment of the speed feedback value and the given value, which shows that the speed changes during system operation are effectively balanced through heavy object scheduling; the electromagnetic torque is precisely adjusted through a dual closed-loop control system, the load torque is provided by the heavy object, and changes dynamically with the stacking and unloading of the heavy object, and the electromagnetic torque generates torque instructions through the active power outer loop, ensuring that the system can respond quickly to load changes and achieve dynamic matching between the motor and the load. In addition, the implementation of grid-side power control further verifies the stability and efficiency of the system. The active power on the grid side can always be maintained at a given 0.9 times the rated power. Regardless of the stacking or unloading operation of heavy objects, there is no significant fluctuation in the power on the grid side. This result shows that based on the coordinated control of heavy object scheduling and motor speed, the system can effectively suppress the power impact caused by the discrete operation of heavy objects, ensure the stability of grid-side power output, and significantly improve the power quality on the grid side. Therefore, through this simulation example, it can be explained that the present invention can achieve a smooth output of power in the gravity energy storage system by accurately controlling the motor speed, adjusting the electromagnetic torque, and optimizing the scheduling of heavy objects, which solves the power fluctuation problem caused by the discrete operation of heavy objects in the traditional system, and improves the stability of system operation, dynamic response performance, and grid-side power quality.

[0160] In summary, the present invention aims at the problem in the prior art that the ramp-type gravity energy storage system based on synchronous motors has discrete weight blocks, which causes the weight power and motor load torque to fluctuate with the scheduling of the weight blocks. A power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor is proposed. The ramp-type gravity energy storage system involved realizes power control through a MSC and a GSC connected back to back to ensure active power conversion between the motor and the power grid, wherein the GSC is responsible for establishing the DC bus voltage and absorbing power from the power grid under energy storage conditions to maintain system stability, and the MSC converts the bus DC power into AC power to drive the permanent magnet motor, thereby dragging the load to complete energy storage, and stability and high efficiency are achieved by performing three key control strategies on the system: first, the dual closed-loop grid-side converter control strategy uses the DC bus voltage and the grid-side reactive power to control the power supply. Power feedback is used to achieve precise control of the grid-side inductor current; secondly, the motor-side converter control strategy realizes efficient operation of the motor by combining the grid-side active power and motor magnetic field control; finally, the motor speed control strategy with heavy object scheduling constraints uses a closed-loop system to maintain stable speed control, and even during the stacking and unloading of heavy objects, the smooth operation of the system is still guaranteed; the above-mentioned control strategy effectively solves the influence of mechanical-side power fluctuations on the grid-side power, and uses the characteristics of permanent magnet synchronous motors to absorb and balance the power fluctuations of heavy objects, thereby achieving stable control of grid-side active and reactive power, as well as DC bus voltage and motor magnetic field in the new ramp-type gravity energy storage system structure. Therefore, the method of the present invention can not only improve the energy management efficiency of the gravity energy storage system, but also promote the reactive power regulation capability in grid interaction.

[0161] Embodiment 2:

[0162] The present invention based on the same inventive concept also provides a power control system of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor, the structural composition diagram is shown in FIG. Fig. 9 As shown, including:

[0163] A grid-side power control module is used to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, using a grid-side proportional-integral controller, and perform reactive power control on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value;

[0164] The motor-side power control module is used to output the motor-side d-axis voltage command value and the motor-side q-axis voltage command value based on the collected active power feedback value and d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system, and to perform active power control on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value;

[0165] The speed control module is used to obtain the weight dispatching instruction value based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp type gravity energy storage system by using the speed proportional integral controller, and control the speed of the permanent magnet synchronous motor in the ramp type gravity energy storage system according to the weight dispatching instruction value;

[0166] Among them, the grid-side proportional-integral controller includes: a DC bus voltage proportional-integral controller, a grid-side d-axis current proportional-integral controller, a power proportional-integral controller and a grid-side q-axis current proportional-integral controller; the motor-side proportional-integral controller includes: an active power proportional-integral controller, a motor-side q-axis current proportional-integral controller and a motor-side d-axis current proportional-integral controller.

