A micro-grid control method and device based on a power supply vehicle and a grid after reconstruction

Abstract

The application discloses a micro-grid control method and device based on a power supply vehicle and a grid-connected reconstruction, comprising: acquiring the AC sub-network bus frequency and the DC sub-network bus voltage of the micro-grid after the grid-connected reconstruction of the power supply vehicle, and giving the reference power of the converter connected with the AC sub-network and the DC sub-network; based on the pre-constructed fractional order sliding mode power controller and the reactive power controller, and in combination with the reference power of the converter, the first current inner loop reference value is given; the first current inner loop reference value is dynamically compensated based on the disturbance current output by the converter, and the second current inner loop reference value is given; based on the parameters of the converter, the current inner loop output value is determined in combination with the first current inner loop reference value and the second current inner loop reference value, and the control signal of the converter is generated by modulation. The application can improve the dynamic response of the micro-grid and improve the anti-disturbance performance.

Description

Technical Field

[0001] This invention belongs to the field of microgrid control technology, specifically relating to a microgrid control method and device based on the grid-connected reconfiguration of a power supply vehicle. Background Technology

[0002] With the continuous development of society and economy and the advancement of science and technology, modern power distribution systems are becoming increasingly large-scale and complex. While this can meet the needs of production and daily life to the greatest extent, it also significantly increases the probability of power distribution network failures. When a power distribution network fails, backup power sources and distributed power sources can provide temporary power to the fault location. However, these devices are essentially unpredictable power sources, presenting challenges in terms of mobility and safety during practical use. Therefore, this paper proposes a mobile energy storage device with advantages such as high mobility and safety, which can be integrated into the power distribution network to achieve microgrid reconfiguration and optimization.

[0003] Microgrid control based on the grid-connected reconfiguration of mobile power vehicles involves introducing mobile energy storage devices or portable generators into the microgrid to achieve grid stability and optimized management. Microgrids are characterized by distributed power sources, diverse loads, energy storage systems, and flexible autonomy. After the grid-connected reconfiguration of mobile power vehicles, control strategies such as mobile power vehicle scheduling, load management, energy storage optimization, fault management, and economic analysis are required to improve the microgrid's operating efficiency, reduce operating costs, and ensure power quality and reliability. Therefore, with technological advancements and the development of smart grids, microgrid control after the grid-connected reconfiguration of mobile power vehicles will become an important component of grid management. For example, patent CN106786599A discloses an intelligent control method for a bidirectional DC-AC interconnected device in an AC / DC hybrid microgrid, comprising an AC / DC interconnected power autonomous control system and an AC voltage / frequency control system: defining the rated capacity ratio of the balancing units in the AC and DC microgrids; an AC / DC interconnected power autonomous control system based on a combination of proportional control and lead-lag compensation; and an AC voltage and frequency control system based on droop characteristics and simulated inertia.

[0004] Therefore, how to provide a microgrid control method based on power vehicle grid reconfiguration is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] To address the shortcomings of the existing technology, this invention provides a microgrid control method and device based on the grid-connected reconfiguration of a power supply vehicle. This can improve the dynamic response of the microgrid and enhance its disturbance rejection performance.

[0006] In a first aspect, the present invention provides a microgrid control method based on the reconfiguration of a power supply vehicle after grid connection, comprising:

[0007] Obtain the AC subgrid bus frequency and DC subgrid bus voltage of the microgrid after the power vehicle is reconnected to the grid, and provide the reference power of the converter connecting the AC subgrid and the DC subgrid;

[0008] Based on the pre-built fractional sliding mode power controller and reactive power controller, and combined with the converter's reference power, the first current inner loop reference value is given;

[0009] The first current inner loop reference value is dynamically compensated based on the disturbance current output by the converter, and a second current inner loop reference value is given.

[0010] Based on the converter parameters, the current inner loop output value is determined by combining the first current inner loop reference value and the second current inner loop reference value, and the control signal of the converter is generated by modulation.

[0011] The control signal based on the converter is used to complete the control of the microgrid and realize the dynamic response of the microgrid.

[0012] Furthermore, the first current inner loop reference value includes the first d-axis current inner loop reference value and the q-axis current inner loop reference value, and the second current inner loop reference value includes the second d-axis current inner loop reference value, or the first current inner loop reference value includes the first d-axis current inner loop reference value, and the second current inner loop reference value includes the second d-axis current inner loop reference value and the q-axis current inner loop reference value.

[0013] Furthermore, the microgrid after the power vehicle is connected to the grid includes a DC subgrid, an AC subgrid, and a converter; the DC subgrid consists of multiple energy storage units of the power vehicle, the AC subgrid consists of the AC distribution network and multiple generators of the power vehicle, and the converter connects the AC subgrid and the DC subgrid.

[0014] Furthermore, the AC subgrid bus frequency and DC subgrid bus voltage of the microgrid after the power supply vehicle is connected to the grid and reconfigured are obtained, including:

[0015] Obtain the rated voltage of the DC subnet bus and the rated frequency of the AC subnet bus;

[0016] Based on the rated voltage of the DC subgrid bus and combined with the active power output of multiple energy storage units, the DC subgrid bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0017] Based on the rated frequency of the AC subgrid bus and combined with the active power output of multiple generators, the AC subgrid bus frequency of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0018] Furthermore, the DC subgrid bus voltage of the microgrid after the power supply vehicle is reconnected to the grid satisfies the following relationship:

[0019]

[0020] In the formula, Udcn P is the rated voltage of the DC sub-network bus. esi0 P is the initial value of the active power output for the i-th energy storage unit. esi For the i-th energy storage unit, output active power, m esi Let SOC be the steady-state droop coefficient of the i-th energy storage unit. i For the i-th energy storage unit, soc a λ is the arithmetic mean of the states of charge of all energy storage units, and λ is a constant that determines the convergence rate of the states of charge.

[0021] The AC subgrid bus frequency of the microgrid after the power supply vehicle is reconnected to the grid satisfies the following relationship:

[0022] f ac =f acn +m aci (P aci0 -P aci )

[0023] In the formula: f acn For the rated frequency of the AC subnet bus, P aci0 Let P be the initial value of the active power output of the i-th generator. aci For the i-th generator to output active power, m aci Let be the steady-state droop coefficient of the i-th generator.

