Distributed inclusion control method of ship alternating current micro-grid under generalized noise

Abstract

The invention discloses a distributed inclusion control method for a ship alternating-current micro-grid under generalized noise, and belongs to the technical field of new energy and energy conservation. A new energy generator is integrated into a ship alternating current micro-grid as a distributed generator through an inverter, a control model of the multi-mode ship alternating current micro-grid is established, and load demand information of each load during ship navigation is collected; adopting a distributed inclusion strategy to control the output state of a distributed generator in the AC micro-grid; controlling the output frequency and voltage of the generator through a droop strategy; the generator outputs voltage and frequency as input including control; the output frequency and the voltage deviation of the generator are corrected through control; modeling is carried out on the generalized noise; obtaining the output state of the generator through a control protocol contained under generalized noise; parameters of a distributed inclusion control strategy are adjusted through inclusion errors, so that the NOS stability condition is met under generalized noise. The stable operation of the power system and the flexible adjustment of the output state of each generator are realized.

Description

Technical Field

[0001] The present invention relates to the field of new energy and energy-saving technology, and in particular to a distributed inclusion control method for a ship AC microgrid under generalized noise. Background Art

[0002] With the development of international shipping, ships have become an important tool for global trade and transportation, and the shipping industry undertakes more than 80% of the world's trade. Conventional marine fuels are mainly heavy oil and diesel, and their combustion will produce a large amount of pollutants such as carbon dioxide. Although many carbon capture and emission reduction measures have been adopted, it is still not possible to completely solve the pollution. Therefore, the electric propulsion system is integrated into the ship so that the propulsion load and other loads are driven by electricity, and the new energy electric drive on the ship is fully developed to completely solve the pollution. However, for existing fuel engine ships, in order to balance economic interests and environmental protection, existing traditional ships are usually transformed with new energy. In the actual process of ship transformation, a single new energy generator cannot bear all the electricity needs of the ship, and usually multiple new energy sources (such as fuel cells, photovoltaic arrays, etc.) are required as distributed generators to be integrated into the existing AC microgrid of the ship. In addition, in actual operation, there are various interferences in the ship's power system, such as electromagnetic interference between electronic devices in a limited space, interference such as communication and computing noise of distributed computing devices, and interference of the marine environment on the collection of shipboard microgrid (SMG) data. At this time, how to provide stable power for the load side of the microgrid that requires high-quality power (electric propulsion system, and some loads working at different voltage levels, such as radar, lighting system and daily electricity) becomes the key. Affected by weather, routes, etc., in the ship microgrid, the power supply of each generator and the power consumption of the load are prone to sudden changes.

[0003] Existing ship AC microgrid technology usually focuses on comprehensive energy management issues to achieve energy scheduling of hybrid renewable energy generators and simple average or proportional distribution of power flows. It is unable to adjust the output state of distributed generators according to the current needs of the microgrid to meet the power supply needs of the load side.

[0004] Therefore, an AC microgrid control strategy is needed to ensure stable and flexible power supply of each distributed generator under generalized noise. Summary of the invention

[0005] In view of this, the present invention provides a distributed inclusive control method for a ship AC microgrid under generalized noise, which solves the problem of noise in the power system and inability to flexibly adjust the voltage of each node when multiple new energy generators are incorporated into the ship AC microgrid.

[0006] To this end, the present invention provides the following technical solutions:

[0007] A distributed inclusive control method for a ship AC microgrid under generalized noise, comprising:

[0008] The new energy generator is integrated into the ship AC microgrid as a distributed generator through an inverter, and a control model of the multi-modal ship AC microgrid is established;

[0009] The model uses the droop strategy as the primary control to adjust the voltage and frequency of the distributed generator and complete the power distribution. The control system adopts the distributed inclusion strategy to adjust the voltage and frequency deviation caused by the primary control through the controller gain.

[0010] The distributed control strategy includes:

[0011] Formulate a protocol for inclusive control under generalized noise:

[0012]

[0013] in, Represents the reference information of each distributed generator, v nk =[w nk (t),V nk (t)] T Indicates the status of each distributed generator, represents the noise intensity, ζ ij represents generalized noise, c v is the controller gain;

[0014] Using the inclusive control protocol under generalized noise, the noise intensity matrix and the output state of the distributed generator under generalized noise are obtained;

[0015] By including the error, the controller gain of the distributed inclusion control strategy is adjusted to satisfy the NOS stability condition under generalized noise.

