Flexible interconnection micro-grid group hierarchical coordination control method, device, equipment and medium

Abstract

The invention relates to a flexible interconnection micro-grid group hierarchical coordination control method, device and equipment and a medium, and the method comprises the steps: introducing a containment consistency algorithm, and building a flexible interconnection micro-grid group double-layer control architecture based on an energy router; disturbance generated by the system is observed through linear active disturbance rejection control, and feedforward compensation is carried out through a distributed disturbance rejection controller; the distributed power supply in the micro-grid realizes frequency and average voltage recovery and power sharing in the micro-grid through synchronization and tracking; and dynamically generating a transmission power reference value of the energy router through information interaction of each contained distributed power supply, and realizing global power sharing between microgrids. According to the method, disturbance can be eliminated, and uncertainties and adverse effects of disturbance on the system are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of coordinated operation of flexible interconnected microgrid groups, and in particular to a hierarchical coordinated control method, device, equipment and medium for flexible interconnected microgrid groups. Background Art

[0002] A microgrid cluster (MGC) is formed by interconnecting geographically adjacent microgrids (MGs), which can achieve reliable power supply in the region and meet diverse and personalized energy needs. The traditional method is to interconnect MGs with circuit breakers, which has the advantages of low cost and easy control. However, due to the direct electrical connection between MGs, the interconnected system has problems such as low control flexibility and limited control margin. This limitation is overcome by interconnecting each MG through an electrical energy router (EER). This method can flexibly adjust the bidirectional power flow between regions and promote the effective use of adjustable resources in a larger range.

[0003] The DC isolation link of EER decouples the interconnected microgrids, making the frequency a local variable. In this case, only the adjustable resources in each area can be used to handle disturbances, which requires flexible power regulation capabilities. In order to coordinate distributed resources between regions, MGC usually needs to perform operations such as load / distributed generation (DG) access and exit. Under various disturbances and uncertainties, the traditional proportional-integral (PI) controller is difficult to meet the requirements for reliable operation of the system. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a hierarchical coordinated control method, device, equipment and medium for a flexible interconnected microgrid group, which can eliminate disturbances and reduce the adverse effects of uncertainty and disturbances on the system.

[0005] The technical solution adopted by the present invention to solve the technical problem is: to provide a hierarchical coordinated control method for a flexible interconnected microgrid group, comprising the following steps:

[0006] Introduce the pinning consensus algorithm and establish a two-layer control architecture for flexible interconnected microgrids based on energy routers;

[0007] The disturbances generated by the system are observed by linear active disturbance rejection control, and feed-forward compensation is performed through a distributed disturbance rejection controller.

[0008] Distributed power sources within the microgrid achieve frequency and average voltage recovery and power sharing within the microgrid through synchronization and tracking;

[0009] Through the information interaction of each distributed power source, the transmission power reference value of the energy router is dynamically generated to achieve global power sharing among microgrids.

[0010] The introduction of the pinning consensus algorithm and the establishment of a two-layer control architecture of a flexible interconnected microgrid group based on energy routers specifically include:

[0011] For the microgrid layer, each distributed power source adopts droop control to achieve stable voltage and frequency regulation, wherein the droop control is expressed as: Among them, ω k,i and v k,i Microgrid MG k The i-th distributed generation DG k,i The output angular frequency and output voltage; and Microgrid MG k The i-th distributed generation DG k,i The output frequency rating and output voltage rating of k,i and n k,i Microgrid MG k The i-th distributed generation DG k,i The active power droop coefficient and reactive power droop coefficient of k,i and Q k,i Respectively represent microgrid MG k The i-th distributed generation DG k,i Output active power and reactive power;

[0012] For the microgrid cluster layer, by controlling the power information interaction between distributed power sources, the power sharing between microgrids is converted into the transmission power regulation of energy routers. k The state quantities of the pinned distributed generation and the non-pinned distributed generation are x k,pin (t) and x k,ir (t), its status is updated as follows: Among them, M k and N ir Microgrid MG k The neighbor node set of the controlled distributed generation and the non-controlled distributed generation; a kl It is Micro MG k and Microgrid MG l The communication weight between k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight betweenl,pin (t) is the microgrid MG l The state quantity of the distributed generation in the control, x k,jr (t) is the microgrid MG k The state quantity of the jrth non-constrained distributed generation in g; k,ir is the containment gain; x kref For the microgrid group communication network G u The reference value obtained in .

[0013] The linear active disturbance rejection control is used to observe the disturbance generated by the system, and feedforward compensation is performed through a distributed disturbance rejection controller, specifically including:

[0014] A differential tracker is constructed to make the state variable follow the reference value for smooth transition. The differential tracker is expressed as: Where x1(k) is the reference value x ref , x2(k) is the approximate differential variable of x1(k), h is the iteration step, fhan() is the differential tracker core function, r0 is the speed coefficient, and h0 is the noise filter coefficient;

[0015] A linear extended state observer is constructed to identify the disturbances generated by the system. The linear extended state observer is expressed as: Where z1, z2 and z3 are the observed variables of the linear extended state observer for x1(k), x2(k) and the total disturbance, respectively. L is the feedback error, y is the system output, and are the derivatives of z1, z2 and z3 respectively, β1, β2 and β3 are all coefficients greater than 0, b is the gain coefficient, and u is the system input;

[0016] According to the difference between the output state quantity of the differential tracker and the estimated state quantity of the linear extended state observer, a distributed disturbance rejection controller is designed. The distributed disturbance rejection controller is expressed as: Among them, u L is the output of the distributed disturbance rejection controller, x1 and x2 are the output state quantities of the differential tracker, and k1 and k2 are the control gains.

[0017] The distributed power sources in the microgrid realize frequency and average voltage recovery and power sharing in the microgrid through synchronization and tracking, which specifically includes:

[0018] Build microgrid MG k A frequency anti-disturbance controller for the pinned distributed power source and the non-pinned distributed power source is used to achieve frequency recovery, wherein the frequency anti-disturbance controller is expressed as: Among them, Ω ωk,pin and Ω ωk,irare the frequency regulation variables of the pinned distributed power source and the non-pinned distributed power source respectively; ω k,pin is the frequency tracking reference value, is the corresponding frequency derivative, is the frequency rating, k 1ωk,pin and k 2ωk,pin are the frequency disturbance rejection control gain for controlling distributed power supply, N ir For microgrid MG k The neighbor node set of non-distributed power generation in China, a k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between k,ir and ω k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The frequency, and are the corresponding frequency derivatives, k 1ωk,ir and k 2ωk,ir are the frequency disturbance rejection control gains of non-pinned distributed power sources; g ωk is the frequency gain, z 3ωk,pin and z 3ωk,ir are the estimated total disturbances of the frequency observers of the pinned distributed generation and the non-pinned distributed generation, respectively; b is the gain coefficient;

[0019] Build microgrid MG k A voltage disturbance rejection controller of the pinned distributed power source and the non-pinned distributed power source is used to realize average voltage recovery, wherein the voltage disturbance rejection controller is expressed as: Among them, Φ vk,pin and Φ vk,ir are the voltage regulation variables of the pinned distributed generation and the non-pinned distributed generation, is the weighted average voltage reference value, is the voltage rating, k 1vk,pin and k 2vk,pin are the voltage disturbance rejection control gain for controlling distributed power sources, is the corresponding voltage differential, and Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The average voltage, and are the corresponding voltage differentials, k 1vk,ir and k 2vk,ir are the voltage disturbance rejection control gain of the non-pinned distributed generation, g vk is the voltage gain, z 3vk,pin and z 3vk,ir The estimated total disturbance of the voltage observer for pinned DGs and non-pinned DGs respectively;

