DC microgrid voltage control method, system, device and medium based on model prediction power compensation

Abstract

The present invention discloses a DC microgrid voltage control method, system, device and medium based on model prediction power compensation, the method includes: using a virtual synchronous motor inertia control method as an inertia control outer loop to provide a DC microgrid bus reference voltage; using a model prediction power compensation voltage control method as a control inner loop to track the DC microgrid bus reference voltage; the model prediction power compensation voltage control method specifically includes: establishing a current prediction equation and an improved voltage prediction equation for a bidirectional DC / DC converter with energy storage; performing additional compensation on the inductor current reference value; taking the DC microgrid bus reference voltage value as the main control target, and the inductor current reference value after adding the compensation current as the secondary control target, designing a power compensation target function, and providing a power compensation amount based on the target function. The present invention reduces the bus voltage mutation caused by the power fluctuation in the network to the DC microgrid bus voltage, and improves the dynamic performance of the DC microgrid.

Description

Technical Field

[0001] The present invention relates to the technical field of direct current microgrid bus voltage control, and in particular to a direct current microgrid voltage control method, system, device and medium based on model prediction power compensation. Background Art

[0002] DC microgrid is a new type of power system structure. In recent years, it has received extensive attention and research in the fields of distributed power generation systems, renewable energy utilization and smart grids. Compared with traditional AC power grids, DC microgrids, as highly power electronic systems, have the advantages of high energy transmission efficiency, simple system structure, small harmonic interference, and rapid control. They are particularly suitable for the acceptance of photovoltaic and wind power and the integration of various energy forms, and are easy to realize the nearby consumption of energy.

[0003] Although the highly power-electronic DC microgrid is conducive to the acceptance of renewable energy power generation, it loses the inertial support of the generator rotor in the traditional power grid. At the same time, the fluctuation of renewable energy power generation is large and difficult to predict, which has a serious impact on the DC microgrid to maintain stable operation with high power quality.

[0004] In order to improve the power quality of the DC bus and reduce voltage fluctuations, virtual synchronous motor control is introduced to provide virtual inertia for the system. However, as the virtual synchronous motor control is an outer loop control, it mainly provides reference voltage, and has a weak improvement on the dynamic performance of the system. The inertia effect of the virtual synchronous motor control cannot be fully expressed. Therefore, in order to further release the inertia effect, improve the quality of the bus voltage when the load changes, and increase power compensation for the system to improve the dynamic performance of the system, model predictive control has predictive ability, fast response speed to load mutations, and good dynamic performance. It is very suitable for voltage control of DC microgrids. At present, the design of the model predictive control objective function for the boost energy storage converter does not consider the bus voltage, so the improvement of the voltage is poor. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a DC microgrid voltage control method, system, device and medium based on model prediction power compensation, which solves the problems of large bus voltage fluctuations when the power changes in the DC microgrid and the difficulty in expressing the inertia effect of the virtual synchronous motor, and improves the power quality of the DC bus voltage when the power fluctuates in the DC microgrid.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A DC microgrid voltage control method based on model prediction power compensation, wherein the DC microgrid includes distributed renewable energy power generation equipment, energy storage and load, and the distributed renewable energy power generation equipment and energy storage are both connected to the DC microgrid through a bidirectional DC / DC converter, and the voltage control method comprises the following steps:

[0008] The virtual synchronous motor inertia control method is used as the inertia control outer loop to provide the DC microgrid bus reference voltage;

[0009] A model prediction power compensation voltage control method is used as a control inner loop to track the bus reference voltage of a DC microgrid; the model prediction power compensation voltage control method specifically includes:

[0010] The predicted inductor current at the next moment is regarded as the inductor current at the next moment after adding power compensation, and the current prediction equation and improved voltage prediction equation of the bidirectional DC / DC converter with energy storage are established;

[0011] Calculate the output power change of the capacitor on the output side of the energy storage to obtain the compensation current, and perform additional compensation on the inductor current reference value;

[0012] Based on the capacitor voltage value predicted by the improved voltage prediction equation and the inductor current value predicted by the current prediction equation, the DC microgrid bus reference voltage value is taken as the main control target, and the inductor current reference value after adding the compensation current is taken as the secondary control target. The power compensation objective function is designed, and the power compensation amount is provided based on the objective function, so that the DC microgrid bus voltage tracks the DC microgrid bus reference voltage value, and the inductor current tracks the inductor current reference value after adding the compensation current.

