Mine belt conveyor light and storage load integrated current loop control and coordination system, method and equipment based on linear active disturbance rejection

Abstract

The application discloses a mine belt conveyor light storage load integrated current loop control and coordination system, method and equipment based on linear active disturbance rejection, relates to the technical field of light storage load integrated micro-grid coordinated dispatching, and comprises a three-phase current sampling module for collecting current three-phase stator currents of a motor; a main control calculation module for processing to obtain current q-axis torque currents; a tracking differentiator module for constructing to obtain current smooth transition trajectories and generalized derivatives; an extended state observer module for iteratively updating current first, second and third state variables according to the current q-axis torque currents and the previous sampling time compensation q-axis current control quantity; a disturbance feedforward compensation module for calculating the current compensated q-axis current control quantity; and a light storage coordinated dispatching module for predicting power fluctuation at the next time, generating photovoltaic output adjustment and energy storage charging and discharging power adjustment instructions, and controlling photovoltaic power generation and energy storage units to adjust. The application effectively improves system operation stability and new energy consumption rate.

Description

Technical Field

[0001] This application relates to the field of integrated photovoltaic-storage-load microgrid coordinated dispatch, and in particular to a current loop control and coordination system, method and equipment for integrated photovoltaic-storage-load microgrids based on linear active disturbance rejection for mine belt conveyors. Background Technology

[0002] Mining conveyor belts are core equipment for material transportation in mining areas, and their drive motors are mostly three-phase asynchronous motors driven by frequency converters. The industry is gradually introducing integrated photovoltaic-storage-load power supply systems to provide clean electricity for mining conveyor belts, aiming to achieve peak shaving and valley filling, and reduce energy consumption and carbon emissions. However, the integration of such systems with motor drive control still has significant technical shortcomings, restricting the consumption of new energy sources and the reliability of system operation.

[0003] On the motor drive side, the starting inrush current of a three-phase asynchronous motor is as high as 5 to 7 times the rated value, which easily causes power fluctuations and interferes with the energy storage charging and discharging strategy. At the same time, the belt friction resistance exhibits strong nonlinear changes, which, combined with the ±20% voltage fluctuation of the mining power grid, forms a composite disturbance of "voltage disturbance + mechanical disturbance," resulting in torque pulsation and speed fluctuations in the three-phase asynchronous motor and causing the photovoltaic-energy storage steady-state dispatching strategy to fail. On the dispatching side, existing photovoltaic-energy storage-load integrated dispatching systems are mostly based on steady-state predictions of historical load and illumination data, and cannot detect millisecond-level transient disturbances on the motor drive side, with response lags reaching the second level. This leads to frequent charging and discharging switching of energy storage, a cycle life shortened by more than 30%, and insufficient photovoltaic absorption rate, forcing surplus power to be fed back into the grid.

[0004] Among related technologies, one approach focuses on LADRC speed control of permanent magnet synchronous motors (PMSMs). However, the torque generation of three-phase asynchronous motors depends on the rotor-induced magnetic field, and their current loop dynamic model is fundamentally different from that of PMSMs. Furthermore, this approach lacks design for start-up impact suppression and grid voltage fluctuation observation, and does not address source-load coordination. Another type of scheduling optimization scheme relies solely on offline data planning, completely neglecting to incorporate motor drive-side disturbance feedforward information, thus failing to achieve dynamic source-load matching. None of the aforementioned technologies have resolved the issue of composite disturbance compensation and real-time coordinated scheduling for three-phase asynchronous motors in mine conveyor belts within a photovoltaic-storage-load integrated scenario. Summary of the Invention

[0005] The purpose of this application is to provide a linear self-disruption rejection integrated current loop control and coordination system, method and equipment for mine belt conveyors, which can effectively improve the system's operational stability and the renewable energy consumption rate.

[0006] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides a linear active disturbance rejection (ADR) integrated current loop control and coordination system for mine belt conveyors, comprising: The three-phase current sampling module is used to obtain the three-phase stator current of the three-phase asynchronous motor driving the belt conveyor at the current sampling moment.

[0007] The main control computing unit is used to process the three-phase stator current at the current sampling time to obtain the q-axis torque current at the current sampling time.

[0008] The tracking differentiator unit is used to construct a bounded acceleration transition trajectory from the acquired external q-axis current reference command, thereby obtaining the smooth transition trajectory at the current sampling moment and the corresponding generalized derivative.

[0009] The extended state observer unit is used to iteratively update the q-axis torque current at the current sampling time and the compensated q-axis current control quantity obtained at the previous sampling time to obtain the first state variable and the second state variable at the current sampling time, and to set the total disturbance as the third state variable at the current sampling time; the total disturbance includes at least the coupled disturbance of the mine power grid voltage fluctuation on the slip current of the three-phase asynchronous motor and the sudden change disturbance of the friction load torque of the belt conveyor.

[0010] The disturbance feedforward compensation unit is used to calculate and output the compensated q-axis current control quantity at the current sampling time based on the first state variable at the current sampling time, the second state variable at the current sampling time, the third state variable at the current sampling time, the smooth transition trajectory at the current sampling time, and the corresponding generalized derivative.

[0011] The photovoltaic-storage coordinated scheduling unit is used to predict the power fluctuation of the three-phase asynchronous motor at the next moment based on the third state variable at the current sampling moment, and generate a photovoltaic output adjustment command or an energy storage charging and discharging power adjustment command according to the power fluctuation at the next moment; the photovoltaic output adjustment command is used to control the photovoltaic power generation unit to adjust the photovoltaic output; the energy storage charging and discharging power adjustment command is used to control the energy storage unit to adjust the energy storage charging and discharging power.

[0012] Secondly, this application provides a linear active disturbance rejection (ADR)-based integrated photovoltaic-energy storage-load current loop control and coordination device for mine belt conveyors, comprising: a linear ADR-based integrated photovoltaic-energy storage-load current loop control and coordination system for mine belt conveyors, a photovoltaic power generation unit, and an energy storage unit as described in any one of the above-mentioned methods.

[0013] A photovoltaic power generation unit is used to receive the photovoltaic output adjustment command and adjust the photovoltaic output according to the photovoltaic output adjustment command.

[0014] An energy storage unit is used to receive the energy storage charging and discharging power adjustment command and adjust the energy storage charging and discharging power according to the energy storage charging and discharging power adjustment command.

