An adaptive droop control method based on voltage margin

Abstract

The application discloses a kind of adaptive droop control methods based on voltage margin, by according to the size of direct-current voltage deviation, voltage margin interval is divided into normal interval, critical interval and limit interval;Determine the interval where current voltage margin is, if determine that current voltage margin interval is critical interval, then according to voltage margin adaptive control droop slope;According to the droop slope, adjust the voltage control capability of power supply system.Compared with prior art, the adaptive droop control of the application follows the size of voltage fluctuation to change the control capability of direct-current voltage, reduce the situation that control unit appears voltage overrun, undertake power variation range is larger, and power supply system operation reliability is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of voltage control, in particular to a voltage margin-based adaptive droop control method. BACKGROUND

[0002] The deviation of the direct current voltage is a main index for measuring the stability of the direct current system. Because of the random fluctuation of new energy or the switching of power supply and path, the control strategy becomes a key technology for efficient and reliable operation of the direct current power supply system. The droop control generally does not depend on the inter-station communication and has high real-time adjustment reliability, and is a kind of difference adjustment mode. By using the droop control method, the power range of the control unit is different in different operation modes, and the voltage range is indefinite. If the traditional droop coefficient is used when the system power changes sharply, the output direct current voltage of the system may exceed the limited range, resulting in the reduction of the safety and reliability of the power supply system. SUMMARY

[0003] Therefore, the purpose of the embodiments of the present application is to change the droop slope adaptively by the ratio of the real-time voltage margin value of the control unit to the maximum margin value, so as to change the control ability of the direct current voltage and improve the safety and reliability of the operation of the direct current power supply system.

[0004] The first aspect of the present application provides a voltage margin-based adaptive droop control method, which comprises:

[0005] S1, dividing the voltage margin interval into a normal interval, a critical interval and a limit interval according to the size of the direct current voltage deviation;

[0006] S2, judging the interval where the current voltage margin is located, if U max >U dc >U m or U min <U dc <U n , determining that the current voltage margin interval is the critical interval, and then adaptively controlling the droop slope K dc according to the voltage margin:

[0007]

[0008] Wherein, U dc represents the system direct current voltage; U n and U m respectively represent the lower limit value and the upper limit value of the fluctuation range of the direct current voltage; U min represents the minimum voltage limit value, U max represents the maximum voltage limit value; P max represents the maximum power limit value of the control unit; U dc -U min or Umax -U dc represents the actual voltage margin size, U n -U min or U max -U m represents the maximum margin of the critical interval; ΔU represents the size of the system voltage fluctuation allowed;

[0009] S3, according to the droop slope, adjust the voltage control capability of the power supply system.

[0010] Further, the S2 further comprises:

[0011] When U m >U dc >U n , it is determined that the current voltage margin interval is a normal interval, and the droop slope is calculated by the following formula:

[0012]

[0013] Further, the S2 further comprises:

[0014] When U min >U dc , U max <U dc , it is determined that the current voltage margin interval is a limit interval, and the droop slope is calculated by the following formula:

[0015] K dc = 0.

[0016] Further, in the S2, or represents the voltage margin ratio, which is in the range of [0, 1];

[0017] When the real-time voltage margin is small, the ratio of the two is also small, and then the droop control slope is also smooth, the voltage fluctuation range is smaller, and the voltage control capability of the system is enhanced.

[0018] In addition, the second aspect of the present application provides a voltage margin-based adaptive droop control system, which comprises:

[0019] The division module divides the voltage margin interval into a normal interval, a critical interval and a limit interval according to the size of the DC voltage deviation;

[0020] The judgment module judges the interval where the current voltage margin is located, and if U max >U dc >U m or U min <U dc <U nIf the current voltage margin range is determined to be a critical range, then the droop slope K is adaptively controlled according to the voltage margin. dc :

[0021]

[0022] Among them, U dc U represents the system DC voltage; n and U m These represent the lower and upper limits of the allowable fluctuation range of DC voltage, respectively; U min U represents the minimum voltage limit. max Indicates the maximum voltage limit; P max Indicates the maximum power limit of the control unit; U dc -U min or U max -U dc U represents the actual voltage margin. n -U min or U max -U m ΔU represents the maximum margin of the critical interval; ΔU represents the magnitude of the allowable voltage fluctuation of the system.

