Energy router power coordination control method and system with multi-energy storage converter

Abstract

A power coordination control method and system of an energy router containing multiple energy storage converters, the method comprising: setting a direct current voltage control priority of each port of the energy router; setting an upper and lower limit value of a voltage deviation of a master station and a slave station of a direct current voltage control of each port energy storage converter of the energy router according to the direct current voltage control priority; setting an energy storage battery SOC setting value and an energy storage battery charging and discharging flag of each port energy storage converter of the energy router; judging a current state of the energy storage battery according to the energy storage battery SOC setting value, calculating a power coordination instruction of a DCAC grid-connected converter in combination with the upper and lower limit value of the voltage deviation of the master station and the slave station of the direct current voltage control of each port energy storage converter of the energy router, and processing a power coordination instruction of an energy storage DCDC converter; and each port of the energy router executing the power coordination instruction of the corresponding energy storage converter. The application can ensure safe and reliable operation of the multiple energy storage unit energy router and improve the power response capability of the whole machine.

Description

Technical Field

[0001] This invention belongs to the field of energy router technology, specifically relating to a power coordination control method and system for an energy router containing multiple energy storage converters. Background Technology

[0002] DC microgrids have the advantages of low line cost, strong power transmission capacity, simple control and high conversion efficiency. Multi-voltage level DC microgrids have become a research hotspot and are more suitable for DC distributed energy access application scenarios.

[0003] Energy routers with multiple energy storage units can provide multiple new energy and energy storage interfaces, realize DC-DC conversion functions, and reduce intermediate conversion links. However, the research on energy routers with multiple energy storage units is still in the exploration and experimentation stage.

[0004] The coordinated control method for energy routers with multiple energy storage units mainly involves power coordination and DC voltage coordination control. The performance of this coordinated control directly affects the long-term safe and reliable operation of the system. Existing research on coordinated control of energy routers is mostly based on single-unit energy storage systems. Coordinated control schemes for energy routers with multiple energy storage converters are still scarce. System coordinated control needs to fully utilize the voltage and power control capabilities of each port under different operating modes. Summary of the Invention

[0005] The purpose of this invention is to address the problems in the prior art by providing a power coordination control method and system for an energy router with multiple energy storage converters, ensuring the safe and reliable operation of the multi-energy storage unit energy router.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A power coordination control method for an energy router containing multiple energy storage converters includes the following steps:

[0008] Set the priority of DC voltage control for each port of the energy router;

[0009] Based on the DC voltage control priority, the upper and lower limits of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router are set.

[0010] Set the SOC setting value of the energy storage battery and the charge / discharge flag bit of the energy storage battery for each port of the energy router;

[0011] The current state of the energy storage battery is determined based on the SOC setting value of the energy storage battery. Combined with the upper and lower limits of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router, the power coordination command of the DC-AC grid-connected converter is calculated and the power coordination command of the energy storage DC-DC converter is processed.

[0012] Each port of the energy router executes the power coordination command corresponding to the energy storage converter.

[0013] As a preferred solution, DC voltage control functionality is configured based on the converter capacity, voltage control capability, and port control requirements of each port of the energy router. Ports are prioritized according to converter capacity and voltage control capability, in the following order: DC voltage control master station U... c0 DC voltage control from station U c1 DC voltage control from station U c2 .

[0014] Furthermore, the DC voltage control master station U c0 The rated voltage is U dc The upper and lower limits of voltage deviation are U max0 and U min0 DC voltage control from station U c1 The voltage deviation upper and lower limits are U max1 and U min1 DC voltage control from the second station U c2 The voltage deviation upper and lower limits are U max2 and U min2 Satisfying relation U min2 min1 min0 dc max0 max1 max2 .

