Direct-current voltage control method and system for new energy rectifier of rotary electric machine type

Abstract

The application discloses a direct-current voltage control method and system for a rotary motor type new energy rectifier. The method comprises the following steps: firstly, a state space model of the rotary motor type new energy rectifier is constructed; then, a disturbance source and an output voltage disturbance component of the rotary motor type new energy rectifier are analyzed to obtain a disturbance result; subsequently, a cascade type extended state observer is constructed according to the state space model and the disturbance result; then, the disturbance factors affecting the direct-current voltage fluctuation of the rectifier are detected through the cascade type extended state observer, and the dynamic and steady state control requirements of the rectifier can be obtained; subsequently, according to the dynamic and steady state control requirements, the bandwidth and gain parameters are determined, and the corresponding state feedback control rate of the direct-current voltage control can be obtained to realize the stable control of the direct-current voltage. Through the construction of the cascade type extended state observer to capture the disturbance and the design of the state feedback control rate, the control precision and the system anti-disturbance ability of the direct-current voltage of the new energy rectifier under complex disturbance are effectively improved.

Description

Technical Field

[0001] The embodiments of this application relate to, but are not limited to, the field of power electronics technology, and in particular to a DC voltage control method and system for a rotating electric motor type new energy rectifier. Background Technology

[0002] With the large-scale development of offshore wind and wave energy, medium- and low-voltage DC distribution networks have become the core carriers for the aggregation of new energy power. Their stable operation depends on the reliable connection of rectifier devices and the precise control of DC voltage. However, the significant volatility of new energy power generation means that rotating motor rectifiers face diverse operating conditions, and various disturbances continuously impact the DC bus voltage, posing challenges to the high-quality and stable operation of the system.

[0003] Existing control schemes are mostly designed based on frequency domain characteristics. For example, proportional-integral (PI) closed-loop control mainly suppresses high-frequency periodic disturbances by adjusting bandwidth and gain, while sliding mode control designs the controller bandwidth based on the disturbance spectrum. These methods are insufficient in their ability to resist aperiodic disturbances. Although active disturbance rejection control can estimate disturbances using extended state observers, conventional first-order augmented observers can only cover a limited frequency band, leading to inaccurate observations when faced with complex, aperiodic disturbances across a wide frequency domain. While cascaded extended state observers can improve the observation accuracy of periodic disturbances, they still struggle to accurately capture higher-order aperiodic disturbances, limiting the application of active disturbance rejection control in such scenarios. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0005] This application provides a DC voltage control method and system for a rotating electric motor type new energy rectifier, which can effectively improve the control accuracy and anti-disturbance capability of the DC voltage of the rotating electric motor type new energy rectifier under complex disturbances.

[0006] In a first aspect, embodiments of this application provide a DC voltage control method for a rotating electric motor type new energy rectifier, comprising: constructing a state-space model of the rotating electric motor type new energy rectifier; analyzing the disturbance source and output voltage disturbance component of the rotating electric motor type new energy rectifier to obtain the disturbance result; constructing a cascaded extended state observer based on the state-space model and the disturbance result, detecting disturbance factors affecting the DC voltage fluctuation of the rectifier through the cascaded extended state observer to obtain the dynamic steady-state control requirements of the rectifier; and obtaining the state feedback control rate corresponding to the DC voltage control by determining the bandwidth and gain parameters based on the dynamic steady-state control requirements, wherein the state feedback control rate is used to achieve stable control of the DC voltage.

[0007] In conjunction with the first aspect, in one embodiment of this application, the rotating electric motor type new energy rectifier includes a first rectifier; the construction of the state space model of the rotating electric motor type new energy rectifier includes: modeling the first generator to obtain a first model of the first generator in the direct-axis quadrature-axis coordinate system, and using the first model as the state space model to characterize the dynamic characteristics of the first generator after coupling with the first rectifier.

[0008] In conjunction with the first aspect, in one embodiment of this application, the rotating electric motor type new energy rectifier further includes a second rectifier; the step of analyzing the disturbance source and output voltage disturbance component of the rotating electric motor type new energy rectifier to obtain the disturbance result includes: establishing a second generator model based on a three-phase coordinate system, and performing coordinate transformation on the second generator model to obtain a second model of the second generator in a direct-axis quadrature-axis coordinate system, the second model being used to characterize the dynamic characteristics of the second generator after coupling with the second rectifier; determining the internal parameters of the second generator based on the second model; and determining the disturbance source that causes DC voltage fluctuations in the rotating electric motor type new energy rectifier according to the internal parameters of the second generator, and identifying the output voltage disturbance component corresponding to the disturbance source to obtain the disturbance result.