[0167] In one implementation, the network-side power control module may include:

[0168] The grid-side d-axis current output submodule is used to output a grid-side d-axis current reference value based on the collected DC bus voltage feedback value of the grid-side converter in the ramp-type gravity energy storage system and using a DC bus voltage proportional-integral controller;

[0169] The grid-side d-axis voltage output submodule is used to obtain a grid-side d-axis voltage command value according to a grid-side d-axis current reference value and using a grid-side d-axis current proportional-integral controller;

[0170] The grid-side q-axis current output submodule is used to output a grid-side q-axis current reference value based on the acquired reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system and using a power proportional integral controller;

[0171] The grid-side q-axis voltage output submodule is used to obtain the grid-side q-axis voltage command value according to the grid-side q-axis current reference value and using the grid-side q-axis current proportional-integral controller.

[0172] In one implementation, the above-mentioned grid-side power control module may further include:

[0173] A grid-side coordinate transformation submodule is used to perform inverse coordinate transformation on the grid-side d-axis voltage command value and the grid-side q-axis voltage command value to obtain three-phase voltage command values ​​corresponding to the grid-side converter;

[0174] The grid-side modulation submodule is used to perform space vector modulation on the three-phase voltage command value corresponding to the grid-side converter to obtain a switch tube drive signal;

[0175] The grid-side drive submodule is used to control the reactive power of the grid-side converter according to the switch tube drive signal.

[0176] In one implementation, the motor-side power control module may include:

[0177] The motor-side q-axis current output submodule is used to output the motor-side q-axis current reference value by using the active power proportional integral controller according to the collected active power feedback value of the motor-side converter in the ramp-type gravity energy storage system;

[0178] The motor side q-axis voltage output submodule is used to obtain the motor side q-axis voltage command value according to the motor side q-axis current reference value and using the motor side q-axis current proportional integral controller;

[0179] The motor side d-axis voltage output submodule is used to obtain the motor side d-axis voltage command value according to the collected d-axis inductance current value of the motor side converter in the ramp-type gravity energy storage system and the preset motor side d-axis current reference value, using the motor side d-axis current proportional-integral controller.

[0180] In this implementation, the motor-side q-axis voltage output submodule may include:

[0181] A motor-side q-axis deviation calculation unit is used to compare a motor-side q-axis current reference value with an acquired motor-side q-axis current actual value to obtain a q-axis current deviation of a motor-side converter;

[0182] The motor side q-axis voltage control unit is used to output the motor side q-axis voltage control value according to the q-axis current deviation by using the motor side q-axis current proportional integral controller;

[0183] The motor side q-axis voltage calculation unit is used to sum the motor side q-axis voltage control value and the pre-calculated motor side q-axis feedforward voltage to obtain the motor side q-axis voltage command value.

[0184] In one implementation, the motor-side power control module may further include:

[0185] The motor side coordinate transformation submodule is used to perform inverse coordinate transformation on the motor side d-axis voltage command value and the motor side q-axis voltage command value to obtain the three-phase voltage command value of the motor side converter;

[0186] The motor side modulation submodule is used to perform space vector modulation on the three-phase voltage command value of the motor side converter to generate a motor side drive signal;

[0187] The motor side control submodule is used to control the active power of the motor side converter of the ramp type gravity energy storage system according to the motor side drive signal.

[0188] In one implementation, the above-mentioned speed control module may include:

[0189] The heavy object instruction output submodule is used to output the heavy object quantity instruction value by using the speed proportional integral controller based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp-type gravity energy storage system and the acquired speed reference value of the permanent magnet synchronous motor;

[0190] The instruction processing submodule is used to divide the weight quantity instruction value into an integer part and a decimal part, and soft-start the integer part;

[0191] The dispatch instruction generation submodule is used to reconstruct the heavy object dispatch instruction value by combining the integer part and the decimal part after soft start.

[0192] For example, the expression corresponding to the above-mentioned weight quantity instruction value can be as follows:

[0193]

[0194] Where N represents the weight quantity instruction value; n * represents the speed feedback value of the permanent magnet synchronous motor; n represents the speed reference value of the permanent magnet synchronous motor; k p_n Represents the proportional coefficient of the speed proportional-integral controller; represents the integral coefficient of the speed proportional-integral controller; s represents the complex frequency domain variable.

