A photovoltaic power station power dynamic regulation method, system, device and medium based on disturbance observation compensation

Abstract

The application discloses a kind of photovoltaic field station power dynamic regulation method, system, equipment and medium based on disturbance observation compensation, belong to new energy field station power regulation field, including: the frequency response analysis model of photovoltaic field station grid-connected system is constructed;Joint state-disturbance observer is constructed, joint state-disturbance observer is operated, and state estimation value and equivalent disturbance estimation value are obtained;Equivalent system model after disturbance compensation is obtained by feeding forward compensation to system control input according to equivalent disturbance estimation value;Based on equivalent system model, state estimation value and equivalent disturbance estimation value, generate the power dynamic regulation instruction of photovoltaic field station.The application adopts state-disturbance observer, forms the control model of photovoltaic field station grid-connected system, compensates the deficiency of control model modeling precision by the feedforward compensation of dynamic disturbance, guarantees the stable control effect under dynamic condition by the optimization design of dynamic control gain, improves the effect of photovoltaic field station participating in frequency modulation.

Description

Technical Field

[0001] This invention relates to the field of dynamic power regulation technology for new energy power plants, specifically to a method, system, equipment, and medium for dynamic power regulation of photovoltaic power plants based on disturbance observation compensation. Background Technology

[0002] With the rapid development of new energy sources, the proportion of photovoltaic (PV) installed capacity in my country is gradually increasing, and it needs to be gradually transformed into the main power source of the grid. PV power plants, as flexible adjustment resources, have become an important direction for future development by deeply participating in grid frequency stability regulation and control. According to national standards and specifications, PV power plants need to have primary frequency regulation capabilities. However, traditional primary frequency regulation is insufficient in its ability to detect grid disturbances, and relying solely on simple feedback control is insufficient to provide effective support for grid frequency regulation.

[0003] In current technological practices, primary frequency regulation at renewable energy power plants often employs a fixed droop coefficient with a dead zone, passively feeding back frequency disturbances. This poses a certain stability risk when participating in grid frequency regulation, and in extreme scenarios, it can even lead to reverse regulation, further deteriorating grid frequency stability. Considering the flexible and rapid power regulation advantages of photovoltaic power plants, traditional methods do not truly leverage these characteristics, failing to form a fast and stable power frequency adjustment control closed loop, thus exhibiting significant technical shortcomings.

[0004] In view of this, there is an urgent need to provide a dynamic power regulation method and system for photovoltaic power plants based on disturbance observation compensation, so as to overcome the above-mentioned defects and ensure that photovoltaic power plants can effectively participate in grid frequency regulation. Summary of the Invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the technical problem solved by this invention is: how to overcome the technical defects of traditional photovoltaic power plant frequency regulation control, which relies on passive feedback, has insufficient ability to sense grid disturbances, and is difficult to achieve fast and accurate power support.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a method for dynamic power control of photovoltaic power plants based on disturbance observation compensation, comprising, Construct a frequency response analysis model for a photovoltaic power plant grid-connected system; A joint state-disturbance observer is constructed based on a frequency response analysis model. The joint state-disturbance observer is used to simultaneously estimate the real-time state of the system and the equivalent disturbance affecting the system frequency. Run the joint state-perturbation observer to obtain state estimates and equivalent perturbation estimates; Feedforward compensation is performed on the system control input based on the equivalent disturbance estimate to obtain the equivalent system model after disturbance compensation; Based on the equivalent system model after disturbance compensation, the state estimate, and the equivalent disturbance estimate, dynamic power control commands for photovoltaic power plants are generated.

[0008] As a preferred embodiment of the photovoltaic power dynamic control method based on disturbance observation compensation described in this invention, the frequency response analysis model of the photovoltaic power station grid-connected system includes, Obtain the dynamic response characteristic parameters of each power generation unit in the grid-connected photovoltaic power station system, as well as the system's equivalent inertia and damping parameters; Based on the obtained parameters, a mathematical model is established to describe the dynamic frequency behavior of the system. The mathematical model includes at least a first sub-model characterizing the frequency response characteristics of the power generation unit and a second sub-model characterizing the dynamic characteristics of the system itself.

