A voltage active and reactive power dynamic cooperative control method considering communication quality

Abstract

The application discloses a voltage active and reactive power dynamic cooperative control method considering communication quality. The method comprises the following steps: a voltage and reactive power dynamic cooperative control model is established, the reactive power compensation amount of each node photovoltaic inverter is obtained in real time under the condition of considering communication network time delay and packet loss, and voltage and reactive power dynamic cooperative control is performed on the power distribution system; a voltage and active power dynamic cooperative control model is established, when the voltage and reactive power dynamic cooperative control cannot relieve the overvoltage condition of the power distribution system, the active power increment of each node electric vehicle is obtained in real time under the condition of considering communication network time delay and packet loss, and voltage and active power dynamic cooperative control is performed on the power distribution system; when overvoltage is not detected at each node of the power distribution system within a preset time period, the real-time voltage of the power distribution system is cooperatively controlled through an active and reactive power rollback mechanism. The method can realize optimal control of the inverter and the electric vehicle in a poor communication quality environment, so that the risk of voltage out-of-limit caused by high penetration rate photovoltaic grid connection is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to a voltage cooperative control method and relates to the technical field of stable operation of a power system. BACKGROUND

[0002] With the saturation of large-scale centralized photovoltaic power stations, more and more photovoltaic power generation systems are connected to the distribution network in the form of distributed energy. This change makes the voltage out-of-limit problem caused by the photovoltaic penetration rate in the distribution network particularly prominent. In this regard, the distributed small photovoltaic inverters can participate in the voltage control of the distribution network by providing reactive power compensation. These inverters usually achieve efficient voltage and reactive power control in a cooperative manner and assume that the communication system is completely reliable and can cover the entire distribution network.

[0003] However, the effectiveness of the voltage and reactive power control method depends largely on the quality of the communication network. Small photovoltaic inverters are usually connected to wireless communication networks at a low cost, but this inevitably brings about the problems of communication delay and data packet loss, which will make it difficult to quickly transmit the control instructions generated based on the voltage and reactive power control method, thereby affecting the progress of algorithm iteration and limiting the real-time application of the voltage and reactive power control method. In addition, the determination of the final control scheme requires multiple iterations, and considering the rapid fluctuation characteristics of photovoltaic power generation, the existing control instructions are often difficult to keep up with the changes in real-time power.

[0004] At the same time, with the gradual increase of the photovoltaic penetration rate, the traditional voltage and reactive power control method cannot completely solve the overvoltage problem of the distribution network. The limitation of the reactive power compensation capacity of the photovoltaic inverter makes it prone to oversaturation when applied to the voltage control of the high photovoltaic penetration rate distribution network, thereby failing to further provide a large amount of reactive power support. Therefore, it is necessary to model the influence of the communication network quality and the rapid fluctuation of photovoltaic power on the distributed control algorithm and develop a real-time voltage cooperative control method containing active regulation to cope with the potential voltage out-of-limit risk. SUMMARY

[0005] In order to solve the problems in the background art, the application provides a voltage and active power dynamic cooperative control method considering communication quality. The method solves the real-time voltage cooperative control technology problem of photovoltaic inverters and electric vehicles in a poor communication quality environment when high penetration rate small photovoltaic power generation systems are connected to the distribution system and provides technical support for the distributed grid connection of large-scale small photovoltaic power generation systems.

[0006] The technical scheme adopted by the application is:

[0007] The voltage and active power dynamic cooperative control method considering communication quality provided by the application comprises:

[0008] S1: Based on the dynamic consistency algorithm and the asynchronous event triggering mechanism and the information accumulation transmission mechanism, a voltage reactive power dynamic cooperative control model of the power distribution system combining local reactive power control and multi-inverter reactive power dynamic control is established, the real-time voltage of each node of the power distribution system is input into the voltage reactive power dynamic cooperative control model, and the reactive power compensation amount of each node of the photovoltaic inverter under the consideration of the communication network delay and packet loss is output as the control instruction after the voltage reactive power dynamic cooperative control model is processed, so as to respond to the rapid fluctuation of photovoltaic power and solve the problem that the control performance of the algorithm is difficult to achieve the expected performance in the environment with poor communication quality, thereby performing voltage reactive power dynamic cooperative control on the power distribution system.

[0009] S2: A voltage active power dynamic cooperative control model of the power distribution system combining local active power control and electric vehicle cluster active power dynamic control is established, when the voltage reactive power dynamic cooperative control does not alleviate the overvoltage of the power distribution system, the real-time voltage of each node of the power distribution system after the voltage reactive power dynamic cooperative control is input into the voltage active power dynamic cooperative control model, and the active power increment of each node of the electric vehicle is output as the control instruction after the voltage active power dynamic cooperative control model is processed, so as to further suppress the voltage out-of-limit problem, thereby performing voltage active power dynamic cooperative control on the power distribution system.

[0010] S3: When the overvoltage is not detected at each node of the power distribution system within a preset time period, the real-time voltage of the power distribution system is cooperatively controlled through the active and reactive power fallback mechanism, and the voltage active and reactive power dynamic cooperative control of the power distribution system is realized.

