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

Abstract

This invention belongs to the field of pumped storage unit control technology, and specifically discloses a dynamic coordinated control method, system, medium, and product for variable speed pumped storage units based on real-time optimization. The method includes: performing iterative calculations of the unit's power reference value, and feeding back the obtained output and head, or input and head, to a coordinated optimization controller in real time; under power generation conditions, the coordinated optimization controller uses output and head as new target values, and combines the optimal speed-output-head and optimal guide vane opening-output-head correlation relationships to derive the optimal speed and optimal guide vane opening; under pumping conditions, the coordinated optimization controller uses input and head as new target values, and combines the optimal speed-input-head and optimal guide vane opening-input-head correlation relationships to derive the optimal speed and optimal guide vane opening; and then achieves dynamic coordinated control through the cooperation of a speed governor and a converter. This invention can ensure the real-time and efficient operation of variable speed pumped storage units.

Description

Technical Field

[0001] This invention belongs to the field of pumped storage unit control technology, and more specifically, relates to a dynamic coordination control method, system, medium and product for variable speed pumped storage units based on real-time optimization. Background Technology

[0002] For constant-speed pumped storage units, regulation and control can only be achieved by the governor. Both unit power and speed are adjusted by the governor's guide vane opening. Therefore, the control strategy for constant-speed pumped storage units is primarily designed and derived based on the governor. Variable-speed pumped storage units, on the other hand, rely on the coordinated operation of the governor and converter for regulation and control. Unit power and speed can be adjusted by either the governor or the converter. This coordinated coupling between the governor and converter increases the flexibility of unit regulation and control. However, the governor and converter have different regulation and control modes and characteristics, and the complexity of their coordination under different operating conditions increases the difficulty of system operation and control.

[0003] Most research on the coordinated optimization control of governors and converters in variable-speed pumped storage units focuses on a power-priority control mode where the converter controls the unit's power and the governor controls its speed under power generation conditions, and a speed-priority control mode where the converter controls the unit's speed and the governor controls its power under pumping conditions. In both control modes, the coordinated optimization of the governor and converter almost always involves inputting the initial power reference value and the current head (or pump head) into the coordinated optimization controller to derive the optimal speed and optimal guide vane opening corresponding to the initial setpoint, without considering the real-time dynamic changes in power and head (or pump head), thus failing to achieve real-time tracking of the optimal situation. Furthermore, while the governor has three regulation modes (frequency regulation, power regulation, and opening regulation) and the converter has two control modes (rapid power control and rapid speed control), the real-time dynamic optimization and regulation characteristics of the unit under different operating conditions and different combinations of governor regulation modes and converter control modes have not yet been explored in detail. Summary of the Invention

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

[0005] To achieve the above objectives, according to a first aspect of the present invention, a dynamic coordinated control method for variable-speed pumped storage units based on real-time optimization is proposed, comprising the following steps:

[0006] Based on the power reference value of the variable speed pumped storage unit, iterative calculations of the unit are performed, and the calculated output and head, or input and head, are fed back to the coordination and optimization controller in real time.

[0007] Under power generation conditions, the coordinated optimization controller uses the output and head obtained from the iterative calculation of the unit as new target values. Combining the optimal speed-output-head and optimal guide vane opening-output-head cooperative relationship, it obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening.

[0008] Under pumping conditions, the coordinated optimization controller uses the input and head obtained from the iterative calculation of the unit as new target values. Combining the optimal speed-input-head and optimal guide vane opening-input-head coordination relationship, it obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening.

[0009] Based on the obtained dynamic optimization reference values ​​of optimal speed and optimal guide vane opening, dynamic coordinated control is achieved through the coordinated operation of the speed governor and the converter.

[0010] As a further preferred method, the method for obtaining the optimal speed-output-head and optimal guide vane opening-output-head coordination relationships in the coordinated optimization controller is as follows:

[0011] For a given unit output P T11 Calculate the unit rotation speed N 11 The corresponding unit torque M 11 By combining the full characteristic curves of the pump and turbine, interpolation calculations were performed for different unit torques. M 11 Corresponding unit flow Q 11 Thus, the unit rotational speed is obtained. N 11 and corresponding unit flow Q 11 Draw the unit output curve;

[0012] Obtain multiple unit outputs using the method described above. P T11 The corresponding multiple output curves of equal units;

[0013] Connect the minimum unit flow points on the curves of equal unit output. Q 11min The optimal unit speed-unit output and optimal guide vane opening-unit output optimization curves were obtained.

