Dynamic coordination control method and system for variable-speed pumped storage unit based on real-time optimization, medium and product

Abstract

The invention belongs to the technical field of pumped storage unit control, and particularly discloses a variable-speed pumped storage unit dynamic coordination control method and system based on real-time optimization, a medium and a product. Or the input force and the lift are fed back to the coordinated optimization controller in real time; under the power generation working condition, the coordinated optimization controller takes the output and the water head as new target values, and the optimal rotating speed and the optimal guide vane opening degree are obtained by combining the optimal rotating speed-output-water head and optimal guide vane opening degree-output-water head coordination relation; under the water pumping working condition, the coordinated optimization controller takes the input force and the lift as new target values, and the optimal rotating speed and the optimal guide vane opening degree are obtained in combination with the optimal rotating speed-input force-lift and optimal guide vane opening degree-input force-lift coordinated relation; and dynamic coordination control is realized through cooperation of the speed regulator and the converter. Real-time and efficient operation of the variable-speed pumped storage unit can be guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of pumped storage unit control, and more specifically, relates to a method, system, medium and product for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization. Background Art

[0002] For fixed-speed pumped-storage units, regulation and control can only be achieved by the speed governor. The unit's power and speed are achieved by the speed governor adjusting the guide vane opening. Therefore, the control strategy for fixed-speed pumped-storage units is generally designed and derived based on the speed governor. The regulation and control of variable-speed pumped-storage units is achieved through the coordinated cooperation of the speed governor and the converter. The unit's power and speed can be adjusted by both the speed governor and the converter. The speed governor and converter have a coordinated and cooperative coupling relationship, which increases the flexibility of the unit's regulation and control. However, the regulation and control modes and characteristics of the speed governor and converter vary to a certain extent. The complexity of their coordination under different operating conditions increases the difficulty of system operation and control.

[0003] Most studies on the coordinated optimization control of the governor and converter for variable-speed pumped-storage units have focused on power-priority control modes (where the converter controls unit power and the governor controls unit speed) under power generation conditions, and speed-priority control modes (where the converter controls unit speed and the governor controls unit power) under pumping conditions. Under both control modes, the coordinated optimization of the governor and converter almost always uses an initial power reference value and the current head (or head) as inputs to the coordinated optimization controller to determine the optimal speed and guide vane opening corresponding to the initial optimization. However, the real-time dynamic changes in power and head (or head) are not considered, making it impossible to track the optimal state in real time. Furthermore, the governor has three regulation modes (frequency regulation, power regulation, and opening regulation), while the converter has two control modes (rapid power control and rapid speed control). However, the real-time dynamic optimization and regulation characteristics of the unit under different operating conditions and coordinated combinations of governor regulation modes and converter control modes have not been fully explored. Summary of the Invention

[0004] In response to the above-mentioned defects or improvement needs of the prior art, the present invention provides a dynamic coordinated control method, system, medium and product for a variable-speed pumped storage unit based on real-time optimization, the purpose of which is to ensure the real-time and efficient operation of the variable-speed pumped storage unit.

[0005] To achieve the above objectives, according to a first aspect of the present invention, a method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization is proposed, comprising the following steps: Iterative calculations are performed based on the power reference values ​​of variable-speed pumped storage units, and the calculated output and head, or input and lift, are fed back to the coordinated optimization controller in real time. Under power generation conditions, the coordinated optimization controller uses the output and water head obtained by iterative calculation of the unit as new target values. Combining the optimal speed-output-water head and the optimal guide vane opening-output-water head cooperative relationships, it derives dynamic optimization reference values ​​for the optimal speed and guide vane opening. Under pumping conditions, the coordinated optimization controller uses the input and head obtained by iterative calculation of the unit as new target values. Combining the optimal speed-input-head and the optimal guide vane opening-input-head synergistic relationship, it derives the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening. Based on the obtained dynamic optimization reference values ​​of the optimal speed and the optimal guide vane opening, dynamic coordinated control is achieved through the coordinated cooperation of the speed regulator and the converter.

