33 results about "Rotor inertia" patented technology

A rotor system for electrically powered rotorcraft is described, providing the benefits of fast thrust response, depending on rotor inertia. The rotor system includes a rotor hub and two or more rotor blades, and an electric motor driving the rotor hub. The rotor hub includes a mechanism which adapts the collective pitch of the rotor blades in response to the torque applied by the electric motor. When there is significant torque over a threshold, the rotor hub biases the blades to a higher collective pitch, which supports greater thrust, thus avoiding the lag in rotor thrust that would occur through RPM control.

The invention relates to the technical field of power system frequency control, in particular to a power system frequency control method based on wind storage combined frequency modulation. The method comprises the following steps: acquiring frequency data in real time, and quantifying frequency disturbance intensity; calculating an energy storage frequency modulation weight coefficient and a wind power frequency modulation weight coefficient based on the frequency disturbance intensity; the energy storage system performs frequency modulation based on the energy storage frequency modulation weight coefficient to obtain energy storage frequency modulation output power; the wind turbine generator participates in frequency modulation through a rotor inertia frequency modulation channel and a standby channel based on the wind power frequency modulation weight coefficient to obtain wind power inertia frequency modulation output power and response power of the wind power standby channel; and based on the energy storage frequency modulation output power and each frequency modulation power component of the wind power, obtaining total frequency modulation output power, and realizing multi-source collaborative staged frequency control. The problems that in a traditional power system frequency control method, the frequency modulation priority is not clear, the response signal path is fixed, the frequency modulation channel conflicts exist, and a recursive self-stabilization modulation mechanism does not exist are solved.

The invention relates to the technical field of motor control, and discloses an anti-locked-rotor starting control system. The system comprises a main control module, a dynamic rule base generation module, a phase compensation module, a pre-triggering module and a feedback correction module. The main control module monitors a three-phase current waveform and a rotor position signal of the motor and generates an instantaneous locked-rotor feature vector; the dynamic rule base generation module extracts a current waveform distortion mode of a historical locked-rotor event, and combines a rotor inertia parameter to construct a fuzzy rule set so as to initialize a dynamic rule base; the phase compensation module dynamically compensates the phase current waveform and constructs a stability evaluation function; the pre-triggering module triggers pre-access of the standby power supply according to the phase offset and verifies compatibility; and the feedback correction module generates a feedback parameter according to the locked-rotor risk index and the power supply verification result, and corrects the mapping relationship between the feature vector and the rule base. The system can accurately identify locked-rotor characteristics, dynamically adapt to operation parameters, actively prevent and control locked-rotor risks, and improve the starting stability of the motor.

The present invention discloses a method and system for calculating the impact of transient power angle stability based on energy deviation rate. The method includes determining the energy balance fulcrum of the power grid corresponding to each simulation time point after a preset disturbance; for each simulation time point, dividing the nodes in the network equation into two node sets with the energy balance fulcrum as the boundary, and determining the leading or lagging attribute of the node set based on the rotor inertia center angle of the synchronous generator associated with the nodes in the two node sets; determining the time period for calculating the impact of transient power angle stability based on the relative rotor inertia center angle between the leading node set and the lagging node set after the disturbance; calculating the energy deviation rate of the device connected to the grid through each node during the time period based on the grid-connected active power of the device through the connected nodes and the node set attributes at the simulation time point, and taking the sum of the energy deviation rates of the device connected to the grid through each connected node as the impact of the device on the transient power angle stability of the power grid after the disturbance. A corresponding system is also disclosed. The present invention provides an optimization direction for transient power angle stability control decision calculation.

The application discloses a suspension control method, system, device and medium. The suspension control method comprises the following steps: obtaining motor rotor inertia and motor damping coefficient under a current load, obtaining a motor torque according to the motor rotor inertia and the motor damping coefficient under the current load, and obtaining a motor equivalent damping force according to the motor torque; obtaining a shock absorber damping force according to an optimal damping curve of the shock absorber and the motor equivalent damping force; and realizing control of suspension damping according to the motor equivalent damping force and the shock absorber damping force. In the shock absorber, a motor power generation structure is introduced, the required damping force of the suspension is distributed, and optimal comfort and power generation efficiency are achieved. Therefore, the energy of the suspension vibration is absorbed by the motor without sacrificing the comfort, and the utilization rate of the energy of the automobile is improved.

