Control method, device and system of underwater compressed air energy storage system, storage medium and program product

Abstract

This application relates to the field of new energy technology, providing a control method, device, system, storage medium, and program product for an underwater compressed air energy storage system. It can employ a matching control strategy based on the actual operating conditions of the underwater compressed air energy storage system to ensure the reliability of its actual operation. This application involves obtaining the safety domain boundary of the underwater compressed air energy storage system; obtaining the current stability margin of the underwater compressed air energy storage system based on the distance between the current operating point of the system and the safety domain boundary; determining the current safety state of the underwater compressed air energy storage system from multiple preset safety states based on the current stability margin; and controlling the operation of components in the underwater compressed air energy storage system according to a control strategy matched to the current safety state.

Description

Technical Field

[0001] This application relates to the field of new energy technology, and in particular to a control method, apparatus, underwater compressed air energy storage system, storage medium and computer program product for an underwater compressed air energy storage system. Background Technology

[0002] Offshore renewable energy, as a renewable energy industry, is of great significance for promoting the structural adjustment of power systems in coastal areas. However, the inherent volatility and intermittency of offshore renewable energy pose a severe challenge to the safe and stable operation of the power grid. Underwater compressed air energy storage (UW-CAES), with its advantages of long-term energy storage, high energy density, and short construction period, has become one of the effective technical approaches to mitigate the fluctuating output of offshore renewable energy and enhance the grid's absorption capacity.

[0003] Currently, traditional methods use fixed control strategies to control the UW-CAES system, which makes it difficult to guarantee the actual operational reliability of the UW-CAES system. Summary of the Invention

[0004] Therefore, it is necessary to provide a control method, device, underwater compressed air energy storage system, storage medium, and computer program product for the above-mentioned technical problems.

[0005] This application provides a control method for an underwater compressed air energy storage system, the method comprising:

[0006] Obtain the safety domain boundary of the underwater compressed air energy storage system;

[0007] The current stability margin of the underwater compressed air energy storage system is obtained based on the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain.

[0008] Based on the current stability margin, the current safety state of the underwater compressed air energy storage system is determined among a plurality of preset safety states;

[0009] The components in the underwater compressed air energy storage system are controlled to operate according to a control strategy that matches the current safety status.

[0010] This application provides a control device for an underwater compressed air energy storage system, the device comprising:

[0011] The safety domain boundary acquisition module is used to acquire the safety domain boundary of the underwater compressed air energy storage system.

[0012] The stability margin determination module is used to obtain the current stability margin of the underwater compressed air energy storage system based on the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain.

[0013] The safety status determination module is used to determine the current safety status of the underwater compressed air energy storage system from a set of preset safety states based on the current stability margin.

[0014] The control module is used to control the operation of the components in the underwater compressed air energy storage system according to a control strategy that matches the current safety state.

[0015] This application provides an underwater compressed air energy storage system, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0016] This application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0017] This application provides a computer program product having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0018] The aforementioned control method, apparatus, underwater compressed air energy storage system, storage medium, and computer program product for the underwater compressed air energy storage system obtain the safety domain boundary of the underwater compressed air energy storage system. Based on the distance between the current operating point of the underwater compressed air energy storage system and the safety domain boundary, the current stability margin of the underwater compressed air energy storage system is obtained. The current stability margin reflects the current stability of the underwater compressed air energy storage system. Therefore, based on the current stability margin, the current safety state of the underwater compressed air energy storage system can be determined relatively accurately among multiple preset safety states. Thus, the operation of the components in the underwater compressed air energy storage system can be controlled according to the control strategy matched to the current safety state. This allows for the adoption of a matching control strategy based on the actual operating conditions of the underwater compressed air energy storage system, ensuring the reliability of the system's actual operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the control method of an underwater compressed air energy storage system in one embodiment;

[0021] Figure 2 This is a schematic diagram of the framework of an underwater compressed air energy storage system in one embodiment;

[0022] Figure 3 This is a control framework diagram of an underwater compressed air energy storage system in one embodiment;

[0023] Figure 4 This is a structural block diagram of the control device for an underwater compressed air energy storage system in one embodiment.

