CN116073412A - Flywheel energy storage unit control method, flywheel energy storage unit controller and medium - Google Patents

Flywheel energy storage unit control method, flywheel energy storage unit controller and medium Download PDF

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Publication number
CN116073412A
CN116073412A CN202310201708.2A CN202310201708A CN116073412A CN 116073412 A CN116073412 A CN 116073412A CN 202310201708 A CN202310201708 A CN 202310201708A CN 116073412 A CN116073412 A CN 116073412A
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energy storage
flywheel energy
storage unit
charge
value
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CN116073412B (en
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饶武峰
胡浩峰
刘�东
柳哲
贺智威
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Kandera New Energy Technology Yangzhou Co ltd
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Kandera New Energy Technology Yangzhou Co ltd
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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
    • 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
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids

Abstract

The application discloses a control method of a flywheel energy storage unit, and a controller and a medium of the flywheel energy storage unit, wherein the method comprises the following steps: acquiring the charge state of each flywheel energy storage unit and the weight among the flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; determining a charge-discharge state value corresponding to the charge-discharge state of the flywheel energy storage unit; determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units; and compensating the first control parameter by using the compensation value, and controlling the charge and discharge of the flywheel energy storage unit based on the compensated first control parameter. The control efficiency and accuracy of the flywheel energy storage array are improved.

Description

Flywheel energy storage unit control method, flywheel energy storage unit controller and medium
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method for controlling a flywheel energy storage unit, and a controller and a medium for the flywheel energy storage unit.
Background
At present, flywheel energy storage array topologies applied to an alternating current power grid mainly comprise two types: firstly, the flywheel is connected in parallel to a Direct Current bus, namely a plurality of flywheel monomers are connected in parallel to the Direct Current bus through an Alternating Current (AC) Alternating Current/Direct Current (DC) converter and then connected to the alternating Current bus through a DC/AC converter; and secondly, the flywheel monomers are connected in parallel to an alternating current bus, namely, the flywheel monomers are connected in parallel to the alternating current bus through an AC/DC-DC/AC converter.
The voltage stabilization of the direct current bus is controlled mainly in a master-slave control mode by a mode of forming a flywheel array by connecting the direct current bus in parallel. The master-slave control only has one unit to control the bus voltage, and other units track the output state of the master unit, but the system stability is completely dependent on the master control unit, once the master unit fails, the whole system directly breaks down, so the master-slave control has poor reliability.
In the aspect of system communication control, a centralized communication mode is mainly adopted, all system units uniformly upload information to a main controller, and after the main controller acquires system global information, decision is made and corresponding control commands are issued to each unit. Firstly, the master controller must establish communication with information of all units in the system, and the communication performance requirement of the master controller is gradually improved along with the gradual increase of the units in the system; secondly, after the centralized main controller obtains the information of all units in the system, decision making is carried out to issue corresponding commands, which brings great calculation burden, increases the complexity of the system and slows down the response speed; finally, the robustness of the centralized control system is poor, and once error information, communication line damage or a main controller fails, the whole system cannot realize coordinated control. Therefore, in the prior art, the charge and discharge control efficiency and accuracy of the flywheel energy storage array are low.
Therefore, how to improve the charge and discharge control efficiency and accuracy of the flywheel energy storage array is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The purpose of the application is to provide a control method and device of a flywheel energy storage unit, a controller of the flywheel energy storage unit and a computer readable storage medium, so that the charge and discharge control efficiency and accuracy of a flywheel energy storage array are improved.
To achieve the above object, the present application provides a control method of a flywheel energy storage unit, applied to each flywheel energy storage unit in the flywheel energy storage array, the method including:
acquiring the charge state of each flywheel energy storage unit and the weight among the flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit;
determining a charge-discharge state of the flywheel energy storage unit, and determining a corresponding charge-discharge state value based on the charge-discharge state;
Determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units; the first control parameter is a parameter for controlling the flywheel energy storage unit to operate;
and compensating the first control parameter by using the compensation value, and controlling the charge and discharge of the flywheel energy storage unit based on the compensated first control parameter.
To achieve the above object, the present application provides a controller of a flywheel energy storage unit, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the control method of the flywheel energy storage unit when executing the computer program.
To achieve the above object, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of controlling a flywheel energy storage unit as described above.
According to the scheme, the control method of the flywheel energy storage unit is applied to each flywheel energy storage unit in the flywheel energy storage array, and comprises the following steps: acquiring the charge state of each flywheel energy storage unit and the weight among the flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit; determining a charge-discharge state of the flywheel energy storage unit, and determining a corresponding charge-discharge state value based on the charge-discharge state; determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units; the first control parameter is a parameter for controlling the flywheel energy storage unit to operate; and compensating the first control parameter by using the compensation value, and controlling the charge and discharge of the flywheel energy storage unit based on the compensated first control parameter.
According to the control method for the flywheel energy storage units, the compensation value of the first control parameter is determined by each flywheel energy storage unit in the flywheel energy storage array based on the influence of the charge states of other flywheel energy storage units on the flywheel energy storage unit, the influence of the charge states of the flywheel energy storage unit on the other flywheel energy storage units, the charge and discharge states of the flywheel energy storage unit and the charge states of the flywheel energy storage unit, so that the charge and discharge control of consistency is performed based on the compensated first control parameter, the approach speed of controlling the whole flywheel energy storage array is accelerated, and the control efficiency and accuracy of the flywheel energy storage array are improved. Furthermore, the method adopts a distributed architecture to control the charge and discharge of each flywheel energy storage unit in the flywheel energy storage array, improves the fault tolerance of the whole flywheel energy storage array, and reduces the performance requirement of a controller of each flywheel energy storage unit. The application also discloses a controller of the flywheel energy storage unit and a computer readable storage medium, and the technical effects can be achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
Fig. 1 is a topological diagram of a flywheel energy storage array according to an embodiment of the present disclosure;
fig. 2 is a block diagram of controller communication of each flywheel energy storage unit in a flywheel energy storage array according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a flow of node information in the information network shown in FIG. 1;
fig. 4 is a schematic diagram of a flow manner of node information in an information network according to an embodiment of the present application;
fig. 5 is a schematic diagram of a flow manner of node information in another information network according to an embodiment of the present application;
FIG. 6 is a flowchart illustrating a method of controlling a first flywheel energy storage unit according to an exemplary embodiment;
FIG. 7 is a flowchart illustrating a method of controlling a second flywheel energy storage unit according to an exemplary embodiment;
fig. 8 is a schematic diagram of a Thevenin equivalent circuit according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a voltage sag factor according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a secondary voltage compensation control according to an embodiment of the present disclosure;
FIG. 11 is a control block diagram of an entire flywheel energy storage array according to an embodiment of the present application;
FIG. 12 is a control block diagram of a controller in a single flywheel energy storage unit according to an embodiment of the present disclosure;
FIG. 13 is a flowchart illustrating a method of controlling a third flywheel energy storage unit according to an exemplary embodiment;
FIG. 14 is a control block diagram of another overall flywheel energy storage array according to an embodiment of the present application;
FIG. 15 is a control block diagram of a controller in another single flywheel energy storage unit provided in an embodiment of the present application;
fig. 16 is a block diagram illustrating a controller of a flywheel energy storage unit according to an exemplary embodiment.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application. In addition, in the embodiments of the present application, "first," "second," and the like are used to distinguish similar objects, and are not necessarily used to describe a particular order or sequence.