[0020] Build microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is used to realize power sharing in the microgrid, wherein the microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is expressed as: Among them, Ω Pk,ir and Φ Qk,ir Microgrid MG k Active power adjustment variables and reactive power adjustment variables of distributed power sources in China and Africa; m k,ir and m k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The active power droop coefficient, n k,ir and n k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The droop coefficient of reactive power, m k,pin and n k,pin Microgrid MG k The droop coefficient of active power and reactive power of distributed generation is P k,ir and P k,jr Respectively represent microgrid MG k The active power output of the irth non-constrained distributed generation and the jrth non-constrained distributed generation; g Pk is the active power gain; P k,pin is the active power reference value, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding active power derivatives, is the corresponding active power differential, Q k,ir and Q k,jr Respectively represent microgrid MG k The reactive power output by the irth non-constrained distributed generation and the jrth non-constrained distributed generation, gQk is the reactive power gain, Q k,pin is the reactive power reference value, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding reactive power derivatives, is the corresponding reactive power differential, z 3Pk,ir and z 3Qk,ir are the estimated total disturbances of the active and reactive observers of the non-pinned distributed generation, respectively.

[0021] The transmission power reference value of the energy router is dynamically generated through the information interaction of each distributed power source, so as to realize the global power sharing among microgrids, specifically including:

[0022] Build microgrid MG k The power anti-disturbance controller of the distributed power source is used to control the active / reactive power sharing between microgrids by adjusting the transmission power of the energy router. k The power disturbance rejection controller for controlling the distributed power supply is expressed as: Among them, Ω Pk,pin and Φ Qk,pin Microgrid MG k The active power equalization adjustment amount and reactive power equalization adjustment amount of the distributed power source are controlled in the middle, b is the gain coefficient, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of the distributed power supply, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of distributed power sources, a kl It is Micro MG k and Microgrid MG l The communication weight between k For microgrid MG k The set of neighbor nodes that control the distributed generation, m k,pin and m l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the active power of the distributed generation is n k,pin and n l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the reactive power of the distributed generation is P k,pin and P l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MGl The active power output of distributed power generation is restrained. and They represent the corresponding active power differential, Q k,pin and Q l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l To control the reactive power output of distributed power sources, and Respectively represent the corresponding reactive power differential, z 3Pk,pin and z 3Qk,pin denote the estimated total disturbance of active and reactive observers restraining distributed generation, respectively;

[0023] The microgrid MG k The output of the power anti-disturbance controller that controls the distributed power source is superimposed with the initial power setting value of the energy router port of the microgrid to obtain the transmission power reference value of the energy router. The superposition method is: Among them, P ref,Vk and Q ref,Vk are the active power transmission power reference value and reactive power transmission power reference value of the energy router, P 0,Vk and Q 0,Vk are the initial active power transmission setting value and initial reactive power transmission setting value of the energy router port, respectively, K PVk and K QVk They are the active power regulation coefficient and the reactive power regulation coefficient respectively.

[0024] The technical solution adopted by the present invention to solve the technical problem is: to provide a hierarchical coordination control device for a flexible interconnected microgrid group, comprising:

[0025] Establish a module to introduce the pinning consensus algorithm and establish a two-layer control architecture for flexible interconnected microgrids based on energy routers;

[0026] A compensation module is used to observe the disturbances generated by the system using linear active disturbance rejection control and perform feed-forward compensation through a distributed disturbance rejection controller;

[0027] A first control module is used to enable the distributed power sources in the microgrid to achieve frequency and average voltage recovery and power sharing in the microgrid through synchronization and tracking;

[0028] The second control module is used to dynamically generate a transmission power reference value of the energy router through information interaction of each controlled distributed power source, so as to realize global power sharing among microgrids.

[0029] The establishment module includes:

[0030] The microgrid control unit is used for each distributed power source to achieve stable voltage and frequency regulation by droop control at the microgrid level, wherein the droop control is expressed as: Among them, ω k,i and v k,i Microgrid MG k The i-th distributed generation DG k,i The output angular frequency and output voltage; and Microgrid MG k The i-th distributed generation DG k,i The output frequency rating and output voltage rating of k,i and n k,i Microgrid MG k The i-th distributed generation DG k,i The active power droop coefficient and reactive power droop coefficient of k,i and Q k,i Respectively represent microgrid MG k The i-th distributed generation DG k,i Output active power and reactive power;

[0031] The microgrid group control unit is used to convert the power sharing between microgrids into the transmission power regulation of the energy router by controlling the power information interaction between distributed power sources at the microgrid group level. k The state quantities of the pinned distributed generation and the non-pinned distributed generation are x k,pin (t) and x k,ir (t), its status is updated as follows: Among them, M k and N ir Microgrid MG k The neighbor node set of the controlled distributed generation and the non-controlled distributed generation; a kl It is Micro MG k and Microgrid MG l The communication weight between k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between l,pin (t) is the microgrid MG l The state quantity of the distributed generation in the control, x k,jr (t) is the microgrid MG k The state quantity of the jrth non-constrained distributed generation in g; k,ir is the containment gain; x krefFor the microgrid group communication network G u The reference value obtained in .

[0032] The compensation module comprises:

[0033] The first construction unit is used to construct a differential tracker to make the state variable follow the reference value for smooth transition. The differential tracker is expressed as: Where x1(k) is the reference value x ref , x2(k) is the approximate differential variable of x1(k), h is the iteration step, fhan() is the differential tracker core function, r0 is the speed coefficient, and h0 is the noise filter coefficient;

[0034] The second construction unit is used to construct a linear extended state observer to identify the disturbance generated by the system. The linear extended state observer is expressed as: Where z1, z2 and z3 are the observed variables of the linear extended state observer for x1(k), x2(k) and the total disturbance, respectively. L is the feedback error, y is the system output, and are the derivatives of z1, z2 and z3 respectively, β1, β2 and β3 are all coefficients greater than 0, b is the gain coefficient, and u is the system input;

[0035] The design unit is used to design a distributed disturbance rejection controller according to the difference between the output state quantity of the differential tracker and the estimated state quantity of the linear extended state observer, wherein the distributed disturbance rejection controller is expressed as: Among them, u L is the output of the distributed disturbance rejection controller, x1 and x2 are the output state quantities of the differential tracker, and k1 and k2 are the control gains.

[0036] The first control module comprises:

[0037] Frequency anti-disturbance construction unit, used to build microgrid MG k A frequency anti-disturbance controller for the pinned distributed power source and the non-pinned distributed power source is used to achieve frequency recovery, wherein the frequency anti-disturbance controller is expressed as: Among them, Ω ωk,pin and Ω ωk,ir are the frequency regulation variables of the pinned distributed power source and the non-pinned distributed power source respectively; ω k,pin is the frequency tracking reference value, is the corresponding frequency derivative, is the frequency rating, k 1ωk,pin and k 2ωk,pin are the frequency disturbance rejection control gain for controlling distributed power supply, N ir For microgrid MGk The neighbor node set of non-distributed power generation in China, a k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between k,ir and ω k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The frequency, and are the corresponding frequency derivatives, k 1ωk,ir and k 2ωk,ir are the frequency disturbance rejection control gains of non-pinned distributed power sources; g ωk is the frequency gain, z 3ωk,pin and z 3ωk,ir are the estimated total disturbances of the frequency observers of the pinned distributed generation and the non-pinned distributed generation, respectively; b is the gain coefficient;