[0009] As a preferred embodiment of the photovoltaic power dynamic control method based on disturbance observation compensation described in this invention, the method for constructing a joint state-disturbance observer based on a frequency response analysis model includes: The frequency response analysis model is represented as a discrete state-space form containing controllable and uncontrollable disturbance terms; The controllable disturbance term is modeled as an extended state system with definite dynamic characteristics; Based on the augmented system containing the original system state and the extended state, a joint observer is constructed to simultaneously estimate the real-time system state and controllable disturbances, and the observer gain is configured to make the observation error converge with a preset decay rate.

[0010] This invention constructs an augmented system that includes the original system state and the extended state by representing the frequency response analysis model as a discrete state-space form containing controllable and uncontrollable disturbance terms, and modeling the controllable disturbance terms as an extended state system with definite dynamic characteristics.

[0011] The joint state-disturbance observer based on this augmented system design can simultaneously estimate the real-time state and controllable disturbances of the system, and the observation error can be converged at a preset decay rate by configuring the observer gain. Compared with the prior art, this claim transforms the unmeasurable and passively tolerated modeling errors and parameter changes in traditional methods into observable and quantifiable extended states, realizing active perception of disturbances; by jointly observing the state and disturbances, the coupling relationship between the two is fully utilized, avoiding the mutual interference of estimation errors caused by independently designed observers, and improving the estimation accuracy of the state and disturbances; the configurable observation error decay rate allows system designers to flexibly adjust the dynamic performance of the observer according to actual engineering needs, overcoming the shortcomings of traditional parameter tuning that rely on experience.

[0012] As a preferred embodiment of the photovoltaic power dynamic control method based on disturbance observation compensation described in this invention, the step of feedforward compensation of the system control input based on the equivalent disturbance estimate includes: A feedforward compensation term is constructed using the equivalent disturbance estimate, and then superimposed on the system control input to offset the influence of controllable disturbances on system dynamics. Based on the control input and frequency response analysis model after feedforward compensation, an equivalent system model without explicit controllable disturbance terms is obtained.

[0013] As a preferred embodiment of the photovoltaic power dynamic control method based on disturbance observation compensation described in this invention, the equivalent system model, state estimate, and equivalent disturbance estimate after disturbance compensation include: A full-state feedback approach is adopted to calculate intermediate control variables based on state estimates. Based on the limited range of photovoltaic power regulation, amplitude constraints are applied to the intermediate control quantities; The intermediate control quantity after amplitude constraint is superimposed with the equivalent disturbance estimate to generate the final dynamic power control command for the photovoltaic power station.

[0014] Based on the equivalent system model after disturbance compensation, this invention uses a full-state feedback method to calculate intermediate control quantities based on state estimates. It then applies amplitude constraints to the intermediate control quantities according to the limited range of photovoltaic power regulation. Finally, it superimposes the amplitude-constrained intermediate control quantities with the equivalent disturbance estimates to generate the final dynamic power regulation command for the photovoltaic power station. Compared with existing technologies, this invention forms a feedforward compensation channel by superimposing the equivalent disturbance estimate onto the control command, and simultaneously uses full-state feedback to form a feedback control channel, thus creating a feedforward-feedback composite control structure. This allows the system to both quickly feedforward compensate for observable disturbances and suppress residual errors through feedback, resulting in a response speed superior to traditional pure feedback control. By explicitly applying amplitude constraints to the intermediate control quantity, it ensures that the generated power command is always within the actual adjustment capacity of the photovoltaic power station, avoiding actuator saturation or system instability caused by the command exceeding physical limits. By superimposing the constrained intermediate control quantity with the disturbance estimate, the synergistic effect of disturbance feedforward compensation and state feedback control is achieved, ensuring that the control command can effectively offset the impact of disturbances and quickly converge the system state to the desired value, thus realizing rapid, safe, and precise dynamic regulation of photovoltaic power station power.