[0024] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0026] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various objects, but these objects are not limited by these terms. These terms are only used to distinguish the first object from the second object. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the solutions, or any combination of multiple solutions.

[0027] The control method for an underwater compressed air energy storage system provided in this application can be applied to underwater compressed air energy storage systems. This method may include... Figure 1 The steps are shown.

[0028] Step S101: Obtain the safety domain boundary of the underwater compressed air energy storage system.

[0029] like Figure 2 As shown, the underwater compressed air energy storage system comprises multiple heat exchangers, regulating valves, a hot tank, and a cold tank. This system enables efficient energy storage and release during compressed air energy storage. The safety domain boundary can be an approximate small signal stability region (SSSR) boundary. The safety domain of the underwater compressed air energy storage system can be predefined, thereby obtaining its boundary.

[0030] Step S102: Based on the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain, obtain the current stability margin of the underwater compressed air energy storage system.

[0031] The current operating point of the underwater compressed air energy storage system can be obtained, and then the distance between the current operating point and the safety domain boundary can be calculated, thus yielding the current stability margin of the underwater compressed air energy storage system. A larger distance indicates that the system operating point is further away from the instability boundary (i.e., the safety domain boundary), and the larger the current stability margin. The current stability margin is the current stability margin of the underwater compressed air energy storage system.

[0032] Step S103: Based on the current stability margin, determine the current safety state of the underwater compressed air energy storage system from among multiple preset safety states.

[0033] Multiple pre-set safety states can be obtained, each with a corresponding stability margin range. Therefore, the current safety state of the underwater compressed air energy storage system can be determined from among the multiple safety states based on the current stability margin.

[0034] Step S104: Control the operation of components in the underwater compressed air energy storage system according to a control strategy that matches the current safety status.

[0035] Each of the multiple safety states has a corresponding pre-set control strategy. After determining the current safety state, the control strategy matching the current safety state can be determined, and the operation of the components in the underwater compressed air energy storage system can be controlled according to the control strategy.

[0036] In the control method of the aforementioned underwater compressed air energy storage system, the safety domain boundary of the underwater compressed air energy storage system is obtained. Based on the distance between the current operating point of the underwater compressed air energy storage system and the safety domain boundary, the current stability margin of the underwater compressed air energy storage system is obtained. The current stability margin can reflect the current stability of the underwater compressed air energy storage system. Therefore, based on the current stability margin, the current safety state of the underwater compressed air energy storage system can be determined more accurately among multiple preset safety states. Thus, the operation of the components in the underwater compressed air energy storage system can be controlled according to the control strategy matched to the current safety state. This allows for the adoption of a matching control strategy based on the actual operating conditions of the underwater compressed air energy storage system, ensuring the reliability of the system's actual operation.

[0037] In one exemplary embodiment, obtaining the safety domain boundary of an underwater compressed air energy storage system includes:

[0038] Obtain the set of operating points for the underwater compressed air energy storage system that do not experience unstable oscillations under small disturbances; obtain the safety domain of the underwater compressed air energy storage system based on the set of operating points; and obtain the boundary of the safety domain based on the hyperplane of the safety domain.

[0039] This embodiment can obtain a set of operating points for an underwater compressed air energy storage system that do not experience unstable oscillations under small disturbances. This set of operating points is considered as an approximate small-disturbance stable safe region for the underwater compressed air energy storage system. The hyperplane of this approximate small-disturbance stable safe region can then be used as the boundary of the safe region. Furthermore, the normal vector of the safe region boundary can be calculated. When the underwater compressed air energy storage system is in an emergency state, the direction of this normal vector can serve as the control target for the corresponding control strategy. By adjusting the compressor drive torque and inlet guide vane angle of the underwater compressed air energy storage system, the system can quickly return to the stable region along the normal vector direction, thereby avoiding instability phenomena such as surge. The normal vector direction of the safe region boundary represents the shortest path.