[0013] To optimize the above technical solutions, the specific measures taken also include:

[0014] Furthermore, the improved voltage prediction equation is:

[0015]

[0016] In the formula, u bus(k+1) is the predicted value of the capacitor voltage at time k+1, d (k) is the duty cycle of the switch tube in the current control cycle, T is the sampling period, C is the capacitor on the output side of the energy storage, i L(k) is the inductor current at time k, i L(k+1) is the inductor current at time k+1, R is the energy storage output equivalent resistance, u bus(k) is the capacitor voltage at time k;

[0017] The current prediction equation is:

[0018]

[0019] In the formula, i L(k) is the inductor current at time k, i L(k+1) is the inductor current at time k+1, d (k) is the duty cycle of the switch tube in the current control cycle, L is the energy storage inductor, T is the sampling period, u bus(k) is the capacitor voltage at time k, u b is the energy storage voltage.

[0020] Furthermore, the improved voltage prediction equation is:

[0021]

[0022] Where D is the duty cycle in steady state; u bus(k) is the capacitor voltage value at time k; u bus(k+1) is the predicted value of the capacitor voltage at time k+1; T is the sampling period; C is the capacitor at the output side of the energy storage; i L(k) is the inductor current at time k; i L(k+1) is the predicted value of the inductor current at time k+1; R is the equivalent resistance of the energy storage output.

[0023] Furthermore, the expression of the compensation current is:

[0024]

[0025] In the formula, i c is the compensation current value; u bus(k) is the capacitor voltage value at time k; u bus(k+1) * is the actual capacitor voltage value at time k+1; T is the sampling period; C is the output side capacitor of the energy storage; u b is the energy storage voltage.

[0026] Furthermore, the power compensation objective function is specifically:

[0027] s=a(u bus(k+1) -u ref ) 2 +b(i L(k+1) -i ref ) 2 (5)

[0028] Where: s is the power compensation objective function, a and b are weight coefficients; u bus(k+1) is the predicted capacitor voltage value at time k+1, i L(k+1) is the predicted inductor current value at time k+1, u ref is the DC microgrid bus reference voltage obtained by the inertial control outer loop, i ref is the reference value of the inductor current after adding the compensation current.

[0029] Furthermore, the distributed renewable energy power generation equipment adopts maximum power point tracking control, and the energy storage adopts virtual synchronous motor control as the main control unit of the DC microgrid bus voltage.

[0030] The present invention also proposes a DC microgrid voltage control system based on model prediction power compensation, wherein the DC microgrid includes distributed renewable energy power generation equipment, energy storage and load, and the distributed renewable energy power generation equipment and energy storage are both connected to the DC microgrid through a bidirectional DC / DC converter, and the voltage control system includes:

[0031] The outer loop control module adopts a virtual synchronous motor inertia control method as an inertia control outer loop to provide a DC microgrid bus reference voltage;

[0032] The inner loop control module adopts the model prediction power compensation voltage control method as the control inner loop to track the reference voltage of the DC microgrid bus; the inner loop control module includes: a current prediction unit, a voltage prediction unit, a current compensation unit and a power compensation unit;

[0033] A current prediction unit, used for predicting the inductor current value based on a current prediction equation;

[0034] A voltage prediction unit, used for predicting a capacitor voltage value based on an improved voltage prediction equation;

[0035] The current prediction equation and the improved voltage prediction equation are established by considering the predicted inductor current at the next moment as the inductor current at the next moment after adding power compensation;

[0036] The current compensation unit is used to calculate the output power change of the capacitor on the output side of the energy storage and obtain the compensation current to perform additional compensation on the inductor current reference value;

[0037] The power compensation unit is used to predict the capacitor voltage value based on the improved voltage prediction equation and the inductor current value predicted by the current prediction equation, with the DC microgrid bus reference voltage value as the main control target and the inductor current reference value after adding the compensation current as the secondary control target. The power compensation objective function is designed, and the power compensation amount is provided based on the objective function, so that the DC microgrid bus voltage tracks the DC microgrid bus reference voltage value, and the inductor current tracks the inductor current reference value after adding the compensation current.

[0038] The present invention also proposes a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the steps of the DC microgrid voltage control method based on model prediction power compensation as described above.

[0039] The present invention also proposes an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the DC microgrid voltage control method based on model prediction power compensation as described above are implemented.