In order to facilitate understanding of the control method of the flywheel energy storage units provided by the application, firstly, a topology structure applicable to the flywheel energy storage units is described, referring to fig. 1, fig. 1 is a topology diagram of a flywheel energy storage array provided by an embodiment of the application, a plurality of flywheel energy storage units are connected in parallel on a direct current bus, controllers of the flywheel energy storage units are mutually communicated to form an information network, and each flywheel energy storage unit can be understood as an energy storage node in the information network.
Referring to fig. 2, fig. 2 is a block diagram of communication between controllers of each flywheel energy storage unit in a flywheel energy storage array, where a plurality of flywheel energy storage units are connected in parallel on a dc bus, and the controllers of each flywheel energy storage unit communicate with each other to transmit node information including a State of Charge (SOC). The direct current bus is connected with a bidirectional AC/DC, namely a grid-side converter, the bidirectional AC/DC is connected with a filter circuit, and the filter circuit is connected with a large grid through a transformation device. Each flywheel energy storage unit internally comprises a bidirectional AC/DC (alternating current/direct current), a PMSM (permanent magnet synchronous motor), a flywheel and a controller, wherein the bidirectional AC/DC (alternating current/direct current) in each flywheel energy storage unit, namely a motor side converter, is connected with a direct current bus, the bidirectional AC/DC (alternating current/direct current) is also connected with the PMSM, the PMSM is connected with the flywheel, and the controller is used for controlling charging and discharging of the flywheel energy storage unit. There are two control modes, namely control mode 1 and control mode 2, the preset initial value P of active power is received from outside when in control mode 1 ref Receiving a preset initial voltage V of the direct current bus from outside when in the control mode 2 ref . When the grid-side converter is in the control mode 1, the motor-side converter needs to be in the control mode 2. When the grid-side converter is in the control mode 2, the motor-side converter needs to be in the control mode 1.
The information network may be represented as a directed graph
Figure SMS_1
，/>
Figure SMS_2
For vertex set, ->
Figure SMS_3
Is an edge set. The flow mode of the node information in the information network shown in fig. 1 is shown in fig. 3, the node information of the energy storage node 1 flows to the energy storage node 2, the node information of the energy storage node 2 flows to the energy storage node 3, the node information of the energy storage node 3 flows to the energy storage node 4, and the node information of the energy storage node 4 flows to the energy storage node 1.
It should be noted that, the information network topology provided in the present application is not limited to the node information of a certain node shown in fig. 3 flowing to another node, but may also be that the node information of one node flows to a plurality of nodes, or that the node information of a plurality of nodes flows to one node, and the information flow may be bidirectional circulation, as shown in fig. 4, the node information of the energy storage node 1 flows to the energy storage nodes 2, 3 and 4, the node information of the energy storage node 2 flows to the energy storage nodes 1, 3 and 4, the node information of the energy storage node 3 flows to the energy storage nodes 1, 2 and 4, and the node information of the energy storage node 4 flows to the energy storage nodes 1, 2 and 3.
As a preferred embodiment, the flywheel energy storage array further comprises a virtual node, wherein the virtual node is connected with each flywheel energy storage unit, and the virtual node is used for indicating the flow direction of the charge state of each flywheel energy storage unit. In a specific implementation, as shown in fig. 5, a virtual node is constructed in the flywheel energy storage array as a master node, where the virtual node may be specifically a controller, but does not include flywheel unit devices, and may meet the requirement of communicating with other nodes or receiving external instructions. And node information of all real energy storage nodes in the flywheel energy storage array flows to the virtual node, and the virtual node is used for indicating the flow direction of the charge state of each flywheel energy storage unit, namely the virtual node sends out node information of other energy storage nodes to the corresponding energy storage node according to the indication.
Each flywheel energy storage unit in the flywheel energy storage array determines a compensation value of a first control parameter based on the received node information, the influence of the charge states of other flywheel energy storage units on the flywheel energy storage unit, the influence of the charge states of the flywheel energy storage unit on the other flywheel energy storage units and the charge and discharge states of the flywheel energy storage unit, so that the consistent charge and discharge control is performed based on the compensated first control parameter, the approach speed of the whole flywheel energy storage array is accelerated, and the control efficiency of the flywheel energy storage unit is improved.
Therefore, the distributed architecture is adopted to control the charge and discharge of each flywheel energy storage unit in the flywheel energy storage array, and compared with centralized communication control, the information flow interaction in the whole flywheel energy storage array is less, the dependence on the communication rate and the capacity is lower, meanwhile, the fault tolerance of the whole flywheel energy storage array is improved, and the performance requirement of a controller of each flywheel energy storage unit is reduced.
The embodiment of the application discloses a control method of a flywheel energy storage unit, which improves the charge and discharge control efficiency and accuracy of a flywheel energy storage array.
Referring to fig. 6, a flowchart of a control method of a first flywheel energy storage unit according to an exemplary embodiment is shown, and as shown in fig. 6, includes:
s101: acquiring the charge state of each flywheel energy storage unit and the weight among the flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit;
The execution body of the embodiment is a controller of any flywheel energy storage unit in the flywheel energy storage array. In this step, the state of charge SOC of each flywheel energy storage unit in the flywheel energy storage array is obtained, where the definition of SOC is as follows:
Figure SMS_4
；
wherein E is the current rotational kinetic energy of the flywheel,E p is the rotational kinetic energy of the flywheel at the rated rotational speed,
Figure SMS_5
is the rotational angular speed (rad/s) of the flywheel,>
Figure SMS_6
is the rated rotational angular speed of the same type flywheel, n is the current real-time rotational speed (rpm) of the flywheel, n max Is the rated rotational speed of the same type of flywheel.