[0015] As a preferred embodiment of the photovoltaic power dynamic control method based on disturbance observation compensation described in this invention, the step of employing a full-state feedback method to calculate intermediate control quantities based on state estimates includes: Based on the equivalent system model after disturbance compensation, the state feedback gain matrix is ​​solved; The intermediate control quantity is obtained by multiplying the state estimate by the state feedback gain matrix.

[0016] As a preferred embodiment of the photovoltaic power dynamic control method based on disturbance observation compensation described in this invention, the step of applying amplitude constraints to the intermediate control quantity according to the limited range of photovoltaic power adjustment includes: Get the current adjustable power limit of the photovoltaic power station; The amplitude of the intermediate control quantity is limited to the upper limit of the adjustable power to obtain an intermediate control quantity that satisfies the constraint.

[0017] This invention provides a dynamic power control system for photovoltaic power plants based on disturbance observation compensation.

[0018] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a photovoltaic power dynamic control system based on disturbance observation compensation, comprising: a model building module, an observer building module, an operation module, a compensation module, and an output module; The module for constructing the analysis model is used to construct a frequency response analysis model for the grid-connected photovoltaic power station system. The observer construction module is based on the frequency response analysis model to construct a joint state-disturbance observer, which is used to simultaneously estimate the real-time state of the system and the equivalent disturbance affecting the system frequency. The operation module runs a joint state-disturbance observer to obtain state estimates and equivalent disturbance estimates. The compensation module performs feedforward compensation on the system control input based on the equivalent disturbance estimate to obtain the equivalent system model after disturbance compensation. The output module generates dynamic power control commands for photovoltaic power plants based on the equivalent system model after disturbance compensation, state estimates, and equivalent disturbance estimates.

[0019] The present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the aforementioned method for dynamic power control of photovoltaic power plants based on disturbance observation compensation.

[0020] The present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the aforementioned method for dynamic power control of photovoltaic power plants based on disturbance observation compensation.

[0021] The beneficial effects of this invention are as follows: This invention uses a state-disturbance observer to jointly observe and form a control model for the grid-connected photovoltaic power station system. By using feedforward compensation for dynamic disturbances, it makes up for the lack of modeling accuracy of the control model and realizes feedforward control. Through the optimized design of dynamic control gain, it realizes model prediction robust control under disturbances, ensuring stable control performance under dynamic conditions. Through the fusion regulation of the observer and controller, it can effectively avoid the influence of disturbances in other parts of the system, enabling the photovoltaic power station to have the control capability of active disturbance compensation and effectively improving the effect of the photovoltaic power station in frequency regulation. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0023] Figure 1 The above is a flowchart of a method for dynamic power control of photovoltaic power plants based on disturbance observation compensation, which is an embodiment of the present invention.

[0024] Figure 2 The flowchart illustrates the construction of a joint state-disturbance observer for a photovoltaic power dynamic control method based on disturbance observation compensation, as provided in one embodiment of the present invention.

[0025] Figure 3 The present invention provides a feedforward compensation flowchart for a photovoltaic power dynamic control method based on disturbance observation compensation, which is an embodiment of the present invention. Detailed Implementation

[0026] 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.

[0027] Example 1, referring to Figure 1 This is one embodiment of the present invention, which provides a method for dynamic power control of photovoltaic power plants based on disturbance observation compensation, including: S1. Construct a frequency response analysis model for the grid-connected photovoltaic power station system; S2. Construct a joint state-disturbance observer based on the frequency response analysis model. The joint state-disturbance observer is used to simultaneously estimate the real-time state of the system and the equivalent disturbance affecting the system frequency. S3. Run the joint state-disturbance observer to obtain the state estimate and the equivalent disturbance estimate; S4. Perform feedforward compensation on the system control input based on the equivalent disturbance estimate to obtain the equivalent system model after disturbance compensation; S5. Based on the equivalent system model after disturbance compensation, the state estimate, and the equivalent disturbance estimate, generate dynamic power control commands for the photovoltaic power station.