[0015] Thirdly, this application provides a method for integrated optical-electrical storage-electrical current loop control and coordination of mine belt conveyors based on linear active disturbance rejection, including: Obtain the three-phase stator current of the three-phase asynchronous motor on the drive belt conveyor at the current sampling time.

[0016] The three-phase stator current at the current sampling time is processed to obtain the q-axis torque current at the current sampling time.

[0017] A bounded acceleration transition trajectory is constructed from the acquired external q-axis current reference command to obtain the smooth transition trajectory and the corresponding generalized derivative at the current sampling moment.

[0018] The current sampling time q-axis torque current and the compensated q-axis current control quantity obtained from the previous sampling time are iteratively updated to obtain the first state variable and the second state variable at the current sampling time, and the total disturbance is set as the third state variable at the current sampling time; the total disturbance includes at least the coupled disturbance of the mine power grid voltage fluctuation on the slip current of the three-phase asynchronous motor and the sudden change disturbance of the friction load torque of the belt conveyor.

[0019] Based on the first state variable, the second state variable, the third state variable, the smooth transition trajectory, and the corresponding generalized derivative at the current sampling time, calculate and output the compensated q-axis current control quantity at the current sampling time.

[0020] Based on the third state variable at the current sampling time, the power fluctuation of the three-phase asynchronous motor at the next time moment is predicted, and a photovoltaic output adjustment command or an energy storage charging and discharging power adjustment command is generated according to the power fluctuation at the next time moment; the photovoltaic output adjustment command is used to control the photovoltaic power generation unit to adjust the photovoltaic output; the energy storage charging and discharging power adjustment command is used to control the energy storage unit to adjust the energy storage charging and discharging power.

[0021] Fourthly, this application provides a computer device, including: a memory and a processor for storing a computer program on the memory and capable of running on the processor, wherein the processor executes the computer program to implement the steps of the above-described method for integrated optical-electrical storage-charge current loop control and coordination of mine belt conveyors based on linear active disturbance rejection.

[0022] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a linear active disturbance rejection system (ADRS) for integrated photovoltaic-energy storage-load current loop control and coordination in a mining conveyor belt system. First, the tracking differentiator unit constructs a bounded acceleration transition trajectory for the external q-axis current reference command, ensuring a smooth rise in the current command. This suppresses the instantaneous impact during startup from the source, preventing drastic power fluctuations from interfering with the energy storage charging and discharging strategy. Second, the extended state observer unit iteratively updates the system using the q-axis torque current and the compensated q-axis current control quantity from the previous moment as input. It integrates the coupled disturbance of the mine grid voltage fluctuation on the rotor's induced magnetic field and the sudden torque change disturbance of the conveyor belt's friction load as a unified total disturbance for real-time estimation. This overcomes the limitations of traditional schemes that rely solely on offline data or are oriented towards permanent magnet synchronous motor models, enabling the system to perceive the unique electromagnetic and mechanical composite disturbances of asynchronous motors. The disturbance feedforward compensation unit then uses the smooth transition trajectory, generalized derivative, and first and second state variables to calculate the compensated q-axis current control quantity at the current sampling moment, achieving feedforward compensation. This design enables the current loop to proactively offset the negative impacts of voltage fluctuations and load surges within a millisecond-level response cycle, significantly suppressing torque pulsation and speed fluctuations in the three-phase asynchronous motor. This stabilizes the motor's operating state and prevents the photovoltaic-storage scheduling strategy from failing due to mechanical fluctuations. Finally, the photovoltaic-storage coordinated scheduling unit abandons the traditional offline steady-state prediction mode and directly uses the third state variable output by the extended state observer to predict the power fluctuation of the three-phase asynchronous motor at the next moment. Based on this, it generates photovoltaic output adjustment commands or energy storage charging and discharging power adjustment commands. The millisecond-level transient disturbance information on the motor drive side is introduced into the photovoltaic-storage scheduling decision in a feedforward manner, improving the scheduling response from a second-level lag to a real-time coordinated level synchronized with the disturbance. This effectively avoids frequent charging and discharging switching of energy storage due to sensing lag, thereby extending cycle life. At the same time, by adjusting photovoltaic output and energy storage power in advance, it maximizes the absorption of surplus photovoltaic power, ultimately achieving dynamic source-load matching and reliable system operation. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a structural diagram of a linear active disturbance rejection-based integrated current loop control and coordination system for a mine belt conveyor based on optical storage and charge storage in one embodiment of this application; Figure 2 A schematic diagram of an integrated current loop control and coordination device for optical storage and charge storage of a mining belt conveyor based on linear active disturbance rejection is provided in one embodiment of this application; Figure 3This is a schematic diagram of a method for integrated current loop control and coordination of optical storage and charge storage in a mining conveyor belt based on linear active disturbance rejection in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] In one exemplary embodiment, such as Figure 1 As shown, a linear self-disturbance rejection integrated optical-electrical-charge storage current loop control and coordination system for mine belt conveyors is provided, specifically including: The three-phase current sampling module is used to obtain the three-phase stator current of the three-phase asynchronous motor driving the belt conveyor at the current sampling moment.

[0028] The main control computing unit is used to process the three-phase stator current at the current sampling time to obtain the q-axis torque current at the current sampling time.

[0029] The tracking differentiator unit is used to construct a bounded acceleration transition trajectory from the acquired external q-axis current reference command, thereby obtaining the smooth transition trajectory at the current sampling moment and the corresponding generalized derivative.

[0030] The extended state observer unit is used to iteratively update the q-axis torque current at the current sampling time and the compensated q-axis current control quantity obtained at the previous sampling time to obtain the first state variable and the second state variable at the current sampling time, and to set the total disturbance as the third state variable at the current sampling time; the total disturbance includes at least the coupled disturbance of the mine power grid voltage fluctuation on the slip current of the three-phase asynchronous motor and the sudden change disturbance of the friction load torque of the belt conveyor.

[0031] The disturbance feedforward compensation unit is used to calculate and output the compensated q-axis current control quantity at the current sampling time based on the first state variable at the current sampling time, the second state variable at the current sampling time, the third state variable at the current sampling time, the smooth transition trajectory at the current sampling time, and the corresponding generalized derivative.