[0009] In conjunction with the first aspect, in one embodiment of this application, the step of constructing a cascaded extended state observer based on the state space model and the disturbance result includes: transforming the state space model to a direct-axis quadrature-axis coordinate system to obtain a quadrature-axis model, wherein the quadrature-axis model is used to characterize the dynamic changes of DC voltage and current; constructing an active disturbance rejection control model based on the quadrature-axis model, wherein the active disturbance rejection control model includes external disturbance parameters defined by a first generator and internal disturbance parameters defined by a second generator; and constructing a cascaded extended state observer based on the active disturbance rejection control model and the disturbance result.

[0010] In conjunction with the first aspect, in one embodiment of this application, the step of constructing a cascaded extended state observer based on the active disturbance rejection control model and the disturbance result includes: constructing a first extended state observer based on the active disturbance rejection control model; constructing a second extended state observer based on the disturbance result; cascading the first extended state observer and the second extended state observer to obtain a cascaded extended state observer; wherein the first extended state observer is used to capture slowly varying disturbances, and the second extended state observer is used to capture rapidly varying disturbances and high-frequency periodic disturbances.

[0011] In conjunction with the first aspect, in one embodiment of this application, the first generator is a diode rectifier permanent magnet synchronous generator, and the second generator is a pulse width modulation rectifier permanent magnet synchronous generator.

[0012] In conjunction with the first aspect, in one embodiment of this application, the disturbance source includes at least one of the following: changes in the operating characteristics of a permanent magnet synchronous generator, load switching, and grid fluctuations.

[0013] In conjunction with the first aspect, in one embodiment of this application, the output voltage disturbance component includes at least one of the following: periodic disturbance, step disturbance, pulse disturbance, and ramp disturbance.

[0014] Secondly, embodiments of this application provide a DC voltage control system for a rotating electric motor type new energy rectifier, applied to the aforementioned DC voltage control method. The system includes: a modeling module for constructing a state-space model of the rotating electric motor type new energy rectifier; a disturbance analysis module for analyzing the disturbance sources and output voltage disturbance components of the rotating electric motor type new energy rectifier to obtain disturbance results; a demand confirmation module for constructing a cascaded extended state observer based on the state-space model and the disturbance results, detecting disturbance factors affecting the DC voltage fluctuation of the rectifier through the cascaded extended state observer, and obtaining the dynamic and steady-state control requirements of the rectifier; and a control rate calculation module for obtaining the state feedback control rate corresponding to the DC voltage control by determining the bandwidth and gain parameters based on the dynamic and steady-state control requirements, wherein the state feedback control rate is used to achieve stable control of the DC voltage.

[0015] In conjunction with the second aspect, in one embodiment of this application, the system further includes a cooperative adaptation module for transforming the model and defining external disturbances and internal disturbances.

[0016] This application provides a DC voltage control method and control system for a rotating dynamo type new energy rectifier. The method first constructs a state-space model of the rotating dynamo type new energy rectifier, then analyzes the disturbance sources and output voltage disturbance components to obtain the disturbance results. Next, a cascaded extended state observer is constructed based on the state-space model and the disturbance results. This cascaded extended state observer then detects disturbance factors affecting the DC voltage fluctuation of the rectifier, yielding the dynamic and steady-state control requirements of the rectifier. Subsequently, based on the dynamic and steady-state control requirements, the state feedback control law corresponding to the DC voltage control is obtained by determining the bandwidth and gain parameters, thus achieving stable control of the DC voltage. This application, by constructing a state-space model of the rotating dynamo type new energy rectifier and combining it with disturbance factors to construct a cascaded observer, can simultaneously and accurately capture slowly changing, rapidly changing, and high-frequency periodic disturbances, effectively solving the problem of inaccurate observation of complex disturbances in the wide frequency domain. Based on this, by determining the bandwidth and gain parameters of the state feedback control law, a complete control law is obtained, achieving precise dynamic and steady-state control of the DC voltage, effectively improving the anti-disturbance capability and operational stability under complex disturbances. Attached Figure Description