[0014] Combined with the head of the variable speed pumped storage unit during power generation H TBy considering the range of variation, the optimal rotational speed-output-head and optimal guide vane opening-output-head synergistic relationships based on the full characteristic curves are derived.

[0015] As a further preferred method, the method for obtaining the optimal speed-input-head and optimal guide vane opening-input-head coordination relationship in the coordinated optimization controller is as follows:

[0016] For a given unit input force P P11 Calculate the unit rotation speed N 11 The corresponding unit torque M 11 By combining the full characteristic curves of the pump and turbine, interpolation calculations were performed for different unit torques. M 11 Corresponding unit flow Q 11 Thus, the unit rotational speed is obtained. N 11 and corresponding unit flow Q 11 Plot the input curve with equal units;

[0017] Obtain multiple unit inputs using the method described above. P P11 The corresponding multiple input curves with equal unit force;

[0018] Connect the points of maximum unit flow rate on the curves of equal unit input. Q 11max The optimal unit rotation speed-unit input force and optimal guide vane opening-unit input force optimization curves were obtained;

[0019] Combined with the pumping head of the variable speed pumped storage unit H P By considering the range of variation, the optimal rotational speed-input-head and optimal guide vane opening-input-head synergistic relationships based on the full characteristic curves are derived.

[0020] As a further preferred option, under power generation conditions, the governor-converter achieves the following dynamic coordinated control mode:

[0021] The converter adopts a power fast control mode, and the speed governor adopts a frequency regulation mode; that is, the unit realizes the regulation of the target output through the excitation control of the converter, and realizes the tracking of the real-time optimal speed through the frequency regulation of the speed governor.

[0022] Alternatively, the converter can adopt a fast speed control mode, while the governor can adopt a power regulation mode; that is, the unit can achieve real-time optimal speed regulation through converter excitation control, and simultaneously achieve target output tracking through governor power regulation.

[0023] As a further preferred option, under pumping conditions, the governor-converter achieves the following dynamic coordinated control mode:

[0024] The converter adopts a power fast control mode, and the speed governor adopts an opening adjustment mode. That is, the unit adjusts the target input through the excitation control of the converter, and tracks the real-time optimal guide vane opening through the opening adjustment of the speed governor.

[0025] Alternatively, the converter can adopt a fast speed control mode, and the governor can adopt an opening adjustment mode. That is, the unit can adjust the real-time optimal speed through the excitation control of the converter, and at the same time track the real-time optimal guide vane opening through the opening adjustment of the governor.

[0026] As a further preferred option, iterative calculations are performed on the unit based on the power reference value of the variable speed pumped storage unit. The calculated output and head, or the unit input and head, are specifically as follows:

[0027] Using the power reference value of the variable speed pumped storage unit as the target, and the current power and current head / head as the initial values, the unit power and head / head are obtained iteratively based on the full characteristic curve of the pump-turbine, that is, the unit output and head, or the unit input and head.

[0028] According to a second aspect of the present invention, a dynamic coordination control system for a variable speed pumped storage unit based on real-time optimization is provided, comprising a processor, the processor being used to execute the above-described dynamic coordination control method for a variable speed pumped storage unit based on real-time optimization.

[0029] According to a third aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the above-described dynamic coordination control method for variable-speed pumped storage units based on real-time optimization.

[0030] According to a fourth aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the above-described dynamic coordination control method for variable speed pumped storage units based on real-time optimization.

[0031] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages:

[0032] 1. This invention takes into account the real-time feedback of power and head / lift of the variable speed pumped storage unit, and realizes the real-time tracking of the unit's optimal speed and optimal guide vane opening, thus ensuring the real-time and efficient operation of the variable speed pumped storage unit.

[0033] 2. This invention combines the full characteristic curves of the pump-turbine and derives a coordinated optimization controller for the power generation and pumping conditions of the variable speed pumped storage unit through the principle of efficiency optimization. This provides a foundation for achieving dynamic coordinated control of the governor and converter through real-time optimization and dynamic interpolation.

