A micro-grid group operation mode seamless switching control method based on hybrid active disturbance rejection

Abstract

The application provides a micro-grid group operation mode seamless switching control method based on hybrid active disturbance rejection, first, the differential of the output frequency / voltage of the non-restraint distributed power is introduced and synchronously tracked to the differential of the frequency / voltage of the restraint distributed power of the micro-grid group layer, the frequency / voltage disturbance rejection secondary control compensation of the non-restraint distributed power of the micro-grid layer is calculated, the frequency / voltage disturbance rejection recovery controller of each restraint distributed power of the micro-grid group layer is designed to ensure the reliable and stable operation of each region in the new operation mode; then, through the active / reactive power control of the micro-grid layer and the micro-grid group layer, the pre-synchronization controller is designed by combining the hybrid active disturbance rejection, so that the voltage and phase angle of the two sides of the interconnected switch are matched, the hybrid active disturbance rejection is introduced into each control layer of the micro-grid group, the frequency / voltage autonomous control and pre-synchronization compensation are realized based on the system disturbance estimation compensation, and the seamless transition between multiple operation modes is coped with.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of micro-grid group operation control, in particular to a micro-grid group operation mode seamless switching control method based on hybrid active disturbance rejection. BACKGROUND

[0002] With the increasing proportion of distributed power and new type of load access, the network structure complexity and coupling degree are greatly increased. The micro-grid group operation inevitably suffers abnormal disturbance and sudden failure and other working conditions. If no timely and reliable control means is taken, the disturbance or failure may accelerate the spread, and then cause regional cascading failure, and even the system enters the full black state. According to the load operation condition, the sectionalizing switch / circuit breaker is switched to adjust the network topology structure, which is an effective means for the micro-grid group to resist abnormal and failure working conditions. However, how to ensure the smooth switching between operation modes is the key to the smooth transition of the system. The existing micro-grid group operation mode switching method mostly considers the planned specific scene with certain response margin, and ignores the rapidity and real-time action demand of the switch under the failure condition, and it is difficult to alleviate the power fluctuation caused by switching moment and the transient impact caused by control signal state quantity mutation. In addition, the micro-grid group belongs to a nonlinear system with large dimension, high order, multiple disturbances and uncertainty coexistence, and it is difficult to establish a system response analysis model considering the switch state mapping relationship, which limits the suppression accuracy of switching disturbance.

[0003] Active disturbance rejection control is a model-free and parameter-dependent advanced control method, which aims to improve the dynamic response performance of traditional PID controller that is difficult to meet the operation requirements of nonlinear, multivariable and strong coupling system. Its core idea is to extract disturbance information from the input / output signals of the controlled object before the disturbance has an adverse effect on the system output, and then use the control signal to feed forward to compensate in real time to eliminate the disturbance as soon as possible, so as to minimize its influence on the controlled quantity. Active disturbance rejection control can improve the active disturbance rejection capability of the system and the accuracy of synchronously tracking the system frequency / voltage reference value, and has better response speed to the internal and external disturbance and impact caused by the change of system operation mode. SUMMARY

[0004] In view of the deficiencies and gaps of the prior art, the present application provides a micro-grid group operation mode seamless switching control method based on hybrid active disturbance rejection to solve the problems existing in the background art.

[0005] To achieve the above purpose, the technical scheme is as follows:

[0006] On the one hand, a micro-grid group operation mode seamless switching control method based on hybrid active disturbance rejection is provided, which comprises:

[0007] Step A: Collect state information of each microgrid, introduce the minor components of the output frequency / voltage of the unconstrained distributed power source to synchronize and track the minor components of the frequency / voltage of the constrained distributed power source in the microgrid group layer, and calculate the secondary control compensation amount of the frequency / voltage of the unconstrained distributed power source in the microgrid layer for disturbance rejection.

[0008] Step B: For each constrained distributed power source in the microgrid group layer, design a frequency / voltage disturbance rejection recovery controller for the microgrid group layer to achieve rapid synchronization and tracking of the frequency / voltage of the microgrid group to the system's rated reference value, so as to ensure reliable and stable operation of each area under the new operating mode;

[0009] Step C: Combining active / reactive power control at the microgrid layer and the microgrid group layer, optimize the power distribution of the interconnected microgrid group, so that all distributed power sources within the microgrid group can achieve uniform output of active and reactive power according to their capacity;

[0010] Step D: Based on the above control, a hybrid active disturbance rejection additional design pre-synchronization controller is further utilized to match the voltage and phase angle on both sides before the interconnection switch is closed, thereby further reducing transient fluctuations when the system switches from mode to combined operation.

[0011] Further, in step A, calculating the compensation amount required for frequency / voltage regulation in each microgrid includes steps A01 to A03:

[0012] Step A01: Introduce minor components of the distributed source output frequency / voltage to improve the response speed to system disturbances. Construct the unconstrained distributed source frequency disturbance rejection secondary controller for the microgrid layer using the following formula:

[0013]

[0014] In the formula, Unconstrained distributed power generation The hybrid active disturbance rejection output frequency regulation, for Linear active disturbance rejection output frequency adjustment. for Nonlinear active disturbance rejection output frequency adjustment; for Weighting coefficients for frequency adjustment; for Positive gain of frequency adjustment; for The gain of the frequency constant term in the linear feedback controller; for The frequency derivative gain of the linear feedback controller; for The gain of the frequency constant term in the nonlinear feedback controller; for frequency-differential term gain of the nonlinear feedback controller; is linear observer estimates the total disturbance with frequency regulation; is nonlinear observer estimates the total disturbance with frequency regulation; fhanis a nonlinear function; is output frequency; ω k,pin is the output frequency corresponding to the curbed distributed power source; is the linear observer estimate of frequency differential; is the nonlinear observer estimate of frequency differential; is the frequency differential corresponding to the curbed distributed power source; is nonlinear factor of the frequency constant term nonlinear function; is linear interval of the frequency constant term nonlinear function; is nonlinear factor of the frequency differential term nonlinear function; is linear interval of the frequency differential term nonlinear function; is and between the weight; is the weight of the frequency reference information acquisition.

[0015] Step A02: for average voltage observer, the average voltage observer is constituted by the local output voltage of the distributed power source and the mixed active disturbance output quantity, and the specific form is as follows:

[0016]

[0017] In the formula, is the output voltage of the non-curbed distributed power source is the weight average voltage; is weight coefficient of the average voltage estimation; is positive gain of the average voltage estimation; is average voltage constant term gain of the linear feedback controller; is average voltage differential term gain of the linear feedback controller; is average voltage constant term gain of the nonlinear feedback controller; is Average voltage constant term gain of the nonlinear feedback controller For Average voltage differential term gain of the nonlinear feedback controller For Linear observer estimated total disturbance of the average voltage estimation For Nonlinear observer estimated total disturbance of the average voltage estimation For the linear observer estimated Average voltage differential quantity For the nonlinear observer estimated Average voltage differential quantity For Nonlinear factor of the average voltage constant term nonlinear function For Linear interval of the average voltage constant term nonlinear function For Nonlinear factor of the average voltage differential term nonlinear function For Linear interval of the average voltage differential term nonlinear function

[0018] Step A03: According to the average voltage observer designed by the hybrid active disturbance rejection output quantity, the voltage anti-disturbance secondary controller of the microgrid layer is constructed according to the following formula:

[0019]