[0015] As a preferred embodiment, the steps of setting the SOC setting value of the energy storage battery and the charge / discharge flag bit of the energy storage battery in the energy storage converter of each port of the energy router include:

[0016] ​​​​​​a) Set the upper limit soc_up, lower limit soc_low, lower limit soc_lowopt of the optimal charge-discharge threshold of the energy storage battery, upper limit soc_upopt of the optimal charge threshold, clear the forced charge flag of the battery to soc_upopt - Δsoc, clear the forced discharge flag of the battery to soc_lowopt + Δsoc for each energy storage converter, and set the forced charge flag flag1 of the battery of the 1# energy storage DCDC converter; the forced discharge flag flagg1 of the battery of the 1# energy storage DCDC converter; the forced charge flag flag2 of the battery of the 2# energy storage DCDC converter; the forced discharge flag flagg2 of the battery of the 2# energy storage DCDC converter.

[0017] As a preferred solution, the steps of calculating the power coordination command of the DCAC grid-connected converter include:

[0018] According to the charge-discharge power requirements P_xq of each energy storage converter, where P_xq = P_load - P_pv - P_DCAC_cmd0, in the formula, P_load represents the DC load power, P_pv represents the output power of the PV DCDC, and P_DCAC_cmd0 represents the power command of the DCAC grid-connected converter; according to the upper limit soc_up, lower limit soc_low of the SOC of the energy storage battery of each energy storage converter and the real-time charge-discharge power limit of the energy storage battery, calculate the sum limit Pflmit of the discharge power of each energy storage converter and the sum limit Pclmit of the charge power of each energy storage converter. Among them, Pxq > 0 indicates power shortage, Pflmit > 0 indicates discharge, and Pclmit < 0 indicates charge;

[0019] If Pxq > Pflmit > 0, coordinate the power support provided by the DCAC grid-connected converter port, and P_DCAC_cmd = P_load - P_pv - Pflmit; if 0 < Pxq < Pflmit, there is no need to coordinate the power of the DCAC grid-connected converter;

[0020] If Pclmit < Pxq < 0, there is no need to coordinate the power of the DCAC grid-connected converter; if 0 > Pxq < Pclmit, coordinate the DCAC grid-connected converter port to carry the surplus power, and P_DCAC_cmd = -Pflmit + P_load - P_pv.

[0021] As a preferred solution, the steps of processing the power coordination command of the energy storage DCDC converter include:

[0022] If the SOC of the 1# energy storage DCDC converter < soc_low, that is, the battery of the 1# energy storage DCDC converter is forced to charge in power mode, the forced charging power command is P_1#_charge_limit + ΔP, and the flag is set to 1 until SOC = soc_upopt - Δsoc, then the flag is cleared and the charge-discharge state is restored; if the SOC of the 1# energy storage DCDC converter > soc_up, that is, the battery of the energy storage DCDC converter is forced to discharge in power mode, the flagg is set to 1, and the forced charging power command is P_1#_discharge_limit - ΔP until SOC = soc_lowopt + Δsoc, then the flagg is cleared and the charge-discharge state is restored. The 2# energy storage DCDC refers to the 1# energy storage DCDC; when both energy storage DCDC converters are in the charge-discharge state, that is, the energy storage converter with a lower voltage priority operates in power mode. If Pxq > 0, the corresponding energy storage discharges, and the power command P_cmd = min(P_xq, P_flimt) * [(soc - soc_low) / (Σsoc - 2soc_low)); if Pxq < 0, the corresponding energy storage discharges, and the power command P_cmd = max(P_xq, P_climt) * [(soc_up - soc) / ((2soc_up - Σsoc))]; if only one of the two energy storage DCDC converters is in the charge-discharge state, the corresponding energy storage DCDC converter in the charge-discharge state operates in the DC voltage control mode; if neither of the two energy storage DCDC converters is in the charge-discharge state, the DC voltage is taken over by the auxiliary voltage deviation control or DC voltage control of the power loop of the DCAC grid-connected converter.

