Dynamic compensation feedforward-based compressed air energy storage system fast frequency response control method, system, device and medium

Abstract

The application discloses a compressed air energy storage system fast frequency response control method, system, equipment and medium based on dynamic compensation feedforward, comprising the following steps: constructing a static nonlinear feedforward model to determine a first steady-state mapping relationship by full-condition scanning of the compressed air energy storage system, and inversely solving the first steady-state mapping relationship to obtain a static feedforward function; designing a lead-lag compensator to modify the static feedforward function to generate a feedforward control instruction; establishing a composite control system comprising a feedforward control loop and a feedback control loop; and calculating a final regulating valve opening degree instruction according to the real-time collected gas storage chamber pressure and frequency modulation target power instruction to drive the turbine regulating valve to act when the power grid frequency fluctuates. The application can significantly improve the power response speed and control accuracy of the compressed air energy storage system in the full pressure range, effectively support the power grid frequency stability, and is easy to implement in engineering.

Description

Technical Field

[0001] This invention relates to the field of power system energy storage and automatic control technology, and in particular to a fast frequency response control method, system, equipment and medium for compressed air energy storage systems based on dynamic compensation feedforward. Background Technology

[0002] With the advancement of dual-carbon goals and the increasing proportion of new energy sources in the power system, the grid inertia will decrease, posing a serious challenge to the frequency stability of the power system. Current research indicates that advanced adiabatic compressed air energy storage (CAES), as a large-capacity physical energy storage solution, has the potential to participate in primary frequency regulation of the power grid.

[0003] However, CAES systems face two major technical challenges when participating in frequency regulation. One is strong nonlinearity and sliding pressure operation. Gas storage devices typically operate at constant volume, leading to large pressure fluctuations during charging and discharging. Traditional fixed-parameter PID controllers struggle to cover the entire pressure range, easily exhibiting overshoot oscillations under high-pressure conditions or sluggish response under low-pressure conditions. The other is severe volumetric effects. The system includes multiple heat exchangers and long-distance pipelines, whose large physical volume causes significant delays in working fluid transport, resulting in turbine output power lagging behind valve actuation, making it difficult to meet the requirements of rapid grid frequency regulation. Furthermore, existing technologies often employ single PID control methods or complex model predictive control methods to adjust the valve opening of advanced adiabatic compressed air energy storage systems to maintain stable turbine speed or output power, thus enabling participation in grid frequency regulation. However, in practical applications, single PID control methods have poor robustness, and complex model predictive control methods involve large computational loads and are difficult to implement in engineering projects.

[0004] Therefore, there is an urgent need for a fast frequency response control method for compressed air energy storage systems that can adapt to a wide pressure range and overcome large hysteresis. Summary of the Invention

[0005] In view of the aforementioned existing problems, the present invention is proposed.

[0006] Therefore, this invention provides a fast frequency response control method, system, device and medium for compressed air energy storage systems based on dynamic compensation feedforward, which solves the problems of slow frequency response, low control accuracy and difficulty in parameter tuning caused by nonlinearity and volumetric hysteresis in existing AA-CAES systems under sliding pressure operation.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward, comprising: By performing a full-condition scan of the compressed air energy storage system, a static nonlinear feedforward model is constructed to determine the first steady-state mapping relationship, and the static feedforward function is obtained by solving the first steady-state mapping relationship. A lead-lag compensator is designed to correct the static feedforward function and generate feedforward control commands; A composite control system comprising a feedforward control loop and a feedback control loop is established; the feedforward control loop is used to generate the feedforward control command, and the feedback control loop is used to generate a correction signal based on the power tracking error using a PID controller; Based on the feedforward control command and the correction signal, when the grid frequency fluctuates, the final regulating valve opening command is calculated according to the real-time collected gas storage chamber pressure and frequency regulation target power command, and the turbine regulating valve is driven to operate.