[0020] In the formula, The hybrid active disturbance rejection output voltage regulation quantity of the non-constrained distributed power supply The linear active disturbance rejection output voltage regulation quantity The nonlinear active disturbance rejection output voltage regulation quantity The weight coefficient of the voltage regulation The positive gain of the voltage regulation The voltage constant term gain of the linear feedback controller The voltage differential term gain of the linear feedback controller The voltage constant term gain of the nonlinear feedback controller The voltage differential term gain of the nonlinear feedback controller The linear observer estimated total disturbance of the voltage regulation The nonlinear observer estimated total disturbance of the voltage regulation The linear observer estimated The nonlinear observer estimated The voltage constant term gain of the nonlinear feedback controller The voltage differential term gain of the nonlinear feedback controller The linear observer estimated total disturbance of the voltage regulation The nonlinear observer estimated total disturbance of the voltage regulation The linear observer estimated The nonlinear observer estimated The linear observer estimated total disturbance of the voltage regulation The nonlinear observer estimated total disturbance of the voltage regulation nonlinear observer of voltage regulation estimates total disturbance; average voltage corresponding to the weight of the restrained distributed power; average voltage differential corresponding to the restrained distributed power; nonlinear factor of the nonlinear function of the voltage constant term; linear interval of the nonlinear function of the voltage constant term; nonlinear factor of the nonlinear function of the voltage differential term; linear interval of the nonlinear function of the voltage differential term; weight of the voltage reference information.

[0021] Further, in step B, the frequency / voltage anti-disturbance recovery controller of the micro-grid group layer is designed as follows in steps B01 to B03 to realize the fast synchronization tracking of the frequency / voltage of the micro-grid group to the system rated reference value:

[0022] Step B01: Since the system frequency / voltage reference value is a constant, the differential reference value corresponding to the tracking in the hybrid active disturbance control is 0, and the frequency anti-disturbance recovery controller of the micro-grid group layer is designed as follows:

[0023]

[0024] In the formula, Ω Hωk,pin is the hybrid active disturbance output frequency regulation amount of the restrained distributed power in the MG k Ω Lωk,pin is the linear active disturbance output frequency regulation amount corresponding to the restrained distributed power, Ω Nωk,pin is the nonlinear active disturbance output frequency regulation amount corresponding to the restrained distributed power; ε ωk,pin is the weight coefficient of the frequency regulation of the restrained distributed power; b ωk,pin is the positive gain of the frequency regulation of the restrained distributed power; k L1ωk,pin is the frequency constant term gain of the linear feedback controller of the restrained distributed power; k L2ωk,pin is the frequency differential term gain of the linear feedback controller of the restrained distributed power; k N1ωk,pin is the frequency constant term gain of the nonlinear feedback controller of the restrained distributed power; k N2ωk,pin is the frequency differential term gain of the nonlinear feedback controller of the restrained distributed power; z L3ωk,pin is the total disturbance estimated by the linear observer of the frequency regulation of the restrained distributed power; z N3ωk,pin is the total disturbance estimated by the nonlinear observer of the frequency regulation of the restrained distributed power; ω * ​​​​​System rated frequency Constrained distributed generation frequency differential estimated by linear observer Constrained distributed generation frequency differential estimated by nonlinear observer N1ωk,pin Nonlinear factor of constrained distributed generation frequency constant term nonlinear function N1ωk,pin Linear interval of constrained distributed generation frequency constant term nonlinear function N2ωk,pin Nonlinear factor of constrained distributed generation frequency differential term nonlinear function N2ωk,pin Linear interval of constrained distributed generation frequency differential term nonlinear function kl MG k Output voltage of constrained distributed generation in MG l Weight between constrained distributed generations in MG ωk,pin Weight for constrained distributed generation to obtain rated frequency information

[0025] Step B02: Construct the average voltage observer shown below for each constrained distributed generation in the upper layer network based on hybrid active disturbance rejection:

[0026]

[0027] In the formula, u k,pin MG k Output voltage of constrained distributed generation Weighted average voltage corresponding to constrained distributed generation Weight coefficient of constrained distributed generation average voltage estimation Positive gain of constrained distributed generation average voltage estimation Average voltage constant term gain of constrained distributed generation linear feedback controller Average voltage differential term gain of constrained distributed generation linear feedback controller Average voltage constant term gain of constrained distributed generation nonlinear feedback controller Average voltage differential term gain of constrained distributed generation nonlinear feedback controller Total disturbance estimated by linear observer for constrained distributed generation average voltage estimation Total disturbance estimated by nonlinear observer for constrained distributed generation average voltage estimation Constrained distributed generation average voltage differential estimated by linear observer Constrained distributed generation average voltage differential estimated by nonlinear observer Nonlinear factor of constrained distributed generation average voltage constant term nonlinear function linear interval of the nonlinear function of the constant term of the average voltage of the DG; nonlinear factor of the nonlinear function of the differential term of the average voltage of the DG; linear interval of the nonlinear function of the differential term of the average voltage of the DG.

[0028] Step B03: Based on the average voltage observer, the average voltage recovery controller of each DG in the microgrid group layer is constructed according to the following formula:

[0029]

[0030] wherein, Φ Huk,pin is the mixed active disturbance rejection output voltage regulation quantity of the DG k in the MG Luk,pin is the linear active disturbance rejection output voltage regulation quantity corresponding to the DG Nuk,pin is the nonlinear active disturbance rejection output voltage regulation quantity corresponding to the DG; ε uk,pin is the weight coefficient of the voltage regulation of the DG; b uk,pin is the positive gain of the voltage regulation of the DG; k L1uk,pin is the voltage constant term gain of the linear feedback controller of the DG; k L2uk,pin is the voltage differential term gain of the linear feedback controller of the DG; k N1uk,pin is the voltage constant term gain of the nonlinear feedback controller of the DG; k N2uk,pin is the voltage differential term gain of the nonlinear feedback controller of the DG; z L3uk,pin is the linear observer estimated total disturbance of the voltage regulation of the DG; z N3uk,pin is the nonlinear observer estimated total disturbance of the voltage regulation of the DG; is the rated voltage of the system; is the linear observer estimated differential quantity of the average voltage of the DG; is the nonlinear observer estimated differential quantity of the average voltage of the DG; ρ' N1uk,pin is the nonlinear factor of the nonlinear function of the constant term of the voltage of the DG; δ' N1uk,pin is the linear interval of the nonlinear function of the constant term of the voltage of the DG; ρ' N2uk,pin is the nonlinear factor of the nonlinear function of the differential term of the voltage of the DG; δ' N2uk,pin is the linear interval of the nonlinear function of the differential term of the voltage of the DG; g uk,pin is the weight of the rated voltage information obtained by the DG.

[0031] Furthermore, in step C, the active / reactive power control of the microgrid layer and the microgrid group layer is combined according to the following steps to ensure that all distributed power sources within the microgrid group achieve uniform output of active and reactive power according to their capacity:

[0032] Step C01: Considering that the active and reactive power output of constrained distributed generation sources in the microgrid is affected by information interaction with the upper-level network, it is not necessary to obtain power state information from unconstrained distributed generation sources. Construct the power sharing controller in the microgrid according to the following formula:

[0033]

[0034] In the formula, Unconstrained distributed power generation The active power regulation amount; Unconstrained distributed power generation The reactive power regulation amount; and They are respectively Positive control gain for active and reactive power regulation; and They are respectively Active and reactive power droop coefficients; and They are respectively The output active and reactive power; m k,pin and n k,pin MG k The active and reactive power droop factors of distributed generation in China; P k,pin , and Q k,pin These refer to the active and reactive power outputs of the restrained distributed power source, respectively. For the lower layer network G k At the s-th trigger time, This is the s-th trigger time of the upper-layer network; and They are respectively Weights for obtaining reference information on active and reactive power.

