CN116054216B - Flywheel energy storage grid-connected system control method - Google Patents
Flywheel energy storage grid-connected system control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/30—Arrangements for balancing of the load in a network by storage of energy using dynamo-electric machines coupled to flywheels
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/002—Flicker reduction, e.g. compensation of flicker introduced by non-linear load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
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Abstract
The invention provides a flywheel energy storage grid-connected system control method based on an improved active disturbance rejection controller, which is used for respectively obtaining a machine side torque error, a machine side alternating voltage error, a direct current support capacitor voltage error, a network side current error, a network side and machine side power error, and calculating and obtaining a machine side modulation wave q-axis component, a machine side modulation wave d-axis component, a network side modulation wave d-axis component and a network side modulation wave q-axis component based on a constructed improved active disturbance rejection controller algorithm; and forming control signals of the machine side converter and the network side converter by the machine side modulation wave q-axis component, the machine side modulation wave d-axis component, the network side modulation wave d-axis component and the network side modulation wave q-axis component so as to realize quick dynamic response control of the flywheel energy storage grid-connected system. The method can timely and rapidly respond to the requirements of the power grid and the energy storage device, and the implementation principle of the method is simple and feasible, and has practical engineering application significance.
Description
Technical Field
The invention relates to the technical field of flywheel energy storage grid connection, in particular to a flywheel energy storage grid connection system control method based on an improved active disturbance rejection controller.
Background
In recent years, flywheel energy storage systems have been gradually applied in the field of independent frequency modulation and multi-energy joint frequency modulation for the power grid. The flywheel energy storage system has the advantages of high energy density, high energy efficiency, multiple charge and discharge circulations and the like. Therefore, flywheel energy storage systems have gained primary use in renewable energy systems in china, the united states, canada and have the potential for further large-scale applications. Flywheel energy storage systems have a variety of topologies in which a T-type three-level back-to-back converter is the most widely used topology. In practical engineering application, the change of the power command and the switching of the charging and discharging modes can often occur, but the change of the reference command or the switching of the charging and discharging working conditions belong to system disturbance. The existing PI controller is used as a linear controller, so that the system cannot have higher dynamic response capability, and the traditional active disturbance rejection controller is sensitive to high-frequency measurement noise, and the dynamic response capability is still limited. Therefore, there is a need in the aspect of dynamic response to improve the conventional control strategy and control loop to enhance the dynamic response capability of the system, so as to realize the rapid following of the reference quantity in the flywheel energy storage system which needs the rapid switching of the frequent charging and discharging working conditions, and to rapidly respond to the demands of the power grid.
Disclosure of Invention
The invention aims to provide a flywheel energy storage grid-connected system control method based on an improved active disturbance rejection controller aiming at the flywheel energy storage grid-connected system, which can be used for rapidly realizing reference output power and being in a stable state under the working condition of power instruction change when a flywheel energy storage part is in a charging and discharging working condition and has excellent disturbance rejection and dynamic performance.
Specifically, the invention provides a flywheel energy storage grid-connected system control method based on an improved active disturbance rejection controller, which comprises the following steps:
A. Constructing an improved active disturbance rejection controller, which comprises an improved observer IESO; the improved active disturbance rejection controller comprises an algorithm model: Wherein k Lx is the gain of the improved active disturbance rejection controller, b Lx is a compensation factor, u is variable feedback, u * is a variable instruction, and y is the output of an algorithm model of the improved active disturbance rejection controller; delta x is the output of the improved observer IESO, and the improved observer IESO includes the following relationship:
δx＝x3-(x3-u)/l4ω3
Where l 1,l2,l3,l4 is the scaling factor of the improved observer IESO, ω 0,ω1,ω2,ω3 is the gain of the improved observer IESO for scaling up the error (y-x 2),(x3-x1),(x2-u),(x3 -u);
B. Acquiring a machine side torque error, a machine side alternating voltage error, a direct current support capacitor voltage error, a network side current error and a network side and machine side power error, and respectively combining with the improved active disturbance rejection controller algorithm model to calculate and acquire a machine side modulation wave q-axis component u q, a machine side modulation wave d-axis component u d, a network side modulation wave d-axis component v d and a network side modulation wave q-axis component v q;
C. The machine side modulation wave q-axis component u q, the machine side modulation wave d-axis component u d, the net side modulation wave d-axis component v d and the net side modulation wave q-axis component v q form control signals of a machine side converter and a net side converter, so that the fast dynamic response adjustment of the flywheel energy storage grid-connected system is realized through the cooperative control of the machine side end and the net side end.
