Multimodal control method and energy router for distributed energy hierarchical control

Abstract

This invention provides a multimodal control method and an energy router for hierarchical control of distributed energy resources. The energy router includes a system-level control module and a device-level control module; the system-level control module is connected to both the upper-level dispatch center and the device-level control module, and the device-level control module is connected to each distributed energy resource and load. The method includes: the system-level control module receiving energy control commands from the upper-level dispatch center and issuing passive control commands to each distributed energy resource to the device-level control module based on these commands; the device-level control module performing passive energy control on each distributed energy resource based on the passive control commands; and performing active energy control on each distributed energy resource based on its operating status. This application enables hierarchical control of distributed energy resources. Through this method and the energy router using this method, the problem of dispersed transportation equipment can be solved, ensuring the normal operation of intelligent connected transportation systems.

Description

Technical Field

[0001] This invention relates to the field of intelligent connected transportation technology, and in particular to a multimodal control method and energy router for distributed energy hierarchical control. Background Technology

[0002] Based on the third sub-project of the National Key Research and Development Program project "Energy Self-Consistency Technology for Intelligent Connected Road Traffic Systems" (2023YFB2604600), namely "Transformation Topology of Distributed Energy Devices and Microgrid Integration and Control Technology", the inventors conducted research on intelligent connected traffic systems.

[0003] Intelligent Connected Transportation Systems (ICTS) are traffic management systems that interconnect vehicles, people, and road infrastructure through information and communication technologies. They provide services such as real-time traffic information, intelligent navigation, vehicle monitoring, and control, aiming to improve the safety and efficiency of urban travel. However, to realize this new type of traffic management system, in addition to the necessary advanced sensors and edge computing devices, the entire intelligent system also requires a highly reliable power supply system for application support. Because ICTS are deployed along highways and expressways, centralized urban power supply systems often struggle to meet the demands of their proper operation. This dispersed nature of traffic system equipment makes it difficult for centralized urban power supply systems to support the normal operation of ICTS, a problem that urgently needs to be addressed. Summary of the Invention

[0004] This invention provides a multimodal control method and energy router for distributed energy hierarchical control, in order to solve the problem that the dispersed nature of transportation system equipment makes it difficult for centralized urban power supply systems to meet the normal operation of intelligent connected transportation systems.

[0005] In a first aspect, embodiments of the present invention provide a multimodal control method for hierarchical control of distributed energy resources, applied to an energy router, the energy router including a system-level control module and a device-level control module; the system-level control module is connected to the upper-level dispatch center and the device-level control module respectively, and the device-level control module is connected to each distributed energy source and load respectively;

[0006] Multimodal control methods for distributed energy hierarchical control include:

[0007] The system-level control module receives energy control instructions from the upper-level dispatch center and, based on these instructions, issues passive control instructions to the equipment-level control module for each distributed energy source.

[0008] The equipment layer control module performs passive energy control on each distributed energy source based on passive control commands, and performs active energy control on each distributed energy source based on its operating status.

[0009] In one possible implementation, the system-level control module includes a router lumped controller; the distributed energy sources include high-entropy energy sources, photovoltaic arrays, and microgrids; the device-level control module includes energy controllers and energy power conversion modules corresponding to each distributed energy source, load controllers and load power conversion modules corresponding to the loads, and a DC bus.

[0010] The router's centralized controller is connected to the upper-level dispatch center, each energy controller, and the load controller; each energy power conversion module and load power conversion module is connected to the DC bus; each energy power conversion module is also connected to its corresponding distributed energy source; and the load power conversion module is connected to the load.

[0011] The energy power conversion module is controlled by the corresponding energy controller, and the load power conversion module is controlled by the load controller.

[0012] In one possible implementation, the energy control command is used to instruct the energy power conversion module corresponding to the microgrid whether to discharge the microgrid;

[0013] Passive control commands include the target operating parameters for the corresponding distributed energy source.

[0014] In one possible implementation, the multimodal control method for distributed energy hierarchical control also includes:

[0015] The system-level control module controls the operating mode of each energy power conversion module based on the type of load.

[0016] In one possible implementation, the operating mode of each power conversion module is controlled based on the type of load, including:

[0017] When the load type is a steady-state load, control each energy power conversion module to work in the load demand satisfaction mode;

[0018] When the load type is dynamic load, control each energy power conversion module to work in bus support mode.

[0019] In one possible implementation, controlling each energy conversion module to operate in bus-supported mode includes:

[0020] The power conversion module of the high-entropy energy source is controlled by the given voltage of the DC bus. The power conversion module of the photovoltaic array is controlled by MPPT to enable the photovoltaic array to output maximum power. When the microgrid is in power supply mode, the power conversion module of the microgrid is controlled by the given voltage of the DC bus.

[0021] In one possible implementation, each power conversion module is controlled to operate in a load demand fulfillment mode, including:

[0022] Obtain the power required by the load;

[0023] Based on the priority order of each distributed energy source and the power demand of the load, the power conversion modules of each distributed energy source are controlled to ensure that the output power of each distributed energy source meets the power demand of the load.

[0024] In one possible implementation, based on the priority order of each distributed energy source and the power demand of the load, the power conversion modules of each distributed energy source are controlled to ensure that the output power of each distributed energy source meets the power demand of the load, including:

[0025] When the load’s power demand is less than or equal to the maximum output power of the high-entropy energy source, the power conversion module of the high-entropy energy source is controlled to supply power to meet the load’s power demand, and the power conversion modules of the photovoltaic array and microgrid are controlled to be in standby mode.

[0026] When the load's power demand is greater than the maximum output power of the high-entropy energy source, and less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, the energy power conversion module of the high-entropy energy source is controlled to output the maximum power, the energy power conversion module of the photovoltaic array is controlled to compensate for the power difference between the load and the high-entropy energy source, and the energy power conversion module of the microgrid is controlled to be in standby mode.