[0017] Figure 1 This is a flowchart of a DC voltage control method for a rotating electric motor type new energy rectifier provided in one embodiment of this application; Figure 2 This is an overall control architecture diagram of an oscillating float-type wave energy DC collection system provided in one embodiment of this application; Figure 3 This is a schematic diagram of a permanent magnet synchronous generator model provided in one embodiment of this application; Figure 4 This is provided in one embodiment of the present application. Figure 1 The detailed flowchart of step 120; Figure 5 This is a schematic diagram of a permanent magnet synchronous generator model provided in another embodiment of this application; Figure 6 This is provided in one embodiment of the present application. Figure 1 The detailed flowchart of step 130; Figure 7 This is provided in one embodiment of the present application. Figure 6 The detailed flowchart of step 630; Figure 8 This is an architecture diagram of a cascaded high- and low-order extended state observer provided in one embodiment of this application, wherein (a) is a schematic diagram of the overall control closed loop, (b) is a structural diagram of the first-order extended state observer, and (c) is a structural diagram of the high-order extended state observer. Figure 9 This is a block diagram of the DC voltage control system of a rotating electric motor type new energy rectifier provided in one embodiment of this application. Detailed Implementation

[0018] 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.

[0019] It should be noted that although the flowchart shows a logical order, in some cases, the steps shown or described may be performed in a different order than that shown in the flowchart. The terms "first," "second," etc., used in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the structures, proportions, sizes, etc., depicted in the drawings are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and purposes achieved by this application, should still fall within the scope of the technical content disclosed in this application. Similarly, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not used to limit the scope of implementation of this application. Changes or adjustments in their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0021] With the large-scale development of offshore wind and wave energy, medium- and low-voltage DC distribution networks have become the core carriers for the aggregation of new energy power. Their stable operation depends on the reliable connection of rectifier devices and the precise control of DC voltage. However, the significant volatility of new energy power generation means that rotating motor rectifiers face diverse operating conditions, and various disturbances continuously impact the DC bus voltage, posing challenges to the high-quality and stable operation of the system.

[0022] Existing control schemes are mostly designed based on frequency domain characteristics. For example, proportional-integral (PI) closed-loop control mainly suppresses high-frequency periodic disturbances by adjusting bandwidth and gain, while sliding mode control designs the controller bandwidth based on the disturbance spectrum. These methods are insufficient in their ability to resist aperiodic disturbances. Although active disturbance rejection control can estimate disturbances using extended state observers, conventional first-order augmented observers can only cover a limited frequency band, leading to inaccurate observations when faced with complex, aperiodic disturbances across a wide frequency domain. While cascaded extended state observers can improve the observation accuracy of periodic disturbances, they still struggle to accurately capture higher-order aperiodic disturbances, limiting the application of active disturbance rejection control in such scenarios.

[0023] In view of this, this application provides a DC voltage control method and a DC voltage control system for a rotating electric motor type new energy rectifier. The method first constructs a state-space model of the rotating electric motor type new energy rectifier, then analyzes the disturbance sources and output voltage disturbance components of the rectifier to obtain the disturbance results. Next, a cascaded extended state observer is constructed based on the state-space model and the disturbance results. The cascaded extended state observer then detects the disturbance factors affecting the DC voltage fluctuation of the rectifier, thus obtaining the dynamic and steady-state control requirements of the rectifier. Subsequently, based on the dynamic and steady-state control requirements, the state feedback control law corresponding to the DC voltage control is obtained by determining the bandwidth and gain parameters, thereby achieving stable control of the DC voltage. This application, by constructing a state-space model of the rotating electric motor type new energy rectifier and combining it with the disturbance factors to construct a cascaded observer, can simultaneously and accurately capture slowly changing, rapidly changing, and high-frequency periodic disturbances, effectively solving the problem of inaccurate observation of complex disturbances in a wide frequency domain. Based on this, the complete control law is obtained by determining the bandwidth and gain parameters of the state feedback control law, realizing dynamic and steady-state precise control of DC voltage, effectively improving the anti-disturbance capability and operational stability under complex disturbances.

[0024] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0025] Reference Figure 1 , Figure 1 This is a flowchart of a DC voltage control method for a rotating electric motor type new energy rectifier provided in an embodiment of this application. The process may specifically include, but is not limited to, steps 110 to 140.

