Novel power system preset performance disturbance control method, electronic device and medium

Abstract

The application provides a new power system preset performance anti-interference control method, an electronic device and a medium. The method comprises the following steps: converting a preliminary mathematical model of a multi-region new power system to obtain a high-order full-drive system model; constructing a preset performance function based on the model; transforming the frequency deviation based on the preset performance function to obtain an unconstrained error variable; designing an extended state observer based on the high-order full-drive system model and the unconstrained error variable; according to the order of the high-order full-drive system model, step-by-step constructing a Lyapunov function, and in each step of the control law design, introducing the disturbance estimation result of the extended state observer for disturbance feedforward compensation to obtain an anti-interference control law; and controlling the multi-region new power system by using the high-order full-drive system model, the extended state observer and the anti-interference control law. The method can realize anti-interference control of the multi-region new power system and improve the robustness and transient performance of load frequency control.

Description

Technical Field

[0001] This invention relates to the field of novel power system disturbance rejection control technology, and more specifically to a novel power system preset performance disturbance rejection control method, electronic equipment, and medium. Background Technology

[0002] New power systems are characterized by their reliance on renewable energy sources, clean and low-carbon operation, safety and ample supply, economic efficiency, coordinated supply and demand, and flexibility and intelligence. With the large-scale development of these new power systems, multi-regional power systems face strong combined disturbances caused by renewable energy fluctuations and sudden load changes, leading to prominent issues of frequency deviation and tie-line power oscillations. Traditional control theories and methods are ill-suited to the nonlinear coupling characteristics of multi-regional systems and cannot preset dynamic response indicators. Especially under the constraint of strictly limiting frequency deviation to ±0.2Hz, a control method that combines strong disturbance rejection with quantifiable transient performance is urgently needed.

[0003] In view of this, the present invention is hereby proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a novel power system preset performance disturbance rejection control method, electronic device and medium. This method aims to solve the disturbance rejection problem under load disturbance and nonlinear influence, ensure the stable operation of multi-regional new power systems, and at the same time use the preset performance control method to control the frequency deviation within a feasible range.

[0005] According to one aspect of the present invention, a novel power system preset performance disturbance rejection control method is provided, comprising: The preliminary mathematical model of the new multi-regional power system is transformed into a high-order all-drive system model to obtain the high-order all-drive system model. Based on the high-order all-wheel drive system model, a preset performance function is constructed to constrain the frequency deviation in the high-order all-wheel drive system model; Based on the preset performance function, the frequency deviation is transformed to obtain an unconstrained error variable; Based on the high-order all-drive system model and the unconstrained error variables, an extended state observer is designed. Based on the order of the high-order all-drive system model, the Lyapunov function is constructed step by step, and in each step of the control law design, the disturbance estimation result of the extended state observer is introduced to perform disturbance feedforward compensation, so as to obtain an anti-disturbance control law that satisfies the preset performance constraints. The multi-regional new power system is controlled using the high-order all-drive system model, the extended state observer, and the disturbance rejection control law.

[0006] The above technical solution transforms the preliminary mathematical model of the multi-regional new power system into a high-order all-drive system model, unifying the complex multi-regional power system model into a high-order all-drive system form and simplifying controller design. By constructing a preset performance function to constrain frequency deviation, it ensures that the system recovers quickly and stabilizes near the desired value after being disturbed. Furthermore, by setting upper and lower bounds for the steady-state error, it ensures that the system eventually stabilizes within the desired frequency range. With reasonable parameter adjustment, it further guarantees the robustness and stability of the system under disturbance conditions. By combining an extended state observer to achieve accurate estimation of system disturbances, and then designing the control law by constructing a Lyapunov function step by step and introducing the disturbance estimate for feedforward compensation, the controller can have the ability to suppress disturbances when they occur, and the stability of the entire closed-loop system can be guaranteed. This significantly improves the ability of the multi-regional new power system to suppress external disturbances and internal uncertainties, effectively improves the dynamic response quality and steady-state control accuracy of the system, and enhances the stability, robustness, and reliability of system operation. In summary, this invention employs the aforementioned novel power system preset performance disturbance rejection control method based on a high-order all-drive system. By simplifying the control system design through the all-drive system and combining the dynamic constraint mechanism of preset performance with the disturbance compensation characteristics of the extended state observer, it can achieve disturbance rejection control for multi-regional new power systems, improve the robustness and transient performance of load frequency control, and thus solve the disturbance rejection problem of multi-regional new power systems under load disturbance and nonlinear influence, ensuring the stable operation of multi-regional new power systems.