[0027] When the load's power demand is greater than the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, and less than or equal to the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the microgrid, the power conversion modules controlling the high-entropy energy source and the photovoltaic array each output their respective maximum power, and the power conversion modules controlling the microgrid compensate for the power difference between the load and the high-entropy energy source and the photovoltaic array.

[0028] In one possible implementation, the control cycle of the router ensemble controller is different from that of the energy controller, with the router ensemble controller having a longer control cycle than the energy controller.

[0029] Secondly, embodiments of the present invention provide an energy router, including a system-level control module and a device-level control module; the system-level control module is connected to the upper-level dispatch center and the device-level control module respectively, and the device-level control module is connected to each distributed energy source and load respectively.

[0030] The energy router is used to implement a multimodal control method for distributed energy hierarchical control, such as in the first aspect or any possible implementation of the first aspect.

[0031] Thirdly, embodiments of the present invention provide an intelligent connected transportation system, including the energy router as described in the second aspect.

[0032] This invention provides a multimodal control method and an energy router for hierarchical control of distributed energy resources. The method is applied to an energy router, which includes a system-level control module and a device-level control module. The system-level control module is connected to both the upper-level dispatch center and the device-level control module, and the device-level control module is connected to each distributed energy resource and load. The method receives energy control commands from the upper-level dispatch center through the system-level control module and issues passive control commands to each distributed energy resource to the device-level control module based on these commands. The device-level control module performs passive energy control on each distributed energy resource based on these passive control commands, and also performs active energy control on each distributed energy resource based on its operating status. This enables hierarchical control of each distributed energy resource. Using this method and the energy router employing it, the problem of dispersed transportation equipment can be solved, ensuring the normal operation of intelligent connected transportation systems. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating a multimodal control method for hierarchical control of distributed energy provided in an embodiment of the present invention.

[0035] Figure 2 This is a schematic diagram of the structure of an energy router provided in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of an energy router provided in another embodiment of the present invention. Detailed Implementation

[0037] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0038] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments will be described below in conjunction with the accompanying drawings.

[0039] See Figure 1This diagram illustrates the implementation flowchart of the multimodal control method for distributed energy hierarchical control provided in this embodiment of the invention. The aforementioned multimodal control method for distributed energy hierarchical control is applied to an energy router. See also... Figure 2 The energy router 20 includes a system layer control module 21 and a device layer control module 22. The system layer control module 21 is connected to the upper-level dispatch center 30 and the device layer control module 22 respectively, and the device layer control module 22 is connected to each distributed energy source 40 and load 50 respectively.

[0040] See Figure 1 The aforementioned multimodal control method for hierarchical control of distributed energy resources includes:

[0041] In S101, the system-level control module receives energy control instructions from the upper-level dispatch center and, based on these instructions, issues passive control instructions to the equipment-level control module for each distributed energy source.

[0042] The upper-level dispatch center, also known as the upper-level energy management and control center, can issue energy control commands to the system-level control module. After receiving the energy control command, the system-level control module can generate passive control commands for each distributed energy source and issue the passive control commands to the device-level control module.

[0043] In S102, the device layer control module performs passive energy control on each distributed energy source based on passive control commands, and performs active energy control on each distributed energy source based on the operating status of each distributed energy source.

[0044] The device-level control module can perform passive energy control on each distributed energy source based on the received passive control commands, and can also perform active energy control on each distributed energy source based on its operating status.

[0045] For example, the above-mentioned active energy control of each distributed energy source based on its operating status may include at least one of the following: when the port parameters (such as current, voltage, or power, etc.) of the distributed energy source do not conform to the given port parameters, adjust the port parameters according to the corresponding control loop to make them conform to the given port parameters; when the distributed energy source experiences an overcurrent phenomenon, perform overcurrent protection; when the distributed energy source experiences an overtemperature phenomenon, perform overtemperature protection; when the distributed energy source experiences an overload phenomenon, perform overload protection; when the distributed energy source experiences an overvoltage phenomenon, perform overvoltage protection; when the distributed energy source experiences a fault, perform fault protection and notify the staff; etc.

[0046] Energy routers can be distributed along highways and expressways at certain intervals along with intelligent connected transportation systems, thereby providing electrical energy to the intelligent connected transportation systems.

[0047] The multimodal control method for hierarchical control of distributed energy provided in this embodiment is applied to an energy router, which includes a system-level control module and a device-level control module. The system-level control module is connected to both the upper-level dispatch center and the device-level control module, and the device-level control module is connected to each distributed energy source and the load. This method receives energy control commands from the upper-level dispatch center through the system-level control module, and issues passive control commands to each distributed energy source to the device-level control module based on these commands. The device-level control module performs passive energy control on each distributed energy source based on these passive control commands, and also performs active energy control on each distributed energy source based on its operating status. This enables hierarchical control of each distributed energy source. Through this method and the energy router using this method, the problem of dispersed transportation equipment can be solved, ensuring the normal operation of intelligent connected transportation systems.

[0048] In some embodiments, see Figure 3 The system layer control module 21 includes a router centralized controller; each distributed energy source includes a high-entropy energy source 41, a photovoltaic array 42, and a microgrid 43; the device layer control module 22 includes an energy controller and an energy power conversion module corresponding to each distributed energy source, a load controller and a load power conversion module corresponding to the load, and a DC bus.

[0049] The router's centralized controller is connected to the upper-level dispatch center 30, each energy controller, and the load controller; each energy power conversion module and load power conversion module is connected to the DC bus; each energy power conversion module is also connected to its corresponding distributed energy source; and the load power conversion module is connected to the load.

[0050] The energy power conversion module is controlled by the corresponding energy controller, and the load power conversion module is controlled by the load controller.

[0051] The energy power conversion module can be a DC-DC conversion module, and the load power conversion module can be a DC-AC conversion module or a DC-DC conversion module.

[0052] Each distributed energy source can supply power to the DC bus through its corresponding power conversion module. Some distributed energy sources can also obtain power from the DC bus through their corresponding power conversion modules. The DC bus can supply power to the load through its load power conversion module.