[0023] As a preferred embodiment, the steps for each port of the energy router to execute the power coordination command corresponding to the energy storage converter include: the energy router includes a photovoltaic DC-DC port, an energy storage DC-DC port, a grid-connected inverter port, and a DC load port; the photovoltaic port uses a DC / DC converter to connect the photovoltaic array to the DC bus, the energy storage port uses a bidirectional DC / DC converter to connect the energy storage battery to the DC bus, and the grid-connected port uses a three-phase bridge PWM inverter circuit to connect the DC bus to the grid; the four ports are connected via a common DC bus; the control method for each port is as follows: the photovoltaic DC-DC converter uses an PWM converter... The PT algorithm obtains the maximum power point, and then uses power and current dual closed-loop control to achieve maximum power output. The energy storage DC-DC converter achieves coordinated power output and maintains DC bus voltage stability based on the DC side voltage setpoint, DC voltage control priority, voltage deviation setpoint, and power command reference value obtained from the energy router power coordination control method. The DCAC grid-connected inverter executes the power command obtained from the energy router power coordination control method, and uses power and current dual closed-loop control, as well as auxiliary voltage deviation control and DC voltage and current dual closed-loop control, to achieve precise grid-connected power control and DC bus voltage stability.

[0024] A power coordination control system for an energy router containing multiple energy storage converters, comprising:

[0025] The priority setting module is used to set the DC voltage control priority of each port of the energy router;

[0026] The voltage deviation upper and lower limit setting module is used to set the upper and lower limit values ​​of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router according to the DC voltage control priority.

[0027] The energy storage battery SOC and charge / discharge flag setting module is used to set the energy storage battery SOC setting value and the energy storage battery charge / discharge flag of each port of the energy router.

[0028] The power coordination command calculation module is used to determine the current state of the energy storage battery based on the SOC setting value of the energy storage battery, and calculate the power coordination command of the DC-AC grid-connected converter by combining the upper and lower limits of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router, as well as to process the power coordination command of the energy storage DC-DC converter.

[0029] The execution module is used to execute power coordination commands for the corresponding energy storage converters on each port of the energy router.

[0030] An electronic device, comprising:

[0031] Memory, storing at least one instruction; and

[0032] The processor executes instructions stored in the memory to implement the power coordination control method for the energy router containing multiple energy storage converters.

[0033] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the power coordination control method for an energy router containing multiple energy storage converters.

[0034] Compared with the prior art, the present invention has at least the following beneficial effects:

[0035] Based on the technical characteristics of energy routers with multiple energy storage converters, and combined with DC voltage master-slave and deviation control methods, this invention enables rational power allocation across energy router ports, smooth DC voltage control, and orderly switching of operating modes. Power coordination control of the energy router is achieved based on the energy storage battery SOC of the multiple energy storage converters. This rationally allocates power across multiple energy storage converters, coordinates the power of the DC-AC grid-connected converter ports, calculates power coordination commands for the DC-AC grid-connected converter, and processes power coordination commands for the energy storage DC-DC converter. Multi-modal coordination control is then implemented for energy routers with multiple energy storage converters, improving the overall power response capability of the energy router. This invention's energy router power coordination control method has broad applicability and is also suitable for other energy router topologies with multiple energy storage ports. Attached Figure Description

[0036] Figure 1 Flowchart of the power coordination control method for an energy router with multiple energy storage converters according to an embodiment of the present invention;

[0037] Figure 2 The embodiment of the present invention includes an energy router topology diagram with multiple energy storage converters. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, those skilled in the art can obtain other embodiments without creative effort.

[0039] Existing research on coordinated control of energy routers is mostly based on single-unit energy storage. A topology for an energy router containing multiple energy storage converters is as follows: Figure 2As shown, the energy router includes a 150kW photovoltaic DC-DC converter, a 500kW DC-DC storage DC-DC converter (unit 1), a 250kW energy storage DC-DC converter (unit 2), a 150kW DC-AC grid-connected converter, and a 100kW DC load port. To ensure the safe and reliable operation of the multi-energy storage unit energy router, this embodiment of the invention proposes a power coordination control method for an energy router containing multiple energy storage converters, such as... Figure 1 As shown, it includes the following steps:

[0040] S1. Configure the DC voltage control function reasonably according to the converter capacity, voltage control capability and port control requirements of each port of the energy router, and set the DC voltage control priority of each port of the energy router.