Further, the machine side torque error is an error value of a torque current command i qr_ref and a torque current feedback i qr: i qr_ref-iqr; the torque current command i qr_ref＝K·ωg·Te_ref,ωg is the angular speed of the output shaft of the flywheel driving motor in the flywheel energy storage grid-connected system, T e_ref is the torque command, and K is the correction coefficient.
Further, the machine side ac voltage error is u gq/Xm-idr, where u gq is a reactive value of the machine side voltage, X m is a machine side reactance value, and i dr is excitation current feedback.
Further, the network side and machine side power errors are P G -P, where P G is network side power feedback and P is machine side power feedback.
Further, the DC supporting capacitor voltage error is thatWherein/>Is the square of the DC support capacitor voltage command,/>The square of the dc support capacitor voltage.
Further, the network side current error comprises a network side active current error and a network side reactive current error; the reactive current error of the network side is 0-i gq, wherein i gq is reactive current feedback of the network side; the net side active current error is delta i d_ref+id_ref-igd, wherein delta i d_ref is net side active current instruction correction value, i gd is net side active current feedback, and i d_ref is net side active current instruction.
Further, the calculation methods of the net side active current command i d_ref and the correction value Δi d_ref of the net side active current command based on the improved active disturbance rejection controller algorithm model are as follows:
id_ref＝[(u2 dc_ref-u2 dc)·kL1-δ1]/bL1，
Δid_ref＝[(PG-P)·kL2-δ2]/bL2。
further, based on the direct current support capacitor voltage and the improved active disturbance rejection controller algorithm model, a current feedback value i dc of the direct current support capacitor and a machine side active current instruction correction value delta i qr_ref are obtained through calculation, and the calculation method is as follows:
Δiqr_ref＝[(a-idc)·kL5-δ5]/bL5，
wherein C dc is the capacitance value of the DC support capacitor, a is the command set constant value of the DC support capacitor current, and a can be set to 0 to indicate no current fluctuation. Calculating and obtaining a machine side q-axis active current instruction delta i qr_ref through an improved active disturbance rejection control algorithm; wherein, Is the square of the DC support capacitor voltage command,/>The square of the dc support capacitor voltage. Wherein, the direct current support capacitor current instruction value is represented by/>And obtaining the product.
Further, the calculation method of the machine side modulated wave q-axis component u q and the machine side modulated wave d-axis component u d is as follows:
Wherein, For excitation decoupling terms, i dr_ref is an excitation current instruction, K Lr is a decoupling coefficient, l m and l s are leakage inductance and excitation inductance of a flywheel driving motor in a flywheel energy storage grid-connected system respectively, and u gq is a reactive value of machine side voltage; i qr_ref·KLr·(ωg-ωr) is a torque decoupling term.
Further, the calculation method of the d-axis component v d of the net-side modulated wave and the q-axis component v q of the net-side modulated wave is as follows:
Wherein L is inductance of a flywheel driving motor in the flywheel energy storage grid-connected system, v gd is network side active voltage, i d_refωg L is reactive decoupling term, and v gq is network side reactive voltage.
Further, the network side current error includes a network side active current error Δi d_ref+id_ref-igd and a network side reactive current error i gq, where i gd is a network side active current feedback and i gq is a network side reactive current feedback; the active current error of the network side subtracts a reactive decoupling term from a value calculated by an improved active disturbance rejection control algorithm and adds the reactive decoupling term and the active voltage of the network side to obtain an active component of a network side modulation wave; and adding the value calculated by the network side reactive current error-i gq through the improved active disturbance rejection control algorithm with the active decoupling term and the network side reactive voltage to obtain the reactive component of the network side modulation wave.
