Self-adaptive stable control method and system for energy storage of net-forming type flywheel

Abstract

The invention provides a self-adaptive stability control method and system for energy storage of a net-forming type flywheel, and relates to the technical field of flywheel energy storage control, and the method comprises the steps: collecting the voltage and current of an AC side, the rotating speed of a motor, and the position angle of a rotor, and carrying out the analog-to-digital conversion; according to the converted digital signal, a flywheel energy storage control algorithm is completed in a main controller, a PWM signal is output, the control algorithm introduces an adaptive law for dynamically adjusting uncertainty parameters according to torque disturbance information, and the control algorithm realizes outer ring rotating speed control and inner ring current adaptive control; and according to the PWM signal, conversion from direct current voltage to alternating current voltage is completed on the machine side converter, acceleration and deceleration operation of the flywheel energy storage motor is controlled, and energy storage and release of flywheel energy storage are realized. By the adoption of the scheme, self-adaptive stable control over energy storage of the net-forming type flywheel is achieved.

Description

Technical Field

[0001] This application relates to the technical field of flywheel energy storage control, and particularly to a grid-forming flywheel energy storage adaptive stability control method and system. Background Art

[0002] In recent years, flywheel energy storage has been widely used in fields such as dynamic uninterruptible power supply, power system peak shaving and frequency modulation, and combined frequency modulation of thermal power generation due to its advantages of fast power dynamic response, high efficiency, and high charge and discharge frequency per unit time. As one of the key components of flywheel energy storage, a permanent magnet motor can improve power density and efficiency and is suitable for operation in a vacuum environment. However, the flywheel energy storage motor has characteristics such as non-linearity, time-variation, and coupling of motor parameters, which makes the interference in the control process unmeasurable and the parameters change at any time, posing higher requirements for the control strategy of the motor driver.

[0003] Considering the complex operating conditions of the integrated power system, there is an urgent need to explore methods to improve the anti-interference ability of flywheel energy storage and reduce chattering. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems in the related art to some extent.

[0005] To this end, the first object of this application is to propose a grid-forming flywheel energy storage adaptive stability control method, which realizes the adaptive stability control of the grid-forming flywheel energy storage.

[0006] The second object of this application is to propose a grid-forming flywheel energy storage adaptive stability control system.

[0007] To achieve the above object, the first aspect embodiment of this application proposes a grid-forming flywheel energy storage adaptive stability control method, including: collecting the AC side voltage, current, motor speed, and rotor position angle, and performing analog-to-digital conversion; according to the converted digital signal, completing the control algorithm of the flywheel energy storage in the main controller and outputting a PWM signal, where the control algorithm introduces an adaptive law for dynamically adjusting uncertain parameters according to torque disturbance information, and the control algorithm realizes outer-loop speed control and inner-loop current adaptive control; according to the PWM signal, converting DC voltage to AC voltage in the machine-side converter and controlling the acceleration and deceleration operation of the flywheel energy storage motor to realize the energy storage and release of the flywheel energy storage.

[0008] To achieve the above object, an embodiment of the second aspect of the present invention provides a grid-forming flywheel energy storage adaptive stability control system, which implements the above grid-forming flywheel energy storage adaptive stability control method. The system includes: a machine-side converter connected to the DC-side capacitor of the grid-side converter and the permanent magnet motor; a flywheel connected to the permanent magnet motor; a voltage and current sampling module and a speed and position angle detection module are respectively connected to the permanent magnet motor and the main controller, detect the AC voltage, current, speed and rotor position angle, perform analog-to-digital conversion, and transmit the converted digital signals to the main controller; the main controller runs a control algorithm to complete the generation of pulse signals, and the main controller is connected to the PWM drive board to drive the machine-side converter to operate.

[0009] The grid-forming flywheel energy storage adaptive stability control method and system of the embodiments of the present application introduce an uncertainty parameter adaptive law, dynamically adjust the uncertainty parameters in the controller according to the torque disturbance information of the system in real time, improve the robustness of the modeling error of the flywheel energy storage system, and effectively optimize the response speed and steady-state accuracy of speed and torque; realize outer-loop speed control and inner-loop current adaptive control in the adaptive controller, and then complete the control algorithm in the main controller to achieve the adaptive stability control of the flywheel energy storage; introduce a touch screen to monitor the operating state of the flywheel energy storage in real time; the flywheel energy storage adopts a grid-forming converter with synchronous voltage source characteristics, effectively improving the stability and inertia support of the system. This embodiment is applicable to the energy storage working condition of the power system and completes the bidirectional energy flow of the flywheel energy storage.

