阅读说明：本技术 一种基于改进adrc的飞轮储能机侧控制系统及方法 (Flywheel energy storage machine side control system and method based on improved ADRC ) 是由 魏伟 杨婷 陈黎来 孙琦 姚玉婷 王文旭 饶赛 徐兴浩 于 2020-11-16 设计创作，主要内容包括：本发明公开了一种基于改进ADRC的飞轮储能机侧控制系统及方法,系统包括机侧PWM模块、机侧控制模块、启动电机PMSM模块和测量模块；机侧PWM模块、启动电机PMSM模块和测量模块依次连接,测量模块通过机侧控制模块与机侧PWM模块连接；机侧控制模块包括改进ADRC模块,改进ADRC模块包括基于Kalman滤波的改进状态观测器模块,基于Kalman滤波的改进状态观测器模块包括Kalman滤波器模块。本发明通过引入Kalman滤波器模块,对飞轮储能机侧控制系统的反馈转速进行滤波,使得转速以更小的速度损失且在短时间内迅速恢复为标准值,当转速发生变化时,能快速准确的跟踪转速变化,实现转速的最优控制。(The invention discloses a flywheel energy storage machine side control system and method based on improved ADRC, wherein the system comprises a machine side PWM module, a machine side control module, a starting motor PMSM module and a measuring module; the machine side PWM module, the starting motor PMSM module and the measurement module are sequentially connected, and the measurement module is connected with the machine side PWM module through the machine side control module; the machine side control module includes an improved ADRC module including a Kalman filtering based improved state observer module including a Kalman filter module. According to the invention, the Kalman filter module is introduced to filter the feedback rotating speed of the flywheel energy storage machine side control system, so that the rotating speed is quickly recovered to a standard value in a short time with smaller speed loss, and when the rotating speed changes, the rotating speed change can be quickly and accurately tracked, and the optimal control of the rotating speed is realized.)

1. A flywheel energy storage machine side control system based on improve ADRC, its characterized in that: the device comprises a machine side PWM module, a machine side control module, a starting motor PMSM module and a measuring module; the machine side PWM module, the starting motor PMSM module and the measurement module are sequentially connected, and the measurement module is connected with the machine side PWM module through the machine side control module;

the machine side PWM module inputs a direct current power supply and outputs three-phase alternating current voltage to the starting motor PMSM module, the measuring module obtains measured values of a plurality of variables from the starting motor PMSM module when the motor is from no load to load, and the variables comprise measured rotating speed n, electromagnetic torque, rotor electrical angle theta and three-phase currents ia, ib and ic of the motor; the machine side control module acquires a plurality of variable values output by the measuring module and sends PWM modulation signals to the machine side PWM module; the machine side control module comprises an improved ADRC module, the improved ADRC module comprises an improved state observer module based on Kalman filtering, the improved state observer module based on Kalman filtering comprises a Kalman filter module, and the feedback rotating speed of the flywheel energy storage machine side control system is filtered through the dynamic estimation function of the Kalman filter module to realize the optimal control of the rotating speed.

2. The improved ADRC based flywheel accumulator side control system of claim 1, wherein: the machine side control module also comprises a Clark conversion module, a Park conversion module, an IPark conversion module, a decoupling calculation module and an SVPWM module; the input of the improved ADRC module is the measured rotating speed n of the motor output by the measuring module, and the output current component iq of the improved ADRC module^*To a decoupling calculation module; the input of the Clark conversion module is three-phase currents ia, ib and ic output by the measurement module, and after the output of the Clark conversion module is connected with the Park conversion module, the Park conversion module outputs d-axis current id and q-axis current iq to the decoupling calculation module; the output of the IPark transform moduleAnd after the output of the rotor electrical angle theta output by the measuring module and the d-axis voltage Ud and the q-axis voltage Uq output by the decoupling calculating module are connected with the SVPWM module, the SVPWM module outputs a PWM modulation signal to the machine side PWM module.