[0032] The photovoltaic-storage coordinated scheduling unit is used to predict the power fluctuation of the three-phase asynchronous motor at the next moment based on the third state variable at the current sampling moment, and generate a photovoltaic output adjustment command or an energy storage charging and discharging power adjustment command according to the power fluctuation at the next moment; the photovoltaic output adjustment command is used to control the photovoltaic power generation unit to adjust the photovoltaic output; the energy storage charging and discharging power adjustment command is used to control the energy storage unit to adjust the energy storage charging and discharging power.

[0033] In a specific hardware implementation, the above modules can be implemented using the following devices: The three-phase current sampling module uses three three-phase closed-loop Hall current transformers (CTs), which are mounted on each phase conductor between the inverter output and the three-phase asynchronous motor terminal. It outputs an isolated voltage / current analog signal proportional to the three-phase stator current, which is sent to and transmitted to the PLC's analog input channel, or directly acquired by an independent ADC module. The main control computing unit can be an S7-1215C programmable controller, a TI C2000 series digital signal processor (DSP), or an equivalent computing platform. Each control cycle (Tc) is set to no more than 2ms. It executes the Clark transform, Park transform, and linear active disturbance rejection control (LADRC) signal chain, and outputs the calculated compensated q-axis current control quantity to the inverter. Simultaneously, it sends the disturbance information observed by the extended state observer to the photovoltaic-storage collaborative scheduling unit to achieve source-load coordination. The frequency converter (which can also intercept the DC bus signal in V / F mode, or open the iq reference interface in vector mode) receives the compensated q-axis current control quantity (or equivalent frequency / torque limiting command) from the main control computing unit to drive the three-phase asynchronous motor.

[0034] Optionally, the integrated photovoltaic-storage-load current loop control and coordination system for mine belt conveyors based on linear active disturbance rejection can also be configured with a voltage sampling circuit to collect the effective values ​​of the inverter's DC bus voltage or two-phase line voltage, used to indirectly infer grid voltage fluctuations and participate in the construction of the total disturbance model, and to configure a speed encoder, installed on the non-load end coupling of the three-phase asynchronous motor, to provide speed feedback for the speed outer loop (the linear active disturbance rejection control in this application mainly acts on the current / torque inner loop, and the speed outer loop can be a simplified PI or open-loop V / F with torque limiting). The photovoltaic power generation unit includes a photovoltaic array and a combiner unit, deployed at the mine site, converting solar energy into DC power, which is then connected to the inverter after combining; the energy storage unit includes an energy storage battery pack (such as a lithium iron phosphate battery pack) and its battery management system (BMS). The BMS monitors the battery's state of charge (SOC), temperature, and health status in real time, and communicates with the main control computing unit via a CAN / RS485 bus to receive energy storage charging and discharging power adjustment commands.

[0035] Optionally, the integrated current loop control and coordination system for photovoltaic storage and load in mine conveyor belts based on linear active disturbance rejection also includes a bidirectional energy storage converter and a photovoltaic inverter. The photovoltaic output and energy storage charging and discharging power are adjusted according to the instructions output by the main control computing unit (photovoltaic storage coordinated scheduling unit) to realize photovoltaic DC-AC conversion and bidirectional DC-AC conversion of energy storage.

[0036] Optionally, the integrated current loop control and coordination system for optical storage and load storage of the mining belt conveyor based on linear active disturbance rejection can also be equipped with an industrial touch screen human-machine interface (HMI), which is connected to the main control computing unit via Profinet / Ethernet to realize system status visualization, parameter configuration and fault early warning.

[0037] In another exemplary embodiment of this application, the extended state observer unit and the tracking differentiator unit are implemented in the form of discrete function blocks. The execution cycle of the function blocks is triggered by the PLC cyclic interrupt organization block OB35 or the DSP PWM interrupt organization block with a period of Ts≤2ms. The input pins of the function blocks include at least: i q (q-axis torque current from the current sampling moment of the Park transform), iq_ref (external q-axis current reference command from the speed outer loop or gear mapping), Vdc_or_VLL (voltage sample value, used to sense voltage fluctuations in the mine power grid), Ts (control cycle); the output pins include at least: iq_comp (i.e., the compensated q-axis current control quantity, output to the inverter's i q interface), (That is, the third state variable at the current sampling time output by the extended state observer unit, which is used as the disturbance feedforward input of the optical-storage collaborative scheduling unit), and can also output diagnostic variables to display the disturbance amplitude on the HMI to realize early warning and alarm.

[0038] During the sampling process, the analog signal output from the three-phase closed-loop Hall current transformer is sequentially isolated and conditioned by an isolation amplifier, and then filtered by an anti-aliasing RC filter to eliminate high-frequency noise before being sent to the ADC module for sampling buffering. The main control calculation unit reads the buffered value, performs per-unit conversion to obtain a digital quantity in amperes, and then proceeds to subsequent coordinate transformation processes such as Clarke and Park transformations. The sampling period (i.e., the control period) Ts is set to not exceed 2ms to ensure real-time capture of the transient current of the three-phase asynchronous motor.

[0039] In another exemplary embodiment of this application, in processing the three-phase stator current at the current sampling moment to obtain the q-axis torque current at the current sampling moment, the main control calculation unit is used for: The three-phase stator current at the current sampling time k , , Perform Clarke transform to obtain the current components in the two-phase stationary coordinate system. , .

[0040] Subsequently based on the rotor magnetic field angle (Obtained by encoder or slip estimation) Current components in the two-phase stationary coordinate system , Perform the Park transformation to obtain the q-axis torque current at the current sampling time in the two-phase rotating coordinate system. and the d-axis torque current at the current sampling time .Should That is, the controlled output of the linear active disturbance rejection controller. .

[0041] In another exemplary embodiment of this application, in constructing a bounded acceleration transition trajectory from the acquired external q-axis current reference command to obtain the smooth transition trajectory and corresponding generalized derivative at the current sampling moment, the tracking differentiator unit is used for: The smooth transition trajectory is recursively derived from the acquired external q-axis current reference command using the following formula to obtain the smooth transition trajectory at the current sampling moment and the corresponding generalized derivative: ; ; ; ; ; ; in, This represents the smooth transition trajectory at the current sampling time k; This represents the smooth transition trajectory at the previous sampling time k-1; h is the integration step size. This is the generalized derivative of the smooth transition trajectory at the previous sampling time k-1; This is the generalized derivative of the smooth transition trajectory at the current sampling time k; This is the fastest control synthesis function; External q-axis current reference command (generated by the speed outer loop or start / stop gear mapping); The velocity factor; It is a symbolic function; This is the actual acceleration value after the fastest speed control is applied. This is the threshold value for the linear region boundary of the transition process; It is the absolute value of the differential acceleration as a reference quantity; This is the threshold for the error partition boundary.