[0028] Example 2, refer to Figures 2-3 As an embodiment of the present invention, based on the previous embodiment, a method for dynamic power control of photovoltaic power plants based on disturbance observation compensation is provided, comprising: In step S1, constructing the frequency response analysis model of the photovoltaic power station grid-connected system includes the following steps: S11 acquires the dynamic response characteristic parameters of each power generation unit in the photovoltaic power station grid-connected system, as well as the system's equivalent inertia and damping parameters.

[0029] The power generation units to be described include hydroelectric power generation units and photovoltaic frequency regulation units.

[0030] Further hydroelectric power generation units include equivalent governor models and equivalent turbine models.

[0031] The equivalent speed regulation model includes the governor proportional coefficient. K p1 Integral coefficient K I1 Feedback coefficient b p and the oil motor coefficient K p2 Time constant T y。

[0032] The equivalent turbine includes the droop equivalent constant. T w。

[0033] Further equivalent turbine models include photovoltaic dynamic power control models and photovoltaic equivalent power regulation models.

[0034] The photovoltaic equivalent power regulation model includes the voltage loop equivalent hysteresis constant. T v Current loop equivalent hysteresis constant T i。

[0035] The photovoltaic dynamic power control model is the model that needs to be designed in this invention.

[0036] S12. Based on the obtained parameters, establish a mathematical model to describe the dynamic frequency behavior of the system.

[0037] The mathematical model describing the frequency dynamic behavior of the system includes at least a first sub-model characterizing the frequency response characteristics of the power generation unit and a second sub-model characterizing the dynamic characteristics of the system itself.

[0038] It should be noted that the first sub-model is used to characterize the power regulation behavior of each power generation unit in the system when the frequency changes, specifically including the regional hydro-generator frequency regulation equivalent model and the regional photovoltaic frequency regulation equivalent model.

[0039] The further regional hydro-generator frequency regulation equivalent model consists of an equivalent governor model and an equivalent turbine model.

[0040] Further regional photovoltaic frequency regulation equivalent models include voltage loop equivalent hysteresis constants and current loop equivalent hysteresis constants, which are used to describe the response delay characteristics of photovoltaic inverters during frequency regulation.

[0041] The above models together constitute a description of the active response of the power generation unit to changes in system frequency.

[0042] It should be noted that the second sub-model is used to describe the inertia support and damping characteristics of the system itself, namely the regional equivalent inertia model, which includes the system's equivalent inertia, equivalent damping, and load frequency regulation effect coefficient.

[0043] Further, the equivalent inertia characterizes the system's ability to resist frequency changes under power imbalance, the equivalent damping characterizes the suppression effect of internal system losses and load characteristics on frequency oscillations, and the load factor characterizes the self-adjusting characteristics of load power with frequency changes. This model reflects the inherent physical response capability of the system to frequency changes.

[0044] Further The extended state can be represented as follows: , in, To expand the state variables, Generate a state matrix for the equivalent perturbation. Generate an output matrix for the equivalent perturbation.

[0045] Reference Figure 2 The construction of the joint state-perturbation observer based on the frequency response analysis model in step S2 includes the following steps: S21. The frequency response analysis model is represented as a discrete state-space form containing controllable and uncontrollable disturbance terms.

[0046] It should be noted that the discrete state-space form is a mathematical model describing the relationship between the input, output, and state of a dynamic system, and its general form consists of state equations and output equations. Converting the established frequency response analysis model into discrete state-space form facilitates observer design and real-time calculations in digital control systems.

[0047] Specifically, the discrete state-space form can be expressed as: , Where A is the equivalent system discrete state matrix, B is the equivalent system input matrix, C is the equivalent system discrete output matrix, and D is the equivalent system disturbance matrix. This is the system state vector, containing key variables reflecting the system's frequency dynamics, such as the state variables of the hydro-generator unit, the state variables of the photovoltaic power generation unit, and the system frequency deviation. To control the input vector, i.e. the power regulation command of the photovoltaic power station, This is the system output vector, typically a measurable frequency deviation signal.