[0038] Voltage anti-disturbance construction unit, used to build microgrid MG k A voltage disturbance rejection controller of the pinned distributed power source and the non-pinned distributed power source is used to realize average voltage recovery, wherein the voltage disturbance rejection controller is expressed as: Among them, Φ vk,pin and Φ vk,ir are the voltage regulation variables of the pinned distributed generation and the non-pinned distributed generation, is the weighted average voltage reference value, is the voltage rating, k 1vk,pin and k 2vk,pin are the voltage disturbance rejection control gain for controlling distributed power sources, is the corresponding voltage differential, and Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The average voltage, and are the corresponding voltage differentials, k 1vk,ir and k 2vk,ir are the voltage disturbance rejection control gain of the non-pinned distributed generation, g vk is the voltage gain, z 3vk,pin and z 3vk,irThe estimated total disturbance of the voltage observer for pinned DGs and non-pinned DGs respectively;

[0039] Non-constrained power anti-disturbance construction unit, used to build microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is used to realize power sharing in the microgrid, wherein the microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is expressed as: Among them, Ω Pk,ir and Φ Qk,ir Microgrid MG k Active power adjustment variables and reactive power adjustment variables of distributed power sources in China and Africa; m k,ir and m k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The active power droop coefficient, n k,ir and n k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The droop coefficient of reactive power, m k,pin and n k,pin Microgrid MG k The droop coefficient of active power and reactive power of distributed generation is P k,ir and P k,jr Respectively represent microgrid MG k The active power output of the irth non-constrained distributed generation and the jrth non-constrained distributed generation; g Pk is the active power gain; P k,pin is the active power reference value, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding active power derivatives, is the corresponding active power differential, Q k,ir and Q k,jr Respectively represent microgrid MG k The reactive power output by the irth non-constrained distributed generation and the jrth non-constrained distributed generation, g Qk is the reactive power gain, Q k,pin is the reactive power reference value, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding reactive power derivatives, is the corresponding reactive power differential, z 3Pk,ir and z 3Qk,ir are the estimated total disturbances of the active and reactive observers of the non-pinned distributed generation, respectively.

[0040] The second control module includes:

[0041] Pinning power anti-disturbance construction unit, used to build microgrid MG k The power anti-disturbance controller of the distributed power source is used to control the active / reactive power sharing between microgrids by adjusting the transmission power of the energy router. k The power disturbance rejection controller for controlling the distributed power supply is expressed as: Among them, Ω Pk,pin and Φ Qk,pin Microgrid MG k The active power equalization adjustment amount and reactive power equalization adjustment amount of the distributed power source are controlled in the middle, b is the gain coefficient, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of the distributed power supply, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of distributed power sources, a kl It is Micro MG k and Microgrid MG l The communication weight between k For microgrid MG k The set of neighbor nodes that control the distributed generation, m k,pin and m l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the active power of the distributed generation is n k,pin and n l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the reactive power of the distributed generation is P k,pin and P l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The active power output of distributed power generation is restrained. and They represent the corresponding active power differential, Q k,pin and Q l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG lTo control the reactive power output of distributed power sources, and Respectively represent the corresponding reactive power differential, z 3Pk,pin and z 3Qk,pin denote the estimated total disturbance of active and reactive observers restraining distributed generation, respectively;

[0042] The superposition unit is used to superimpose the microgrid MG k The output of the power anti-disturbance controller that controls the distributed power source is superimposed with the initial power setting value of the energy router port of the microgrid to obtain the transmission power reference value of the energy router. The superposition method is: Among them, P ref,Vk and Q ref,Vk are the active power transmission power reference value and reactive power transmission power reference value of the energy router, P 0,Vk and Q 0,Vk are the initial active power transmission setting value and initial reactive power transmission setting value of the energy router port, respectively, K PVk and K QVk They are the active power regulation coefficient and the reactive power regulation coefficient respectively.

[0043] The technical solution adopted by the present invention to solve its technical problem is: to provide an electronic device, including a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above-mentioned flexible interconnected microgrid group hierarchical coordinated control method when executing the computer program.

[0044] The technical solution adopted by the present invention to solve its technical problem is: providing a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned flexible interconnected microgrid group hierarchical coordinated control method are implemented.

[0045] Beneficial Effects

[0046] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art: The present invention establishes a two-layer control architecture based on the pinning consistency algorithm, which not only retains the autonomy of each microgrid, but also realizes global power sharing among flexible interconnected microgrid groups based on energy routers. Linear self-anti-disturbance control is introduced to actively extract disturbance information from input and output, and eliminate disturbances through real-time feedforward compensation, thereby designing a robust and flexible distributed anti-disturbance controller. The distributed power sources in the microgrid realize frequency and average voltage recovery and power sharing within the microgrid through synchronization and tracking. On this basis, the transmission power reference value of the energy router is dynamically generated through the information interaction of each involved distributed power source to realize global power sharing. The present invention realizes frequency and average voltage recovery within the microgrid, as well as power sharing within and between microgrids, and reduces the adverse effects of uncertainty and disturbance on the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of a hierarchical coordinated control method for a flexible interconnected microgrid group according to a first embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of a flexible interconnected microgrid group simulation system used in an embodiment of the present invention;

[0049] Figure 3 : is a frequency waveform diagram of each microgrid in an embodiment of the present invention;

[0050] Figure 4 is a waveform diagram of average voltage of each microgrid in an embodiment of the present invention;

[0051] Figure 5 is a waveform diagram of active power output by each distributed power source in an embodiment of the present invention;

[0052] Figure 6 is a waveform diagram of reactive power output by each distributed power source in an embodiment of the present invention;

[0053] Figure 7 is a waveform diagram of active power output from each port of the energy router in an embodiment of the present invention;

[0054] Figure 8 It is a waveform diagram of reactive power output from each port of the energy router in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0056] The first embodiment of the present invention relates to a hierarchical coordinated control method for a flexible interconnected microgrid group, such as Figure 1 As shown, the following steps are included:

[0057] Step A, collect the state information of the flexible interconnected microgrid group, introduce the pinning consistency algorithm, and establish a two-layer control architecture of the flexible interconnected microgrid group based on the energy router. The two-layer control architecture of the flexible interconnected microgrid group not only retains the autonomous characteristics of each microgrid, but also realizes global power sharing among the flexible interconnected microgrid groups based on the energy router.

[0058] In step A, a two-layer control architecture of a flexible interconnected microgrid group based on energy routers is established through the following steps A01 to A02:

[0059] Step A01: The non-constrained nodes in the microgrid play a tracking and synchronization role, so as to realize the autonomous operation within the microgrid. For the microgrid layer, each distributed power source adopts droop control to achieve stable voltage and frequency regulation, where the droop control is expressed as:

[0060]

[0061] Among them, ω k,i and v k,i Microgrid MG k The i-th distributed generation DG k,i The output angular frequency and output voltage; and Microgrid MG k The i-th distributed generation DG k,i The output frequency rating and output voltage rating of k,i and n k,i Microgrid MG k The i-th distributed generation DG k,i The active power droop coefficient and reactive power droop coefficient of k,i and Q k,i Respectively represent microgrid MG k The i-th distributed generation DG k,i Output active power and reactive power.

[0062] Step A02: For the microgrid group layer, by controlling the power information interaction between distributed power sources, the power sharing between microgrids is converted into the transmission power regulation of the energy router, where the microgrid MG k The state quantities of the pinned distributed generation and the non-pinned distributed generation are x k,pin (t) and x k,ir (t), its status is updated as follows:

[0063]

[0064] Among them, M k and N ir Microgrid MG k The neighbor node set of the controlled distributed generation and the non-controlled distributed generation; a kl It is Micro MG k and Microgrid MG l The communication weight between k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between l,pin (t) is the microgrid MG l The state quantity of the distributed generation in the control, x k,jr (t) is the microgrid MG k The state quantity of the jrth non-constrained distributed generation in g; k,ir is the containment gain; x kref For the microgrid group communication network G u The reference value obtained in .