[0024] Furthermore, the reference power of the converter is given, including:

[0025] The frequency of the AC subgrid bus and the voltage of the DC subgrid bus of the microgrid after the power vehicle is connected to the grid and reconfigured are normalized to obtain frequency characteristic quantities and voltage characteristic quantities.

[0026] Based on a pre-built bidirectional droop model, and combined with frequency and voltage characteristics, the active power reference of the converter is given.

[0027] The pre-built bidirectional droop model satisfies the following relationship:

[0028]

[0029] In the formula, P ref P0 is the active reference power of the converter, and k is the initial active power output of the converter. s f is the steady-state droop coefficient of the converter. ac (pu) is a frequency characteristic quantity, U dc (pu) is a voltage characteristic quantity, k ac and k dc f represents the equivalent droop coefficient for the AC subnet and the DC subnet, respectively. max and f minThese are the maximum and minimum frequencies of the AC subnet bus, respectively; U dc U is the DC subgrid bus voltage. max and u min These are the maximum and minimum voltages of the DC sub-network bus, respectively.

[0030] Furthermore, the converter's reference power includes active reference power and reactive reference power.

[0031] Furthermore, based on the pre-built fractional-mode sliding mode power controller and reactive power controller, and combined with the converter's reference power, the first current inner loop reference value is given, including:

[0032] The power control error of the fractional-order sliding mode power controller is determined based on the active reference power and the actual active power of the converter.

[0033] Based on the power control error of the fractional sliding mode power controller, the sliding surface of the fractional sliding mode power controller is determined;

[0034] Based on the sliding surface of the fractional sliding mode power controller, the reaching law of the fractional sliding mode power controller is given;

[0035] Based on the reaching law of the fractional sliding mode power controller, and combined with the active reference power of the converter and the power control error of the fractional sliding mode power controller, the reference value of the first d-axis current inner loop output by the fractional sliding mode power controller is determined.

[0036] Based on the reactive power controller and in conjunction with the reactive power reference power of the converter, the inner loop reference value of the q-axis current output by the reactive power controller is determined.

[0037] Furthermore, the power control error of the fractional-order sliding mode power controller satisfies the following relationship:

[0038]

[0039] In the formula, e represents the power control error, and u d i represents the d-axis voltage of the three-phase AC voltage of the converter after coordinate transformation. d The d-axis current is the result of coordinate transformation of the three-phase current on the AC side of the converter.

[0040] The sliding surface of a fractional-order sliding mode power controller satisfies the following relationship:

[0041] s = k p e+k i ∫edt

[0042] In the formula, k p k i The proportional integral coefficient of the sliding surface;

[0043] The reaching law of the fractional-order sliding mode power controller satisfies the following relationship:

[0044]

[0045] Where ε, k ε For the approach law parameters, o D α α is a fractional-order calculus operator, α is the fractional order, sat() is the saturation function, and Δ is the boundary layer of the saturation function.

[0046] The reference value of the first d-axis current inner loop output by the fractional-order sliding mode power controller satisfies the following relationship:

[0047]

[0048] In the formula, i dref This is the reference value for the inner loop of the first d-axis current;

[0049] The inner loop reference value of the q-axis current output by the reactive power controller satisfies the following relationship:

[0050]

[0051] In the formula, i qref k is the reference value for the inner loop of the q-axis current. pq k is the proportional gain of the reactive power controller. iq Q is the reactive power loop integral coefficient of the reactive power controller. ref Q is the reactive reference power of the converter, and Q is the actual reactive power of the converter.

[0052] Furthermore, based on the disturbance current output by the converter, the first current inner loop reference value is dynamically compensated to provide a second current inner loop reference value, including:

[0053] A bidirectional converter model is constructed, and the disturbance current output by the bidirectional converter model is tracked through a nonlinear disturbance observer to provide an estimate of the disturbance current.

[0054] The disturbance current estimate is dynamically compensated by a current feedforward control model, and the second d-axis current inner loop reference value is given by combining the first d-axis current inner loop reference value.

[0055] Furthermore, the bidirectional converter model satisfies the following relationship:

[0056]

[0057] In the formula, U abc i abc E represents the three-phase voltage and current on the AC side of the converter. abcFor the three-phase voltage of the AC subnet bus, i 0abc R represents the output current of the AC subnet bus, and R, L, and C are the resistor, inductor, and capacitor in the AC side filter circuit of the converter, respectively.

[0058] The estimated disturbance current satisfies the following relationship:

[0059]

[0060] in, This is the estimated value of the disturbance current; z d l is an intermediate variable for the nonlinear disturbance observer. d E represents the gain of the nonlinear disturbance observer. d E q ω represents the d-axis and q-axis voltages of the three-phase voltages of the AC subnet bus after coordinate transformation, and ω is the angular frequency of the AC subnet bus.

[0061] Furthermore, the reference value of the second d-axis current inner loop satisfies the following relationship:

[0062]

[0063]

[0064] Among them, i dref2 G is the reference value for the inner loop of the second d-axis current. fd (s) is the transfer function of the current feedforward control loop, G cpi (s) is the transfer function of the current inner loop controller, k pid k is the proportionality coefficient of the inner current loop. iid K is the integral coefficient of the inner current loop. pwm This represents the equivalent gain of the converter.

[0065] Furthermore, based on the converter parameters, and in conjunction with the first and second current inner loop reference values, the current inner loop output value is determined, including:

[0066] The three-phase voltages of the AC subnet bus are transformed using coordinates to obtain the d-axis and q-axis voltages.

[0067] Based on the converter parameters, the current inner loop controller, and the d-axis voltage obtained by coordinate transformation, and combined with the second d-axis current inner loop reference value, the d-axis current inner loop output value is obtained.

[0068] Based on the converter parameters, the current inner loop controller, and the q-axis voltage obtained by coordinate transformation, and combined with the q-axis current inner loop reference value, the q-axis current inner loop output value is obtained.

[0069] The d-axis current inner loop output value and the q-axis current inner loop output value satisfy the following relationship:

[0070]

[0071] Among them, e d e q These are the d-axis current inner loop output values ​​and the q-axis current inner loop output values, respectively. q L is the q-axis current after coordinate transformation of the three-phase current on the AC side of the converter, and L is the inductance in the AC side filter circuit of the converter.