[0034] 3. Based on the requirements of different operating conditions, this invention proposes a dynamic coordinated control mode of governor-converter under power generation and pumping conditions of variable speed pumped storage units based on real-time optimization, which can realize efficient coordinated control based on governor and converter. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the dynamic coordination control method for variable speed pumped storage units according to an embodiment of the present invention.

[0036] Figure 2 Figures (a) and (b) show the full characteristic curves of the pump-turbine of the variable speed pumped storage unit in the embodiment of the present invention.

[0037] Figure 3 In the figures (a) and (b), the power generation condition coordination and optimization controller is shown in the embodiment of the present invention.

[0038] Figure 4 (a) and (b) are the pumping operation coordination and optimization controllers in the embodiments of the present invention.

[0039] Figure 5 This is a schematic diagram illustrating the dynamic coordination control principle of a variable-speed pumped storage unit according to an embodiment of the present invention.

[0040] Figure 6 In the middle (a) and (b), respectively, are the dynamic coordination control modes 1 and 2 of the speed governor-converter in the power generation operating condition according to the embodiments of the present invention.

[0041] Figure 7 In the middle (a) and (b), respectively, the pumping operation mode of the speed governor-converter dynamic coordination control mode 1 and mode 2 are shown in the embodiment of the present invention.

[0042] Figure 8 (a) and (b) are the transient responses of speed and output in the dynamic coordinated control mode of governor-converter in the power generation load increase adjustment scenario of the embodiment of the present invention, respectively; (c) and (d) are the transient responses of speed and output in the dynamic coordinated control mode of governor-converter in the power generation load decrease adjustment scenario of the embodiment of the present invention, respectively.

[0043] Figure 9(a) and (b) are the speed and input transient responses in the dynamic coordinated control mode of the governor-converter in the pumping operation with increased input adjustment scenario according to the embodiment of the present invention, respectively; (c) and (d) are the speed and input transient responses in the dynamic coordinated control mode of the governor-converter in the pumping operation with decreased input adjustment scenario according to the embodiment of the present invention, respectively. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be 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 illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0045] This invention provides a dynamic coordination control method for variable-speed pumped storage units based on real-time optimization, such as... Figure 1 As shown, it includes the following steps:

[0046] S1, construct a coordinated optimization controller for the power generation and pumping operation of the variable speed pumped storage unit.

[0047] (1) The specific steps for constructing a coordinated optimization controller for the power generation conditions of a variable-speed pumped storage unit are as follows:

[0048] ① Combined with unit output P T Rotation speed N m and water head H T The range of values ​​for is used to determine the unit output. P T11 and unit speed N 11 The range of values ​​for;

[0049] ② For a given unit output P T11 Calculate the unit speed. N 11 The corresponding unit torque M 11 ;

[0050] ③ Combining the full characteristic curves of the water pump and turbine ( M 11 - N 11 Torque curve and Q 11 - N 11 Flow curve), interpolation calculation of different unit torques M11 Corresponding unit flow Q 11 ;

[0051] ④ Based on the aforementioned unit output P T11 Combined with unit speed N 11 and unit flow Q 11 Draw a curve with equal unit output, and then repeat steps ②-④ to draw multiple curves with equal unit output.

[0052] ⑤ Connect the minimum unit flow points on curves with different unit outputs. Q 11min Find the optimal unit speed minus unit output ( N 11opt - P T11 ) and optimal guide vane opening - unit output ( y opt - P T11 The optimization curve;

[0053] ⑥ Based on N 11opt - P T11 and y opt - P T11 Optimize the curve, combined with the head of the variable speed pumped storage unit H T The range of variation is used to deduce the optimal speed-output-head and optimal guide vane opening-output-head coordination relationship surfaces of the variable speed pumped storage unit power generation condition coordination optimization controller based on the full characteristic curve. N mopt - P T - H T and y opt - P T - H T The power generation condition coordination and optimization controller is thus formed.

[0054] (2) The specific steps for constructing a coordinated optimization control system for the pumping operation of a variable-speed pumped storage unit are as follows:

[0055] ① Combined with the unit input P P Rotation speed N m He YangchengH P The range of values ​​for is used to determine the unit input force. P P11 and unit speed N 11 The range of values ​​for;

[0056] ② For a given unit input force P P11 Calculate the unit speed. N 11 The corresponding unit torque M 11 ;

[0057] ③ Combining the full characteristic curves of the water pump and 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 ;

[0058] ④ Based on the aforementioned unit input force P P11 Combined with unit speed N 11 and unit flow Q 11 Draw a curve with equal unit input, and then repeat steps ②-④ to draw multiple curves with equal unit input.