[0035] Step C02: Considering that the droop factor of distributed generation is inversely proportional to its capacity, each constrained distributed generation can exchange its corresponding microgrid capacity information through the upper-level network, thereby continuously iteratively correcting the output deviation of each constrained distributed generation to achieve uniform power output among microgrids according to capacity. The power sharing controller design for the microgrid group layer is as follows:

[0036]

[0037] In the formula, Ω Pk,pin For MG kThe active power regulation of distributed generation in the middle; Φ Qk,pin For MG k The reactive power regulation of distributed generation in the middle; k Pk,pin and k Qk,pin These are the positive control gains for regulating the active and reactive power of distributed power sources, respectively.

[0038] Furthermore, in step D, a pre-synchronization controller is designed using a hybrid active disturbance rejection system as follows: the voltages and phase angles on both sides of the interconnecting switch are matched before the interconnecting switch is closed, thereby further reducing transient fluctuations during system mode switching to merged operation.

[0039] Step D01: Let the difference between the dq-axis components of the voltages on both sides of the interconnecting switch represent the amplitude difference and phase angle difference. Then, for the i-th distributed power source DG... k,i The pre-synchronization controller can be represented as:

[0040]

[0041] In the formula, Ω sk,i To be overlaid on DG k,i The adjustment amount of the active-frequency droop equation; Φ sk,i To be overlaid on DG k,i The adjustment amount in the reactive power-source droop equation; ξ k Let ξ be the pre-synchronization start-up coefficient, if ξ k =1 indicates that voltage / phase angle synchronization control is initiated on both sides of the interconnection; otherwise, it is 0. and These represent the phase angle difference and amplitude difference of the voltages on both sides of the switch to be closed, respectively; Ω Lsk,i This is the phase angle adjustment amount generated corresponding to the linear active disturbance rejection; Ω Nsk,i This is the phase angle adjustment amount generated to correspond to the nonlinear active disturbance rejection; Φ Lsk,i This is the amplitude adjustment amount generated corresponding to the linear active disturbance rejection; Φ Nsk,i This is the amplitude adjustment amount corresponding to the nonlinear active disturbance rejection generation; ε sqk,i and ε sdk,i These are the weighting coefficients for phase angle and amplitude adjustment, respectively; b sqk,i and b sdk,i These are the positive gains for phase angle and amplitude adjustment, respectively; k L1sqk,i k is the gain of the phase constant term of the linear feedback controller. L2sqk,i k is the phase angle differential gain of the linear feedback controller. N1sqk,i k is the gain of the phase constant term of the nonlinear feedback controller. N2sqk,i k is the phase angle differential gain of the nonlinear feedback controller. L1sdk,i k is the gain of the amplitude constant term of the linear feedback controller. L2sdk,iGain of amplitude constant term of linear feedback controller; k N1sdk,i Gain of amplitude constant term of nonlinear feedback controller; k N2sdk,i Gain of amplitude derivative term of nonlinear feedback controller; p' N1sqk,i Nonlinear factor of phase angle constant term nonlinear function; δ' N1sqk,i Linear interval of phase angle constant term nonlinear function; p' N2sqk,i Nonlinear factor of phase angle derivative term nonlinear function; δ' N2sqk,i Linear interval of phase angle derivative term nonlinear function; p' N1sdk,i Nonlinear factor of amplitude constant term nonlinear function; δ' N1sdk,i Linear interval of amplitude constant term nonlinear function; p' N2sdk,i Nonlinear factor of amplitude derivative term nonlinear function; δ' N2sdk,i Linear interval of amplitude derivative term nonlinear function; z L3sqk,i Linear observer estimated total disturbance for phase angle regulation; z N3sqk,i Nonlinear observer estimated total disturbance for phase angle regulation; z L3sdk,i Linear estimated total disturbance for amplitude regulation; z N3sdk,i Nonlinear observer estimated total disturbance for amplitude regulation.

[0042] Step D02: Before the system performs microgrid merging interconnection operation, set ψ k Interconnection switch flag between different microgrids; ψ k = 1 indicates that the voltages and phase angles on both sides of the switch are inconsistent, and the switch is open; ψ k = 0 indicates that the voltages and phase angles on both sides of the switch are consistent, and the switch is closed.

[0043] An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the method when executing the program.

[0044] A computer readable storage medium having computer instructions stored thereon, the computer instructions being executed by a processor to implement the method.

[0045] The application designs a micro-grid group operation mode seamless switching control method based on hybrid active disturbance rejection, introduces hybrid active disturbance rejection into each control level of the micro-grid group, designs a frequency / voltage autonomous controller and a pre-synchronization compensation controller based on system disturbance estimation compensation, to cope with seamless transition between multiple operation scenarios. The differential component of the output frequency / voltage of the non-tethered distributed power is introduced to synchronize and track the differential component of the frequency / voltage of the tethered distributed power of the micro-grid group layer, to improve the response speed to system disturbance. The frequency / voltage regulator self-adaptively adjusts the active disturbance rejection coefficient according to the error absolute value and the size of the total disturbance during the operation mode switching process, to improve the anti-disturbance ability, and realizes accurate tracking of the target value of the distributed power. Through active / reactive power control of the micro-grid layer and the micro-grid group layer, the power distribution of the interconnected micro-grid group is optimized, so that all distributed powers uniformly distribute active and reactive power according to their capacities. The application also uses hybrid active disturbance rejection to additionally design a pre-synchronization controller, so that the voltages and phase angles on both sides of the interconnected switch are matched, to further reduce the transient fluctuation when the system mode switching to the combined operation. The application provides a new idea for micro-grid group operation mode seamless switching. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 is a flow chart of the control method of the application;

[0047] Figure 2 is a micro-grid group simulation test system used in the embodiment of the application;

[0048] Figure 3 is a frequency waveform diagram of each micro-grid in the embodiment of the application;

[0049] Figure 4 is a bus voltage waveform diagram of each micro-grid in the embodiment of the application;

[0050] Figure 5 is an active power output waveform diagram of each distributed power in the micro-grid group in the embodiment of the application;

[0051] Figure 6 is a reactive power output waveform diagram of each distributed power in the micro-grid group in the embodiment of the application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0053] Embodiment: as Figure 1As shown, this invention designs a seamless switching control method for microgrid group operation modes based on hybrid active disturbance rejection. In practical applications, it specifically includes the following steps:

[0054] Step A: Collect state information of each microgrid, introduce the minor components of the output frequency / voltage of the unconstrained distributed power source to synchronize and track the minor components of the frequency / voltage of the constrained distributed power source in the microgrid group layer, calculate the secondary control compensation amount of the frequency / voltage of the unconstrained distributed power source in the microgrid layer, and then proceed to Step B.