[0072] Furthermore, the control signals for the converter are given, including:

[0073] After inverse coordinate transformation, the output values ​​of the d-axis current inner loop and the q-axis current inner loop are subjected to space vector pulse width modulation to generate the control signal for the converter.

[0074] Secondly, the present invention also provides a microgrid control device based on the reconfiguration of a power supply vehicle after grid connection. Employing the aforementioned microgrid control method based on the reconfiguration of a power supply vehicle after grid connection, the microgrid control device includes:

[0075] The parameter acquisition module is used to acquire the AC sub-network bus frequency and DC sub-network bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured, and to provide the reference power of the converter connecting the AC sub-network and the DC sub-network.

[0076] The first control parameter determination module is used to provide the first current inner loop reference value based on the pre-built fractional sliding mode power controller and reactive power controller, and in combination with the reference power of the converter.

[0077] The second control parameter determination module is used to dynamically compensate the first current inner loop reference value based on the disturbance current output by the converter, and to give the second current inner loop reference value.

[0078] The control output module is used to determine the inner current loop output value based on the converter parameters, combined with the first inner current loop reference value and the second inner current loop reference value, and to modulate and generate the control signal of the converter.

[0079] Furthermore, the parameter acquisition module includes:

[0080] The frequency of the AC subgrid bus and the voltage of the DC subgrid bus of the microgrid after the power vehicle is connected to the grid and reconfigured are normalized to obtain frequency characteristic quantities and voltage characteristic quantities.

[0081] Based on a pre-built bidirectional droop model, and combined with frequency and voltage characteristics, the active power reference of the converter is given.

[0082] Furthermore, the first control parameter determination module includes:

[0083] Obtain the rated voltage of the DC subnet bus and the rated frequency of the AC subnet bus;

[0084] Based on the rated voltage of the DC subgrid bus and combined with the active power output of multiple energy storage units, the DC subgrid bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0085] Based on the rated frequency of the AC subgrid bus and combined with the active power output of multiple generators, the AC subgrid bus frequency of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0086] Furthermore, the first control parameter determination module includes:

[0087] The power control error of the fractional-order sliding mode power controller is determined based on the active reference power and the actual active power of the converter.

[0088] Based on the power control error of the fractional sliding mode power controller, the sliding surface of the fractional sliding mode power controller is determined;

[0089] Based on the sliding surface of the fractional sliding mode power controller, the reaching law of the fractional sliding mode power controller is given;

[0090] Based on the reaching law of the fractional sliding mode power controller, and combined with the active reference power of the converter and the power control error of the fractional sliding mode power controller, the reference value of the first d-axis current inner loop output by the fractional sliding mode power controller is determined.

[0091] Based on the reactive power controller and in conjunction with the reactive power reference power of the converter, the inner loop reference value of the q-axis current output by the reactive power controller is determined.

[0092] Furthermore, the second control parameter determination module includes:

[0093] A bidirectional converter model is constructed, and the disturbance current output by the bidirectional converter model is tracked through a nonlinear disturbance observer to provide an estimate of the disturbance current.

[0094] The disturbance current estimate is dynamically compensated by a current feedforward control model, and the second d-axis current inner loop reference value is given by combining the first d-axis current inner loop reference value.

[0095] Furthermore, the control output module includes:

[0096] The three-phase voltages of the AC subnet bus are transformed using coordinates to obtain the d-axis and q-axis voltages.

[0097] Based on the converter parameters, the current inner loop controller, and the d-axis voltage obtained by coordinate transformation, and combined with the second d-axis current inner loop reference value, the d-axis current inner loop output value is obtained.

[0098] Based on the converter parameters, the current inner loop controller, and the q-axis voltage obtained from coordinate transformation, and combined with the q-axis current inner loop reference value, the q-axis current inner loop output value is obtained.

[0099] Furthermore, the control output module also includes:

[0100] After inverse coordinate transformation, the output values ​​of the d-axis current inner loop and the q-axis current inner loop are subjected to space vector pulse width modulation to generate the control signal for the converter.

[0101] The present invention provides a microgrid control method and device based on the grid-connected reconfiguration of a power supply vehicle, which has at least the following beneficial effects:

[0102] (1) By setting a fractional sliding mode power controller, the power transmission oscillation between AC and DC subgrids and the fluctuation of AC and DC subgrid buses can be effectively reduced, thereby improving the dynamic performance of the microgrid.

[0103] (2) By obtaining the output current disturbance through the nonlinear disturbance observer and using the current feedforward control loop for dynamic compensation, the dynamic response of the control system can be effectively improved, and transient bus voltage, frequency fluctuations and impacts can be further suppressed, thereby enhancing the anti-disturbance performance of the microgrid. Attached Figure Description

[0104] Figure 1 A flowchart of a microgrid control method based on the grid-connected reconfiguration of a power supply vehicle is provided for this invention;

[0105] Figure 2 This is a partial algorithm block diagram of a microgrid control method provided in a certain embodiment of the present invention;

[0106] Figure 3 A converter topology diagram provided in one embodiment of the present invention;

[0107] Figure 4 This invention provides an algorithm block diagram for a microgrid control method based on the grid-connected reconfiguration of a power supply vehicle;

[0108] Figure 5 The diagram shows the change of AC bus frequency over time when the AC bus load changes abruptly, as shown by the control method of the present invention and the conventional control method.

[0109] Figure 6 The diagram shows the change of DC bus voltage over time when the AC bus load changes abruptly, as shown by the control method of this invention and the conventional control method.

[0110] Figure 7 The graph shows the change of converter output power over time under sudden changes in AC bus load, as shown by the control method of the present invention and the conventional control method.

[0111] Figure 8The diagram shows the AC bus frequency variation over time when the DC bus load changes abruptly, as shown by the control method of this invention and the conventional control method.

[0112] Figure 9 The graph shows the change of DC bus voltage over time under sudden changes in DC bus load, as described by the control method of this invention and the conventional control method.