[0006] As a further preferred method, the method for obtaining the optimal speed-output-water head and the optimal guide vane opening-output-water head coordinated relationship in the coordinated optimization controller is: For a given unit output P T11 , to obtain different unit speeds N 11 The corresponding unit moment M 11 ; Combine the full characteristic curve of the pump turbine and interpolate to calculate the torque of different units M 11 Corresponding unit flow Q 11 ; Thus, the unit speed is obtained N 11 and the corresponding unit flow Q 11 , draw equal unit output curve; Obtain multiple unit outputs using the above method P T11 Corresponding multiple equal unit output curves; Connect the minimum unit flow points on each unit output curve Q 11min , obtain the optimal unit speed-unit output and optimal guide vane opening-unit output optimization curves; Combined with the variable speed pumped storage unit power generation condition water head H T The range of change of is obtained, and the optimal speed-output-head and the optimal guide vane opening-output-head coordinated relationships based on the full characteristic curve are deduced.

[0007] As a further preferred method, the method for obtaining the optimal speed-input-lift and the optimal guide vane opening-input-lift coordinated relationship in the coordinated optimization controller is: For a given unit input P P11, to obtain different unit speeds N 11 The corresponding unit moment M 11 ; Combine the full characteristic curve of the pump turbine and interpolate to calculate the torque of different units M 11 Corresponding unit flow Q 11 ; Thus, the unit speed is obtained N 11 and the corresponding unit flow Q 11 , draw the equal unit input curve; Obtain multiple unit inputs using the above method P P11 Corresponding multiple equal unit input curves; Connect the maximum unit flow points on each unit input curve Q 11max , obtain the optimal unit speed-unit input and optimal guide vane opening-unit input optimization curves; Combined with the pumping head of the variable speed pumped storage unit H P The range of change of is used to deduce the optimal speed-input-head and the optimal guide vane opening-input-head coordinated relationship based on the full characteristic curve.

[0008] As a further preferred embodiment, under power generation conditions, the speed regulator-converter realizes a dynamic coordinated control mode as follows: The converter adopts the fast power control mode, and the speed regulator adopts the frequency regulation mode; that is, the unit adjusts the target output through the converter excitation control, and simultaneously tracks the real-time optimal speed through the speed regulator frequency regulation; Alternatively, the converter adopts a fast speed control mode and the speed regulator adopts a power regulation mode; that is, the unit adjusts the real-time optimal speed through converter excitation control, and tracks the target output through speed regulator power regulation.

[0009] As a further preferred embodiment, under the pumping condition, the speed regulator-converter realizes the dynamic coordinated control mode as follows: The converter adopts the fast power control mode, and the speed governor adopts the opening adjustment mode. That is, the unit adjusts the target input through converter excitation control, and simultaneously tracks the real-time optimal guide vane opening through speed governor opening adjustment. Alternatively, the converter adopts a fast speed control mode and the speed governor adopts an opening adjustment mode, that is, the unit adjusts the real-time optimal speed through converter excitation control, and at the same time tracks the real-time optimal guide vane opening through speed governor opening adjustment.

[0010] As a further preferred method, the unit iterative calculation is performed based on the power reference value of the variable-speed pumped storage unit, and the calculated output and head, or the unit input and head, are specifically: Taking the power reference value of the variable-speed pumped storage unit as the target, the current power and current head / head as the initial values, and based on the full characteristic curve of the pump-turbine, the unit power and head / head, that is, the unit output and head, or the unit input and head, are obtained by iterative calculation.

[0011] According to a second aspect of the present invention, a variable speed pumped storage unit dynamic coordination control system based on real-time optimization is provided, comprising a processor configured to execute the above-mentioned variable speed pumped storage unit dynamic coordination control method based on real-time optimization.