[0195] Embodiment 3:

[0196] like Fig.10 As shown, the present invention also provides an electronic device, which may be a computer device, a single-chip device, an intelligent mobile device, etc. The electronic device in this embodiment may include a processor, a memory, a transceiver component, etc. The memory, the processor, and the transceiver component are connected via a bus; the memory may be used to store an execution program, and an exemplary execution program may include instructions; the processor is used to execute the instructions stored in the memory. The memory may also be used to store data, which may be called and / or modified when the instructions are executed.

[0197] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in a storage medium to implement the corresponding method flow or corresponding functions, so as to implement the steps of a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor in the above-mentioned embodiment.

[0198] Embodiment 4:

[0199] Based on the same inventive concept, the present invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It can be understood that the storage medium here can include both built-in storage media in electronic devices and, of course, extended storage media supported by electronic devices. The storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more execution programs (including program codes). It should be noted that the storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor loads and executes one or more instructions stored in the storage medium, which can implement the steps of a power control method of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor in the above embodiment.

[0200] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0201] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0202] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0203] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0204] 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 its protection scope. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that after reading the present invention, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the application, but these changes, modifications or equivalent substitutions are all within the protection scope of the claims to be approved.

Claims

1. A power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor, characterized in that: include: Based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, a grid-side proportional-integral controller is used to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value, and reactive power control is performed on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value; Based on the collected active power feedback value and d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system, a motor-side proportional-integral controller is used to output a motor-side d-axis voltage command value and a motor-side q-axis voltage command value, and active power control is performed on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value; Based on the collected speed feedback value of the permanent magnet synchronous motor in the slope type gravity energy storage system, a speed proportional integral controller is used to obtain a heavy object dispatching instruction value, and according to the heavy object dispatching instruction value, the speed of the permanent magnet synchronous motor in the slope type gravity energy storage system is controlled; Among them, the grid-side proportional-integral controller includes: a DC bus voltage proportional-integral controller, a grid-side d-axis current proportional-integral controller, a power proportional-integral controller and a grid-side q-axis current proportional-integral controller; the motor-side proportional-integral controller includes: an active power proportional-integral controller, a motor-side q-axis current proportional-integral controller, and a motor-side d-axis current proportional-integral controller.

2. The method according to claim 1, characterized in that The method outputs a grid-side d-axis voltage command value and a grid-side q-axis voltage command value based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, using a grid-side proportional-integral controller, including: Based on the collected DC bus voltage feedback value of the grid-side converter in the ramp-type gravity energy storage system, a DC bus voltage proportional-integral controller is used to output a grid-side d-axis current reference value; According to the grid-side d-axis current reference value, a grid-side d-axis current proportional-integral controller is used to obtain a grid-side d-axis voltage command value; Based on the collected reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, a power proportional integral controller is used to output a grid-side q-axis current reference value; According to the grid-side q-axis current reference value, a grid-side q-axis current proportional-integral controller is used to obtain a grid-side q-axis voltage command value.

3. The method according to claim 1, characterized in that The method of performing reactive power control on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value comprises: Performing inverse coordinate transformation on the grid-side d-axis voltage command value and the grid-side q-axis voltage command value to obtain three-phase voltage command values ​​corresponding to the grid-side converter; Performing space vector modulation on the three-phase voltage command value corresponding to the grid-side converter to obtain a switch tube drive signal; Reactive power control is performed on the grid-side converter according to the switch tube driving signal.

4. The method according to claim 1, characterized in that The method outputs the motor side d-axis voltage command value and the motor side q-axis voltage command value based on the collected active power feedback value and the d-axis inductance current value of the motor side converter in the ramp type gravity energy storage system, using the motor side proportional integral controller, including: According to the collected active power feedback value of the motor-side converter in the ramp-type gravity energy storage system, an active power proportional integral controller is used to output a motor-side q-axis current reference value; According to the motor side q-axis current reference value, using the motor side q-axis current proportional-integral controller, obtain the motor side q-axis voltage command value; According to the collected d-axis inductance current value of the motor side converter in the ramp-type gravity energy storage system and the preset motor side d-axis current reference value, the motor side d-axis current proportional-integral controller is used to obtain the motor side d-axis voltage command value.