[0040] Calculating the normal vector of the security domain boundary may include the following process:

[0041] 1) System state-space modeling:

[0042] Based on the conservation of mass, momentum within the compressor and piping, and torque angular momentum, a set of third-order coupled differential equations for the compressor of an underwater compressed air energy storage system can be constructed:

[0043] ;

[0044] ;

[0045] .

[0046] in, , and These are the dynamic third-order state variables of the compressor, representing the pressure, mass flow rate, and angular velocity of the booster chamber, respectively. and Let represent the cross-sectional area and length of the compressor inlet pipe, respectively, and 'a' be the velocity of sound in the inlet pipe. It refers to the volume of the compressor's booster chamber. It is the mass flow rate at the heat exchanger outlet. , These represent the torque of the electric motor and the compressor, respectively. It is the moment of inertia. This set of differential equations couples the compressor's pressure, mass flow rate, and angular velocity, reflecting the interaction between aerodynamics and kinematics.

[0047] 2) Calculation of the normal vector of the security domain boundary:

[0048] Since the system typically operates at an equilibrium point, small-disturbance stability analysis can be used to study the system's stability. The SSSR is defined as the set of all stable operating points in the parameter space under given conditions. The system dynamics can be described by the following differential-algebraic equations (DAEs), and the mathematical model describing the system is as follows:

[0049] .

[0050] in, , , It is a vector of the system's state variables, algebraic variables, and bifurcation variables.

[0051] for The system equilibrium point is the solution to the following system of equations:

[0052] .

[0053] when In the non-singular case, the DAE model is as follows:

[0054] .

[0055] in, From algebraic equations This is determined by the implicit function theorem.

[0056] In the neighborhood of a non-singular equilibrium point, the Jacobian matrix of the ordinary differential equation (ODE) is:

[0057] .

[0058] If the system is in the neighborhood near the bifurcation point If the DAE is not singular, then the topology near the bifurcation point can be obtained by analyzing the ODE that is topologically equivalent to it. Furthermore, according to the properties of Hopf bifurcation, when the DAE system is at the point... When a Hopf bifurcation occurs, the Jacobian matrix There must be a pair of conjugate eigenvalues ​​that cross the imaginary axis.

[0059] As can be seen from the above analysis, at the bifurcation point The normal vector of the Hopf bifurcation surface should be:

[0060] .

[0061] in, and They are respectively the matrix eigenvalues or The corresponding left and right eigenvectors; It is an n×n×n tensor; It is an n×n×m tensor; For an n×m Jacobian matrix, it can be solved by... And thus obtained.

[0062] Using the "extended" eigenvector method, the "extended" right eigenvector can be obtained by solving the above equation:

[0063] .

[0064] The same method can be used to find the "extended" left eigenvector. Therefore, the Hopf bifurcation surface of the system, represented by the "extended" eigenvectors, at the bifurcation point... The normal vector at point is:

[0065] .

[0066] In the formula ; ; It can be solved And thus obtained.

[0067] The approximate normal vector of the saddle node bifurcation surface of the ODE system is extended to the Hopf bifurcation of the DAE system. When the system's equilibrium point... Approaching the Hopf bifurcation of the system, at the equilibrium point The approximate normal vector of the Hopf bifurcation surface of the DAE system can be calculated according to the following steps:

[0068] a. According to the aforementioned formula Calculate the conjugate eigenvalue with the largest real part of matrix A. and with The corresponding left eigenvector and right eigenvectors ;

[0069] b. Order , Then solve the aforementioned formula. The extended right eigenvector can be calculated. ;

[0070] c. Calculate the extended left eigenvector using the same method. ;

[0071] d. According to the following formula, at the equilibrium point At this point, the approximate normal vector of the Hopf bifurcation surface can be obtained as shown in the following equation: .

[0072] In an exemplary embodiment, the current stability margin of the underwater compressed air energy storage system is obtained based on the distance between the current operating point of the underwater compressed air energy storage system and the safety domain boundary, including:

[0073] Determine the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain; define this distance as the current stability margin of the underwater compressed air energy storage system.

[0074] When a pair of conjugate complex eigenvalues ​​cross the imaginary axis The linearized state-space equation for the current stability margin D at the current equilibrium point is:

[0075] .