[0053] In this embodiment, the router centralized controller can receive energy control instructions from the upper-layer scheduling center, generate passive control instructions for each distributed energy source based on the energy control instructions, and send the passive control instructions for each distributed energy source to the energy controller corresponding to each distributed energy source.

[0054] When each distributed energy source receives a passive control command, its corresponding energy controller passively controls the operation of the corresponding energy power conversion module according to the command, thereby ensuring that the operation of the distributed energy source meets the passive control instructions. Simultaneously, the energy controller can also perform active energy control based on the operating status of the distributed energy source.

[0055] High-entropy energy 41 refers to diffuse energy such as kinetic energy, potential energy, thermal energy, and electromagnetic radiation energy that is scattered throughout nature and exists everywhere at all times. Large quantities of high-entropy energy 41 can be collected using triboelectric nanotechnology and applied to intelligent connected transportation systems to meet the large-scale and widely distributed energy needs of these systems.

[0056] High-entropy energy 41 and photovoltaic array 42 are externally collected idle energy sources, belonging to the new energy component. These two energy sources can reduce the system's energy dependence on the microgrid (because the microgrid's energy essentially comes from the power grid) and reduce carbon emissions. Therefore, the energy priority of high-entropy energy 41 and photovoltaic array 42 can be higher than that of microgrid 43, with high-entropy energy 41 having a higher energy priority than photovoltaic array 42.

[0057] The microgrid 43 may include a first energy storage battery. The microgrid 43 can both supply power to the load and consume energy as a load. The microgrid 43 has complete internal control logic. When the high-entropy energy source 41 and the photovoltaic array 42 cannot meet the energy demand, the microgrid 43 can supply power. When energy is sufficient, the microgrid 43 can consume energy as a load to charge its internal first energy storage battery.

[0058] See also some possible implementations. Figure 3 Each of the aforementioned distributed energy sources may further include a second energy storage battery 44. That is, each distributed energy source includes a high-entropy energy source 41, a photovoltaic array 42, a microgrid 43, and a second energy storage battery 44. The second energy storage battery 44 has a corresponding energy controller and an energy power conversion module. The priority of each distributed energy source, from highest to lowest, is: high-entropy energy source 41, photovoltaic array 42, microgrid 43, and second energy storage battery 44.

[0059] The energy power conversion module of the second energy storage battery 44 may include a supercapacitor, thereby providing stable support for the energy router.

[0060] The second energy storage battery 44 can provide power when the high-entropy energy source 41, photovoltaic array 42 and microgrid 43 cannot meet the energy demand, and can also be charged as a load when the energy is sufficient.

[0061] For the scheme including the second energy storage battery 44, although an additional energy control method is added, it can provide more sufficient backup energy for the energy router, avoiding energy shortages. For the scheme without the second energy storage battery, the control of the energy router is relatively simple, reducing control complexity.

[0062] In some embodiments, the energy control command is used to instruct the energy power conversion module corresponding to the microgrid whether to discharge the microgrid;

[0063] Passive control commands include the target operating parameters for the corresponding distributed energy source.

[0064] In this embodiment, the energy control command issued by the upper-level dispatch center is used to instruct the energy power conversion module corresponding to the microgrid whether to discharge the microgrid, that is, whether the microgrid acts as a load and obtains energy from the DC bus. Based on this energy control command, the system-level control module can calculate the target operating parameters of each distributed energy source, that is, the given operating parameters of each distributed energy source, and then send these parameters to the device-level control module, enabling the device-level control module to control each distributed energy source to operate according to its respective target operating parameters.

[0065] In the two cases where the energy power conversion module corresponding to the microgrid discharges to the microgrid and the energy power conversion module corresponding to the microgrid does not discharge to the microgrid, the target operating parameters of each distributed energy source are different, and can be calculated according to the actual situation.

[0066] The passive control commands may also include at least one of the following: turning on or off the energy power conversion module corresponding to the distributed energy source, charging or discharging the second energy storage battery, and whether the microgrid executes the command when the energy power conversion module corresponding to the microgrid discharges the microgrid, etc.

[0067] In some possible implementations, the passive control command generated based on the energy control command can be referred to as the first passive control command. The system-level control module can also collect information such as the operating status and load of each distributed energy source and its corresponding power module, generate a second passive control command based on the collected information, and send it to the device-level control module for further optimization of each distributed energy source. Upon receiving the second passive control command, the device-level control module executes it.

[0068] The instructions or information contained in the second passive control instruction may be the same as or similar to those contained in the first passive control instruction, only the specific values ​​or specific controls may differ.

[0069] The embodiments of this application can perform two-level optimization by using the system-level control module to passively control each distributed energy source and the device-level control module to actively control each distributed energy source, thereby ensuring that each distributed energy source operates in the optimal state.

[0070] In some embodiments, the multimodal control method for distributed energy hierarchical control further includes:

[0071] The system-level control module controls the operating mode of each energy power conversion module based on the type of load.

[0072] The load type can include steady-state load or dynamic load. A steady-state load is one with minimal fluctuations and is a conventional, stable load. A dynamic load is one with significant fluctuations and is a pulse-like, special load.

[0073] This application embodiment can distinguish between a steady-state load and a dynamic load by the power pulsation of the load. Alternatively, it can determine whether the load is steady-state or dynamic based on user input or pre-set load type; the user can know the type of the connected load in advance and manually input or set the load type. It can also determine whether the load is dynamic or steady-state based on the operating parameters of the DC bus; when a rapid drop in the operating parameters of the DC bus is detected, the load type is determined to be dynamic; otherwise, it is a steady-state load. The operating parameters of the DC bus can include the DC bus voltage. When the voltage drop of the DC bus within a preset time period is greater than a preset voltage difference, or when the rate of voltage drop of the DC bus is greater than a preset rate, it can be determined that the operating parameters of the DC bus are rapidly dropping. The preset time period, preset voltage difference, and preset rate can be set according to actual needs and are not specifically limited here.