[0016] The formulation of the inclusive control protocol under generalized noise includes:

[0017] The distributed generator voltage, frequency and power information are used as inputs for control;

[0018] Include control protocols when developing noise-free;

[0019] The impact of disturbances on the operation of ship microgrid is described as generalized noise.

[0020] Furthermore, the control model of the multi-modal ship AC microgrid includes:

[0021] The user-oriented service layer includes data monitoring and energy management;

[0022] The control layer realizes the compatibility of control strategies with various software and controls the electrical layer through data analysis and calculation;

[0023] Data layer, various types of data packets are exchanged between adjacent distributed generators, and multi-modal identification tables are configured to enhance data security;

[0024] The electrical layer includes distributed generators and loads.

[0025] Furthermore, the control system includes: a service layer, a control layer, and a data layer.

[0026] Furthermore, the model uses the droop strategy as a primary control to adjust the voltage and frequency of the distributed generators and complete the power distribution, including:

[0027]

[0028] Constraints for sharing active and reactive power between distributed generators:

[0029]

[0030] Among them, w i is the operating frequency of the distributed generator, V i is the operating voltage of the distributed generator; P i is the active power output of the distributed generator, Q i is the reactive power output of the distributed generator; and The reference point frequency and voltage of droop control; k Pi and k Qi is the droop control coefficient, which is determined by the rated power and the maximum allowable voltage and frequency deviation.

[0031] Furthermore, the distributed generator voltage, frequency and power information are used as inputs for control, including:

[0032] By differentiating the generator operating frequency and voltage, it is used as the control system input:

[0033]

[0034] Among them, in the ship AC microgrid with N distributed generators, a power controller is used for power calculation, low-pass filtering and droop control to obtain the voltage controller reference and operating frequency of the inverter bridge; the time derivative of the power control loop is calculated and expressed as:

[0035]

[0036] Among them, w cis the cutoff frequency of the filter; v odi ,v oqi ,i odi ,i oqi They are the components of voltage and current after the three-phase voltage is transformed by dq.

[0037] Furthermore, the control system adopts a distributed inclusion strategy to adjust the voltage and frequency deviations caused by primary control through controller gain:

[0038]

[0039] Among them, c w and c v is the coupling gain, which affects the controller speed; w nk and V nk It is the reference frequency and voltage information.

[0040] Furthermore, the noise-free control protocol includes:

[0041] The distributed control system includes: N+M agents;

[0042] Wherein, the follower set F = {1, 2, ..., N}, the virtual leader set L = {N+1, ..., N+M}; the Laplace matrix is ​​defined as:

[0043]

[0044] in, matrix Each eigenvalue of has a positive real part;

[0045] matrix The sum of each row is 1, and all elements are non-negative;

[0046] At this time, the control protocol is:

[0047]

[0048] And the output state of the distributed generator meets the constraints, there is a non-negative constant satisfy So that:

[0049]

[0050] That is, at least one status message from the virtual leader is directed to all distributed generator terminals, and is contained in the convex hull generated by the virtual leader; where δ is the upper bound of the mean square inclusion error.

[0051] Furthermore, the influence of interference on the operation of the ship microgrid is described as generalized noise:

[0052] ζ(0)=0

[0053] Among them, Θ(t) is white noise, ζ ij (t) is the disturbance existing in the system.

[0054] Furthermore, the use of the inclusive control protocol under generalized noise to obtain the noise intensity matrix and the output state of the distributed generator under generalized noise includes:

[0055] Determine the impact of generalized noise on each distributed generator and organize the generalized noise into a compact noise intensity matrix:

[0056]

[0057] Among them, f i =diag{f i1 ,f i2 ,…,f in}, a(i,·) represents the adjacency matrix The i-th row of k(i,·) represents the virtual leader gain matrix The i-th row of

[0058] Under generalized noise, the generator output state is:

[0059]

[0060] Further, the controller gain of the distributed inclusion control strategy is adjusted by inclusion error so that it satisfies the NOS stability condition under generalized noise, including:

[0061] Define the follower's inclusion error e i :

[0062]

[0063] Get its compact form:

[0064] Based on the stochastic differential equation framework, the stability condition of the system is obtained:

[0065] 4λ min L1c v -ρ 2 >0

[0066] Where ρ is the compact noise intensity matrix The upper bound of the second moment, λ min is the minimum eigenvalue of the constructed parameter matrix;

[0067] The maximum value of the expected deviation of the system state parameters is obtained by using the Gronwall inequality condition:

[0068]

[0069] The law of large numbers is used to obtain the upper bounds of system frequency and voltage deviations.