[0076] Let be the real part of the eigenvalues ​​of the system's Jacobian matrix. D is the maximum value among all the real parts of the eigenvalues; physically, D represents the minimum distance from the current operating point to the instability boundary (i.e., the safety region boundary). The larger D is, the higher the stability margin of the system and the stronger the system stability.

[0077] In one exemplary embodiment, based on the current stability margin, the current safety state of the underwater compressed air energy storage system is determined from among a plurality of preset safety states, including:

[0078] Obtain the preset stability margin intervals corresponding to each safety state; within the stability margin intervals corresponding to each safety state, determine the current stability margin interval to obtain the target stability margin interval; and determine the safety state corresponding to the target stability margin interval as the current safety state of the underwater compressed air energy storage system.

[0079] As an example, in the case of multiple preset safety states including safe state, alert state and emergency state, the range not exceeding D1 is the stability margin interval corresponding to the safe state, the range from D1 to D2 is the stability margin interval corresponding to the alert state, and the range exceeding D2 is the stability margin interval corresponding to the emergency state.

[0080] If the current stability margin D≤D1, then the stability margin interval corresponding to the safe state can be determined as the target stability margin interval. Accordingly, the safe state is the current safe state of the underwater compressed air energy storage system.

[0081] If the current stability margin D≥D1 and the current stability margin D≤D2, then the stability margin interval corresponding to the alert state can be determined as the target stability margin interval. Accordingly, the alert state is the current safe state of the underwater compressed air energy storage system.

[0082] If the current stability margin D ≥ D2, it can be determined that the stability margin interval corresponding to the emergency state is the target stability margin interval. Correspondingly, the emergency state is the current safe state of the underwater compressed air energy storage system.

[0083] In an exemplary embodiment, the preset multiple safe states include a safe state, a warning state, and an emergency state. When the current safe state is the safe state, the control strategy matching the current safe state is the PID tracking control strategy. When the current safe state is the warning state, the control strategy matching the current safe state is the linear weighted fusion control strategy. When the current safe state is the emergency state, the control strategy matching the current safe state is the emergency anti-surge control strategy.

[0084] To ensure the safe and stable operation of the system, it is usually necessary to reserve a certain margin within the SSSR boundary. Based on this, the safe states of the system can be divided into three categories:

[0085] Safe state: When the system operating condition is far from the instability boundary, within this region, rapid power tracking can be performed according to the power instruction.

[0086] Warning state: When the system operating condition is in the warning state and the system is still stable but already close to the instability boundary, the system should be avoided operating in this interval during operation. If entering this region, the system operating condition can be returned to the safe state through relatively gentle preventive control.

[0087] Emergency state: When the system operating condition is in the emergency state, the internal mass flow rate and the like have already oscillated. For example, after the power is too low and enters the deep surge region, even the phenomenon of reverse gas flow occurs, seriously endangering the system safety. At this time, the anti-surge valve and the drain valve can be opened to quickly enter the stable region along the shortest path direction.

[0088] To improve the operation stability of the underwater compressed air energy storage system under complex operating conditions and take into account its demand for tracking scheduling instructions, an adaptive control strategy can be implemented based on real-time stability margin evaluation. Among them, based on the real-time calculation of the distance between the current operating point of the system and the Hopf bifurcation critical point (that is, equivalent to the distance between the current operating condition point and the boundary of the safe region), the current stability margin D can be obtained, which can be used as a criterion for switching the control mode. Among the three pre-divided safe states, the corresponding control strategy can be determined according to the current stability margin D, so that the control parameters can be adjusted adaptively. By designing a hierarchical control parameter mapping rule, the optimal balance between the system's pursuit of flexibility and ensuring stability can be achieved.

[0089] Based on the current stability margin D obtained by real-time calculation and compared with the preset safety threshold D1 and emergency threshold D2 (D2 < D1), the system safe state is divided into three modes: the safe state, the warning state, and the emergency state.