[0012] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization is implemented.

[0013] According to a fourth aspect of the present invention, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the above-mentioned method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization.

[0014] In general, the above technical solutions conceived by the present invention have the following technical advantages compared with the existing technology: 1. The present invention takes into account the real-time feedback of the power and head / lift of the variable-speed pumped storage unit, realizes the real-time tracking of the unit for the optimal speed and optimal guide vane opening, and ensures the real-time and efficient operation of the variable-speed pumped storage unit.

[0015] 2. The present invention combines the full characteristic curve of the pump-turbine and derives the coordinated optimization controller of the variable-speed pumped-storage unit under power generation and pumping conditions through the principle of efficiency optimization, providing a basis for realizing dynamic coordinated control of the speed regulator and converter through real-time optimization and dynamic interpolation.

[0016] 3. According to the requirements of different working conditions, the present invention is based on the regulation control mode of the speed regulator and the converter, and proposes a dynamic coordinated control mode of the speed regulator and the converter under the power generation and pumping conditions of the variable-speed pumped storage unit based on real-time optimization, which can realize efficient coordinated control based on the speed regulator and the converter. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of a dynamic coordinated control method for a variable-speed pumped storage unit according to an embodiment of the present invention.

[0018] Figure 2(a) and (b) are full characteristic curves of the pump turbine of the variable speed pumped storage unit according to the embodiment of the present invention.

[0019] Figure 3 (a) and (b) are the power generation condition coordination optimization controllers according to the embodiments of the present invention.

[0020] Figure 4 (a) and (b) are pumping condition coordination optimization controllers according to embodiments of the present invention.

[0021] Figure 5 Schematic diagram of the dynamic coordinated control principle of a variable-speed pumped storage unit according to an embodiment of the present invention.

[0022] Figure 6 (a) and (b) are respectively mode 1 and mode 2 of the dynamic coordinated control of the speed regulator-converter under power generation conditions according to an embodiment of the present invention.

[0023] Figure 7 (a) and (b) are respectively the pumping condition speed regulator-converter dynamic coordinated control mode 1 and mode 2 of the embodiment of the present invention.

[0024] Figure 8 (a) and (b) are the speed and output transient responses of the speed regulator-inverter dynamic coordinated control mode in the load increase regulation scenario of the power generation condition according to an embodiment of the present invention; (c) and (d) are the speed and output transient responses of the speed regulator-inverter dynamic coordinated control mode in the load reduction regulation scenario of the power generation condition according to an embodiment of the present invention.

[0025] Figure 9 (a) and (b) are the speed and input transient responses of the speed regulator-inverter dynamic coordinated control mode in the pumping operation increased input regulation scenario according to an embodiment of the present invention; (c) and (d) are the speed and input transient responses of the speed regulator-inverter dynamic coordinated control mode in the pumping operation reduced input regulation scenario according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0027] The embodiment of the present invention provides a method for dynamic coordinated control of a variable speed pumped storage unit based on real-time optimization, such as Figure 1 As shown, the following steps are included: S1, constructs a coordinated optimization controller for variable-speed pumped storage units under power generation and pumping conditions.

[0028] (1) The specific steps of constructing a coordinated optimization controller for the power generation conditions of variable-speed pumped storage units are as follows: ① Combined unit output P T , speed N m and water head H T The value range of P T11 and unit speed N 11 The value range of ② For a given unit output P T11 , find the speed of different units N 11 The corresponding unit moment M 11 ; ③ Combined with the full characteristic curve of the pump turbine ( M 11 - N 11 Torque curve and Q 11 - N 11 flow curve), interpolation calculation of different unit torques M 11 Corresponding unit flow Q 11 ; ④ Based on the above given unit output P T11 , combined with the unit speed N 11 and unit flow Q 11 , draw an equal unit output curve, and then repeat steps ②-④ to draw multiple equal unit output curves; ⑤ Connect the minimum unit flow points on the different unit output curves Q 11min , find the optimal unit speed-unit output ( N 11opt - P T11 ) and optimal guide vane opening-unit output ( y opt - P T11 )’s optimization curve; ⑥ Based on N 11opt - P T11 andy opt - P T11 Optimization curve, combined with variable speed pumped storage unit head H T The optimal speed-output-water head and optimal guide vane opening-output-water head coordinated relationship surface of the variable speed pumped storage unit power generation condition coordinated optimization controller based on the full characteristic curve is derived ( N mopt - P T - H T and y opt - P T - H T ), the power generation condition coordinated optimization controller is thus formed.