3. The improved ADRC based flywheel accumulator side control system of claim 1, wherein: the improved ADRC module also comprises a tracking differentiator module, a nonlinear combination module and an amplitude limiting module, wherein the input of the tracking differentiator module is a given rotating speed n^*The output is the transitional rotating speed Z1; the nonlinear combination module has the input of observation rotation speed Z2, disturbance compensation Z3 and transition rotation speed Z1 and the output of control law signal u_t(ii) a The input of the improved state observer module based on Kalman filtering is a control law signal u_tThe measurement module outputs the measurement rotating speed n of the motor, and the output is an observation rotating speed Z2 and a disturbance compensation Z3; the input of the amplitude limiting module is a control rule signal u_tThe output is a current component iq^*。

4. The improved ADRC based flywheel accumulator side control system of claim 1, wherein: the improved state observer module based on Kalman filtering also comprises an integration module 1, an integration module 2 and a constant k₁Module, constant k₂The device comprises a module, a gain b module, a fal function module, an operation 1 module, an operation 2 module and an operation 3 module; the control law signal u_tThe device is connected with an operation 3 module through a gain b module, the operation 3 module, an integral module 1, an operation 2 module, a Kalman filter module, an operation 1 module and a fal function module are sequentially connected, the measured rotating speed n of a motor output by the measurement module is input to the operation 1 module, the integral module 1 outputs an observation rotating speed Z2, the fal function module is connected with the operation 2 module, and the fal function module is connected with the operation 2 module through a constant k₁The module inputs the operation result Z6 to the operation 3 module, and the fal function module passes through a constant k₂The module inputs the operation result Z7 to the integrating module 2, the integrating module 2 outputs the disturbance compensation Z3, and the disturbance compensation Z3 is input to the operation 3 module.

5. A flywheel energy storage machine side control method based on improved ADRC, which is applied to the flywheel energy storage machine side control system based on improved ADRC as claimed in any one of claims 1-4, wherein in the flywheel energy storage machine side control system, the state monitoring and real-time control of the motor from no-load operation to load operation comprise the following steps:

s1, inputting the direct current power supply and the PWM modulation signal into a machine side PWM module, and outputting three-phase alternating current voltages UA, UB and UC to a PMSM module of the starting motor by the machine side PWM module;

s2, when the motor in the flywheel energy storage machine side control system runs from no-load to load, starting a plurality of variables of the motor in the motor PMSM module to change, and acquiring measured values of the plurality of variables of the motor from no-load to load by the measuring module from the starting motor PMSM module, wherein the measured values comprise the measured rotating speed n, the electromagnetic torque, the rotor electrical angle theta and the three-phase currents ia, ib and ic of the motor;

s3, calculating the current component iq of the measured rotating speed n of the motor by improving the ADRC module^*；

S4, outputting d-axis current id and q-axis current iq by the three-phase currents ia, ib and ic through a Clark conversion module and a Park conversion module; current component iq^*D-axis current id and q-axis current iq are converted into d-axis voltage Ud and q-axis voltage Uq through a decoupling calculation module;

and S5, converting the rotor electrical angle theta, the d-axis voltage Ud and the q-axis voltage Uq into PWM modulation signals through an IPark conversion module and an SVPWM module, and finishing monitoring of all variables in the operation of the motor and real-time control of the motor through the PWM modulation signals.

6. The method for controlling the side of the flywheel energy storage machine based on the improved ADRC is characterized in that: calculating the current component iq of the measured rotating speed n of the motor in the S3 by improving an ADRC module^*The specific process comprises the following steps:

s31, combining measured rotating speed n of motor with control law signal u_tCalculating and acquiring an observed rotating speed Z2 and a disturbance compensation Z3 through an improved state observer module based on Kalman filtering;

s32, given rotationSpeed n^*Outputting a transition rotating speed Z1 through a tracking differentiator module;

s33, transitional rotation speed Z1, observation rotation speed Z2 and disturbance compensation Z3 output control law signals u through a nonlinear combination module_tAnd control the regular signal u_tFeeding back to an improved state observer module based on Kalman filtering;

s34, control law signal u_tOutput as current component iq by amplitude limiting module^*。