[0055] Step B: For each constrained distributed power source in the microgrid group layer, design a frequency / voltage disturbance rejection recovery controller for the microgrid group layer to achieve rapid synchronization and tracking of the frequency / voltage of the microgrid group to the system's rated reference value, so as to ensure reliable and stable operation of each area in the new operating mode, and then proceed to step C;

[0056] Step C: Combining active / reactive power control at the microgrid layer and microgrid group layer, optimize the power distribution of the interconnected microgrid group, so that all distributed power sources in the microgrid group can output active and reactive power evenly according to their capacity, and then proceed to step D;

[0057] Step D: Based on the above control, a hybrid active disturbance rejection additional design pre-synchronization controller is further utilized to match the voltage and phase angle on both sides before the interconnection switch is closed, thereby further reducing transient fluctuations when the system switches from mode to combined operation.

[0058] In step A above, the compensation required for frequency / voltage regulation in each microgrid is calculated through steps A01 to A03 as follows:

[0059] Step A01: Introduce minor components of the distributed source output frequency / voltage to improve the response speed to system disturbances. Construct the unconstrained distributed source frequency disturbance rejection secondary controller for the microgrid layer using the following formula:

[0060]

[0061] In the formula, Unconstrained distributed power generation The hybrid active disturbance rejection output frequency regulation, for Linear active disturbance rejection output frequency adjustment. for Nonlinear active disturbance rejection output frequency adjustment; for Weighting coefficients for frequency adjustment; for Positive gain of frequency adjustment; for The gain of the frequency constant term in the linear feedback controller; for The frequency derivative gain of the linear feedback controller; for The gain of the frequency constant term in the nonlinear feedback controller; for The frequency derivative gain of the nonlinear feedback controller; for A frequency-tuned linear observer estimates the total disturbance; for A frequency-tuned nonlinear observer estimates the total disturbance; fhan is a nonlinear function; for ω is the output frequency; k,pin To control the output frequency of distributed power sources; Estimated for linear observers Frequency differential component; Estimated for nonlinear observers Frequency differential component; To correspond to the frequency differential components of the distributed power source; for The nonlinear factor of the nonlinear function with frequency constant term; for The linear interval of the nonlinear function of the frequency constant term; for The nonlinear factor of the frequency differential term nonlinear function; for The linear interval of the nonlinear function with frequency differential term; for and The weights between them; for Weights for obtaining frequency reference information.

[0062] Step A02: For An average voltage observer is formed by combining its local output voltage with a hybrid active disturbance rejection output. Its specific form is as follows:

[0063]

[0064] In the formula, Unconstrained distributed power generation ; output voltage; for The weighted average voltage; for Weighting coefficients for average voltage estimation; for Positive gain in average voltage estimation; for The average voltage constant term gain of the linear feedback controller; for Average voltage derivative gain of a linear feedback controller; for The average voltage constant term gain of the nonlinear feedback controller; for Average voltage derivative gain of a nonlinear feedback controller; for The linear observer for average voltage estimation estimates the total disturbance; for The nonlinear observer for average voltage estimation estimates the total disturbance; Estimated for linear observers The differential component of the average voltage; Estimated for nonlinear observers The differential component of the average voltage; for The nonlinear factor of the nonlinear function of the average voltage constant term; for The linear interval of the nonlinear function of the average voltage constant term; for The nonlinear factor of the nonlinear function of the average voltage differential term; for The linear interval of the nonlinear function of the average voltage differential term.

[0065] Step A03: Based on the average voltage observer designed according to the hybrid active disturbance rejection output, construct the voltage disturbance rejection secondary controller of the microgrid layer according to the following formula:

[0066]

[0067] In the formula, Unconstrained distributed power generation Hybrid self-disruption rejection output voltage regulation, for Linear active disturbance rejection output voltage regulation. for Nonlinear self-distance rejection output voltage regulation; for Weighting coefficient for voltage regulation; for Positive gain of voltage regulation; for The voltage constant term gain of the linear feedback controller; for Voltage derivative gain of a linear feedback controller; for The voltage constant term gain of the nonlinear feedback controller; For The voltage differential term gain of the nonlinear feedback controller; For The linear observer of voltage regulation estimates the total disturbance; For The nonlinear observer of voltage regulation estimates the total disturbance; For the weighted average voltage corresponding to the restrained distributed power supply; For the average voltage differential corresponding to the restrained distributed power supply; For The nonlinear factor of the voltage constant term nonlinear function; For The linear interval of the voltage constant term nonlinear function; For The nonlinear factor of the voltage differential term nonlinear function; For The linear interval of the voltage differential term nonlinear function; For The weight of the voltage reference information.

[0068] The frequency / voltage regulator of the microgrid layer adaptively adjusts the weight coefficient of the corresponding hybrid active disturbance rejection control according to the error absolute value and the size of the total disturbance during the operation mode switching process And Improve The disturbance rejection capability, and accurately track the target value of the restrained distributed power supply. In addition, the frequency / voltage regulation amount generated by formula (1) and formula (3) does not need to pass through an integral element, but is directly superimposed on the active-frequency loop and the reactive-voltage loop corresponding to the non-restrained distributed power supply droop control equation.

[0069] In the above step B, the frequency / voltage disturbance rejection controller of the microgrid group layer is designed by steps B01 to B03 to realize the fast synchronization tracking of the frequency / voltage of the microgrid group to the system rated reference value:

[0070] Step B01: Since the system frequency / voltage reference value is a constant, the corresponding differential reference value of the mixed active disturbance rejection control is 0, and the frequency disturbance rejection controller of the microgrid group layer is designed as follows:

[0071]

[0072] In the formula, Ω Hωk,pin is the mixed active disturbance rejection output frequency regulation amount of the restrained distributed power supply in the MG k Ω Lωk,pin is the linear active disturbance rejection output frequency regulation amount corresponding to the restrained distributed power supply, Ω Nωk,pinThe output frequency regulation quantity of the nonlinear active disturbance rejection corresponding to the restraining distributed power; ε ωk,pin The weight coefficient of the frequency regulation of the restraining distributed power; b ωk,pin The positive gain of the frequency regulation of the restraining distributed power; k L1ωk,pin The frequency constant term gain of the linear feedback controller of the restraining distributed power; k L2ωk,pin The frequency differential term gain of the linear feedback controller of the restraining distributed power; k N1ωk,pin The frequency constant term gain of the nonlinear feedback controller of the restraining distributed power; k N2ωk,pin The frequency differential term gain of the nonlinear feedback controller of the restraining distributed power; z L3ωk,pin The total disturbance estimated by the linear observer of the frequency regulation of the restraining distributed power; z N3ωk,pin The total disturbance estimated by the nonlinear observer of the frequency regulation of the restraining distributed power; ω * The rated frequency of the system; The frequency differential quantity of the restraining distributed power estimated by the linear observer; The frequency differential quantity of the restraining distributed power estimated by the nonlinear observer; ρ' N1ωk,pin The nonlinear factor of the nonlinear function of the frequency constant term of the restraining distributed power; δ' N1ωk,pin The linear interval of the nonlinear function of the frequency constant term of the restraining distributed power; ρ' N2ωk,pin The nonlinear factor of the nonlinear function of the frequency differential term of the restraining distributed power; δ' N2ωk,pin The linear interval of the nonlinear function of the frequency differential term of the restraining distributed power; a kl The MG k The output voltage of the restraining distributed power in the MG l The weight between the restraining distributed powers in the MG ωk,pin The weight of the restraining distributed power for obtaining the rated frequency information.