[0048] Furthermore, disturbances are clearly distinguished into two categories: controllable disturbance terms. and uncontrollable disturbance terms .in, It is related to control input The related disturbances, whose physical meanings include modeling errors, parameter perturbations, and unmodeled dynamics, are characterized by the fact that their action channels are the same as those of the control input (both act on the system through matrix B). Therefore, theoretically, they can be compensated by adjusting the control input.

[0049] It refers to uncontrollable disturbances unrelated to control input, such as random load fluctuations, sudden changes in illumination, and other external disturbances. Its action channel is matrix D, and it satisfies the following conditions: Bounded conditions.

[0050] Traditional methods often treat all disturbances in a general way, making it impossible to design targeted compensation strategies. However, this step distinguishes between two types of disturbances: controllable and uncontrollable. By clearly distinguishing between the two types of disturbances, a theoretical foundation is laid for modeling controllable disturbances as extended states and designing joint observers for active compensation. This enables photovoltaic power plants to transform from passively enduring disturbances to actively offsetting them.

[0051] S22. The controllable disturbance term is modeled as an extended state system with definite dynamic characteristics.

[0052] It should be noted that traditional control methods typically treat disturbances as unknown random disturbances, passively suppressing them only through feedback control, and cannot achieve active compensation. The core innovation of this step lies in: treating the controllable disturbance term... Treating it as an independent system with its own dynamic characteristics, we model it by introducing extended state variables, making the disturbances that were originally not directly measurable observable and estimable.

[0053] Specifically, controllable disturbance Modeled as an extended state system, with the following expression: , in, To expand state variables, their dimensionality and dynamic characteristics are determined by the nature of the actual disturbance; Generate a state matrix for the perturbation to describe the evolution of the perturbation itself; To generate an output matrix for the perturbation, the extended state is mapped to the actual perturbation value acting on the system, L d Let be the feedback gain of the perturbation observer to be solved.

[0054] It should be noted that having definite dynamic characteristics means: disturbance It is not completely random noise, but a dynamic process that follows certain rules.

[0055] For example, constant disturbances can be modeled as ξ(k+1)=ξ(k, d(k)=ξ(k); periodic disturbances can be modeled as second-order oscillations; and damped disturbances can be modeled as first-order inertial disturbances.

[0056] By selecting appropriate and It can approximate the real dynamic behavior of various types of controllable disturbances such as modeling errors and parameter perturbations in actual systems.

[0057] The essence of this approach is to transform the "unmeasurable disturbance" originally hidden in the system into a "modelable extended subsystem," giving the disturbance an observable mathematical form. This is the key technical prerequisite for achieving active disturbance compensation in this invention.

[0058] S23. Based on the augmented system containing the original system state and the extended state, construct a joint observer for simultaneously estimating the real-time state of the system and controllable disturbances, and configure the observer gain so that the observation error converges with a preset decay rate.

[0059] It should be noted that after the controllable disturbance is modeled as an extended state system in S22, the original system and the extended subsystem together constitute an augmented system. Based on this augmented system, this invention designs a joint observer to simultaneously estimate the system state and the controllable disturbance.

[0060] The joint observer consists of two parts: a state observer and a disturbance observer.

[0061] It should be further noted that the expression for the state observer is: , in, , , , respectively, represent the state estimates of the system state, system output, and system disturbance, and L is the state observer feedback gain to be solved.

[0062] Further definition of observation error The error dynamic equation can then be expressed as: , , in, For the observation error of the disturbance-state observer, This is the observation error state matrix.

[0063] It should be noted that to ensure the dynamic performance of the observer, the observer gain needs to be configured so that the observation error decays at a preset rate. convergence.

[0064] , Where G=diag( , ) is a positive definite matrix. , These are positive definite matrices that need to be solved.