The invention discloses a transient power angle stability influence degree calculation method and system based on active balance points, a storage medium and equipment. The method specifically comprises the steps that the power grid active balance points corresponding to all simulation time points after disturbance are determined; dividing network nodes into two node sets by taking an active balance division point as a boundary, and determining node set attributes according to a rotor inertia center angle of a synchronous generator in the node sets; according to a relative rotor inertia center angle between the synchronous generators in the node set after disturbance, determining a time period of transient power angle stability influence degree calculation; and calculating the influence degree of the element on the transient power angle stability of the power grid after disturbance in the preset power grid operation state according to the active power and node set attributes of the power grid injected by the element at each simulation time point through each connected node and the steady-state active power of the element injected into the power grid through each connected node in the influence degree calculation time period. According to the method, the influence degree of the disturbed element on the transient power angle stability of the power system can be calculated efficiently and accurately, and an optimization direction is provided for a transient power angle stability control decision.

The application discloses a new structure five-freedom-degree integrated hybrid magnetic bearing, and solves the technical problems of mutual restriction of axial and radial parameters and common bias magnetic flux in a conventional five-freedom-degree integrated hybrid magnetic bearing. The hybrid magnetic bearing divides a rotor core into two parts of radial and axial directions by a magnetic isolation ring, two radial stator cores, six permanent magnet blocks and the radial part of the rotor core form a radial magnetic circuit, and an axial stator core, two annular permanent magnets, two L-shaped cores and the axial part of the rotor core form an axial magnetic circuit. The new structure five-freedom-degree integrated hybrid magnetic bearing has the advantages of no coupling between the axial and radial magnetic circuits, no correlation between the radial and axial parameters, short axial magnetic circuit, small rotor inertia, light weight, fast response speed, simple control, easy realization, small magnetic flux leakage and low power consumption.

The invention relates to the technical field of remote monitoring, in particular to a commercial display cabinet remote intelligent operation and maintenance management system based on big data, which comprises an edge waveform acquisition module, a starting energy resolving module, a same-pressure working condition clustering module, a group baseline generation module and a wear outlier judgment module. According to the invention, through constructing an edge feature extraction and cloud voltage coupling clustering cooperative processing flow, a dynamic voltage impedance relative evaluation system is constructed by using wide-area big data, starting energy required for overcoming static friction force and rotor inertia is quantized, and group baselines of similar display cabinets under similar voltage working conditions are combined, so that the relative evaluation of the dynamic voltage impedance is realized. The starting energy of the target display cabinet is transversely compared with the group level, accurate relative quantification and early warning are carried out on abrasion of mechanical parts in the compressor under the condition that the influence of power grid quality difference is eliminated, the fault diagnosis accuracy of the display cabinet in a voltage unstable area is improved, false overload alarm caused by low voltage is avoided, and the working efficiency is improved. And passive maintenance is converted into predictive maintenance.

The utility model discloses a motor rotor structure, which solves the technical problems that the existing SPM rotor is low in power, poor in heat dissipation effect and the like. The motor rotor structure comprises a rotor part composed of a rotor core and a plurality of magnets, and further comprises two limiting rings which are arranged at the corresponding end parts of the rotor part; the number of the limiting strips is equal to that of the magnets, the limiting strips and the magnets are arranged at intervals, and the two ends of each limiting strip are integrally formed and connected with the corresponding limiting rings respectively; the two ends of the side, away from the rotor core, of each magnet are provided with limiting faces respectively, a limiting groove is formed between every two adjacent limiting faces, and the multiple limiting strips are embedded in the corresponding limiting grooves in a matched mode respectively, so that the two limiting rings and the multiple limiting strips jointly hoop the multiple magnets to the rotor core. According to the utility model, the problem of power reduction of the existing SPM rotor can be improved, the inertia of the rotor can be reduced, the response speed of the motor is ensured, the production cost is reduced, the production efficiency is improved, and the heat dissipation effect of the rotor is improved.

The invention discloses a multi-stage rotor inertia main shaft inclination transmission regulation and control method based on space pose matching, and belongs to the technical field of turbine engine rotor system manufacturing. The multi-stage rotor inertia main shaft inclination transmission regulation and control method based on space pose matching is realized through the following steps: S1, obtaining rotor size characteristics, geometric errors and inertia main shaft inclination data; s2, acquiring an inertia tensor matrix under the centroid coordinate system; s3, acquiring an inertia tensor matrix under the assembly coordinate system; s4, solving an inertia tensor matrix after the multi-stage rotor is assembled; s5, calculating an inertia tensor matrix under the revolving coordinate system; s6, calculating an inertia main shaft inclination angle after the n stages of rotors are assembled; and S7, inertia principal axis inclination regulation and control. According to the invention, the rotor is virtually assembled before assembly. By predicting the inertia main shaft inclination at each assembly angle, the actual assembly process is guided, and the manufacturing quality of the turbine engine is improved.