[0029] (2) The steps for constructing a coordinated optimization controller for the pumping conditions of variable-speed pumped storage units are as follows: ① Combined with unit input P P , speed N m Heyangcheng H P The value range of P P11 and unit speed N 11 The value range of ② For a given unit input P P11 , find the speed of different units N 11 The corresponding unit moment M 11 ; ③ Combined with the full characteristic curve of the pump turbine ( M 11 - N 11 Torque curve and Q 11 - N 11 flow curve), interpolation calculation of different unit torques M 11 Corresponding unit flow Q 11 ; ④ Based on the above given unit input P P11 , combined with the unit speed N 11and unit flow Q 11 , draw an equal unit input curve, and then repeat steps ②-④ to draw multiple equal unit input curves; ⑤ Connect the maximum unit flow points on the different unit input curves Q 11max , find the optimal unit speed-unit input ( N 11opt - P P11 ) and optimal guide vane opening-unit input ( y opt - P P11 )’s optimization curve; ⑥ Based on N 11opt - P P11 and y opt - P P11 Optimization curve, combined with variable speed pumped storage unit head H P The optimal speed-input-head and optimal guide vane opening-input-head coordination relationship surfaces of the variable speed pumped storage unit pumping condition coordinated optimization controller based on the full characteristic curve are derived ( N mopt - P P - H P and y opt - P P - H P ), the pumping condition coordinated optimization controller is thus formed.

[0030] S2, dynamic coordinated control of variable-speed pumped storage units based on real-time optimization of coordinated optimization controller.

[0031] like Figure 5 As shown, the control principle is as follows: When the power reference value is given and the variable-speed pumped storage unit enters the transient process, the initial power (i.e., output / input) and current head / lift will be used as the initial iterative values. Based on the full characteristic curve of the pump-turbine, the iterative calculation of the unit will be carried out. The iteratively calculated unit power and head (or head) will then be fed back to the coordinated optimization controller in real time. After real-time optimization and dynamic interpolation, the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening will be obtained.

[0032] Specifically, based on the coordinated optimization controller under power generation and pumping conditions, the method for obtaining the optimal speed and optimal guide vane opening is as follows: Under power generation conditions, the coordinated optimization controller uses the output and head obtained by iterative calculation of the unit as new target values. Combining the optimal speed-output-head and optimal guide vane opening-output-head coordinated relationships, it obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening through real-time optimization and dynamic linear interpolation.

[0033] Under pumping conditions, the coordinated optimization controller uses the input and head obtained by iterative calculation of the unit as the new target values. Combining the optimal speed-input-head and the optimal guide vane opening-input-head coordinated relationships, it obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening through real-time optimization and dynamic linear interpolation.

[0034] S3, dynamic coordinated control mode of the speed regulator and converter under power generation and pumping conditions.

[0035] Based on the optimal speed and guide vane opening, dynamic coordinated control is achieved through the speed regulator-converter. The control mode is as follows: (1) There are two control modes under power generation conditions, select one of them: Dynamic coordinated control mode 1: The converter adopts the power fast control mode, and the speed regulator adopts the frequency regulation mode, such as Figure 6 Middle (a); that is, the unit can quickly adjust the target output through the fast excitation control of the converter, and accurately track the real-time optimal speed through the frequency adjustment of the speed regulator.