[0041] S2. Based on the DC voltage control priority, set the upper and lower limits of the voltage deviation between the master and slave stations of the DC voltage control for each port of the energy router's energy storage converter. In one possible implementation, the DC voltage control master station U... c0 The rated voltage is U dc Its voltage deviation upper and lower limits are U max0 and U min0 DC voltage control from station U c1 The voltage deviation upper and lower limits are U max1 and U min1 DC voltage control from the second station U c2 The voltage deviation upper and lower limits are U max2 and U min2 And satisfy the following relation U min2 min1 min0 dc max0 max1 max2 .

[0042] In this example, the DC-AC grid-connected converter has an AC side voltage of 380V and a capacity of 150kW, while the DC side common bus voltage is 750V. The two energy storage converters employ a three-phase interleaved BUCK-BOOST topology, with capacities of 500kW and 250kW respectively. The DC load is 150kW. The photovoltaic DC-DC converter operates in mppt mode with a maximum output power of 150kW. Based on the voltage control capabilities and capacities of each converter at the ports, the DC bus voltage control master station is set to the 500kW energy storage converter, which has the highest voltage control priority, and its voltage deviation upper and lower limits are U. max0 =770V and U min0 =730V, voltage control from station 1 for a 250kW energy storage converter, its voltage deviation upper and lower limits are U max1 =790V and U min1 ​​​​​​= 710V, the voltage control is for a 150kW DC-AC grid-connected converter at Station 2, and the upper and lower limits of the voltage deviation are U max2 = 810V and U min2 = 690V.

[0043] S3. Set the SOC set value of the energy storage battery of each port energy storage converter of the energy router and the charge-discharge flag bit of the energy storage battery; in the embodiment, set the upper limit soc_up, lower limit soc_low, the lower limit soc_lowopt of the best charge-discharge threshold of the battery, the upper limit soc_upopt of the best charge threshold of the battery, clear the forced charge flag bit of the battery to soc_upopt - Δsoc, clear the forced discharge flag bit of the battery to soc_lowopt + Δsoc, and set the forced charge flag bit flag1 of the 1# energy storage DCDC converter battery; the forced discharge flag bit flagg1 of the 1# energy storage DCDC converter battery; the forced charge flag bit flag2 of the 2# energy storage DCDC converter battery; the forced discharge flag bit flagg2 of the 2# energy storage DCDC converter battery.

[0044] S4. Judge the current state of the battery according to the SOC of the energy storage battery and calculate the power coordination command of the DC-AC grid-connected converter.

[0045] In a possible implementation manner, according to the charge-discharge power requirements P_xq of each energy storage converter, where P_xq = P_load - P_pv - P_DCAC_cmd0, in the formula, P_load represents the DC load power, P_pv represents the output power of the PV DCDC, and P_DCAC_cmd0 represents the power command of the DC-AC grid-connected converter; according to the upper limit soc_up and lower limit soc_low of the SOC of the energy storage unit battery of each energy storage converter and the real-time charge-discharge power limit value uploaded by the battery management system (BMS) of the energy storage battery, calculate the limit value P_flmit of the sum of the discharge powers of each energy storage converter and the limit value Pclmit of the sum of the charge powers of each energy storage converter. Among them, Pxq > 0 indicates power shortage, Pflmit > 0 indicates discharge, and Pclmit < 0 indicates charge;

[0046] If Pxq > Pflmit > 0, it is necessary to coordinate the power support provided by the DC-AC grid-connected converter port, and P_DCAC_cmd = P_load - P_pv - P_flmit; if 0 < Pxq < Pflmit, there is no need to coordinate the power of the DC-AC grid-connected converter;

[0047] If Pclmit < Pxq < 0, there is no need to coordinate the power of the DC-AC grid-connected converter; if 0 > Pxq < Pclmit, it is necessary to coordinate the DC-AC grid-connected converter port to carry the surplus power, and P_DCAC_cmd = -P_flmit + P_load - P_pv.