[0065] Step B: Use linear anti-disturbance control to observe the disturbances generated by the system, and perform feedforward compensation through a distributed anti-disturbance controller to reduce the adverse effects of uncertainty and disturbances on the system.

[0066] In step B, a distributed controller based on linear active disturbance rejection control is designed from steps B01 to B03 to reduce the adverse effects of uncertainty and disturbance on system operation:

[0067] Step B01: construct a differential tracker to make the state variable follow the reference value for smooth transition, where the differential tracker is expressed as:

[0068]

[0069] Where x1(k) is the reference value x ref The follower of , x2(k) is the approximate differential variable of x1(k), h is the iteration step size, fhan() is the core function of the differential tracker, r0 is the speed coefficient, and h0 is the noise filter coefficient.

[0070] Step B02: The uncertainty and disturbance of the system are regarded as unknown states, and a linear extended state observer is constructed to identify the disturbance generated by the system, where the linear extended state observer is expressed as:

[0071]

[0072] Where z1, z2 and z3 are the observed variables of the linear extended state observer for x1(k), x2(k) and the total disturbance, respectively. L is the feedback error, y is the system output, and are the differential components of z1, z2 and z3 respectively, β1, β2 and β3 are all coefficients greater than 0, b is the gain coefficient, and u is the system input.

[0073] Step B03: Design a distributed disturbance rejection controller according to the difference between the output state quantity of the differential tracker and the estimated state quantity of the linear extended state observer. The distributed disturbance rejection controller is expressed as:

[0074]

[0075] Among them, u L is the output of the distributed disturbance rejection controller, x1 and x2 are the output state quantities of the differential tracker, and k1 and k2 are the control gains.

[0076] Compared with the traditional PI controller, the linear active disturbance rejection control has faster response speed and better anti-disturbance ability. Therefore, in order to better meet the complex and changeable operation requirements of MGC, a distributed anti-disturbance controller at the MG layer and MGC layer is designed.

[0077] Step C: The distributed generation within the microgrid achieves frequency and average voltage recovery and power sharing within the microgrid through synchronization and tracking.

[0078] In step C, steps C01 to C03 enable the distributed power sources in the microgrid to achieve frequency and average voltage recovery and power sharing in the microgrid through synchronization and tracking:

[0079] Step C01: Build microgrid MG k A frequency anti-disturbance controller for the pinned distributed power source and the non-pinned distributed power source is used to achieve frequency recovery, wherein the frequency anti-disturbance controller is expressed as:

[0080]

[0081] Among them, Ω ωk,pin and Ω ωk,ir are the frequency regulation variables of the pinned distributed power source and the non-pinned distributed power source respectively; ω k,pin is the frequency tracking reference value, is the corresponding frequency derivative, is the frequency rating, k 1ωk,pin and k 2ωk,pin are the frequency disturbance rejection control gain for controlling distributed power supply, N ir For microgrid MGk The neighbor node set of non-distributed power generation in China, a k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between k,ir and ω k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The frequency, and are the corresponding frequency derivatives, k 1ωk,ir and k 2ωk,ir are the frequency disturbance rejection control gains of non-pinned distributed power sources; g ωk is the frequency gain, z 3ωk,pin and z 3ωk,ir are the estimated total disturbances of the frequency observers for the pinned distributed generation and the non-pinned distributed generation, respectively; b is the gain coefficient.

[0082] Step C02: Build microgrid MG k A voltage disturbance rejection controller of the pinned distributed power source and the non-pinned distributed power source is used to realize average voltage recovery, wherein the voltage disturbance rejection controller is expressed as:

[0083]

[0084] Among them, Φ vk,pin and Φ vk,ir are the voltage regulation variables of the pinned distributed generation and the non-pinned distributed generation, is the weighted average voltage reference value, is the voltage rating, k 1vk,pin and k 2vk,pin are the voltage disturbance rejection control gain for controlling distributed power sources, is the corresponding voltage differential, and Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The average voltage, and are the corresponding voltage differentials, k 1vk,ir and k 2vk,ir are the voltage disturbance rejection control gain of the non-pinned distributed generation, g vk is the voltage gain, z 3vk,pinand z 3vk,ir Estimated total disturbance of voltage observer for pinned and non-pinned DGs, respectively.

[0085] The weighted average voltage is calculated as follows:

[0086]

[0087] Where av k,ij is the communication network matrix element used for average voltage estimation, n k For microgrid MG k The node set of distributed power generation, and Microgrid MG k The i-th distributed generation DG k,i and the jth distributed generation DG k,j The average voltage, and are the corresponding voltage derivatives, and are the average voltage control gain of distributed power sources, is the estimated total disturbance of the average voltage observer of the distributed generation.

[0088] Step C03: Build microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is used to realize power sharing in the microgrid, wherein the microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is expressed as:

[0089]

[0090] Among them, Ω Pk,ir and Φ Qk,ir Microgrid MG k Active power adjustment variables and reactive power adjustment variables of distributed power sources in China and Africa; m k,ir and m k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The active power droop coefficient, n k,ir and n k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The droop coefficient of reactive power, m k,pin and n k,pin Microgrid MG kThe droop coefficient of active power and reactive power of distributed generation is P k,ir and P k,jr Respectively represent microgrid MG k The active power output of the irth non-constrained distributed generation and the jrth non-constrained distributed generation; g Pk is the active power gain; P k,pin is the active power reference value, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding active power derivatives, is the corresponding active power differential, Q k,ir and Q k,jr Respectively represent microgrid MG k The reactive power output by the irth non-constrained distributed generation and the jrth non-constrained distributed generation, g Qk is the reactive power gain, Q k,pin is the reactive power reference value, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding reactive power derivatives, is the corresponding reactive power differential, z 3Pk,ir and z 3Qk,ir are the estimated total disturbances of the active and reactive observers of the non-pinned distributed generation, respectively.

[0091] Step D: Based on step C, the transmission power reference value of the energy router is dynamically generated through the information interaction of each controlled distributed power source to achieve global power sharing among microgrids.

[0092] In step D, the transmission power reference value of the energy router is dynamically generated through the information interaction of each distributed power source through the following steps D01 to D02, so as to realize global power sharing among microgrids:

[0093] Step D01: Build microgrid MG k The power anti-disturbance controller of the distributed power source is used to control the active / reactive power sharing between microgrids by adjusting the transmission power of the energy router. k The power disturbance rejection controller for controlling distributed power generation is expressed as:

[0094]

[0095] Among them, Ω Pk,pin and Φ Qk,pin Microgrid MGk The active power equalization adjustment amount and reactive power equalization adjustment amount of the distributed power source are controlled in the middle, b is the gain coefficient, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of the distributed power supply, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of distributed power sources, a kl It is Micro MG k and Microgrid MG l The communication weight between k For microgrid MG k The set of neighbor nodes that control the distributed generation, m k,pin and m l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the active power of the distributed generation is n k,pin and n l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the reactive power of the distributed generation is P k,pin and P l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The active power output of distributed power generation is restrained. and They represent the corresponding active power differential, Q k,pin and Q l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l To control the reactive power output of distributed power sources, and Respectively represent the corresponding reactive power differential, z 3Pk,pin and z 3Qk,pin denote the estimated total disturbances of the active and reactive observers that restrain the distributed generation, respectively.