[0023] The control module adjusts the voltage control capability of the power supply system according to the droop slope.

[0024] Furthermore, the judgment module is also used for:

[0025] WhenU m >U dc >U n The current voltage margin range is determined to be within the normal range. The droop slope is calculated using the following formula:

[0026]

[0027] Furthermore, the judgment module is also used for:

[0028] WhenU min >U dc U max dc The current voltage margin range is defined as the limiting range, and the droop slope is calculated using the following formula:

[0029] K dc =0.

[0030] ​Furthermore, a third aspect of the present invention provides an electronic device comprising: one or more processors, and a memory for storing one or more computer programs; the computer programs being configured to be executed by the one or more processors, the programs including steps for performing the voltage margin-based adaptive droop control method as described above.

[0031] Furthermore, a fourth aspect of the present invention provides a storage medium storing a computer program; the program is loaded and executed by a processor to implement the steps of the voltage margin-based adaptive droop control method as described above.

[0032] In this invention, the voltage margin range is divided into a normal range, a critical range, and a limit range based on the magnitude of the DC voltage deviation. The current voltage margin range is determined; if it is determined to be a critical range, the droop slope is adaptively controlled based on the voltage margin. The voltage control capability of the power supply system is adjusted according to the droop slope. Compared to existing technologies, this invention's adaptive droop control changes its control capability for DC voltage based on the magnitude of voltage fluctuations, reducing the likelihood of voltage overshooting in the control unit, handling a wider range of power variations, and further improving the reliability of the power supply system. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the power supply system structure disclosed in the prior art of this invention;

[0035] Figure 2 This is the converter station droop control slope curve disclosed in the prior art of this invention;

[0036] Figure 3 This is a schematic flowchart of the adaptive droop control method based on voltage margin disclosed in Embodiment 1 of the present invention;

[0037] Figure 4 This is a graph showing the functional relationship between the droop slope and the control unit voltage and control unit power under different voltage margin intervals as disclosed in Embodiment 1 of the present invention.

[0038] Figure 5 This is a DC voltage waveform diagram of the converter station 2 system disclosed in Embodiment 1 of the present invention;

[0039] Figure 6This is a curve showing the change in droop slope of converter station 2 as disclosed in Embodiment 1 of the present invention;

[0040] Figure 7 This is a schematic diagram of the adaptive droop control system based on voltage margin disclosed in Embodiment 2 of the present invention. Detailed Implementation

[0041] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0042] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0043] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0044] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0045] It should be noted that "multiple" as mentioned in this article refers to two or more.

[0046] Typical data centers employ a dual-power supply Class A configuration, a symmetrical unipolar system with a voltage level of ±375V, connected to the 380V AC distribution network via an AC / DC converter. This design fully considers the needs of photovoltaic and DC-to-AC power supply branches. The power supply system structure is as follows: Figure 1As shown. When the system power supply or converter station fails to supply power normally due to a fault, the power of the converter station is transferred to another converter station, causing the power of the other converter station to increase sharply. The converter station adopts the traditional droop control mode, and the DC voltage deviation changes with the power change. The greater the power change, the greater the voltage deviation.

[0047] like Figure 1 The power supply structure shown in the figure is a traditional droop control slope that is generally selected based on the active power of the control unit. The droop calculation is shown in Formula 1.

[0048]

[0049] Among them, K i The droop slope of the control unit is represented by ΔU, which represents the allowable fluctuation of the system voltage. max This indicates the maximum output power of the system.

[0050] The larger the power capacity of the control unit, the gentler the droop curve, the smaller the voltage change (ΔU), and the larger the power change. Conversely, if the power capacity of the control unit is small, the droop curve is steeper, the voltage change (ΔU) is relatively large, and the power change is relatively small. The droop characteristics of the control unit in the converter station are as follows: Figure 2 As shown.

[0051] Clearly, the traditional droop control adjustment described above has a certain degree of error and is a type of differential control. If the system experiences a power supply cut-off or power circuit transition, resulting in a sharp change in power, the traditional method of setting the droop control slope is based on the active power capacity of each control unit. Relying solely on a pre-set fixed droop control slope, it cannot be adjusted according to the real-time situation of the control unit, which can easily lead to the DC voltage or power of the converter station exceeding the limit.