Further, the weight between the flywheel energy storage units is used for describing the influence between the charge states of the flywheel energy storage units, namely the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit, and the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit. In a specific implementation, a weight matrix may be defined:
Figure SMS_7
；
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure SMS_8
the weight of the node information of the flywheel energy storage unit j flowing to the flywheel energy storage unit i, namely the influence of the charge state of the flywheel energy storage unit j on the charge and discharge of the flywheel energy storage unit i, is represented by +. >
Figure SMS_9
And the sum of the row and the column is 1.
S102: determining a charge-discharge state of the flywheel energy storage unit, and determining a corresponding charge-discharge state value based on the charge-discharge state;
in a specific implementation, a charge and discharge state of the flywheel energy storage unit i and a corresponding charge and discharge state value S are defined i When the flywheel energy storage unit i is in a discharge state, S i Greater than zero, e.g. 1, when the flywheel energy storage unit i is in a charged state，S i It is understood that the charge and discharge state value of the flywheel energy storage unit in the discharge state and the charge and discharge state value of the flywheel energy storage unit in the charge state are opposite to each other, and are smaller than 0, for example, -1. In the step, the charge and discharge state and the corresponding charge and discharge state value of the current flywheel energy storage unit are determined.
S103: determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units; the first control parameter is a parameter for controlling the flywheel energy storage unit to operate;
in a specific implementation, determining the first control parameter that controls the operation of the current flywheel energy storage unit may include virtual impedance, active power, reactive power, etc. And determining a compensation value of a first control parameter of the current flywheel energy storage unit based on a consistency algorithm based on the charge and discharge state value, the charge state and the charge states of other flywheel energy storage units flowing into the current flywheel energy storage unit.
As a possible implementation, this step may include: determining first products of weights between the flywheel energy storage units and other adjacent flywheel energy storage units and charge states of the other adjacent flywheel energy storage units, and accumulating all the first products to obtain a first accumulated value; determining second products between weights between the other adjacent flywheel energy storage units and the charge states of the flywheel energy storage units, and accumulating all the second products to obtain a second accumulated value; determining a first difference value between a first accumulated value and the second accumulated value, and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit according to the product of the first difference value and the charge-discharge state value; the charge and discharge state value of the flywheel energy storage unit is greater than zero when the flywheel energy storage unit is in a discharge state, the charge and discharge state value of the flywheel energy storage unit is less than zero when the flywheel energy storage unit is in a charge state, and the charge and discharge state value of the flywheel energy storage unit is opposite to the charge and discharge state value of the flywheel energy storage unit when the flywheel energy storage unit is in a charge state.
For the current flywheel energy storage unit i, the calculation formula of the compensation value of the first control parameter in continuous time is as follows:
Figure SMS_11
wherein X is a first control parameter, </i >>
Figure SMS_16
For the compensation value of the first control parameter in continuous time, j is the identification of the other flywheel energy storage unit, t is time, < >>
Figure SMS_19
For the first product, +>
Figure SMS_12
For the first accumulated value, ++>
Figure SMS_17
Is the second product, +>
Figure SMS_20
For the second accumulated value, ++>
Figure SMS_22
Is the first difference. The calculation formula of the compensation value of the first control parameter at discrete time is as follows: />
Figure SMS_10
Wherein n is the discrete time point, +.>
Figure SMS_14
For the first product, +>
Figure SMS_18
As a result of the first accumulated value,
Figure SMS_21
is the second product, +>
Figure SMS_13
As a result of the second accumulated value,
Figure SMS_15
is the first difference.
It should be noted that, in order to improve the charge and discharge control efficiency of the whole flywheel energy storage array, each flywheel energy storage unit may only perform data interaction of node information with the flywheel energy storage unit having an adjacent relationship. That is, as a preferred embodiment, before determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the state of charge of each flywheel energy storage unit in the flywheel energy storage array, and the weight between the flywheel energy storage units, the method further includes: acquiring an adjacency relation between flywheel energy storage units in the flywheel energy storage array to determine an adjacency relation matrix; the adjacent relation between the first flywheel energy storage unit and the second flywheel energy storage unit indicates that the charge state of the second flywheel energy storage unit flows to the first flywheel energy storage unit, and the adjacent relation between the second flywheel energy storage unit and the first flywheel energy storage unit indicates that the charge state of the second flywheel energy storage unit flows to the first flywheel energy storage unit; correspondingly, the determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, and the weight between the flywheel energy storage units includes: and determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, the weight among each flywheel energy storage unit and the adjacency relation matrix.
In particular, an adjacency matrix can be used for adjacency relations among energy storage nodes of the directed weight graph G
Figure SMS_23
The representation is:
Figure SMS_24
；
wherein the rows and columns of the adjacent matrix correspond to the n nodes of the graph G, respectively, the matrix
Figure SMS_25
Middle element->
Figure SMS_26
Node information representing the energy storage node j flows to the energy storage node i and +.>
Figure SMS_27
，/>
Figure SMS_28
Indicating that an adjacency exists between the energy storage node j and the energy storage node i, namely that node information of the energy storage node j flows to the energy storage node i, wherein the energy storage node i can obtain the node information of the energy storage node j,/>
Figure SMS_29
The method indicates that an adjacency relation does not exist between the energy storage node j and the energy storage node i, namely node information of the energy storage node j does not flow to the energy storage node i, and the energy storage node i can not obtain the node information of the energy storage node j.
Further, based on the charge and discharge state value, the charge state and the charge states of other flywheel energy storage units flowing into the current flywheel energy storage unit, the weight and the adjacent matrix between the current flywheel energy storage unit and the other flywheel energy storage units determine the compensation value of the first control parameter of the current flywheel energy storage unit.