[0048] S5. Determine the current state of the battery based on the SOC of the energy storage battery, and process the operation mode and power coordination instructions of the energy storage DCDC converter; in a possible implementation, taking the 1# 500kW energy storage DCDC as an example, if the SOC of the 1# 500kW energy storage DCDC converter < soc_low, that is, the battery of the 1# 500kW energy storage DCDC converter is forced to charge in power mode, the forced charging power instruction is P_1#_charge_limit + ΔP, and the flag is set to 1 until SOC = soc_upopt - Δsoc, then the flag is cleared and the charge-discharge state is restored; if the SOC of the 1# 500kW energy storage DCDC converter > soc_up, that is, the battery of the 1# 500kW energy storage DCDC converter is forced to discharge in power mode, the flagg is set to 1, and the forced charging power instruction is P_1#_discharge_limit - ΔP until SOC = soc_lowopt + Δsoc, then the flagg is cleared and the charge-discharge state is restored. The 2# 250kW energy storage DCDC can refer to the 1# 500kW energy storage DCDC; when both energy storage DCDC converters are in the charge-discharge state, that is, the 2# 250kW energy storage DCDC converter with a lower voltage priority operates in power mode. If Pxq > 0, the power instruction of this energy storage for discharging is P_cmd = min(P_xq, P_flimt) * [(soc - soc_low) / (Σsoc - 2soc_low)); if Pxq < 0, the power instruction of this energy storage for discharging is P_cmd = max(P_xq, P_climt) * [(soc_up - soc) / ((2soc_up - Σsoc))]; if only one of the two energy storage DCDC converters is in the charge-discharge state, the corresponding energy storage DCDC converter in the charge-discharge state operates in the DC voltage control mode; if neither of the two energy storage DCDC converters is in the charge-discharge state, the DC voltage is taken over by the auxiliary voltage deviation control or DC voltage control of the power loop of the 150kW DCAC grid-connected converter.

[0049] S6. Each port of the energy router executes the power coordination instructions of the corresponding energy storage converter;

[0050] The 150kW photovoltaic DC-DC converter obtains the maximum power point through the MPPT algorithm and then uses power and current dual closed-loop control to achieve maximum power output. The 1# 500kW DC-DC energy storage DC-DC converter and the 2# 250kW energy storage DC-DC converter achieve coordinated power output and maintain DC bus voltage stability based on the DC side voltage setpoint, DC voltage control priority, voltage deviation setpoint, and power command reference value obtained from the energy router power coordination control method. The 150kW DCAC grid-connected inverter executes the power command obtained from the energy router power coordination control method, and uses power and current dual closed-loop control, as well as auxiliary voltage deviation control and DC voltage and current dual closed-loop control to achieve precise grid-connected power control and DC bus voltage stability.

[0051] Another embodiment of the present invention also proposes a power coordination control system for an energy router containing multiple energy storage converters, comprising:

[0052] The priority setting module is used to set the DC voltage control priority of each port of the energy router;

[0053] The voltage deviation upper and lower limit setting module is used to set the upper and lower limit values ​​of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router according to the DC voltage control priority.

[0054] The energy storage battery SOC and charge / discharge flag setting module is used to set the energy storage battery SOC setting value and the energy storage battery charge / discharge flag of each port of the energy router.

[0055] The power coordination command calculation module is used to determine the current state of the energy storage battery based on the SOC setting value of the energy storage battery, and calculate the power coordination command of the DC-AC grid-connected converter by combining the upper and lower limits of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router, as well as to process the power coordination command of the energy storage DC-DC converter.

[0056] The execution module is used to execute power coordination commands for the corresponding energy storage converters on each port of the energy router.