[0010] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0011] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0012] Figure 1 is a schematic flow chart of a grid-forming flywheel energy storage adaptive stability control method provided by Embodiment 1 of the present application;

[0013] Figure 2 is a schematic flow chart of a grid-forming flywheel energy storage adaptive stability control method provided by an embodiment of the present application;

[0014] Figure 3 is a block diagram of the grid-forming flywheel energy storage adaptive stability control of an embodiment of the present application;

[0015] Figure 4 is a schematic diagram of the virtual synchronous machine control of the grid-forming flywheel energy storage of an embodiment of the present application;

[0016] Figure 5It is the technical roadmap of the grid-forming flywheel energy storage adaptive stability control method according to the embodiment of the present application;

[0017] Figure 6 It is an example diagram of the simulation results of the grid-forming flywheel energy storage adaptive stability control according to the embodiment of the present application. Detailed implementation manners

[0018] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, but should not be construed as limiting the present application.

[0019] The grid-forming flywheel energy storage adaptive stability control method and system according to the embodiment of the present application will be described below with reference to the accompanying drawings.

[0020] Figure 1 It is a schematic structural diagram of a grid-forming flywheel energy storage adaptive stability control system provided by Embodiment 1 of the present application.

[0021] As Figure 1 shown, the connection mode of the system is as follows:

[0022] The machine-side converter 1 is connected to the DC-side capacitor of the grid-side converter. The permanent magnet motor 2 is connected to the machine-side converter 1. The flywheel 3 is connected to the permanent magnet motor 2 to complete the conversion of DC voltage to AC, drive the switching devices of the machine-side converter 1 to turn on and off; complete the acceleration and deceleration operation of the permanent magnet motor 2, and drive the flywheel 3 to rotate;

[0023] The voltage and current sampling module 4 is connected to the permanent magnet motor 2, and the speed and position angle detection module 5 is connected to the permanent magnet motor 2 to realize the acquisition of AC voltage and current analog quantities, and the detection of rotational speed and rotor position angle;

[0024] The voltage and current sampling module 4 is connected to the main controller 6, and the speed and position angle detection module 5 is connected to the main controller 6 to transfer the analog quantity to the main controller, realize analog-to-digital conversion, and complete the operation of the control algorithm;

[0025] The PWM drive board 7 is connected to the main controller 6 to complete the generation of pulse signals to drive the operation of the machine-side converter 1; the touch screen is connected to the main controller 6 to realize the real-time monitoring of the operation state.

[0026] Figure 2 It is a schematic flow diagram of a grid-forming flywheel energy storage adaptive stability control method provided by the embodiment of the present application, and this method is applicable to the above-mentioned grid-forming flywheel energy storage adaptive stability control system.

[0027] As Figure 2As shown in the figure, the adaptive stability control method for a grid-forming flywheel energy storage system includes the following steps:

[0028] Step 101: Collect the AC side voltage, current, motor speed, and rotor position angle, and perform analog-to-digital conversion.

[0029] Step 102: Based on the converted digital signals, complete the control algorithm for flywheel energy storage in the main controller and output a PWM signal. Among them, the control algorithm introduces an adaptive law for dynamically adjusting uncertain parameters according to torque disturbance information, and the control algorithm realizes outer-loop speed control and inner-loop current adaptive control.

[0030] Specifically, in this embodiment, Figure 3 is the adaptive stability control block diagram for a grid-forming flywheel energy storage system. As Figure 3 shown, outer-loop speed control is realized through a speed regulator, inner-loop current adaptive control is realized through a finite-time command filter, and uncertain parameters are dynamically adjusted through an uncertain parameter adaptive law.

[0031] Specifically, in this embodiment, a q-axis current controller and a d-axis current controller are designed to realize outer-loop speed control and inner-loop current adaptive control. When realizing outer-loop speed control and inner-loop current adaptive control, an uncertain parameter adaptive law is introduced, and the uncertain parameters in the controller are dynamically adjusted in real time according to the torque disturbance information of the system, improving the robustness of the flywheel energy storage system modeling error and effectively optimizing the response speed and steady-state accuracy of speed and torque.

[0032] Specifically, in this embodiment, as Figure 3 shown, the main controller obtains a pulse signal through space vector pulse width modulation, drives the power electronic devices of the machine-side converter to turn on and off, the grid-side converter drives the permanent magnet synchronous motor (PMSM) to accelerate and decelerate, and drives the flywheel to rotate, realizing the charge and discharge operation of the flywheel energy storage.

[0033] Step 103: According to the PWM signal, complete the conversion of DC voltage to AC voltage in the machine-side converter and control the acceleration and deceleration operation of the flywheel energy storage motor to realize the energy storage and release of the flywheel energy storage.