[0113] Figure 10 The graph shows the change of converter output power over time under sudden changes in DC bus load, as shown by the control method of the present invention and the conventional control method.

[0114] Figure 11 This is a schematic diagram of a microgrid control device based on the grid-connected reconfiguration of a power vehicle, provided by the present invention. Detailed Implementation

[0115] To better understand the above technical solutions, a detailed description of the solutions will be provided below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0116] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0117] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0118] like Figure 1 and Figure 2 As shown, the present invention provides a microgrid control method based on the grid-connected reconfiguration of a power supply vehicle, which may include:

[0119] Obtain the AC subgrid bus frequency and DC subgrid bus voltage of the microgrid after the power vehicle is reconnected to the grid, and provide the reference power of the converter connecting the AC subgrid and the DC subgrid;

[0120] Based on the pre-built fractional-order sliding mode power controller and reactive power controller, and combined with the converter's reference power, a first current inner loop reference value is given; wherein, the first current inner loop reference value includes a first d-axis current inner loop reference value and a q-axis current inner loop reference value;

[0121] The first current inner loop reference value is dynamically compensated based on the disturbance current output by the converter, and a second current inner loop reference value is given; wherein, the second current inner loop reference value includes the second d-axis current inner loop reference value;

[0122] Based on the converter parameters, the output value of the inner current loop is determined by combining the first and second inner current loop reference values, and the control signal of the converter is generated by modulation.

[0123] In another embodiment, the microgrid control method may include:

[0124] Obtain the AC subgrid bus frequency and DC subgrid bus voltage of the microgrid after the power vehicle is reconnected to the grid, and provide the reference power of the converter connecting the AC subgrid and the DC subgrid;

[0125] Based on a pre-built fractional-order sliding mode power controller and in conjunction with the converter's reference power, a first current inner loop reference value is given; wherein, the first current inner loop reference value includes a first d-axis current inner loop reference value;

[0126] The first current inner loop reference value is dynamically compensated based on the disturbance current output by the converter, and a second current inner loop reference value is given in combination with the reactive power controller; wherein, the second current inner loop reference value includes a second d-axis current inner loop reference value and a q-axis current inner loop reference value.

[0127] Based on the converter parameters, the output value of the inner current loop is determined by combining the first and second inner current loop reference values, and the control signal of the converter is generated by modulation.

[0128] The microgrid control method provided by this invention achieves transient and steady-state power distribution between the two subgrids by constructing comprehensive transient and steady-state characteristic equations and combining fractional sliding mode and nonlinear disturbance observers. Power vehicle grid reconfiguration involves reconfiguring the system after the power vehicle is connected to the distribution network via a converter into a microgrid. The power vehicle's energy storage system constitutes a DC subgrid, the AC distribution network and the power vehicle's generator constitute an AC subgrid, the converter is a bidirectional converter, the microgrid is an AC / DC microgrid, and the generator is a portable generator. Reconfiguring the system after the power vehicle is connected to the distribution network via a converter into a microgrid includes:

[0129] The DC subgrid is composed of multiple energy storage units from the power vehicle;

[0130] An AC subnetwork is formed by the AC distribution network and multiple generators from the power supply vehicle;

[0131] The converter connects the AC subgrid and the DC subgrid, and the AC subgrid and the DC subgrid work together to maintain the stability of the microgrid through the converter.

[0132] The microgrid reconfigured by the power supply vehicle mainly consists of an AC subgrid, a DC subgrid, and a bidirectional converter connecting the AC and DC buses. The bidirectional converter is a bidirectional AC / DC converter. The topology of the bidirectional AC / DC converter is as follows: Figure 3 As shown, it includes a three-phase bridge converter circuit and a load. The three-phase bridge converter circuit includes a DC-side capacitor C. dc And three sets of bridge arm modules, DC side capacitor C dc and DC side resistance R dc After being connected in series with the DC bus BUS DC Parallel connection, bridge arm module and DC side capacitor C dc Parallel connection. Each bridge arm module includes two switches and a bridge arm load. The bridge arm load is connected to the midpoint of the series connection between the two switches in the same group. The three bridge arm loads are connected in a star configuration. AC subnet bus. AC The AC subnet bus is connected in parallel with the bidirectional AC / DC converter via an AC-side LC filter circuit. AC Connected to the DC subnet bus via a bidirectional AC / DC converter DC connect.

[0133] When integrating multiple energy storage units from a power vehicle into a microgrid, the state of charge (SOC) of these units should be coordinated to avoid over-discharging of units with low SOC and over-charging of units with high SOC, which could damage equipment or devices. Therefore, a balancing control system for the energy storage units is introduced. Specifically, the AC subgrid bus frequency and DC subgrid bus voltage of the microgrid after the power vehicle's grid reconfiguration are obtained, including:

[0134] Obtain the rated voltage of the DC subnet bus and the rated frequency of the AC subnet bus;

[0135] Based on the rated voltage of the DC subgrid bus and combined with the active power output of multiple energy storage units, the DC subgrid bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0136] Based on the rated frequency of the AC subgrid bus and combined with the active power output of multiple generators, the AC subgrid bus frequency of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0137] Furthermore, the DC subgrid bus voltage of the microgrid after the power supply vehicle is reconnected to the grid satisfies the following relationship:

[0138]

[0139] In the formula, U dcn P is the rated voltage of the DC sub-network bus.esi0 P is the initial value of the active power output for the i-th energy storage unit. esi For the i-th energy storage unit, output active power, m esi Let SOC be the steady-state droop coefficient of the i-th energy storage unit. i For the i-th energy storage unit, soc a λ is the arithmetic mean of the states of charge of all energy storage units, and λ is a constant that determines the convergence rate of the states of charge.

[0140] The AC subgrid bus frequency of the microgrid after the power supply vehicle is reconnected to the grid satisfies the following relationship:

[0141] f ac =f acn +m aci (P aci0 -P aci )

[0142] In the formula: f acn For the rated frequency of the AC subnet bus, P aci0 Let P be the initial value of the active power output of the i-th generator. aci For the i-th generator to output active power, m aci Let be the steady-state droop coefficient of the i-th generator.