[0011] In the step S1, the voltage reactive power dynamic cooperative control model of the power distribution system is as follows:

[0012]

[0013]

[0014] Wherein, represents the local reactive power control change amount of the node i of the power distribution system at t; a represents the control step length of the local reactive power control; C pv,i represents the total installation capacity of all photovoltaic inverters on the node i; V i (t) represents the local node voltage of the node i at t; represents the preset upper limit of the voltage; and respectively represent the local reactive power output of all photovoltaic inverters on the node i at t and t+Δt under the local reactive power control, and Δt represents the time interval of the local reactive power control, represents the change amount of the local reactive power output of all photovoltaic inverters on the node i at t under the local reactive power control; x pv,i(t) and x pv,i (t+ΔT) respectively represent the reactive consistency variable z pv,i (t) first auxiliary variable, y pv,i (t) and y pv,i (t+ΔT) respectively represent the reactive consistency variable z pv,i (t) second auxiliary variable, whose initial value x pv,j (0) and y pv,j (0) are respectively set as the reactive compensation amount and total installed capacity of the node i inverter at the starting time of multi-inverter reactive power dynamic control, and ΔT represents the time interval of multi-inverter reactive power dynamic control; and respectively represent the out-degree of node i and node j, i.e. the number of communication links with node i and node j as the head node; and respectively represent the cumulative value of the cooperative reactive state value pv,i (t) related to the first auxiliary variable x at t and t-ΔT time; and respectively represent the cumulative value of the cooperative reactive state value pv,i (t) related to the second auxiliary variable y at t and t-ΔT time; and respectively represent the sum of the cooperative reactive state values and of node i received by node j, which will be updated after receiving and ;[] new represent the effective information of reactive state update extracted according to the information accumulation transmission mechanism, and represent the effective information for node j reactive state update extracted according to the information accumulation transmission mechanism; condition 1 is that node i receives messages from its adjacent node j, the time interval of node i this time and last time from adjacent node j receiving messages is recorded as n, and the set of adjacent nodes in condition 1 is recorded as condition 2 is that node i does not receive any message from its adjacent node j in continuous m time intervals, and the set of adjacent nodes in condition 2 is recorded as l i Once at least one trigger condition is met, the multi-inverter reactive power dynamic control will perform reactive state update based on the dynamic consistency algorithm, node i control will be triggered under condition 1 or condition 2, and n pv,i (t+ΔT) represents the reactive consistency variable of node i at t+ΔT time; and Let represent the reactive power output of all photovoltaic inverters at node i at times t and t+ΔT under multi-inverter reactive power dynamic control, respectively. Q represents the change in reactive power output of all photovoltaic inverters at node i at time t+ΔT under multi-inverter reactive power dynamic control; pv,i (t+ΔT) and Q pv,i (t+ΔT-Δt) represent the reactive power compensation of the photovoltaic inverters at node i at times t+ΔT and t+ΔT-Δt, respectively, considering communication network delay and packet loss.

[0015] In step S2, the voltage and active power dynamic coordinated control model of the power distribution system is as follows:

[0016]

[0017]

[0018] in, b represents the change in local active power control at node i of the power distribution system at time t; b represents the control step size of local active power control; C ev,i V represents the total energy storage battery capacity of all electric vehicles at node i; i (t)′ represents the local node voltage of node i at time t after voltage-reactive dynamic coordinated control; Indicates the preset voltage upper limit; and Δt' represents the charging power increment of all electric vehicles at time t and t+Δt′ under local active power control, respectively; Δt′ represents the time interval of local active power control. This represents the change in the incremental charging power of all electric vehicles at node i at time t under local active power control; x ev,i (t) and x ev,i (t+ΔT′) represent the active power consistency variable z for node i at times t and t+ΔT′, respectively. ev,i (t) First auxiliary variable, y ev,i (t) and y ev,i (t+ΔT′) represent the active power consistency variable z for node i at times t and t+ΔT′, respectively. ev,i (t) The second auxiliary variable, with an initial value x. ev,i (0) and y ev,i (0) are set as the charging power increment of electric vehicle i at the start time of active dynamic control of electric vehicle cluster and the total capacity of energy storage battery, respectively, and ΔT′ represents the time interval of active dynamic control of electric vehicle cluster. and respectively represent the out-degree of node i and node j, i.e. the number of communication links with node i and node j as the head node; and respectively represent the cumulative value of the cooperative active state value related to the first auxiliary variable x ev,i (t) received by node i at time t and t-ΔT′, and respectively represent the cumulative value of the cooperative active state value related to the second auxiliary variable y ev,i (t) received by node i at time t and t-ΔT, whose initial value is set to 0, i.e. respectively represent the sum of the cooperative active state values received by node j from node i, which will be updated after receiving ; new represent the effective information of active state update extracted according to the information cumulative transmission mechanism, represent the effective information of active state update for node j extracted according to the information cumulative transmission mechanism; ev,i (t+Δt′) represents the active consistency variable of node i at time t+ΔT′; respectively represent the charging power increment of the electric vehicle cluster on node i at time t and t+ΔT′ under the active dynamic control of the electric vehicle cluster, represent the change amount of the charging power increment of the electric vehicle cluster on node i at time t+ΔT′ under the active dynamic control of the electric vehicle cluster; ev,i (t+ΔT′) and P ev,i (t+ΔT′-Δt′) respectively represent the charging power increment of each node of node i at time t+ΔT′ and t+ΔT′-Δt′ considering the communication network delay and packet loss.