[0042] Through this step, the external q-axis current reference command changes from a step-like movement to a smooth rising curve with finite acceleration. This suppresses the instantaneous inrush current during the startup of the three-phase asynchronous motor at its source, preventing drastic power fluctuations from interfering with the energy storage charging and discharging strategy. Specifically, by constructing the bounded acceleration transition trajectory of the tracking differentiator unit, regardless of how quickly the operator presses the full-speed start command, the external q-axis current reference command will smoothly rise along the bounded slope planned by the tracking differentiator, thereby limiting the rate of change of the q-axis current from the root. This effectively controls the peak starting current within 1.8 to 2.5 times the rated current, significantly avoiding interference from power transients during startup on the photovoltaic energy storage system.

[0043] In another exemplary embodiment of this application, in terms of iteratively updating the q-axis torque current based on the current sampling time and the compensated q-axis current control quantity obtained from the previous sampling time, the extended state observer unit is used to: The q-axis torque current at the current sampling moment is obtained and used as the output feedback value of the observer.

[0044] Obtain the q-axis current control quantity after compensation at the previous sampling time.

[0045] Based on the q-axis torque current at the current sampling time and the compensated q-axis current control quantity at the previous sampling time, a discrete iterative formula is used for iterative updating.

[0046] The discrete iteration formula is as follows: ; ; ; ; ; ; ; ; in, The observation error at the current sampling time k; The first state variable at the previous sampling time k-1; This represents the q-axis torque current at the current sampling time k. Let k be the first state variable at the current sampling time. This is the second state variable at the current sampling time k; The third state variable at the current sampling time k; To control the cycle; This is the second state variable at the previous sampling time k-1; This is the first gain parameter; The third state variable is the one from the previous sampling time k-1; This is the second gain parameter; It is a nonlinear factor. ; The width of the linear segment of the nonlinear revenue function; The preset equivalent control gain for the motor; This is the compensated q-axis current control quantity at the previous sampling time k-1; This is the third gain parameter; It is a non-linear payoff function; It is a symbolic function; The observer bandwidth is adjusted at the current sampling time k. , , Follow Synchronous updates enable faster response of the extended state observer unit under heavy loads and avoid amplification of measurement noise under light loads, ensuring the accuracy of disturbance observation under different load conditions.

[0047] Specifically, the extended state observer unit expands the unmodeled dynamics in the torque current loop of the three-phase asynchronous motor, the coupled disturbance of the voltage fluctuation of the mine power grid on the slip current of the three-phase asynchronous motor, and the sudden change disturbance of the friction load torque of the belt conveyor into a total disturbance, constructs a discrete extended state observer of second-order linear active disturbance rejection control (LADRC), and estimates the total disturbance in real time through subsequent discrete iterative formulas, and outputs it as the third state variable at the current sampling time.

[0048] The expression for the total disturbance is: ; in, , , These are mutual inductance, stator inductance, and rotor inductance, respectively. Leakage inductance coefficient; This refers to the rotor's mechanical angular velocity; , This is the gain coefficient corresponding to the disturbance amount; Synchronous angular velocity; This refers to the voltage fluctuation of the mine's power grid. This is a disturbance caused by sudden changes in the load torque of the belt conveyor. It is a nonlinear function of mechanical friction that includes static friction, Coulomb friction, and viscous friction; For rotor flux linkage; The current is the d-axis current of the stator. This refers to the stator q-axis current; Rotor resistance; This is the cross-coupling disturbance term between the stator dq-axis currents.

[0049] Third state variable The expanded "total disturbance" physically encompasses the coupling term of the mine power grid voltage fluctuations to the slip current of the three-phase asynchronous motor, as well as the sudden disturbance of the frictional load torque of the belt conveyor. Both types of disturbances directly cause power fluctuations in the motor. It can be used as a feedforward prediction signal for motor power fluctuations, providing millisecond-level disturbance warnings for photovoltaic-storage scheduling.

[0050] In another exemplary embodiment of this application, the calculation formula for the compensated q-axis current control quantity at the current sampling time is: ; in, This is the q-axis current control quantity after compensation at the current sampling time k; For proportional gain; This represents the smooth transition trajectory at the current sampling time k; Let k be the first state variable at the current sampling time. This is the differential gain; This is the generalized derivative of the smooth transition trajectory at the current sampling time k; This is the second state variable at the current sampling time k; The third state variable at the current sampling time k; This is the preset equivalent control gain for the motor.

[0051] In another exemplary embodiment of this application, in generating photovoltaic output adjustment commands or energy storage charging and discharging power adjustment commands based on the power fluctuation at the next moment, the photovoltaic-energy storage coordinated scheduling unit is used for: Determine whether the power fluctuation at the next moment is greater than a first preset threshold to obtain a first determination result.

[0052] If the first determination result is yes, then the light intensity information of the photovoltaic power generation unit is obtained.

[0053] Determine whether the light intensity information of the photovoltaic power generation unit is greater than a second preset threshold to obtain a second determination result.

[0054] If the second judgment result is yes, then an adjustment command to increase photovoltaic output is generated.

[0055] If the second judgment result is negative, an adjustment command to increase the energy storage discharge power is generated.

[0056] If the first determination result is negative, then the current state of charge value of the energy storage unit is obtained.

[0057] Determine whether the current state of charge of the energy storage unit is less than a third preset threshold, and obtain a third determination result.

[0058] If the third judgment result is yes, then an adjustment command to increase the energy storage charging power is generated.

[0059] If the third judgment result is negative, an adjustment command to reduce photovoltaic output is generated.

[0060] In another exemplary embodiment of this application, the optical-storage coordinated scheduling unit uses the third state variable at the current sampling time output by the extended state observer unit. As a feedforward signal for motor power fluctuations, the following refined scheduling strategy is executed: according to Based on the trend of change, predict the power change ΔP of the three-phase asynchronous motor within a preset time period (e.g., 100 ms). load .

[0061] If ΔP load If the value is >0, it indicates that the load is about to increase and the power demand is rising. Therefore: The system obtains the current light intensity information of the photovoltaic power generation unit. If the light intensity is higher than a preset threshold, it generates an adjustment command to increase the photovoltaic output in advance to cope with the power increment.