[0143] In real-world scenarios, such as Figure 4 As shown, the present invention provides a microgrid control method based on the grid-connected reconfiguration of a power supply vehicle, which may include:

[0144] Normalized equations for the AC subnet bus frequency and DC subnet bus voltage of the converter are established. A phase-locked loop (PLL) is used to lock the phase of the input signal to achieve an output signal with the same frequency as the input signal. f is then calculated. ac (pu), U dc (pu) value;

[0145] A bidirectional droop equation is established to calculate the active reference power of the converter, and the coordinate transformation of the AC subgrid current and voltage is performed through the phase angle of the AC subgrid to calculate the actual active power of the converter.

[0146] Design a fractional-order sliding mode power controller and obtain the inner loop reference value of the d-axis current by combining the active reference power and the actual active power of the converter.

[0147] Design a nonlinear disturbance observer (NDO) and obtain the d-axis disturbance current estimate;

[0148] The d-axis disturbance current estimate is dynamically compensated by the current feedforward control loop, and the final d-axis current inner loop reference value is calculated by combining the d-axis current inner loop reference value.

[0149] The inner loop reference value of the q-axis current output by the reactive power controller is calculated by combining the reactive power reference power of the converter.

[0150] The final d-axis current inner loop reference value, q-axis current inner loop reference value, and the d-axis and q-axis currents after coordinate transformation of the three-phase currents on the AC side of the converter are input into the current inner loop controller to calculate the d-axis current inner loop output value and the q-axis current inner loop output value.

[0151] The d-axis and q-axis current inner loop output values ​​are subjected to space vector pulse width modulation to generate the drive signal for controlling the converter.

[0152] The reference power of the converter can include:

[0153] The frequency of the AC subgrid bus and the voltage of the DC subgrid bus of the microgrid after the power vehicle is connected to the grid and reconfigured are normalized to obtain frequency characteristic quantities and voltage characteristic quantities.

[0154] Based on a pre-built bidirectional droop model, and combined with frequency and voltage characteristics, the active power reference of the converter is given.

[0155] The pre-built bidirectional droop model satisfies the following relationship:

[0156]

[0157] In the formula, P ref P0 is the active reference power of the converter, and k is the initial active power output of the converter. s f is the steady-state droop coefficient of the converter. ac (pu) is a frequency characteristic quantity, U dc (pu) is a voltage characteristic quantity, k ac and k dc f represents the equivalent droop coefficient for the AC subnet and the DC subnet, respectively. max and f min These are the maximum and minimum frequencies of the AC subnet bus, respectively; U dc U is the DC subgrid bus voltage. max and u min These are the maximum and minimum voltages of the DC sub-network bus, respectively.

[0158] Frequency characteristic quantities and voltage characteristic quantities satisfy the following relationship:

[0159]

[0160] Among them, f ac For the AC subnet bus frequency, f max and fmin These are the maximum and minimum frequencies within the specified range for the AC bus, respectively; U dc U is the DC subgrid bus voltage. max and u min These represent the maximum and minimum voltages that the DC bus can achieve, respectively.

[0161] Based on a pre-built fractional-mode sliding mode power controller and reactive power controller, and in conjunction with the converter's reference power, the first current inner loop reference value is given, including:

[0162] The power control error of the fractional-order sliding mode power controller is determined based on the active reference power and the actual active power of the converter.

[0163] Based on the power control error of the fractional sliding mode power controller, the sliding surface of the fractional sliding mode power controller is determined;

[0164] Based on the sliding surface of the fractional sliding mode power controller, the reaching law of the fractional sliding mode power controller is given;

[0165] Based on the reaching law of the fractional sliding mode power controller, and combined with the active reference power of the converter and the power control error of the fractional sliding mode power controller, the reference value of the first d-axis current inner loop output by the fractional sliding mode power controller is determined.

[0166] Based on the reactive power controller and in conjunction with the reactive power reference power of the converter, the inner loop reference value of the q-axis current output by the reactive power controller is determined. The reactive power controller in this invention adopts a traditional reactive power controller, the details of which will not be elaborated here.

[0167] The power control error of the fractional-order sliding mode power controller satisfies the following relationship:

[0168]

[0169] In the formula, e represents the power control error, P represents the actual active power of the converter, and u d i represents the d-axis voltage of the three-phase AC voltage of the converter after coordinate transformation. d The d-axis current is the result of coordinate transformation of the three-phase current on the AC side of the converter; among them, the q-axis voltage and q-axis current after the transformation of the three-phase voltage on the AC side of the converter have little influence on the control process of the fractional sliding mode power controller and can be ignored.

[0170] The sliding surface of a fractional-order sliding mode power controller satisfies the following relationship:

[0171] s = k p e+k i ∫edt

[0172] In the formula, s is the sliding surface, k p k i The proportional integral coefficient of the sliding surface;

[0173] The reaching law of the fractional-order sliding mode power controller satisfies the following relationship:

[0174]

[0175] in, The approach law, i.e., the rate of change of the sliding surface with time, ε, k ε For the approach law parameters, o D α α is a fractional-order calculus operator, α is the fractional order, sat() is the saturation function, and Δ is the boundary layer of the saturation function.

[0176] The reference value of the first d-axis current inner loop output by the fractional-order sliding mode power controller satisfies the following relationship:

[0177]

[0178] In the formula, i dref This is the reference value for the inner loop of the first d-axis current. The dots above the parameter indicate the rate of change of that parameter over time; for example, This represents the rate of change of power control error over time. The rate of change of the frequency characteristic quantity over time. The rate of change of the voltage characteristic quantity over time. These represent the rates of change of the AC-side d-axis voltage and current of the converter over time. This represents the rate of change of the sliding surface over time, i.e., the reaching law.

[0179] The inner loop reference value of the q-axis current output by the reactive power controller satisfies the following relationship:

[0180]

[0181] In the formula, i qref k is the reference value for the inner loop of the q-axis current. pq k is the proportional gain of the reactive power controller. iq Q is the reactive power loop integral coefficient of the reactive power controller. ref Let Q be the reactive power reference power of the converter, and Q be the actual reactive power of the converter. Since there is only active power interaction between the AC subnetwork and the DC subnetwork, the reactive power reference power of the converter is taken as 0.