As a possible implementation manner, the determining, based on the charge and discharge state value, the state of charge of each flywheel energy storage unit in the flywheel energy storage array, the weight between each flywheel energy storage unit, and the adjacency relation matrix, the compensation value of the first control parameter corresponding to the flywheel energy storage unit includes: determining a first adjacent flywheel energy storage unit for receiving the state of charge flowing out of the flywheel energy storage unit and a second adjacent flywheel energy storage unit for flowing in the state of charge to the flywheel energy storage unit according to the adjacent relation matrix; determining a third product between the weight between the flywheel energy storage unit and the first adjacent flywheel energy storage unit and the charge state of the first adjacent flywheel energy storage unit, and accumulating all the third products to obtain a third accumulated value; determining a fourth product between the weight between the second adjacent flywheel energy storage unit and the charge state of the flywheel energy storage unit, and accumulating all the fourth products to obtain a fourth accumulated value; determining a second difference value between a third accumulated value and the fourth accumulated value, and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit according to the product of the second difference value and the charge-discharge state value; the charge and discharge state value of the flywheel energy storage unit is greater than zero when the flywheel energy storage unit is in a discharge state, the charge and discharge state value of the flywheel energy storage unit is less than zero when the flywheel energy storage unit is in a charge state, and the charge and discharge state value of the flywheel energy storage unit is opposite to the charge and discharge state value of the flywheel energy storage unit when the flywheel energy storage unit is in a charge state.
For the current flywheel energy storage unit i, the calculation formula of the compensation value of the first control parameter in continuous time is as follows:
Figure SMS_31
wherein->
Figure SMS_36
For the third product, +>
Figure SMS_39
For the third accumulated value, ++>
Figure SMS_33
For the fourth product, +>
Figure SMS_34
For the fourth accumulated value, ++>
Figure SMS_37
Is the second difference. The calculation formula of the compensation value of the first control parameter at discrete time is as follows:
Figure SMS_40
wherein->
Figure SMS_30
For the third product, +>
Figure SMS_35
For the third accumulated value, ++>
Figure SMS_38
As a result of the fourth product of this,
Figure SMS_41
for the fourth accumulated value, ++>
Figure SMS_32
Is the second difference.
Therefore, each flywheel energy storage unit can only carry out data interaction of node information with the flywheel energy storage units with adjacent relations, then each flywheel energy storage unit updates the output state of the flywheel energy storage unit through local control, finally the whole approach control target of the flywheel array system is realized, more complex tasks are completed together, even if a part of nodes have faults, the whole cooperative control of the system is not affected, and the fault tolerance is better.
More preferably, the determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit by setting a compensation degree of the gain control first control parameter, that is, based on the charge and discharge state value, the charge states of the flywheel energy storage units in the flywheel energy storage array, the weights between the flywheel energy storage units, and the adjacency relation matrix includes: and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit based on the gain of the flywheel energy storage unit, the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, the weight among each flywheel energy storage unit and the adjacency relation matrix.
For the current flywheel energy storage unit i, the calculation formula of the compensation value of the first control parameter in continuous time is as follows:
Figure SMS_42
the calculation formula of the compensation value of the first control parameter at discrete time is as follows: />
Figure SMS_43
Wherein K is g Expressed as gain, the larger the numerical value, the larger the algorithm effect, and the convergence speed of the integral flywheel energy storage array is also accelerated.
S104: and compensating the first control parameter by using the compensation value, and controlling the charge and discharge of the flywheel energy storage unit based on the compensated first control parameter.
In this step, the first control parameter is compensated by using the calculated compensation value, that is, a difference value between the first control parameter and the compensation value is calculated as a compensated first control parameter, and further, charge and discharge control is performed on the flywheel energy storage unit based on the compensated first control parameter. The flywheel energy storage units perform charge and discharge control based on a consistency algorithm, and the same effect as that of a peer-to-peer control P-U sagging control method can be achieved on a control target, namely, the flywheel energy storage units can automatically bear input/output power and can dynamically adjust a first control parameter according to node information of other flywheel energy storage units due to communication connection, so that the approach speed of the overall control target is accelerated.
As a possible embodiment, the step includes: taking the difference value between the first control parameter and the compensation value as a compensated first control parameter, and determining a compensated second control parameter based on the compensated first control parameter; the second control parameter is a parameter for controlling the flywheel energy storage unit to operate; generating a reference current according to the error between the compensated second control parameter and the actual measured value of the second control parameter; and controlling the charge and discharge of the flywheel energy storage unit based on the reference current.
In a specific implementation, if the first control parameter is a parameter that can be directly calculated to obtain a reference current, such as active power, reactive power, etc., the second control parameter and the first control parameter are the same parameter, the reference current is directly generated according to the error between the compensated first control parameter and the actual measurement value of the first control parameter, and sent to a current controller, then the inner loop current controller generates a voltage reference value, and sends the voltage reference value to an SVPWM (space vector pulse width modulation ) module, and finally the SVPWM module generates pulse output to drive DC/AC to complete the DC bus voltage control of the flywheel energy storage unit. If the first control parameter is a parameter that cannot be directly calculated to obtain the reference current, such as a virtual resistor, the second control parameter and the first control parameter are different parameters, such as an input voltage of the voltage controller. And determining a compensated second control parameter based on the compensated first control parameter, generating a reference current according to an error between the compensated second control parameter and an actual measurement value of the second control parameter, sending the reference current into a current controller, generating a voltage reference value by an inner loop current controller, sending the voltage reference value to an SVPWM module, generating pulse output by the SVPWM module, and driving DC/AC to complete direct current bus voltage control of the flywheel energy storage unit.
According to the control method for the flywheel energy storage units, the compensation value of the first control parameter is determined by each flywheel energy storage unit in the flywheel energy storage array based on the influence of the charge states of other flywheel energy storage units on the flywheel energy storage unit, the influence of the charge states of the flywheel energy storage unit on the other flywheel energy storage units, the charge and discharge states of the flywheel energy storage unit and the charge states of the flywheel energy storage unit, so that the charge and discharge control of consistency is performed based on the compensated first control parameter, the approach speed of controlling the whole flywheel energy storage array is accelerated, and the control efficiency of the flywheel energy storage array is improved. Furthermore, the embodiment of the application adopts a distributed architecture to control the charge and discharge of each flywheel energy storage unit in the flywheel energy storage array, so that the fault tolerance of the whole flywheel energy storage array is improved, and the performance requirement of a controller of each flywheel energy storage unit is reduced.