[0036] Dynamic coordinated control mode 2: The converter adopts the fast speed control mode, and the speed regulator adopts the power regulation mode, such as Figure 6 Middle (b); that is, the unit can quickly track the real-time optimal speed through the fast excitation control of the converter, and accurately track the target output through the power regulation of the speed regulator.

[0037] In both modes, real-time optimization and precise tracking of the rotational speed based on the dynamic changes of output and water head are considered.

[0038] (2) There are two control modes under pumping conditions, select one of them: Dynamic coordinated control mode 1: The converter adopts the power fast control mode, and the speed regulator adopts the opening adjustment mode, such as Figure 7 Middle (a); that is, the unit can quickly adjust the target input through the rapid excitation control of the converter, and at the same time accurately track the real-time optimal guide vane opening through the speed regulator opening adjustment.

[0039] Dynamic coordinated control mode 2: The converter adopts the fast speed control mode, and the speed regulator adopts the opening adjustment mode, such as Figure 7 Middle (b); that is, the unit can quickly adjust the real-time optimal speed through the rapid excitation control of the converter, and at the same time accurately track the real-time optimal guide vane opening through the speed regulator opening adjustment.

[0040] In both modes, real-time optimization and precise tracking of the opening based on the dynamic changes of input and head are considered.

[0041] The following are specific embodiments: The full characteristic curve of the pump turbine of a variable speed pumped storage unit is as follows: Figure 2 As shown, (a) is the flow curve, (b) is the flow curve. According to the method described in S1, the coordinated optimization controller under the power generation condition of the variable speed pumped storage unit is derived as follows: Figure 3 As shown, where (a) is N mopt - P T - H T The synergy relationship curve, (b) is y opt - P T - H T Coordination relationship curve. The coordinated optimization controller of variable speed pumped storage unit under pumping condition is derived as follows: Figure 4 As shown, where (a) is N mopt - P P - H P The synergy relationship curve, (b) is y opt - P P - H P Co-association curve.

[0042] Load disturbance is the most common load regulation scenario in power generation conditions. Generally, there are two types of regulation scenarios: load increase and load reduction. This paper takes these two regulation scenarios as examples. The proposed load increase and load reduction regulation scenarios are as follows: ① Load-increase adjustment scenario: The operating water head is 450 m, the unit output is 280 MW, the optimal speed is 410.23 r / min, and the corresponding guide vane opening is 0.661. At t = 20 s, the unit control center issues a load adjustment command, increasing the unit output by 30 MW, that is, the output target value is 310 MW.

[0043] ② Load reduction scenario: The operating water head is 450 m, the unit output is 310 MW, the optimal speed is 412.13 r / min, and the corresponding guide vane opening is 0.788. At t = 20 s, the unit control center issues a load adjustment command, reducing the unit output by 30 MW, bringing the output target to 280 MW.

[0044] In the two regulation scenarios, if real-time dynamic optimization is not considered, the optimal speed initially given in the load reduction regulation scenario is the optimal speed that can be tracked in the steady state in the load increase regulation scenario, and the optimal speed initially given in the load increase regulation scenario is also the optimal speed that can be tracked in the steady state in the load reduction regulation scenario.

[0045] Under the dynamic coordinated control mode 1 of the power generation condition, a set of control parameters are determined as follows: the converter power outer loop control parameters are K p1 =0.008, K i1 =0.001 s -1 , the converter current inner loop control parameters are K p2 =0.025, K i2 =0.01 s -1 ; The control parameters of the speed regulator frequency adjustment mode are K p0 =1.5, K i0 =0.28 s -1 , K d0 =3 s.

[0046] Under the dynamic coordinated control mode 2 of power generation condition, another set of control parameters is determined. The converter speed outer loop control parameters are: K p1 =0.0015, K i1 =0.00001 s -1 , the converter current inner loop control parameters are K p2 =0.01, K i2 =0.01 s -1 ; The control parameters of the speed regulator power regulation mode are K p0 =10, K i0 =8 s -1 , e p =0.04.