This invention relates to the field of smart grid technology and discloses an electronic cabinet power prediction method and system for improving the stability of ship power grids. The method includes: synchronously acquiring inertial measurement data; extracting the actual microscopic disturbance acceleration and effective orthogonal interference acceleration based on the ship's motion state; deriving and predicting contact resistance and convective heat transfer coefficient based on this data; performing time integration on the heat change rate to obtain online extracted heat capacity and deriving and predicting semiconductor junction temperature; substituting quantum transition laws to predict parasitic leakage power; combining internal load power consumption and transient bus voltage to synthesize and predict the total destructive demand power; and finally using the rotor inertia state of the power grid for feedforward reduction to generate stabilization and remodeling execution commands. This invention mitigates hidden parasitic surges caused by wave turbulence, prevents the unauthorized draining of rotor kinetic energy, and improves the reliability of power grids on isolated island ships.

The invention provides a spindle deflection coupling transmission and regulation method based on minimum envelope multistage rotor inertia, and belongs to the technical field of rotor assembly. The invention aims to solve the problem that the engineering requirements cannot be met due to lack of consideration and analysis of a multi-stage rotor inertia main shaft in multi-stage rotor stacking assembly. Comprising the following steps: S1, calculating an inertia tensor matrix [1] under a single-stage rotor assembly coordinate system; s2, calculating an inertia tensor matrix of the assembled n-stage rotor in the rotary coordinate system; s3, performing QR decomposition on the inertia tensor matrix by adopting a Gram-Schmidt orthogonalization method to obtain a space equation of an inertia principal axis; s4, projecting the inertial principal axis at different assembly angles to an xroryr plane under the rotation coordinate system, solving the minimum envelope circle diameter of the inertial principal axis projection point and the rotation coordinate origin, and establishing an inertial principal axis deflection regulation and control model; and S5, adjusting the assembly phase of each stage of rotor to regulate and control the coaxiality of the inertia main shaft and realize optimal assembly.

A safety motion controller configured to directly or indirectly control at least one motor of a mobile robot, comprising a first, second, third, and fourth state, wherein the first state regulates the power supply to the at least one motor such that the force generated by the current flow in the motor and acting on the position of the mobile robot in the horizontal plane is greater than the sum of the inertial forces of the mobile robot acting in the horizontal plane, and in the second state the set current flow in the at least one motor is regulated such that a negative acceleration of the mobile robot occurs down to a speed of zero, and in the third state the set current flow in the at least one motor is regulated such thatthat the force generated by the at least one motor and acting on the position of the mobile robot in the horizontal plane corresponds approximately to the sum of the rolling resistance and rotor inertia of the at least one motor, so that the mobile robot essentially remains in its position in the horizontal plane, and that the fourth state is activated by triggering a switch.

The invention relates to the technical field of grid-connected control of a wind generating set and frequency collaborative optimization of a synchronous machine, in particular to a frequency control optimization method for a grid-connected MW synchronous machine by variable pitch of a wind turbine, which comprises the following steps of: acquiring multi-source data such as wind speed turbulence intensity, pitch angle position, frequency deviation of a power grid PMU (Power Management Unit) device, rotor inertia and the like; wavelet packet decomposition and moving average filtering are adopted to eliminate high-frequency noise and short-time fluctuation interference respectively, a dynamic time warping algorithm is utilized to align a data sampling rate to generate a multi-source data set with a unified time scale, and a phase lead correction algorithm is utilized to pre-judge a counter-acting force of pitch angle adjustment to generate a feed-forward compensation instruction. Adjusting paths under different disturbances are predicted in combination with a dynamic Bayesian network, a pneumatic torque-frequency response coupling coefficient is dynamically optimized by using an incremental stochastic gradient descent algorithm, and a collaborative optimization system of data driving and closed loop feedback is formed through a similarity matching algorithm. And the frequency recovery efficiency and the power angle stability under the low-frequency crossing working condition are improved.