[0073] Step B02: constructing the average voltage observer shown in the following based on the hybrid active disturbance rejection for each restraining distributed power of the upper layer network:

[0074]

[0075] In the formula, u k,pin The output voltage of the restraining distributed power in the MG k The weight average voltage corresponding to the restraining distributed power; The weight coefficient of the average voltage estimation of the restraining distributed power; The positive gain of the average voltage estimation of the restraining distributed power; The average voltage constant term gain of the linear feedback controller of the restraining distributed power; ​The average voltage constant term gain of the linear feedback controller of the distributed power source is restrained; The average voltage constant term gain of the nonlinear feedback controller of the distributed power source is restrained; The average voltage differential term gain of the nonlinear feedback controller of the distributed power source is restrained; The total disturbance estimated by the linear observer of the average voltage estimation of the distributed power source is restrained; The total disturbance estimated by the nonlinear observer of the average voltage estimation of the distributed power source is restrained; The average voltage differential of the distributed power source estimated by the linear observer is restrained; The average voltage differential of the distributed power source estimated by the nonlinear observer is restrained; The nonlinear factor of the average voltage constant term nonlinear function of the distributed power source is restrained; The linear interval of the average voltage constant term nonlinear function of the distributed power source is restrained; The nonlinear factor of the average voltage differential term nonlinear function of the distributed power source is restrained; The linear interval of the average voltage differential term nonlinear function of the distributed power source is restrained.

[0076] Step B03: based on the average voltage observer, the average voltage recovery controller of each restraining distributed power source of the microgrid group layer is constructed according to the following formula:

[0077]

[0078] In the formula, Φ Huk,pin The mixed active disturbance rejection output voltage regulation quantity of the restraining distributed power source in the MG k The linear active disturbance rejection output voltage regulation quantity corresponding to the restraining distributed power source is Φ Luk,pin The nonlinear active disturbance rejection output voltage regulation quantity corresponding to the restraining distributed power source is Φ Nuk,pin The weight coefficient of the voltage regulation of the restraining distributed power source is ε uk,pin The positive gain of the voltage regulation of the restraining distributed power source is b uk,pin The positive gain of the voltage regulation of the restraining distributed power source is k L1uk,pin The voltage constant term gain of the linear feedback controller of the restraining distributed power source is k L2uk,pin The voltage differential term gain of the linear feedback controller of the restraining distributed power source is k N1uk,pin The voltage constant term gain of the nonlinear feedback controller of the restraining distributed power source is k N2uk,pin The voltage differential term gain of the nonlinear feedback controller of the restraining distributed power source is z L3uk,pin The total disturbance estimated by the linear observer of the voltage regulation of the restraining distributed power source is z N3uk,pin The total disturbance estimated by the nonlinear observer of the voltage regulation of the restraining distributed power source is z System rated voltage; The restrained distributed power average voltage differential estimated by the linear observer; The restrained distributed power average voltage differential estimated by the nonlinear observer; p' N1uk,pin The nonlinear factor of the nonlinear function of the restrained distributed power voltage constant term; d' N1uk,pin The linear interval of the nonlinear function of the restrained distributed power voltage constant term; p' N2uk,pin The nonlinear factor of the nonlinear function of the restrained distributed power voltage differential term; d' N2uk,pin The linear interval of the nonlinear function of the restrained distributed power voltage differential term; g uk,pin The weight of the restrained distributed power for obtaining rated voltage information.

[0079] The weight coefficient ε ωk,pin and ε uk,pin in the formula (4) to the formula (6) are adaptively adjusted according to the estimated frequency / error error absolute value and the total disturbance size in the system operation mode switching process, so as to improve the active anti-disturbance ability of each restrained node and the accuracy of the synchronous tracking system frequency / voltage reference value. Similarly, the generated frequency / voltage adjustment amount Ω Hωk,pin and Φ Huk,pin are directly superimposed on the active-frequency loop and the reactive-voltage loop of the droop control of the corresponding restrained distributed power, respectively.

[0080] In the above step C, by combining the active / reactive power control of the microgrid layer and the microgrid group layer, the active and reactive power of all the distributed power in the microgrid group is evenly output according to the capacity of the distributed power:

[0081] Step C01: Considering that the active and reactive power output by the restrained distributed power in the microgrid is affected by the upper-layer network information interaction, it is not necessary to obtain the power state quantity information from the non-restrained distributed power, and the power equalization controller in the microgrid is constructed according to the following formula:

[0082]

[0083] In the formula, P is the active power adjustment amount of the non-restrained distributed power; is the reactive power adjustment amount of the non-restrained distributed power; and K are the positive control gains of the active and reactive power adjustment, respectively; and K are the active and reactive power droop coefficients of the non-restrained distributed power, respectively; and K are the active and reactive power droop coefficients of the non-restrained distributed power, respectively; and K are the active and reactive power droop coefficients of the non-restrained distributed power, respectively; and K respectively the output active and reactive power of the MG k,pin and n k,pin are the active and reactive power droop coefficients of the MG k P k,pin and Q k,pin are the output active and reactive power of the MG are the active and reactive power droop coefficients of the MG k is the s-th triggering time of the lower layer network is the s-th triggering time of the upper layer network and are the weights of the active and reactive power reference information

[0084] Once m and n , all the distributed generators in the MG k can achieve the active and reactive power output according to the capacity.

[0085] Step C02: Considering that the droop coefficient of the distributed generator is inversely proportional to the capacity, each distributed generator can exchange the capacity information of the corresponding micro-grid through the upper layer network, and then continuously iteratively correct the output deviation of each distributed generator to achieve the uniform output according to the capacity in the micro-grid group. The power sharing controller of the micro-grid group layer is designed as follows:

[0086]

[0087] In the formula, Ω Pk,pin is the active power regulation amount of the MG k Φ Qk,pin is the reactive power regulation amount of the MG k k Pk,pin and k Qk,pin are the positive control gains of the active and reactive power regulation of the MG

[0088] Once m k,pin P k,pin → m l,pin P l,pin and n k,pin Q k,pin → n l,pin Q l,pin , the global distributed generator power sharing according to the capacity can be realized through the tracking and synchronization of the lower layer network.

[0089] ​In the above step D, the pre-synchronization controller is designed by the following steps D01-D02 using the hybrid active disturbance rejection to match the voltage and phase angle on both sides of the closing switch, further reducing the transient fluctuation when the system mode switches to the combined operation:

[0090] Step D01: The difference between the dq-axis components of the voltage on both sides of the interconnection switch represents the amplitude difference and phase angle difference, i.e., for the i-th distributed generator DG k,i , the pre-synchronization controller can be represented as:

[0091]

[0092]