[0040] The beneficial effects of the present invention are:

[0041] The present invention aims at the problem of bus voltage control in DC microgrids. By analyzing the problems existing in the prediction model of energy storage converters in actual use, the discrete voltage prediction model of converters is improved with the idea of ​​power compensation. Power compensation is achieved through the model prediction control algorithm, and the bus voltage quality is improved. The present invention solves the problem that the inertia effect cannot be reflected and the dynamic performance is poor when the virtual synchronous motor control is applied to DC microgrids, and realizes a rapid response to load fluctuations and a good inertia control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a flow chart of the model prediction power compensation voltage control method proposed by the present invention;

[0043] Figure 2 is a structural diagram of a DC microgrid studied in an embodiment of the present invention;

[0044] Figure 3 is a total power fluctuation diagram of distributed power sources and loads in the network in an embodiment of the present invention;

[0045] Figure 4 It is a simulation result diagram comparing different control methods in the embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] Embodiment 1

[0048] The present invention proposes a DC microgrid voltage control method based on model prediction power compensation, wherein the DC microgrid includes distributed renewable energy power generation equipment, energy storage and loads. Figure 2The distributed renewable energy generation equipment and energy storage are connected to the DC microgrid through a bidirectional DC / DC converter. The distributed renewable energy generation equipment adopts maximum power point tracking control, which can be equivalent to a negative constant power load, and the energy storage adopts virtual synchronous motor control as the main control unit of the bus voltage. During the simulation, the rated DC bus voltage is 750V; the energy storage unit voltage is 350V; and the photovoltaic rated power is 50kW.

[0049] The voltage control method comprises the following steps:

[0050] The virtual synchronous motor inertia control method is used as the inertia control outer loop to provide the DC microgrid bus reference voltage;

[0051] The model prediction power compensation voltage control method is used as the control inner loop to track the DC microgrid bus reference voltage; the process of the model prediction power compensation voltage control method is as follows Figure 1 , including:

[0052] In practical applications, the sampling time of the discrete prediction equations for the converter output voltage and the converter inductor current cannot be infinitesimal, and the voltage change speed is slower than the current change, which leads to the problem that the actual voltage prediction equation is inaccurate. By introducing the power compensation idea, the predicted inductor current i at the next moment is calculated. L(k+1) Considered as the inductor current i at the next moment after adding power compensation Lp , from the perspective of energy, the traditional voltage prediction equation is improved to establish the current prediction equation and improved voltage prediction equation of the bidirectional DC / DC converter with energy storage; the current prediction equation and improved voltage prediction equation are:

[0053]

[0054] In the formula, i L(k) and u bus(k) are the inductor current and capacitor voltage at time k respectively; u b is the energy storage voltage; i L(k+1) and u bus(k+1) are the predicted values ​​of the inductor current and capacitor voltage at time k+1 respectively; T is the sampling period; L is the energy storage inductor; C is the energy storage output side capacitor; d (k) is the duty cycle of the switch tube in the current control cycle; R is the equivalent resistance of the energy storage output.

[0055] The voltage prediction equation is improved with the idea of ​​power compensation, but the voltage prediction model is more complicated. In order to reduce the calculation amount of model predictive control, the alternative scheme of the improved voltage prediction equation of formula (1) is:

[0056] Replace the duty cycle d in the voltage prediction equation (k)Substituting the duty cycle D of the DC microgrid in steady state, the voltage prediction equation is:

[0057]

[0058] Where D is the duty cycle in steady state; u bus(k) is the capacitor voltage value at time k; u bus(k+1) is the predicted value of the capacitor voltage at time k+1; T is the sampling period; C is the capacitor at the output side of the energy storage; i L(k) is the inductor current at time k; i L(k+1) is the predicted value of the inductor current at time k+1; R is the equivalent resistance of the energy storage output.

[0059] The output power change of the capacitor on the output side of the energy storage system is calculated to obtain the compensation current, and the inductor current reference value is additionally compensated. When designing power compensation based on model prediction, the voltage loop output of the traditional PI control changes slowly, and the obtained current reference value changes slowly, which is not conducive to power compensation at the moment of load mutation. Therefore, the discrete prediction equation of the output capacitor of the energy storage system is considered. By calculating the output power change of the capacitor, the current reference value is additionally compensated. The compensation current expression is:

[0060]

[0061] Where: i c is the compensation current value; u bus(k) is the capacitor voltage value at time k; u bus(k+1)* is the actual capacitor voltage value at time k+1, and the predicted value is not used for calculation. T is the sampling period; C is the output side capacitor of the energy storage; u b is the energy storage voltage. The compensation current here is calculated by the power equation of the capacitor. By calculating the discharge power of the capacitor in one cycle, the amount of power that is still lacking in the energy storage is obtained and converted into the compensation current. It is compensated to the current reference value obtained by the PI voltage loop. It mainly plays the role of auxiliary compensation.