The embodiment of the application discloses a control method of a flywheel energy storage unit, and compared with the previous embodiment, the embodiment further describes and optimizes the technical scheme. Specific:
referring to fig. 7, a flowchart of a control method of a second flywheel energy storage unit according to an exemplary embodiment is shown, and as shown in fig. 7, includes:
S201: acquiring the charge state of each flywheel energy storage unit and the weight among the flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit;
s202: determining a charge-discharge state of the flywheel energy storage unit, and determining a corresponding charge-discharge state value based on the charge-discharge state;
s203: determining a compensation value of virtual impedance corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units;
in this embodiment, the compensation object is a virtual impedance, which can be understood as a voltage sag coefficient. The flywheel energy storage units are connected in parallel on the direct current bus, so that the circuit model can be equivalent to a Thevenin equivalent circuit, and as shown in FIG. 8, the flywheel energy storage units are simplified into an energy storage node. If a voltage difference exists between the energy storage nodes, a circulation flow occurs between the two energy storage nodes. In order to prevent the circuit from circulating, a virtual impedance can be introduced in the control loop of each energy storage node, the proportion of the virtual impedance of each node being inversely proportional to the current of each energy storage node. The adoption of the voltage droop control method can avoid circulation current among multiple groups of energy storage nodes, and can well complete current distribution. Determining a compensation value of virtual impedance of the current flywheel energy storage unit based on the charge and discharge state value, the charge state and the charge states of other flywheel energy storage units flowing into the current flywheel energy storage unit of the current flywheel energy storage unit, and the weight between the current flywheel energy storage unit and the other flywheel energy storage units
Figure SMS_44
Or->
Figure SMS_45
。
S204: taking the difference value between the preset initial value of the virtual impedance and the compensation value as the compensated virtual impedance;
it should be noted that, the present embodiment describes voltage control, and the power grid is in control mode 1, i.e. power control; the motor side is in a control mode 2, namely bus voltage control; the compensation object is a voltage sag coefficient, i.e., a virtual impedance. In this step, the preset initial value K of the virtual impedance is set Rd The difference from the compensation value is used as the virtual impedance after compensation. For the current flywheel energy storage unit i, the calculation formula of the virtual impedance after continuous time supplement is as follows:
Figure SMS_46
the calculation formula of the virtual impedance after the discrete time supplement is as follows: />
Figure SMS_47
。
S205: determining a fifth product of the compensated virtual impedance and the input current or the output current of the flywheel energy storage unit, and taking a difference value between a preset initial voltage of a direct current bus of the flywheel energy storage unit and the fifth product as the compensated input voltage of a voltage controller;
in a specific implementation, the droop control, that is, the calculation formula of the input voltage compensated by the voltage controller is:
Figure SMS_48
wherein->
Figure SMS_49
For the input voltage after compensation of the voltage controller, V ref The preset initial voltage of the direct current bus of the current flywheel energy storage unit is i, and i is the input current of the current flywheel energy storage unit (/ I) >
Figure SMS_50
) Or output current (+)>
Figure SMS_51
），K Rd i is the fifth product. The voltage sag factor is shown in fig. 9.
It should be noted that, the voltage droop control may cause a certain voltage deviation, and the system may become unstable, which is a limitation of the conventional droop control. Therefore, the embodiment can adopt the secondary voltage compensation value to carry out secondary voltage compensation on the input voltage compensated by the voltage controller, and compensate for voltage deviation.
That is, as a preferred embodiment, after determining the fifth product of the compensated virtual impedance and the input current or the output current of the flywheel energy storage unit, the method further includes: determining a secondary voltage compensation value according to the preset initial voltage of the direct current bus, the actual voltage measurement value, the proportional parameter and the integral parameter; correspondingly, after taking the difference value of the preset initial voltage of the direct current bus of the flywheel energy storage unit and the fifth product as the input voltage compensated by the voltage controller, the method further comprises the following steps: and compensating the compensated input voltage again by using the secondary voltage compensation value.
As shown in fig. 10, fig. 10 is a schematic diagram of a secondary voltage compensation control according to an embodiment of the present application. In a specific implementation, comparing the preset initial voltage of the DC bus with the actual voltage measured value to obtain a difference, and obtaining a secondary voltage compensation value by the error value through PI
Figure SMS_52
The calculation formula of the secondary voltage compensation value is as follows: />
Figure SMS_53
Wherein K is P And K I Is a proportional parameter and an integral parameter in the compensator. To make the secondary voltage compensation value +.>
Figure SMS_54
The maximum allowable value of the voltage deviation is not exceeded, and is obtained by a voltage droop control formula: />
Figure SMS_55
. It can be seen that adding voltage compensation to droop control will cause the droop curve to move up as a whole, the energy storage node will be at +.>
Figure SMS_56
Substitute V ref As a preset initial voltage of the DC bus, so that the actual voltage measurement is restored to the value corresponding to the secondary voltage compensation value +.>
Figure SMS_57
At the same time, the currents of the energy storage nodes are distributed according to the set virtual impedance. Thus, as long as the control is good->
Figure SMS_58
The voltage deviation caused by sagging control can be well compensated.
S206: generating a reference current according to the error between the compensated input voltage and the actual voltage measurement value of the direct current bus;
in a specific implementation, the controller in the current flywheel energy storage unit receives the compensated input voltage K Rd,n The outer ring voltage controller is used for controlling the input voltage after the compensation of the voltage controller
Figure SMS_59
Actual voltage measurement V with DC bus dc The error of (2) is controlled by PI to obtain motor->
Figure SMS_60
Is fed into a current controller, and is controlled by an inner loop current controller through PI according to the dq axis current error to generate a dq axis voltage reference value V d 、V q And the pulse output is transmitted to the SVPWM module, and finally the SVPWM module generates pulse output to drive the DC/AC to complete the direct current bus voltage control of the flywheel energy storage unit. The control block diagram of the whole flywheel energy storage unit is shown in fig. 11, and the control block diagram of the controller in the single flywheel energy storage unit is shown in fig. 12.