[0093] In the formula, Ω sk,i is the adjustment amount superimposed on the DG k,i active-frequency droop equation; Φ sk,i is the adjustment amount superimposed on the DG k,i reactive-power droop equation; ξ k is the pre-synchronization starting coefficient, if ξ k = 1, it represents the starting voltage / phase angle synchronization control on both sides of the interconnection, otherwise it is 0; and represent the phase angle difference and amplitude difference on both sides of the switch to be closed, respectively; Ω Lsk,i is the phase angle adjustment amount generated by the linear active disturbance rejection; Ω Nsk,i is the phase angle adjustment amount generated by the nonlinear active disturbance rejection; Φ Lsk,i is the amplitude adjustment amount generated by the linear active disturbance rejection; Φ Nsk,i is the amplitude adjustment amount generated by the nonlinear active disturbance rejection; ε sqk,i and ε sdk,i are the weight coefficients of the phase angle and amplitude adjustment, respectively; b sqk,i and b sdk,i are the positive gains of the phase angle and amplitude adjustment, respectively; k L1sqk,i is the phase angle constant term gain of the linear feedback controller; k L2sqk,i is the phase angle differential term gain of the linear feedback controller; k N1sqk,i is the phase angle constant term gain of the nonlinear feedback controller; k N2sqk,i is the phase angle differential term gain of the nonlinear feedback controller; k L1sdk,i is the amplitude constant term gain of the linear feedback controller; k L2sdk,i is the amplitude differential term gain of the linear feedback controller; k N1sdk,i is the amplitude constant term gain of the nonlinear feedback controller; k N2sdk,i is the amplitude differential term gain of the nonlinear feedback controller; ρ′ N1sqk,i is the nonlinear factor of the phase angle constant term nonlinear function; δ′N1sqk,i is a linear interval of the phase angle constant term nonlinear function; p' N2sqk,i is a nonlinear factor of the phase angle differential term nonlinear function; d' N2sqk,i is a linear interval of the phase angle differential term nonlinear function; p' N1sdk,i is a nonlinear factor of the amplitude constant term nonlinear function; d' N1sdk,i is a linear interval of the amplitude constant term nonlinear function; p' N2sdk,i is a nonlinear factor of the amplitude differential term nonlinear function; d' N2sdk,i is a linear interval of the amplitude differential term nonlinear function; z L3sqk,i is a linear observer estimated total disturbance of the phase angle regulation; z N3sqk,i is a nonlinear observer estimated total disturbance of the phase angle regulation; z L3sdk,i is a linear estimated total disturbance of the amplitude regulation; z N3sdk,i is a nonlinear observer estimated total disturbance of the amplitude regulation.

[0094] Step D02: Before the system performs the microgrid merging interconnection operation, set k is a microgrid interconnection switch flag, and k = 1 indicates that the voltages and phase angles on both sides of the switch are inconsistent, and the switch is open; and k = 0 indicates that the voltages and phase angles on both sides of the switch are consistent, and the switch is closed. At the same time, the frequency / voltage disturbance control controllers work together to jointly suppress the disturbance or impact phenomenon caused by the closing of the switch, and realize smooth transition of the operating state.

[0095] The above designed technical solutions are applied to the actual situation, and a simulation system is shown in Figure 2 , which is composed of three microgrids (MG) connected to form a microgrid group system, each MG contains three DGs with the same capacity, which are connected to the voltage bus through different line impedances. Then, the DG 11 , DG 21 , and DG 31 are set as containment nodes and form an inter-group communication network. The microgrid group operation mode seamless switching control method based on the hybrid active disturbance rejection of the embodiment of the application establishes a system controller, and a microgrid group model is built based on the MATLAB / Simulink simulation platform to verify the control effect of the method.

[0096] corresponding to Figure 2The simulation working conditions of the micro-grid group operation mode switching are set as follows: 1) at the initial time, the circuit breakers CB1-CB3 are all closed, the three micro-grids form a micro-grid group for cooperative operation, and the controllers of the micro-grid group layer and the micro-grid layer are started; 2) at 4 seconds, the load Load4 is connected to the system bus (to simulate a small disturbance condition of the system); 3) at 6 seconds, the MG1 is independently operated due to unplanned splitting (to simulate a large disturbance condition of the system), and the MG2 and the MG3 continue to be interconnected; 4) at 8 seconds, the fault is eliminated, and the merging pre-synchronization of the MG1 is started; 5) at 10 seconds, the MG1 is re-merged, and the working condition of the cooperative operation of the three micro-grids is restored. Figures 3 to 6 The simulation results corresponding to the working conditions in the embodiment are shown in the following figures. Figure 3 The figure is a frequency waveform diagram of each micro-grid, the horizontal coordinate represents time in seconds, and the vertical coordinate represents frequency in hertz. Figure 4 The figure is a bus voltage waveform diagram of each micro-grid, the horizontal coordinate represents time in seconds, and the vertical coordinate represents voltage in volts. Figure 5 The figure is an active power waveform diagram of the DG output in each micro-grid, the horizontal coordinate represents time in seconds, and the vertical coordinate represents active power in kilowatts. Figure 6 The figure is a reactive power waveform diagram of the DG output in each micro-grid, the horizontal coordinate represents time in seconds, and the vertical coordinate represents active power in kilovolt-ampere. Figures 3 to 6 It can be seen that, within 0-2 seconds, under the joint action of the frequency / voltage regulator and the active / reactive power controller, the frequency / bus voltage of each micro-grid is maintained at the rated value, and all the distributed power sources in the group uniformly distribute the active and reactive power according to the capacity; at 4 seconds, under the small disturbance condition, the frequency / voltage has a very small fluctuation, and the global active and reactive power is still uniformly distributed according to the capacity; at 6 seconds, under the large disturbance condition, the frequency / voltage is restored to the rated value after a short fluctuation, and the active and reactive power reaches a new steady-state convergence value; at 8 seconds, the merging pre-synchronization of the MG1 is started, so that the voltage and phase angle on both sides of the circuit breaker can be matched; at 10 seconds, the MG1 is re-merged, the transient fluctuation of the frequency / voltage is small, and the global power reaches the uniform distribution state under the new operation mode. In the whole simulation process, each micro-grid has a small overshoot in the dynamic process, which shows that the method has good anti-disturbance performance.

[0097] The micro-grid group operation mode seamless switching control method based on the hybrid active disturbance rejection first introduces the micro-grid layer non-restraint distributed power output frequency / voltage differential quantity synchronization and tracking of the micro-grid group layer restraint distributed power frequency / voltage differential quantity, calculates the micro-grid layer frequency / voltage disturbance rejection secondary control compensation quantity, and designs the micro-grid group layer frequency / voltage disturbance rejection recovery controller, so as to ensure that each region can be reliably and stably operated in the new operation mode; then, through the micro-grid layer and the micro-grid group layer active / reactive power control, all distributed powers can realize the active and reactive power sharing according to the capacity; secondly, the pre-synchronization controller is designed by combining the hybrid active disturbance rejection, so that the voltages and phase angles of the two sides of the interconnected switch are matched, and the transient fluctuation when the system mode switching is combined and operated is further reduced. The method introduces the hybrid active disturbance rejection into each control level of the micro-grid group, designs the frequency / voltage autonomous controller and the pre-synchronization compensation controller based on the system disturbance estimation compensation, so as to cope with the seamless transition between multiple operation modes. The present application provides a feasible and effective implementation scheme for the micro-grid group operation mode seamless switching.

[0098] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0099] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only illustrative of the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. A method for seamless switching control of microgrid cluster operation modes based on hybrid active disturbance rejection, characterized in that, The method comprises the following steps: Step A: Collecting state quantity information of each micro-grid, introducing a differential quantity of frequency / voltage of non-restrained distributed power output of the micro-grid, synchronizing and tracking the differential quantity of frequency / voltage of restrained distributed power of the micro-grid group layer, calculating frequency / voltage anti-disturbance secondary control compensation quantity of the non-restrained distributed power of the micro-grid layer, so as to realize frequency / voltage regulation in each micro-grid: Step B: For each restrained distributed power of the micro-grid group layer, a frequency / voltage anti-disturbance recovery controller is designed to realize fast synchronization and tracking of the frequency / voltage of the micro-grid group to the rated reference value of the system, so as to ensure reliable and stable operation of each region in the new operation mode; Step C: Active / reactive power control of the micro-grid layer and the micro-grid group layer is combined to optimize power distribution of the interconnected micro-grid group, so that all distributed powers in the micro-grid group realize uniform active and reactive power output according to their capacities; Step D: On the basis of the above control, a pre-synchronization controller is designed by using a hybrid active disturbance rejection to match the voltage and phase angle of both sides before the interconnection switch is closed, so as to reduce transient fluctuation when the system mode switches to the combined operation.