5. The method according to claim 4, characterized in that The method of obtaining the motor side q-axis voltage command value according to the motor side q-axis current reference value by using the motor side q-axis current proportional integral controller comprises: Comparing the motor-side q-axis current reference value with the acquired motor-side q-axis current actual value to obtain a q-axis current deviation of the motor-side converter; According to the q-axis current deviation, a motor-side q-axis current proportional-integral controller is used to output a motor-side q-axis voltage control value; The motor side q-axis voltage control value and the pre-calculated motor side q-axis feedforward voltage are summed to obtain the motor side q-axis voltage command value.

6. The method according to claim 1, characterized in that The active power control of the motor side converter in the ramp type gravity energy storage system according to the motor side d-axis voltage command value and the motor side q-axis voltage command value comprises: Performing inverse coordinate transformation on the motor-side d-axis voltage command value and the motor-side q-axis voltage command value to obtain a three-phase voltage command value of the motor-side converter; Performing space vector modulation on the three-phase voltage command value of the motor-side converter to generate a motor-side drive signal; According to the motor-side driving signal, active power control is performed on the motor-side converter of the ramp-type gravity energy storage system.

7. The method according to claim 1, characterized in that The method of obtaining a heavy object dispatching instruction value based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp-type gravity energy storage system and using a speed proportional integral controller comprises: Based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp type gravity energy storage system and the acquired speed reference value of the permanent magnet synchronous motor, a speed proportional integral controller is used to output a weight quantity command value; Dividing the weight quantity instruction value into an integer part and a decimal part, and soft-starting the integer part; The integer part after soft start and the decimal part are reassembled into the heavy object dispatch instruction value.

8. The method according to claim 7, characterized in that The expression corresponding to the weight quantity instruction value is as follows: Where N represents the weight quantity instruction value; n * represents the speed feedback value of the permanent magnet synchronous motor; n represents the speed reference value of the permanent magnet synchronous motor; represents the proportional coefficient of the speed proportional-integral controller; represents the integral coefficient of the speed proportional integral controller; s represents a complex frequency domain variable.

9. A power control system of a ramp-type gravity energy storage system based on a permanent magnet synchronous motor, characterized in that: include: A grid-side power control module, which is used to output a grid-side d-axis voltage command value and a grid-side q-axis voltage command value based on the collected DC bus voltage feedback value and reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system, and to perform reactive power control on the grid-side converter in the ramp-type gravity energy storage system according to the grid-side d-axis voltage command value and the grid-side q-axis voltage command value; A motor-side power control module, for outputting a motor-side d-axis voltage command value and a motor-side q-axis voltage command value based on the collected active power feedback value and d-axis inductance current value of the motor-side converter in the ramp-type gravity energy storage system, and performing active power control on the motor-side converter in the ramp-type gravity energy storage system according to the motor-side d-axis voltage command value and the motor-side q-axis voltage command value; A speed control module, for obtaining a heavy object dispatching instruction value based on the collected speed feedback value of the permanent magnet synchronous motor in the slope type gravity energy storage system by using a speed proportional integral controller, and performing speed control on the permanent magnet synchronous motor in the slope type gravity energy storage system according to the heavy object dispatching instruction value; Among them, the grid-side proportional-integral controller includes: a DC bus voltage proportional-integral controller, a grid-side d-axis current proportional-integral controller, a power proportional-integral controller and a grid-side q-axis current proportional-integral controller; the motor-side proportional-integral controller includes: an active power proportional-integral controller, a motor-side q-axis current proportional-integral controller, and a motor-side d-axis current proportional-integral controller.

10. The system according to claim 9, characterized in that The grid-side power control module comprises: The grid-side d-axis current output submodule is used to output a grid-side d-axis current reference value based on the collected DC bus voltage feedback value of the grid-side converter in the ramp-type gravity energy storage system and using a DC bus voltage proportional-integral controller; A grid-side d-axis voltage output submodule, used to obtain a grid-side d-axis voltage command value according to the grid-side d-axis current reference value and using a grid-side d-axis current proportional-integral controller; The grid-side q-axis current output submodule is used to output a grid-side q-axis current reference value based on the acquired reactive power feedback value of the grid-side converter in the ramp-type gravity energy storage system and using a power proportional integral controller; The grid-side q-axis voltage output submodule is used to obtain a grid-side q-axis voltage command value according to the grid-side q-axis current reference value and using a grid-side q-axis current proportional-integral controller.