The application provides a method for improving the frequency characteristics of a power grid by using an energy storage system and related devices. The energy storage system comprises at least one target energy storage module, a flywheel energy storage module, an energy storage converter and a rectifier. The output end of each flywheel energy storage module is connected to the AC end of the corresponding rectifier. The output end of each target energy storage module, the DC end of each energy storage converter and the DC end of each rectifier are all connected to a DC bus. The AC end of each energy storage converter is connected to a power grid bus. The method comprises using a VSG control method to control the energy storage converter so that the energy storage converter provides virtual rotor inertia to maintain the stability of the power grid frequency. The above method takes into account the characteristics of the flywheel energy storage module being a rotating system and therefore having a fast response speed. The flywheel energy storage module compensates for the slow response speed of the target energy storage module VSG of the non-rotating system, so that the energy storage converter provides virtual rotor inertia that is adaptive to changes in the power grid frequency, thereby improving the stability of the power grid frequency.

The present invention provides a rotary actuator 1 that has low rotor inertia, is capable of achieving high torque, prevents backlash, and prevents a reduction in stiffness. This rotary actuator 1 includes a linear motion / rotational conversion mechanism that drives and connects a rotary shaft 101 and a linear motion shaft 102 and converts linear motion into rotary motion or rotary motion into linear motion, wherein the rotary shaft 101 has a torque-generating device or the linear motion shaft 102 has a thrust-generating device 104; the linear motion / rotational conversion mechanism includes a connecting plate 103; a portion of the connecting plate 103 is connected and secured in a wound-up position on the rotary shaft 101; and another portion of the connecting plate 103 is connected and secured in a position along the linear motion shaft 102.

The invention relates to a multi-stage rotor assembly method based on mass center axis and inertia main shaft cooperative regulation and control, and belongs to the technical field of aero-engine multi-stage rotor stacking assembly. Comprising the following steps: measuring single-stage rotor inertia; constructing an assembly transfer function; generating a three-dimensional envelope body; and solving the model. According to the method, the inertia quantity is taken as a core research object, the mass center axis and the inertia main shaft after the multistage rotors are assembled are subjected to coordinated regulation and control, and the three-dimensional envelope body of the two rotors in the space is minimum by adjusting the mounting phase positions between the adjacent rotors, so that the vibration of the rotors caused by inertia moment is reduced, and the mechanical performance of the rotors during high-speed rotation is improved.

The invention discloses a multi-stage rotor inertia main shaft offset transmission regulation and control method based on space pose matching, and belongs to the technical field of assembly regulation and control of engine rotors. The multi-stage rotor inertia main shaft offset transmission regulation and control method based on space pose matching is realized through the following steps: S1, obtaining component size characteristics, geometric errors and inertia main shaft offset data; s2, solving inertia main shaft offset under the ith-level component assembly coordinate system; s3, calculating the overall inertia principal axis offset of the multi-stage component; s4, converting the inertia principal axis offset to a rotation coordinate system; s5, establishing an inertia principal axis offset transfer model of the n-stage component; and S6, inertia principal axis offset regulation and control. The problem that effective stability guarantee cannot be obtained due to dependence on geometric error regulation and control in the rotor assembling process can be solved. The vibration suppression effect better than geometric error regulation is achieved, the rotor manufacturing quality is improved, and the flight safety is ensured.

The invention discloses a dynamic response control method for a large inertia working condition, and relates to the technical field of motion control. The method is suitable for a servo system in which the load inertia is obviously greater than the inertia of a motor rotor for large-specification gear workpiece measurement. According to the method, through high-frequency signal acquisition and pre-filtering, an adaptive extended Kalman filter is combined with a recursive least square method to carry out online joint identification on system equivalent inertia and load disturbance torque, and based on an identification result, friction model updating, Jerk constraint trajectory planning, model driving feedforward control and gain adaptive scheduling are realized. Meanwhile, a high-order disturbance observer and a resonance identification and input shaping technology are introduced, and unmodeled disturbance and residual vibration are inhibited. Through performance evaluation and a self-evolution parameter database, parameter self-learning and optimization under long-term operation are realized. According to the method, the dynamic response speed and stability of the system are remarkably improved under the large inertia ratio working condition, overshoot and residual vibration are reduced, and the measurement precision and repeatability are improved.