2. The hybrid active disturbance rejection based microgrid cluster operation mode seamless switching control method according to claim 1, characterized in that, In step A, the secondary control compensation quantity is calculated by steps A01 to A03 to realize frequency / voltage regulation in each micro-grid: Step A01: The differential quantity of frequency / voltage of the distributed power output is introduced, and the frequency anti-disturbance secondary controller of the non-restrained distributed power of the micro-grid layer is constructed according to the above formula, In the formula, Unconstrained distributed power generation The hybrid active disturbance rejection output frequency regulation, for Linear active disturbance rejection output frequency adjustment. for Nonlinear active disturbance rejection output frequency adjustment; for Weighting coefficients for frequency adjustment; for Positive gain of frequency adjustment; for The gain of the frequency constant term in the linear feedback controller; for The frequency derivative gain of the linear feedback controller; for The gain of the frequency constant term in the nonlinear feedback controller; for The frequency derivative gain of the nonlinear feedback controller; for A frequency-tuned linear observer estimates the total disturbance; for A frequency-tuned nonlinear observer estimates the total disturbance; fal is a nonlinear function; for ω is the output frequency; k,pin To control the output frequency of distributed power sources; Estimated for linear observers Frequency differential component; Estimated for nonlinear observers Frequency differential component; to correspond to the frequency differential component of the distributed power; to a nonlinear factor of the nonlinear function of the frequency constant term; to a linear interval of the nonlinear function of the frequency constant term; to a nonlinear factor of the nonlinear function of the frequency differential term; to a linear interval of the nonlinear function of the frequency differential term; to and a weight between; to a weight of the frequency reference information, Step A02: Forming from the local output voltage in combination with the mixed active disturbance output quantity The average voltage observer, in particular, is as follows: In the formula, Unconstrained distributed power generation ; output voltage; for The weighted average voltage; for Weighting coefficients for average voltage estimation; for Positive gain in average voltage estimation; for The average voltage constant term gain of the linear feedback controller; for Average voltage derivative gain of a linear feedback controller; for The average voltage constant term gain of the nonlinear feedback controller; for Average voltage derivative gain of a nonlinear feedback controller; for The linear observer for average voltage estimation estimates the total disturbance; for The nonlinear observer for average voltage estimation estimates the total disturbance; Estimated for linear observers The differential component of the average voltage; Estimated for nonlinear observers The differential component of the average voltage; for The nonlinear factor of the nonlinear function of the average voltage constant term; for The linear interval of the nonlinear function of the average voltage constant term; for The nonlinear factor of the nonlinear function of the average voltage differential term; for The linear interval of the nonlinear function of the average voltage differential term. Step A03: The average voltage observer designed by the hybrid active disturbance rejection output is constructed to form the voltage anti-disturbance secondary controller of the micro-grid layer according to the following formula: In the formula, a hybrid active disturbance rejection output voltage regulation quantity of a non-constrained distributed power supply a linear active disturbance rejection output voltage regulation quantity, a a linear active disturbance rejection output voltage regulation quantity, a a nonlinear active disturbance rejection output voltage regulation quantity; a a weight coefficient of voltage regulation; a a positive gain of voltage regulation; a a voltage constant term gain of a linear feedback controller; a a voltage differential term gain of a linear feedback controller; a a voltage constant term gain of a nonlinear feedback controller; a a voltage differential term gain of a nonlinear feedback controller; a a linear observer estimated total disturbance of voltage regulation; a a nonlinear observer estimated total disturbance of voltage regulation; a a weight average voltage corresponding to a constrained distributed power supply; a a nonlinear factor of a voltage constant term nonlinear function; a a linear interval of a voltage constant term nonlinear function; a a nonlinear factor of a voltage differential term nonlinear function; a a linear interval of a voltage differential term nonlinear function; a a weight of voltage reference information.

3. The hybrid active disturbance rejection based microgrid cluster operation mode seamless switching control method according to claim 2, characterized in that, In step B, the frequency / voltage anti-disturbance recovery controller of the micro-grid group layer is designed to realize fast synchronization and tracking of the frequency / voltage of the micro-grid group to the rated reference value of the system, which specifically comprises the following steps: Step B01: For each restrained distributed power of the micro-grid group layer, the frequency anti-disturbance recovery controller of the micro-grid group layer is designed as follows: wherein Ω Hωk,pin is the MG k is the output frequency regulation of the hybrid active disturbance rejection for restraining the distributed generation, Ω Lωk,pin is the output frequency regulation of the linear active disturbance rejection for restraining the distributed generation, Ω Nωk,pin is the output frequency regulation of the nonlinear active disturbance rejection for restraining the distributed generation; ε ωk,pin is the weight coefficient of the frequency regulation for restraining the distributed generation; b ωk,pin is the positive gain of the frequency regulation for restraining the distributed generation; k L1ωk,pin is the gain of the frequency constant term of the linear feedback controller for restraining the distributed generation; k L2ωk,pin is the gain of the frequency differential term of the linear feedback controller for restraining the distributed generation; k N1ωk,pin is the gain of the frequency constant term of the nonlinear feedback controller for restraining the distributed generation; k N2ωk,pin is the gain of the frequency differential term of the nonlinear feedback controller for restraining the distributed generation; z L3ωk,pin is the total disturbance estimated by the linear observer for restraining the distributed generation; z N3ωk,pin is the total disturbance estimated by the nonlinear observer for restraining the distributed generation; ω * is the rated frequency of the system; is the frequency differential of the distributed generation restrained by the linear observer; is the frequency differential of the distributed generation restrained by the nonlinear observer; ρ′ N1ωk,pin is the nonlinear factor of the nonlinear function of the frequency constant term for restraining the distributed generation; δ′ N1ωk,pin is the linear interval of the nonlinear function of the frequency constant term for restraining the distributed generation; ρ′ N2ωk,pin is the nonlinear factor of the nonlinear function of the frequency differential term for restraining the distributed generation; δ′ N2ωk,pin is the linear interval of the nonlinear function of the frequency differential term for restraining the distributed generation; a kl is the MG k is the MG l is the weight between the distributed generation and the MG ωk,pin is the weight of the rated frequency information obtained by the distributed generation Step B02: Based on the hybrid active disturbance rejection, the average voltage observer of each restrained distributed power of the upper network is constructed as follows: where u k,pin is the MG k voltage of the MG is the weighted average voltage of the MG is the weight coefficient of the MG is the positive gain of the MG is the constant term gain of the MG is the differential term gain of the MG is the constant term gain of the MG is the differential term gain of the MG is the total disturbance estimated by the linear observer of the MG is the total disturbance estimated by the nonlinear observer of the MG is the differential component of the MG is the differential component of the MG is the nonlinear factor of the constant term nonlinear function of the MG is the linear interval of the constant term nonlinear function of the MG is the nonlinear factor of the differential term nonlinear function of the MG is the linear interval of the differential term nonlinear function of the MG Step B03: On the basis of the average voltage observer, the average voltage recovery controller of each restrained distributed power of the micro-grid group layer is constructed according to the following formula: wherein Φ Huk,pin is the MG k is the mixed active disturbance rejection output voltage regulation quantity for restraining the distributed power source, Φ Luk,pin is the linear active disturbance rejection output voltage regulation quantity for restraining the distributed power source, Φ Nuk,pin is the nonlinear active disturbance rejection output voltage regulation quantity for restraining the distributed power source; ε uk,pin is the weight coefficient of the voltage regulation of the DG; b uk,pin is the positive gain of the voltage regulation of the DG; k L1uk,pin is the gain of the voltage constant term of the linear feedback controller of the DG; k L2uk,pin is the gain of the voltage differential term of the linear feedback controller of the DG; k N1uk,pin is the gain of the voltage constant term of the nonlinear feedback controller of the DG; k N2uk,pin is the gain of the voltage differential term of the nonlinear feedback controller of the DG; z L3uk,pin is the linear observer estimated total disturbance of the voltage regulation of the DG; z N3uk,pin is the nonlinear observer estimated total disturbance of the voltage regulation of the DG; is the system rated voltage; is the linear observer estimated average voltage differential of the DG; ρ is the nonlinear observer estimated average voltage differential of the DG; ρ' N1uk,pin is the nonlinear factor of the voltage constant term nonlinear function of the DG; δ' N1uk,pin is the linear interval of the voltage constant term nonlinear function of the DG; ρ' N2uk,pin is the nonlinear factor of the voltage differential term nonlinear function of the DG; δ' N2uk,pin is the linear interval of the voltage differential term nonlinear function of the DG; g uk,pin is the weight of the DG to obtain the rated voltage information.