11. The system according to claim 9, characterized in that The grid-side power control module further includes: A grid-side coordinate transformation submodule, used for performing inverse coordinate transformation on the grid-side d-axis voltage command value and the grid-side q-axis voltage command value to obtain three-phase voltage command values ​​corresponding to the grid-side converter; A grid-side modulation submodule, used for performing space vector modulation on the three-phase voltage command value corresponding to the grid-side converter to obtain a switch tube drive signal; The grid-side driving submodule is used to perform reactive power control on the grid-side converter according to the switch tube driving signal.

12. The system according to claim 9, characterized in that The motor-side power control module comprises: The motor-side q-axis current output submodule is used to output the motor-side q-axis current reference value by using the active power proportional integral controller according to the collected active power feedback value of the motor-side converter in the ramp-type gravity energy storage system; The motor side q-axis voltage output submodule is used to obtain the motor side q-axis voltage command value according to the motor side q-axis current reference value and using the motor side q-axis current proportional integral controller; The motor side d-axis voltage output submodule is used to obtain the motor side d-axis voltage command value by using the motor side d-axis current proportional-integral controller according to the collected d-axis inductance current value of the motor side converter in the ramp-type gravity energy storage system and the preset motor side d-axis current reference value.

13. The system of claim 12, wherein: The motor-side q-axis voltage output submodule comprises: A motor-side q-axis deviation calculation unit, used for comparing the motor-side q-axis current reference value with the acquired motor-side q-axis current actual value to obtain a q-axis current deviation of the motor-side converter; A motor-side q-axis voltage control unit, used to output a motor-side q-axis voltage control value according to the q-axis current deviation by using a motor-side q-axis current proportional-integral controller; The motor side q-axis voltage calculation unit is used to sum the motor side q-axis voltage control value and the pre-calculated motor side q-axis feedforward voltage to obtain the motor side q-axis voltage command value.

14. The system of claim 9, wherein: The motor-side power control module further includes: A motor side coordinate transformation submodule, used for performing inverse coordinate transformation on the motor side d-axis voltage command value and the motor side q-axis voltage command value to obtain a three-phase voltage command value of the motor side converter; A motor-side modulation submodule, used for performing space vector modulation on the three-phase voltage command value of the motor-side converter to generate a motor-side drive signal; The motor side control submodule is used to perform active power control on the motor side converter of the ramp type gravity energy storage system according to the motor side drive signal.

15. The system of claim 9, wherein: The speed control module comprises: A heavy object instruction output submodule is used to output a heavy object quantity instruction value by using a speed proportional integral controller based on the collected speed feedback value of the permanent magnet synchronous motor in the ramp type gravity energy storage system and the acquired speed reference value of the permanent magnet synchronous motor; An instruction processing submodule, used for dividing the weight quantity instruction value into an integer part and a decimal part, and performing a soft start on the integer part; The dispatch instruction generation submodule is used to recompose the integer part after soft start and the decimal part into a heavy object dispatch instruction value.

16. The system of claim 15, wherein: The expression corresponding to the weight quantity instruction value is as follows: Where N represents the weight quantity instruction value; n * represents the speed feedback value of the permanent magnet synchronous motor; n represents the speed reference value of the permanent magnet synchronous motor; represents the proportional coefficient of the speed proportional-integral controller; represents the integral coefficient of the speed proportional integral controller; s represents a complex frequency domain variable.

17. An electronic device, characterized in that: include: at least one processor and memory; The memory and the processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, a power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor as described in any one of claims 1 to 8 is implemented.

18. A computing device readable storage medium, characterized in that: An execution program is stored thereon, and when the execution program is executed, a power control method for a ramp-type gravity energy storage system based on a permanent magnet synchronous motor as described in any one of claims 1 to 8 is implemented.

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