[0008] As a preferred embodiment of the fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward described in this invention, the step of performing a full-condition scan of the compressed air energy storage system includes: The pressure in the gas storage chamber is discretized from the lowest operating pressure to the highest operating pressure and set as the outer loop variable; the opening of the turbine control valve is traversed step by step at each operating pressure node and set as the inner loop variable. Establish a physical equilibrium waiting mechanism and a power convergence criterion; The system iterates through the outer and inner loop variables. After the power fluctuation rate continues for a preset time and meets the power convergence criterion, it is determined that the system has reached thermodynamic steady state. The current valve inlet pressure, turbine regulating valve opening and power are recorded to form a steady-state database. If the power convergence criterion is not met within the preset maximum waiting time, it is determined that the operating point has not reached thermodynamic steady state, the operating point is discarded, and the process proceeds to the next scan node.

[0009] As a preferred embodiment of the fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward described in this invention, wherein: the static feedforward function obtained by inversely solving the first steady-state mapping relationship includes: At any operating pressure node, a monotonic function relationship between power and turbine control valve opening is constructed based on the first steady-state mapping relationship, and a continuous expression is obtained by interpolation. For a given frequency modulation target power, the corresponding theoretical steady-state valve opening is solved by numerical inverse interpolation; By performing two-dimensional interpolation on the theoretical steady-state valve opening in the pressure dimension, a static feedforward function is obtained.

[0010] As a preferred embodiment of the fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward described in this invention, wherein: the modification of the static feedforward function by designing a lead-lag compensator includes: The lead-lag compensator is connected in series after the static feedforward function and is used to dynamically correct the theoretical steady-state valve opening to generate feedforward control commands. The lead-lag compensator is equipped with a lead time constant and a lag time constant. By adjusting the relative magnitudes of the lead time constant and the lag time constant, an overdrive signal is generated in the early stage of the response to accelerate the action of the turbine control valve.

[0011] The beneficial effects of this preferred technical solution are: the introduction of a dynamic compensation link effectively overcomes the volumetric effect, significantly shortens the power response time, and meets the speed requirements of primary frequency regulation of the power grid.

[0012] As a preferred embodiment of the fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward described in this invention, the feedback control loop includes: The difference between the frequency modulation target power and the actual detected output power is used as the power tracking error input to the PID controller, and the PID controller calculates a correction signal based on the power tracking error; The final valve opening command is generated by superimposing the dynamically compensated feedforward control command with the correction signal.

[0013] The advantages of this preferred technical solution are: it significantly reduces the dependence on PID feedback gain, avoids the risk of system oscillation caused by high gain, and achieves a balance between speed and stability.

[0014] As a preferred embodiment of the fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward described in this invention, it further includes an asymmetric dynamic compensation strategy. When the system is in a power down-regulation condition, the lead time constant and lag time constant of the lead-lag compensator are switched to zero, so that the feedforward channel degenerates into a pure static feedforward.

[0015] As a preferred embodiment of the fast frequency response control method for compressed air energy storage system based on dynamic compensation feedforward described in this invention, the asymmetric dynamic compensation strategy automatically identifies the direction of power change according to the real-time operating conditions of the system, and shuts down the dynamic compensation function under power reduction conditions to ensure that the regulating valve opening command is generated only based on the static feedforward function.

[0016] Secondly, the present invention provides a fast frequency response control system for a compressed air energy storage system based on dynamic compensation feedforward, comprising: The model building module is used to construct a static nonlinear feedforward model to determine the first steady-state mapping relationship by performing a full-condition scan of the compressed air energy storage system, and to solve the first steady-state mapping relationship to obtain the static feedforward function. The dynamic compensation module is used to design a lead-lag compensator to correct the static feedforward function and generate feedforward control commands. A composite control module is used to establish a composite control system including a feedforward control loop and a feedback control loop; the feedforward control loop is used to generate the feedforward control command, and the feedback control loop is used to generate a correction signal based on the power tracking error using a PID controller; The frequency response control module is used to calculate the final regulating valve opening command based on the feedforward control command and the correction signal when the grid frequency fluctuates, according to the real-time collected gas storage chamber pressure and frequency regulation target power command, and drive the turbine regulating valve to operate.

[0017] Thirdly, the present invention provides an electronic device, including a memory and a processor; the memory is used to store computer-executable instructions, and the processor executes the computer-executable instructions to implement the steps of a fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward.

[0018] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of a fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward.