[0052] The implementation details of the technical solutions in the embodiments of this application are described in detail below:

[0053] Example 1

[0054] Please see Figure 3 , Figure 3 This is a flowchart illustrating an adaptive droop control method based on voltage margin disclosed in an embodiment of the present invention. Figure 1 As shown, an adaptive droop control method based on voltage margin according to an embodiment of the present invention includes:

[0055] S1, based on the magnitude of the DC voltage deviation, divides the voltage margin range into the normal range, the critical range, and the limit range.

[0056] Specifically, in this embodiment, the voltage margin range is divided into three intervals: normal, critical, and extreme. When the converter station is within the normal margin range, the impact on the system is within acceptable limits, and traditional droop control can be used. When the voltage margin is within the critical and extreme margin ranges, the impact on the reliability of the power supply system and the DC voltage is significant. The droop control slope can be adaptively adjusted according to the voltage margin to regulate the voltage control capability of the power supply system, thereby improving power quality and power supply reliability. When within the extreme range, the system's reliability is exceeded, and constant voltage control must be used. The control characteristics of each interval are as follows: Figure 4 As shown.

[0057] S2, determine the current voltage margin range, if U max >U dc >U m or U min dc n If the current voltage margin range is determined to be a critical range, then the droop slope K is adaptively controlled according to the voltage margin. dc :

[0058]

[0059] Among them, U dc U represents the system DC voltage; n and U m These represent the lower and upper limits of the allowable fluctuation range of DC voltage, respectively; U min U represents the minimum voltage limit. max Indicates the maximum voltage limit; P max Indicates the maximum power limit of the control unit; U dc -U min or U max -U dc U represents the actual voltage margin. n -U min or U max -U m ΔU represents the maximum margin of the critical interval; ΔU represents the magnitude of the allowable voltage fluctuation of the system.

[0060] Furthermore, S2 also includes: when U m >U dc >U n The current voltage margin range is determined to be within the normal range. The droop slope is calculated using the following formula:

[0061]

[0062] Furthermore, S2 also includes: when U min >U dc U​​max dc The current voltage margin range is defined as the limiting range, and the droop slope is calculated using the following formula:

[0063] K dc =0.

[0064] Specifically, in this embodiment, under normal operating conditions, the DC voltage deviation is less than 1% (the deviation size mentioned in the text can be set according to system requirements), and the voltage safety margin is relatively large. The calculation method of the traditional droop control slope is generally used, as shown in Formula 1.

[0065] Within the critical range, a DC voltage deviation of 1% to 5% may indicate a switch in the power supply or power path. The critical range refers to the interval between the maximum allowable voltage fluctuation value and the maximum or minimum limiting voltage of the power supply system. This range is set according to different loads and power equipment; in this embodiment, 1% to 5% is set to better clarify the range boundaries and illustrate the simulation verification content. The slope value K of the converter station adaptive control... dc The tuning method is as shown in Formula 2.

[0066] or This represents the voltage margin ratio, which takes values ​​in the range of [0,1]. When the real-time voltage margin is small, the ratio of the two is also small, resulting in a smoother droop control slope, a smaller voltage fluctuation range, and enhanced voltage control capability of the system. When the voltage margin becomes 0, it becomes a constant voltage mode.

[0067] WhenU m >U dc >U n Generally, the traditional droop control slope is used, and the droop slope is referenced by formula 1.

[0068] WhenU max >U dc >U m If the power supply switching or power path conversion causes the control unit's load capacity to decrease, the control unit's power and voltage margin will also change accordingly. When the DC voltage exceeds the upper limit setting range, the droop control slope is adjusted according to Equation 2 to enhance the regulation capability of the DC voltage, thereby reducing the occurrence of voltage over-limit situations in the control unit.

[0069] WhenU min dc n If the load on the control unit increases due to power supply switching or power path conversion, the power and voltage margin of the control unit will change accordingly. When the DC voltage exceeds the lower limit setting range, the droop control slope is adjusted according to Equation 2 to enhance the DC voltage regulation capability of the control unit, thereby reducing the occurrence of voltage over-limit situations in the control unit.​​​

[0070] The limiting interval is controlled by constant voltage, i.e., K in the text. dc =0(U min >U dc U max dc The limit range is when the voltage deviation is >5%. This embodiment is set to better clarify the range boundary and explain the simulation verification content.