[0070] Advantages and positive effects of the present invention:

[0071] The present invention constructs the framework of a multi-modal ship AC microgrid, and for the power generation side, based on the hierarchical control of the ship-borne micro-source based on the inverter, proposes a distributed inclusive control strategy suitable for the ship AC microgrid. It can effectively handle the collaborative control problem of multiple new energy sources accessing the ship AC microgrid and improve energy utilization. A multi-modal ship AC microgrid is constructed, which is divided into an electrical layer, a data layer, a control layer, and a service layer. Heterogeneous distributed generators can transmit data through it to support the realization of distributed secondary control, and software-defined algorithms can be implemented. Multiple new energy sources are incorporated into the ship AC microgrid.

[0072] In contrast to the commonly used distributed consistency strategy-based approach, the present invention implements an inclusion-based control strategy for the ship AC microgrid to improve the flexibility of distributed generators in regulating the voltage of each PCC point of the ship AC microgrid and make it available in a wider range of practical situations.

[0073] The present invention introduces generalized noise to describe the influence of interference on the proposed strategy. Based on the theory of stochastic differential equations, by analyzing the influence of generalized noise on system stability, the NOS (noise-to-state, referred to as NOS) stability condition of the control strategy is obtained, and the mean square of the included error can converge to a small neighborhood near the origin, thereby realizing the included control of the ship AC microgrid under generalized noise. Improve the stability and flexibility of the system, and overcome the negative impact of generalized noise on the ship AC microgrid. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0075] Figure 1 : The framework of the ship AC microgrid of the present invention;

[0076] Figure 2: Multi-mode ship AC microgrid structure according to an embodiment of the present invention;

[0077] Figure 3 : The impact of adding generalized noise on the traditional control strategy in the embodiment of the present invention;

[0078] Figure 4 : The control strategy implementation process of the ship AC microgrid in the embodiment of the present invention;

[0079] Figure 5 : The effectiveness of the consensus-based distributed secondary control strategy under load disturbance and no generalized noise conditions in the embodiment of the present invention;

[0080] Figure 6 : The effectiveness of the distributed inclusion control strategy under load disturbance and no generalized noise conditions of the embodiment of the present invention;

[0081] Figure 7 : The effectiveness of the distributed inclusion control strategy under generalized noise conditions in the embodiments of the present invention. DETAILED DESCRIPTION

[0082] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0083] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0084] The present invention provides a distributed inclusion control method for a ship AC microgrid under generalized noise. By establishing a model of a multi-modal ship AC microgrid, information exchange can be carried out between heterogeneous new energy generators, effectively ensuring the coordinated control of each new energy generator of an electric-driven ship. In addition, as a high-power load, the ship propulsion equipment of an electric-driven ship will cause a large drop in the bus voltage of the node, especially during the acceleration process of the ship. In order to achieve safe and reliable navigation of ships and improve the quality of electric energy, the present invention proposes a distributed inclusion control strategy for a ship AC microgrid based on a ship-borne micro-source of an inverter. At the same time, considering the generalized noise existing in the navigation of ships, the system parameters are designed through stability theory to improve the system's ability to resist noise and achieve stable and efficient operation of the ship AC microgrid.