[0182] Based on the disturbance current output by the converter, the first current inner loop reference value is dynamically compensated to provide a second current inner loop reference value, which may include:

[0183] A bidirectional converter model is constructed, and the disturbance current output by the bidirectional converter model is tracked through a nonlinear disturbance observer to provide an estimate of the disturbance current.

[0184] The bidirectional converter model satisfies the following relationship:

[0185]

[0186] In the formula, U abc i abc E represents the three-phase voltage and current on the AC side of the converter. abc For the three-phase voltage of the AC subnet bus, i 0abc R represents the output current of the AC subnet bus, and R, L, and C are the resistor, inductor, and capacitor in the AC side filter circuit of the converter, respectively.

[0187] The estimated disturbance current satisfies the following relationship:

[0188]

[0189] in, This is the estimated value of the disturbance current; z d l is an intermediate variable for the nonlinear disturbance observer. d E represents the gain of the nonlinear disturbance observer. d E q ω represents the d-axis and q-axis voltages of the three-phase voltages of the AC subnet bus after coordinate transformation, and ω is the angular frequency of the AC subnet bus.

[0190] The disturbance current estimate is dynamically compensated using a current feedforward control model, and a second d-axis current inner loop reference value is given by combining the first d-axis current inner loop reference value, satisfying the following relationship:

[0191]

[0192] Among them, i dref2 G is the reference value for the inner loop of the second d-axis current. fd (s) is the transfer function of the current feedforward control loop, G cpi (s) is the transfer function of the current inner loop controller, k pid k is the proportionality coefficient of the inner current loop. iid K is the integral coefficient of the inner current loop. pwm This represents the equivalent gain of the converter.

[0193] In another embodiment, the first current inner loop reference value is dynamically compensated based on the disturbance current output by the converter, and a second current inner loop reference value is given in conjunction with the reactive power controller, including:

[0194] A bidirectional converter model is constructed, and the disturbance current output by the bidirectional converter model is tracked through a nonlinear disturbance observer to provide an estimate of the disturbance current.

[0195] The disturbance current estimate is dynamically compensated by a current feedforward control model, and the second d-axis current inner loop reference value is given by combining the first d-axis current inner loop reference value.

[0196] Based on the reactive power controller and in conjunction with the reactive power reference power of the converter, the inner loop reference value of the q-axis current output by the reactive power controller is determined.

[0197] Based on the converter parameters, the inner current loop output value is determined by combining the first and second inner current loop reference values, and the control signal for the converter is modulated and generated, which may include:

[0198] The three-phase voltages of the AC subnet bus are transformed using coordinates to obtain the d-axis and q-axis voltages.

[0199] Based on the converter parameters, the current inner loop controller, and the d-axis voltage obtained by coordinate transformation, and combined with the second d-axis current inner loop reference value, the d-axis current inner loop output value is obtained.

[0200] Based on the converter parameters, the current inner loop controller, and the q-axis voltage obtained by coordinate transformation, and combined with the q-axis current inner loop reference value, the q-axis current inner loop output value is obtained.

[0201] The d-axis current inner loop output value and the q-axis current inner loop output value satisfy the following relationship:

[0202]

[0203] Among them, e d e q These are the d-axis current inner loop output values ​​and the q-axis current inner loop output values, respectively. q The q-axis current is the result of coordinate transformation of the three-phase current on the AC side of the converter.

[0204] After generating the inner current loop output value, and with the generated inner current loop output values ​​(d-axis and q-axis inner current loop output values), the control signals for the converter can include:

[0205] The d-axis and q-axis current inner loop output values ​​are subjected to inverse coordinate transformation and then space vector pulse width modulation (SVM) to generate the converter's control signal. Specifically, the d-axis and q-axis current inner loop output values ​​are subjected to inverse Park transformation (from coordinate system dq0 to coordinate system abc) and then space vector pulse width modulation (SVM) to generate the converter's control signal.

[0206] Specifically, when the d-axis current inner loop output value and the q-axis current inner loop output value are subjected to Park inverse transformation, the process includes:

[0207]

[0208] In the formula, T is the Park transformation matrix, i a i b i c It is a three-phase current.

[0209] In bidirectional converters, in addition to controlling the motor's current and speed, DC-side energy management also needs to be considered, including battery charging and discharging control, and DC bus voltage control. The SVPWM implementation of a bidirectional converter needs to be able to adapt to the bidirectional nature of energy flow, ensuring effective control signals are provided in different operating modes.

[0210] See Figure 5 , Figure 6 and Figure 7 As shown, Figure 5 (a) shows the change of AC bus frequency over time under the control method of the present invention when the AC bus load changes abruptly. Figure 5 (b) shows the AC bus frequency versus time under the traditional control method when the AC bus load changes abruptly. Figure 6 (a) shows the change of DC bus voltage over time under the control method of the present invention when the AC bus load changes abruptly. Figure 6 (b) shows the DC bus voltage variation over time under the traditional control method when the AC bus load changes abruptly. Figure 7 (a) shows the converter output power versus time under the control method of the present invention when the AC bus load changes abruptly. Figure 7 (b) shows the converter output power versus time under the traditional control method when the AC bus load changes abruptly. Figure 5 (a) and (b) Figure 6 (a) and (b) and Figure 7 As shown in (a) and (b), when the load on the AC bus changes abruptly, the microgrid control method based on the reconfiguration of the power supply vehicle in this invention makes the converter's output power P and DC bus voltage U... dc The recovery to a stable state is smoother, the overshoot of the AC bus frequency f is significantly reduced, and the recovery time is also reduced.

[0211] See Figure 8 , Figure 9 and Figure 10 As shown, Figure 8 (a) shows the AC bus frequency variation over time under the control method of the present invention when the DC bus load changes abruptly. Figure 8(b) shows the AC bus frequency versus time under the traditional control method when the DC bus load changes abruptly. Figure 9 (a) shows the change of DC bus voltage over time under the control method of the present invention when the DC bus load changes abruptly. Figure 9 (b) shows the DC bus voltage change over time under the traditional control method when the DC bus load changes abruptly. Figure 10 (a) shows the converter output power versus time under the control method of the present invention when the DC bus load changes abruptly. Figure 10 (b) shows the converter output power versus time under the traditional control method when the DC bus load changes abruptly. Figure 8 (a) and (b) Figure 9 (a) and (b) and Figure 10 As shown in (a) and (b), when the DC bus load changes abruptly, the microgrid control method based on the reconfiguration of the power supply vehicle in this invention enables the converter's output power P to smoothly handle the oscillations that occur during the transient process, thus ensuring the quality of the converter's output power P, the AC bus frequency f, and the DC bus voltage U. dc The overshoot was significantly reduced.