[0065] make , Solve the linear matrix inequalities: , get: .

[0066] Specifically, L and L' are obtained by solving linear matrix inequalities. d This makes the spectral radius of the error dynamic system smaller than This means the convergence rate of the observation error meets the design requirements. Attenuation rate It can be flexibly adjusted according to project requirements: The smaller the value, the faster the observation error converges, but the more sensitive it is to measurement noise; As the value approaches 1, the observer's robustness increases, but its dynamic response slows down.

[0067] By designing a joint observer, synchronous online estimation of system state and controllable disturbances is achieved, with quantifiable configuration of estimation accuracy and convergence speed. Compared to the traditional method of designing independent observers separately, the joint observer fully considers the coupling relationship between state and disturbance, avoids mutual interference of estimation errors, and provides accurate and real-time state and disturbance information for subsequent feedforward compensation.

[0068] Step S3 involves running the joint state-disturbance observer to obtain state estimates and equivalent disturbance estimates. This includes putting the joint state-disturbance observer, constructed and configured in step S2, into real-time operation. In each sampling period, the real-time frequency deviation signal of the photovoltaic power station's grid connection point is collected as the observer input. Based on the observer structure and gain matrix determined in step S2, the estimated real-time state of the system is simultaneously obtained through recursive calculation. and the estimated value of equivalent disturbance .

[0069] These two estimates will serve as inputs to steps S4 and S5 for the generation of feedforward compensation and dynamic control commands. The real-time operation of the joint state-disturbance observer is maintained throughout the entire control process, ensuring that the estimates of the state and disturbances are updated in real time as the system dynamically changes.

[0070] Reference Figure 3 In step S4, feedforward compensation is performed on the system control input based on the equivalent disturbance estimate to obtain the equivalent system model after disturbance compensation. This includes the following steps: S41. Construct a feedforward compensation term using the equivalent disturbance estimate, and superimpose the feedforward compensation term onto the system control input to offset the influence of controllable disturbances on system dynamics.

[0071] The equivalent disturbance estimate obtained in real time in step S3 This reflects the magnitude of the controllable disturbance acting on the system at the current moment. This estimate is actively used to construct a feedforward compensation term, which is then superimposed onto the system control input to actively cancel out the controllable disturbance.

[0072] Specifically define the new control input , The control law for the output result.

[0073] S42. Based on the control input and frequency response analysis model after feedforward compensation, an equivalent system model without explicit controllable disturbance terms is obtained.

[0074] The control input after introducing feedforward compensation in S41 Substituting the original frequency response analysis model, a new equivalent system model can be obtained. This model takes the following form: , After feedforward compensation, the complex control problem that originally required simultaneous handling of state conditioning and disturbance suppression is simplified to a problem of robust control only against uncontrollable disturbances. Subsequent dynamic controllers can be designed based on this equivalent model, simplifying the form of the control law and making it easier to guarantee control performance. At the same time, this equivalent model retains the core dynamic characteristics of the original system, ensuring the effectiveness of the controller designed based on this model for the original system.

[0075] In step S5, based on the equivalent system model after disturbance compensation, the state estimate, and the equivalent disturbance estimate, a dynamic power control command for the photovoltaic power station is generated, including the following steps: S51. The intermediate control quantity is calculated based on the state estimate using a full-state feedback method.

[0076] It should be noted that full-state feedback refers to a control method that uses a linear combination of all system state variables to construct a control law. Based on the state estimate obtained in step S3... Based on the equivalent system model obtained after disturbance compensation in step S4, design the state feedback control law and calculate the intermediate control quantity. Its expression is: ,make , Here, K is the state feedback gain matrix, which can be solved using appropriate optimization methods depending on different control objectives. For example, to meet robust stability requirements, it can be solved using linear matrix inequalities. This allows the closed-loop system to operate under uncontrollable disturbances. It can remain stable even under certain circumstances.