[0034] Furthermore, in the embodiment of this application, the design of the q-axis current controller: The outer-loop speed control uses a speed regulator to obtain the q-axis current reference value; collect the actual q-axis current, compare it with the current reference value, and then complete the current control through a q-axis sliding mode adaptive regulator. The steps are as follows:

[0035] Step 1: Design a q-axis current exponential sliding mode function, expressed as:

[0036]

[0037] where γ q is a positive constant, t is the time variable, Δ q = i q - i qr , i q is the actual q - axis current, which is a state variable of the whole system. The quadrature - axis virtual current input signal i qr has been designed in Step 1. Δ q is the q - axis current error, Δ q (0) = i q (0) - i qr (0), i q (0) and i qr (0) are the initial values.

[0038] Step 2: Calculate the closed - loop tracking error differential equation. Take the Lyapunov function V2 = V1+V q , where Then we have:

[0039]

[0040] where, is the square positive value of the exponential sliding - mode function related to w, Δ w = w - w ref , w is the actual rotational speed of the flywheel, which is a state variable of the whole system, w ref is the given input rotational - speed signal, Δ w is the rotational - speed error, Δ w (0) = w(0) - w ref (0), w(0) and w ref (0) are the initial values, V1 is the Lyapunov energy function containing the state variable w, V q is the Lyapunov energy function containing the state variable i q , V2 is the Lyapunov energy function containing the state variables w and i q ; is the square positive value of the exponential sliding - mode function related to i q ;

[0041] Step 3: Take the derivative of V2:

[0042]

[0043] where, is the energy change of the Lyapunov energy function V1, S q is the q - axis current exponential sliding - mode function, P n is the number of pole pairs, λ2 is the coefficient reflecting the relationship between the flywheel magnetic flux and inductance, i dThe actual d-axis current is a state variable of the entire system, w is the actual speed of the flywheel, μ1 is an unknown parameter of the system to be estimated, and u q is the actual q-axis voltage, and L s is the inductance. is the derivative of the quadrature-axis virtual current, which can be realized by a virtual current filter.

[0044] Step 4: Design a q-axis voltage input controller, expressed as:

[0045]

[0046] In the formula, K q is a constant, K q > 0, is the estimate of the parameter μ1.

[0047] Furthermore, in the embodiment of the present application, the d-axis current controller is designed as follows: the d-axis current reference value i dr = 0; collect the actual d-axis current i d , compare it with the current reference value, and then complete the current control through the d-axis current controller. The steps are as follows:

[0048] Step 1: Design a d-axis current exponential sliding mode function, expressed as:

[0049]

[0050] In the formula: γ d > 0 and is a constant, Δ d = i d - i dr , for the sake of simplicity in actual control of the motor system, given that i dr = 0; and Δ d (0) = i d (0) - i dr (0), i q (0) and i qr (0) are the initial values.

[0051] Step 2: In order to satisfy the closed-loop tracking error differential equation obtained by the designed exponential sliding mode function, take the Lyapunov function V3 = V2 + V d , where Then there is:

[0052]

[0053] Step 3: Take the derivative of the Lyapunov function V3:

[0054]

[0055] In the formula: The direct-axis shaft virtual current derivative can be realized by using a fitting direct-axis virtual current order filter controller. Since the given i dr = 0, the fitting quadrature-axis virtual current order filter controller may not be designed.

[0056] Step 4: Design a d-axis voltage input controller, expressed as:

[0057]

[0058] In the formula: K d > 0 and is a constant, is an estimate of the parameter μ2.

[0059] Furthermore, in the embodiment of the present application, the design of the parameter Adaptive law: The adaptive law can improve the adaptability of the control system to the parameter changes of the flywheel energy storage motor. The steps are as follows:

[0060] Step 1: Design an adaptive controller equation, expressed as:

[0061] V3 = V w + V q + V d

[0062] Step 2: Differentiate the adaptive controller equation, expressed as:

[0063]

[0064] In the formula, is the error of d, is the error of μ1, is the error of μ2,

[0065]

[0066] Step 3: Design the adaptive law of the parameter , expressed as,

[0067]

[0068] In the formula, Both H and E are symmetric positive definite matrices, where η and ε are both constants greater than 0.

[0069] Furthermore, in the embodiment of the present application, the grid connection control method based on the virtual synchronous machine is designed: With the support of the virtual synchronous machine control strategy, the energy storage converter can participate in the regulation of the grid voltage and frequency, Figure 4 is the control schematic diagram of the grid-forming flywheel energy storage virtual synchronous machine.