Through researches, one of the important reasons for the slow dynamic response speed of the flywheel energy storage grid-connected system is caused by power unbalance of the machine side and the network side, wherein the power unbalance is directly reflected on power errors of the machine side and the network side, and is indirectly reflected on direct-current supporting capacitor current fluctuation, and if balanced, the capacitor current is 0. And when the power of the machine side and the power of the network side are unbalanced, the fastest dynamic adjustment method is to change the active current of the machine side and the active current of the network side at the same time. The invention provides a control strategy of quick dynamic response aiming at a flywheel energy storage grid-connected system, a linear PI controller in the traditional control strategy is replaced by an improved nonlinear active disturbance rejection controller, a new machine side power and network side power control link is added, capacitance voltage, capacitance current and machine side and network side power difference are cooperatively regulated to change machine side active current and network side active current, so that machine side and network side power are quickly balanced, the dynamic response speed of the system is accelerated, the output command power can be quickly realized under the conditions of frequent charge and discharge mode switching and power command change, the stable state is achieved, excellent disturbance rejection and dynamic performance are realized, the dynamic performance of the flywheel energy storage grid-connected system is effectively improved, the requirements of a power grid and an energy storage device can be timely and quickly responded, and the realization principle of the method is simple and feasible, and practical engineering application significance is realized.
Drawings
For a clearer description of an embodiment of the invention or of the technical solutions of the prior art, the drawings that are needed in the embodiment will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;
fig. 1 is a schematic diagram of a flywheel energy storage grid-connected system control strategy based on an improved active disturbance rejection controller in an embodiment.
Fig. 2 is a block diagram of an algorithm of the improved active disturbance rejection controller IADRC in the embodiment.
Fig. 3 is a structure of a flywheel energy storage grid-connected system in an embodiment.
Fig. 4 is a block diagram of an algorithm of the improved active-disturbance-rejection controller IADRC according to an embodiment.
Fig. 5 is an algorithm block diagram of the improved active disturbance rejection controller IADRC1 according to an embodiment.
Fig. 6 is a block diagram of an algorithm of the improved active-disturbance-rejection controller IADRC according to an embodiment.
Fig. 7 is a block diagram of an algorithm of the improved active-disturbance-rejection controller IADRC in the embodiment.
Fig. 8 is a block diagram of an algorithm of the improved active-disturbance-rejection controller IADRC4 in the embodiment.
Fig. 9 is an algorithm block diagram of the improved active-disturbance-rejection controller IADRC in an embodiment.
Fig. 10 is an algorithm block diagram of the improved active-disturbance-rejection controller IADRC in an embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 3, the flywheel energy storage grid-connected system includes a flywheel portion 1, a permanent magnet synchronous motor portion 2, a machine side converter portion 3, a dc supporting capacitor portion C dc, a grid side converter portion 4, grid side filter portions Lf and Cf, and a grid portion. Both the machine side converter section 3 and the grid side converter section 4 adopt a three-phase, six-switch topology. Driving the permanent magnet synchronous motor to rotate in the flywheel part to generate electricity, and obtaining the rotation speed of the flywheel, the angular frequency omega r of the permanent magnet synchronous motor and the like through a photoelectric encoder; angular frequency omega g parameter information is acquired based on a phase-locked loop. The flywheel energy storage grid-connected system can improve the dynamic performance of the flywheel energy storage grid-connected system by timely and accurately controlling the switches of the machine side converter part 3 and the network side converter part 4 according to actual change conditions. In this embodiment, the corresponding control logic is based on an improved active-disturbance-rejection controller.