[0026] Step 110: Construct the state-space model of the rotating electric motor type new energy rectifier; Step 120: Analyze the disturbance source and output voltage disturbance components of the rotating electric motor type new energy rectifier to obtain the disturbance results; Step 130: Construct a cascaded extended state observer based on the state-space model and disturbance results. Use this cascaded extended state observer to detect disturbance factors affecting the DC voltage fluctuation of the rectifier and obtain the dynamic steady-state control requirements of the rectifier. Step 140: Based on the dynamic steady-state control requirements, the state feedback control law corresponding to the DC voltage control is obtained by determining the bandwidth and gain parameters. This control law can be used to achieve stable control of the DC voltage.

[0027] Steps 110 to 140 will be described in detail below.

[0028] In a feasible embodiment, in step 110, the rotating electric motor type new energy rectifier refers to a power conversion device used in conjunction with a front-end rotating electric motor (such as a permanent magnet synchronous generator). Its core function is to convert the AC power output from the motor into DC power, while adapting to the fluctuating characteristics of new energy power generation to ensure that electrical energy is stably fed into the DC system. The state-space model of the rotating electric motor type new energy rectifier can intuitively reflect the dynamic relationship between the rectifier and the matching motor.

[0029] In one feasible embodiment, the rotating electric motor type new energy rectifier includes a first rectifier and a second rectifier; wherein, the first rectifier refers to the diode rectifier matched with the diode rectifier type permanent magnet synchronous generator, which is an uncontrollable power electronic rectifier device, which realizes AC-DC power conversion based on a simple topology and provides basic power input for the DC system; the second rectifier refers to the PWM rectifier matched with the pulse width modulation rectifier type permanent magnet synchronous generator, which is a fully controlled power electronic rectifier device, which can actively adjust the power output by controlling the switching of the switching transistor, and realize the regulation of DC voltage.

[0030] In one feasible embodiment, such as Figure 2 As shown, in the overall control architecture of the oscillating float-type wave energy DC collection system, the left side is driven by multiple oscillating floats to drive permanent magnet synchronous generators (PMSGs), which rectify the AC power into DC power through diode rectifiers and feed into the DC bus to form an uncontrollable basic power generation unit; the right side uses a PWM rectifier as the control core, and achieves DC voltage stability through the cascaded control of the voltage outer loop and the current inner loop.

[0031] In one feasible embodiment, a permanent magnet synchronous generator (PMSG) can be modeled and simplified as Figure 3 The ideal voltage source and series impedance form are shown. For a permanent magnet synchronous generator system using a diode rectifier, its three back electromotive forces can be equivalently expressed as: , and (subscript) Indicates the first (Taiwanese permanent magnet synchronous generator). Among them... and These are the equivalent resistance and equivalent inductance of the stator winding, respectively; , , Corresponding to the The measured voltage at the stator terminals of the generator. , , This corresponds to the measured current at its stator terminal. It should be understood that in an oscillating float-type wave energy DC collection system, the energy storage device can smooth the output torque of the permanent magnet synchronous generator affected by the periodic motion of waves, and based on this, the back electromotive force of the permanent magnet synchronous generator is set as a sinusoidal waveform.

[0032] In a feasible embodiment, when constructing the state-space model of the rotating electric motor type new energy rectifier, the first generator can be modeled first to obtain its first model in the direct-axis quadrature-axis coordinate system, and the first model can be used as the state-space model to characterize the dynamic characteristics after the first generator and the first rectifier are coupled.

[0033] In one feasible embodiment, the first generator is a diode rectifier type permanent magnet synchronous generator, which can be coupled with the first rectifier to form an uncontrolled rectifier power generation unit.

[0034] In one feasible embodiment, the first one equipped with a diode rectifier Stator current of the permanent magnet synchronous generator (i.e., the first generator) , , Converted to direct current after diode rectification By using the Clarke transform and the Park transform, the first generator can be obtained in... The model in the coordinate system (i.e., the orthogonal coordinate system) is shown in equations (1) and (2): (1) (2) in, and The first Taiwan permanent magnet synchronous generator stator voltage , and exist The components of the axis; and Their stator currents are respectively , , exist The components of the axis; This refers to the flux linkage amplitude. and These are the stator equivalent inductance and resistance, respectively. and The first The mechanical torque and electromagnetic torque of the generator; Its rotor angular velocity; It is an extreme logarithm.

[0035] In one feasible embodiment, step 120 aims to identify various disturbance sources and corresponding voltage disturbance characteristics that affect the stability of the rectifier DC voltage, providing core disturbance analysis basis for DC voltage control strategies.