[0059] ⑤ Connect the points of maximum unit flow rate on curves with different unit inputs. Q 11max Find the optimal unit rotational speed minus unit input force ( N 11opt - P P11 ) and optimal guide vane opening - unit input ( y opt - P P11 The optimization curve;

[0060] ⑥ Based on N 11opt - P P11 and y opt - P P11 Optimize the curve and combine it with the head of the variable speed pumped storage unit.H P The range of variation is used to deduce the optimal speed-input-head and optimal guide vane opening-input-head coordination relationship surfaces of the bottom layer of the variable speed pumped storage unit pumping operation condition coordination optimization controller based on the full characteristic curve. N mopt - P P - H P and y opt - P P - H P The pumping operation condition coordination and optimization controller is thus formed.

[0061] S2 is a dynamic coordinated control system for variable-speed pumped storage units based on real-time optimization by a coordinated optimization controller.

[0062] like Figure 5 As shown, the control principle is as follows:

[0063] After a power reference value is given, the variable speed pumped storage unit enters a transient process. It uses the initial power (i.e., output / input) and the current head / lift as initial iteration values. Based on the full characteristic curve of the pump-turbine, these values ​​are used in the iterative calculation of the unit. The unit power and head (or lift) calculated by the iteration are then fed back to the coordinated optimization controller in real time. Through real-time optimization and dynamic interpolation, the dynamic optimization reference values ​​of the optimal speed and the optimal guide vane opening are obtained.

[0064] Specifically, the method for obtaining the optimal rotational speed and optimal guide vane opening based on the coordinated optimization controller under power generation and pumping conditions is as follows:

[0065] Under power generation conditions, the coordinated optimization controller takes the output and head obtained from the iterative calculation of the unit as the new target values. Combining the optimal speed-output-head and optimal guide vane opening-output-head cooperative relationship, the controller obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening through real-time optimization and dynamic linear interpolation.

[0066] Under pumping conditions, the coordinated optimization controller takes the input and head obtained from the iterative calculation of the unit as the new target values. Combining the optimal speed-input-head and optimal guide vane opening-input-head coordination relationship, the controller obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening through real-time optimization and dynamic linear interpolation.

[0067] S3 is the dynamic coordinated control mode of the speed governor and converter under power generation and pumping conditions.

[0068] Based on the optimal speed and optimal guide vane opening, dynamic coordinated control is achieved through a speed governor-converter system. The specific control mode is as follows:

[0069] (1) There are two control modes under power generation conditions, and either one can be selected:

[0070] Dynamic Coordination Control Mode 1: The converter adopts a power fast control mode, and the speed controller adopts a frequency regulation mode, such as... Figure 6 In section (a), the unit achieves rapid adjustment of the target output through the converter's rapid excitation control, and at the same time achieves precise tracking of the real-time optimal speed through the governor's frequency regulation.

[0071] Dynamic Coordination Control Mode 2: The converter adopts a rapid speed control mode, and the speed governor adopts a power regulation mode, such as... Figure 6 In section (b), the unit achieves rapid tracking of the real-time optimal speed through the converter's rapid excitation control, and at the same time achieves precise tracking of the target output through the governor's power regulation.

[0072] In both modes, the rotational speed is optimized and accurately tracked in real time based on the dynamic changes in output and head.

[0073] (2) There are two control modes under pumping conditions, choose one of them:

[0074] Dynamic Coordination Control Mode 1: The converter adopts a power fast control mode, and the speed governor adopts an opening adjustment mode, such as... Figure 7 In section (a), the unit achieves rapid adjustment of the target input through the converter's rapid excitation control, and at the same time achieves precise tracking of the real-time optimal guide vane opening through the governor's opening adjustment.

[0075] Dynamic Coordination Control Mode 2: The converter adopts a rapid speed control mode, and the speed governor adopts an opening adjustment mode, such as... Figure 7 In section (b), the unit achieves rapid adjustment of the real-time optimal speed through the converter's rapid excitation control, and at the same time achieves precise tracking of the real-time optimal guide vane opening through the governor's opening adjustment.