[0057] Another embodiment of the present invention also provides an electronic device, comprising:

[0058] Memory, storing at least one instruction; and

[0059] The processor executes the instructions stored in the memory to implement the power coordination control method for an energy router with multiple energy storage converters as described in Embodiment 1.

[0060] Another embodiment of the present invention also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the power coordination control method for an energy router with multiple energy storage converters described in Embodiment 1.

[0061] For example, the instructions stored in the memory can be divided into one or more modules / units. These modules / units are stored in a computer-readable storage medium and executed by the processor to complete the power coordination control method for an energy router with multiple energy storage converters according to the present invention. The one or more modules / units can be a series of computer-readable instruction segments capable of performing specific functions, which describe the execution process of the computer program in the server.

[0062] The electronic device may be a smartphone, laptop, PDA, or cloud server, among other computing devices. It may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the electronic device may also include more or fewer components, or combinations of certain components, or different components; for example, it may also include input / output devices, network access devices, buses, etc.

[0063] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0064] The memory can be an internal storage unit of the server, such as a hard drive or RAM. Alternatively, it can be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory can include both internal and external storage units. The memory is used to store computer-readable instructions and other programs and data required by the server. It can also be used to temporarily store data that has been output or will be output.

[0065] It should be noted that the information interaction and execution process between the above-mentioned module units are based on the same concept as the method embodiment. For details on their specific functions and technical effects, please refer to the method embodiment section. They will not be repeated here.

[0066] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0067] 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, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0068] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0069] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A power coordination control method for an energy router containing multiple energy storage converters, characterized in that, Includes the following steps: Set the priority of DC voltage control for each port of the energy router; Based on the DC voltage control priority, the upper and lower limits of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router are set. Set the SOC setting value of the energy storage battery and the charge / discharge flag bit of the energy storage battery for each port of the energy router; The current state of the energy storage battery is determined based on the SOC setting value of the energy storage battery. Combined with the upper and lower limits of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router, the power coordination command of the DC-AC grid-connected converter is calculated and the power coordination command of the energy storage DC-DC converter is processed. Each port of the energy router executes the power coordination command corresponding to the energy storage converter. The steps for setting the SOC settings of the energy storage batteries of each port energy storage converter of the energy router and the charging and discharging flag bits of the energy storage batteries include: a) setting the upper limit soc_up, lower limit soc_low, lower limit of the optimal charging and discharging threshold soc_lowopt, upper limit of the optimal charging threshold soc_upopt, clearing the battery forced charging flag bit to soc_upopt-Δsoc, clearing the battery forced discharging flag bit to soc_lowopt+Δsoc, and setting the forced charging flag bit flag1 for the battery of the 1# energy storage DC-DC converter; the forced discharging flag bit flag1 for the battery of the 1# energy storage DC-DC converter; the forced charging flag bit flag2 for the battery of the 2# energy storage DC-DC converter; and the forced discharging flag bit flag2 for the battery of the 2# energy storage DC-DC converter. The steps for processing the power coordination commands of the energy storage DC-DC converter include: If the SOC of the 1# energy storage DCDC converter < soc_low, that is, the battery of the 1# energy storage DCDC converter is forced to charge in power mode, the forced charging power command is P_1#_charge_limit + ΔP, and the flag is set to 1 until SOC = soc_upopt - Δsoc, then the flag is cleared and the charge-discharge state is restored; if the SOC of the 1# energy storage DCDC converter > soc_up, that is, the battery of the energy storage DCDC converter is forced to discharge in power mode, the flagg is set to 1, and the forced charging power command is P_1#_discharge_limit - ΔP until SOC = soc_lowopt + Δsoc, then the flagg is cleared and the charge-discharge state is restored. The 2# energy storage DCDC refers to the 1# energy storage DCDC; when both energy storage DCDC converters are in the charge-discharge state, that is, the energy storage converter with a lower voltage priority operates in power mode. If Pxq > 0, the corresponding energy storage discharges, and the power command P_cmd = min(P_xq, P_flimt) * [(soc - soc_low) / (Σsoc - 2soc_low)]; if Pxq < 0, the corresponding energy storage charges, and the power command P_cmd = max(P_xq, P_climt) * [(soc_up - soc) / (2soc_up - Σsoc)]; if only one of the two energy storage DCDC converters is in the charge-discharge state, the corresponding energy storage DCDC converter in the charge-discharge state operates in the DC voltage control mode; if neither of the two energy storage DCDC converters is in the charge-discharge state, the DC voltage is taken over by the auxiliary voltage deviation control or DC voltage control of the power loop of the DCAC grid-connected converter.