[0007] For example, the high-order all-wheel drive system model is represented by the following expression: ; in, This is for frequency deviation; The total system disturbance; Indicates system input value; , and All are constants.

[0008] The above scheme quantifies and correlates frequency deviation, total system disturbance, and system input value, and introduces relevant constants to constrain and calibrate system characteristics. It can accurately characterize the intrinsic mapping relationship between input, disturbance, and frequency response of the all-drive system during dynamic operation, providing rigorous theoretical support and quantitative basis for the stable control of the all-drive system, and effectively improving the accuracy of system modeling and the reliability of control strategy.

[0009] For example, the preset performance function is represented by the following expression: ; in, , It is a constant; express initial value, This represents the boundary value of the maximum overshoot.

[0010] The pre-defined performance function designed in the above scheme ensures that the system can quickly recover and eventually stabilize near the desired value after being disturbed. Simultaneously, the pre-defined performance function sets upper and lower bounds for the steady-state error, guaranteeing that the system will eventually stabilize within the desired frequency range. By appropriately adjusting these parameters, the system can maintain its robustness and stability under disturbances.

[0011] For example, transforming the frequency deviation based on the preset performance function includes: Using the preset performance function as the constraint boundary, a hyperbolic tangent function is selected to perform a nonlinear transformation on the frequency deviation to obtain an unconstrained error variable.

[0012] For example, the hyperbolic tangent function is: ; The relationship between the unconstrained error variable and the frequency deviation is expressed by the following expression: ; The unconstrained error variable is represented by the following expression: ; ; ; in, Let be the unconstrained error variable.

[0013] The above scheme selects the hyperbolic tangent function as the basis function for the nonlinear transformation, mainly based on its boundedness, smoothness, and odd symmetry. The hyperbolic tangent function is a commonly used nonlinear function in control systems. It ensures rapid adjustment in the initial stage of the system and gradually slows down the adjustment rate as it approaches steady state, thus avoiding over-adjustment. This characteristic is particularly important in frequency control of power systems, because the frequency needs to recover to steady state quickly, but without excessive overshoot or instability. It can map error variables constrained by preset performance functions into an unconstrained transformed error, allowing for free adjustment of the control law in backstep control design, while ensuring that the system output always meets the preset transient and steady-state performance requirements.

[0014] Exemplarily, prior to designing the extended state observer, the method further includes: Based on the original state variables in the high-order all-drive system model, coordinate transformation relationships are designed to convert the original state variables into tracking error variables. The coordinate transformation relationship is represented by the following expression: ; in, , , , and These are the first-order virtual control law and the second-order virtual control law, respectively.

[0015] The coordinate transformation described above can transform the control objective into making all error variables converge to zero, laying the foundation for the construction of Lyapunov functions.

[0016] For example, the extended state observer is represented by the following expression: ; in, , and when Timely satisfaction ; Indicates the estimation error; and The output of the extended state observer; and is the gain of the extended state observer.

[0017] The above scheme, by employing the extended state observer, can achieve accurate observation and error suppression of the system state and extended state through the set gain parameters and estimation error constraints. Under certain threshold conditions, it can effectively reduce estimation deviation, improve the stability and accuracy of system state observation, provide reliable state feedback support for subsequent control algorithms, and enhance the system's anti-interference capability and dynamic response performance.