[0019] In the step S3, when the nodes of the power distribution system do not detect overvoltage within the preset time period, the active fallback mechanism is first triggered, the active consistency variable in the voltage active dynamic cooperative control model gradually decreases until it is zero, and then if the nodes still do not detect overvoltage, the reactive fallback mechanism is triggered, the reactive consistency variable in the voltage reactive dynamic cooperative control model gradually decreases until it is zero, thereby reducing the burden of photovoltaic inverter reactive compensation and electric vehicle active adjustment, and realizing real-time voltage cooperative control of the power distribution system. ​​​​​​​​​

[0020] In order to avoid unnecessary photovoltaic inverter reactive power compensation and electric vehicle charging power adjustment, the method is configured with an active power rollback mechanism and a reactive power rollback mechanism for the voltage reactive dynamic cooperative control model and the voltage active dynamic cooperative control model respectively.

[0021] The active power rollback mechanism is specifically as follows:

[0022] When all nodes in the power distribution system do not change the value of the reactive consistency variable in the voltage reactive dynamic cooperative control model within a preset time period qΔT', such as within 10ΔT, the local controller does not detect local overvoltage within the preset time period, that is, The active consistency variable in the voltage active dynamic cooperative control model is reduced by a preset proportion until it is zero, at which time the electric vehicle charging power increment is updated as follows:

[0023] z ev，i (t+qΔT′)=z ev，i (t+(q-1)ΔT′)-α′z ev，i (t+(q-1)ΔT′)

[0024] z ev，i (t+(q-1)ΔT′)=z ev，i (t+(q-2)ΔT′)=z ev,i (t+(q-3)ΔT′)=…

[0025] =z ev,i (t+ΔT′)=z ev,i (t)

[0026]

[0027] Wherein, z ev，i (t+qΔT′), z ev，i (t+(q-1)ΔT′), z ev，i (t+(q-2)ΔT′), z ev，i (t+(q-3)ΔT′), …, z ev，i (t+ΔT′) and z ev，i (t) represent the active consistency variable of node i at time t+qΔT', t+(q-1)ΔT', t+(q-2)ΔT', t+(q-3)ΔT', …, t+ΔT' and t in the voltage active dynamic cooperative control model respectively, and ΔT' represents the time interval of the active dynamic control of the electric vehicle cluster; α represents the control step of the active power rollback mechanism. P ev，i(t+qΔT′) represents the final output of the electric vehicle charging power increment of node i at time t+qΔT′, considering communication network delay and packet loss; C ev，i This represents the total energy storage battery capacity of all electric vehicles at node i.

[0028] The reactive power backoff mechanism is as follows:

[0029] When the charging power of the electric vehicle does not need adjustment, i.e., the active power consistency variable in the voltage active power dynamic coordinated control model is zero, if the local controller does not detect local overvoltage within a preset time period, the reactive power consistency variable in the voltage reactive power dynamic coordinated control model will decrease its value by a preset ratio until it reaches zero. At this time, the reactive power compensation of the photovoltaic inverter will be updated as follows:

[0030] z pv，i (t+qΔT)=z pv，i (t+(q-1)ΔT)-αz pv，i (t+(q-1)ΔT)

[0031] z pv，i (t+(q-1)ΔT)=z pv，i (t+(q-2)ΔT)=z pv，i (t+(q-3)ΔT)=…

[0032] =z pv，i (t+ΔT)=z pv，i (t) and z ev,i (t)=0

[0033]

[0034] Among them, z pv，i (t+qΔT), z pv，i (t+(q-1)ΔT), z pv，i (t+(q-2)ΔT), z pv，i (t+(q-3)ΔT), ..., z pv，i (t+ΔT) and z pv，i (t) represent the reactive consistency variables at time t+ΔT, t+(q-1)ΔT, t+(q-2)ΔT, t+(q-3)ΔT, ..., t+ΔT and time t at node i, respectively; α represents the control step size of the reactive backoff mechanism; Q represents the local reactive power output of all photovoltaic inverters at node i at time t under local reactive power control. pv，i (t+qΔT) represents the reactive power compensation of the photovoltaic inverters at node i at time t+qΔT, considering communication network delay and packet loss; C pv，iPi represents the total installed capacity of all photovoltaic inverters on node i.

[0035] The electronic device of the present application comprises a memory and a processor coupled to each other, wherein the memory stores program data, and the processor invokes the program data to execute the method as described above.

[0036] The computer readable storage medium of the present application has program data stored thereon, wherein the program data is executed by a processor to implement the method as described above.

[0037] The method of the present application proposes a real-time voltage collaborative control strategy combining voltage reactive power dynamic collaborative control and voltage active power dynamic collaborative control based on dynamic consistency algorithm considering communication quality, and realizes online application of the voltage collaborative control method in a dynamic updating form by continuously inputting local reactive power output and active power output of photovoltaic inverters in each iteration process.

[0038] The present application has the following advantages:

[0039] 1) The present application considers that photovoltaic power will fluctuate rapidly in the algorithm iteration process, and establishes a voltage reactive power dynamic collaborative control model combining local reactive power control and multi-inverter reactive power dynamic control based on dynamic consistency algorithm, which can output reactive power compensation in real time in a dynamic updating form in each iteration process by inputting node voltage in real time, thereby improving the real-time response ability of the algorithm to rapid fluctuations of photovoltaic power.