[0070] Specifically, the grid-connected control steps based on the virtual synchronous machine are as follows:

[0071] Step 1: Introduce the mathematical equation of the synchronous generator into the control algorithm of the power electronic device to simulate the output characteristics such as the inertia and damping of the synchronous generator.

[0072] Step 2: The virtual inertia (J) and damping coefficient (D) enable the energy storage converter to have the same characteristics as the synchronous generator, providing the inertia and damping coefficient required to maintain system stability.

[0073] Step 3: The energy storage converter based on the virtual synchronous machine control technology continuously adjusts the output of the energy storage converter by detecting the reactive power and voltage in real time.

[0074] Furthermore, in the embodiment of the present application, the flywheel charge and discharge operation: mainly based on the adaptive stable control on the flywheel energy storage machine side, complete the control of the flywheel energy storage grid-side converter, and the steps are as follows:

[0075] Step 1: The adaptive controller obtains the voltage reference values u d and u q .

[0076] Step 2: u d and u q After coordinate transformation and through the space vector pulse width modulation method, obtain pulse signals to drive the power electronic devices of the machine-side converter to turn on and off.

[0077] Step 3: The grid-side converter drives the permanent magnet motor to accelerate and decelerate, and drives the flywheel to rotate to realize the flywheel energy storage charge and discharge operation.

[0078] The grid-forming flywheel energy storage adaptive stable control method of the embodiment of the present application adopts the technical roadmap as Figure 5 shown. By introducing the uncertainty parameter adaptive law, according to the torque disturbance information of the system in real time, dynamically adjust the uncertainty parameters in the controller, improve the robustness of the flywheel energy storage system modeling error, and effectively optimize the response speed and steady-state accuracy of the speed and torque; realize the outer-loop speed control and inner-loop current adaptive control in the adaptive controller, and then complete the control algorithm in the main controller to realize the adaptive stable control of the flywheel energy storage; by introducing a touch screen, monitor the operation state of the flywheel energy storage in real time; the flywheel energy storage adopts a grid-forming converter, which has the characteristics of a synchronous voltage source, effectively improving the stability and inertia support of the system. This embodiment is applicable to the energy storage working condition of the power system and completes the bidirectional energy flow of the flywheel energy storage.

[0079] Figure 6 This is an example diagram of the simulation results of the grid-forming flywheel energy storage adaptive stable control of this embodiment, as Figure 6As shown, this embodiment realizes the adaptive stable control of a network-forming flywheel energy storage system.

[0080] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0081] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0082] Any process or method description in a flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or more executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions may be executed in a manner that is not in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved or in the reverse order, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0083] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection parts with one or more wirings (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber devices, and portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then storing it in a computer memory.

[0084] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0085] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0086] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist physically alone for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0087] The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present application.

Claims

1. A grid-type flywheel energy storage adaptive stability control method, characterized in that: include: Collect the AC side voltage, current, motor speed and rotor position angle, and perform analog-to-digital conversion; According to the converted digital signal, a control algorithm of flywheel energy storage is completed in the main controller, and a PWM signal is output, wherein the control algorithm introduces an adaptive law for dynamically adjusting uncertainty parameters according to torque disturbance information, and the control algorithm realizes outer loop speed control and inner loop current adaptive control; According to the PWM signal, the converter on the machine side completes the conversion of the DC voltage into the AC voltage, and controls the acceleration and deceleration of the flywheel energy storage motor to realize the energy storage and release of the flywheel energy storage.

2. The method according to claim 1, characterized in that The method further comprises: Under the support of the virtual synchronous machine control strategy, the flywheel energy storage inverter is enabled to participate in the regulation of the grid voltage and frequency, wherein the regulation process includes: Introduce the mathematical equations of synchronous generators into the control algorithms of power electronic equipment to simulate the output characteristics of synchronous generators; Through the virtual moment of inertia J and damping coefficient D, the energy storage converter has the same characteristics as the synchronous generator, providing the inertia and damping coefficient required to maintain the stability of the flywheel energy storage system; The flywheel energy storage inverter is used to detect reactive power and adjust the output in real time.

3. The method according to claim 1, characterized in that The control algorithm is completed in the main controller to output PWM signals, including: The voltage reference values ​​u of the d-axis and q-axis are obtained by the adaptive controller d and u q , wherein the adaptive controller implements the adaptive law; will u d and u q After coordinate transformation and space vector pulse width modulation, a pulse signal is obtained.