[0062] Based on the capacitor voltage value predicted by the improved voltage prediction equation and the inductor current value predicted by the current prediction equation, the DC microgrid bus reference voltage value is taken as the main control target, and the inductor current reference value after adding the compensation current is taken as the secondary control target. The power compensation objective function is designed, and the power compensation amount is provided based on the objective function, so that the DC microgrid bus voltage tracks the DC microgrid bus reference voltage value, and the inductor current tracks the inductor current reference value after adding the compensation current.

[0063] The power compensation objective function is specifically:

[0064] s=a(u bus(k+1) -u ref ) 2 +b(iL(k+1) -i ref ) 2 (5)

[0065] Where: s is the power compensation objective function, a and b are weight coefficients; u bus(k+1) is the predicted capacitor voltage value at time k+1, i L(k+1) is the predicted inductor current value at time k+1, u ref is the DC microgrid bus reference voltage obtained by the inertial control outer loop, i ref is the reference value of the inductor current after adding the compensation current. The first half of the objective function is the power compensation based on the model prediction. By minimizing the difference between the predicted value and the reference value, the predicted voltage u is obtained. bus(k+1) The most suitable value

[0066] Distributed renewable energy power generation equipment adopts maximum power point tracking control, while energy storage uses virtual synchronous motor control as the main control unit of the DC microgrid bus voltage. As a voltage control unit of the DC microgrid, energy storage uses virtual synchronous motor control to increase system inertia and improve the stability of the DC microgrid. At the same time, combined with the model prediction power compensation voltage control method, the dynamic performance is improved, and the inertia effect of the virtual synchronous motor control due to weak dynamic performance is released. When the bus voltage is affected by distributed renewable energy power generation equipment and load fluctuations, the better dynamic performance and inertia effect greatly reduce the voltage fluctuation and improve the power quality of the DC microgrid.

[0067] Embodiment 2

[0068] The present invention proposes a DC microgrid voltage control system based on model prediction power compensation corresponding to the method of embodiment 1, wherein the DC microgrid includes distributed renewable energy power generation equipment, energy storage and load, and the distributed renewable energy power generation equipment and energy storage are both connected to the DC microgrid through a bidirectional DC / DC converter, and the voltage control system includes:

[0069] The outer loop control module adopts a virtual synchronous motor inertia control method as an inertia control outer loop to provide a DC microgrid bus reference voltage;

[0070] The inner loop control module adopts the model prediction power compensation voltage control method as the control inner loop to track the reference voltage of the DC microgrid bus; the inner loop control module includes: a current prediction unit, a voltage prediction unit, a current compensation unit and a power compensation unit;

[0071] A current prediction unit, used for predicting the inductor current value based on a current prediction equation;

[0072] A voltage prediction unit, used for predicting a capacitor voltage value based on an improved voltage prediction equation;

[0073] The current prediction equation and the improved voltage prediction equation are established by considering the predicted inductor current at the next moment as the inductor current at the next moment after adding power compensation;

[0074] The current compensation unit is used to calculate the output power change of the capacitor on the output side of the energy storage and obtain the compensation current to perform additional compensation on the inductor current reference value;

[0075] The power compensation unit is used to predict the capacitor voltage value based on the improved voltage prediction equation and the inductor current value predicted by the current prediction equation, with the DC microgrid bus reference voltage value as the main control target and the inductor current reference value after adding the compensation current as the secondary control target. The power compensation objective function is designed, and the power compensation amount is provided based on the objective function, so that the DC microgrid bus voltage tracks the DC microgrid bus reference voltage value, and the inductor current tracks the inductor current reference value after adding the compensation current.

[0076] The implementation methods of each module and the functions of the modules in the system are completely consistent with the steps of the method in Example 1, so they will not be repeated here.

[0077] Embodiment 3

[0078] The present invention provides a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the steps of the DC microgrid voltage control method based on model prediction power compensation as described in the first embodiment.

[0079] Embodiment 4

[0080] The present invention proposes an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step of the DC microgrid voltage control method based on model prediction power compensation as described in Example 1 is implemented.