[0074] For different load types, each energy conversion module can be controlled to operate in different working modes to meet load requirements.

[0075] In some embodiments, the operating mode of each power conversion module is controlled based on the type of load, including:

[0076] When the load type is a steady-state load, control each energy power conversion module to work in the load demand satisfaction mode;

[0077] When the load type is dynamic load, control each energy power conversion module to work in bus support mode.

[0078] Among them, the load demand satisfaction mode means that the energy supply of each distributed energy source matches the energy consumption of the load. The distributed energy source provides the same amount of energy as the load needs. In other words, the output power of each distributed energy source meets the load's power demand.

[0079] Busbar support mode refers to the function of each distributed energy source that can stabilize the operating parameters of the DC bus within a preset parameter range. That is, the output power of each distributed energy source can stabilize the operating parameters of the DC bus within a preset parameter range, such as stabilizing the DC bus voltage within a preset voltage range, stabilizing the DC bus current within a preset current range, and so on.

[0080] In some embodiments, controlling each energy power conversion module to operate in bus support mode includes:

[0081] The power conversion module of the high-entropy energy source is controlled by the given voltage of the DC bus. The power conversion module of the photovoltaic array is controlled by MPPT (Maximum Power Point Tracking) to enable the photovoltaic array to output maximum power. When the microgrid is in power supply mode, the power conversion module of the microgrid is controlled by the given voltage of the DC bus.

[0082] The given voltage of the DC bus can be understood as the voltage at which the DC bus is to be stabilized, which can be a voltage value within the aforementioned preset voltage range.

[0083] The aforementioned energy power conversion module that controls high-entropy energy with a given voltage from the DC bus may include:

[0084] Based on the given voltage of the DC bus and the first control loop, the energy power conversion module of the high-entropy energy source is controlled.

[0085] The energy power conversion module that controls the high-entropy energy source based on the given voltage of the DC bus and the first control loop may include:

[0086] Obtain the actual voltage of the DC bus, and calculate the voltage error value of the DC bus based on the given voltage of the DC bus and the actual voltage of the DC bus;

[0087] Based on the voltage error value of the DC bus and the preset first transfer function, the current setpoint of the high-entropy energy is determined;

[0088] Obtain the actual current value of the high-entropy energy source, and based on the given current value and the actual current value of the high-entropy energy source, obtain the current error value of the high-entropy energy source.

[0089] Based on the current error value of the high-entropy energy source and the preset second transfer function, the control quantity of the high-entropy energy source's power conversion module is determined, and the high-entropy energy source's power conversion module is controlled according to the control quantity of the high-entropy energy source's power conversion module.

[0090] Specifically, the voltage error value of the DC bus can be multiplied by a preset first transfer function to obtain the current setpoint of the high-entropy energy source. The current error value of the high-entropy energy source can then be multiplied by a preset second transfer function to determine the control quantity of the high-entropy energy source's power conversion module.

[0091] The microgrid operates in a power supply state, i.e., in a discharge state. The implementation process of the energy power conversion module of the microgrid controlled by the given voltage of the DC bus is similar to that of the energy power conversion module of the high-entropy energy controlled by the given voltage of the DC bus, and will not be described again.

[0092] The aforementioned energy power conversion module that controls the photovoltaic array via MPPT enables the photovoltaic array to output maximum power, including:

[0093] Based on the second control loop, the power conversion module of the photovoltaic array is controlled by MPPT to enable the photovoltaic array to output maximum power.

[0094] The above-mentioned energy power conversion module of the photovoltaic array, based on the second control loop and controlled by MPPT to enable the photovoltaic array to output maximum power, may include:

[0095] Obtain the actual voltage and actual current of the photovoltaic array;

[0096] The actual voltage and actual current of the photovoltaic array are input into the preset MPPT controller to obtain the voltage setpoint of the photovoltaic array;

[0097] The voltage error value of the photovoltaic array is determined based on the given voltage value and the actual voltage of the photovoltaic array.

[0098] The current setpoint of the photovoltaic array is obtained based on the voltage error value of the photovoltaic array and the preset third transfer function;

[0099] The current error value of the photovoltaic array is obtained based on the current setpoint of the photovoltaic array and the actual current of the photovoltaic array.

[0100] Based on the current error value of the photovoltaic array and the preset fourth transfer function, the control quantity of the photovoltaic array's energy power conversion module is obtained;

[0101] Based on the control quantity of the photovoltaic array's power conversion module, the power conversion module of the photovoltaic array is controlled to enable the photovoltaic array to output maximum power.

[0102] Specifically, the voltage error value of the photovoltaic array is multiplied by the preset third transfer function to obtain the current setpoint value of the photovoltaic array; the current error value of the photovoltaic array is multiplied by the preset fourth transfer function to obtain the control quantity of the photovoltaic array's energy power conversion module.

[0103] In some possible implementations, for schemes that include a second energy storage battery—that is, when each distributed power source also includes a second energy storage battery—controlling the operation of each energy power conversion module in bus-supported mode may further include: controlling the energy power conversion module of the second energy storage battery with a given voltage from the DC bus. This control process is similar to the control process for high-entropy energy sources and will not be described in detail here.

[0104] In some embodiments, controlling each power conversion module to operate in a load demand fulfillment mode includes:

[0105] Obtain the power required by the load;

[0106] Based on the priority order of each distributed energy source and the power demand of the load, the power conversion modules of each distributed energy source are controlled to ensure that the output power of each distributed energy source meets the power demand of the load.

[0107] In some embodiments, based on the priority order of each distributed energy source and the power demand of the load, the power conversion modules of each distributed energy source are controlled to ensure that the output power of each distributed energy source meets the power demand of the load, including:

[0108] When the load’s power demand is less than or equal to the maximum output power of the high-entropy energy source, the power conversion module of the high-entropy energy source is controlled to supply power to meet the load’s power demand, and the power conversion modules of the photovoltaic array and microgrid are controlled to be in standby mode.