[0018] For example, the high-order all-drive system model is of order three. The step-by-step construction of the Lyapunov function, and the introduction of the disturbance estimation result of the extended state observer for disturbance feedforward compensation in each step of the control law design, includes: Construct the first step Lyapunov function, the second step Lyapunov function, and the third step Lyapunov function in sequence; By introducing the disturbance estimation result into the Lyapunov function in the first step, a first-order virtual control law is obtained. The disturbance estimation result is introduced into the Lyapunov function in the second step to obtain the second-order virtual control law; The disturbance estimation result is introduced into the Lyapunov function in the third step to obtain the actual control law; The disturbance rejection control law includes the first-order virtual control law, the second-order virtual control law, and the actual control law. Preferably, the Lyapunov function in the first step is: ; Preferably, the first-order virtual control law is: ; in, For design parameters; Preferably, the Lyapunov function in the second step is: ; Preferably, the second-order virtual control law is: ;in, For design parameters; Preferably, the Lyapunov function in the third step is: ; Preferably, the actual control law is: ;in, These are design parameters.

[0019] In the above scheme, by constructing the first, second, and third Lyapunov functions step by step, and designing the first-order virtual control law, the second-order virtual control law, and the actual control law respectively, the disturbance estimation result output by the extended state observer can be embedded in each step of the control law to achieve full-process disturbance feedforward compensation. Specifically, embedding the disturbance estimation value in the first-step control law enables the controller to have active suppression capability when the disturbance occurs, avoiding passive adjustment after the frequency deviation occurs; embedding the disturbance estimation value in the second-step control law can effectively ensure the stability of the closed-loop system and organically integrate the preset performance constraints and disturbance suppression capability, further improving the control quality; the final actual control law can fully integrate the preset performance constraints, the dynamic characteristics of the all-drive system, and real-time disturbance compensation, enabling the new multi-regional power system to still have excellent transient response, robust stability, and frequency regulation accuracy under complex load disturbances and strong nonlinear conditions, achieving high-precision and strong disturbance-resistant collaborative control.

[0020] According to another aspect of the present invention, an electronic device is provided, including a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the method as described above.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores a computer program / instructions that, when executed by a processor, implement the method described above.

[0022] In the above technical solution, by converting the preliminary mathematical model of the multi-regional new power system into a high-order all-drive system model, the complex multi-regional power system model can be unified into a high-order all-drive system form, simplifying controller design. By constructing a preset performance function to constrain frequency deviation, the system can be guaranteed to recover quickly and stabilize near the desired value after being disturbed. Furthermore, by setting upper and lower bounds for the steady-state error, the system can be ensured to eventually stabilize within the desired frequency range. With reasonable parameter adjustment, the robustness and stability of the system under disturbance conditions can be further guaranteed. By combining an extended state observer to achieve accurate estimation of system disturbances, and then designing the control law by constructing Lyapunov functions step by step and introducing disturbance estimates for feedforward compensation, the controller can have the ability to suppress disturbances when they occur, and the stability of the entire closed-loop system can be guaranteed. This significantly improves the ability of the multi-regional new power system to suppress external disturbances and internal uncertainties, effectively improves the dynamic response quality and steady-state control accuracy of the system, and enhances the stability, robustness, and reliability of system operation. In summary, this invention employs the aforementioned novel power system preset performance disturbance rejection control method based on a high-order all-drive system. By simplifying the control system design through the all-drive system and combining the dynamic constraint mechanism of preset performance with the disturbance compensation characteristics of the extended state observer, it can achieve disturbance rejection control for multi-regional new power systems, improve the robustness and transient performance of load frequency control, and thus solve the disturbance rejection problem of multi-regional new power systems under load disturbance and nonlinear influence, ensuring the stable operation of multi-regional new power systems.