[0085] The ship AC microgrid is regarded as a mobile microgrid, which operates in grid-connected mode when the ship arrives at the port, or in island mode during the ship's voyage. In general, the ship AC microgrid has some similarities with the land-based microgrid, such as the presence of various power electronic converters and the need for communication between devices, so the control strategy of the land microgrid can be extended to the ship microgrid. The ship microgrid is a collection of power generation, distribution and power consumption systems, including distributed power sources, energy storage, electronic conversion elements, loads and circuit protection devices. The present invention adopts an inclusive control method to make the state of each generator converge to the convex hull formed by the leader, which makes the distributed generator have better flexibility to cope with various situations. Under the framework of NOS stability theory, the impact of noise on the system is analyzed, and the optimal control scheme is obtained by reasonably designing parameters. Its technical solution mainly includes: the construction of a multi-modal ship AC microgrid model, the analysis of the impact of interference on the ship microgrid, and the design of a reasonable inclusive control strategy, which specifically includes the following steps:

[0086] Combination Figure 1 , the framework of the ship AC microgrid of the method of the present invention is explained, specifically: in order to achieve emission reduction, various new energy sources (such as fuel cells, photovoltaic arrays, etc.) are integrated into the ship AC microgrid as distributed generators. The load side of the ship AC microgrid includes the electric propulsion system, and some loads working at different voltage levels, such as radar, lighting system and domestic electricity, most of which require high-quality electricity.

[0087] Considering the constraints of traditional IP carrier networks, a multi-modal ship AC microgrid structure is established. Figure 2As shown, it is divided into electrical layer, data layer, control strategy and service layer. The service layer is user-oriented and includes data monitoring and energy management. The control layer realizes the compatibility of control strategy with various software, and realizes the control of electrical layer by analyzing and calculating data. In the data layer, various types of data packets are exchanged between adjacent distributed generators, and a multimodal identification table is configured to enhance data security. The electrical layer includes distributed generators and loads, from which measurements can be obtained. The multimodal ship AC microgrid can realize communication between heterogeneous distributed generators from different suppliers, and helps to design reasonable control strategies for different system characteristics. The SCADA data acquisition and monitoring control system (Supervisory Control And Data Acquisition, referred to as SCADA) system collects various data of the ship AC microgrid and transmits it to the energy management system and control system. A distributed inclusive control strategy is designed in the control system, and the design of the coordinated control algorithm for the distributed generator is completed according to the characteristics of the ship AC microgrid structure and the characteristics of the heterogeneous distributed generators. The present invention analyzes the influence of generalized noise on the ship AC microgrid, uses the NOS stability theory and solves the inclusive control error, and then completes the parameter design.

[0088] In this embodiment, a new energy cruise ship named Hornblower Hybrid (New York) is selected as a model, and four distributed generators are used to specifically illustrate the method of the present invention; its technical solution includes the following steps:

[0089] S1: Building a marine AC microgrid framework

[0090] S11, data collection and processing; collect the load demand information of each load during the ship's voyage, allocate the output power ratio of the new energy generator, complete the droop control strategy, and maintain the stable operation of the distributed generator;

[0091] Specifically: The basic principle of droop control is to adjust the generator output power according to the relationship between the generator output power and the frequency and voltage, which can be specifically expressed as:

[0092]

[0093] Among them, w i and V i is the operating voltage and frequency of the distributed generator, P i , Q i is the active and reactive power output of the distributed generator, and is the reference point of droop control and also the target value of distributed secondary control, k Pi and k Qiis the droop control coefficient, which can be determined by the rated power and the maximum allowable voltage and frequency deviation.

[0094] S2. Considering that there will be high-power loads in the ship microgrid, in order to meet the power supply demand, the bus voltage of the corresponding node will inevitably drop, especially when the ship is accelerating. Therefore, a control strategy that can make the output voltage of the new energy generator more flexible is designed. The distributed secondary control strategy is used to compensate for the deviation of the generator state, so that the state of the new energy generator accurately returns to the reference value and improves the power quality.

[0095] Specifically, the control strategy of the ship AC microgrid includes:

[0096] S21. A distributed inclusive control system consists of N+M agents. The communication directed graph is defined as G. F = {1, 2, ..., N} and L = {N+1, ..., N+M} are specified to describe the set of followers and virtual leaders respectively. The Laplace matrix is ​​defined as:

[0097]

[0098] in, Each eigenvalue of the matrix L1 has a positive real part; in addition, for the matrix Each row sums to 1, and all elements are non-negative.