[0019] Compared with existing technologies, the advantages of this invention are as follows: This invention effectively decouples the impact of gas storage chamber pressure fluctuations on power control by constructing a full-condition static feedforward model, enabling the system to maintain stable and reliable control performance over a wide pressure range without frequent adjustments to control parameters. Simultaneously, the introduction of a lead-lag dynamic compensation stage significantly overcomes the system's volumetric lag effect, greatly improving the speed of power response and fully meeting the timeliness requirements of primary frequency regulation in the power grid. Furthermore, this invention employs a composite control architecture combining feedforward coarse adjustment and feedback fine adjustment, significantly reducing reliance on high-gain feedback control, avoiding system oscillation risks, and achieving a good balance between rapid response and operational stability. Moreover, this invention does not require complex iterative calculations and is easily implemented in existing industrial control systems. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall flow logic of a fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward, provided as an embodiment of the present invention.

[0022] Figure 2 The three-dimensional characteristic mapping diagram of "pressure-valve opening-power" for the fast frequency response control method of compressed air energy storage system based on dynamic compensation feedforward provided in an embodiment of the present invention.

[0023] Figure 3 The diagram shows a logic block diagram of a composite control strategy for a fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward, as provided in an embodiment of the present invention.

[0024] Figure 4 A comparison diagram of the frequency response of a fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward, provided in an embodiment of the present invention, and traditional PID control under variable pressure conditions. Detailed Implementation

[0025] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0026] Example 1, referring to Figures 1-3 As one embodiment of the present invention, a fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward is provided, such as... Figure 1 The specific steps shown are as follows: S100: By performing a full-condition scan of the compressed air energy storage system, a static nonlinear feedforward model is constructed to determine the first steady-state mapping relationship, and the static feedforward function is obtained by solving the first steady-state mapping relationship in reverse. In this embodiment of the invention, a static nonlinear feedforward model is constructed by performing a full-condition scan of the compressed air energy storage system to establish the first steady-state mapping relationship between the regulating valve opening, the inlet pressure of the valve, and the target power, thereby forming a steady-state database. ,in, Indicates the pressure before the regulating valve (MPa). P represents the turbine control valve opening (%), and P represents the active power output of the turbine generator (MW).

[0027] In this embodiment of the invention, the steps of performing a full-condition scan of the compressed air energy storage system include: The pressure in the gas storage chamber is discretized from the lowest operating pressure to the highest operating pressure and set as the outer loop variable; the opening of the turbine control valve is traversed step by step at each operating pressure node and set as the inner loop variable. Establish a physical equilibrium waiting mechanism and a power convergence criterion; The system iterates through the outer and inner loop variables. After the power fluctuation rate continues for a preset time and meets the power convergence criterion, it is determined that the system has reached thermodynamic steady state. The current valve inlet pressure, turbine control valve opening and power are recorded to form a steady-state database. If the power convergence criterion is not met within the preset maximum waiting time, it is determined that the operating point has not reached thermodynamic steady state, the operating point is discarded, and the process proceeds to the next scan node.

[0028] Specifically, assuming the pressure range of the gas storage chamber is 14.5MPa to 17.5MPa, the gas storage chamber pressure from 14.5MPa to 17.5MPa is discretized with a step size of 0.1MPa and set as the outer layer circulation variable; at each operating pressure node, the turbine regulating valve opening from 0% to 100% is traversed in a step size of 1% to 2% and set as the inner layer circulation variable.

[0029] Specifically, considering the inertial interference of system thermal flow, this embodiment introduces a physical equilibrium waiting mechanism and a power convergence criterion. When the power fluctuation rate is below 50kW for 10 consecutive seconds, the system is determined to have reached thermodynamic steady state, and the current valve inlet pressure, turbine regulating valve opening and power are recorded to form a steady state database. It should be noted that the preset maximum waiting time is the maximum time limit during the scanning process of each operating point that the system is allowed to reach thermodynamic steady state, for example, it can be set to 120 seconds; if the power fluctuation rate still does not meet the convergence criterion of being below 50kW for 10 consecutive seconds within this time, it is determined that the current operating point cannot reach an effective steady state. In order to avoid distorted data affecting the model accuracy, the system will automatically discard the data point and enter the next scanning node.