[0090] When D > D1, within this region, the system has sufficient stability margin. The core objective of control is mainly to maximize flexibility and rapidly and accurately track the active power command issued by the superior dispatching, that is:

[0091] .

[0092] Among them, 、 are the compressor drive torque and inlet guide vane angle control signals, 、 are the rated original signals of the compressor drive torque and inlet guide vane angle.

[0093] Among them 、 are the compressor drive torque and inlet guide vane angle safety anti-surge control signals, and are the weight coefficients of the compressor drive torque and inlet guide vane angle safety anti-surge control signals.

[0094] When D2 < D < D1, although the system remains stable, it is already close to the instability boundary. To avoid further deterioration of the system, a linear weighted fusion strategy is adopted, that is:

[0095] ;

[0096] Among them, .

[0097] When D < D2, the stability margin of the system is seriously insufficient, and instability will occur if not intervened. The control strategy transitions from pursuing performance without disturbance to giving priority to ensuring stability. At this time:

[0098] ;

[0099] Among them, . is the standard weight coefficient of the control signal when the system is in an emergency state.

[0100] Among them, the emergency anti-surge control strategy takes the direction of the normal vector of the safety domain boundary as the control target.

[0101] To better understand the above method, the following elaborates in detail an application example of the control method of the underwater compressed air energy storage system of this application.

[0102] During the variable working condition operation of the underwater compressed air energy storage system, especially in the compression side, instability phenomena such as surge are likely to occur, which will threaten the system safety and dynamic response performance. The control methods of related technologies, such as fixed parameter PID or local linearization model, are difficult to balance stability and response speed within the full working condition range, and are highly sensitive to model accuracy and parameters.

[0103] This application example provides an adaptive control scheme for underwater compressed air energy storage based on a safety domain. This scheme can assess the system state in real time and adaptively adjust control parameters to improve the reliability and adaptability of the UW-CAES system under complex operating conditions. Specifically, a small-disturbance stability safety domain for the underwater compressed air energy storage system can be predefined, dividing the safety state into a safe state, a warning state, and an emergency state. Then, the approximate normal vector of the safety domain boundary can be solved based on Hopf bifurcation theory. According to a preset adaptive control algorithm, the current stability margin D is calculated in real time, and the control strategy is adaptively switched based on the magnitude of the current stability margin D: PID tracking control is used in the safe state, linear weighted fusion control is used in the warning state, and emergency anti-surge control is used in the emergency state, where the emergency anti-surge control uses the approximate normal vector of the safety domain boundary as the control target.

[0104] This embodiment constructs an approximate small signal stability region (SSSR) boundary, calculates the current stability margin in real time, and implements multi-mode adaptive control based on the magnitude of the current stability margin, thereby effectively improving the power point tracking capability while ensuring system stability. This embodiment mainly includes the following aspects:

[0105] (1) System Adaptive Control Strategy Framework Based on Safety Domain: The set of operating points of the UW-CAES system that do not experience unstable oscillations under small disturbances is defined as the system's SSSR, and its hyperplane is the SSSR boundary. In addition, to ensure the safe and stable operation of the system, a certain margin needs to be reserved for the safety domain. Based on the distance between the current operating point and the SSSR boundary, the current safe state of the system can be determined in the safe state, alert state, or emergency state.

[0106] (2) Boundary of the safety domain of underwater compressed air energy storage and its normal vector: A third-order nonlinear state-space model of the UW-CAES system is established; based on the differential algebraic equation (DAE) system and Hopf bifurcation theory, the extended eigenvector method is used to calculate the approximate normal vector of the SSSR boundary, thus providing a basis for real-time tracking and adaptive control of the system instability boundary.

[0107] (3) Adaptive control strategy based on real-time stability margin assessment: mainly involves calculating the distance between the current operating point of the system and the critical point of the Hopf bifurcation in real time, so as to obtain the current stability margin D; based on the current stability margin D, the current safe state of the system is determined in the safe state, the alert state or the emergency state, and then the corresponding control strategy is determined according to the current safe state, so as to adaptively adjust the control parameters; by designing hierarchical control parameter mapping rules, the optimal trade-off between pursuing flexibility and ensuring stability is achieved.