The application provides a VSG control method of an energy storage system and a related device. The energy storage system comprises a target energy storage module, a flywheel energy storage module, an energy storage converter and a rectifier. The output end of the target energy storage module is connected with the direct current end of the energy storage converter. The output end of the energy storage converter is connected with a power grid bus. The output end of the flywheel energy storage module is connected with the alternating current end of the rectifier. The direct current end of the rectifier is connected with the direct current end of the energy storage converter. The method comprises: controlling the energy storage converter by using a VSG control method, so that the energy storage converter provides virtual rotor inertia and maintains the stability of the power grid frequency. The above method considers the characteristics of the flywheel energy storage module as a rotating system with fast response speed. The flywheel energy storage module compensates for the slow response speed of the target energy storage module VSG of the non-rotating system, so that the energy storage converter provides virtual rotor inertia adaptive to the change of the power grid frequency, and the stability of the power grid frequency is improved.

The embodiment of the application relates to the technical field of wind turbine optimization control, and provides a wind turbine converter thermal load optimization control method and system, which quantifies the degree of thermal shock about to occur by real-time estimation and prediction of the change rate of the junction temperature of a wind turbine power device, and when the change rate exceeds a preset safety threshold, uses the huge rotor inertia of the fan itself as a cost-free short-term energy storage buffer, actively adjusts the output power instruction, temporarily stores or releases part of the sharply changing power in the form of kinetic energy into or out of the rotor, thereby actively shaving the peak and filling the valley of the power flowing through the converter. This mode decouples the rigid following relationship between the converter power and the instantaneous wind power, significantly smooths the sharp fluctuations of the internal loss of the device, and finally effectively suppresses the amplitude and frequency of the junction temperature cycle, while guaranteeing the power generation efficiency, improves the long-term operation reliability and service life of the converter.

The utility model provides a distributed vertical inertia phase modifier system which comprises an inertia phase modifier body, the inertia phase modifier body comprises a synchronous phase modifier, a gear speed increaser and an inertia flywheel which are vertically arranged, the synchronous phase modifier comprises a first stator and a first rotor, and the inertia flywheel comprises a second rotor; a rotor shaft of the first rotor and a rotor shaft of the second rotor are in transmission connection through a gear speed increaser, and the central axes of the two rotors coincide; the inertia phase modifier body is in switching connection with the electrical primary system and the starting system through the change-over switch, and the electrical primary system and the starting system are connected to a power grid in parallel. And the inertia phase modifier body is also connected with an excitation system and an auxiliary system for keeping safe and reliable operation of the inertia phase modifier body.

The invention provides a swing actuator (1) which is small in rotor inertia, capable of obtaining high torque, capable of suppressing generation of backlash, and capable of suppressing reduction of rigidity. A swing actuator (1) includes a linear motion / rotation conversion mechanism that drivingly connects a rotating shaft (101) and a linear motion shaft (102) to convert linear motion into rotational motion or convert rotational motion into linear motion, the rotating shaft (101) having a torque generating device, or the linear motion shaft (102) having a thrust generating device (104), the linear motion / rotation conversion mechanism having a connecting piece (103), and the connecting piece (103) being connected to the connecting piece (103). A part of the connecting piece (103) is connected and fixed in a state of being wound along the rotating shaft (101), and the other part of the connecting piece (103) is connected and fixed in a state of being along the linear motion shaft (102).

The application provides a method for improving grid frequency by using an energy storage system and a related device. The energy storage system comprises a target energy storage module, a flywheel energy storage module, an energy storage converter, a rectifier and an inverter. The method comprises: controlling the energy storage converter and the inverter by using a VSG control method respectively, so that the energy storage converter and the inverter jointly provide virtual rotor inertia to maintain the stability of the grid frequency. The above method considers the characteristics of the flywheel energy storage module as a rotating system, so the response speed is fast. The VSG control of the flywheel energy storage module on the corresponding inverter compensates for the slow response speed of the photovoltaic energy storage VSG of the non-rotating system, so as to jointly provide virtual inertia for the grid and improve the stability of the grid frequency.

The invention relates to the technical field of steam turbine equipment, and discloses bidirectional-rotation efficient-power-generation steam turbine equipment which comprises a shell, a rotor shaft is rotationally connected to the shell, and a mounting cavity used for auxiliary mounting and connecting is formed in the shell; and the bidirectional driving assembly is arranged in the mounting cavity and is used for assisting in driving the rotor shaft. When the turbine equipment is used, through the interaction of the bidirectional driving assembly, the air inlet assembly, the rotating assembly and the adjusting assembly, in the bidirectional air inlet process, the rotor shafts can rotate in the same direction and do not experience the stages of speed reduction, rotation stopping and reverse starting, and in the bidirectional air inlet power generation process, the rotor shafts can rotate in the same direction; in addition, in the two-way air inlet process, through transmission, the load can be reduced, and efficient power generation operation is facilitated.