4. The method according to claim 3, characterized in that Design the q-axis current controller, including: Collect the actual current of the q-axis, compare it with the given value, and complete the current control through the q-axis current controller; Design the q-axis current controller, including: Design the q-axis current exponential sliding mode function, expressed as: Among them, γ q is a positive constant, t is the time variable, Δ q =i q -i qr ,i q is the actual current of q axis, i qr is the quadrature axis virtual current input signal, Δ q is the q-axis current error, Δ q (0) = i q (0)-i qr (0),i q (0) and i qr (0) is the initial value; Calculate the closed-loop tracking error differential equation. When calculating, take the Lyapunov function V2=V1+V q , It is expressed as: in, is the positive square value of the exponential synovial function related to w, Δ w =ww ref , w is the actual speed of the flywheel, w ref is the given input speed signal, Δ w is the speed error, Δ w (0) = w(0) - w ref (0), w(0) and w ref (0) is the initial value, V1 is the Lyapunov energy function including the state variable w, V q contains the state variable i q The Lyapunov energy function, V2 is the state variable w and i q The Lyapunov energy function, For related q The square positive value of the exponential sliding mode function; Taking the derivative of V2, it is expressed as: in, is the energy change of Lyapunov energy function V1, S q is the q-axis current exponential sliding film function, P n is the number of pole pairs, λ2 is the coefficient of the relationship between the flywheel flux and inductance, i d is the actual current of the d-axis, w is the actual speed of the flywheel, μ1 is the unknown parameter of the system that needs to be estimated, and u q is the actual voltage on the q axis, L s is the inductor, is the quadrature axis virtual current derivative, which is realized by the virtual current filter; Design the q-axis voltage input controller, expressed as: Among them, K q is a constant, K q >0, is the estimate of parameter μ1.

5. The method according to claim 3, characterized in that Design a d-axis current controller, including: Set the d-axis current given value i dr =0, collect the actual current i of the d-axis d , compare it with the current given value, and complete the current control through the d-axis current controller; Design the d-axis current controller, including: Design the d-axis current exponential sliding mode function, expressed as: Among them, γ d >0 and is a constant, Δ d =i d -i dr ,i dr is the direct axis virtual current, α d (0) = i d (0)-i dr (0),i q (0) and i qr (0) is the initial value; Calculate the closed-loop tracking error differential equation. When calculating, take the Lyapunov function V3=V2+V d , It is expressed as: Among them, V2 contains state variables w and i q The Lyapunov energy function, V d contains the state variable i d Lyapunov energy function, V3 is the state variable w, i q and i d The Lyapunov energy function, For related d The square positive value of the exponential sliding mode function; Taking the derivative of the Lyapunov function V3, it is expressed as: in, is the energy change of Lyapunov energy function V2, S d is the d-axis current exponential sliding film function, P n is the pole pair number, i q is the actual current of q axis, w is the actual speed of flywheel, is the estimate of parameter μ2, u d is the actual voltage on the d-axis, L s is the inductor, is the direct axis virtual current derivative, which is realized by the virtual current filter; Design the d-axis voltage input controller, expressed as: Among them, K d >0 and is a constant.

6. The method according to any one of claims 4-5, characterized in that: Design parameters The adaptive law includes: The adaptive controller equation is designed as: V3=V w +V q +V d Among them, V w is the Lyapunov energy function including the state variable w, V q contains the state variable i q The Lyapunov energy function, V d contains the state variable i q The Lyapunov energy function; The derivative of the adaptive controller equation is expressed as: in, is the error of d, is the error of μ1, is the error of μ2, λ1 is the coefficient of the relationship between the flywheel flux, pole pair number and inductance, β is the actual input signal of the filter, S w is the exponential synovial function of w, K w is a constant greater than 0; Design parameters The adaptive law is: in, H and E are both symmetric positive definite matrices, η,ε are constants greater than 0.

7. A grid-type flywheel energy storage adaptive stability control system, characterized in that: The system implements the grid-type flywheel energy storage adaptive stability control method according to claims 1-6, and the system includes: A machine-side converter connected to the DC side capacitor and the permanent magnet motor of the grid-side converter; A flywheel connected to the permanent magnet motor; The voltage and current sampling module and the speed and position angle detection module are connected to the permanent magnet motor and the main controller respectively, detect the AC voltage, current, speed and rotor position angle, perform analog-to-digital conversion, and transmit the converted digital signals to the main controller; The main controller runs the control algorithm to complete the generation of the pulse signal. The main controller is connected to the PWM drive board to drive the machine-side converter to operate.

8. The system according to claim 7, characterized in that The system further comprises: A touch screen is connected to the main controller to realize real-time monitoring of the operating status.

Images