[0108] Specifically, this embodiment mainly includes the following steps:

[0109] Obtain the predefined small disturbance stability safe domain (SSSR) of the underwater compressed air energy storage system; determine the SSSR boundary; obtain three pre-divided safety states: safe state, alert state, and emergency state; establish a third-order coupled differential equation system of the compressor to describe the system state space, and calculate the approximate normal vector of the safe domain boundary based on Hopf bifurcation theory and the "extended" eigenvector method; execute the adaptive control algorithm: calculate the current stability margin D in real time, determine the current safety state according to the relationship between D and the preset threshold, and adopt the corresponding control strategy (PID tracking control strategy, linear weighted fusion control strategy, or emergency anti-surge control strategy), and output control commands for drive torque, inlet guide vane angle, and anti-surge valve opening.

[0110] Among them, the approximate normal vector of the safe region can be solved by Hopf bifurcation theory to obtain the extended left eigenvector and the extended right eigenvector, which are used to characterize the directional characteristics of the system's instability boundary.

[0111] In the safe state, the adaptive control algorithm can employ a PID (Proportional-Integral-Derivative) control strategy, with the control law enabling rapid tracking of power commands. In the alert state, a linear weighted fusion control strategy can be used to balance power tracking and system stability. In the emergency state, an emergency anti-surge control strategy can be employed, which quickly opens the anti-surge valve (increasing the opening to 80%) and reduces the drive torque to keep the system away from the unstable region, thereby suppressing surge and ensuring safe operation.

[0112] like Figure 3 As shown, the current stability margin D can be obtained based on the distance between the current operating point and the safety domain boundary, and the current safety state can be determined based on the current stability margin D. The data and raw signals of the underwater compressed air energy storage system are forward standardized, and then the weights can be adaptively calculated to obtain the normal vector weight control parameters. Combining the normal vector weight control parameters and the raw signals, control commands are output and sent to the system controller, which then executes the specific control actions.

[0113] This embodiment can effectively suppress system instability and oscillations on the compression side, enhance power point tracking capability under varying operating conditions, and provide technical support for the safe and stable operation of underwater compressed air energy storage systems. This embodiment can also be applied to smooth out fluctuations in offshore wind power output, providing a guarantee for absorbing large-scale offshore renewable energy.

[0114] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0115] Based on the same inventive concept, this application also provides a control device for an underwater compressed air energy storage system for implementing the control method of the underwater compressed air energy storage system described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of the control device embodiments of the underwater compressed air energy storage system provided below can be found in the limitations of the control method for the underwater compressed air energy storage system described above, and will not be repeated here.

[0116] In one exemplary embodiment, such as Figure 4 As shown, a control device for an underwater compressed air energy storage system is provided, comprising:

[0117] The safety domain boundary acquisition module 401 is used to acquire the safety domain boundary of the underwater compressed air energy storage system.

[0118] The stability margin determination module 402 is used to obtain the current stability margin of the underwater compressed air energy storage system based on the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain.

[0119] The safety status determination module 403 is used to determine the current safety status of the underwater compressed air energy storage system from a set of preset safety states based on the current stability margin.

[0120] The control module 404 is used to control the operation of the components in the underwater compressed air energy storage system according to a control strategy that matches the current safety state.

[0121] In one exemplary embodiment, the security domain boundary acquisition module 401 is configured to:

[0122] Obtain the set of operating points for the underwater compressed air energy storage system that do not experience unstable oscillations under small disturbances; obtain the safety domain of the underwater compressed air energy storage system based on the set of operating points; obtain the boundary of the safety domain based on the hyperplane of the safety domain.

[0123] In an exemplary embodiment, the stability margin determination module 402 is configured to:

[0124] Determine the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain; determine the distance as the current stability margin of the underwater compressed air energy storage system.

[0125] In one exemplary embodiment, the security status determination module 403 is configured to:

[0126] Obtain the preset stability margin intervals corresponding to each safety state; within the stability margin intervals corresponding to each safety state, determine the stability margin interval in which the current stability margin is located, and obtain the target stability margin interval; determine the safety state corresponding to the target stability margin interval as the current safety state of the underwater compressed air energy storage system.