[0212] like Figure 11 As shown, the present invention also provides a microgrid control device based on the reconfiguration of a power supply vehicle after grid connection. Employing the aforementioned microgrid control method based on the reconfiguration of a power supply vehicle after grid connection, the microgrid control device includes:

[0213] The parameter acquisition module is used to acquire the AC sub-network bus frequency and DC sub-network bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured, and to provide the reference power of the converter connecting the AC sub-network and the DC sub-network.

[0214] The first control parameter determination module is used to provide the first current inner loop reference value based on the pre-built fractional sliding mode power controller and reactive power controller, and in combination with the reference power of the converter.

[0215] The second control parameter determination module is used to dynamically compensate the first current inner loop reference value based on the disturbance current output by the converter, and to give the second current inner loop reference value.

[0216] The control output module is used to determine the inner current loop output value based on the converter parameters, combined with the first inner current loop reference value and the second inner current loop reference value, and to modulate and generate the control signal of the converter.

[0217] The parameter acquisition module includes:

[0218] After the power supply vehicle is reconnected to the grid, the AC sub-network bus frequency and DC sub-network bus voltage of the microgrid are obtained and normalized respectively to obtain frequency characteristic quantities and voltage characteristic quantities.

[0219] Based on a pre-built bidirectional droop model, and combined with frequency and voltage characteristics, the active power reference of the converter is given.

[0220] Furthermore, the first control parameter determination module includes:

[0221] Obtain the rated voltage of the DC subnet bus and the rated frequency of the AC subnet bus;

[0222] Based on the rated voltage of the DC subgrid bus and combined with the active power output of multiple energy storage units, the DC subgrid bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0223] Based on the rated frequency of the AC subgrid bus and combined with the active power output of multiple generators, the AC subgrid bus frequency of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

[0224] The first control parameter determination module includes:

[0225] The power control error of the fractional-order sliding mode power controller is determined based on the active reference power and the actual active power of the converter.

[0226] Based on the power control error of the fractional sliding mode power controller, the sliding surface of the fractional sliding mode power controller is determined;

[0227] Based on the sliding surface of the fractional sliding mode power controller, the reaching law of the fractional sliding mode power controller is given;

[0228] Based on the reaching law of the fractional sliding mode power controller, and combined with the active reference power of the converter and the power control error of the fractional sliding mode power controller, the reference value of the first d-axis current inner loop output by the fractional sliding mode power controller is determined.

[0229] Based on the reactive power controller and in conjunction with the reactive power reference power of the converter, the inner loop reference value of the q-axis current output by the reactive power controller is determined.

[0230] The second control parameter determination module includes:

[0231] A bidirectional converter model is constructed, and the disturbance current output by the bidirectional converter model is tracked through a nonlinear disturbance observer to provide an estimate of the disturbance current.

[0232] The disturbance current estimate is dynamically compensated by a current feedforward control model, and the second d-axis current inner loop reference value is given by combining the first d-axis current inner loop reference value.

[0233] The control output module includes:

[0234] The three-phase voltages of the AC subnet bus are transformed using coordinates to obtain the d-axis and q-axis voltages.

[0235] Based on the converter parameters, the current inner loop controller, and the d-axis voltage obtained by coordinate transformation, and combined with the second d-axis current inner loop reference value, the d-axis current inner loop output value is obtained.

[0236] Based on the converter parameters, the current inner loop controller, and the q-axis voltage obtained from coordinate transformation, and combined with the q-axis current inner loop reference value, the q-axis current inner loop output value is obtained.

[0237] The control output module also includes:

[0238] After inverse coordinate transformation, the output values ​​of the d-axis current inner loop and the q-axis current inner loop are subjected to space vector pulse width modulation to generate the control signal for the converter.

[0239] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims and their equivalents, the invention is also intended to include these modifications and modifications.

Claims

1. A microgrid control method based on the grid-connected reconfiguration of a power supply vehicle, characterized in that, include: Obtain the AC subgrid bus frequency and DC subgrid bus voltage of the microgrid after the power vehicle is reconnected to the grid, and provide the reference power of the converter connecting the AC subgrid and the DC subgrid; Based on a pre-built fractional-mode sliding mode power controller and reactive power controller, and in conjunction with the converter's reference power, the first current inner loop reference value is given, including: determining the power control error of the fractional-mode sliding mode power controller based on the converter's active power reference power and the converter's actual active power; determining the sliding surface of the fractional-mode sliding mode power controller based on the power control error of the fractional-mode sliding mode power controller; giving the reaching law of the fractional-mode sliding mode power controller based on the sliding surface of the fractional-mode sliding mode power controller; determining the first d-axis current inner loop reference value of the fractional-mode sliding mode power controller output based on the reaching law of the fractional-mode sliding mode power controller, and in conjunction with the converter's active power reference power and the fractional-mode sliding mode power controller's power control error; and determining the q-axis current inner loop reference value of the reactive power controller output based on the reactive power controller and in conjunction with the converter's reactive power reference power. The first current inner loop reference value is dynamically compensated based on the disturbance current output by the converter, and a second current inner loop reference value is given. This includes: constructing a bidirectional converter model and tracking the disturbance current output by the bidirectional converter model through a nonlinear disturbance observer to give an estimated disturbance current value; dynamically compensating the estimated disturbance current value through a current feedforward control model, and combining it with the first d-axis current inner loop reference value to give a second d-axis current inner loop reference value. Based on the converter parameters, the output value of the inner current loop is determined by combining the first and second inner current loop reference values, and the control signal of the converter is generated by modulation.