[0062] If the light intensity does not meet the requirements, an adjustment command to increase the energy storage discharge power is generated, with the adjustment amount being ΔP. load To avoid power shortage.

[0063] If ΔP load If the value is less than 0, it indicates that the load is about to decrease and the power demand is decreasing. Therefore: The current state of charge (SOC) value of the energy storage unit is obtained. If the current SOC value is less than the preset upper limit of charge (e.g., 90%), an adjustment command to increase the energy storage charging power is generated to absorb the surplus photovoltaic power and avoid photovoltaic power feeding into the grid.

[0064] If the current state of charge value has reached or exceeded the preset upper limit of charge, an adjustment command to reduce photovoltaic output is generated to reduce photovoltaic output and avoid power surplus.

[0065] In addition, the photovoltaic-storage coordinated scheduling unit also incorporates peak-valley electricity price information, prioritizing the use of off-peak electricity from the power grid to charge the energy storage unit during periods of low electricity prices, and prioritizing the use of photovoltaic power generation and energy storage discharge during periods of high electricity prices, thereby achieving peak shaving and valley filling.

[0066] In another exemplary embodiment of this application, the tracking differentiator unit is further configured to: The system obtains the real-time effective value of the line voltage of the mine power grid to which the three-phase asynchronous motor is connected, and automatically adjusts the speed factor based on the deviation between the real-time effective line voltage and the rated line voltage.

[0067] Wherein, if the relative magnitude of the effective value of the real-time line voltage of the mine power grid deviates from the rated line voltage by more than or equal to the fourth preset threshold, the speed factor is reduced so that the peak value of the starting current is controlled within 2.5 times the rated current of the three-phase asynchronous motor.

[0068] In another exemplary embodiment of this application, an observer bandwidth adaptive unit is further included; the observer bandwidth adaptive unit is used to calculate the load rate at the current sampling time based on the three-phase stator current at the current sampling time, and adjust the observer bandwidth of the expanded state observer unit according to the load rate at the current sampling time, and perform a small adaptive adjustment on the observer bandwidth parameter to obtain the adjusted observer bandwidth.

[0069] The formula for adjusting the observer bandwidth is: ; in, The observer bandwidth is adjusted at the current sampling time k; This is the baseline value for the observer bandwidth; This is the bandwidth adjustment factor, with a value ranging from 0.05 to 0.15; The load rate at the current sampling time k; The three-phase stator current at the current sampling time k; This is the rated current of the three-phase asynchronous motor.

[0070] In another exemplary embodiment of this application, the three-phase asynchronous motor is a squirrel-cage three-phase asynchronous motor for driving mine belt conveyors, with a power range of 15kW to 500kW, driven by the frequency converter in V / F mode or vector mode. Furthermore, the method described in this application utilizes the third state variable at the current sampling time output by the extended state observer unit without relying on a rotor position encoder. Equivalent compensation is applied to the voltage fluctuation term ΔVgrid in the mine power grid.

[0071] In one exemplary embodiment, combined with Figure 1 The signal flow of the system structure shown is as follows during operation: First, the three-phase current sampling module collects the three-phase stator current of the three-phase asynchronous motor in real time. , , The main control computing unit sequentially performs Clarke transformation on the three-phase current to obtain the current components in the two-phase stationary coordinate system. , Then, after Park transformation (based on the angle of the motor rotor magnetic field) The q-axis torque current at the current sampling moment in the two-phase rotating coordinate system is obtained. .

[0072] Next, the tracking differentiator unit responds to the externally input q-axis current reference command. Construct a bounded acceleration transition trajectory to generate a smooth transition trajectory at the current sampling time. and its generalized derivative This suppresses the current surge during motor startup from the source, preventing drastic power fluctuations from interfering with the energy storage charging and discharging strategy.

[0073] Then, the extended state observer unit calculates the q-axis torque current at the current sampling time. and the q-axis current control quantity after compensation at the previous sampling time. The first state variable at the current sampling time is updated according to the discrete iterative formula. Second state variable The total disturbance, which includes the coupling terms of load change disturbance (ΔTL) and grid voltage fluctuation (ΔV), is output as the third state variable z3 in real time.

[0074] The disturbance feedforward compensation unit is based on , , , , The q-axis current control quantity after compensation at the current sampling time is calculated. This control quantity is applied to the motor through the inverter's torque limiting / current limiting interface to achieve millisecond-level feedforward compensation for complex disturbances, effectively suppressing torque pulsation and speed fluctuations.

[0075] At the same time, the photovoltaic-storage collaborative scheduling unit directly obtains the third state variable output by the extended state observer. ,use The current total disturbance information is used to predict the power fluctuation of the three-phase asynchronous motor at the next moment, and based on this, photovoltaic output adjustment commands or energy storage charging and discharging power adjustment commands are generated. The photovoltaic output adjustment command is sent to the photovoltaic power generation unit to adjust its MPPT tracking point or output power; the energy storage charging and discharging power adjustment command is sent to the energy storage unit to adjust its charging and discharging power. This achieves feedforward transmission of transient disturbance information from the motor side to the photovoltaic-energy storage scheduling side, enabling real-time coordination of source-load dynamic matching, avoiding frequent energy storage switching and photovoltaic curtailment caused by scheduling lag, and ultimately improving system operational stability and renewable energy absorption rate.

[0076] In another exemplary embodiment of this application, the industrial touch screen human-machine interface (HMI) is connected to the data block DB of the main control computing unit via Ethernet TCP / IP or Profinet. The HMI displays at least the following: the trajectory of the q-axis torque current changing with time, the amplitude of the third state variable disturbance at the current sampling time k, the smooth transition trajectory at the current sampling time k, the current state of charge value, the photovoltaic output, and the first gain parameter, second gain parameter, third gain parameter of the ESO, or the observer bandwidth adjusted at the current sampling time k, and provides an online modification entry under password-level permissions.

[0077] Based on the same inventive concept, such as Figure 2 As shown in the embodiments of this application, a current loop control and coordination device for integrated photovoltaic-energy storage and power storage of a mining conveyor belt is also provided. It includes the integrated current loop control and coordination system for integrated photovoltaic-energy storage and power storage of a mining conveyor belt as described in any of the above-mentioned embodiments, a photovoltaic power generation unit, and an energy storage unit.