[0040] 2) The present application constructs a voltage active power dynamic collaborative control model, which realizes the supplement of voltage collaborative control technology in active power regulation by adjusting electric vehicle charging power in the case that overvoltage of the power distribution system cannot be completely alleviated by relying on voltage reactive power dynamic collaborative control, thereby fully calling adjustable resources in the whole network to ensure voltage safety and stability of the power distribution system.

[0041] 3) The present application designs an asynchronous event triggering mechanism for the communication time delay problem existing in the information transmission process of the algorithm, and an information accumulation transmission mechanism for the data loss problem, which greatly enhances the communication efficiency of the algorithm and improves the robustness and convergence speed of the algorithm in the case of poor communication quality.

[0042] 4) Provide a consistent variable-based active and reactive power rollback mechanism, thereby reducing the burden of photovoltaic inverter reactive power compensation and electric vehicle active adjustment under the premise of power distribution network voltage safety, and improving the efficiency of photovoltaic inverter and electric vehicle participating in power distribution network voltage control.

[0043] The application effectively improves the robustness and tracking ability of the voltage cooperative control algorithm in the case of poor communication quality environment, realizes the real-time application of the voltage cooperative control method, and realizes the optimal control of photovoltaic inverters and electric vehicles under the premise of avoiding the over-limit of power distribution system node voltage caused by high penetration rate photovoltaic power generation system grid connection, so as to promote the large-scale grid connection of photovoltaic power generation resources in the background of new power system. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a flowchart of the method of the application;

[0045] Figure 2 is an IEEE 33-node power distribution system diagram according to an exemplary embodiment;

[0046] Figure 3 is a power distribution network voltage and reactive power cooperative control curve diagram based on a static consistency algorithm according to an exemplary embodiment, wherein, Figure 3 (a) of is a voltage amplitude curve diagram based on a static consistency algorithm, Figure 3 (b) of is a reactive power output curve diagram based on a static consistency algorithm;

[0047] Figure 4 is a power distribution network voltage and reactive power cooperative control curve diagram based on a dynamic consistency algorithm according to an exemplary embodiment, wherein, Figure 4 (a) of is a voltage amplitude curve diagram based on a dynamic consistency algorithm, Figure 4 (b) of is a reactive power output curve diagram based on a dynamic consistency algorithm;

[0048] Figure 5 is a voltage amplitude comparison curve diagram under different methods according to an exemplary embodiment;

[0049] Figure 6 is a reactive power output comparison curve diagram under different methods according to an exemplary embodiment;

[0050] Figure 7 is an electric vehicle charging power increment curve diagram of method 3 according to an exemplary embodiment. DETAILED DESCRIPTION

[0051] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0052] AsFigure 1 The method of the application is used to solve the real-time voltage collaborative control technology problem of photovoltaic inverters and electric vehicles in poor communication quality environment when a high-permeability small photovoltaic power generation system is connected to a power distribution system. The method comprises the following steps:

[0053] S1: Based on a dynamic consistency algorithm and an asynchronous event triggering mechanism and an information accumulation transmission mechanism, a voltage reactive power dynamic collaborative control model of a power distribution system combining local reactive power control and multi-inverter reactive power dynamic control is established. The voltage of each node of the power distribution system is input into the voltage reactive power dynamic collaborative control model in real time, and the reactive power compensation amount of each node photovoltaic inverter under consideration of communication network delay and packet loss is output by the voltage reactive power dynamic collaborative control model as a control instruction after processing, so as to respond to the rapid fluctuation of photovoltaic power and solve the problem that the control performance of the algorithm is difficult to achieve the expected result in a poor communication quality environment, thereby performing voltage reactive power dynamic collaborative control on the power distribution system.

[0054] The voltage reactive power dynamic collaborative control model of the power distribution system is as follows:

[0055]

[0056] Wherein, represents the local reactive power control change amount of node i of the power distribution system at time t; a represents the control step length of the local reactive power control; C pv,i represents the total installation capacity of all photovoltaic inverters on node i; V i (t) represents the local node voltage of node i at time t; represents the preset upper limit of voltage; and respectively represent the local reactive power output of all photovoltaic inverters on node i at time t and t+Δt under local reactive power control, and Δt represents the time interval of the local reactive power control, represents the change amount of the local reactive power output of all photovoltaic inverters on node i at time t under local reactive power control; x pv,i (t) and x pv,i (t+ΔT) respectively represent the first auxiliary variable z pv,i (t) at time t and t+ΔT of node i for calculating the reactive power consistency variable, y pv,i (t) and y pv,i (t+ΔT) respectively represent the second auxiliary variable z pv,i (t) at time t and t+ΔT of node i for calculating the reactive power consistency variable, whose initial value x pv,j (0) and y pv,j (0) are set as the reactive power compensation amount and the total installation capacity of the inverter of node i at the starting time of the multi-inverter reactive power dynamic control, and ΔT represents the time interval of the multi-inverter reactive power dynamic control. and denote the out-degree of node i and node j, respectively, i.e., the number of communication links with node i and node j as the head node; and denote the accumulated value of the coordinated reactive state value related to the first auxiliary variable x pv,i (t) received by node i at time t and t-AT, respectively, and denote the accumulated value of the coordinated reactive state value related to the second auxiliary variable y pv,i (t) received by node i at time t and t-AT, respectively, and denote the sum of the coordinated reactive state values and received by node j from node i, which will be updated after receiving and []. new denote the valid information of reactive state update extracted according to the information accumulation transmission mechanism, and denote the valid information of reactive state update for node j extracted according to the information accumulation transmission mechanism; condition 1 is that node i receives a message from its adjacent node j, the time interval between this time and the last time when node i receives a message from adjacent node j is denoted as n, and the set of adjacent nodes in condition 1 is denoted as condition 2 is that node i does not receive any message from its adjacent node j in the last m time intervals, and the set of adjacent nodes in condition 2 is denoted as l i Once at least one trigger condition is met, the multi-inverter reactive power dynamic control will perform reactive state update based on the dynamic consistency algorithm, the node i control will be triggered under condition 1 or condition 2, and n < m; z pv,i (t+AT) denotes the reactive consistency variable of node i at time t+AT; and denote the reactive power output of all photovoltaic inverters on node i at time t and t+AT, respectively, under the multi-inverter reactive power dynamic control, denotes the change amount of the reactive power output of all photovoltaic inverters on node i at time t+AT under the multi-inverter reactive power dynamic control; Q pv,i (t+AT) and Q pv,i (t+AT-At) denote the reactive power compensation amount of each node photovoltaic inverter of node i at time t+AT and t+AT-At, respectively, considering the communication network delay and packet loss.