[0099] S22. Due to the nature of droop control itself, deviations will occur after droop control is completed. Frequency and voltage sometimes have obvious permanent deviations, which will lead to a decrease in power quality, reduce the working efficiency of the load, and even cause instability in the ship's AC microgrid. The secondary control strategy aims to correct frequency and voltage deviations, provide high-quality electricity, and ensure efficient and reliable operation of the ship's AC microgrid. In order to adjust the frequency and voltage of each inverter to ensure the stability of the ship's AC microgrid, a distributed secondary control based on inclusion is adopted. The compact form of the local cooperative control strategy is:

[0100]

[0101] Among them, c w and c V is the coupling gain, which affects the controller speed; w nk and V nk It is the reference frequency and voltage information. wi and u Vi Represents the control input for the system to be designed.

[0102] S23. For a control system, if there exists a non-negative constant pik(k∈L) that satisfies So that:

[0103]

[0104] Among them, δ is the upper bound of the mean square inclusion error. If the state of the distributed generator of the ship AC microgrid satisfies the above formula, the actual inclusion control target is achieved.

[0105] S3. Considering the actual operating environment, the ship microgrid will face various interferences during operation. These interferences are modeled as more generalized noises, and their impact on the ship AC microgrid is verified; based on the NOS stability theory, the stability of the distributed inclusion control strategy in the presence of generalized noise is verified, and by designing parameters, the output voltage flexibility of the ship's new energy generator is improved, and the system's ability to resist noise is improved; the inclusion control strategy of the ship AC microgrid under generalized noise is completed.

[0106] S31. Model the interference as generalized noise, including:

[0107] There are also interferences such as electromagnetic interference, communication noise and computing noise in a limited space; the marine environment will interfere with the collection of ship AC microgrid data. Therefore, the ship microgrid faces many types of interference in operation, which cannot be simply described by using white noise. In the embodiment, these interferences are described as generalized noise, which can be expressed as:

[0108] ζ(0)=0

[0109] Among them, Θ(t) is white noise and ζij(t) is the interference in the system.

[0110] like Figure 3 As shown in Figure 2, according to the traditional control strategy, the frequency of the distributed generator in the ship AC microgrid can be maintained at the reference value without generalized noise. After adding generalized noise at t = 5s, although the ship AC microgrid can withstand voltage fluctuations, the frequency cannot be maintained within a reasonable range.

[0111] S32. When there is interference in the ship AC microgrid, the distributed inclusive control protocol of the designed system is:

[0112]

[0113] in, v nk =[w nk (t) V nk (t)] T A reference voltage and frequency representing each distributed generator; Represents the noise intensity.

[0114] Without loss of generality, in this embodiment, Set to:

[0115]

[0116] S32. Improve the output voltage flexibility of ship renewable energy generators and the system's ability to resist noise by designing parameters, including:

[0117] like Figure 4 As shown in Figure 1, the realization of the ship AC microgrid includes a control strategy, which is in a compact form:

[0118]

[0119] in, It contains the part of the Laplace matrix in the control problem and represents the gain between the follower and the leader of the multi-agent system.

[0120] In order to design a reasonable distributed inclusion control strategy, the follower inclusion error e i Defined as:

[0121]

[0122] And get a compact form that includes the error:

[0123]

[0124] The system is analyzed under the noise state stability theory, and the stability condition of the system is obtained based on the stochastic differential equation framework:

[0125] 4λ min L1c v -ρ 2 >0

[0126] Where ρ is a constructed positive definite matrix, which is used to analyze the stability under the Lyapunov equation, thereby obtaining the stability of the proposed distributed quadratic control strategy under generalized noise.

[0127] The maximum value of the expected deviation of the system state parameters is obtained by using the Gronwall inequality condition, which can be expressed as:

[0128]

[0129] The law of large numbers is used to obtain the upper bounds of the system frequency and voltage deviations. Different renewable energy power generation equipment has different characteristics and different tolerances to noise, which can be used as a basis for designing controller parameters. Combined with the controller speed requirements, a reasonable distributed control strategy can be designed. The rated parameters of the experimental ship AC microgrid are shown in Table 1 below:

[0130] TABLE 1

[0131] SIMULATION PARAMETERS

[0132]

[0133] S33. Verify the inclusive control strategy of the ship AC microgrid under generalized noise, including:

[0134] Based on the multi-modal ship AC microgrid designed by S11, the consensus-based distributed secondary control method is verified, specifically:

[0135] The applicability of distributed secondary control of the ship AC microgrid under load fluctuation and generator failure in the absence of generalized noise is verified by simulation examples. The ship accelerates and decelerates at t=3 and t=5; at t=7, the PV array fails and disconnects from the AC bus. Figure 5 As shown in the figure, no matter the load increases or decreases, no matter whether the engine fails or not, the state of the distributed generator can stabilize after a short fluctuation. In this state, the distributed generator can meet the power demand of high-power loads and some loads with high-quality power demand during the ship's navigation.