[0076] In both modes, the opening is optimized and accurately tracked in real time based on the dynamic changes in input and head.

[0077] The following are specific examples:

[0078] The full characteristic curve of the pump-turbine of a certain variable speed pumped storage unit is as follows: Figure 2 As shown, (a) is the flow rate curve, and (b) is the flow rate curve. Based on the method described in S1, the coordinated optimization controller for the variable-speed pumped storage unit under power generation conditions is derived as follows: Figure 3 As shown, (a) is N mopt - P T - HT The synergy curve, (b) is y opt - P T - H T Coordination relationship curve. Derivation of the coordination optimization controller for a variable-speed pumped-storage unit under pumping conditions, such as... Figure 4 As shown, (a) is N mopt - P P - H P The synergy curve, (b) is y opt - P P - H P Coordination curve.

[0079] Load disturbance is the most common load regulation scenario in power generation operations, generally involving two types of regulation scenarios: load increase and load decrease. This invention takes these two scenarios as examples. The proposed load increase and load decrease regulation scenarios are as follows:

[0080] ① Load increase regulation scenario: The operating 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 regulation command, increasing the unit output by 30 MW, i.e., the target output value is 310 MW.

[0081] ② Load reduction adjustment scenario: The operating 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, i.e., the output target value is 280MW.

[0082] In both 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 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 steady state in the load reduction regulation scenario.

[0083] Under the dynamic coordinated control mode 1 of the power generation condition, a set of control parameters is 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 as follows: Kp2 =0.025, K i2 =0.01 s -1 The speed controller frequency regulation mode control parameters are as follows: K p0 =1.5, K i0 =0.28 s -1 , K d0 =3 s.

[0084] Under the dynamic coordinated control mode 2 of the power generation condition, another set of control parameters is determined, and the outer loop control parameters for the converter speed are as follows: 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 for the speed governor's power regulation mode are as follows: K p0 =10, K i0 =8 s -1 , e p =0.04.

[0085] Two regulation scenarios, two different modes: the transient response of speed and output in the governor-converter dynamic coordinated control mode of the variable speed pumped storage unit's power generation operation is as follows: Figure 8 As shown, (a) and (b) represent load increase adjustment scenarios, while (c) and (d) represent load decrease adjustment scenarios.

[0086] The biggest advantage of variable-speed pumped storage units lies in their adjustable input pressure. In scenarios with fluctuating input pressure, only variable-speed operation can flexibly cope. This invention takes increasing and decreasing input pressure adjustment scenarios as examples, as detailed below:

[0087] ① Scenario of increased feed rate adjustment: Head 450 m, unit feed rate -280 MW, optimal speed -432.87 r / min, corresponding guide vane opening 0.628. At t=20 s, the unit control center issues a feed rate adjustment command, increasing the unit feed rate by 30 MW, i.e., the target feed rate is -310MW.

[0088] ② Reduced input adjustment scenario: Head 450 m, unit input is -310 MW, optimal speed -442.79 r / min, corresponding guide vane opening 0.671. At t=20 s, the unit control center issues an input adjustment command, reducing the unit input by 30 MW, i.e., the output target value is -280MW.

[0089] In both adjustment scenarios, if real-time dynamic optimization is not considered, the optimal speed initially given in the force reduction adjustment scenario is the optimal speed that can be tracked in steady state in the force increase adjustment scenario, and the optimal speed initially given in the force increase adjustment scenario is also the optimal speed that can be tracked in steady state in the force reduction adjustment scenario.

[0090] Under the dynamic coordinated control mode 1 of the pumping operation, a set of control parameters is 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 control parameters for the governor opening adjustment mode are as follows: K p0 =10, K i0 =8s -1 In the dynamic coordinated control mode 2 of the pumping operation, since the input is essentially adjusted by the rotational speed, the same set of control parameters can be used.

[0091] Two regulation scenarios, two different modes: the transient response of speed and output of the governor-converter in the dynamic coordinated control mode of the pumping operation of the variable speed pumped storage unit is as follows: Figure 9 As shown, (a) and (b) are scenarios where the input force is increased, and (c) and (d) are scenarios where the input force is decreased.