[0071] The system is divided into three ranges based on voltage margin, each corresponding to a different control strategy: the normal range corresponds to traditional droop control, the critical range to adaptive droop control, and the extreme range to constant voltage control. By adjusting the system's DC voltage control capability according to different margin values, the system reduces the risk of power or voltage exceeding limits in the control unit due to rapid power changes, thereby improving the stability and reliability of the power supply system.

[0072] S3, adjust the voltage control capability of the power supply system according to the drooping slope.

[0073] Specifically, in this embodiment, the droop slope is related to the control unit voltage and the control unit power. Figure 4 The drooping curve shows a functional relationship. Once the slope value is obtained, the system power fluctuates, which will cause voltage deviation. The larger the deviation, the weaker the voltage control; the smaller the deviation, the stronger the voltage control.

[0074] When the DC voltage of the control unit exceeds the set value, it adaptively adjusts the droop control slope based on its real-time voltage margin to improve the control capability of DC voltage, reduce DC voltage deviation, and improve power quality.

[0075] To verify the effectiveness of adaptive improved droop control, in Figure 1 The power supply system shown is compared and verified using traditional droop control and adaptive improved droop control. In the second second, converter station 1 loses power, and converter station 2 supplies power to all loads. In the third second, photovoltaic 2 experiences fluctuations, its power generation increases, and the output power of converter station 2 decreases. The DC voltage waveform of the converter station 2 system is shown below. Figure 5 As shown, the droop slope variation curve of converter station 2 is as follows: Figure 6 As shown.

[0076] Combination Figure 5 and Figure 6 ​Analysis shows that when converter station 2 supplies power to all loads, the adaptive improved droop slope follows the decrease in voltage margin, resulting in a smaller voltage deviation and higher voltage waveform quality compared to traditional droop control. In the third second, photovoltaic module 2 experiences fluctuations, reducing the output power of converter station 2 and increasing the voltage margin. This leads to a larger adaptive improved droop slope and weakened voltage control capability. However, the improved droop control still exhibits higher voltage waveform quality, and the voltage deviation between the two control methods decreases as the margin increases. The adaptive improved droop control can handle a wider range of power variations, resulting in higher reliability of the power supply system.

[0077] In this embodiment, adaptive droop control is employed in the critical range to improve the system's ability to handle power and voltage fluctuations, reducing the impact of random fluctuations in renewable energy power on the system's DC voltage. For power supply or circuit switching that causes sharp fluctuations in the power or DC voltage of the converter station under droop control, adaptive droop control adjusts its control capability to the magnitude of voltage fluctuations, reducing the likelihood of voltage over-limit situations in the control unit, allowing for a wider range of power variations, and further improving the reliability of the power supply system.

[0078] Example 2

[0079] like Figure 7 As shown, this embodiment provides an adaptive droop control system based on voltage margin, the system comprising:

[0080] Module 10 divides the voltage margin range into normal range, critical range and extreme range according to the magnitude of DC voltage deviation;

[0081] Judgment module 20 determines the current voltage margin range; if U max >U dc >U m or U min dc n If the current voltage margin range is determined to be a critical range, then the droop slope K is adaptively controlled according to the voltage margin. dc :

[0082]

[0083] Among them, U dc U represents the system DC voltage; n and U m These represent the lower and upper limits of the allowable fluctuation range of DC voltage, respectively; U min U represents the minimum voltage limit. max Indicates the maximum voltage limit; P max Indicates the maximum power limit of the control unit; U dc -U min or U​​max -U dc U represents the actual voltage margin. n -U min or U max -U m ΔU represents the maximum margin of the critical interval; ΔU represents the magnitude of the allowable voltage fluctuation of the system.

[0084] The control module 30 adjusts the voltage control capability of the power supply system according to the droop slope.

[0085] Specifically, in this embodiment, the droop slope has a functional relationship with the control unit voltage and control unit power, as can be seen in Embodiment 1. Figure 4 The drooping curve shows a functional relationship. Once the slope value is obtained, the system power fluctuates, which will cause voltage deviation. The larger the deviation, the weaker the voltage control; the smaller the deviation, the stronger the voltage control.