[0047] Two adjustment scenarios, two different modes, the speed and output transient response of the variable speed pumped storage unit in the dynamic coordinated control mode of the speed regulator-converter in the power generation condition are as follows Figure 8 As shown, (a) and (b) are load-increasing regulation scenarios, and (c) and (d) are load-reducing regulation scenarios.

[0048] The biggest advantage of variable-speed pumped storage units is that they can adjust their input. In situations where input fluctuates, only variable-speed operation can provide a flexible response. This invention uses the increasing input adjustment scenario and the decreasing input adjustment scenario as examples, and the details are as follows: ① Increasing input adjustment scenario: The head is 450 m, the unit input is -280 MW, the optimal speed is -432.87 r / min, and the corresponding guide vane opening is 0.628. At t = 20 s, the unit control center issues an input adjustment command, increasing the unit input by 30 MW, bringing the target input value to -310 MW.

[0049] ② Reduced input regulation scenario: The head is 450 m, the unit input is -310 MW, the optimal speed is -442.79 r / min, and the corresponding guide vane opening is 0.671. At t = 20 s, the unit control center issues an input regulation command, reducing the unit input by 30 MW, resulting in a target output of -280 MW.

[0050] In the two adjustment scenarios, if real-time dynamic optimization is not considered, the optimal speed initially given in the reduced-input adjustment scenario is the optimal speed that can be tracked in a steady state in the increased-input adjustment scenario, and the optimal speed initially given in the increased-input adjustment scenario is also the optimal speed that can be tracked in a steady state in the reduced-input adjustment scenario.

[0051] Under the dynamic coordinated control mode 1 of the pumping condition, a set of control parameters are determined as follows: the converter power outer loop control parameters are K p1 =0.001, K i1 =0.00001s -1 , the converter current inner loop control parameters are K p2 =0.001, K i2 =0.001s -1 ; The speed regulator opening adjustment mode control parameters are K p0 =10, K i0 =8s -1 In the dynamic coordinated control mode 2 of the pumping condition, since the input is essentially regulated by the speed, the same set of control parameters can be used.

[0052] Two adjustment scenarios, two different modes, the speed and output transient response of the variable speed pumped storage unit in the pumping condition governor-converter dynamic coordinated control mode are as follows Figure 9 As shown, (a) and (b) are scenarios of increasing input force adjustment, and (c) and (d) are scenarios of reducing input force adjustment.

[0053] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dynamic coordinated control method for a variable speed pumped storage unit based on real-time optimization, characterized in that: The steps include: Iterative calculations are performed based on the power reference values ​​of variable-speed pumped storage units, and the calculated output and head, or input and lift, are fed back to the coordinated optimization controller in real time. Under power generation conditions, the coordinated optimization controller uses the output and water head obtained by iterative calculation of the unit as new target values. Combining the optimal speed-output-water head and the optimal guide vane opening-output-water head cooperative relationships, it derives dynamic optimization reference values ​​for the optimal speed and guide vane opening. Under pumping conditions, the coordinated optimization controller uses the input and head obtained by iterative calculation of the unit as new target values. Combining the optimal speed-input-head and the optimal guide vane opening-input-head synergistic relationship, it derives the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening. Based on the obtained dynamic optimization reference values ​​of the optimal speed and the optimal guide vane opening, dynamic coordinated control is achieved through the coordinated cooperation of the speed regulator and the converter.