[0036] In one feasible embodiment, the disturbance source includes at least one of the following: changes in the operating characteristics of the permanent magnet synchronous generator, load switching, and grid fluctuations.

[0037] In one feasible embodiment, the output voltage disturbance component includes at least one of the following: periodic disturbance, step disturbance, pulse disturbance, and ramp disturbance.

[0038] In one feasible embodiment, the first diode rectifier is used. DC current output by the permanent magnet synchronous generator It can be represented as: (3) in, It is a positive integer greater than 0. ; For the first The effective value of the stator current of a permanent magnet synchronous generator.

[0039] According to the law of conservation of energy and neglecting power loss, we can obtain: (4) in, Back electromotive force of a three-phase permanent magnet synchronous generator , and The effective value. When the diode rectifier is working normally, the DC voltage expression can be obtained as: (5) Therefore, the effective value of the stator current of a permanent magnet synchronous generator using a diode rectifier can be derived. The expression is as follows: (6) In a feasible embodiment, in order to accurately identify the sources of disturbance and voltage fluctuations in the system, a pulse width modulation rectifier permanent magnet synchronous generator can be modeled to obtain a second model of the synchronous generator in the direct-axis quadrature-axis coordinate system. This model can be used to analyze the changes in internal parameters after the synchronous generator is coupled with the second rectifier, thereby fully analyzing the sources of disturbance and the components of output voltage disturbance, and providing a basis for subsequent disturbance observation and voltage control.

[0040] like Figure 4As shown, the process of analyzing the disturbance source and output voltage disturbance component of the rotating electric motor type new energy rectifier in step 120 to obtain the disturbance result may also include, but is not limited to, steps 410 to 430.

[0041] Step 410: Establish a second generator model based on a three-phase coordinate system, and perform coordinate transformation on the second generator model to obtain a second model of the second generator in a direct-axis quadrature-axis coordinate system. This second model can be used to characterize the dynamic characteristics of the second generator after coupling with the second rectifier. Step 420: Determine the internal parameters of the second generator based on the second model; Step 430: Based on the internal parameters of the second generator, determine the disturbance source that causes DC voltage fluctuations in the rotating motor type new energy rectifier, identify the output voltage disturbance component corresponding to the disturbance source, and obtain the disturbance result.

[0042] In one feasible embodiment, such as Figure 5 As shown, for a permanent magnet synchronous generator (i.e., the second generator) system using a PWM rectifier, its three back electromotive forces can be equivalently represented as: , and .in, and These are the equivalent resistance and equivalent inductance of its stator winding, respectively; , , The actual measured voltage at its stator terminals; , , The measured current at its stator terminals is used to establish a system based on this. The model of the PWM rectifier permanent magnet synchronous generator in the coordinate system (i.e., the three-phase coordinate system) is as follows: (7) in, , , This refers to the duty cycle in the PWM control strategy. Through the Clarke transform and Park transform, the model of a permanent magnet synchronous generator using a PWM rectifier can be rewritten as follows: The form in the coordinate system (i.e., the second model) is as follows: (8) in, This refers to the rotor angular velocity of the permanent magnet synchronous generator; and These are the stator currents. , , exist Components in the coordinate system; and They are back electromotive force , exist Components in the coordinate system. The sum of the load current and the output current of the diode rectifier is expressed as follows: (9) in, For the first The DC link current output by a permanent magnet synchronous generator (PMSG) equipped with a diode rectifier.

[0043] Based on this, the disturbance source and output voltage disturbance component of the rotating motor type new energy rectifier can be analyzed by equations (3) to (9). The analysis results can provide a basis for subsequent disturbance observation and voltage control.

[0044] In one feasible embodiment, such as Figure 6 As shown, step 130, which involves constructing a cascaded extended state observer based on the state-space model and the perturbation results, may include, but is not limited to, steps 610 to 630.

[0045] Step 610: Transform the state-space model to the direct-axis quadrature-axis coordinate system to obtain the quadrature-axis model, which is used to characterize the dynamic changes of DC voltage and current. Step 620: Construct an active disturbance rejection control model based on the cross-axis model. This active disturbance rejection control model includes external disturbance parameters defined by the first generator and internal disturbance parameters defined by the second generator. Step 630: Based on the active disturbance rejection control model and the disturbance results, construct a cascaded extended state observer.