[0096] Step D02: The microgrid MG k The output of the power anti-disturbance controller that controls the distributed power source is superimposed with the initial power setting value of the energy router port of the microgrid to obtain the transmission power reference value of the energy router. The superposition method is:

[0097] P ref,Vk =P 0,Vk +K PVk Ω Pk,pin

[0098] Qref,Vk =Q 0,Vk +K QVk Φ Qk,pin

[0099] Among them, P ref,Vk and Q ref,Vk are the active power transmission power reference value and reactive power transmission power reference value of the energy router, P 0,Vk and Q 0,Vk are the initial active power transmission setting value and initial reactive power transmission setting value of the energy router port, respectively, K PVk and K QVk They are the active power regulation coefficient and the reactive power regulation coefficient respectively.

[0100] The method of this embodiment is applied to practice. The flexible interconnected microgrid system model based on the MATLAB / Simulink simulation platform is as follows: Figure 2 As shown in the figure, the system includes 3 MGs, which are interconnected through an energy router. The power transmitted by the energy router is zero at the initial moment. Each MG includes 3 DGs, and DG11, DG21 and DG31 are selected as the containment nodes. The system controller is constructed according to the hierarchical coordinated control method of flexible interconnected microgrid group based on linear self-disturbance rejection proposed in the present invention to verify the effectiveness and superiority of the proposed method.

[0101] Corresponds to Figure 2 ,The operation conditions of the flexible interconnected microgrid group are set as follows: at the initial moment, only the droop control takes effect, and the MG layer controller and the MGC layer controller are activated at 3 seconds and 6 seconds respectively. Figures 3 to 8 This is the simulation waveform diagram of the flexible interconnected microgrid group under steady-state operation. Figure 3 is the frequency change of each microgrid. The horizontal axis represents time in seconds, and the vertical axis represents frequency in Hz. Figure 4 is the average voltage of each microgrid. The horizontal axis represents time in seconds, and the vertical axis represents voltage in V. Figure 5 and Figure 6 is the active and reactive output of each DG, the horizontal axis represents time, unit: second, and the vertical axis represents power, unit: kW / kVar. Figures 3 to 6 It can be seen that under droop control, the frequency and average voltage of each MG deviate from the rated value and are not equal to each other. Each MG can achieve active power sharing, but the impedance of each line is not equal, which makes it impossible to achieve reactive power sharing. After starting the MG layer controller, the frequency / average voltage of each MG is restored to the rated value, and reactive power sharing is achieved within each MG. After 6 seconds, all DGs distribute active and reactive power according to their capacity. Figure 7 and Figure 8is the active and reactive output of each port of the energy router. The horizontal axis represents time in seconds, and the vertical axis represents power in kW / kVar. Figure 7 and Figure 8 The transmission power of the energy router is further demonstrated. It can be seen that after 6s, the energy router quickly adjusts its transmission power to achieve power sharing among MGs, and the total power of the three ports meets the balance condition.

[0102] It is not difficult to find that the present invention establishes a two-layer control architecture based on the pinning consistency algorithm, which not only retains the autonomy of each microgrid, but also realizes global power sharing among flexible interconnected microgrid groups based on energy routers. Linear self-anti-disturbance control is introduced to actively extract disturbance information from input and output, and eliminate disturbances through real-time feedforward compensation, thereby designing a robust and flexible distributed anti-disturbance controller. The distributed power sources in the microgrid realize frequency and average voltage recovery and power sharing within the microgrid through synchronization and tracking. On this basis, the transmission power reference value of the energy router is dynamically generated through the information interaction of each involved distributed power source to realize global power sharing. The present invention realizes frequency and average voltage recovery within the microgrid, as well as power sharing within and between microgrids, and reduces the adverse effects of uncertainty and disturbance on the system.

[0103] The second embodiment of the present invention relates to a hierarchical coordination control device for a flexible interconnected microgrid group, comprising:

[0104] Establish a module to introduce the pinning consensus algorithm and establish a two-layer control architecture for flexible interconnected microgrids based on energy routers;

[0105] A compensation module is used to observe the disturbances generated by the system using linear active disturbance rejection control and perform feed-forward compensation through a distributed disturbance rejection controller;

[0106] A first control module is used to enable the distributed power sources in the microgrid to achieve frequency and average voltage recovery and power sharing in the microgrid through synchronization and tracking;

[0107] The second control module is used to dynamically generate a transmission power reference value of the energy router through information interaction of each controlled distributed power source, so as to realize global power sharing among microgrids.

[0108] The establishment module includes:

[0109] The microgrid control unit is used for each distributed power source to achieve stable voltage and frequency regulation by droop control at the microgrid level, wherein the droop control is expressed as: Among them, ω k,i and v k,i Microgrid MG k The i-th distributed generation DGk,i The output angular frequency and output voltage; and Microgrid MG k The i-th distributed generation DG k,i The output frequency rating and output voltage rating of k,i and n k,i Microgrid MG k The i-th distributed generation DG k,i The active power droop coefficient and reactive power droop coefficient of k,i and Q k,i Respectively represent microgrid MG k The i-th distributed generation DG k,i Output active power and reactive power;

[0110] The microgrid group control unit is used to convert the power sharing between microgrids into the transmission power regulation of the energy router by controlling the power information interaction between distributed power sources at the microgrid group level. k The state quantities of the pinned distributed generation and the non-pinned distributed generation are x k,pin (t) and x k,ir (t), its status is updated as follows: Among them, M k and N ir Microgrid MG k The neighbor node set of the controlled distributed generation and the non-controlled distributed generation; a kl It is Micro MG k and Microgrid MG l The communication weight between k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between l,pin (t) is the microgrid MG l The state quantity of the distributed generation in the control, x k,jr (t) is the microgrid MG k The state quantity of the jrth non-constrained distributed generation in g; k,ir is the containment gain; x kref For the microgrid group communication network G u The reference value obtained in .

[0111] The compensation module comprises:

[0112] The first construction unit is used to construct a differential tracker to make the state variable follow the reference value for smooth transition. The differential tracker is expressed as: Where x1(k) is the reference value x ref , x2(k) is the approximate differential variable of x1(k), h is the iteration step, fhan() is the differential tracker core function, r0 is the speed coefficient, and h0 is the noise filter coefficient;

[0113] The second construction unit is used to construct a linear extended state observer to identify the disturbance generated by the system. The linear extended state observer is expressed as: Where z1, z2 and z3 are the observed variables of the linear extended state observer for x1(k), x2(k) and the total disturbance, respectively. L is the feedback error, y is the system output, and are the derivatives of z1, z2 and z3 respectively, β1, β2 and β3 are all coefficients greater than 0, b is the gain coefficient, and u is the system input;

[0114] The design unit is used to design a distributed disturbance rejection controller according to the difference between the output state quantity of the differential tracker and the estimated state quantity of the linear extended state observer, wherein the distributed disturbance rejection controller is expressed as: Among them, u L is the output of the distributed disturbance rejection controller, x1 and x2 are the output state quantities of the differential tracker, and k1 and k2 are the control gains.