[0023] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0024] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0025] Figure 1 A schematic flowchart illustrating a novel power system preset performance disturbance rejection control method according to an embodiment of the present invention is shown. Figure 2 A schematic diagram of a preset performance function curve according to an embodiment of the present invention is shown; Figure 3 A disturbance curve diagram is shown for a novel power system preset performance disturbance rejection control method according to an embodiment of the present invention. Figure 4 shows a regional control deviation curve of the novel power system preset performance disturbance rejection control method according to an embodiment of the present invention, wherein... Figure 4a This is the control deviation curve for region 1. Figure 4b This is a diagram showing the regional control deviation curve for region 2. Figure 5 A comparison diagram of the robustness of the novel power system preset performance disturbance rejection control method according to an embodiment of the present invention with other control methods is shown. Figure 6 A schematic block diagram of an electronic device according to an embodiment of the present invention is shown. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described herein, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention. The solutions of the present invention will be described in detail below by way of specific embodiments.

[0027] Example This embodiment provides a novel power system preset performance disturbance rejection control method. Figure 1 A schematic flowchart illustrating a novel power system preset performance disturbance rejection control method according to an embodiment of the present invention is shown. Figure 1 As shown, the method may include the following steps: S110, S120, S130, S140, S150, and S160.

[0028] In step S110, the preliminary mathematical model of the multi-regional new power system is transformed into a high-order all-drive system model to obtain a high-order all-drive system model.

[0029] In this paper, the multi-regional power system comprises power systems with multiple frequency regulation zones. Each frequency regulation zone includes the following frequency regulation units: coal-fired power generating units, wind power generating units, and energy storage units. The preliminary mathematical model of the multi-regional power system includes the following: The relationship between the power and frequency deviation of different frequency regulation unit-load models is expressed as follows: ; in, , Markers representing frequency modulation (FM) zones; These represent coal-fired power generation units, energy storage units, and wind power generation units, respectively; symbols , , and These represent the system frequency deviation and the output power of different frequency adjustment units, respectively. Indicates regional load disturbance; Indicates a tie-line deviation signal; and These represent the load damping constant and the load inertia constant, respectively.

[0030] The dynamic model of different frequency adjustment units within a single region is expressed as follows: ; ; In order to avoid repetition and simplify the description, Subscript symbols represent equations of the same form. Representing different types of frequency modulation resources; This represents the output power of different frequency modulation units; It is a time constant; It is an intermediate variable in the process; It is the delay time constant; The primary frequency regulation constant is the power generation command received by different frequency regulation units.

[0031] The dynamic model of the tie-line power between regions i and j is expressed as: ; in, yes The first differential; It is the first The region and the first Power exchange coefficient between regions; It is the first Frequency deviation in each region.

[0032] The area control error is expressed as: ; in, Indicates regional control error; It is the frequency deviation coefficient.

[0033] In this embodiment, the theory of all-drive systems is considered. Based on the preliminary mathematical model of a new multi-regional power system, simplification and transformation are performed to construct a mathematical model suitable for control system design, namely, a high-order all-drive system model. This high-order all-drive system model can be represented by the following expression: ; in, This is for frequency deviation; The total system disturbance is the sum of all disturbances, including load fluctuations, changes in new energy output, model uncertainties, etc. This represents the system input value, i.e., the output control quantity of the backstep disturbance rejection control law; , and These parameters are all constants, extracted and simplified from the dynamic characteristics of the original system, rather than being arbitrarily selected. By constructing this high-order all-drive system model, the complex multi-regional power system model can be unified into a high-order all-drive system form, thereby simplifying the subsequent controller design. This allows the system dynamics to be explicitly expressed only through inputs and disturbances, facilitating the direct design of control laws to counteract the effects of disturbances.

[0034] In step S110, the initially constructed power system model contains multiple nonlinear coupling terms. In order to make the model suitable for backstep control design, a simplification method is considered to reduce system complexity and ensure the design feasibility of the controller.

[0035] In step S120, based on the high-order all-drive system model, a preset performance function is constructed to constrain the frequency deviation in the high-order all-drive system model.