[0109] When the load's power demand is greater than the maximum output power of the high-entropy energy source, and less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, the energy power conversion module of the high-entropy energy source is controlled to output the maximum power, the energy power conversion module of the photovoltaic array is controlled to compensate for the power difference between the load and the high-entropy energy source, and the energy power conversion module of the microgrid is controlled to be in standby mode.

[0110] When the load's power demand is greater than the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, and less than or equal to the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the microgrid, the power conversion modules controlling the high-entropy energy source and the photovoltaic array each output their respective maximum power, and the power conversion modules controlling the microgrid compensate for the power difference between the load and the high-entropy energy source and the photovoltaic array.

[0111] In some possible implementations, when the load's power demand is less than or equal to the maximum output power of the high-entropy energy source, if the high-entropy energy source's power conversion module provides power to meet the load's power demand and there is a surplus, and the remaining charge of the microgrid's first energy storage battery is less than a preset remaining charge, then the microgrid's power conversion module is controlled to operate in charging mode to charge the microgrid's first energy storage battery; if the high-entropy energy source's power conversion module provides power to meet the load's power demand and there is no surplus, or the remaining charge of the microgrid's first energy storage battery is greater than or equal to a preset remaining charge, then the microgrid's power conversion module is controlled to operate in standby mode.

[0112] Similarly, when the load's power demand is greater than the maximum output power of the high-entropy energy source, but less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, if the photovoltaic array's power conversion module has a surplus after compensating for the power difference between the load and the high-entropy energy source, and the remaining charge of the microgrid's first energy storage battery is less than the preset remaining charge, then the microgrid's power conversion module is controlled to operate in charging mode to charge the microgrid's first energy storage battery; if the photovoltaic array's power conversion module has no surplus after compensating for the power difference between the load and the high-entropy energy source, or the remaining charge of the microgrid's first energy storage battery is greater than or equal to the preset remaining charge, then the microgrid's power conversion module is controlled to operate in standby mode.

[0113] In this context, "having a surplus after the high-entropy energy's power conversion module meets the load's power demand" means that the maximum output power of the high-entropy energy source exceeds the load's power requirement. Similarly, "having a surplus after the photovoltaic array's power conversion module compensates for the power difference between the load and the high-entropy energy source" means that the maximum output power of the photovoltaic array exceeds the power difference between the load and the high-entropy energy source. Only when there is a surplus can the additional power be used to charge the microgrid.

[0114] In some possible implementations, the power conversion module for controlling high-entropy energy supplies power to meet the load's power requirements, which may include:

[0115] Based on the third control loop, the power conversion module of the high-entropy energy source is controlled to supply power to meet the load's power requirements.

[0116] The aforementioned energy power conversion module, which controls the high-entropy energy source based on the third control loop to supply power to meet the load's power requirements, may include:

[0117] Obtain the actual voltage of the DC bus, and calculate the voltage error value of the DC bus based on the given voltage of the DC bus and the actual voltage of the DC bus;

[0118] Based on the voltage error value of the DC bus and the preset first transfer function, the first current reference value of the high-entropy energy is determined.

[0119] Obtain the actual voltage and the given voltage of the high-entropy energy source, and calculate the voltage error value of the high-entropy energy source based on the given voltage and the actual voltage of the high-entropy energy source.

[0120] Based on the voltage error value of the high-entropy energy source and the preset sixth transfer function, the second current reference value of the high-entropy energy source is determined.

[0121] The smaller of the first current reference value and the second current reference value of the high-entropy energy is used as the current setpoint of the high-entropy energy.

[0122] Obtain the actual current value of the high-entropy energy source, and based on the given current value and the actual current value of the high-entropy energy source, obtain the current error value of the high-entropy energy source.

[0123] Based on the current error value of the high-entropy energy source and the preset second transfer function, the control quantity of the high-entropy energy source's power conversion module is determined, and the high-entropy energy source's power conversion module is controlled according to the control quantity of the high-entropy energy source's power conversion module.

[0124] Specifically, the given voltage of the aforementioned high-entropy energy source must be able to meet the power demand of the load. When the microgrid is in charging mode, the given voltage of the aforementioned high-entropy energy source must be able to meet both the power demand of the load and the charging power of the microgrid.

[0125] It should be noted that the power conversion module of the high-entropy energy source is controlled through a third control loop regardless of the load's power demand range; only the setpoint voltage of the high-entropy energy source differs. For example, when the load's power demand exceeds the high-entropy energy source's maximum output power, the setpoint voltage of the high-entropy energy source must ensure that it outputs at its maximum power, and so on.

[0126] In this application, when the load type is a dynamic load, the high-entropy energy power conversion module is controlled through a first control loop. When the load type is a steady-state load, the high-entropy energy power conversion module is controlled through a third control loop. Compared with the first control loop, the third control loop reduces the voltage loop of the high-entropy power supply, eliminating the need to determine the current setpoint by taking the smaller of two current reference values. The entire control loop changes less, essentially shielding only a part of the third control loop. Therefore, when the load type changes, the control of the high-entropy energy power conversion module can achieve rapid dynamic switching without wasting too much time and avoiding power outages.

[0127] When the load type is a steady-state load, the control method of the microgrid's power conversion module and the subsequent control method of the power conversion module of the second energy storage battery are similar to the control method of the power conversion module of the high-entropy energy source, and will not be described again.

[0128] In some possible implementations, the energy power conversion module for controlling the photovoltaic array, which compensates for the power difference between the load and the high-entropy energy source, may include:

[0129] Based on the fourth control loop, the energy power conversion module of the photovoltaic array is controlled to compensate for the power difference between the load and the high-entropy energy.