[0115] The first control module comprises:

[0116] Frequency anti-disturbance construction unit, used to build microgrid MG k A frequency anti-disturbance controller for the pinned distributed power source and the non-pinned distributed power source is used to achieve frequency recovery, wherein the frequency anti-disturbance controller is expressed as: Among them, Ω ωk,pin and Ω ωk,ir are the frequency regulation variables of the pinned distributed power source and the non-pinned distributed power source respectively; ω k,pin is the frequency tracking reference value, is the corresponding frequency derivative, is the frequency rating, k 1ωk,pin and k 2ωk,pin are the frequency disturbance rejection control gain for controlling distributed power supply, N ir For microgrid MG k The neighbor node set of non-distributed power generation in China, a k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight betweenk,ir and ω k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The frequency, and are the corresponding frequency derivatives, k 1ωk,ir and k 2ωk,ir are the frequency disturbance rejection control gains of non-pinned distributed power sources; g ωk is the frequency gain, z 3ωk,pin and z 3ωk,ir are the estimated total disturbances of the frequency observers of the pinned distributed generation and the non-pinned distributed generation, respectively; b is the gain coefficient;

[0117] Voltage anti-disturbance construction unit, used to build microgrid MG k A voltage disturbance rejection controller of the pinned distributed power source and the non-pinned distributed power source is used to realize average voltage recovery, wherein the voltage disturbance rejection controller is expressed as: Among them, Φ vk,pin and Φ vk,ir are the voltage regulation variables of the pinned distributed generation and the non-pinned distributed generation, is the weighted average voltage reference value, is the voltage rating, k 1vk,pin and k 2vk,pin are the voltage disturbance rejection control gain for controlling distributed power sources, is the corresponding voltage differential, and Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The average voltage, and are the corresponding voltage differentials, k 1vk,ir and k 2vk,ir are the voltage disturbance rejection control gain of the non-pinned distributed generation, g vk is the voltage gain, z 3vk,pin and z 3vk,ir The estimated total disturbance of the voltage observer for pinned DGs and non-pinned DGs respectively;

[0118] Non-constrained power anti-disturbance construction unit, used to build microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is used to realize power sharing in the microgrid, wherein the microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is expressed as: Among them, Ω Pk,ir and Φ Qk,ir Microgrid MG k Active power adjustment variables and reactive power adjustment variables of distributed power sources in China and Africa; m k,ir and m k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The active power droop coefficient, n k,ir and n k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The droop coefficient of reactive power, m k,pin and n k,pin Microgrid MG k The droop coefficient of active power and reactive power of distributed generation is P k,ir and P k,jr Respectively represent microgrid MG k The active power output of the irth non-constrained distributed generation and the jrth non-constrained distributed generation; g Pk is the active power gain; P k,pin is the active power reference value, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding active power derivatives, is the corresponding active power differential, Q k,ir and Q k,jr Respectively represent microgrid MG k The reactive power output by the irth non-constrained distributed generation and the jrth non-constrained distributed generation, g Qk is the reactive power gain, Q k,pin is the reactive power reference value, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding reactive power derivatives, is the corresponding reactive power differential, z 3Pk,ir and z 3Qk,ir are the estimated total disturbances of the active and reactive observers of the non-pinned distributed generation, respectively.

[0119] The second control module includes:

[0120] Pinning power anti-disturbance construction unit, used to build microgrid MG k The power anti-disturbance controller of the distributed power source is used to control the active / reactive power sharing between microgrids by adjusting the transmission power of the energy router. k The power disturbance rejection controller for controlling the distributed power supply is expressed as: Among them, Ω Pk,pin and Φ Qk,pin Microgrid MG k The active power equalization adjustment amount and reactive power equalization adjustment amount of the distributed power source are controlled in the middle, b is the gain coefficient, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of the distributed power supply, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of distributed power sources, a kl It is Micro MG k and Microgrid MG l The communication weight between k For microgrid MG k The set of neighbor nodes that control the distributed generation, m k,pin and m l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the active power of the distributed generation is n k,pin and n l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the reactive power of the distributed generation is P k,pin and P l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The active power output of distributed power generation is restrained. and They represent the corresponding active power differential, Q k,pin and Q l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l To control the reactive power output of distributed power sources, and Respectively represent the corresponding reactive power differential, z 3Pk,pin and z 3Qk,pin denote the estimated total disturbance of active and reactive observers restraining distributed generation, respectively;

[0121] The superposition unit is used to superimpose the microgrid MG kThe output of the power anti-disturbance controller that controls the distributed power source is superimposed with the initial power setting value of the energy router port of the microgrid to obtain the transmission power reference value of the energy router. The superposition method is: Among them, P ref,Vk and Q ref,Vk are the active power transmission power reference value and reactive power transmission power reference value of the energy router, P 0,Vk and Q 0,Vk are the initial active power transmission setting value and initial reactive power transmission setting value of the energy router port, respectively, K PVk and K QVk They are the active power regulation coefficient and the reactive power regulation coefficient respectively.

[0122] The third embodiment of the present invention relates to an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the hierarchical coordinated control method of a flexible interconnected microgrid group of the first embodiment when executing the computer program.

[0123] The fourth embodiment of the present invention relates to a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above-mentioned flexible interconnected microgrid hierarchical coordinated control method are implemented.

[0124] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0125] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0126] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction method, which is implemented in the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0128] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A hierarchical coordinated control method for a flexible interconnected microgrid group, characterized in that: The following steps are involved: Introduce the pinning consensus algorithm and establish a two-layer control architecture for flexible interconnected microgrids based on energy routers; The disturbances generated by the system are observed by linear active disturbance rejection control, and feed-forward compensation is performed through a distributed disturbance rejection controller. Distributed power sources within the microgrid achieve frequency and average voltage recovery and power sharing within the microgrid through synchronization and tracking; Through the information interaction of each distributed power source, the transmission power reference value of the energy router is dynamically generated to achieve global power sharing among microgrids.

2. The hierarchical coordination control method of flexible interconnected microgrid group according to claim 1 is characterized in that: The introduction of the pinning consensus algorithm and the establishment of a two-layer control architecture of a flexible interconnected microgrid group based on energy routers specifically include: For the microgrid layer, each distributed power source adopts droop control to achieve stable voltage and frequency regulation, wherein the droop control is expressed as: Among them, ω k,i and v k,i Microgrid MG k The i-th distributed generation DG k,i The output angular frequency and output voltage; and Microgrid MG k The i-th distributed generation DG k,i The output frequency rating and output voltage rating of k,i and n k,i Microgrid MG k The i-th distributed generation DG k,i The active power droop coefficient and reactive power droop coefficient of k,i and Q k,i Respectively represent microgrid MG k The i-th distributed generation DG k,i Output active power and reactive power; For the microgrid cluster layer, by controlling the power information interaction between distributed power sources, the power sharing between microgrids is converted into the transmission power regulation of energy routers. k The state quantities of the pinned distributed generation and the non-pinned distributed generation are x k,pin (t) and x k,ir (t), its status is updated as follows: Among them, M k and N ir Microgrid MG k The neighbor node set of the controlled distributed generation and the non-controlled distributed generation; a kl It is Micro MG k and Microgrid MG l The communication weight between k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between l,pin (t) is the microgrid MG l The state quantity of the distributed generation in the control, x k,jr (t) is the microgrid MG k The state quantity of the jrth non-constrained distributed generation in g; k,ir is the containment gain; x kref (There is no x in the above update method ref , please confirm the x here ref Is it the x in the above formula? kref , please verify) is from the microgrid group communication network G u The reference value obtained in .