[0077] To further meet the dynamic response speed requirements, the poles of the closed-loop system can be placed at the desired locations using the pole placement method. To achieve optimal control performance, the gain matrix that minimizes the given performance index can be solved using the linear quadratic regulator method. Regardless of the solution method used, the essence is to calculate an intermediate control quantity that is linearly related to the current state estimate based on the equivalent system model after disturbance compensation.

[0078] It should be noted that the calculation here is for intermediate control quantities. This is not the actual power command ultimately issued to the photovoltaic power plant. This intermediate control quantity is calculated based on an idealized model where disturbances have been fully compensated, and does not take into account the power regulation capabilities of actual power plants.

[0079] S52. Apply amplitude constraints to intermediate control quantities based on the limited range of photovoltaic power regulation.

[0080] The specific expression is: , in, They are respectively the parameters to be solved. Let be the equivalent discrete state matrix of the system. For the equivalent system input matrix, It is the identity matrix. represents transpose, and mintr is the minimum value of the solution trace.

[0081] S53. The intermediate control quantity after amplitude constraint is superimposed with the equivalent disturbance estimate to generate the final dynamic power control command of the photovoltaic power station.

[0082] It should be noted that, according to the definition of feedforward compensation in step S41 The final result can be obtained through inversion calculation. The final control law output is the actual dynamic power control command issued to the photovoltaic power station for execution. This command includes the state regulation quantity calculated based on full-state feedback, and also offsets the influence of controllable disturbances through feedforward compensation. At the same time, amplitude constraints ensure that the command is within the actual regulation capacity range of the power station, thus achieving fast, safe, and accurate dynamic power control.

[0083] Example 3 is an embodiment of the present invention, which provides a dynamic power control system for photovoltaic power plants based on disturbance observation compensation, comprising: The system includes a module for building the analysis model, a module for building the observer, a module for running the system, a module for compensating for losses, and a module for outputting data. The module for constructing the analysis model is used to construct a frequency response analysis model for the grid-connected photovoltaic power station system. The observer construction module is based on the frequency response analysis model to construct a joint state-disturbance observer, which is used to simultaneously estimate the real-time state of the system and the equivalent disturbance affecting the system frequency. The operation module runs a joint state-disturbance observer to obtain state estimates and equivalent disturbance estimates. The compensation module performs feedforward compensation on the system control input based on the equivalent disturbance estimate to obtain the equivalent system model after disturbance compensation. The output module generates dynamic power control commands for photovoltaic power plants based on the equivalent system model after disturbance compensation, state estimates, and equivalent disturbance estimates.

[0084] This embodiment also provides an electronic device applicable to a dynamic power control method for photovoltaic power plants based on disturbance observation compensation, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the dynamic power control method for photovoltaic power plants based on disturbance observation compensation as proposed in the above embodiment.

[0085] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements a dynamic power control method for photovoltaic power plants based on disturbance observation compensation as proposed in the above embodiments.

[0086] The storage medium proposed in this embodiment belongs to the same inventive concept as the method for dynamic power control of photovoltaic power plants based on disturbance observation compensation 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.

[0087] 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 (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0088] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not 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 claims of the present invention.

Claims

1. A method for dynamic power control of photovoltaic power plants based on disturbance observation compensation, characterized in that: include, Construct a frequency response analysis model for a photovoltaic power plant grid-connected system; A joint state-disturbance observer is constructed based on a frequency response analysis model. The joint state-disturbance observer is used to simultaneously estimate the real-time state of the system and the equivalent disturbance affecting the system frequency. Run the joint state-perturbation observer to obtain state estimates and equivalent perturbation estimates; Feedforward compensation is performed on the system control input based on the equivalent disturbance estimate to obtain the equivalent system model after disturbance compensation; Based on the equivalent system model after disturbance compensation, the state estimate, and the equivalent disturbance estimate, dynamic power control commands for photovoltaic power plants are generated.