[0130] The aforementioned energy power conversion module controlling the photovoltaic array based on the fourth control loop to compensate for the power difference between the load and the high-entropy energy may include:

[0131] Obtain the actual voltage and actual current of the photovoltaic array;

[0132] The actual voltage and actual current of the photovoltaic array are input into the preset MPPT controller to obtain the voltage setpoint of the photovoltaic array;

[0133] The voltage error value of the photovoltaic array is determined based on the given voltage value and the actual voltage of the photovoltaic array.

[0134] The current setpoint of the photovoltaic array is obtained based on the voltage error value of the photovoltaic array and the preset third transfer function;

[0135] Multiply the current setpoint of the photovoltaic array by the limiting factor to obtain the current setpoint of the photovoltaic array after limiting.

[0136] The current error value of the photovoltaic array is obtained based on the current setpoint of the photovoltaic array after limiting and the actual current of the photovoltaic array.

[0137] Based on the current error value of the photovoltaic array and the preset fourth transfer function, the control quantity of the photovoltaic array's energy power conversion module is obtained;

[0138] Based on the control quantity of the photovoltaic array's power conversion module, the power conversion module of the photovoltaic array is controlled to enable the photovoltaic array to output maximum power.

[0139] The process of determining the above-mentioned limiting coefficient includes:

[0140] Obtain the actual voltage and the given voltage of the DC bus;

[0141] Based on the given voltage and the actual voltage of the DC bus, the voltage error value of the DC bus is calculated.

[0142] When the voltage error value of the DC bus is greater than the preset error value, the limiting coefficient is 1;

[0143] When the voltage error value of the DC bus is less than or equal to the preset error value, the value obtained by multiplying the voltage error value of the DC bus by the preset fifth transfer function is input into the preset limiting function to obtain the limiting coefficient.

[0144] The preset error value can be set according to actual needs; for example, it can be 0.

[0145] It should be noted that when the load power demand is in different ranges and the photovoltaic array's power conversion module is not in standby mode, the control of the photovoltaic array's power conversion module is carried out through the fourth control loop.

[0146] In this application, when the load type is dynamic load, the power conversion module of the photovoltaic array is controlled through the second control loop. When the load type is steady-state load, the power conversion module of the photovoltaic array is controlled through the fourth control loop. Compared with the second control loop, the fourth control loop reduces one limiting branch, and the entire control loop changes less. It is equivalent to simply shielding the limiting branch of the fourth control loop. Therefore, when the load type changes, the control of the power conversion module of the photovoltaic array can achieve rapid dynamic switching without wasting too much time and avoiding power outages.

[0147] The above control process does not take into account the energy control instructions of the upper-level dispatch center. It assumes that the energy power conversion module corresponding to the microgrid does not discharge the microgrid, that is, the upper-level dispatch center does not instruct the energy power conversion module corresponding to the microgrid to discharge the microgrid.

[0148] When an energy control command instructs the corresponding power conversion module of the microgrid to discharge the microgrid, both the load's power demand and the microgrid's power demand must be considered simultaneously. The sum of the load's power demand and the microgrid's power demand is taken as the total power demand. Accordingly, the above-mentioned control of the power conversion modules of each distributed energy source based on their priority order and the load's power demand, so that the output power of each distributed energy source meets the load's power demand, may include:

[0149] When the total power demand is less than or equal to the maximum output power of the high-entropy energy source, the power conversion module controlling the high-entropy energy source supplies power to meet the total power demand, and the power conversion module controlling the photovoltaic array is in standby mode.

[0150] When the total demand power is greater than the maximum output power of the high-entropy energy source, and less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, the energy power conversion module of the high-entropy energy source is controlled to output the maximum power, and the energy power conversion module of the photovoltaic array is controlled to compensate for the power difference between the total demand power and the high-entropy energy source.

[0151] When the total power demand exceeds the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, if the load's power demand is less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, the microgrid's power conversion module will stop discharging the microgrid, the high-entropy energy source's power conversion module will output its maximum power, and the photovoltaic array's power conversion module will compensate for the power difference between the load's power demand and the high-entropy energy source. If the load's power demand exceeds the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, both the high-entropy energy source and the photovoltaic array's power conversion modules will output their respective maximum power, and the microgrid's power conversion module will compensate for the power difference between the load and the high-entropy energy source and the photovoltaic array.

[0152] In some possible implementations, for schemes that include a second energy storage battery, i.e., when each distributed power source also includes a second energy storage battery, the above-mentioned control of the energy power conversion modules of each distributed energy source based on the priority order of each distributed energy source and the power demand of the load, so that the output power of each distributed energy source meets the power demand of the load, includes:

[0153] When the load’s power demand is less than or equal to the maximum output power of the high-entropy energy source, the power conversion module of the high-entropy energy source is controlled to supply power to meet the load’s power demand, the power conversion module of the photovoltaic array is controlled to be in standby mode, and the power conversion module of the microgrid and the second energy storage battery is controlled to be in standby mode or charging mode.

[0154] When the load's power demand is greater than the maximum output power of the high-entropy energy source, and less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, the power conversion module of the high-entropy energy source is controlled to output the maximum power, the power conversion module of the photovoltaic array is controlled to compensate for the power difference between the load and the high-entropy energy source, and the power conversion modules of the microgrid and the second energy storage battery are controlled to be in standby mode or charging mode.

[0155] When the load's power demand is greater than the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, and less than or equal to the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the microgrid, the power conversion modules controlling the high-entropy energy source and the photovoltaic array will each output their maximum power, the power conversion modules controlling the microgrid will compensate for the power difference between the load and the high-entropy energy source and the photovoltaic array, and the power conversion modules controlling the second energy storage battery will be in standby mode or charging mode.

[0156] When the load's power demand is greater than the sum of the maximum output power of the high-entropy energy source, photovoltaic array, and microgrid, and less than or equal to the sum of the maximum output power of the high-entropy energy source, photovoltaic array, microgrid, and second energy storage battery, the power conversion modules of the high-entropy energy source, photovoltaic array, and microgrid are controlled to output their respective maximum power. The power conversion module of the second energy storage battery is controlled to operate in discharge mode and to compensate for the power difference between the load and the high-entropy energy source, photovoltaic array, and microgrid.