7. The method for controlling the side of the flywheel energy storage machine based on the improved ADRC is characterized in that: the improved ADRC module employs a first order model controller:

in a tracking differentiator of the tracking differentiator module, the calculation formula is as follows:

wherein Z1 is the transition rotating speed to be obtained,for the transient speed differential to be determined, n^*For a given rotational speed, e₀Is the transition speed Z1 and the given speed n^*Difference of (a), k₀To adjust the proportionality coefficient of the response speed, a₀Is a nonlinear factor and has a value range of [0, 1]]，δ₀For a filter factor, the fal function is a non-linear filter function;

in the improved Kalman filtering based state observer of the improved Kalman filtering based state observer module, the calculation formula is as follows:

wherein u is_tFor the control of the regulation signal, Z2 is the observed speed to be determined,for the observed rotational speed differential to be solved, Z3 is the disturbance compensation to be solved,for the disturbance compensation differential to be determined, n is the measured rotational speed of the motor, a1 is a non-linear factor, δ₁B is a filter factor, b is a compensation factor, and k1 and k2 are proportionality coefficients for adjusting response speed;

in the nonlinear combination module, the calculation formula is as follows:

wherein, a₂Is a non-linear factor, δ₂As a filter factor, b₀To compensate for the factor, k₃To adjust the proportionality coefficient of the response speed.

8. The method for controlling the side of the flywheel energy storage machine based on the improved ADRC is characterized in that: the calculation process of the observed rotating speed Z2 and the disturbance compensation Z3 in the S31 is as follows:

s311, control law signal u_tCalculating a gain signal Z5 through a gain b module;

s312, combining measured rotating speed n of motor with observed rotating speed n₂Calculating the rotating speed error n by an operation 1 module₁Error in rotational speed n₁Calculating a disturbance compensation differential Z4 through a fal function module;

s313, passing the disturbance compensation differential Z4 through a constant k₂After the module calculates an operation result Z7, integrating the operation result Z7 to obtain disturbance compensation Z3;

s314, passing the disturbance compensation differential Z4 through a constant k₁After the module calculates an operation result Z6, an observation rotating speed differential signal Z8 is calculated by combining a gain signal Z5 and a disturbance compensation Z3 through an operation 3 module, and the observation rotating speed differential signal Z8 is integrated to obtain an observation rotating speed Z2;

s315, calculating the observed rotating speed n after disturbance removal by combining the observed rotating speed Z2 with disturbance compensation differential Z4₃Removing the observed rotation speed n after disturbance₃Outputting an observed speed n through a Kalman filter module₂。

9. The method for controlling the side of the flywheel energy storage machine based on the improved ADRC as claimed in claim 8, wherein: the observation rotating speed n after the disturbance is removed in the step S315₃Outputting an observed speed n through a Kalman filter module₂The specific calculation formula of (A) is as follows:

wherein X_KObserving the rotation speed n for the moment K₂Is predicted value of state X_K-1At time K-1, i.e. X_KObserved speed n of the previous moment₂The value of the actual state of the device,observing the rotation speed n for the moment K₂The optimum estimate of Z2-fal (e)₁，a₁，δ₁) Is composed ofObserved rotational speed n after disturbance removal₃，K_KThe gain of the Kalman filter at time K, where R is the measured noise covariance,system observation speed n for time K₂The covariance of the true value of (A) and the optimal estimated value of the system, Q being the process noise covariance, P_KSystem observation speed n for time K₂The covariance of the true value of (a) and the predicted value of (b).

10. The method for controlling the side of the flywheel energy storage machine based on the improved ADRC is characterized in that: the calculation formula of the fal function module is as follows:

wherein sign (e) is a sign function, and when e is more than or equal to 0, sign (e) is 1; when e < 0, sign (e) is 0; a is a non-linear factor and δ is a filtering factor.

Technical Field

The invention relates to the technical field of flywheel energy storage control, in particular to a flywheel energy storage machine side control system and method based on improved ADRC.