[0081] Build simulation in Matlab / Simulink to verify the control effect.

[0082] according to Figure 2 A DC microgrid simulation model was built as shown. Figure 3 It is the total power change diagram of distributed power sources and loads in the DC microgrid. Figure 4The voltage fluctuations of the DC microgrid when the power changes under traditional droop control, virtual synchronous motor control, and virtual synchronous motor control based on model prediction power compensation. The inertia coefficient in the virtual synchronous motor control is 1.5. As can be seen from the figure, when the traditional droop control is adopted, the power change in the grid will cause a huge fluctuation in the DC bus voltage, which seriously affects the power quality. When the virtual synchronous motor control is adopted, the voltage fluctuation is reduced, but due to the weak dynamic performance, it is difficult to release all the inertia effects, and the voltage fluctuation is still large. When combined with power compensation based on model prediction, the bus voltage fluctuation is greatly reduced, and the transition process is smooth, which releases the inertia of the virtual synchronous motor control and greatly improves the power quality of the DC microgrid.

[0083] The present invention aims at the problem that the DC microgrid has weak inertia, the bus voltage fluctuates greatly when disturbed, and the inertia effect of virtual synchronous motor control is not obvious. According to the power compensation concept, the voltage prediction equation is improved, and power compensation based on model prediction is introduced. The compensation size satisfies the cost function. The inertia effect of virtual synchronous motor control is released, and the power quality of the DC microgrid bus is improved.

[0084] In the embodiments disclosed in the present application, the computer storage medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. The computer storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specific examples of computer storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0085] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0086] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A DC microgrid voltage control method based on model prediction power compensation, characterized in that: The DC microgrid includes distributed renewable energy power generation equipment, energy storage and loads. The distributed renewable energy power generation equipment and energy storage are connected to the DC microgrid through a bidirectional DC / DC converter. The voltage control method includes the following steps: The virtual synchronous motor inertia control method is used as the inertia control outer loop to provide the DC microgrid bus reference voltage; A model prediction power compensation voltage control method is used as a control inner loop to track the bus reference voltage of a DC microgrid; the model prediction power compensation voltage control method specifically includes: The predicted inductor current at the next moment is regarded as the inductor current at the next moment after adding power compensation, and the current prediction equation and improved voltage prediction equation of the bidirectional DC / DC converter with energy storage are established; The improved voltage prediction equation is formula (1): In the formula, u bus(k+1) is the predicted value of the capacitor voltage at time k+1, d (k) is the duty cycle of the switch tube in the current control cycle, T is the sampling period, C is the capacitor on the output side of the energy storage, i L(k) is the inductor current at time k, i L(k+1) is the inductor current at time k+1, R is the energy storage output equivalent resistance, u bus(k) is the capacitor voltage at time k; Or the improved voltage prediction equation is formula (3): Where D is the duty cycle in steady state; u bus(k) is the capacitor voltage value at time k; u bus(k+1) is the predicted value of the capacitor voltage at time k+1; T is the sampling period; C is the capacitor at the output side of the energy storage; i L(k) is the inductor current at time k; i L(k+1) is the predicted value of the inductor current at time k+1; R is the equivalent resistance of the energy storage output; The current prediction equation is: In the formula, i L(k) is the inductor current at time k, i L(k+1) is the inductor current at time k+1, d (k) is the duty cycle of the switch tube in the current control cycle, L is the energy storage inductor, T is the sampling period, u bus(k) is the capacitor voltage at time k, u b is the energy storage voltage; Calculate the output power change of the capacitor on the output side of the energy storage to obtain the compensation current, and perform additional compensation on the inductor current reference value; Based on the capacitor voltage value predicted by the improved voltage prediction equation and the inductor current value predicted by the current prediction equation, the DC microgrid bus reference voltage value is taken as the main control target, and the inductor current reference value after adding the compensation current is taken as the secondary control target. The power compensation objective function is designed, and the power compensation amount is provided based on the objective function, so that the DC microgrid bus voltage tracks the DC microgrid bus reference voltage value, and the inductor current tracks the inductor current reference value after adding the compensation current. The power compensation objective function is specifically: σ=a(u bus(k+1) -u ref ) 2 +b(i L(k+1) -i ref ) 2 (5) Where: σ is the power compensation objective function, a and b are weight coefficients; u bus(k+1) is the predicted capacitor voltage value at time k+1, i L(k+1) is the predicted inductor current value at time k+1, u ref is the DC microgrid bus reference voltage obtained by the inertial control outer loop, i ref is the reference value of the inductor current after adding the compensation current.