The flywheel energy storage grid-connected system control method based on the improved active disturbance rejection controller provided by the embodiment comprises the following steps:
A. Constructing a modified active disturbance rejection controller IADRC comprising a modified observer IESO; the improved active disturbance rejection controller comprises an algorithm model: Wherein k Lx is the gain of the improved active disturbance rejection controller, b Lx is a compensation factor, u is variable feedback, u * is a variable instruction, variable feedback u, and variable instruction u * follows the corresponding transmitted parameters; y is the output of the algorithm model of the improved active disturbance rejection controller; delta x is the output of the improved observer IESO, and the improved observer IESO includes the following relationship:
δx＝x3-(x3-u)/l4ω3
Where l 1,l2,l3,l4 is the scaling factor of the improved observer IESO, ω 0,ω1,ω2,ω3 is the gain of the improved observer IESO for scaling up the error (y-x 2),(x3-x1),(x2-u),(x3 -u); in fig. 1, IADRC to IADRC are respectively designated as different improved active-disturbance-rejection controllers, which have the same algorithm model (see fig. 2), but have slight differences in specific parameter designs. In addition, for convenience of description, sigma 1、Σ2、Σ3、Σ4 is used to refer to the above Delta x corresponds to four equality relationships.
Because the improved observer IESO uses a plurality of logic processing links, a multi-stage observation structure is formed to observe and logically process disturbance received by the system step by step, estimate errors of the disturbance are reduced step by step, observation residual errors are reduced, accurate output of a compensation value delta is realized, overcompensation or undercompensation is avoided, and therefore dynamic response and balance of the system can be accelerated;
B. The method comprises the steps of respectively obtaining a machine side torque error, a machine side alternating voltage error, a direct current support capacitor voltage error, a network side current error and a network side and machine side power error, and obtaining a machine side modulation wave q-axis component, a machine side modulation wave d-axis component, a network side modulation wave d-axis component and a network side modulation wave q-axis component based on the improved active disturbance rejection controller algorithm;
C. The method comprises the steps of forming control signals of a machine side converter and a network side converter by a machine side modulation wave q-axis component, a machine side modulation wave d-axis component, a network side modulation wave d-axis component and a network side modulation wave q-axis component, specifically, calculating the machine side modulation wave and the network side modulation wave in a space vector modulation (SVPWM) mode through an FPGA microprocessor, and then respectively sending pulse signals to the machine side converter and the network side converter, so that dynamic response control of a flywheel energy storage grid-connected system is realized.
As shown in fig. 1, the machine side torque error is an error value of a torque current command i qr_ref and a torque current feedback i qr: i qr_ref-iqr; the torque current command i qr_ref＝K·ωg·Te_ref,ωg is the angular speed of the output shaft of the flywheel driving motor in the flywheel energy storage grid-connected system, T e_ref is the torque command, K is the correction coefficient, and K is omega g*Te_ref-iqr, and the q-axis component of the machine side modulation wave is obtained by adding the calculated value of the algorithm of the improved active disturbance rejection controller IADRC1 and the excitation decoupling term. Wherein, excitation decoupling terms are: in the excitation decoupling term, i dr_ref is an excitation current instruction, K lr is a decoupling coefficient, and l m and l s are leakage inductance and excitation inductance of the motor respectively.
The machine side alternating voltage error is u gq/Xm-idr, wherein u gq is a reactive value of machine side voltage, X m is a machine side reactance value, and i dr is excitation current feedback; u gq/Xm-idr is processed by the algorithm of the improved active disturbance rejection controller IADRC to obtain a reactive direct current component of the side modulation wave after subtracting the torque decoupling term i q_refKlr(ωg-ωr).
The power error between the network side and the machine side is P G -P, wherein P G is network side power feedback, and P is machine side power feedback; the network side and machine side power errors are calculated by an algorithm of the improved active disturbance rejection controller IADRC to obtain a correction value delta i d_ref of the network side active current instruction.
The voltage error of the direct current support capacitor is thatCalculating a network side active current instruction i d_ref through an improved active disturbance rejection control algorithm; wherein/>Is the square of the DC support capacitor voltage command,/>The square of the dc support capacitor voltage.
The network side current error comprises a network side active current error delta i d_ref+id_ref-igd and a network side reactive current error i q_ref-igq, wherein i gd is network side active current feedback, i gq is network side reactive current feedback, i q_ref is set to 0, and the network side reactive current error is-i gq; the active current error of the network side is calculated by an algorithm of the improved active disturbance rejection controller IADRC, the reactive decoupling term I q_refωg L is subtracted from the value, and the value is added with the active voltage U gd of the network side to obtain an active component of the network side modulation wave; and adding the value calculated by the network side reactive current error-I gq through the algorithm of the improved active disturbance rejection controller IADRC to the active decoupling term I d_refωg L and the network side reactive voltage reactive value U gq to obtain the reactive component of the network side modulation wave.