2. The microgrid control method as described in claim 1, characterized in that, The microgrid after the power vehicle is connected to the grid and reconfigured includes a DC subgrid, an AC subgrid, and a converter. The DC subgrid consists of multiple energy storage units from the power vehicle, the AC subgrid consists of the AC distribution network and multiple generators from the power vehicle, and the converter connects the AC subgrid and the DC subgrid. Obtain the AC subgrid bus frequency and DC subgrid bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured, including: Obtain the rated voltage of the DC subnet bus and the rated frequency of the AC subnet bus; Based on the rated voltage of the DC subgrid bus and combined with the active power output of multiple energy storage units, the DC subgrid bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured is determined. Based on the rated frequency of the AC subgrid bus and combined with the active power output of multiple generators, the AC subgrid bus frequency of the microgrid after the power vehicle is connected to the grid and reconfigured is determined.

3. The microgrid control method as described in claim 1, characterized in that, The reference power of the converter is given, including: The frequency of the AC subgrid bus and the voltage of the DC subgrid bus of the microgrid after the power vehicle is connected to the grid and reconfigured are normalized to obtain frequency characteristic quantities and voltage characteristic quantities. Based on a pre-built bidirectional droop model, and combined with frequency and voltage characteristics, the active power reference of the converter is given. The pre-built bidirectional droop model satisfies the following relationship: ； In the formula, P ref This is the active reference power of the converter. P 0 represents the initial active power output of the converter. k s The steady-state droop coefficient of the converter. f ac ( pu ) is a frequency characteristic quantity. U dc ( pu ) is a voltage characteristic quantity. k ac and k dc These are the equivalent droop coefficients for the AC subnet and the DC subnet, respectively. f max and f min These are the maximum and minimum frequencies of the AC subnet bus, respectively; U dc This is the DC sub-network bus voltage. u max and u min These are the maximum and minimum voltages of the DC sub-network bus, respectively.

4. The microgrid control method as described in claim 3, characterized in that, The power control error of the fractional-order sliding mode power controller satisfies the following relationship: ； In the formula, e The power control error is represented by P, where P is the actual active power of the converter. u d The three-phase voltages on the AC side of the converter after coordinate transformation d shaft voltage, i d The three-phase current on the AC side of the converter after coordinate transformation d shaft current; The sliding surface of a fractional-order sliding mode power controller satisfies the following relationship: ； In the formula, s For sliding surface, k p , k i The proportional integral coefficient of the sliding surface; The reaching law of the fractional-order sliding mode power controller satisfies the following relationship: ； in, This is the approach law, which is the rate of change of the sliding surface over time. ε , k ε For the approach law parameters, o D α For fractional calculus operators, α For fractional order, sat ( ) represents the saturation function, and Δ represents the boundary layer of the saturation function; The reference value of the first d-axis current inner loop output by the fractional-order sliding mode power controller satisfies the following relationship: ； In the formula, i dref This is the reference value for the inner loop of the first d-axis current; The inner loop reference value of the q-axis current output by the reactive power controller satisfies the following relationship: ； In the formula, i qref This is the reference value for the inner loop of the q-axis current. k pq This is the proportional gain of the reactive power controller. k iq The reactive power loop integral coefficient of the reactive power controller. Q ref This is the reactive power reference power of the converter. Q This represents the actual reactive power of the converter.

5. The microgrid control method as described in claim 1, characterized in that, The bidirectional converter model satisfies the following relationship: ； In the formula, U abc , i abc For the three-phase voltage and current on the AC side of the converter, E abc The three-phase voltage of the AC subnet bus. i 0abc The output current of the AC subnet bus. R , L and C These are the resistors, inductors, and capacitors in the AC side filter circuit of the converter; The estimated disturbance current satisfies the following relationship: ； in, This is an estimated value for the disturbance current; z d For the nonlinear disturbance observer, l d For the nonlinear disturbance observer gain, E d , E q The three-phase voltages of the AC subnet bus after coordinate transformation d shaft and q Shaft voltage, ω is the angular frequency of the AC subnet bus.

6. The microgrid control method as described in claim 5, characterized in that, The reference value of the second d-axis current inner loop satisfies the following relationship: ； in, i dref2 This is the reference value for the inner loop of the second d-axis current. G fd ( s ) is the transfer function of the current feedforward control loop. G cpi ( s ) is the transfer function of the current inner loop controller. k pid This is the proportionality coefficient for the inner current loop. k iid The integral coefficient of the inner current loop. K pwm This represents the equivalent gain of the converter.

7. The microgrid control method as described in claim 6, characterized in that, Based on the converter parameters, and in conjunction with the first and second current inner loop reference values, the current inner loop output value is determined, including: The coordinate transformation is performed on the three-phase voltage of the AC subnet bus to obtain d axis, q Shaft voltage; Based on the converter parameters, the current inner loop controller, and the d-axis voltage obtained by coordinate transformation, and combined with the second d-axis current inner loop reference value, the d-axis current inner loop output value is obtained. Based on the converter parameters, the current inner loop controller, and the q-axis voltage obtained by coordinate transformation, and combined with the q-axis current inner loop reference value, the q-axis current inner loop output value is obtained. The d-axis current inner loop output value and the q-axis current inner loop output value satisfy the following relationship: ； in, e d 、e q These are the d-axis current inner loop output values ​​and the q-axis current inner loop output values, respectively. i q The three-phase current on the AC side of the converter after coordinate transformation q Axis current.

8. A microgrid control device based on the reconfiguration of a power vehicle after grid connection, characterized in that, The microgrid control device, employing the microgrid control method based on the grid-connected reconfiguration of the power supply vehicle as described in any one of claims 1-7, comprises: The parameter acquisition module is used to acquire the AC sub-network bus frequency and DC sub-network bus voltage of the microgrid after the power vehicle is connected to the grid and reconfigured, and to provide the reference power of the converter connecting the AC sub-network and the DC sub-network. The first control parameter determination module is used to provide the first current inner loop reference value based on the pre-built fractional sliding mode power controller and reactive power controller, and in combination with the converter's reference power. The second control parameter determination module is used to dynamically compensate the first current inner loop reference value based on the disturbance current output by the converter, and to give the second current inner loop reference value. The control output module is used to determine the inner current loop output value based on the converter parameters, combined with the first inner current loop reference value and the second inner current loop reference value, and to modulate and generate the control signal of the converter.

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