The embodiment of the application discloses a control method of a flywheel energy storage unit, and compared with the first embodiment, the embodiment further describes and optimizes the technical scheme. Specific:
referring to fig. 13, a flowchart of a control method of a third flywheel energy storage unit according to an exemplary embodiment is shown, and as shown in fig. 13, includes:
s301: acquiring the charge state of each flywheel energy storage unit and the weight among the flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit;
S302: determining a charge-discharge state of the flywheel energy storage unit, and determining a corresponding charge-discharge state value based on the charge-discharge state;
s303: determining a compensation value of active power corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units;
s304: taking the difference value between the preset initial value of the active power and the compensation value as the compensated active power;
the embodiment describes active control, where the grid side AC/DC needs to be in control mode 2, i.e. bus voltage control; while the motor side AC/DC needs to be in control mode 1, i.e. power control; the compensation object is active power. Determining a compensation value of active power of the current flywheel energy storage unit based on a charge-discharge state value, a charge state, and charge states of other flywheel energy storage units flowing into the current flywheel energy storage unit, and weights between the current flywheel energy storage unit and the other flywheel energy storage units
Figure SMS_61
. Preset initial value P of active power Init,i The difference value between the compensation value and the compensation value is taken as the active power after compensation
Figure SMS_62
。
S305: generating a reference current according to the error between the compensated active power and the actual measured value of the active power at the direct current side;
S306: and controlling the charge and discharge of the flywheel energy storage unit based on the reference current.
In a specific implementation, the controller in the current flywheel energy storage unit receives the compensated active power, and based on the actual measured value P of the compensated active power and the active power at the DC side i The error of (2) is controlled by PI to obtain the motor
Figure SMS_63
Is fed into a current controller, and then the internal loop current controller generates a dq-axis voltage reference value V through PI control according to the q-axis current error d 、V q And the pulse output is transmitted to the SVPWM module, and finally the SVPWM module generates pulse output to drive the DC/AC to complete the active control of the charge and discharge of the flywheel energy storage unit. In the active mode, the control block diagram of the entire flywheel energy storage unit is shown in fig. 14, and the control block diagram of the controller in a single flywheel energy storage unit is shown in fig. 15.
The following describes a control device of a flywheel energy storage unit according to an embodiment of the present application, and the control device of the flywheel energy storage unit described below and the control method of the flywheel energy storage unit described above may be referred to each other.
The control device of the flywheel energy storage unit provided by the embodiment of the application comprises:
the first acquisition module is used for acquiring the charge states of all flywheel energy storage units and the weights among all flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit;
The first determining module is used for determining the charge and discharge states of the flywheel energy storage unit and determining corresponding charge and discharge state values based on the charge and discharge states;
the second determining module is used for determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units; the first control parameter is a parameter for controlling the flywheel energy storage unit to operate;
and the control module is used for compensating the first control parameter by using the compensation value and controlling the charge and discharge of the flywheel energy storage unit based on the compensated first control parameter.
According to the control device for the flywheel energy storage units, the compensation value of the first control parameter is determined by each flywheel energy storage unit in the flywheel energy storage array based on the influence of the charge states of other flywheel energy storage units on the self, the influence of the charge states of the self on other flywheel energy storage units, the charge and discharge states of the self and the charge states of other flywheel energy storage units, so that the charge and discharge control of consistency is performed based on the compensated first control parameter, the approach speed of the whole flywheel energy storage array is accelerated, and the control efficiency of the flywheel energy storage array is improved. Furthermore, the embodiment of the application adopts a distributed architecture to control the charge and discharge of each flywheel energy storage unit in the flywheel energy storage array, so that the fault tolerance of the whole flywheel energy storage array is improved, and the performance requirement of a controller of each flywheel energy storage unit is reduced.
On the basis of the foregoing embodiment, as a preferred implementation manner, the second determining module is specifically configured to: determining first products of weights between the flywheel energy storage units and other adjacent flywheel energy storage units and charge states of the other adjacent flywheel energy storage units, and accumulating all the first products to obtain a first accumulated value; determining second products between weights between the other adjacent flywheel energy storage units and the charge states of the flywheel energy storage units, and accumulating all the second products to obtain a second accumulated value; determining a first difference value between a first accumulated value and the second accumulated value, and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit according to the product of the first difference value and the charge-discharge state value; the charge and discharge state value of the flywheel energy storage unit is greater than zero when the flywheel energy storage unit is in a discharge state, the charge and discharge state value of the flywheel energy storage unit is less than zero when the flywheel energy storage unit is in a charge state, and the charge and discharge state value of the flywheel energy storage unit is opposite to the charge and discharge state value of the flywheel energy storage unit when the flywheel energy storage unit is in a charge state.
On the basis of the above embodiment, as a preferred implementation manner, the method further includes:
the second acquisition module is used for acquiring the adjacent relation among all flywheel energy storage units in the flywheel energy storage array so as to determine an adjacent relation matrix; the adjacent relation between the first flywheel energy storage unit and the second flywheel energy storage unit indicates that the charge state of the second flywheel energy storage unit flows to the first flywheel energy storage unit, and the adjacent relation between the second flywheel energy storage unit and the first flywheel energy storage unit indicates that the charge state of the second flywheel energy storage unit flows to the first flywheel energy storage unit;
correspondingly, the second determining module is specifically configured to: and determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, the weight among each flywheel energy storage unit and the adjacency relation matrix.
On the basis of the foregoing embodiment, as a preferred implementation manner, the second determining module is specifically configured to: determining a first adjacent flywheel energy storage unit for receiving the state of charge flowing out of the flywheel energy storage unit and a second adjacent flywheel energy storage unit for flowing in the state of charge to the flywheel energy storage unit according to the adjacent relation matrix; determining a third product between the weight between the flywheel energy storage unit and the first adjacent flywheel energy storage unit and the charge state of the first adjacent flywheel energy storage unit, and accumulating all the third products to obtain a third accumulated value; determining a fourth product between the weight between the second adjacent flywheel energy storage unit and the charge state of the flywheel energy storage unit, and accumulating all the fourth products to obtain a fourth accumulated value; determining a second difference value between a third accumulated value and the fourth accumulated value, and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit according to the product of the second difference value and the charge-discharge state value; the charge and discharge state value of the flywheel energy storage unit is greater than zero when the flywheel energy storage unit is in a discharge state, the charge and discharge state value of the flywheel energy storage unit is less than zero when the flywheel energy storage unit is in a charge state, and the charge and discharge state value of the flywheel energy storage unit is opposite to the charge and discharge state value of the flywheel energy storage unit when the flywheel energy storage unit is in a charge state.
On the basis of the foregoing embodiment, as a preferred implementation manner, the second determining module is specifically configured to: and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit based on the gain of the flywheel energy storage unit, the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, the weight among each flywheel energy storage unit and the adjacency relation matrix.