[0078] The photovoltaic power generation unit is used to receive the photovoltaic output adjustment command and adjust the photovoltaic output according to the photovoltaic output adjustment command.

[0079] The energy storage unit is used to receive the energy storage charging and discharging power adjustment command and adjust the energy storage charging and discharging power according to the energy storage charging and discharging power adjustment command.

[0080] In another exemplary embodiment, simulation and experimental tests were conducted to verify the actual effect of the system of this application. The key performance indicators are as follows: Because the tracking differentiator unit constructs a bounded acceleration transition trajectory based on the external q-axis current reference command, the motor starting current surge is reduced from 5-7 times the rated current to approximately 1.8-2.5 times, a reduction of about 40%, effectively avoiding interference from the starting power surge to the photovoltaic-storage system. Under the condition of ±20% voltage fluctuation in the mine power grid, the extended state observer estimates the coupling disturbance of voltage fluctuation on the rotor induced magnetic field in real time as a third state variable and cancels it out through the disturbance feedforward compensation unit. The torque ripple can be controlled within 5%, while the ripple under traditional PI control usually exceeds 15%. When the belt conveyor load experiences a ±50% step change, the system recovery time is approximately 30ms with no overshoot, compared to approximately 40ms for PI control accompanied by oscillation. Under the condition of 5% superimposed 5th, 7th, and 9th harmonics in the power grid, the total harmonic distortion (THD) of the grid-connected current is reduced to 0.50%, far superior to the 5.28% of PI control. Step acceleration comparison experiments show that the static speed error of this system does not exceed 0.2 r / min, while that of PID control is approximately 3 r / min. Regarding photovoltaic-storage synergy, the photovoltaic-storage synergy scheduling unit uses the third state variable output by the extended state observer to predict motor power fluctuations and perform feedforward scheduling, avoiding frequent charging and discharging of energy storage caused by transient power fluctuations. This reduces the number of energy storage charging and discharging cycles by 45% and extends battery cycle life by more than 30%. Simultaneously, real-time matching of photovoltaic output and motor load is achieved through dynamic scheduling, increasing the photovoltaic absorption rate to 98%, with all surplus power being absorbed by energy storage and eliminating grid losses. Pilot project data shows that under normal operating conditions, annual electricity costs are reduced by 23%, with peak-valley arbitrage and photovoltaic self-consumption contributing the main benefits; annual carbon reduction is 480 tons, and carbon emissions are reduced by 25%. Furthermore, all control operations of this system can be executed by the ST / SCL function block of a programmable logic controller (PLC) or a TMS320C2000 series digital signal processor, with a code size of less than 80KB and a control cycle of less than 50μs, adapting to existing mine hardware architectures. Pilot data also showed that the system's startup failure rate and the failure rate caused by power grid fluctuations decreased by 18.7%, significantly improving the system's operational reliability.

[0081] Based on the same inventive concept, such as Figure 3 As shown in the embodiments of this application, a method for integrated optical-electrical-charge storage current loop control and coordination of mine belt conveyors based on linear active disturbance rejection is also provided, specifically including: Step 301: Obtain the three-phase stator current of the three-phase asynchronous motor on the drive belt conveyor at the current sampling time.

[0082] Step 302: Process the three-phase stator current at the current sampling time to obtain the q-axis torque current at the current sampling time.

[0083] Step 303: Construct a bounded acceleration transition trajectory for the acquired external q-axis current reference command to obtain the smooth transition trajectory and the corresponding generalized derivative at the current sampling time.

[0084] Step 304: Iteratively update the q-axis torque current at the current sampling time and the compensated q-axis current control quantity obtained at the previous sampling time to obtain the first state variable and the second state variable at the current sampling time, and set the total disturbance as the third state variable at the current sampling time; the total disturbance includes at least the coupled disturbance of the mine power grid voltage fluctuation on the slip current of the three-phase asynchronous motor and the sudden change disturbance of the friction load torque of the belt conveyor.

[0085] Step 305: Based on the first state variable at the current sampling time, the second state variable at the current sampling time, the third state variable at the current sampling time, the smooth transition trajectory at the current sampling time, and the corresponding generalized derivative, calculate and output the compensated q-axis current control quantity at the current sampling time.

[0086] Step 306: Based on the third state variable at the current sampling time, predict the power fluctuation of the three-phase asynchronous motor at the next time moment, and generate a photovoltaic output adjustment command or an energy storage charging and discharging power adjustment command according to the power fluctuation at the next time moment; the photovoltaic output adjustment command is used to control the photovoltaic power generation unit to adjust the photovoltaic output; the energy storage charging and discharging power adjustment command is used to control the energy storage unit to adjust the energy storage charging and discharging power.

[0087] In some variant embodiments of this application, the above modules can be implemented using the following alternative solutions, all of which do not depart from the core concept of this application: I. Alternative Implementation of the Tracking Differentiator Unit When constructing a smooth transition trajectory for the external q-axis current reference command, the tracking differentiator unit can use not only the fastest control synthesis function, but also a Sigmoid-type smoothing function or a jerk-limited trajectory for equivalent substitution. These alternatives, along with the fastest control synthesis function, belong to the higher-level concept of "command arrangement transition process," and both can achieve a bounded acceleration smooth rise in the current command, suppressing the instantaneous inrush current during motor startup from the source.

[0088] II. Enhanced Implementation of the Extended State Observer Unit To address the extreme condition of faster voltage dip rates in mining power grids, the extended state observer unit can employ a third-order extended state observer structure. In addition to treating the total disturbance as the third state variable, it further observes the grid voltage change rate dΔV / dt as the extended state. This enhancement scheme can further improve the disturbance observation accuracy of the extended state observer under conditions of rapid voltage fluctuations and enhance the robustness of the current loop under extreme grid conditions.

[0089] III. Alternative Implementation of Three-Phase Current Sampling Module In addition to using a three-phase closed-loop Hall current transformer, the three-phase current sampling module can also be implemented using a "shunt + isolation amplifier" scheme. The shunt scheme converts the current signal into a voltage signal through a sampling resistor, and then performs electrical isolation and signal conditioning through an isolation amplifier. This alternative scheme is functionally equivalent to the closed-loop Hall current transformer, but the isolation level is reduced, making it suitable for applications with relatively relaxed isolation requirements.