[0036] To ensure that the frequency deviation consistently meets the specified transient and steady-state performance requirements (e.g., steady-state error less than 0.2Hz) during dynamic response, this embodiment considers introducing a preset performance function with exponential decay characteristics. and- Using the upper and lower boundaries, the original constrained problem is transformed into an unconstrained error transformation problem. Figure 2 A schematic diagram of a preset performance function curve according to an embodiment of the present invention is shown. Figure 2 As shown, The preset performance function can be expressed as: ;in, ; The constant value determines the convergence rate; express initial value, This represents the boundary value of the maximum overshoot, ensuring that the frequency does not oscillate excessively during dynamic processes; while The steady-state boundary is determined by To limit this, a minimum frequency of ±0.2Hz is required. By appropriately selecting these parameters, the transient and steady-state performance of the system can be quantitatively adjusted. Figure 2In the figure, the curve represents the relationship between frequency deviation and frequency response, aiming to constrain the transient response and steady-state performance of the frequency deviation. This function ensures that the system can quickly recover and stabilize to the desired value after a disturbance by limiting the frequency deviation within a certain range. In the figure, the curve shows that the frequency deviation gradually converges to the steady-state value from a large initial error over time. The upper and lower boundaries of the curve define the maximum overshoot and the final steady-state error, respectively, ensuring that the frequency deviation does not fluctuate excessively after a disturbance.

[0037] In step S130, the frequency deviation is transformed based on a preset performance function to obtain an unconstrained error variable.

[0038] To convert inequality constraints into equality constraints for easier controller design, this embodiment considers transforming the frequency deviation. Specifically, based on a preset performance function, the frequency deviation is transformed, including: using the preset performance function as the constraint boundary, selecting a hyperbolic tangent function to perform a nonlinear transformation on the frequency deviation, resulting in an unconstrained error variable. The hyperbolic tangent function is: .

[0039] By transforming the preset performance function using the hyperbolic tangent function described above, the relationship between the unconstrained error variable and the frequency deviation can be obtained: ;in, It is an unconstrained error variable; its introduction makes the transformation error tend to infinity when the frequency error approaches the boundary, thus forcing the control law to strictly ensure that the constraints are not violated.

[0040] By solving the relationship between the unconstrained error variable and the frequency deviation, an explicit expression for the unconstrained error variable can be obtained: .in, , The expressions for both can be directly obtained from the error transformation relationship, and will be referred to as such in the following text. and .

[0041] In step S140, an extended state observer is designed based on the high-order all-drive system model and unconstrained error variables.

[0042] In this embodiment, before designing the extended state observer, the method further includes: designing a coordinate transformation relationship based on the original state variables in the high-order all-drive system model to convert the original state variables into tracking error variables; wherein, the coordinate transformation relationship is represented by the following expression: ; in, , , , and These are the first-order virtual control law and the second-order virtual control law, respectively.

[0043] In this embodiment, the extended state observer can be represented by the following expression: ; in, , and when Timely satisfaction ; Indicates the estimation error; and This is the output of the extended state observer; and This represents the gain of the extended state observer. This extended state observer expands the total system disturbance into a new state variable and estimates its value in real time using the system's input and output information.

[0044] In step S150, Lyapunov functions are constructed step by step according to the order of the high-order all-drive system model. In each step of the control law design, the disturbance estimation results of the extended state observer are introduced to perform disturbance feedforward compensation so as to obtain an anti-disturbance control law that satisfies the preset performance constraints.

[0045] In this embodiment, the high-order all-drive system model is of order three. A Lyapunov function is constructed step-by-step, and in each step of the control law design, the disturbance estimation result from the extended state observer is introduced for disturbance feedforward compensation. This includes: constructing the first-step Lyapunov function, the second-step Lyapunov function, and the third-step Lyapunov function sequentially; introducing the disturbance estimation result into the first-step Lyapunov function to obtain the first-order virtual control law; introducing the disturbance estimation result into the second-step Lyapunov function to obtain the second-order virtual control law; and introducing the disturbance estimation result into the third-step Lyapunov function to obtain the actual control law. The disturbance rejection control law includes the first-order virtual control law, the second-order virtual control law, and the actual control law.