[0046] In one feasible embodiment, the state-space model is transformed to a rectangular-quadratic coordinate system. The shaft model is: (10) (11) Here The axis model (i.e., the direct axis model, Equation (10)) is the current dynamic equation. It adopts a single current feedback control strategy and achieves unity power factor operation through the linear active disturbance rejection control (ADRC) method. The cross-axis model (i.e., the quadrature-axis model, equation (11)) includes the dynamic equation of DC voltage and The dynamic equation for shaft current is used to determine the DC bus voltage and power transmission.

[0047] In one feasible embodiment, considering the complex effects of wideband voltage ripple, a simplified single-loop control system can be constructed using a cascaded high-low order extended state observer active disturbance rejection control (CHESO-ADRC) strategy to suppress voltage disturbances and support DC voltage stability.

[0048] In one feasible embodiment, based on Axis model, let can The shaft model can be rewritten as an active disturbance rejection control model as follows: (12) in, For total disturbance; and Set as First and second derivatives; state variables to Defined as: , , , .also, The internal disturbance is determined by the internal parameters of the wave energy permanent magnet synchronous generator (i.e., the second generator) using a PWM rectifier. The external disturbance is determined by the wave energy permanent magnet synchronous generator (i.e., the first generator) using a diode rectifier.

[0049] In one feasible embodiment, such as Figure 7 As shown, the execution process of step 630 may include, but is not limited to, steps 710 to 730.

[0050] Step 710: Based on the active disturbance rejection control model, construct the first extended state observer; Step 720: Based on the perturbation results, construct the second extended state observer; Step 730: Cascade the first-order extended state observer and the second extended state observer to obtain a cascaded extended state observer. The first extended state observer is used to capture slowly varying disturbances, and the second extended state observer is used to capture rapidly varying disturbances and high-frequency periodic disturbances.

[0051] In a feasible embodiment, the first extended state observer is a first-order extended state observer (ESO), which takes the following form: (13) in, State variables The observed variables; For output variables The feedback gain matrix. The system matrix is ​​defined as: ; ; .

[0052] In a feasible embodiment, the second extended state observer constructed based on the perturbation result is a higher-order extended state observer, which takes the following form: (14) in, State variables The observed variables; For output variables The feedback gain matrix. The system matrix is ​​defined as: ; ; Furthermore, depending on the form of the perturbation, a higher-order extended state observer can also be used.

[0053] In a feasible embodiment, low-order and high-order extended state observers are interconnected in a cascaded manner to obtain a cascaded high-low order extended state observer (CHESO). The low-order extended state observer is used as the master observer to identify the main disturbances. The high-order extended state observer is then cascaded to identify high-order non-periodic disturbances and high-frequency periodic disturbances in the time and frequency domains. This enables the active disturbance rejection operation of the rotating electric motor type new energy rectifier and improves the practical application effect and control capability of active disturbance rejection control in the rectifier.

[0054] In one feasible embodiment, a cascaded high- and low-order extended state observer can accurately detect and identify various disturbances affecting DC voltage fluctuations in rotating electric motor-type new energy rectifiers. These disturbances include low-frequency torque fluctuations caused by wave-like periodic motion, power fluctuations in diode rectifier units, and high-frequency harmonic interference from the grid side. Based on quantitative analysis of these disturbances, the control requirements of the rectifier in terms of dynamic response speed, steady-state error, and disturbance rejection capability can be clearly defined.

[0055] In a feasible embodiment, based on the dynamic steady-state control requirements, the state feedback control law corresponding to the DC voltage control can be designed by reasonably determining key parameters such as the bandwidth and observer gain of the Active Disturbance Rejection Controller (ADRC). The bandwidth determines the system's tracking speed of the reference command and the frequency range for suppressing disturbances. The gain parameter is used to adjust the convergence speed of the state estimation and the strength of the control action to ensure accurate and stable DC voltage control even under complex disturbances.