4. The hybrid active disturbance rejection based microgrid cluster operation mode seamless switching control method according to claim 3, characterized in that: In step C, the active / reactive power control of the micro-grid layer and the micro-grid group layer is combined to make all distributed powers in the micro-grid group realize uniform active and reactive power output according to their capacities, which specifically comprises the following steps: Step C01: Based on the lower network, the power equalization controller in the micro-grid is constructed according to the following formula: In the formula, is the active power regulation amount of the non-constrained distributed power supply ; is the reactive power regulation amount of the non-constrained distributed power supply ; and are respectively positive control gains of active and reactive power regulation; and are respectively dropping coefficients of active and reactive power of the non-constrained distributed power supply; and are respectively output active and reactive power of the non-constrained distributed power supply; m k,pin and n k,pin are respectively active and reactive power dropping coefficients of the constrained distributed power supply in the MG k ; P k,pin , and Q k,pin are respectively output active and reactive power of the constrained distributed power supply; is the s-th triggering time of the lower-layer network G k ; is the s-th triggering time of the upper-layer network; and are respectively weights for obtaining active and reactive power reference information, Step C02: Each restrained distributed power exchanges the capacity information of the corresponding micro-grid through the upper network, and the power equalization controller of the micro-grid group layer is designed as follows: where Ω Pk,pin is the MG k active power regulation amount of the MG Qk,pin is the MG k reactive power regulation amount of the MG Pk,pin and k Qk,pin are the positive control gains for the active and reactive power regulation of the MG, respectively.

5. The hybrid active disturbance rejection based microgrid cluster operation mode seamless switching control method according to claim 1, characterized in that: In step D, the pre-synchronization controller is designed by using the hybrid active disturbance rejection to match the voltage and phase angle of both sides before the interconnection switch is closed, which specifically comprises the following steps: Step D01: The difference between the dq-axis components of the voltage on both sides of the interconnected switch represents the amplitude difference and the phase angle difference, so for the ith distributed generator DG k,i The pre-synchronization controller can be expressed as: Ω sk,i is the adjustment amount of the active-power-frequency droop equation; Φ k,i is the adjustment amount of the active-power-source droop equation; ξ sk,i is the adjustment amount of the reactive-power-frequency droop equation; Φ k,i is the adjustment amount of the reactive-power-source droop equation; ξ k is the pre-synchronization start-up coefficient, which is 1 if ξ k represents synchronization control of the start-up voltage / phase angle on both sides of the interconnection, and 0 otherwise; and respectively represent the phase angle difference and the amplitude difference of the voltages on both sides of the switch to be closed; Ω Lsk,i is the phase angle adjustment amount generated by the linear active disturbance rejection; Ω Nsk,i is the phase angle adjustment amount generated by the nonlinear active disturbance rejection; Φ Lsk,i is the amplitude adjustment amount generated by the linear active disturbance rejection; Φ Nsk,i is the amplitude adjustment amount generated by the nonlinear active disturbance rejection; ε sqk,i and ε sdk,i are respectively the weight coefficients of the phase angle adjustment and the amplitude adjustment; b sqk,i and b sdk,i are respectively the positive gains of the phase angle adjustment and the amplitude adjustment; k L1sqk,i is the phase angle constant term gain of the linear feedback controller; k L2sqk,i is the phase angle differential term gain of the linear feedback controller; k N1sqk,i is the phase angle constant term gain of the nonlinear feedback controller; k N2sqk,i is the phase angle differential term gain of the nonlinear feedback controller; k L1sdk,i is the amplitude constant term gain of the linear feedback controller; k L2sdk,i is the amplitude differential term gain of the linear feedback controller; k N1sdk,i is the amplitude constant term gain of the nonlinear feedback controller; k N2sdk,i is the amplitude differential term gain of the nonlinear feedback controller; ρ' N1sqk,i is the nonlinear factor of the phase angle constant term nonlinear function; δ' N1sqk,i is the linear interval of the phase angle constant term nonlinear function; ρ' N2sqk,i is the nonlinear factor of the phase angle differential term nonlinear function; δ' N2sqk,i is the linear interval of the phase angle differential term nonlinear function; ρ' N1sdk,i is the nonlinear factor of the amplitude constant term nonlinear function; δ' N1sdk,i is the linear interval of the amplitude constant term nonlinear function; ρ' N2sdk,i is the nonlinear factor of the amplitude differential term nonlinear function; δ' N2sdk,i is the linear interval of the amplitude differential term nonlinear function; z L3sqk,i is the total disturbance estimated by the linear observer of the phase angle adjustment; z N3sqk,i For phase angle regulated, estimate total disturbance with a nonlinear observer; z L3sdk,i For amplitude regulated, estimate total disturbance with a linear observer; z N3sdk,i For amplitude regulated, estimate total disturbance with a nonlinear observer, Step D02: Set ψ before the system performs the microgrid merging interconnection operation k ψ is the flag of the interconnection switch between different microgrids k = 1 indicates that the voltage and phase angle on both sides of the switch are inconsistent, and the switch is open; ψ k = 0 indicates that the voltage and phase angle on both sides of the switch are consistent, and the switch is closed.

6. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that: The processor executes the program to realize the micro-grid group operation mode seamless switching control method based on the hybrid active disturbance rejection according to any one of the above claims 1 to 5.

7. A computer readable storage medium having stored thereon computer instructions, characterized in that: The computer instructions, when executed by the processor, implement a hybrid active disturbance rejection based microgrid cluster operation mode seamless switching control method according to any one of claims 1-5.

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