On the basis of the above embodiment, as a preferred implementation manner, the control module includes:
a determining unit, configured to take a difference between the first control parameter and the compensation value as a compensated first control parameter, and determine a compensated second control parameter based on the compensated first control parameter; the second control parameter is a parameter for controlling the flywheel energy storage unit to operate;
a generation unit for generating a reference current according to an error between the compensated second control parameter and an actual measurement value of the second control parameter;
and the control unit is used for controlling the charge and discharge of the flywheel energy storage unit based on the reference current.
On the basis of the foregoing embodiment, as a preferred implementation manner, if the first control parameter is a virtual impedance and the second control parameter is an input voltage of the voltage controller, the determining unit is specifically configured to: taking the difference value between the preset initial value of the virtual impedance and the compensation value as the compensated virtual impedance; determining a fifth product of the compensated virtual impedance and the input current or the output current of the flywheel energy storage unit, and taking a difference value between a preset initial voltage of a direct current bus of the flywheel energy storage unit and the fifth product as the compensated input voltage of the voltage controller;
Correspondingly, the generating unit is specifically configured to: and generating a reference current according to the error between the compensated input voltage and the actual voltage measured value of the direct current bus.
On the basis of the above embodiment, as a preferred implementation manner, the determining unit is specifically configured to: taking the difference value between the preset initial value of the virtual impedance and the compensation value as the compensated virtual impedance; determining a fifth product of the compensated virtual impedance and the input current or the output current of the flywheel energy storage unit; determining a secondary voltage compensation value according to the preset initial voltage of the direct current bus, the actual voltage measurement value, the proportional parameter and the integral parameter; taking the difference value of the preset initial voltage of the direct current bus of the flywheel energy storage unit and the fifth product as the input voltage after the compensation of the voltage controller; and compensating the compensated input voltage again by using the secondary voltage compensation value.
On the basis of the foregoing embodiment, as a preferred implementation manner, if the first control parameter and the second control parameter are both active powers, the determining unit is specifically configured to: taking the difference value between the preset initial value of the active power and the compensation value as the compensated active power;
Correspondingly, the generating unit is specifically configured to: and generating a reference current according to the error between the compensated active power and the actual measured value of the active power at the direct current side.
On the basis of the foregoing embodiment, as a preferred implementation manner, the flywheel energy storage array further includes a virtual node, where the virtual node is connected to each of the flywheel energy storage units, and the virtual node is configured to indicate a flow direction of a state of charge of each of the flywheel energy storage units.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Based on the hardware implementation of the program modules, and in order to implement the method of the embodiments of the present application, the embodiments of the present application further provide a controller of a flywheel energy storage unit, fig. 16 is a structural diagram of a controller of a flywheel energy storage unit, which is shown in an exemplary embodiment, and as shown in fig. 16, the controller of the flywheel energy storage unit includes:
a communication interface 1 capable of information interaction with other devices such as network devices and the like;
and the processor 2 is connected with the communication interface 1 to realize information interaction with other equipment, and is used for executing the control method of the flywheel energy storage unit provided by one or more technical schemes when running the computer program. And the computer program is stored on the memory 3.
Of course, in practice, the various components in the controller of the flywheel energy storage unit are coupled together by the bus system 4. It will be appreciated that the bus system 4 is used to enable connected communications between these components. The bus system 4 comprises, in addition to a data bus, a power bus, a control bus and a status signal bus. But for clarity of illustration the various buses are labeled as bus system 4 in fig. 16.
The memory 3 in the embodiment of the present application is used to store various types of data to support the operation of the controller of the flywheel energy storage unit. Examples of such data include: any computer program for operating on the controller of the flywheel energy storage unit.
It will be appreciated that the memory 3 may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory 3 described in the embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.
The method disclosed in the embodiments of the present application may be applied to the processor 2 or implemented by the processor 2. The processor 2 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 2 or by instructions in the form of software. The processor 2 described above may be a general purpose processor, DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 2 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly embodied in a hardware decoding processor or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium in the memory 3 and the processor 2 reads the program in the memory 3 to perform the steps of the method described above in connection with its hardware.
The processor 2 implements corresponding flows in the methods of the embodiments of the present application when executing the program, and for brevity, will not be described in detail herein.
In an exemplary embodiment, the present application also provides a storage medium, i.e. a computer storage medium, in particular a computer readable storage medium, for example comprising a memory 3 storing a computer program executable by the processor 2 for performing the steps of the method described above. The computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash Memory, magnetic surface Memory, optical disk, CD-ROM, etc.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium, comprising several instructions for causing a controller (which may be a personal computer, a server, a network device, etc.) of a flywheel energy storage unit to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (12)

1. A method of controlling a flywheel energy storage unit, applied to each flywheel energy storage unit in the flywheel energy storage array, the method comprising:
acquiring the charge state of each flywheel energy storage unit and the weight among the flywheel energy storage units in the flywheel energy storage array; the weight between the first flywheel energy storage unit and the second flywheel energy storage unit represents the influence of the charge state of the second flywheel energy storage unit on the charge and discharge of the first flywheel energy storage unit; the weight between the second flywheel energy storage unit and the first flywheel energy storage unit represents the influence of the charge state of the first flywheel energy storage unit on the charge and discharge of the second flywheel energy storage unit;
determining a charge-discharge state of the flywheel energy storage unit, and determining a corresponding charge-discharge state value based on the charge-discharge state;
Determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array and the weight among the flywheel energy storage units; the first control parameter is a parameter for controlling the flywheel energy storage unit to operate;
and compensating the first control parameter by using the compensation value, and controlling the charge and discharge of the flywheel energy storage unit based on the compensated first control parameter.
2. The method for controlling the flywheel energy storage unit according to claim 1, wherein determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the state of charge of each flywheel energy storage unit in the flywheel energy storage array, and the weight between each flywheel energy storage unit includes:
determining first products of weights between the flywheel energy storage units and other adjacent flywheel energy storage units and charge states of the other adjacent flywheel energy storage units, and accumulating all the first products to obtain a first accumulated value;
determining second products between weights between the other adjacent flywheel energy storage units and the charge states of the flywheel energy storage units, and accumulating all the second products to obtain a second accumulated value;
Determining a first difference value between a first accumulated value and the second accumulated value, and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit according to the product of the first difference value and the charge-discharge state value; the charge and discharge state value of the flywheel energy storage unit is greater than zero when the flywheel energy storage unit is in a discharge state, the charge and discharge state value of the flywheel energy storage unit is less than zero when the flywheel energy storage unit is in a charge state, and the charge and discharge state value of the flywheel energy storage unit is opposite to the charge and discharge state value of the flywheel energy storage unit when the flywheel energy storage unit is in a charge state.