[0056] In one feasible embodiment, such as Figure 8 As shown, in the overall architecture of the cascaded high- and low-order extended state observer, Figure 8(a) For the overall control closed loop: The reference input r (such as the DC voltage reference value) is linearized by state feedback (SEFL) to generate the control quantity u, which is applied to the controlled object (Objective, i.e., the rotating motor type new energy rectifier) ​​to obtain the system output y (such as the DC bus voltage); the first-order extended state observer (orderESO) acts as the master observer, receiving u×b and y, and outputting the state estimate. , This is used to identify the main disturbances in the system. Based on this, higher-order extended state observers (High-order ESOs) are further cascaded to identify higher-order aperiodic disturbances and high-frequency periodic disturbances in the time and frequency domains, outputting disturbance compensation signals. This leads to SEFL, forming a closed-loop control system for active disturbance rejection. Figure 8 (b) shows the internal structure of a first-order ESO: through the integration stage. With gain parameters , , Achieve rapid estimation of system state and total disturbance, and output... , These correspond to the estimated values ​​of system output, state, and total disturbance, respectively. Figure 8 (c) shows the internal structure of a higher-order ESO: through multiple integration steps. With gain parameters , , , To achieve precise identification of complex disturbances, and output As the core disturbance compensation signal, it acts together with the estimated value of the first-order ESO on the SEFL. The calculation of the state feedback control law (i.e., the control quantity u) is as follows: (15) in, Let be the gain matrix of the State Feedback Linearization (SEFL) and satisfy the Hurwitz stability condition. To improve disturbance rejection capability, is adopted here. The design balances the accuracy of disturbance observation with the speed of response by compensating for and optimizing the total disturbance.

[0057] In one feasible embodiment, combined with Figure 2 The specific control process of this application is as follows: First, the DC bus voltage is acquired. , and reference voltage After the difference is calculated, the q-axis voltage control command is generated through CHESO-ADRC (i.e., cascaded high- and low-order extended state observer active disturbance rejection control); simultaneously, the stator three-phase current of the right permanent magnet synchronous generator is acquired. The d-axis and q-axis currents are obtained through abc / dq coordinate transformation. , , and current reference value The inputs are the same as those of the LADRC (Linear Active Disturbance Rejection Controller), which outputs d-axis and q-axis voltage control quantities. , ; then, , via dq / The coordinate transformation is fed into the SVPWM (Space Vector Pulse Width Modulation) module to generate the switching drive signal for the PWM rectifier, thereby achieving precise control and disturbance suppression of the DC bus voltage and ensuring stable system operation.

[0058] It should be noted that the method described in this application can not only achieve stable DC voltage control of rotating motor type new energy rectifiers in oscillating float type wave energy DC collection systems, but also be applied to DC side voltage disturbance rejection control of grid-type inverters, adapting to the operation requirements of grid-type inverters in wind power, photovoltaic and other new energy power plants. It can also provide technical reference for precise voltage regulation of various power electronic converters, effectively improving the overall operational stability of new energy power conversion systems.

[0059] See Figure 9 , Figure 9 This is a block diagram of the DC voltage control system for a rotating electric motor type new energy rectifier provided in this application embodiment. The system 900 is applicable to the DC voltage control method described above, including: Modeling module 910 is used to construct the state-space model of a rotating electric motor type new energy rectifier. The disturbance analysis module 920 is used to analyze the disturbance source and output voltage disturbance components of the rotating electric motor type new energy rectifier to obtain the disturbance results; The requirement confirmation module 930 is used to construct a cascaded extended state observer based on the state space model and disturbance results. The cascaded extended state observer is used to detect disturbance factors that affect the DC voltage fluctuation of the rectifier and obtain the dynamic and steady-state control requirements of the rectifier. The control rate calculation module 940 is used to obtain the state feedback control rate corresponding to DC voltage control by determining the bandwidth and gain parameters according to the dynamic and steady-state control requirements. The state feedback control rate is used to achieve stable control of DC voltage.

[0060] In one feasible embodiment, the system further includes a cooperative adaptation module for transforming the model and defining external and internal disturbances.

[0061] It should be noted that the functions of each module in this DC voltage control system and their corresponding processing logic are the same as those in the aforementioned embodiments. For details, please refer to the relevant content of the aforementioned embodiments, which will not be repeated here.

[0062] This application also discloses an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the computer program is executed by the processor, it implements the DC voltage control method for the rotating electric motor type new energy rectifier as described above.

[0063] This application also discloses a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to perform a DC voltage control method for a rotating electric motor-type new energy rectifier as described above.