[0046] Specifically, in this embodiment, the first step is to construct the Lyapunov function. Differentiating it, we get: ; in, . This represents the perturbation estimate term of the extended state observer. The symbols used are set to unify subsequent expressions, making the references to disturbance estimation terms in each step of the control law more consistent and concise.

[0047] By estimating the disturbance using an extended state observer, the first-order virtual control law is obtained as follows: ;in, These are design parameters.

[0048] at this time, It was rewritten in the following form: .

[0049] Next, construct the second Lyapunov function: Similarly, the second-order virtual control law can be obtained as follows: ;in, These are the design parameters. From this, we can obtain... The expression: .

[0050] Next, the Lyapunov function in the third step is constructed as follows: Substituting the coordinate transformation relationship above, we can obtain: ; in, Combining the extended state observer to estimate the disturbance, the actual control law is obtained as follows: ;in, These are design parameters.

[0051] Similarly, Rewritten as: .

[0052] In This represents the error of the extended state observer. By selecting appropriate parameters... and This allows the error of the extended state observer to be controlled sufficiently small. Therefore, the following overall observer error is obtained: ; make , ,Will Rewrite in the following form .

[0053] In step S160, the multi-regional new power system is controlled using a high-order all-drive system model, an extended state observer, and a disturbance rejection control law.

[0054] Figure 3 The diagram illustrates the disturbance curve of a novel power system preset performance disturbance rejection control method according to an embodiment of the present invention. Figure 3 As shown, the control strategy provided in this embodiment achieves disturbance rejection control for multi-regional new power systems. That is, under load disturbances and nonlinear effects, the multi-regional new power system can still operate stably, while the regional frequency deviation can be kept within a feasible range using a preset performance control method.

[0055] Figure 4 shows a regional control deviation curve of the novel power system preset performance disturbance rejection control method according to an embodiment of the present invention, wherein... Figure 4a This is the control deviation curve for region 1. Figure 4b This is a control deviation curve for Region 2. The disturbance curve in the figure shows the frequency deviation fluctuation range of Regions 1 and 2 under load disturbances or system nonlinear changes. By introducing a preset performance function, the maximum frequency deviation is... It is confined within predefined boundaries to ensure that the system can always operate within a set stable range.

[0056] Figure 5 A comparison diagram of the robustness of the novel power system preset performance disturbance rejection control method according to an embodiment of the present invention with other control methods is shown. Figure 5 The results show that the red hexagonal cluster represents the control strategy described in this embodiment, and it is the most concentrated and closest to the origin. Furthermore, its normal distribution curve exhibits the highest peak value and the narrowest distribution range. Therefore, compared with other control methods, the control strategy described in this invention has a smaller frequency deviation range and stronger robustness to random disturbances.

[0057] In summary, the solution in this embodiment adopts the above-mentioned novel power system preset performance disturbance rejection control method based on a high-order all-drive system. By simplifying the control system design through the all-drive system and combining the dynamic constraint mechanism of preset performance and the disturbance compensation characteristics of the extended state observer, it achieves disturbance rejection control for multi-regional novel power systems, improves the robustness and transient performance of load frequency control, and is suitable for control problems of multi-regional novel power systems with strong nonlinearity.

[0058] In another aspect of the present invention, an electronic device is also provided. Figure 6 A schematic block diagram of an electronic device according to an embodiment of the present invention is shown. Figure 6 As shown, the electronic device 600 includes a processor 610 and a memory 620. The memory 620 stores a computer program, which the processor 610 executes to implement the method described above.

[0059] According to another aspect of the present invention, a computer-readable storage medium is also provided. The storage medium stores a computer program / instructions that, when executed by a processor, implement the method described above. The storage medium may, for example, include a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disc read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0060] Those skilled in the art will readily understand the implementation structure, working principle, and beneficial effects of electronic devices and computer-readable storage media by reading the above methods. For the sake of brevity, further details will not be elaborated here.