Background

The flywheel energy storage technology is a new electric energy storage technology and is an energy storage technology with a greater development prospect in recent years. Flywheel energy storage systems typically comprise three main components, a flywheel, a motor and bearings. The Permanent Magnet Synchronous Motor (PMSM) has the advantages of small loss, high efficiency and excellent performance, and the PMSM is selected as a motor component, so that the functions of a motor and a generator can be realized simultaneously. When charging, the PMSM is used as a motor to accelerate a flywheel, and electric energy is converted into mechanical energy to be stored; when "discharged," the PMSM acts as a generator to convert mechanical energy to electrical energy. Therefore, the rotation speed control aiming at the PMSM is a key technology of a flywheel energy storage system. However, the permanent magnet synchronous motor is a strongly coupled, multivariable and nonlinear controlled object. In addition, uncertainty such as load disturbance and rotational inertia change also exists in a load object, and various interferences exist in the application environment of the flywheel energy storage system, so that the related problem of improving the operation control stability of the flywheel energy storage system is urgently solved. The flywheel energy storage system side control method improves the control precision of the speed of the PMSM by controlling the rotating speed of the PMSM, and achieves the purpose of improving the control stability of the flywheel energy storage system.

In PMSM speed control, the conventional PID control method is still widely used because of its simple principle and easy operation. However, the conventional PID control has its own disadvantages, and the control effect on objects with characteristics such as nonlinearity, strong coupling, large time lag, etc. is not ideal, and for different control objects, different control parameters need to be adjusted, and the adjustment is inconvenient, the disturbance resistance is not ideal, the overshoot is large, the disturbance resistance on the whole system parameter is not strong, etc. The traditional PID control strategy is applied to PMSM, so that the rotating speed of the PMSM is greatly fluctuated and overshot, the rotating speed of a dragging object flywheel of a motor is high, and under the fluctuation of the rotating speed, the flywheel is subjected to high-frequency jitter, and the system is unstable in serious conditions.

In view of the defects of the PID control technology, the anti-disturbance control (ADRC) technology has been widely applied to various control links in recent years. ADRC is not restricted by an object, and the system is properly compensated by estimating the total disturbance quantity in real time, so that overshoot of output torque in a flywheel energy storage system is reduced and the flywheel energy storage system is quickly converged, and a certain effect is achieved in sudden change of rotating speed. However, the existing research still has the defects of not considering the response condition when the system is suddenly loaded, insufficient anti-interference performance of the system and the like.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the defects of large rotating speed fluctuation and insufficient anti-interference performance of a system when a flywheel energy storage system suddenly changes loads in the prior art, the invention discloses a flywheel energy storage machine side control system and method based on improved ADRC. When the rotating speed changes, the rotating speed change can be tracked more quickly and accurately.

The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme.

A flywheel energy storage machine side control system based on improved ADRC comprises a machine side PWM module, a machine side control module, a starting motor PMSM module and a measuring module; the machine side PWM module, the starting motor PMSM module and the measurement module are sequentially connected, and the measurement module is connected with the machine side PWM module through the machine side control module;

the machine side PWM module inputs a direct current power supply and outputs three-phase alternating current voltage to the starting motor PMSM module, the measuring module obtains measured values of a plurality of variables from the starting motor PMSM module when the motor is from no load to load, and the variables comprise measured rotating speed n, electromagnetic torque, rotor electrical angle theta and three-phase currents ia, ib and ic of the motor; the machine side control module acquires a plurality of variable values output by the measuring module and sends PWM modulation signals to the machine side PWM module; the machine side control module comprises an improved ADRC module, the improved ADRC module comprises an improved state observer module based on Kalman filtering, the improved state observer module based on Kalman filtering comprises a Kalman filter module, and the feedback rotating speed of the flywheel energy storage machine side control system is filtered through the dynamic estimation function of the Kalman filter module to realize the optimal control of the rotating speed.

Preferably, the machine side control module further comprises a Clark transformation module, a Park transformation module, an IPark transformation module, a decoupling calculation module and an SVPWM module; the input of the improved ADRC module is the measured rotating speed n of the motor output by the measuring module, and the output current component iq of the improved ADRC module^*To a decoupling calculation module; the input of the Clark conversion module is three-phase currents ia, ib and ic output by the measurement module, and after the output of the Clark conversion module is connected with the Park conversion module, the Park conversion module outputs d-axis current id and q-axis current iq to the decoupling calculation module; the input of the IPark conversion module is the rotor electrical angle theta output by the measurement module and the d-axis voltage Ud and the q-axis voltage Uq output by the decoupling calculation module, and after the output of the IPark conversion module is connected with the SVPWM module, the SVPWM module outputs PWM modulation signals to the machine side PWM module.