[0030] In an optional embodiment, the first steady-state mapping relationship can also be determined by establishing an analytical model based on the thermodynamic mechanism of the compressed air energy storage system, and deriving the theoretical functional relationship between pressure, valve opening and power through mass conservation, energy conservation and turbine characteristic equations.

[0031] In an optional embodiment, the determination of the first steady-state mapping relationship can also employ artificial intelligence algorithms such as neural networks, using historical operating data as training samples, and fitting the nonlinear mapping relationship between pressure, opening degree and power through deep learning.

[0032] In this embodiment of the invention, obtaining the static feedforward function by inversely solving the first steady-state mapping relationship includes: At any operating pressure node Below, a monotonic functional relationship between power and turbine control valve opening is constructed based on the first steady-state mapping relationship. And use interpolation methods to obtain continuous expressions; For a given frequency modulation target power, the corresponding theoretical steady-state valve opening is solved by numerical inverse interpolation, and the formula is expressed as: in, Indicates the target power for frequency modulation (MW); By performing two-dimensional interpolation on the theoretical steady-state valve opening in the pressure dimension, the static feedforward function is obtained, expressed by the formula: in, The theoretical steady-state valve opening (%) required to maintain the target power.

[0033] In an optional embodiment, the static feedforward function obtained by inversely solving the first steady-state mapping relationship can also be directly fitted into a continuous analytical function based on surface fitting technology, such as using a bivariate polynomial or spline function for global fitting.

[0034] In an optional embodiment, the static feedforward function obtained by inversely solving the first steady-state mapping relationship can also utilize a backpropagation neural network. With pressure and target power as inputs and theoretical valve opening as outputs, an intelligent mapping model can be established by training on data in the steady-state database to achieve fast inverse solving.

[0035] It should be noted that the static feedforward function can directly calculate the theoretical steady-state valve opening required to maintain the target power under any operating condition.

[0036] It should be noted that step S100 above effectively decouples the strong nonlinear characteristics of the system, and can directly calculate the theoretical steady-state valve opening based on the target power and the current pressure when the pressure in the gas storage chamber fluctuates over a wide range, which significantly improves the system's adaptability and control accuracy under all operating conditions.

[0037] S200: Design a lead-lag compensator to correct the static feedforward function and generate feedforward control commands; In this embodiment of the invention, in view of the volume effect and large hysteresis characteristics of the compressed air energy storage system, a lead-lag compensator is designed to be connected in series after the static feedforward signal to correct the static feedforward function and generate feedforward control commands.

[0038] In this embodiment of the invention, the lead-lag compensator is configured with a lead time constant and a lag time constant. By adjusting the relative magnitudes of the lead time constant and the lag time constant, an overdrive signal is generated in the early stage of the response to accelerate the action of the turbine control valve.

[0039] Specifically, a lead-lag compensator is designed and connected in series after the static feedforward signal. By generating an instantaneous overdrive command, it accelerates the build-up of pressure in the intermediate volume, physically offsetting the system's volume lag. Its transfer function is designed as follows: in, is the gain coefficient, usually taken as 1; s represents the Laplace operator; The lead time constant, This is the lag time constant. This stage generates an overdrive signal in the initial stage of the response, forcing the control valve opening to momentarily exceed the steady-state requirement, thereby accelerating the interstage volumetric gas filling and compensating for the volumetric lag effect in the pipes and heat exchangers.

[0040] In an optional embodiment, the correction step for generating feedforward control commands can also be based on a model predictive control algorithm, which calculates the feedforward correction amount by rolling optimization according to the current state of the system and the predicted future output, so as to compensate for the dynamic deviation caused by volumetric lag in advance.

[0041] In an optional embodiment, the correction step of generating feedforward control commands can also employ fuzzy logic control rules to adjust the compensation intensity of the feedforward commands in real time based on the power tracking error and its rate of change, thereby achieving adaptive dynamic correction.

[0042] It should be noted that step S200 above addresses the volumetric effect and large hysteresis characteristics of compressed air energy storage systems by introducing a lead-lag compensator to dynamically correct static feedforward commands, effectively offsetting the transmission delays caused by pipelines and heat exchangers. This step significantly improves the system's power response speed without increasing the burden on feedback control, enabling it to meet the speed requirements of primary frequency regulation in the power grid.