[0136] Based on the multi-mode ship AC microgrid designed by S11, the distributed inclusive control method of S22 is verified. This embodiment proves the effect of the inclusive control strategy on voltage regulation. Specifically, due to the ship AC microgrid

[0137]

[0138] There are large power loads in the system, and it is necessary for distributed generators in other areas to supply them to meet the power demand, which leads to a voltage drop at the PCC node. Due to the large change in bus voltage at this PCC point during acceleration, it is desirable to flexibly adjust the output voltage of the distributed generators. The parameter matrix used in the control strategy is shown below:

[0139] like Figure 6 As shown, considering the limitations allowed by the ship AC microgrid, the output voltage of each distributed generator is stable within the range formed by each virtual leader; the output voltage of the distributed generator is appropriately adjusted by including a control strategy, after which a better range can be achieved for each PCC point. At the same time, Figure 6 The inclusion error e is shown i , and the output voltage of each distributed generator remains in the convex hull. This shows that the voltage of the distributed generator can converge to the convex hull without generalized noise, and the method of the present invention can realize the inclusion control strategy.

[0140] Based on the multi-modal ship AC microgrid designed by S11, the distributed inclusion control strategy of S32 under generalized noise is completed, proving the effectiveness of the strategy of the method of the present invention under generalized noise conditions; specifically: Figure 7 As shown in the figure, when the system parameters are designed to meet the NOS stability theory, the voltage control error of the distributed generator can be guaranteed to be within the stable range; under generalized noise, the distributed generator can maintain stable and accurate power sharing while changing the state, which ensures the stability of the energy supply of the ship AC microgrid; thus, it is proved that the distributed inclusive control strategy of the present invention improves the flexibility of the system, enabling the system to adjust the output voltage of the distributed generator under the condition of large power load fluctuations for bus voltage regulation. Thus, the design of the distributed inclusive control strategy of the ship AC microgrid under generalized noise is realized.

[0141] The present invention takes into account the characteristics of the ship's load side and energy supply side to ensure the stable operation of new energy equipment. The present invention makes the output voltage of the distributed generator more flexible. At the same time, it takes into account the impact of generalized noise on the ship's microgrid, realizes high-quality energy supply of the ship's distributed generator, and thus realizes safe and reliable navigation of the ship during ocean operations.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A distributed inclusive control method for a ship AC microgrid under generalized noise, characterized in that: include: The new energy generator is integrated into the ship AC microgrid as a distributed generator through an inverter, and a control model of the multi-modal ship AC microgrid is established; The model uses the droop strategy as the primary control to adjust the voltage and frequency of the distributed generator and complete the power distribution. The control system adopts the distributed inclusion strategy to adjust the voltage and frequency deviation caused by the primary control through the controller gain. The distributed control strategy includes: Formulate a protocol for inclusive control under generalized noise: in, Represents the reference information of each distributed generator, v nk =[w nk (t),V nk (t)] T Indicates the status of each distributed generator, represents the noise intensity, ζ ij represents generalized noise, c v is the controller gain; Using the inclusive control protocol under generalized noise, the noise intensity matrix and the output state of the distributed generator under generalized noise are obtained; By including the error, the controller gain of the distributed inclusion control strategy is adjusted to satisfy the NOS stability condition under generalized noise. The formulation of the inclusive control protocol under generalized noise includes: The distributed generator voltage, frequency and power information are used as inputs for control; Include control protocols when developing noise-free; The impact of disturbances on the operation of ship microgrid is described as generalized noise.

2. According to claim 1, a distributed inclusive control method for a ship AC microgrid under generalized noise is characterized in that: The control model of the multi-modal ship AC microgrid includes: The user-oriented service layer includes data monitoring and energy management; The control layer realizes the compatibility of control strategies with various software and controls the electrical layer through data analysis and calculation; Data layer: Various types of data packets are exchanged between adjacent distributed generators, and multi-modal identification tables are configured to enhance data security; The electrical layer includes distributed generators and loads.