3. The hierarchical coordination control method of flexible interconnected microgrid group according to claim 1 is characterized in that: The linear active disturbance rejection control is used to observe the disturbance generated by the system, and feedforward compensation is performed through a distributed disturbance rejection controller, specifically including: A differential tracker is constructed to make the state variable follow the reference value for smooth transition. The differential tracker is expressed as: Where x1(k) is the reference value x ref , x2(k) is the approximate differential variable of x1(k), h is the iteration step, fhan() is the differential tracker core function, r0 is the speed coefficient, and h0 is the noise filter coefficient; A linear extended state observer is constructed to identify the disturbances generated by the system. The linear extended state observer is expressed as: Where z1, z2 and z3 are the observed variables of the linear extended state observer for x1(k), x2(k) and the total disturbance, respectively. L is the feedback error, y is the system output, and are the derivatives of z1, z2 and z3 respectively, β1, β2 and β3 are all coefficients greater than 0, b is the gain coefficient, and u is the system input; According to the difference between the output state quantity of the differential tracker and the estimated state quantity of the linear extended state observer, a distributed disturbance rejection controller is designed. The distributed disturbance rejection controller is expressed as: Among them, u L is the output of the distributed disturbance rejection controller, x1 and x2 are the output state quantities of the differential tracker, and k1 and k2 are the control gains.

4. The hierarchical coordination control method of flexible interconnected microgrid group according to claim 1 is characterized in that: The distributed power sources in the microgrid realize frequency and average voltage recovery and power sharing in the microgrid through synchronization and tracking, which specifically includes: Build microgrid MG k A frequency anti-disturbance controller for the pinned distributed power source and the non-pinned distributed power source is used to achieve frequency recovery, wherein the frequency anti-disturbance controller is expressed as: Among them, Ω ωk,pin and Ω ωk,ir are the frequency regulation variables of the pinned distributed power source and the non-pinned distributed power source respectively; ω k,pin is the frequency tracking reference value, is the corresponding frequency derivative, is the frequency rating, k 1ωk,pin and k 2ωk,pin are the frequency disturbance rejection control gain for controlling distributed power supply, N ir For microgrid MG k The neighbor node set of non-distributed power generation in China, a k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between k,ir and ω k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The frequency, and are the corresponding frequency derivatives, k 1ωk,ir and k 2ωk,ir are the frequency disturbance rejection control gains of non-pinned distributed power sources; g ωk is the frequency gain, z 3ωk,pin and z 3ωk,ir are the estimated total disturbances of the frequency observers for the pinned distributed generation and the non-pinned distributed generation respectively; b is the gain coefficient; construct the microgrid MG k A voltage disturbance rejection controller of the pinned distributed power source and the non-pinned distributed power source is used to realize average voltage recovery, wherein the voltage disturbance rejection controller is expressed as: Among them, Φ vk,pin and Φ vk,ir are the voltage regulation variables of the pinned distributed generation and the non-pinned distributed generation, is the weighted average voltage reference value, is the corresponding voltage differential, is the voltage rating, k 1vk,pin and k 2vk,pin are the voltage disturbance rejection control gain for controlling distributed power sources, and Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The average voltage, and are the corresponding voltage differentials, k 1vk,ir and k 2vk,ir are the voltage disturbance rejection control gain of the non-pinned distributed generation, g vk is the voltage gain, z 3vk,pin and z 3vk,ir The estimated total disturbance of the voltage observer for pinned DGs and non-pinned DGs respectively; Build microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is used to realize power sharing in the microgrid, wherein the microgrid MG k The power anti-disturbance controller of the distributed power source in China and Africa is expressed as: Among them, Ω Pk,ir and Φ Qk,ir Microgrid MG k Active power adjustment variables and reactive power adjustment variables of distributed power sources in China and Africa; m k,ir and m k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The droop coefficient of active power, n k,ir and n k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The droop coefficient of reactive power, m k,pin and n k,pin Microgrid MG k The droop coefficient of active power and reactive power of distributed generation is P k,ir and P k,jr Respectively represent microgrid MG k The active power output of the irth non-constrained distributed generation and the jrth non-constrained distributed generation; g Pk is the active power gain; P k,pin is the active power reference value, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding active power derivatives, is the corresponding active power differential, Q k,ir and Q k,jr Respectively represent microgrid MG k The reactive power output by the irth non-constrained distributed generation and the jrth non-constrained distributed generation, g Qk is the reactive power gain, Q k,pin is the reactive power reference value, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding reactive power derivatives, is the corresponding reactive power differential, z 3Pk,ir and z 3Qk,ir are the estimated total disturbances of the active and reactive observers of the non-pinned distributed generation, respectively.

5. The hierarchical coordination control method of flexible interconnected microgrid group according to claim 1 is characterized in that: The transmission power reference value of the energy router is dynamically generated through the information interaction of each distributed power source, so as to realize the global power sharing among microgrids, specifically including: Build microgrid MG k The power anti-disturbance controller of the distributed power source is used to control the active / reactive power sharing between microgrids by adjusting the transmission power of the energy router. k The power disturbance rejection controller for controlling the distributed power supply is expressed as: Among them, Ω Pk,pin and Φ Qk,pin Microgrid MG k The active power equalization adjustment amount and reactive power equalization adjustment amount of the distributed power source are controlled in the middle, b is the gain coefficient, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of the distributed power supply, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of distributed power sources, a kl It is Micro MG k and Microgrid MG l The communication weight between k For microgrid MG k The set of neighbor nodes that control the distributed generation, m k,pin and m l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the active power of the distributed generation is n k,pin and n l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the reactive power of the distributed generation is P k,pin and P l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The active power output of distributed power generation is restrained. and They represent the corresponding active power differential, Q k,pin and Q l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l To control the reactive power output of distributed power sources, and Respectively represent the corresponding reactive power differential, z 3Pk,pin and z 3Qk,pin denote the estimated total disturbance of active and reactive observers restraining distributed generation, respectively; The microgrid MG k The output of the power anti-disturbance controller that controls the distributed power source is superimposed with the initial power setting value of the energy router port of the microgrid to obtain the transmission power reference value of the energy router. The superposition method is: Among them, P ref,Vk and Q ref,Vk are the active power transmission power reference value and reactive power transmission power reference value of the energy router, P 0,Vk and Q 0,Vk are the initial active power transmission setting value and initial reactive power transmission setting value of the energy router port, respectively, K PVk and K QVk They are the active power regulation coefficient and the reactive power regulation coefficient respectively.

6. A hierarchical coordination control device for a flexible interconnected microgrid group, characterized in that: include: Establish a module to introduce the pinning consensus algorithm and establish a two-layer control architecture for flexible interconnected microgrids based on energy routers; A compensation module is used to observe the disturbances generated by the system using linear active disturbance rejection control and perform feed-forward compensation through a distributed disturbance rejection controller; The first control module is used to enable the distributed power sources in the microgrid to achieve frequency and average voltage recovery through synchronization and tracking. and power sharing within the microgrid; The second control module is used to dynamically generate a transmission power reference value of the energy router through information interaction of each controlled distributed power source, so as to realize global power sharing among microgrids.

7. The flexible interconnected microgrid hierarchical coordination control device according to claim 6 is characterized in that: The establishment module includes: The microgrid control unit is used for each distributed power source to achieve stable voltage and frequency regulation by droop control at the microgrid level, wherein the droop control is expressed as: Among them, ω k,i and v k,i Microgrid MG k The i-th distributed generation DG k,i The output angular frequency and output voltage; and Microgrid MG k The i-th distributed generation DG k,i The output frequency rating and output voltage rating of k,i and n k,i Microgrid MG k The i-th distributed generation DG k,i The active power droop coefficient and reactive power droop coefficient of k,i and Q k,i Respectively represent microgrid MG k The i-th distributed generation DG k,i Output active power and reactive power; The microgrid group control unit is used to convert the power sharing between microgrids into the transmission power regulation of the energy router by controlling the power information interaction between distributed power sources at the microgrid group level. k The state quantities of the pinned distributed generation and the non-pinned distributed generation are x k,pin (t) and x k,ir (t), its status is updated as follows: Among them, M k and N ir Microgrid MG k The neighbor node set of the controlled distributed generation and the non-controlled distributed generation; a kl It is Micro MG k and Microgrid MG l The communication weight between k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between l,pin (t) is the microgrid MG l The state quantity of the distributed generation in the control, x k,jr (t) is the microgrid MG k The state quantity of the jrth non-constrained distributed generation in g; k,ir is the containment gain; x kref For the microgrid group communication network G u The reference value obtained in .