2. The method for dynamic power control of photovoltaic power plants based on disturbance observation compensation as described in claim 1, characterized in that: The frequency response analysis model for constructing a photovoltaic power station grid-connected system includes, Obtain the dynamic response characteristic parameters of each power generation unit in the grid-connected photovoltaic power station system, as well as the system's equivalent inertia and damping parameters; Based on the obtained parameters, a mathematical model is established to describe the dynamic frequency behavior of the system. The mathematical model includes at least a first sub-model characterizing the frequency response characteristics of the power generation unit and a second sub-model characterizing the dynamic characteristics of the system itself.

3. The method for dynamic power control of photovoltaic power plants based on disturbance observation compensation as described in claim 2, characterized in that: The joint state-perturbation observer constructed based on the frequency response analysis model includes, The frequency response analysis model is represented as a discrete state-space form containing controllable and uncontrollable disturbance terms; The controllable disturbance term is modeled as an extended state system with definite dynamic characteristics; Based on the augmented system containing the original system state and the extended state, a joint observer is constructed to simultaneously estimate the real-time system state and controllable disturbances, and the observer gain is configured to make the observation error converge with a preset decay rate.

4. The method for dynamic power control of photovoltaic power plants based on disturbance observation compensation as described in claim 3, characterized in that: The step of performing feedforward compensation on the system control input based on the equivalent disturbance estimate includes... A feedforward compensation term is constructed using the equivalent disturbance estimate, and then superimposed on the system control input to offset the influence of controllable disturbances on system dynamics. Based on the control input and frequency response analysis model after feedforward compensation, an equivalent system model without explicit controllable disturbance terms is obtained.

5. The method for dynamic power control of photovoltaic power plants based on disturbance observation compensation as described in claim 4, characterized in that: The equivalent system model, state estimate, and equivalent disturbance estimate based on disturbance compensation include: A full-state feedback approach is adopted to calculate intermediate control variables based on state estimates. Based on the limited range of photovoltaic power regulation, amplitude constraints are applied to the intermediate control quantities; The intermediate control quantity after amplitude constraint is superimposed with the equivalent disturbance estimate to generate the final dynamic power control command for the photovoltaic power station.

6. The method for dynamic power control of photovoltaic power plants based on disturbance observation compensation as described in claim 5, characterized in that: The method of using full-state feedback to calculate intermediate control variables based on state estimates includes: Based on the equivalent system model after disturbance compensation, the state feedback gain matrix is ​​solved; The intermediate control quantity is obtained by multiplying the state estimate by the state feedback gain matrix.

7. The method for dynamic power control of photovoltaic power plants based on disturbance observation compensation as described in claim 6, characterized in that: The step of applying amplitude constraints to the intermediate control quantity based on the limited range of photovoltaic power adjustment includes: Get the current adjustable power limit of the photovoltaic power station; The amplitude of the intermediate control quantity is limited to the upper limit of the adjustable power to obtain an intermediate control quantity that satisfies the constraint.

8. A photovoltaic power dynamic control system based on disturbance observation compensation, employing the photovoltaic power dynamic control method based on disturbance observation compensation as described in any one of claims 1 to 7, characterized in that, include: The system includes a module for building the analysis model, a module for building the observer, a module for running the system, a module for compensating for losses, and a module for outputting data. The module for constructing the analysis model is used to construct a frequency response analysis model for the grid-connected photovoltaic power station system. The observer construction module is based on the frequency response analysis model to construct a joint state-disturbance observer. The joint state-disturbance observer is used to simultaneously estimate the real-time state of the system and the equivalent disturbance affecting the system frequency. The operation module runs a joint state-disturbance observer to obtain state estimates and equivalent disturbance estimates. The compensation module performs feedforward compensation on the system control input based on the equivalent disturbance estimate to obtain the equivalent system model after disturbance compensation. The output module generates dynamic power control commands for photovoltaic power plants based on the equivalent system model after disturbance compensation, state estimates, and equivalent disturbance estimates.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the photovoltaic power dynamic control method based on disturbance observation compensation as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the photovoltaic power dynamic control method based on disturbance observation compensation as described in any one of claims 1 to 7.

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