2. The DC microgrid voltage control method based on model prediction power compensation according to claim 1 is characterized in that: The expression of the compensation current is: In the formula, i c is the compensation current value; u bus(k) is the capacitor voltage value at time k; u bus(k+1)* is the actual capacitor voltage value at time k+1; T is the sampling period; C is the output side capacitor of the energy storage; u b is the energy storage voltage.

3. The DC microgrid voltage control method based on model prediction power compensation according to claim 1 is characterized in that: The distributed new energy power generation equipment adopts maximum power point tracking control, and the energy storage adopts virtual synchronous motor control as the main control unit of the DC microgrid bus voltage.

4. A DC microgrid voltage control system based on model prediction power compensation, characterized in that: The DC microgrid includes distributed renewable energy power generation equipment, energy storage and loads. The distributed renewable energy power generation equipment and energy storage are connected to the DC microgrid through a bidirectional DC / DC converter. The voltage control system includes: The outer loop control module adopts a virtual synchronous motor inertia control method as an inertia control outer loop to provide a DC microgrid bus reference voltage; The inner loop control module adopts the model prediction power compensation voltage control method as the control inner loop to track the reference voltage of the DC microgrid bus; the inner loop control module includes: a current prediction unit, a voltage prediction unit, a current compensation unit and a power compensation unit; A current prediction unit, used for predicting the inductor current value based on a current prediction equation; A voltage prediction unit, used for predicting a capacitor voltage value based on an improved voltage prediction equation; The current prediction equation and the improved voltage prediction equation are established by considering the predicted inductor current at the next moment as the inductor current at the next moment after adding power compensation; The improved voltage prediction equation is formula (1): In the formula, u bus(k+1) is the predicted value of the capacitor voltage at time k+1, d (k) is the duty cycle of the switch tube in the current control cycle, T is the sampling period, C is the capacitor on the output side of the energy storage, i L(k) is the inductor current at time k, i L(k+1) is the inductor current at time k+1, R is the energy storage output equivalent resistance, u bus(k) is the capacitor voltage at time k; Or the improved voltage prediction equation is formula (3): Where D is the duty cycle in steady state; u bus(k) is the capacitor voltage value at time k; u bus(k+1) is the predicted value of the capacitor voltage at time k+1; T is the sampling period; C is the capacitor at the output side of the energy storage; i L(k) is the inductor current at time k; i L(k+1) is the predicted value of the inductor current at time k+1; R is the equivalent resistance of the energy storage output; The current prediction equation is: In the formula, i L(k) is the inductor current at time k, i L(k+1) is the inductor current at time k+1, d (k) is the duty cycle of the switch tube in the current control cycle, L is the energy storage inductor, T is the sampling period, u bus(k) is the capacitor voltage at time k, u b is the energy storage voltage; The current compensation unit is used to calculate the output power change of the capacitor on the output side of the energy storage and obtain the compensation current to perform additional compensation on the inductor current reference value; The power compensation unit is used to design a power compensation objective function based on the capacitor voltage value predicted by the improved voltage prediction equation and the inductor current value predicted by the current prediction equation, with the DC microgrid bus reference voltage value as the main control target and the inductor current reference value after adding the compensation current as the secondary control target, and to provide a power compensation amount based on the objective function, so that the DC microgrid bus voltage tracks the DC microgrid bus reference voltage value, and the inductor current tracks the inductor current reference value after adding the compensation current; the power compensation objective function is specifically: σ=a(u bus(k+1) -u ref ) 2 +b(i L(k+1) -i ref ) 2 (5) Where: σ is the power compensation objective function, a and b are weight coefficients; u bus(k+1) is the predicted capacitor voltage value at time k+1, i L(k+1) is the predicted inductor current value at time k+1, u ref is the DC microgrid bus reference voltage obtained by the inertial control outer loop, i ref is the reference value of the inductor current after adding the compensation current.

5. A computer-readable storage medium storing a computer program, characterized in that: The computer program enables the computer to execute the steps of the DC microgrid voltage control method based on model prediction power compensation as described in any one of claims 1 to 3.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step of the DC microgrid voltage control method based on model prediction power compensation as described in any one of claims 1 to 3 is implemented.

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