[0057] ​​The voltage reactive power dynamic coordination control model includes local reactive power control and multi-inverter reactive power dynamic control, and is specifically as follows:

[0058] 1) Local reactive power control:

[0059] The local controller monitors the local node voltage of the power distribution system in real time. If the local node voltage exceeds the voltage upper limit defined by the grid dispatcher, the photovoltaic inverter absorbs a certain amount of reactive power according to the voltage overrun ratio to relieve the local overvoltage of the power distribution system.

[0060] 2) Multi-inverter reactive power dynamic control based on dynamic consistency algorithm:

[0061] In order to avoid over-saturation of reactive power of photovoltaic inverter at the end of feeder of power distribution system with high photovoltaic penetration, the photovoltaic inverter needs to continuously provide reactive power compensation. At the same time, considering the rapid fluctuation characteristics of photovoltaic power, the amount of reactive power compensation required to relieve overvoltage on the photovoltaic inverter is usually time-varying. For this purpose, the multi-inverter reactive power dynamic control adopts a dynamic consistency algorithm, which continuously inputs the local reactive power output of the photovoltaic inverter, and transmits the coordination state information to the adjacent nodes every interval and reallocates the reactive power compensation of all inverters in proportion to respond to the rapid fluctuation of photovoltaic power. However, due to the blocking of the communication network, the data packets carrying the coordination state information may be lost. For this purpose, the method designs an information accumulation transmission mechanism. In addition, the time required for information transmission between nodes of the power distribution system is usually not constant, that is, the information sent at the same time will be received at different times. In order to deal with this asynchronous characteristic of information transmission, the invention designs an asynchronous event triggering mechanism to update the local state. The information accumulation transmission mechanism and the asynchronous event triggering mechanism are designed as follows:

[0062] a) Information accumulation transmission mechanism:

[0063] The coordination reactive power state information transmitted by the multi-inverter reactive power dynamic control to the adjacent nodes is and The information accumulation transmission mechanism designed by the method eliminates the steady-state convergence error of the multi-inverter reactive power dynamic control caused by random packet loss in poor communication quality environment by accumulating the values of the coordination state information before transmitting the data packets.

[0064] The information accumulation transmission mechanism designed by the invention transmits the accumulated values and instead of the coordination reactive power state values and in the data packets, and broadcasts them to other adjacent nodes through the communication link. It is worth noting that the coordination reactive power state values and are transmitted in the same data packet, so they will be received, lost or delayed simultaneously. In addition, the information accumulation transmission mechanism designed in the present application requires the sending end node i to carry the time stamp of the sending time when transmitting information, and the receiving end node j to judge whether the received data packet is the latest one through the time stamp when receiving information. If the time stamp of the received data packet is older than the existing data packet (i.e. the sending time of the received data packet is later than the sending time of the existing received data packet), the data packet will be regarded as invalid. If the time stamp of the received data packet is newer than the existing data packet, the valid information for reactive state update will be extracted from the received data packet (including and ).

[0065] It is worth noting that due to the existence of time delay and data packet loss, the time stamp sequence of the data packet received by the receiving end node may not be continuous, in which case, according to the information accumulation transmission mechanism designed in the present application, the lost cooperative state message can always be numerically compensated by the data packet transmitted subsequently.

[0066] b) Asynchronous event triggering mechanism:

[0067] The asynchronous event triggering mechanism designed in the present application will be triggered independently by each node under the following two conditions: condition 1) node i receives a message from its adjacent node j, and the time interval between this time and the last time when node i receives a message from adjacent node j is denoted as n, and the set of adjacent nodes in condition 1 is denoted as condition 2) node i does not receive any message from its adjacent node j in the last m time intervals, and the set of adjacent nodes in condition 2 is denoted as l i Once at least one triggering condition is met, the multi-inverter reactive power dynamic control will perform reactive state update based on the dynamic consistency algorithm. After node i performs reactive state update, the cooperative reactive state value and will be accumulated through the information accumulation transmission mechanism and broadcast to other adjacent nodes

[0068] The multi-inverter reactive power dynamic control of photovoltaic inverters is a simple algebraic operation, and its control target is to achieve fair reactive power output power redistribution among all photovoltaic inverters, i.e.