Preferably, the advanced ADRC module further comprises a tracking differentiator module, a non-linear combination module and a clipping module, the input of the tracking differentiator module being a given revolution n^*The output is the transitional rotating speed Z1; the nonlinear combination module has the input of observation rotation speed Z2, disturbance compensation Z3 and transition rotation speed Z1 and the output of controlRule signal u_t(ii) a The input of the improved state observer module based on Kalman filtering is a control law signal u_tThe measurement module outputs the measurement rotating speed n of the motor, and the output is an observation rotating speed Z2 and a disturbance compensation Z3; the input of the amplitude limiting module is a control rule signal u_tThe output is a current component iq^*。

Preferably, the improved Kalman filtering-based state observer module further comprises an integration module 1, an integration module 2 and a constant k₁Module, constant k₂The device comprises a module, a gain b module, a fal function module, an operation 1 module, an operation 2 module and an operation 3 module; the control law signal u_tThe device is connected with an operation 3 module through a gain b module, the operation 3 module, an integral module 1, an operation 2 module, a Kalman filter module, an operation 1 module and a fal function module are sequentially connected, the measured rotating speed n of a motor output by the measurement module is input to the operation 1 module, the integral module 1 outputs an observation rotating speed Z2, the fal function module is connected with the operation 2 module, and the fal function module is connected with the operation 2 module through a constant k₁The module inputs the operation result Z6 to the operation 3 module, and the fal function module passes through a constant k₂The module inputs the operation result Z7 to the integrating module 2, the integrating module 2 outputs the disturbance compensation Z3, and the disturbance compensation Z3 is input to the operation 3 module.

A flywheel energy storage machine side control method based on improved ADRC is applied to any one of the flywheel energy storage machine side control systems based on improved ADRC, in the flywheel energy storage machine side control system, the state monitoring and real-time control of a motor from no-load operation to load operation are carried out, and the method comprises the following steps:

s1, inputting the direct current power supply and the PWM modulation signal into a machine side PWM module, and outputting three-phase alternating current voltages UA, UB and UC to a PMSM module of the starting motor by the machine side PWM module;

s2, when the motor in the flywheel energy storage machine side control system runs from no-load to load, starting a plurality of variables of the motor in the motor PMSM module to change, and acquiring measured values of the plurality of variables of the motor from no-load to load by the measuring module from the starting motor PMSM module, wherein the measured values comprise the measured rotating speed n, the electromagnetic torque, the rotor electrical angle theta and the three-phase currents ia, ib and ic of the motor;

s3, calculating the current component iq of the measured rotating speed n of the motor by improving the ADRC module^*；

S4, outputting d-axis current id and q-axis current iq by the three-phase currents ia, ib and ic through a Clark conversion module and a Park conversion module; current component iq^*D-axis current id and q-axis current iq are converted into d-axis voltage Ud and q-axis voltage Uq through a decoupling calculation module;

and S5, converting the rotor electrical angle theta, the d-axis voltage Ud and the q-axis voltage Uq into PWM modulation signals through an IPark conversion module and an SVPWM module, and finishing monitoring of all variables in the operation of the motor and real-time control of the motor through the PWM modulation signals.

Preferably, in S3, the measured speed n of the motor is calculated by modifying the ADRC module to calculate the current component iq^*The specific process comprises the following steps:

s31, combining measured rotating speed n of motor with control law signal u_tCalculating and acquiring an observed rotating speed Z2 and a disturbance compensation Z3 through an improved state observer module based on Kalman filtering;

s32, setting rotating speed n^*Outputting a transition rotating speed Z1 through a tracking differentiator module;

s33, transitional rotation speed Z1, observation rotation speed Z2 and disturbance compensation Z3 output control law signals u through a nonlinear combination module_tAnd control the regular signal u_tFeeding back to an improved state observer module based on Kalman filtering;

s34, control law signal u_tOutput as current component iq by amplitude limiting module^*。