3. According to claim 1, a distributed inclusive control method for a ship AC microgrid under generalized noise is characterized in that: The control system includes: a service layer, a control layer, and a data layer.

4. The distributed inclusive control method of a ship AC microgrid under generalized noise according to claim 1 is characterized in that: The model uses the droop strategy as a primary control to adjust the voltage and frequency of distributed generators and complete power distribution, including: w i (t)=w ref i (t)-k Pi P i (t) V i (t)=V i ref (t)-k Qi Q i (t) Constraints for sharing active and reactive power between distributed generators: Among them, w i is the operating frequency of the distributed generator, V i is the operating voltage of the distributed generator; P i is the active power output of the distributed generator, Q i is the reactive power output of the distributed generator; and The reference point frequency and voltage of droop control; k Pi and k Qi is the droop control coefficient, which is determined by the rated power and the maximum allowable voltage and frequency deviation.

5. The distributed inclusive control method of a ship AC microgrid under generalized noise according to claim 1 is characterized in that: The distributed generator voltage, frequency and power information are used as inputs for control, including: By differentiating the generator operating frequency and voltage, it is used as the control system input: Among them, in the ship AC microgrid with N distributed generators, a power controller is used for power calculation, low-pass filtering and droop control to obtain the voltage controller reference and operating frequency of the inverter bridge; the time derivative of the power control loop is calculated and expressed as: Among them, w c is the cutoff frequency of the filter; v odi ,v oqi ,i odi ,i oqi They are the components of voltage and current after the three-phase voltage is transformed by dq.

6. The distributed inclusive control method of a ship AC microgrid under generalized noise according to claim 1 is characterized in that: The control system adopts a distributed inclusion strategy to adjust the voltage and frequency deviations caused by primary control through controller gain: Among them, c w and c v is the coupling gain, which affects the controller speed; w nk and V nk It is the reference frequency and voltage information.

7. The distributed inclusive control method of a ship AC microgrid under generalized noise according to claim 1 is characterized in that: The noise-free formulation includes a control protocol, including: The distributed control system includes: N+M agents; Wherein, the follower set F = {1, 2, ..., N}, the virtual leader set L = {N+1, ..., N+M}; the Laplace matrix is ​​defined as: in, matrix Each eigenvalue of has a positive real part; matrix The sum of each row is 1, and all elements are non-negative; At this time, the control protocol is: And the output state of the distributed generator meets the constraints, there is a non-negative constant satisfy So that: That is, at least one status message from the virtual leader is directed to all distributed generator terminals, and is contained in the convex hull generated by the virtual leader; where δ is the upper bound of the mean square inclusion error.

8. The distributed inclusive control method of a ship AC microgrid under generalized noise according to claim 1 is characterized in that: The above describes the impact of interference on the operation of the ship microgrid as generalized noise: Among them, Θ(t) is white noise, ζ ij (t) is the disturbance existing in the system.

9. The distributed inclusive control method of a ship AC microgrid under generalized noise according to claim 1 is characterized in that: The method of using the inclusive control protocol under generalized noise to obtain the noise intensity matrix and the output state of the distributed generator under generalized noise includes: Determine the impact of generalized noise on each distributed generator and organize the generalized noise into a compact noise intensity matrix: Among them, f i =diag{f i1 ,f i2 ,…,f in }, a(i,·) represents the adjacency matrix The i-th row of k(i,·) represents the virtual leader gain matrix The i-th row of Under generalized noise, the generator output state is:

10. The distributed inclusive control method of a ship AC microgrid under generalized noise according to claim 1 is characterized in that: The controller gain of the distributed inclusion control strategy is adjusted by inclusion error so that it satisfies the NOS stability condition under generalized noise, including: Define the follower's inclusion error e i : Get its compact form: Based on the stochastic differential equation framework, the stability condition of the system is obtained: 4m min L1c v -r 2 >0 Where ρ is the compact noise intensity matrix The upper bound of the second moment, λ min is the minimum eigenvalue of the constructed parameter matrix; The maximum value of the expected deviation of the system state parameters is obtained using the Gronwall inequality condition: The law of large numbers is used to obtain the upper bounds of system frequency and voltage deviations.

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