The calculation methods of the net side active current command i d_ref and the correction value delta i d_ref of the net side active current command based on the improved active disturbance rejection controller IADRC and IADRC algorithm models are as follows:
id_ref＝[(u2 dc_ref-u2 dc)·kL1-δ1]/bL1，
Δid_ref＝[(PG-P)·kL2-δ2]/bL2。
Based on the direct-current support capacitor voltage and an improved active disturbance rejection controller algorithm model, a current feedback value i dc of the direct-current support capacitor and a machine side active current instruction correction value delta i qr_ref are obtained through calculation, and the calculation method comprises the following steps:
Δiqr_ref＝[(a-idc)·kL5-δ5]/bL5，
wherein C dc is the capacitance value of the DC supporting capacitor, and a is the command set constant value of the DC supporting capacitor current.
The calculation method of the machine side modulated wave q-axis component u q and the machine side modulated wave d-axis component u d is as follows:
Wherein, For excitation decoupling terms, i dr_ref is an excitation current instruction, K Lr is a decoupling coefficient, l m and l s are leakage inductance and excitation inductance of a flywheel driving motor in a flywheel energy storage grid-connected system respectively, and u gq is a reactive value of machine side voltage; i qr_ref·KLr·(ωg-ωr) is a torque decoupling term.
The calculation method of the machine side modulated wave q-axis component u q and the machine side modulated wave d-axis component u d is as follows:
Wherein, For excitation decoupling terms, i dr_ref is an excitation current instruction, K Lr is a decoupling coefficient, l m and l s are leakage inductance and excitation inductance of a flywheel driving motor in a flywheel energy storage grid-connected system respectively, and u gq is a reactive value of machine side voltage; i qr_ref·KLr·(ωg-ωr) is a torque decoupling term.
The calculation method of the net-side modulated wave d-axis component v d and the net-side modulated wave q-axis component v q is as follows:
Wherein L is inductance of a flywheel driving motor in the flywheel energy storage grid-connected system, v gd is network side active voltage, i d_refωg L is reactive decoupling term, and v gq is network side reactive voltage.
And controlling coordinate transformation 1-2:
The side modulated waves u d and u q are converted into u α and u β by the following coordinate transformation, and pulse signals are sent to the side converter by means of space vector modulation (SVPWM).
And controlling coordinate transformation 3-4:
the net side modulated waves v d and v q are converted into v α and v β by the following coordinate transformation, and pulse signals are sent to the side converter by means of space vector modulation (SVPWM).
Circuit coordinate transformation 1: the machine side three-phase current i r_a,ir_b,ir_c is converted into i dr,iqr by coordinate transformation:
Circuit coordinate transformation 2: the network-side three-phase voltage v gd,vgq is converted into v g_a,vg_b,vg_c by coordinate transformation:
The method comprises the steps of carrying out correlation operation including a machine side torque error, a machine side alternating voltage error, a direct current support capacitor voltage error, a network side current error and a network side and machine side power error, executing in a DSP microprocessor, obtaining corresponding modulation signals through operation, transmitting the corresponding modulation signals to an FPGA, and finally sending pulses to network side and machine side three-phase bridge arm switching tubes by the FPGA, so that actual balance control is carried out on the flywheel energy storage grid-connected system.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (1)
1. The flywheel energy storage grid-connected system control method based on the improved active disturbance rejection controller is characterized by comprising the following steps of: comprises the following steps:
A. Constructing an improved active disturbance rejection controller, which comprises an improved observer IESO; the improved active disturbance rejection controller comprises an algorithm model: y= [ (u *-u)*kLx-δx]/bLx, where k Lx is the gain of the improved active-disturbance-rejection controller, b Lx is the compensation factor, u is the variable feedback, u * is the variable instruction, y is the output of the improved active-disturbance-rejection controller algorithm model, delta x is the output of the improved observer IESO, and the improved observer IESO comprises the following relationships:
δx＝x3-(x3-u)/l4ω3
Where l 1,l2,l3,l4 is the scaling factor, ω 0,ω1,ω2,ω3 is the gain of the improved observer IESO;
B. Acquiring a machine side torque error, a machine side alternating voltage error, a direct current support capacitor voltage error, a network side current error and a network side and machine side power error, and respectively combining with the improved active disturbance rejection controller algorithm model to calculate and acquire a machine side modulation wave q-axis component u q, a machine side modulation wave d-axis component u d, a network side modulation wave d-axis component v d and a network side modulation wave q-axis component v q;
C. The machine side modulation wave q-axis component u q, the machine side modulation wave d-axis component u d, the net side modulation wave d-axis component v d and the net side modulation wave q-axis component v q form control signals of a machine side converter and a net side converter so as to realize rapid dynamic response adjustment of the flywheel energy storage grid-connected system through cooperative control of a machine side end and a net side end;
The machine side torque error is an error value of a torque current command i qr_ref and a torque current feedback i qr: i qr_ref-iqr; the torque current instruction i qr_ref＝K·ωg·Te_ref,ωg is the angular speed of an output shaft of a flywheel driving motor in the flywheel energy storage grid-connected system, T e_ref is a torque instruction, and K is a correction coefficient;
The machine side alternating voltage error is u gq/Xm-idr, wherein u gq is a reactive value of machine side voltage, X m is a machine side reactance value, and i dr is excitation current feedback;
the voltage error of the direct current support capacitor is that Wherein/>Is the square of the DC support capacitor voltage command,/>Square the DC supporting capacitor voltage;
The network side current error comprises a network side active current error and a network side reactive current error; the reactive current error of the network side is 0-i gq, wherein i gq is reactive current feedback of the network side; the net side active current error is delta i d_ref+id_ref-igd, wherein delta i d_ref is a net side active current instruction correction value, i gd is net side active current feedback, and i d_ref is a net side active current instruction;
The calculation methods of the net side active current instruction i d_ref and the correction value delta i d_ref of the net side active current instruction based on the improved active disturbance rejection controller algorithm model are as follows:
id_ref＝[(u2 dc_ref-u2 dc)·kL1-δ1]/bL1，
Δid_ref＝[(PG-P)·kL2-δ2]/bL2；
wherein P G is network side power feedback, and P is machine side power feedback;
Based on the direct-current support capacitor voltage and an improved active disturbance rejection controller algorithm model, a current feedback value i dc of the direct-current support capacitor and a machine side active current instruction correction value delta i qr_ref are obtained through calculation, and the calculation method comprises the following steps:
Δiqr_ref＝[(a-idc)·kL5-δ5]/bL5，
Wherein C dc is the capacitance value of the direct-current support capacitor, and a is the instruction set constant value of the direct-current support capacitor current;
The calculation method of the machine side modulated wave q-axis component u q and the machine side modulated wave d-axis component u d is as follows:
ud＝[(idr_ref-idr)·kL6-δ6]/bL6-iqr_ref·KLr·(ωg-ωr);
Wherein, For excitation decoupling terms, i dr_ref is an excitation current instruction, K Lr is a decoupling coefficient, l m and l s are leakage inductance and excitation inductance of a flywheel driving motor in a flywheel energy storage grid-connected system respectively, and u gq is a reactive value of machine side voltage; i qr_ref·KLr·(ωg-ωr) is a torque decoupling term;
The calculation method of the net-side modulated wave d-axis component v d and the net-side modulated wave q-axis component v q is as follows:
vd＝-[(Δid_ref+id_ref-igd)·kL3-δ3]/bL3-iq_refωgL+vgd,
vq＝-[(0-igq)·kL4-δ4]/bL4+id_refωgL+vgq，
Wherein L is inductance of a flywheel driving motor in the flywheel energy storage grid-connected system, v gd is network side active voltage, i d_refωg L is reactive decoupling term, and v gq is network side reactive voltage.
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