2. The method for dynamic coordinated control of a variable speed pumped storage unit based on real-time optimization according to claim 1, characterized in that: The method for obtaining the optimal speed-output-water head and the optimal guide vane opening-output-water head coordinated relationship in the coordinated optimization controller is: For a given unit output P T11 , to obtain different unit speeds N 11 The corresponding unit moment M 11 ; Combine the full characteristic curve of the pump turbine and interpolate to calculate the torque of different units M 11 Corresponding unit flow Q 11 ; Thus, the unit speed is obtained N 11 and the corresponding unit flow Q 11 , draw equal unit output curve; Obtain multiple unit outputs using the above method P T11 Corresponding multiple equal unit output curves; Connect the minimum unit flow points on each unit output curve Q 11min , obtain the optimal unit speed-unit output and optimal guide vane opening-unit output optimization curves; Combined with the variable speed pumped storage unit power generation condition water head H T The range of change of is obtained, and the optimal speed-output-head and the optimal guide vane opening-output-head coordinated relationships based on the full characteristic curve are deduced.

3. The method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization according to claim 1, characterized in that: The method for obtaining the optimal speed-input-lift and optimal guide vane opening-input-lift coordinated relationship in the coordinated optimization controller is: For a given unit input P P11 , to obtain different unit speeds N 11 The corresponding unit moment M 11 ; Combine the full characteristic curve of the pump turbine and interpolate to calculate the torque of different units M 11 Corresponding unit flow Q 11 ; Thus, the unit speed is obtained N 11 and the corresponding unit flow Q 11 , draw the equal unit input curve; Obtain multiple unit inputs using the above method P P11 Corresponding multiple equal unit input curves; Connect the maximum unit flow points on each unit input curve Q 11max , obtain the optimal unit speed-unit input and optimal guide vane opening-unit input optimization curves; Combined with the pumping head of the variable speed pumped storage unit H P The range of change is calculated to obtain the optimal speed-input-head and the optimal guide vane opening-input-head coordinated relationship based on the full characteristic curve.

4. The method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization according to claim 1, characterized in that: Under power generation conditions, the governor-converter dynamic coordinated control mode is as follows: The converter adopts the fast power control mode, and the speed regulator adopts the frequency regulation mode; that is, the unit adjusts the target output through the converter excitation control, and simultaneously tracks the real-time optimal speed through the speed regulator frequency regulation; Alternatively, the converter adopts a fast speed control mode and the speed regulator adopts a power regulation mode; that is, the unit adjusts the real-time optimal speed through converter excitation control, and tracks the target output through speed regulator power regulation.

5. The method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization according to claim 1, characterized in that: Under pumping conditions, the governor-converter realizes dynamic coordinated control mode as follows: The converter adopts the fast power control mode, and the speed governor adopts the opening adjustment mode. That is, the unit adjusts the target input through converter excitation control, and simultaneously tracks the real-time optimal guide vane opening through speed governor opening adjustment. Alternatively, the converter adopts a fast speed control mode and the speed governor adopts an opening adjustment mode, that is, the unit adjusts the real-time optimal speed through converter excitation control, and at the same time tracks the real-time optimal guide vane opening through speed governor opening adjustment.

6. The method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization according to any one of claims 1 to 5, characterized in that: Based on the power reference value of the variable-speed pumped storage unit, the unit iterative calculation is performed, and the calculated output and head, or unit input and head, are specifically: Taking the power reference value of the variable-speed pumped storage unit as the target, the current power and current head / head as the initial values, and based on the full characteristic curve of the pump-turbine, the unit power and head / head, that is, the unit output and head, or the unit input and head, are obtained by iterative calculation.

7. A dynamic coordinated control system for variable speed pumped storage units based on real-time optimization, characterized in that: It includes a processor, which is used to execute the dynamic coordinated control method of the variable-speed pumped storage unit based on real-time optimization as described in any one of claims 1 to 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for dynamic coordinated control of a variable-speed pumped storage unit based on real-time optimization as described in any one of claims 1 to 6 is implemented.

9. A computer program product, characterized in that It includes a computer program, which, when executed by a processor, implements the dynamic coordinated control method of a variable-speed pumped storage unit based on real-time optimization as described in any one of claims 1 to 6.

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