2. The power coordination control method for an energy router containing multiple energy storage converters according to claim 1, characterized in that: Configure DC voltage control functions based on the converter capacity, voltage control capability, and port control requirements of each port of the energy router. Prioritize the ports according to converter capacity and voltage control capability, in the following order: DC voltage control master station U. c0 DC voltage control from station U c1 DC voltage control from station U c2 .

3. The power coordination control method for an energy router containing multiple energy storage converters according to claim 2, characterized in that: DC voltage control master station U c0 The rated voltage is U dc The upper and lower limits of voltage deviation are U max0 and U min0 DC voltage control from station U c1 The voltage deviation upper and lower limits are U max1 and U min1 DC voltage control from the second station U c2 The voltage deviation upper and lower limits are U max2 and U min2 Satisfying relation U min2 min1 min0 dc max0 max1 max2 .​​​​​​ 4. The power coordination control method for an energy router containing multiple energy storage converters according to claim 1, characterized in that, The steps of calculating the power coordination command of the DCAC grid-connected converter include: According to the charge-discharge power requirements P_xq of each energy storage converter, where P_xq = P_load - P_pv - P_DCAC_cmd0, in the formula, P_load represents the DC load power, P_pv represents the output power of the PV DCDC, and P_DCAC_cmd0 represents the power command of the DCAC grid-connected converter; according to the upper limit soc_up, lower limit soc_low of the SOC of the energy storage battery of each energy storage converter and the real-time charge-discharge power limit of the energy storage battery, calculate the limit value Pflmit of the sum of the discharge powers of each energy storage converter and the limit value Pclmit of the sum of the charging powers of each energy storage converter. Among them, Pxq > 0 indicates power shortage, Pflmit > 0 indicates discharge, and Pclmit < 0 indicates charging; If Pxq > Pflmit > 0, coordinate the DCAC grid-connected converter port to provide power support, and P_DCAC_cmd = P_load - P_pv - P_flmit; if 0 < Pxq < Pflmit, there is no need to coordinate the power of the DCAC grid-connected converter; If Pclmit < Pxq < 0, there is no need to coordinate the power of the DCAC grid-connected converter; if 0 > Pxq > Pclmit, coordinate the surplus power transferred at the port of the DCAC grid-connected converter, and P_DCAC_cmd = -P_flmit + P_load - P_pv.

5. The power coordination control method for an energy router containing multiple energy storage converters according to claim 1, characterized in that, The steps for each port of the energy router to execute the power coordination instruction of the corresponding energy storage converter include: The energy router includes a PV DCDC port, an energy storage DCDC port, a grid-connected inverter port, and a DC load port; the PV port uses a DC / DC converter to connect the PV array to the DC bus, the energy storage port uses a bidirectional DC / DC converter to connect the energy storage battery to the DC bus, the grid-connected port uses a three-phase bridge PWM inverter circuit to connect the DC bus to the grid, and the four ports are connected by a common DC bus; the control methods for each port are as follows: the PV DCDC converter obtains the maximum power point through the mppt algorithm, and then uses a double closed-loop control of power and current to achieve maximum power output; the energy storage DCDC converter realizes power coordination output and maintains the stability of the DC bus voltage according to the DC side voltage set value, the DC voltage control priority, the voltage deviation set value, and the power command reference value obtained according to the power coordination control method of the energy router; the DCAC grid-connected inverter executes the power command obtained by the power coordination control method of the energy router, and uses a double closed-loop control of power and current, an auxiliary voltage deviation control, and a double closed-loop control of DC voltage and current to achieve accurate control of the grid-connected power and the stability of the DC bus voltage.