[0090] IV. Alternative Implementation of Three-Phase Asynchronous Motors In addition to a squirrel-cage three-phase asynchronous motor, the motor driving the belt conveyor can also be a wound-rotor asynchronous motor. Since the Linear Active Disturbance Rejection Control (LADRC) of this application directly acts on the stator current loop of the motor, its control law and observer structure are both constructed based on stator-side current information. The rotor-side structure (squirrel-cage or wound-rotor) does not directly affect the observation and compensation structure of the q-axis torque current. Therefore, the control and coordination system of this application is also applicable to the driving scenario of wound-rotor asynchronous motors.

[0091] V. Realization of Hybrid Energy Storage Alternatives for Energy Storage Units In addition to using a single energy storage battery pack, the energy storage unit can also employ a hybrid energy storage scheme of "supercapacitor + lithium battery". The supercapacitor, with its millisecond-level response characteristics, is used to handle high-frequency power fluctuations caused by sudden load changes in the conveyor belt and motor starting impacts; the lithium battery is used to handle low-frequency, continuous energy dispatching needs. This hybrid energy storage scheme can further improve the response speed and cycle life of the energy storage system under high-frequency power fluctuation conditions.

[0092] The above alternative solutions do not change the core architecture of this application based on linear active disturbance rejection current loop control and photovoltaic-storage synergy. Each alternative implementation method can be flexibly selected according to factors such as the isolation level requirements of the actual application scenario, the severity of grid fluctuations, and the frequency characteristics of power fluctuations.

[0093] This application also provides an application scenario in which the above-mentioned method for integrated photovoltaic-energy storage-load current loop control and coordination of mine conveyor belts based on linear active disturbance rejection (AID) is applied. Specifically, the method for integrated photovoltaic-energy storage-load current loop control and coordination of mine conveyor belts based on linear AID provided in this embodiment can be applied in a mine conveyor belt transportation system. This scenario includes the photovoltaic power generation and energy storage power supply link, the conveyor belt motor drive link, and the source-load coordinated scheduling link. The method for integrated photovoltaic-energy storage-load current loop control and coordination of mine conveyor belts based on linear AID provided in this embodiment belongs to the conveyor belt motor drive and coordinated scheduling link.

[0094] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 4 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores photovoltaic output adjustment commands or energy storage charging and discharging power adjustment commands. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a linear active disturbance rejection (AID) method for integrated photovoltaic-energy storage-charge current loop control and coordination in mine belt conveyors.

[0095] Figure 4 The structures shown are merely block diagrams of some structures related to the present application and do not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than shown in the figures, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0096] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0097] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0098] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations and be authorized by the owner of the corresponding device.

[0099] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0100] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A current loop control and coordination system for integrated optical-electrical storage and charging of a mine belt conveyor based on linear active disturbance rejection, characterized in that, The system includes: The three-phase current sampling module is used to obtain the three-phase stator current of the three-phase asynchronous motor driving the belt conveyor at the current sampling moment. The main control computing unit is used to process the three-phase stator current at the current sampling time to obtain the q-axis torque current at the current sampling time; The tracking differentiator unit is used to construct a bounded acceleration transition trajectory from the acquired external q-axis current reference command, and obtain the smooth transition trajectory and the corresponding generalized derivative at the current sampling moment. The extended state observer unit is used to iteratively update the q-axis torque current at the current sampling time and the compensated q-axis current control quantity obtained at the previous sampling time to obtain the first state variable and the second state variable at the current sampling time, and to set the total disturbance as the third state variable at the current sampling time; the total disturbance includes at least the coupled disturbance of the mine power grid voltage fluctuation on the slip current of the three-phase asynchronous motor and the sudden change disturbance of the friction load torque of the belt conveyor. The disturbance feedforward compensation unit is used to calculate and output the compensated q-axis current control quantity at the current sampling time based on the first state variable at the current sampling time, the second state variable at the current sampling time, the third state variable at the current sampling time, the smooth transition trajectory at the current sampling time, and the corresponding generalized derivative. The photovoltaic-storage coordinated scheduling unit is used to predict the power fluctuation of the three-phase asynchronous motor at the next moment based on the third state variable at the current sampling moment, and generate a photovoltaic output adjustment command or an energy storage charging and discharging power adjustment command according to the power fluctuation at the next moment; the photovoltaic output adjustment command is used to control the photovoltaic power generation unit to adjust the photovoltaic output; the energy storage charging and discharging power adjustment command is used to control the energy storage unit to adjust the energy storage charging and discharging power.

2. The integrated optical-electrical-charge storage current loop control and coordination system for mine belt conveyors based on linear self-disturbance rejection as described in claim 1, characterized in that, In terms of iteratively updating the q-axis torque current based on the current sampling time and the compensated q-axis current control quantity obtained from the previous sampling time, the extended state observer unit is used for: The q-axis torque current at the current sampling moment is obtained and used as the output feedback value of the observer; Obtain the q-axis current control quantity after compensation at the previous sampling time; Based on the q-axis torque current at the current sampling time and the compensated q-axis current control quantity at the previous sampling time, a discrete iterative formula is used for iterative updating; The discrete iteration formula is as follows: ； ； ； ； ； in, The observation error at the current sampling time k; The first state variable at the previous sampling time k-1; This represents the q-axis torque current at the current sampling time k. Let k be the first state variable at the current sampling time. This is the second state variable at the current sampling time k; The third state variable at the current sampling time k; To control the cycle; This is the second state variable at the previous sampling time k-1; This is the first gain parameter; The third state variable is the one from the previous sampling time k-1; This is the second gain parameter; It is a nonlinear factor; The width of the linear segment of the nonlinear revenue function; The preset equivalent control gain for the motor; This is the compensated q-axis current control quantity at the previous sampling time k-1; This is the third gain parameter; It is a non-linear payoff function; It is a symbolic function.