8. The flexible interconnected microgrid hierarchical coordination control device according to claim 6, characterized in that: The compensation module comprises: The first construction unit is used to construct a differential tracker to make the state variable follow the reference value for smooth transition. The differential tracker is expressed as: Where x1(k) is the reference value x ref , x2(k) is the approximate differential variable of x1(k), h is the iteration step, fhan() is the differential tracker core function, r0 is the speed coefficient, and h0 is the noise filter coefficient; The second construction unit is used to construct a linear extended state observer to identify the disturbance generated by the system. The linear extended state observer is expressed as: Where z1, z2 and z3 are the observed variables of the linear extended state observer for x1(k), x2(k) and the total disturbance, respectively. L is the feedback error, y is the system output, and are the derivatives of z1, z2 and z3 respectively, β1, β2 and β3 are all coefficients greater than 0, b is the gain coefficient, and u is the system input; The design unit is used to design a distributed disturbance rejection controller according to the difference between the output state quantity of the differential tracker and the estimated state quantity of the linear extended state observer, wherein the distributed disturbance rejection controller is expressed as: Among them, u L is the output of the distributed disturbance rejection controller, x1 and x2 are the output state quantities of the differential tracker, and k1 and k2 are the control gains.

9. The flexible interconnected microgrid hierarchical coordination control device according to claim 6, characterized in that: The first control module comprises: Frequency anti-disturbance construction unit, used to build microgrid MG k A frequency anti-disturbance controller for the pinned distributed power source and the non-pinned distributed power source is used to achieve frequency recovery, wherein the frequency anti-disturbance controller is expressed as: Among them, Ω ωk,pin and Ω ωk,ir are the frequency regulation variables of the pinned distributed power source and the non-pinned distributed power source respectively; ω k,pin is the frequency tracking reference value, is the corresponding frequency derivative, is the frequency rating, k 1ωk,pin and k 2ωk,pin are the frequency disturbance rejection control gain for controlling distributed power supply, N ir For microgrid MG k The neighbor node set of non-distributed power generation in China, a k,irjr It is Micro MG k The irth non-constrained distributed generation DG k,ir and Microgrid MG k The jrth non-constrained distributed generation DG k,jr The communication weight between k,ir and ω k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The frequency, and are the corresponding frequency derivatives, k 1ωk,ir and k 2ωk,ir are the frequency disturbance rejection control gains of non-pinned distributed power sources; g ωk is the frequency gain, z 3ωk,pin and z 3ωk,ir are the estimated total disturbances of the frequency observers for the pinned distributed generation and the non-pinned distributed generation, respectively; b is the gain coefficient; the voltage disturbance rejection construction unit is used to construct the microgrid MG k A voltage disturbance rejection controller of the pinned distributed power source and the non-pinned distributed power source is used to realize average voltage recovery, wherein the voltage disturbance rejection controller is expressed as: Among them, Φ vk,pin and Φ vk,ir are the voltage regulation variables of the pinned distributed generation and the non-pinned distributed generation, is the weighted average voltage reference value, is the voltage rating, k 1vk,pin and k 2vk,pin are the voltage disturbance rejection control gain for controlling distributed power sources, is the corresponding voltage differential, and Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The average voltage, and are the corresponding voltage differentials, k 1vk,ir and k 2vk,ir are the voltage disturbance rejection control gain of the non-pinned distributed generation, g vk is the voltage gain, z 3vk,pin and z 3vk,ir The estimated total disturbance of the voltage observer for pinned DGs and non-pinned DGs respectively; Non-constrained power anti-disturbance construction unit, used to build microgrid MG k The power disturbance rejection controller of the distributed power source in China and Africa is used to realize power sharing in the microgrid, wherein the microgrid MG k The power anti-disturbance controller of the distributed power source in China and Africa is expressed as: Among them, Ω Pk,ir and Φ Qk,ir Microgrid MG k Active power adjustment variables and reactive power adjustment variables of distributed power sources in China and Africa; m k,ir and m k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The active power droop coefficient, n k,ir and n k,jr Microgrid MG k The irth non-constrained distributed generation DG k,ir and the jrth non-pinned distributed generation DG k,jr The droop coefficient of reactive power, m k,pin and n k,pin Microgrid MG k The droop coefficient of active power and reactive power of distributed generation is P k,ir and P k,jr Respectively represent microgrid MG k The active power output of the irth non-constrained distributed generation and the jrth non-constrained distributed generation; g Pk is the active power gain; P k,pin is the active power reference value, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding active power derivatives, is the corresponding active power differential, Q k,ir and Q k,jr Respectively represent microgrid MG k The reactive power output by the irth non-constrained distributed generation and the jrth non-constrained distributed generation, g Qk is the reactive power gain, Q k,pin is the reactive power reference value, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of non-pinned distributed generation, and are the corresponding reactive power derivatives, is the corresponding reactive power differential, z 3Pk,ir and z 3Qk,ir are the estimated total disturbances of the active and reactive observers of the non-pinned distributed generation, respectively.

10. The flexible interconnected microgrid hierarchical coordination control device according to claim 6, characterized in that: The second control module includes: Pinning power anti-disturbance construction unit, used to build microgrid MG k The power anti-disturbance controller of the distributed power source is used to control the active / reactive power sharing between microgrids by adjusting the transmission power of the energy router. k The power disturbance rejection controller for controlling the distributed power supply is expressed as: Among them, Ω Pk,pin and Φ Qk,pin Microgrid MG k The active power equalization adjustment amount and reactive power equalization adjustment amount of the distributed power source are controlled in the middle, b is the gain coefficient, k 1Pk,pin and k 2Pk,pin are the active power anti-disturbance control gain of the distributed power supply, k 1Qk,pin and k 2Qk,pin are the reactive power anti-disturbance control gain of distributed power sources, a kl It is Micro MG k and Microgrid MG l The communication weight between k For microgrid MG k The set of neighbor nodes that control the distributed generation, m k,pin and m l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the active power of the distributed generation is n k,pin and n l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The droop factor of the reactive power of the distributed generation is P k,pin and P l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l The active power output of distributed power generation is restrained. and They represent the corresponding active power differential, Q k,pin and Q l,pin Respectively represent microgrid MG k Central control of distributed power generation and microgrid MG l To control the reactive power output of distributed power sources, and Respectively represent the corresponding reactive power differential, z 3Pk,pin and z 3Qk,pin denote the estimated total disturbance of active and reactive observers restraining distributed generation, respectively; The superposition unit is used to superimpose the microgrid MG k The output of the power anti-disturbance controller that controls the distributed power source is superimposed with the initial power setting value of the energy router port of the microgrid to obtain the transmission power reference value of the energy router. The superposition method is: Among them, P ref,Vk and Q ref,Vk are the active power transmission power reference value and reactive power transmission power reference value of the energy router, P 0,Vk and Q 0,Vk are the initial active power transmission setting value and initial reactive power transmission setting value of the energy router port, respectively, K PVk and K QVk They are the active power regulation coefficient and the reactive power regulation coefficient respectively.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the hierarchical coordinated control method of a flexible interconnected microgrid group as described in any one of claims 1-5 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the hierarchical coordinated control method of a flexible interconnected microgrid group as claimed in any one of claims 1 to 5 are implemented.

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