[0043] S300: Establish a composite control system that includes a feedforward control loop and a feedback control loop; the feedforward control loop is used to generate feedforward control commands, and the feedback control loop is used to generate correction signals based on power tracking error using a PID controller; In this embodiment of the invention, the feedback control loop specifically includes: FM target power The difference between the actual and detected output power is used as the power tracking error e(t) and input to the PID controller, where The PID controller calculates a correction signal based on the power point tracking error. Its output is: in, This represents the proportionality coefficient, which is used to generate a correction proportional to the magnitude of the current power tracking error in order to quickly respond to deviations. This represents the integral coefficient, used to compensate for the cumulative effect of errors and eliminate the steady-state error of the system. These represent the differential coefficients, which are used to apply suppression in advance based on the trend of error changes, thereby improving the dynamic response characteristics of the system and reducing overshoot.

[0044] It should be noted that step S300 above constructs a dual-loop composite control architecture, fully leveraging the advantages of fastness in feedforward control and robustness in feedback control. The feedforward loop undertakes the main regulation task, significantly reducing the dependence on PID feedback gain; the feedback loop uses weak gain parameter tuning, only used to eliminate steady-state error caused by model errors and environmental disturbances, effectively avoiding the system oscillation risk caused by high-gain feedback, and achieving a good balance between speed and stability.

[0045] S400: Based on feedforward control commands and correction signals, when the grid frequency fluctuates, it calculates the final regulating valve opening command according to the real-time collected gas storage chamber pressure and frequency regulation target power command, and drives the turbine regulating valve to act. In this embodiment of the invention, the final valve opening command is generated by superimposing the dynamically compensated feedforward control command and the correction signal, as expressed by the formula: in, To dynamically compensate for the valve opening command output by the feedforward. This is the final valve opening command; since the feedforward loop undertakes the main regulation task, the PID controller uses weak gain parameter tuning to eliminate steady-state error caused by model error and environmental disturbance.

[0046] In this embodiment of the invention, an asymmetric dynamic compensation strategy is also included: When the system is in a power down-regulation mode, the lead time constant and lag time constant of the lead-lag compensator are switched to zero, so that the feedforward channel degenerates into a pure static feedforward, in order to prevent over-regulation or oscillation caused by differential action during the power callback process.

[0047] Specifically, the asymmetric dynamic compensation strategy automatically identifies the direction of power change based on the real-time operating conditions of the system, and disables the dynamic compensation function when the power is reduced, so as to ensure that the control valve opening command is generated only based on the static feedforward function.

[0048] It should be noted that the above step S400 can respond quickly and stably to the frequency regulation needs of the power grid in actual operation, ensuring that the compressed air energy storage system always maintains excellent power point tracking performance under sliding pressure conditions, and providing reliable support for the frequency stability of the power system.

[0049] Example 2, refer to Figure 4 Based on the previous embodiment, this embodiment provides an application example of a fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward, to verify and illustrate the technical effects adopted in this method.

[0050] This embodiment takes a 300MW AA-CAES power plant as an example, and constructs a static nonlinear feedforward model through full-condition scanning to determine the regulating valve opening and inlet pressure. A precise steady-state mapping between the target power and the target power was achieved. Utilizing the automated control capabilities of MATLAB scripts, the APROS physical model was driven via the OPC protocol to perform a pressure-valve dual traversal scan. The scan process is as follows: First, the Point before the valve was set as the boundary condition, and its pressure was discretized and set as the outer loop variable; second, at each pressure node, the turbine control valve opening was... The algorithm iterates stepwise from 10% to 100%, setting this as the inner loop variable. Considering the system's thermal inertial disturbances, the algorithm introduces a physical equilibrium waiting mechanism and a power convergence criterion. When the power fluctuation rate is continuously below 50kW for 10 seconds, it is determined that thermodynamic steady state has been reached and recorded. Data set. Finally, the mapping relationship is deduced to establish a static feedforward function. This function can directly calculate the theoretical steady-state valve opening required to maintain the target power under any operating condition.

[0051] Furthermore, design a dynamic compensator. The lead time constant of 16s is a time constant calculated or tested based on the volume of the system piping and heat exchanger, while the lag time constant of 2s is used to filter out high-frequency noise.