[0069]

[0070] wherein, represents the ratio of the total amount of local reactive power compensation of all nodes at time t to the total installed capacity of all inverters ; I represents the total number of nodes with photovoltaic inverters in the power distribution system.

[0071] The time scale of local reactive power control is usually in the order of milliseconds, while the time scale of multi-inverter reactive power dynamic control is usually in the order of seconds. The multi-inverter reactive power dynamic control quantity is obtained by adding the local reactive power control quantity and the multi-inverter reactive power dynamic control quantity. The local reactive power control quantity is obtained by adding the local active power control quantity and the local reactive power dynamic control quantity. The local reactive power control quantity is obtained by adding the local active power control quantity and the local reactive power dynamic control quantity.

[0072] S2: Establish a voltage and active power dynamic cooperative control model of the power distribution system combining local active power control and active power dynamic control of the electric vehicle cluster. When the voltage and reactive power dynamic cooperative control does not alleviate the overvoltage condition of the power distribution system, the voltage of each node of the power distribution system after the voltage and reactive power dynamic cooperative control is input into the voltage and active power dynamic cooperative control model in real time, and the voltage and active power dynamic cooperative control model outputs the charging power increment of each node of the electric vehicle considering the communication network delay and packet loss as a control instruction in real time to further suppress the voltage over-limit problem, thereby performing voltage and active power dynamic cooperative control on the power distribution system.

[0073] The voltage and active power dynamic cooperative control model of the power distribution system is as follows:

[0074]

[0075]

[0076] Wherein, represents the local active power control variation of node i of the power distribution system at time t; b represents the control step of local active power control; C ev,i represents the total capacity of the energy storage battery of all electric vehicles on node i; V i (t)′ represents the local node voltage of node i at time t after voltage and reactive power dynamic cooperative control; represents the preset upper voltage limit; and respectively represent the charging power increment of all electric vehicles on node i at time t and t+Δt′ under local active power control; Δt′ represents the time interval of local active power control; represents the variation of the charging power increment of all electric vehicles on node i at time t under local active power control; x ev,i (t) and x ev,i (t+ΔT′) respectively represent the active consistency variable z ev,i (t) first auxiliary variable, y ev,i (t) and y ev,i (t+ΔT′) respectively represent the active consistency variable zev,i (t) the second auxiliary variable, whose initial value x ev,i (0) and y ev,i (0) are respectively set as the charging power increment of the electric vehicle at node i and the total capacity of the energy storage battery at the starting moment of the active dynamic control of the electric vehicle cluster, and ΔT' represents the time interval of the active dynamic control of the electric vehicle cluster; and respectively represent the out-degree of node i and node j, i.e. the number of communication links with node i and node j as the head node; and respectively represent the cumulative value of the cooperative active state value related to the first auxiliary variable x ev,i (t) received by node i at time t and t-ΔT', and respectively represent the cumulative value of the cooperative active state value related to the second auxiliary variable y ev,i (t) received by node i at time t and t-ΔT', i.e. and whose initial value is set as 0, i.e. and and respectively represent the sum of the cooperative active state values and received by node j from node i, which will be updated after receiving and . new represents the effective information of the active state update extracted according to the information accumulation transmission mechanism, and represent the effective information for the active state update of node j extracted according to the information accumulation transmission mechanism; z ev,i (t+ΔT') represents the active consistency variable of node i at time t+ΔT'; and respectively represent the charging power increment of the electric vehicle cluster at node i at time t and t+ΔT' under the active dynamic control of the electric vehicle cluster, represents the change amount of the charging power increment of the electric vehicle cluster at node i at time t+ΔT' under the active dynamic control of the electric vehicle cluster; P ev,i (t+ΔT') and P ev,i (t+ΔT'-Δt') respectively represent the charging power increment of each node electric vehicle at node i at time t+ΔT' and t+ΔT'-Δt' considering the communication network delay and packet loss.

[0077] ​​The voltage active dynamic coordination control model includes local active control and electric vehicle cluster active dynamic control, and is specifically as follows:

[0078] In the case of high photovoltaic penetration in the distribution system, voltage reactive dynamic coordination control of photovoltaic inverters alone may not be able to completely suppress system overvoltage. In this case, further active power regulation, such as storage battery (such as electric vehicle) charging power control, is needed. The present application takes electric vehicle charging power regulation as an example to illustrate the voltage active dynamic coordination control model, which is similar to the local reactive control and multi-inverter reactive dynamic control in step S1. The voltage active dynamic coordination control model mainly includes two steps of local active control and electric vehicle cluster active dynamic control.

[0079] 1) Local active control:

[0080] Voltage reactive dynamic coordination control is used to relieve overvoltage in the distribution system first. When the reactive consistency variable of the photovoltaic inverter exceeds the defined threshold, that is, z pv,i >z pv,max At this time, the reactive compensation amount of the photovoltaic inverter tends to be saturated. If the local controller still detects local overvoltage, the electric vehicle will increase the charging power by a certain amount according to the voltage out-of-limit proportion to relieve the local overvoltage in the distribution system.