[0127] In an exemplary embodiment, the preset multiple safety states include a safe state, a warning state, and an emergency state; when the current safety state is the safe state, the control strategy matched with the current safety state is a PID tracking control strategy; when the current safety state is the warning state, the control strategy matched with the current safety state is a linear weighted fusion control strategy; when the current safety state is the emergency state, the control strategy matched with the current safety state is an emergency anti-surge control strategy.

[0128] In one exemplary embodiment, the emergency asthma control strategy takes the normal vector direction of the safety domain boundary as the control target.

[0129] The various modules in the control device of the aforementioned underwater compressed air energy storage system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0130] In one exemplary embodiment, a computer device is provided, which can be a device responsible for computation and processing in an underwater compressed air energy storage system. The internal structure diagram of the computer device can be as follows: Figure 5As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data related to the methods described above. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a control method for an underwater compressed air energy storage system.

[0131] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0132] In one exemplary embodiment, an underwater compressed air energy storage system is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the various method embodiments described above.

[0133] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the various method embodiments described above.

[0134] In one exemplary embodiment, a computer program product is provided having a computer program stored thereon, the computer program being executed by a processor of the steps described in the various method embodiments above.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0136] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0137] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0138] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method of an underwater compressed air energy storage system, characterized by, The method includes: Obtain the safety domain boundary of the underwater compressed air energy storage system; The current stability margin of the underwater compressed air energy storage system is obtained based on the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain. Based on the current stability margin, the current safety state of the underwater compressed air energy storage system is determined among a plurality of preset safety states; The components in the underwater compressed air energy storage system are controlled to operate according to a control strategy that matches the current safety status.

2. The method according to claim 1, characterized in that, Obtain the safety domain boundary of the underwater compressed air energy storage system, including: Obtain the set of operating points under which the underwater compressed air energy storage system does not experience unstable oscillations under small disturbances; Based on the set of operating points, the safety domain of the underwater compressed air energy storage system is obtained; The boundary of the security domain is obtained from the hyperplane of the security domain.

3. The method according to claim 1, characterized in that, The current stability margin of the underwater compressed air energy storage system is obtained based on the distance between the current operating point of the system and the safety domain boundary, including: Determine the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain; The distance is determined as the current stability margin of the underwater compressed air energy storage system.

4. The method according to claim 1, characterized in that, Based on the current stability margin, the current safety state of the underwater compressed air energy storage system is determined from among several preset safety states, including: Obtain the stability margin range corresponding to each preset safety state; Within the stability margin intervals corresponding to each safety state, determine the stability margin interval where the current stability margin is located to obtain the target stability margin interval; The safety state corresponding to the target stability margin range is determined as the current safety state of the underwater compressed air energy storage system.

5. The method according to any one of claims 1 to 4, characterized in that, The preset safety states include safe state, alert state, and emergency state; When the current safety state is the safe state, the control strategy matched with the current safety state is the PID tracking control strategy; When the current security state is the alert state, the control strategy matched to the current security state is a linear weighted fusion control strategy; When the current safety state is an emergency state, the control strategy matched to the current safety state is the emergency anti-surge control strategy.

6. The method according to claim 5, characterized in that, The emergency anti-suffocation control strategy takes the normal vector direction of the safety domain boundary as the control target.

7. A control device for an underwater compressed air energy storage system, characterized in that, The device includes: The safety domain boundary acquisition module is used to acquire the safety domain boundary of the underwater compressed air energy storage system. The stability margin determination module is used to obtain the current stability margin of the underwater compressed air energy storage system based on the distance between the current operating point of the underwater compressed air energy storage system and the boundary of the safety domain. The safety status determination module is used to determine the current safety status of the underwater compressed air energy storage system from a set of preset safety states based on the current stability margin. The control module is used to control the operation of the components in the underwater compressed air energy storage system according to a control strategy that matches the current safety state.

8. An underwater compressed air energy storage system, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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