[0061] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0062] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0063] In the several embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0064] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0065] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, this approach should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with fewer features than all of those in a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0066] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or elements of any method or apparatus so disclosed may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0067] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0068] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules in the electronic device according to embodiments of the present invention. The present invention can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing some or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0069] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0070] The above description is merely a specific embodiment of the present invention or an explanation of that embodiment. The scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A novel power system preset performance disturbance rejection control method, characterized in that, include: The preliminary mathematical model of the new multi-regional power system is transformed into a high-order all-drive system model to obtain the high-order all-drive system model. Based on the high-order all-wheel drive system model, a preset performance function is constructed to constrain the frequency deviation in the high-order all-wheel drive system model; Based on the preset performance function, the frequency deviation is transformed to obtain an unconstrained error variable; Based on the high-order all-drive system model and the unconstrained error variables, an extended state observer is designed. Based on the order of the high-order all-drive system model, the Lyapunov function is constructed step by step, and in each step of the control law design, the disturbance estimation result of the extended state observer is introduced to perform disturbance feedforward compensation, so as to obtain an anti-disturbance control law that satisfies the preset performance constraints. The multi-regional new power system is controlled using the high-order all-drive system model, the extended state observer, and the disturbance rejection control law.

2. The method according to claim 1, characterized in that, The high-order all-wheel drive system model is represented by the following expression: ； in, This is for frequency deviation; The total system disturbance; Indicates system input value; , and All are constants.

3. The method according to claim 1, characterized in that, The preset performance function is represented by the following expression: in, , It is a constant; express initial value, This represents the boundary value of the maximum overshoot.

4. The method according to claim 1, characterized in that, The transformation of the frequency deviation based on the preset performance function includes: Using the preset performance function as the constraint boundary, a hyperbolic tangent function is selected to perform a nonlinear transformation on the frequency deviation to obtain an unconstrained error variable.

5. The method according to claim 4, characterized in that, The hyperbolic tangent function is: ； The relationship between the unconstrained error variable and the frequency deviation is expressed by the following expression: ； The unconstrained error variable is represented by the following expression: ； ； ； in, Let be the unconstrained error variable.

6. The method according to any one of claims 1-5, characterized in that, Prior to designing the extended state observer, the method further includes: Based on the original state variables in the high-order all-drive system model, coordinate transformation relationships are designed to convert the original state variables into tracking error variables. The coordinate transformation relationship is represented by the following expression: ； in, , , , and These are the first-order virtual control law and the second-order virtual control law, respectively.

7. The method according to any one of claims 1-5, characterized in that, The extended state observer is represented by the following expression: ； in, , and when Timely satisfaction ; Indicates the estimation error; and The output of the extended state observer; and is the gain of the extended state observer.

8. The method according to claim 1, characterized in that, The high-order all-drive system model is of order three. The step-by-step construction of the Lyapunov function, and the introduction of the disturbance estimation results from the extended state observer for disturbance feedforward compensation in each step of the control law design, includes: Construct the first step Lyapunov function, the second step Lyapunov function, and the third step Lyapunov function in sequence; By introducing the disturbance estimation result into the Lyapunov function in the first step, a first-order virtual control law is obtained. The disturbance estimation result is introduced into the Lyapunov function in the second step to obtain the second-order virtual control law; The disturbance estimation result is introduced into the Lyapunov function in the third step to obtain the actual control law; The disturbance rejection control law includes the first-order virtual control law, the second-order virtual control law, and the actual control law. Preferably, the Lyapunov function in the first step is: ; Preferably, the first-order virtual control law is: ； in, For design parameters; Preferably, the Lyapunov function in the second step is: ; Preferably, the second-order virtual control law is: ;in, For design parameters; Preferably, the Lyapunov function in the third step is: ; Preferably, the actual control law is: ;in, These are design parameters.

9. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the method as claimed in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The system stores a computer program / instructions that, when executed by a processor, implement the method as described in any one of claims 1-8.

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