[0092] Those skilled in the art will readily understand 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 within the scope of protection of the present invention.

Claims

1. A dynamic coordinated control method for variable-speed pumped-storage units based on real-time optimization, characterized in that, Includes the following steps: Based on the power reference value of the variable speed pumped storage unit, iterative calculations of the unit are performed, and the calculated unit output and head, or unit input and head, are fed back to the coordinated optimization controller in real time. Under power generation conditions, the coordinated optimization controller uses the unit output and head obtained from the iterative calculation of the unit as the new target values. Combining the optimal speed-output-head and optimal guide vane opening-output-head cooperative relationship, it obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening. Under pumping conditions, the coordinated optimization controller uses the unit input and head obtained from the iterative calculation of the unit as the new target values. Combining the optimal speed-input-head and optimal guide vane opening-input-head coordination relationship, it obtains the dynamic optimization reference values ​​of the optimal speed and optimal guide vane opening. Based on the obtained dynamic optimization reference values ​​of optimal speed and optimal guide vane opening, dynamic coordinated control is achieved through the coordinated operation of the speed governor and the converter. The method for obtaining the optimal speed-output-head and optimal guide vane opening-output-head coordination relationships in the coordinated optimization controller is as follows: For a given unit output P T11 Calculate the unit rotation speed N 11 The corresponding unit torque M 11 By combining the full characteristic curves of the pump and turbine, interpolation calculations were performed for different unit torques. M 11 Corresponding unit flow Q 11 Thus, the unit rotational speed is obtained. N 11 and corresponding unit flow Q 11 Draw the unit output curve; Obtain multiple unit outputs using the method described above. P T11 The corresponding multiple output curves of equal units; Connect the minimum unit flow points on the curves of equal unit output. Q 11min The optimal unit speed-unit output and optimal guide vane opening-unit output optimization curves were obtained. Combined with the head of the variable speed pumped storage unit during power generation H T The range of variation was used to deduce the optimal rotational speed-output-head and optimal guide vane opening-output-head coordination relationship based on the full characteristic curve; The method for obtaining the optimal speed-input-head and optimal guide vane opening-input-head coordination relationships in the coordinated optimization controller is as follows: For a given unit input force P P11 Calculate the unit rotation speed N 11 The corresponding unit torque M 11 By combining the full characteristic curves of the pump and turbine, interpolation calculations were performed for different unit torques. M 11 Corresponding unit flow Q 11 Thus, the unit rotational speed is obtained. N 11 and corresponding unit flow Q 11 Plot the input curve with equal units; Obtain multiple unit inputs using the method described above. P P11 The corresponding multiple input curves with equal unit force; Connect the points of maximum unit flow rate on the curves of equal unit input. Q 11max The optimal unit rotation speed-unit input force and optimal guide vane opening-unit input force optimization curves were obtained; Combined with the pumping head of the variable speed pumped storage unit H P By considering the range of variation, the optimal rotational speed-input-head and optimal guide vane opening-input-head synergistic relationships based on the full characteristic curves are derived.

2. The dynamic coordination control method for variable-speed pumped storage units based on real-time optimization as described in claim 1, characterized in that, Under power generation conditions, the governor-converter achieves dynamic coordinated control as follows: The converter adopts a power fast control mode, and the speed governor adopts a frequency regulation mode; that is, the unit realizes the regulation of the target output through the excitation control of the converter, and realizes the tracking of the real-time optimal speed through the frequency regulation of the speed governor. Alternatively, the converter can adopt a fast speed control mode, while the governor can adopt a power regulation mode; that is, the unit can achieve real-time optimal speed regulation through converter excitation control, and simultaneously achieve target output tracking through governor power regulation.

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

4. A dynamic coordination control system for variable speed pumped storage units based on real-time optimization, characterized in that, Includes a processor, the processor being configured to execute the dynamic coordinated control method for variable speed pumped storage units based on real-time optimization as described in any one of claims 1-3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the dynamic coordination control method for variable speed pumped storage units based on real-time optimization as described in any one of claims 1-3.

6. A computer program product, characterized in that, The method includes a computer program that, when executed by a processor, implements the dynamic coordinated control method for variable-speed pumped storage units based on real-time optimization as described in any one of claims 1-3.

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