[0052] Furthermore, when the grid frequency drops during system operation, an additional 30MW of power needs to be generated. The controller first looks up the base opening degree based on the current pressure (e.g., 16MPa) and the target power. After processing by the dynamic compensator, the valve opens instantaneously to quickly fill the interstage pipeline pressure, and then returns to the steady-state opening degree. The PID controller only needs to fine-tune the residual. Figure 4 As shown in the simulation results, after adopting this method, the power response time of the system under low-voltage conditions is shortened from 50 seconds of traditional PID to less than 10 seconds, and there is no obvious overshoot under high-voltage conditions.

[0053] Therefore, the method provided by this invention effectively decouples the impact of gas storage chamber pressure fluctuations on power control by constructing a full-condition static feedforward model, enabling the system to maintain stable and reliable control performance over a wide pressure range without frequent adjustments to control parameters. Simultaneously, the introduction of a lead-lag dynamic compensation stage significantly overcomes the system's volumetric lag effect, greatly improving the speed of power response and fully meeting the timeliness requirements of primary frequency regulation in the power grid. Furthermore, this invention employs a composite control architecture combining feedforward coarse adjustment and feedback fine adjustment, significantly reducing reliance on high-gain feedback control, avoiding system oscillation risks, and achieving a good balance between rapid response and operational stability. Moreover, this invention requires no complex iterative calculations and is easily implemented in existing industrial control systems.

[0054] Example 3: This example provides a fast frequency response control system for a compressed air energy storage system based on dynamic compensation feedforward, including: The model building module is used to construct a static nonlinear feedforward model to determine the first steady-state mapping relationship by performing a full-condition scan of the compressed air energy storage system, and to obtain the static feedforward function by solving the first steady-state mapping relationship in reverse. The dynamic compensation module is used to design a lead-lag compensator to correct the static feedforward function and generate feedforward control commands. The composite control module is used to establish a composite control system that includes a feedforward control loop and a feedback control loop; the feedforward control loop is used to generate feedforward control commands, and the feedback control loop is used to generate correction signals based on power tracking error using a PID controller; The frequency response control module is used to calculate the final regulating valve opening command based on the real-time collected gas storage chamber pressure and frequency regulation target power command when the grid frequency fluctuates, and drive the turbine regulating valve to operate.

[0055] It should be noted that the technical solution of the fast frequency response control system for compressed air energy storage system based on dynamic compensation feedforward is based on the same concept as the technical solution of the fast frequency response control method for compressed air energy storage system based on dynamic compensation feedforward described above. For details not described in detail in the technical solution of the fast frequency response control system for compressed air energy storage system based on dynamic compensation feedforward described above, please refer to the description of the technical solution of the fast frequency response control method for compressed air energy storage system based on dynamic compensation feedforward described above.

[0056] The above-mentioned unit modules can be embedded in the processor of the electronic device in hardware form or independent of it, or they can be stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of the above modules.

[0057] This embodiment also provides an electronic device, which includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0058] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method proposed in the above embodiments.

[0059] The storage medium proposed in this embodiment belongs to the same inventive concept as the method proposed in the above embodiments. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0060] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory, random access memory, flash memory, hard disk, or optical disk, and includes several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute the method of the embodiments of the present invention.

[0061] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the present invention.

Claims

1. A fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward, characterized in that, include: By performing a full-condition scan of the compressed air energy storage system, a static nonlinear feedforward model is constructed to determine the first steady-state mapping relationship, and the static feedforward function is obtained by solving the first steady-state mapping relationship. A lead-lag compensator is designed to correct the static feedforward function and generate feedforward control commands; A composite control system comprising a feedforward control loop and a feedback control loop is established; the feedforward control loop is used to generate the feedforward control command, and the feedback control loop is used to generate a correction signal based on the power tracking error using a PID controller; Based on the feedforward control command and the correction signal, when the grid frequency fluctuates, the final regulating valve opening command is calculated according to the real-time collected gas storage chamber pressure and frequency regulation target power command, and the turbine regulating valve is driven to operate.