[0064] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A DC voltage control method for a rotating electric motor type new energy rectifier, characterized in that, include: Construct a state-space model for a rotating electric motor-type new energy rectifier; The disturbance source and output voltage disturbance components of the rotating electric motor-type new energy rectifier are analyzed to obtain the disturbance results; Based on the state-space model and the disturbance results, a cascaded extended state observer is constructed. The cascaded extended state observer is used to detect disturbance factors affecting the DC voltage fluctuation of the rectifier, and the dynamic steady-state control requirements of the rectifier are obtained. Based on the dynamic steady-state control requirements, the state feedback control rate corresponding to the DC voltage control is obtained by determining the bandwidth and gain parameters. The state feedback control rate is used to achieve stable control of the DC voltage.

2. The DC voltage control method according to claim 1, characterized in that, The rotating electric motor type new energy rectifier includes a first rectifier; the construction of the state-space model of the rotating electric motor type new energy rectifier includes: The first generator is modeled to obtain a first model of the first generator in the direct-axis and quadrature-axis coordinate system, and the first model is used as the state-space model to characterize the dynamic characteristics of the first generator after coupling with the first rectifier.

3. The DC voltage control method according to claim 1, characterized in that, The rotary motor-type new energy rectifier also includes a second rectifier; The analysis of the disturbance source and output voltage disturbance components of the rotating electric motor type new energy rectifier yields the disturbance results, including: A second generator model based on a three-phase coordinate system is established, and the second generator model is transformed to obtain a second model of the second generator in a direct-axis quadrature-axis coordinate system. The second model is used to characterize the dynamic characteristics of the second generator after coupling with the second rectifier. The internal parameters of the second generator are determined based on the second model; Based on the internal parameters of the second generator, the disturbance source that causes DC voltage fluctuations in the rotating motor-type new energy rectifier is determined, and the output voltage disturbance component corresponding to the disturbance source is identified to obtain the disturbance result.

4. The DC voltage control method according to claim 1, characterized in that, The construction of the cascaded extended state observer based on the state-space model and the perturbation result includes: The state-space model is transformed to a direct-axis quadrature-axis coordinate system to obtain a quadrature-axis model, which is used to characterize the dynamic changes of DC voltage and current. An active disturbance rejection control model is constructed based on the cross-axis model. The active disturbance rejection control model includes external disturbance parameters defined by the first generator and internal disturbance parameters defined by the second generator. Based on the active disturbance rejection control model and the disturbance results, a cascaded extended state observer is constructed.

5. The DC voltage control method according to claim 4, characterized in that, The construction of a cascaded extended state observer based on the active disturbance rejection control model and the disturbance result includes: Based on the aforementioned active disturbance rejection control model, a first extended state observer is constructed; Based on the perturbation results, a second extended state observer is constructed; The first extended state observer and the second extended state observer are cascaded together to obtain a cascaded extended state observer. The first extended state observer is used to capture slowly varying disturbances, and the second extended state observer is used to capture rapidly varying disturbances and high-frequency periodic disturbances.

6. The DC voltage control method according to claim 1, characterized in that, The first generator is a diode rectifier type permanent magnet synchronous generator, and the second generator is a pulse width modulation rectifier type permanent magnet synchronous generator.

7. The DC voltage control method according to claim 1, characterized in that, The disturbance sources include at least one of the following: changes in the operating characteristics of permanent magnet synchronous generators, load switching, and grid fluctuations.

8. The DC voltage control method according to claim 1, characterized in that, The output voltage disturbance components include at least one of the following: periodic disturbance, step disturbance, pulse disturbance, and ramp disturbance.

9. A control system for a rotating electric motor type new energy rectifier, characterized in that, The system, applied to the DC voltage control method as described in any one of claims 1-8, comprises: The modeling module is used to construct the state-space model of a rotating electric motor-type new energy rectifier. The disturbance analysis module is used to analyze the disturbance source and output voltage disturbance component of the rotating electric motor type new energy rectifier to obtain the disturbance result; The requirement confirmation module is used to construct a cascaded extended state observer based on the state space model and the disturbance results, and to detect disturbance factors affecting the DC voltage fluctuation of the rectifier through the cascaded extended state observer to obtain the dynamic steady-state control requirements of the rectifier. The control rate calculation module is used to obtain the state feedback control rate corresponding to the DC voltage control by determining the bandwidth and gain parameters according to the dynamic steady-state control requirements. The state feedback control rate is used to achieve stable control of the DC voltage.

10. The control system for a rotating electric motor type new energy rectifier according to claim 9, characterized in that, The system also includes a collaborative adaptation module for transforming the model and defining external and internal disturbances.

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