3. The integrated optical-electrical-charge storage current loop control and coordination system for mine belt conveyors based on linear active disturbance rejection as described in claim 1, characterized in that, In constructing a bounded acceleration transition trajectory from the acquired external q-axis current reference command, and obtaining the smooth transition trajectory and corresponding generalized derivative at the current sampling moment, the tracking differentiator unit is used for: The smooth transition trajectory is recursively derived from the acquired external q-axis current reference command according to the following formula to obtain the smooth transition trajectory and the corresponding generalized derivative at the current sampling time; ； ； ； ； ； ； in, This represents the smooth transition trajectory at the current sampling time k; This represents the smooth transition trajectory at the previous sampling time k-1; h is the integration step size. This is the generalized derivative of the smooth transition trajectory at the previous sampling time k-1; This is the generalized derivative of the smooth transition trajectory at the current sampling time k; This is the fastest control synthesis function; External q-axis current reference command; For velocity factor; It is a symbolic function; This is the actual acceleration value after the fastest speed control is applied. This is the threshold value for the linear region boundary of the transition process; It is the absolute value of the differential acceleration as a reference quantity; This is the threshold for the error partition boundary.

4. The integrated optical-electrical-charge storage current loop control and coordination system for mine belt conveyors based on linear self-disturbance rejection as described in claim 1, characterized in that, The formula for calculating the compensated q-axis current control quantity at the current sampling time is: ； in, This is the q-axis current control quantity after compensation at the current sampling time k; For proportional gain; This represents the smooth transition trajectory at the current sampling time k; Let k be the first state variable at the current sampling time. This is the differential gain; This is the generalized derivative of the smooth transition trajectory at the current sampling time k; This is the second state variable at the current sampling time k; The third state variable at the current sampling time k; This is the preset equivalent control gain for the motor.

5. The integrated optical-electrical-charge storage current loop control and coordination system for mine belt conveyors based on linear self-disturbance rejection as described in claim 1, characterized in that, In generating photovoltaic output adjustment commands or energy storage charging and discharging power adjustment commands based on the power fluctuation at the next moment, the photovoltaic-energy storage coordinated scheduling unit is used for: Determine whether the power fluctuation at the next moment is greater than a first preset threshold, and obtain a first determination result; If the first determination result is yes, then obtain the light intensity information of the photovoltaic power generation unit; Determine whether the light intensity information of the photovoltaic power generation unit is greater than a second preset threshold, and obtain a second determination result; If the second judgment result is yes, then an adjustment command to increase photovoltaic output is generated; If the second judgment result is negative, an adjustment command to increase the energy storage discharge power is generated; If the first determination result is negative, then the current state of charge value of the energy storage unit is obtained; Determine whether the current state of charge of the energy storage unit is less than a third preset threshold, and obtain a third determination result; If the third judgment result is yes, then an adjustment command to increase the energy storage charging power is generated; If the third judgment result is negative, an adjustment command to reduce photovoltaic output is generated.

6. The integrated optical-electrical-charge storage current loop control and coordination system for mine belt conveyors based on linear active disturbance rejection as described in claim 1, characterized in that, It also includes an observer bandwidth adaptive unit; the observer bandwidth adaptive unit is used to calculate the load rate at the current sampling time based on the three-phase stator current at the current sampling time, and adjust the observer bandwidth of the expanded state observer unit according to the load rate at the current sampling time to obtain the adjusted observer bandwidth; The formula for adjusting the observer bandwidth is: ； in, The observer bandwidth is adjusted at the current sampling time k; This is the baseline value for the observer bandwidth; This is the bandwidth adjustment factor; The load rate at the current sampling time k; The three-phase stator current at the current sampling time k; This is the rated current of the three-phase asynchronous motor.

7. The integrated optical-electrical-charge storage current loop control and coordination system for mine belt conveyors based on linear active disturbance rejection as described in claim 3, is characterized in that... The tracking differentiator unit is also used for: The system obtains the real-time effective value of the line voltage of the mining power grid to which the three-phase asynchronous motor is connected, and automatically adjusts the speed factor based on the deviation between the real-time effective line voltage and the rated line voltage. Wherein, if the relative magnitude of the effective value of the real-time line voltage of the mine power grid deviates from the rated line voltage by more than or equal to the fourth preset threshold, the speed factor is reduced so that the peak value of the starting current is controlled within 2.5 times the rated current of the three-phase asynchronous motor.

8. A current loop control and coordination device for integrated optical-electrical storage and charging of a mine belt conveyor based on linear self-disturbance rejection, characterized in that, Includes the integrated photovoltaic-energy storage-load current loop control and coordination system for mine belt conveyors based on linear active disturbance rejection as described in any one of claims 1-7, a photovoltaic power generation unit, and an energy storage unit; A photovoltaic power generation unit is used to receive the photovoltaic output adjustment command and adjust the photovoltaic output according to the photovoltaic output adjustment command; An energy storage unit is used to receive the energy storage charging and discharging power adjustment command and adjust the energy storage charging and discharging power according to the energy storage charging and discharging power adjustment command.

9. A method for integrated optical-electrical-charge storage current loop control and coordination of mine belt conveyors based on linear active disturbance rejection, characterized in that, The method includes: Obtain the three-phase stator current of the three-phase asynchronous motor on the drive belt conveyor at the current sampling time; The three-phase stator current at the current sampling time is processed to obtain the q-axis torque current at the current sampling time; The bounded acceleration transition trajectory is constructed from the acquired external q-axis current reference command to obtain the smooth transition trajectory at the current sampling moment and the corresponding generalized derivative. The current sampling moment q-axis torque current and the compensated q-axis current control quantity obtained from the previous sampling moment are iteratively updated to obtain the first state variable and the second state variable at the current sampling moment, and the total disturbance is set as the third state variable at the current sampling moment; the total disturbance includes at least the coupled disturbance of the mine power grid voltage fluctuation on the slip current of the three-phase asynchronous motor and the sudden change disturbance of the friction load torque of the belt conveyor. Based on the first state variable, the second state variable, the third state variable, the smooth transition trajectory, and the corresponding generalized derivative at the current sampling time, calculate and output the compensated q-axis current control quantity at the current sampling time. Based on the third state variable at the current sampling time, the power fluctuation of the three-phase asynchronous motor at the next time moment is predicted, and a photovoltaic output adjustment command or an energy storage charging and discharging power adjustment command is generated according to the power fluctuation at the next time moment; the photovoltaic output adjustment command is used to control the photovoltaic power generation unit to adjust the photovoltaic output; the energy storage charging and discharging power adjustment command is used to control the energy storage unit to adjust the energy storage charging and discharging power.

10. A computer device, comprising: The memory, the processor, and the computer program stored in the memory and capable of running on the processor are characterized in that the processor executes the computer program to implement the integrated current loop control and coordination method for optical storage and load storage of mine belt conveyors based on linear active disturbance rejection as described in claim 9.

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