[0086] Furthermore, the judgment module 20 is also used for:

[0087] WhenU m >U dc >U n The current voltage margin range is determined to be within the normal range. The droop slope is calculated using the following formula:

[0088]

[0089] Furthermore, the judgment module 20 is also used for:

[0090] WhenU min >U dc U max dc The current voltage margin range is defined as the limiting range, and the droop slope is calculated using the following formula:

[0091] K dc =0.

[0092] Furthermore, this embodiment also provides an electronic device comprising: one or more processors, and a memory for storing one or more computer programs; the computer programs are configured to be executed by the one or more processors, and the programs include steps for performing the voltage margin-based adaptive droop control method as described above.

[0093] In addition, this embodiment also provides a storage medium storing a computer program; the program is loaded and executed by a processor to implement the steps of the voltage margin-based adaptive droop control method as described above.

[0094] ​Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0096] The units described as separate components may or may not be physically separate. As will be appreciated by those skilled in the art, the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0097] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0098] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or grid device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0099] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive droop control method based on voltage margin, characterized in that, The method includes: S1, based on the magnitude of the DC voltage deviation, divide the voltage margin range into the normal range, the critical range, and the extreme range; S2, determine the current voltage margin range, if U max >U dc >U m or U min dc n If the current voltage margin range is determined to be a critical range, then the droop slope K is adaptively controlled according to the voltage margin. dc :​​ Among them, U dc U represents the system DC voltage; n and U m These represent the lower and upper limits of the allowable fluctuation range of DC voltage, respectively; U min U represents the minimum voltage limit. max Indicates the maximum voltage limit; P max Indicates the maximum power limit of the control unit; U dc -U min or U max -U dc U represents the actual voltage margin. n -U min or U max -U m ΔU represents the maximum margin of the critical interval; ΔU represents the magnitude of the allowable voltage fluctuation of the system. S3, adjust the voltage control capability of the power supply system according to the droop slope; The S2 further includes: WhenU m >U dc >U n The current voltage margin range is determined to be within the normal range. The droop slope is calculated using the following formula: or This represents the voltage margin ratio, and its value is within the range of [0, 1]. When the real-time voltage margin is small, the ratio of the two is also small, the droop control slope is smoother, the voltage fluctuation range is smaller, and the voltage control capability of the system is enhanced. WhenU min >U dc U max dc The current voltage margin range is defined as the limiting range, and the droop slope is calculated using the following formula:​ K dc ＝0 At this point, the VSC converter enters constant voltage mode, and the control strategy can seamlessly and smoothly switch to voltage control mode, giving it absolute control over the DC system voltage.

2. An adaptive droop control system based on voltage margin, characterized in that, The system includes a partitioning module, a judgment module, and a control module; wherein: The segmentation module is used to divide the voltage margin range into normal range, critical range and extreme range according to the magnitude of DC voltage deviation; The judgment module is used to determine the current voltage margin range. If U max >U dc >U m or U min dc n If the current voltage margin range is determined to be a critical range, then the droop slope K is adaptively controlled according to the voltage margin. dc :​​ Among them, U dc U represents the system DC voltage; n and U m These represent the lower and upper limits of the allowable fluctuation range of DC voltage, respectively; U min U represents the minimum voltage limit. max Indicates the maximum voltage limit; P max Indicates the maximum power limit of the control unit; U dc -U min or U max -U dc U represents the actual voltage margin. n -U min or U max -U m Indicates the maximum margin of the critical interval; ΔU represents the magnitude of the allowable voltage fluctuation of the system; when U m >U dc >U n The current voltage margin range is determined to be within the normal range. The droop slope is calculated using the following formula: or This represents the voltage margin ratio, with values ​​ranging from [0, 1]. When the real-time voltage margin is small, the ratio of the two is also small, resulting in a smoother droop control slope, a smaller voltage fluctuation range, and enhanced voltage control capability of the system. The control module is used to adjust the voltage control capability of the power supply system according to the droop slope. The judgment module is also used for: When U min >U dc U max dc The current voltage margin range is defined as the limiting range, and the droop slope is calculated using the following formula:​ K dc ＝0。 3. An electronic device, the electronic device comprising: One or more processors, a memory for storing one or more computer programs; characterized in that the computer programs are configured to be executed by the one or more processors, the programs including steps for performing the voltage margin-based adaptive droop control method as described in claim 1.

4. A storage medium storing a computer program; the program being loaded and executed by a processor to implement the steps of the voltage margin-based adaptive droop control method as described in claim 1.

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