[0081] 2) Electric vehicle cluster active dynamic control based on dynamic consistency algorithm:

[0082] The electric vehicle cluster active dynamic control uses cumulative values and instead of coordinated active state values and for transmission and broadcasting to other adjacent nodes The receiving end node j extracts the effective information for active state update from the latest received data packet (including and ) according to the time stamp of the data packet sending time and

[0083] On this basis, once at least one trigger condition (the trigger condition is consistent with the multi-inverter reactive dynamic control) is met, the electric vehicle cluster active dynamic control will proportionally redistribute the increment of all electric vehicle charging power in a dynamic update form every interval. After the node i performs active state update, the coordinated active state values and will be accumulated after information accumulation transmission mechanism, and broadcast to other adjacent nodes

[0084] The control target of the active power dynamic control of the electric vehicle cluster is to achieve a fair redistribution of the charging power increment among all electric vehicles, that is:

[0085]

[0086] wherein, is the charging power increment of all node electric vehicles at time t is the ratio of the total capacity of all electric vehicle energy storage batteries .

[0087] By accumulating the electric vehicle cluster active power dynamic control variable and the local active power control variable at different control time scales, the charging power increment of each node electric vehicle output by the voltage active power dynamic cooperative control model is formed.

[0088] S3: When no overvoltage is detected at each node of the power distribution system within a preset time period, the real-time voltage of the power distribution system is cooperatively controlled through the active and reactive power rollback mechanisms, and the voltage active and reactive power dynamic cooperative control of the power distribution system is realized.

[0089] When no overvoltage is detected at each node of the power distribution system within a preset time period, the active power rollback mechanism is first triggered, and the active consistency variable in the voltage active power dynamic cooperative control model gradually decreases until it is zero. If no overvoltage is detected at each node thereafter, the reactive power rollback mechanism is triggered, and the reactive consistency variable in the voltage reactive power dynamic cooperative control model gradually decreases until it is zero, thereby reducing the burden of photovoltaic inverter reactive power compensation and electric vehicle active power adjustment, and realizing the cooperative control of the real-time voltage of the power distribution system.

[0090] In order to avoid unnecessary photovoltaic inverter reactive power compensation and electric vehicle charging power adjustment, the method configures an active power rollback mechanism and a reactive power rollback mechanism for the voltage reactive power dynamic cooperative control model and the voltage active power dynamic cooperative control model, respectively.

[0091] The active power rollback mechanism is as follows:

[0092] When the value of the reactive consistency variable in the voltage reactive power dynamic cooperative control model of all nodes in the power distribution system does not change within a preset time period qΔT', such as 10ΔT, no local overvoltage is detected by the local controller within the preset time period, that is The active consistency variable in the voltage active power dynamic cooperative control model decreases its value by a preset proportion until it is zero. At this time, the electric vehicle charging power increment is updated as follows:

[0093] z ev,i (t+qΔT′)=zev,i (t+(q-1)ΔT') - a'z ev,i (t+(q-1)ΔT')

[0094] z ev,i (t+(q-1)ΔT') = z ev,i (t+(q-2)ΔT') = z ev,i (t+(q-3)ΔT') =...

[0095] = z ev,i (t+ΔT') = z ev,i (t)

[0096]

[0097] wherein, z ev,i (t+qΔT'), z ev,i (t+(q-1)ΔT'), z ev,i (t+(q-2)ΔT'), z ev,i (t+(q-3)ΔT'),..., z ev,i (t+ΔT') and z ev,i (t) represent the active consistency variables of node i at t+qΔT', t+(q-1)ΔT', t+(q-2)ΔT', t+(q-3)ΔT',..., t+ΔT' and t respectively in the voltage active dynamic cooperative control model, and ΔT' represents the time interval of the active dynamic control of the electric vehicle cluster; a represents the control step of the active rollback mechanism; represents the charging power increment of all electric vehicles at node i at t under local active control, P ev，i (t+qΔT') represents the final output of the charging power increment of each node electric vehicle at node i at t+qΔT' considering the communication network delay and packet loss; C ev，i represents the total capacity of the energy storage battery of all electric vehicles at node i.

[0098] The reactive rollback mechanism is as follows:

[0099] When the charging power of the electric vehicle does not need to be adjusted, i.e. the active consistency variable in the voltage active dynamic cooperative control model is zero, at this time if the local controller does not detect local overvoltage within the preset time period, the reactive consistency variable in the voltage reactive dynamic cooperative control model is reduced by a preset proportion until it is zero, at this time the reactive compensation amount of the photovoltaic inverter is updated as follows:

[0100] z pv，i (t+qΔT) = z pv，i (t+(q-1)ΔT) - a z pv，i (t+(q-1)ΔT)

[0101] z pv，i (t+(q-1)ΔT)=z pv，i (t+(q-2)ΔT)=z pv，i (t+(q-3)ΔT)=…

[0102] =z pv，i (t+ΔT)=z pv，i (t) and z ev,i (t)=0

[0103]

[0104] Among them, z pv，i (t+qΔT), z pv，i (t+(q-1)ΔT), z pv，i (t+(q-2)ΔT), z pv，i (t+(q-3)ΔT), ..., z pv，i (t+ΔT) and z pv，i (t) represent the reactive consistency variables at time t+ΔT, t+(q-1)ΔT, t+(q-2)ΔT, t+(q-3)ΔT, ..., t+ΔT and time t at node i, respectively; α represents the control step size of the reactive backoff mechanism; Q represents the local reactive power output of all photovoltaic inverters at node i at time t under local reactive power control. pv，i (t+qΔT) represents the reactive power compensation of the photovoltaic inverters at node i at time t+qΔT, considering communication network delay and packet loss; C pv，i This represents the total installed capacity of all photovoltaic inverters on node i.