The invention relates to a method for simulating and evaluating the disturbance influence of a ship medium-voltage power supply system, and the method comprises the steps: 1, building a ship medium-voltage power supply system multi-physical field coupling simulation model which comprises a steam turbine and speed regulation system model, a generator and excitation control system model, a power distribution network model, and a load model; 2, verifying a rotor inertia time constant, a self-balance coefficient and a turbine difference adjustment coefficient parameter in the optimized turbine model by using a rotating speed curve recorded in a sudden load unloading and coasting test, and improving the precision of the simulation model; 3, performing simulation test on various operation conditions of the ship medium-voltage power supply system, and measuring and storing curve data required by evaluation and analysis; 4, processing curve data stored through simulation, and calculating and analyzing the operation stability and the electric energy quality of the ship medium-voltage power supply system under different disturbance working conditions based on a simulation result; and 5, based on a calculation and analysis result in the step 4, giving an evaluation conclusion of the operation stability and the electric energy quality of the ship medium-voltage power supply system.

The invention provides an inertia main shaft offset measurement method based on symmetrical attitude decoupling, and belongs to the technical field of inertia main shaft measurement. In order to solve the problems that the positioning error, the measurement system error and the random error are mutually coupled and are difficult to identify and compensate when the rotor is subjected to inertia main shaft offset measurement, and the inertia main shaft offset measurement precision is seriously restricted, the method comprises the following steps: establishing a measurement coordinate system, a turnover coordinate system and a centroid coordinate system for rotor inertia main shaft offset measurement; measuring the coordinates of the rotor centroid in the x-axis direction and the y-axis direction of the measurement coordinate system and an error-free rotor centroid space position matrix in a horizontal state; adjusting the pose adjusting device to drive the rotor to turn clockwise and anticlockwise by an angle alpha around the x axis of the turning coordinate system, and recording the measured values of the force sensors in the x-axis direction and the y-axis direction after clockwise turning; and solving the inertia main shaft offset according to the rotor mass center coordinate transformation condition under the measurement coordinate system before and after the rotor is overturned.

The invention discloses a multi-stage rotor inertia main shaft space pose regulation and control method based on reliability distribution, and relates to a multi-stage rotor inertia main shaft space pose regulation and control method. The invention aims to solve the problems of insufficient regulation and control precision and lack of reliability distribution and self-adaptive capability in the prior art. The method comprises the following steps: firstly, selecting two parameters of inertia main shaft offset and inertia main shaft inclination angle, and representing the inertia main shaft space pose of a rotor; secondly, establishing a relationship between the reliability and the spatial pose of the inertial principal axis; then, based on a dynamic self-adaptive weight method, the established reliability indexes are distributed; and finally, designing a deep reinforcement learning agent, and realizing spatial pose regulation and control of the multi-stage rotor inertia main shaft by interacting with the environment to learn an optimal regulation and control strategy. According to the method, the pose regulation and control precision can be improved, the overall reliability of the system is ensured, the robustness of the rotor system is improved, and the regulation and control efficiency is improved. The invention belongs to the technical field of aero-engine assembly.

This invention relates to the field of power system frequency control technology, and particularly to a power system frequency control method based on wind and energy storage joint frequency regulation. The method includes: real-time acquisition of frequency data and quantification of frequency disturbance intensity; calculation of energy storage frequency regulation weighting coefficients and wind power frequency regulation weighting coefficients based on the frequency disturbance intensity; frequency regulation by the energy storage system based on the energy storage frequency regulation weighting coefficients to obtain the energy storage frequency regulation output power; wind turbines participating in frequency regulation through rotor inertia frequency regulation channels and backup channels based on the wind power frequency regulation weighting coefficients to obtain the wind power inertia frequency regulation output power and the response power of the wind power backup channel; and obtaining the total frequency regulation output power based on the energy storage frequency regulation output power and the various frequency regulation power components of the wind power, thus achieving multi-source coordinated staged frequency control. This method solves problems such as unclear frequency regulation priority, fixed response signal paths, frequency regulation channel conflicts, and the lack of a recursive self-stabilizing modulation mechanism in traditional power system frequency control methods.