[0157] In some possible implementations, for schemes including a second energy storage battery, when the load's power demand is less than or equal to the maximum output power of the high-entropy energy source, if the high-entropy energy source's power conversion module provides power to meet the load's power demand and has a surplus, and the remaining charge of the microgrid's first energy storage battery is less than a preset remaining charge, then the microgrid's power conversion module is controlled to operate in charging mode to charge the microgrid's first energy storage battery; otherwise, the microgrid's power conversion module is controlled to operate in standby mode. Similarly, when the load's power demand is less than or equal to the high-entropy energy source's maximum output power, if the high-entropy energy source's power conversion module provides power to meet the load's power demand and has a surplus, and the remaining charge of the second energy storage battery is less than a preset remaining charge, then the second energy storage battery's power conversion module is controlled to operate in charging mode to charge the second energy storage battery; otherwise, the second energy storage battery's power conversion module is controlled to operate in standby mode.

[0158] Similarly, for a solution including a second energy storage battery, when the load's power demand is greater than the maximum output power of the high-entropy energy source, but less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, if the photovoltaic array's power conversion module has a surplus after compensating for the power difference between the load and the high-entropy energy source, and the remaining charge of the microgrid's first energy storage battery is less than a preset remaining charge, then the microgrid's power module is controlled to operate in charging mode; otherwise, the microgrid's power module is controlled to operate in standby mode. Similarly, when the load's power demand is greater than the maximum output power of the high-entropy energy source, but less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, if the photovoltaic array's power conversion module has a surplus after compensating for the power difference between the load and the high-entropy energy source, and the remaining charge of the second energy storage battery is less than a preset remaining charge, then the second energy storage battery's power module is controlled to operate in charging mode to charge the second energy storage battery; otherwise, the second energy storage battery's power module is controlled to operate in standby mode.

[0159] Similarly, for a solution that includes a second energy storage battery, when the load's power demand is greater than the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, and less than or equal to the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the microgrid, if the microgrid's power conversion module has a surplus after compensating for the power difference between the load and the high-entropy energy source and the photovoltaic array, and the remaining power of the second energy storage battery is less than the preset remaining power, then the power module of the second energy storage battery is controlled to operate in charging mode to charge the second energy storage battery; otherwise, the power module of the second energy storage battery is controlled to operate in standby mode.

[0160] For schemes that include a second energy storage battery, the above control process does not take into account the energy control instructions of the upper-level dispatch center. It is assumed that the energy power conversion module corresponding to the microgrid does not discharge the microgrid, that is, the upper-level dispatch center does not instruct the energy power conversion module corresponding to the microgrid to discharge the microgrid.

[0161] When an energy control command instructs the corresponding power conversion module of the microgrid to discharge the microgrid, the power demand of both the load and the microgrid must be considered simultaneously. The sum of the power demand of the load and the power demand of the microgrid is taken as the total power demand. Accordingly, for a scheme that includes a second energy storage battery, the above-mentioned control of the power conversion modules of each distributed energy source based on the priority order of each distributed energy source and the power demand of the load, so that the output power of each distributed energy source meets the power demand of the load, may include:

[0162] When the total power demand is less than or equal to the maximum output power of the high-entropy energy, the power conversion module controlling the high-entropy energy supplies power to meet the total power demand, the power conversion module controlling the photovoltaic array is in standby mode, and the power conversion module controlling the second energy storage battery is in standby mode or charging mode.

[0163] When the total demand power is greater than the maximum output power of the high-entropy energy and less than or equal to the sum of the maximum output power of the high-entropy energy and the photovoltaic array, the energy power conversion module of the high-entropy energy is controlled to output the maximum power, the energy power conversion module of the photovoltaic array is controlled to compensate for the power difference between the total demand power and the high-entropy energy, and the energy power conversion module of the second energy storage battery is controlled to be in standby mode or charging mode.

[0164] When the total demand power is greater than the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, and less than or equal to the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the second energy storage battery, the energy power conversion modules controlling the high-entropy energy source and the photovoltaic array will both output maximum power, the energy power conversion module controlling the second energy storage battery will be in discharge mode, and the energy power conversion module controlling the second energy storage battery will compensate for the power difference between the total demand power and the high-entropy energy source and the photovoltaic array.

[0165] When the total power demand exceeds the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the second energy storage battery, if the load's power demand is less than or equal to the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the second energy storage battery, the microgrid's power conversion module stops discharging the microgrid. The power conversion modules of the high-entropy energy source and the photovoltaic array both output their respective maximum power. The power conversion module of the second energy storage battery is in discharge mode and compensates for the power difference between the load's power demand and the power of the high-entropy energy source and the photovoltaic array. If the load's power demand exceeds the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the second energy storage battery, the power conversion modules of the high-entropy energy source, the photovoltaic array, and the second energy storage battery all output their respective maximum power, and the microgrid's power conversion module compensates for the power difference between the load and the high-entropy energy source, the photovoltaic array, and the second energy storage battery.

[0166] In some embodiments, the control cycle of the router centralized controller is different from the control cycle of the energy controller, with the control cycle of the router centralized controller being longer than that of the energy controller.

[0167] The energy controller controls the power conversion module locally, resulting in a shorter control cycle. In contrast, the router's centralized controller needs to control the power conversion module through the energy controller, resulting in a longer control cycle.

[0168] For example, the control cycle of the router's centralized controller can be on the order of hundreds of milliseconds, and the control cycle of the energy controller can be on the order of milliseconds.

[0169] The multimodal control method for distributed energy hierarchical control provided in this application embodiment can realize the energy self-consistency and collaborative operation mechanism of energy routers through hierarchical control.