6. A power coordination control system for an energy router containing multiple energy storage converters, characterized in that, It includes: A priority setting module for setting the DC voltage control priority of each port of the energy router; A voltage deviation upper and lower limit setting module for setting the upper and lower limit values of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router according to the DC voltage control priority; An energy storage battery SOC and charge / discharge flag setting module for setting the SOC set value of the energy storage battery of the energy storage converter at each port of the energy router and the charge / discharge flag of the energy storage battery; A power coordination instruction calculation module for judging the current state of the energy storage battery according to the SOC set value of the energy storage battery, and combining the upper and lower limit values of the voltage deviation between the master station and the slave station of the DC voltage control of the energy storage converter at each port of the energy router to calculate the power coordination instruction of the DCAC grid-connected converter and process the power coordination instruction of the energy storage DCDC converter; An execution module for each port of the energy router to execute the power coordination instruction of the corresponding energy storage converter; The steps of setting the SOC set values of the energy storage batteries of each port energy storage converter of the energy router and the charge and discharge flag bits of the energy storage batteries include: a) setting the upper limit soc_up, lower limit soc_low, lower limit soc_lowopt of the optimal charge and discharge threshold of the battery, upper limit soc_upopt of the optimal charge threshold of the battery, clearing the forced charge flag bit of the battery to soc_upopt - Δsoc, clearing the forced discharge flag bit of the battery to soc_lowopt + Δsoc, setting the forced charge flag bit flag1 of the 1# energy storage DCDC converter; the forced discharge flag bit flagg1 of the 1# energy storage DCDC converter; the forced charge flag bit flag2 of the 2# energy storage DCDC converter; the forced discharge flag bit flagg2 of the 2# energy storage DCDC converter; The steps of processing the power coordination instructions of the energy storage DCDC converter include: If the SOC of the 1# energy storage DCDC converter < soc_low, that is, the battery of the 1# energy storage DCDC converter is forced to charge in power mode, the forced charge power instruction is P_1#_charge_limit + ΔP, and flag is set to 1 until SOC = soc_upopt - Δsoc, then flag is cleared and the charge and discharge state is restored; if the SOC of the 1# energy storage DCDC converter > soc_up, that is, the battery of the energy storage DCDC converter is forced to discharge in power mode, flagg is set to 1, and the forced charge power instruction is P_1#_discharge_limit - ΔP until SOC = soc_lowopt + Δsoc, then flagg is cleared and the charge and discharge state is restored. The 2# energy storage DCDC refers to the 1# energy storage DCDC; when both energy storage DCDC converters are in the charge and discharge state, that is, the energy storage converter with a lower voltage priority operates in power mode. If Pxq > 0, the corresponding energy storage discharges, and the power instruction P_cmd = min(P_xq, P_flimt)*[(soc - soc_low) / (Σsoc - 2soc_low)]; if Pxq < 0, the corresponding energy storage charges, and the power instruction P_cmd = max(P_xq, P_climt)*[(soc_up - soc) / (2soc_up - Σsoc)]; if only one of the two energy storage DCDC converters is in the charge and discharge state, the corresponding energy storage DCDC converter in the charge and discharge state operates in the DC voltage control mode; if neither of the two energy storage DCDC converters is in the charge and discharge state, the DC voltage is taken over by the auxiliary voltage deviation control or DC voltage control of the power loop of the DCAC grid-connected converter.

7. An electronic device, characterized in that, Include: A memory storing at least one instruction; And A processor that executes the instructions stored in the memory to implement the power coordination control method of the energy router with multiple energy storage converters as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the power coordination control method for an energy router with multiple energy storage converters as described in any one of claims 1 to 5.

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