3. The method for controlling a flywheel energy storage unit according to claim 1, wherein before determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the state of charge of each flywheel energy storage unit in the flywheel energy storage array, and the weight between each flywheel energy storage unit, the method further comprises:
acquiring an adjacency relation between flywheel energy storage units in the flywheel energy storage array to determine an adjacency relation matrix; the adjacent relation between the first flywheel energy storage unit and the second flywheel energy storage unit indicates that the charge state of the second flywheel energy storage unit flows to the first flywheel energy storage unit, and the adjacent relation between the second flywheel energy storage unit and the first flywheel energy storage unit indicates that the charge state of the second flywheel energy storage unit flows to the first flywheel energy storage unit;
Correspondingly, the determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, and the weight between the flywheel energy storage units includes:
and determining a compensation value of a first control parameter corresponding to each flywheel energy storage unit based on the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, the weight among each flywheel energy storage unit and the adjacency relation matrix.
4. The method for controlling the flywheel energy storage unit according to claim 3, wherein determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the state of charge of each flywheel energy storage unit in the flywheel energy storage array, the weight between each flywheel energy storage unit, and the adjacency relation matrix includes:
determining a first adjacent flywheel energy storage unit for receiving the state of charge flowing out of the flywheel energy storage unit and a second adjacent flywheel energy storage unit for flowing in the state of charge to the flywheel energy storage unit according to the adjacent relation matrix;
determining a third product between the weight between the flywheel energy storage unit and the first adjacent flywheel energy storage unit and the charge state of the first adjacent flywheel energy storage unit, and accumulating all the third products to obtain a third accumulated value;
Determining a fourth product between the weight between the second adjacent flywheel energy storage unit and the charge state of the flywheel energy storage unit, and accumulating all the fourth products to obtain a fourth accumulated value;
determining a second difference value between a third accumulated value and the fourth accumulated value, and determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit according to the product of the second difference value and the charge-discharge state value; the charge and discharge state value of the flywheel energy storage unit is greater than zero when the flywheel energy storage unit is in a discharge state, the charge and discharge state value of the flywheel energy storage unit is less than zero when the flywheel energy storage unit is in a charge state, and the charge and discharge state value of the flywheel energy storage unit is opposite to the charge and discharge state value of the flywheel energy storage unit when the flywheel energy storage unit is in a charge state.
5. The method for controlling the flywheel energy storage unit according to claim 3, wherein determining the compensation value of the first control parameter corresponding to the flywheel energy storage unit based on the charge and discharge state value, the state of charge of each flywheel energy storage unit in the flywheel energy storage array, the weight between each flywheel energy storage unit, and the adjacency relation matrix includes:
And determining a compensation value of a first control parameter corresponding to the flywheel energy storage unit based on the gain of the flywheel energy storage unit, the charge and discharge state value, the charge state of each flywheel energy storage unit in the flywheel energy storage array, the weight among each flywheel energy storage unit and the adjacency relation matrix.
6. The method according to claim 1, wherein compensating the first control parameter using the compensation value, and controlling charge and discharge of the flywheel energy storage unit based on the compensated first control parameter, comprises:
taking the difference value between the first control parameter and the compensation value as a compensated first control parameter, and determining a compensated second control parameter based on the compensated first control parameter; the second control parameter is a parameter for controlling the flywheel energy storage unit to operate;
generating a reference current according to the error between the compensated second control parameter and the actual measured value of the second control parameter;
and controlling the charge and discharge of the flywheel energy storage unit based on the reference current.
7. The method according to claim 6, wherein if the first control parameter is a virtual impedance and the second control parameter is an input voltage of a voltage controller, the step of taking a difference between the first control parameter and the compensation value as the compensated first control parameter and determining the compensated second control parameter based on the compensated first control parameter includes:
Taking the difference value between the preset initial value of the virtual impedance and the compensation value as the compensated virtual impedance;
determining a fifth product of the compensated virtual impedance and the input current or the output current of the flywheel energy storage unit, and taking a difference value between a preset initial voltage of a direct current bus of the flywheel energy storage unit and the fifth product as the compensated input voltage of the voltage controller;
correspondingly, the generating the reference current according to the error between the compensated second control parameter and the actual measured value of the second control parameter includes:
and generating a reference current according to the error between the compensated input voltage and the actual voltage measured value of the direct current bus.
8. The method according to claim 7, further comprising, after determining a fifth product of the compensated virtual impedance and the input current or the output current of the flywheel energy storage unit:
determining a secondary voltage compensation value according to the preset initial voltage of the direct current bus, the actual voltage measurement value, the proportional parameter and the integral parameter;
correspondingly, after taking the difference value of the preset initial voltage of the direct current bus of the flywheel energy storage unit and the fifth product as the input voltage compensated by the voltage controller, the method further comprises the following steps:
And compensating the compensated input voltage again by using the secondary voltage compensation value.
9. The method according to claim 6, wherein if the first control parameter and the second control parameter are active power, taking a difference between the first control parameter and the compensation value as a compensated first control parameter, and determining a compensated second control parameter based on the compensated first control parameter, comprises:
taking the difference value between the preset initial value of the active power and the compensation value as the compensated active power;
correspondingly, the generating the reference current according to the error between the compensated second control parameter and the actual measured value of the second control parameter includes:
and generating a reference current according to the error between the compensated active power and the actual measured value of the active power at the direct current side.
10. The method of claim 1, wherein the flywheel energy storage array further comprises a virtual node, the virtual node being connected to each of the flywheel energy storage units, the virtual node being configured to indicate a flow direction of a state of charge of each of the flywheel energy storage units.
11. A controller for a flywheel energy storage unit, comprising:
a memory for storing a computer program;
a processor for carrying out the steps of the method of controlling a flywheel energy storage unit according to any of claims 1 to 10 when executing said computer program.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method of controlling a flywheel energy storage unit according to any of claims 1 to 10.
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