Preferably, the modified ADRC module employs a first order model of the controller:

in a tracking differentiator of the tracking differentiator module, the calculation formula is as follows:

wherein Z1 is the transition rotating speed to be obtained,for the transient speed differential to be determined, n is a given speed, e₀Is the difference between the transitional speed Z1 and the given speed n₀To adjust the proportionality coefficient of the response speed, a₀Is a nonlinear factor and has a value range of [0, 1]]，δ₀For a filter factor, the fal function is a non-linear filter function;

in the improved Kalman filtering based state observer of the improved Kalman filtering based state observer module, the calculation formula is as follows:

wherein u is_tFor the control of the regulation signal, Z2 is the observed speed to be determined,for the observed rotational speed differential to be solved, Z3 is the disturbance compensation to be solved,for the disturbance compensation differential to be determined, n is the measured rotational speed of the motor, a1 is a non-linear factor, δ₁B is a filter factor, b is a compensation factor, and k1 and k2 are proportionality coefficients for adjusting response speed;

in the nonlinear combination module, the calculation formula is as follows:

wherein, a₂Is a non-linear factor, δ₂As a filter factor, b₀To compensate for the factor, k₃To adjust the proportionality coefficient of the response speed.

Preferably, the calculation process of the observed rotation speed Z2 and the disturbance compensation Z3 in S31 is as follows:

s311, calculating a gain signal Z5 through a gain b module by the control rule signal ut;

s312, measuring rotating speed n junction of motorResultant observed rotation speed n₂Calculating the rotating speed error n by an operation 1 module₁Error in rotational speed n₁Calculating a disturbance compensation differential Z4 through a fal function module;

s313, passing the disturbance compensation differential Z4 through a constant k₂After the module calculates an operation result Z7, integrating the operation result Z7 to obtain disturbance compensation Z3;

s314, passing the disturbance compensation differential Z4 through a constant k₁After the module calculates an operation result Z6, an observation rotating speed differential signal Z8 is calculated by combining a gain signal Z5 and a disturbance compensation Z3 through an operation 3 module, and the observation rotating speed differential signal Z8 is integrated to obtain an observation rotating speed Z2;

s315, calculating the observed rotating speed n after disturbance removal by combining the observed rotating speed Z2 with disturbance compensation differential Z4₃Removing the observed rotation speed n after disturbance₃Outputting an observed speed n through a Kalman filter module₂。

Preferably, the observed rotation speed n after the disturbance is removed in S315₃Outputting an observed speed n through a Kalman filter module₂The specific calculation formula of (A) is as follows:

wherein X_KIs KTime observation rotational speed n₂Is predicted value of state X_K-1At time K-1, i.e. X_KObserved speed n of the previous moment₂The value of the actual state of the device,observing the rotation speed n for the moment K₂The optimum estimate of Z2-fal (e)₁，a₁，δ₁) For removing the observed speed n after disturbance₃，K_KThe gain of the Kalman filter at time K, where R is the measured noise covariance,system observation speed n for time K₂The covariance of the true value of (A) and the optimal estimated value of the system, Q being the process noise covariance, P_KSystem observation speed n for time K₂The covariance of the true value of (a) and the predicted value of (b).

Preferably, the calculation formula of the fal function module in S312 is:

wherein sign (e) is a sign function, and when e is more than or equal to 0, sign (e) is 1; when e < 0, sign (e) is 0; a is a nonlinear factor, and delta is a filtering factor; the system filters disturbance differentiation to obtain more accurate output quantity observation rotating speed Z2 and disturbance compensation Z3.

Has the advantages that: the invention controls the measured rotating speed by introducing the Kalman filter module, so that the rotating speed is quickly recovered to the standard value in a short time with smaller speed loss. When the rotating speed changes, the rotating speed change can be tracked more quickly and accurately. In addition, the three-phase current is smoother, and after the three-phase current enters a steady state, the steady state error is smaller, and clutter components are fewer; the output current of the motor is more stable, and the measurement noise formed by the instrument and the calculation method and the process noise of the system are filtered, so that the waveform is smoother and more stable.