[0170] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0171] Corresponding to the multimodal control method for hierarchical control of distributed energy described above, this application embodiment also provides an energy router, including a system-level control module and a device-level control module; the system-level control module is connected to the upper-level dispatch center and the device-level control module respectively, and the device-level control module is connected to each distributed energy source and load respectively;

[0172] The energy router is used to execute any of the multimodal control methods for distributed energy hierarchical control as described above.

[0173] For a detailed explanation of the energy router, please refer to the relevant description of the multimodal control method for distributed energy hierarchical control mentioned above, which will not be repeated here.

[0174] The energy router provided in this application can effectively solve the problem of dispersed equipment in intelligent connected transportation systems. It is distributed along highways and expressways at certain distances together with the intelligent connected system. In addition to the microgrid providing energy for it, it can also supplement the intelligent connected system with electrical energy through high-entropy energy and photovoltaic arrays.

[0175] Corresponding to the energy router described above, this application also provides an intelligent connected transportation system, including the energy router described above.

[0176] 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.

[0177] 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.

[0178] 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, or a combination of computer software and electronic hardware. 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.

[0179] In the embodiments provided by this invention, it should be understood that the disclosed devices / controllers and methods can be implemented in other ways. For example, the device / controller embodiments described above are merely illustrative. For instance, the division of modules or 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. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0180] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0181] 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.

[0182] If the integrated module / 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 above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of the above embodiments of the multimodal control method for distributed energy hierarchical control. 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: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, 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, etc.

[0183] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention 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 the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A multimodal control method for hierarchical control of distributed energy resources, characterized in that, An energy router is applied to an energy router, comprising a system-level control module and a device-level control module. The system-level control module is connected to both the upper-level dispatch center and the device-level control module, and the device-level control module is connected to each distributed energy source and load. The system-level control module includes a router lumped controller. The distributed energy sources include high-entropy energy sources, photovoltaic arrays, and microgrids. The device-level control module includes an energy controller and an energy power conversion module corresponding to each distributed energy source, a load controller and a load power conversion module corresponding to each load, and a DC bus. The router lumped controller is connected to the upper-level dispatch center, each energy controller, and each load controller. Each energy power conversion module and each load power conversion module is connected to the DC bus. Each energy power conversion module is also connected to its corresponding distributed energy source. The load power conversion module is connected to the load. The energy power conversion module is controlled by its corresponding energy controller, and the load power conversion module is controlled by its load controller. The multimodal control method for distributed energy hierarchical control includes: The system layer control module receives the energy control command from the upper layer dispatch center, and issues passive control commands to each distributed energy source to the equipment layer control module based on the energy control command. The device layer control module performs passive energy control on each distributed energy source based on the passive control command, and performs active energy control on each distributed energy source based on the operating status of each distributed energy source. The system-level control module controls the operating mode of each energy power conversion module based on the type of load. The step of controlling the operating mode of each energy power conversion module based on the type of load includes: when the type of load is a steady-state load, controlling each energy power conversion module to operate in the load demand satisfaction mode; and when the type of load is a dynamic load, controlling each energy power conversion module to operate in the bus support mode.

2. The multimodal control method for distributed energy hierarchical control according to claim 1, characterized in that, The energy control command is used to instruct the energy power conversion module corresponding to the microgrid whether to discharge the microgrid; The passive control commands include the target operating parameters corresponding to the distributed energy source.

3. The multimodal control method for hierarchical control of distributed energy resources according to claim 1, characterized in that, The control of each energy power conversion module to operate in bus support mode includes: The energy power conversion module of the high-entropy energy source is controlled by the given voltage of the DC bus, and the energy power conversion module of the photovoltaic array is controlled by MPPT to enable the photovoltaic array to output maximum power. When the microgrid is operating in the power supply state, the energy power conversion module of the microgrid is controlled by the given voltage of the DC bus.

4. The multimodal control method for distributed energy hierarchical control according to claim 1, characterized in that, The control of each energy power conversion module to operate in a load demand satisfaction mode includes: Obtain the power requirement of the load; Based on the priority order of each distributed energy source and the power demand of the load, the power conversion modules of each distributed energy source are controlled so that the output power of each distributed energy source meets the power demand of the load.

5. The multimodal control method for distributed energy hierarchical control according to claim 4, characterized in that, The method of controlling the power conversion modules of each distributed energy source based on its priority order and the power demand of the load, so that the output power of each distributed energy source meets the power demand of the load, includes: When the power demand of the load is less than or equal to the maximum output power of the high-entropy energy source, the power conversion module of the high-entropy energy source is controlled to supply power to meet the power demand of the load, and the power conversion modules of the photovoltaic array and the microgrid are controlled to be in standby mode. When the power demand of the load is greater than the maximum output power of the high-entropy energy source, and less than or equal to the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, the power conversion module of the high-entropy energy source is controlled to output the maximum power, the power conversion module of the photovoltaic array is controlled to compensate for the power difference between the load and the high-entropy energy source, and the power conversion module of the microgrid is controlled to be in standby mode. When the power demand of the load is greater than the sum of the maximum output power of the high-entropy energy source and the photovoltaic array, and less than or equal to the sum of the maximum output power of the high-entropy energy source, the photovoltaic array, and the microgrid, the power conversion modules of the high-entropy energy source and the photovoltaic array are controlled to output their respective maximum power, and the power conversion modules of the microgrid are controlled to compensate for the power difference between the load and the high-entropy energy source and the photovoltaic array.

6. The multimodal control method for hierarchical control of distributed energy resources according to any one of claims 1 to 5, characterized in that, The control cycle of the router centralized controller is different from the control cycle of the energy controller, and the control cycle of the router centralized controller is longer than the control cycle of the energy controller.

7. An energy router, characterized in that, It includes a system-level control module and a device-level control module; the system-level control module is connected to the upper-level dispatch center and the device-level control module respectively, and the device-level control module is connected to each distributed energy source and load respectively; The energy router is used to execute the multimodal control method for distributed energy hierarchical control as described in any one of claims 1 to 6.

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