2. The fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward as described in claim 1, characterized in that, The full-condition scan of the compressed air energy storage system includes: The pressure in the gas storage chamber is discretized from the lowest operating pressure to the highest operating pressure and set as the outer loop variable; the opening of the turbine control valve is traversed step by step at each operating pressure node and set as the inner loop variable. Establish a physical equilibrium waiting mechanism and a power convergence criterion; The system iterates through the outer and inner loop variables. After the power fluctuation rate continues for a preset time and meets the power convergence criterion, the system is determined to have reached thermodynamic steady state. The current valve inlet pressure, turbine control valve opening and power are recorded to form a steady-state database. If the power convergence criterion is not met within the preset maximum waiting time, it is determined that the operating point has not reached thermodynamic steady state, the operating point is discarded, and the process proceeds to the next scan node.

3. The fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward as described in claim 2, characterized in that, The static feedforward function obtained by inversely solving the first steady-state mapping relationship includes: At any operating pressure node, a monotonic function relationship between power and turbine control valve opening is constructed based on the first steady-state mapping relationship, and a continuous expression is obtained by interpolation. For a given frequency modulation target power, the corresponding theoretical steady-state valve opening is solved by numerical inverse interpolation; By performing two-dimensional interpolation on the theoretical steady-state valve opening in the pressure dimension, a static feedforward function is obtained.

4. The fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward as described in claim 3, characterized in that, The design of the lead-lag compensator to modify the static feedforward function includes: The lead-lag compensator is connected in series after the static feedforward function and is used to dynamically correct the theoretical steady-state valve opening to generate feedforward control commands. The lead-lag compensator is equipped with a lead time constant and a lag time constant. By adjusting the relative magnitudes of the lead time constant and the lag time constant, an overdrive signal is generated in the early stage of the response to accelerate the action of the turbine control valve.

5. The fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward as described in claim 4, characterized in that, The feedback control loop includes: The difference between the frequency modulation target power and the actual detected output power is used as the power tracking error input to the PID controller, and the PID controller calculates a correction signal based on the power tracking error; The final valve opening command is generated by superimposing the dynamically compensated feedforward control command with the correction signal.

6. The fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward as described in claim 1, characterized in that, It also includes asymmetric dynamic compensation strategies: When the system is in a power down-regulation condition, the lead time constant and lag time constant of the lead-lag compensator are switched to zero, so that the feedforward channel degenerates into a pure static feedforward.

7. The fast frequency response control method for compressed air energy storage systems based on dynamic compensation feedforward as described in claim 6, characterized in that, The asymmetric dynamic compensation strategy automatically identifies the direction of power change based on the real-time operating conditions of the system, and disables the dynamic compensation function when the power is reduced, so as to ensure that the valve opening command is generated only based on the static feedforward function.

8. A fast frequency response control system for a compressed air energy storage system based on dynamic compensation feedforward, employing the fast frequency response control method for a compressed air energy storage system based on dynamic compensation feedforward as described in any one of claims 1 to 7, characterized in that, include: The model building module is used to construct a static nonlinear feedforward model to determine the first steady-state mapping relationship by performing a full-condition scan of the compressed air energy storage system, and to solve the first steady-state mapping relationship to obtain the static feedforward function. The dynamic compensation module is used to design a lead-lag compensator to correct the static feedforward function and generate feedforward control commands. A composite control module is used to establish a composite control system including a feedforward control loop and a feedback control loop; the feedforward control loop is used to generate the feedforward control command, and the feedback control loop is used to generate a correction signal based on the power tracking error using a PID controller; The frequency response control module is used to calculate the final regulating valve opening command based on the feedforward control command and the correction signal when the grid frequency fluctuates, according to the real-time collected gas storage chamber pressure and frequency regulation target power command, and drive the turbine regulating valve to operate.

9. An electronic device comprising a memory and a processor, characterized in that: The memory is used to store computer-executable instructions, and when the processor executes the computer-executable instructions, it implements the steps of the fast frequency response control method for compressed air energy storage system based on dynamic compensation feedforward as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing computer-executable instructions thereon, characterized in that: When the computer-executable instructions are executed by the processor, they implement the steps of the fast frequency response control method for compressed air energy storage system based on dynamic compensation feedforward as described in any one of claims 1 to 7.

Images