[0105] To further understand the present invention, the present invention selects as follows: Figure 2 The IEEE 33-node distribution system shown is used as a test case. Two-way communication links exist between adjacent nodes in the distribution network, and additional communication links are added to facilitate algorithm convergence. In the test case, photovoltaic inverters and electric vehicles participate in the voltage control of the distribution network by providing reactive power compensation and increasing charging power. The nodes and their installed capacities for photovoltaic inverters and electric vehicle nodes and their energy storage battery capacities are shown in Tables 1 and 2, respectively. For the power network, this case uses the per-unit value of the voltage upper limit defined by the grid dispatcher. The control step length a of the local reactive power control and the control step length b of the local active power control are both set to 0.5, and the maximum reactive power output of the photovoltaic inverter is set to 0.4583 of the maximum active power. For the communication network, the longest communication delay is set to 2 seconds, and the data packet loss probability is set to 0.1. The superiority of the voltage active and reactive power dynamic cooperative control method is illustrated from the following different aspects.

[0106] Table 1: Installation capacity of photovoltaic inverters of each node

[0107]

[0108] Table 2: Energy storage battery capacity of each node of the electric vehicle

[0109]

[0110] 1) Online application performance of real-time voltage cooperative control:

[0111] Based on the static consistency algorithm, the photovoltaic inverter reuses the last updated local state value to promote algorithm iteration in the case of data packet loss. The multi-inverter reactive power dynamic control based on the static consistency algorithm reassigns the reactive power compensation burden among all inverters about every 30 seconds. Figure 3 and Figure 4 respectively show the distribution network voltage and reactive power cooperative control curves based on the static consistency algorithm and the dynamic consistency algorithm. As shown in Figure 3 (b), if the static consistency algorithm is used, the photovoltaic inverter of the upstream node (such as node 6) can adjust its reactive power output every 30 seconds according to the cooperative reactive power state information and participate in the voltage and reactive power cooperative control of the distribution network. However, due to the characteristics of rapid fluctuation of photovoltaic power, this kind of static redistribution method cannot effectively track the control target in real time, that is, the average reactive power output of all inverters, so that the reactive power compensation capacity of each node is quite different, and the reactive power compensation capacity of the downstream node is prone to oversaturation. The reactive power compensation capacity of the photovoltaic inverter of the downstream node 18 is oversaturated for the first time at 2 minutes and 29 seconds, and after that, if the photovoltaic power is still rising, the inverter cannot provide further reactive power compensation, which eventually leads to Figure 3the voltage amplitude of the node 18 shown in (a) exceeds the upper limit value. The method of the present application takes the dynamic consistency algorithm as the carrier, continuously inputs the local reactive power output of the photovoltaic inverter, dynamically updates the cooperative state information every interval, and proportionally reallocates the reactive power compensation burden of all inverters to the adjacent nodes in response to the rapid fluctuations of photovoltaic power. Therefore, the reactive power compensation burden (reactive power compensation capacity) of the inverter on the downstream node 18 quickly spreads to the rest of the nodes (including node 6), and is jointly borne by the local reactive power control of the rest of the nodes, as shown in (b) of the present application. Figure 4 Therefore, in this case, the reactive power compensation capacity of the photovoltaic inverter on the downstream node is not easy to saturate, and the amplitude of the voltage of each node can be well controlled within the allowed range, as shown in (a) of the present application. Figure 4

[0112] 2) The influence of parameter setting of the asynchronous event triggering mechanism on the communication frequency:

[0113] According to the event triggering mechanism designed in the present application, if node i does not receive any message from its adjacent node j within m consecutive time intervals, the reactive power state update is automatically triggered, and the cooperative reactive power state value is sent to the adjacent node j after accumulation by the information accumulation transmission mechanism. The setting of the parameter m value in the asynchronous event triggering mechanism greatly affects the frequency of the communication system. The simulation results show that when the parameter ω is set to 1, 4 and 7, the proposed method only needs 93%, 69% and 52% of the communication frequency of the traditional method. Although increasing the parameter ω can effectively reduce the transmission burden of the communication network, a larger ω also means that the local reactive power or active power change between two iterations of the dynamic consistency algorithm is also increased, and eventually the tracking error of the proposed method and the expected target is also increased.

[0114] 3) Voltage control performance of the voltage and active power dynamic cooperative control method:

[0115] The purpose of this part of the example is to illustrate the superiority of the voltage and active power dynamic cooperative control method proposed in the present application in terms of voltage control performance. Since node 18 is the terminal node of the distribution network, the reactive power compensation capacity is prone to saturation and induce overvoltage risk, therefore, the control curve of node 18 is taken as the research object in this section of the example. Figure 5 、 Figure 6 and Figure 7 The voltage control performance of the distribution network of node 18 under three schemes of no control strategy (denoted as method 1), only voltage and reactive power dynamic cooperative control strategy (denoted as method 2), and real-time voltage cooperative control strategy combining voltage and reactive power dynamic cooperative control and voltage and active power dynamic cooperative control (denoted as method 3) is compared.

[0116] As Figure 5 ​As shown, due to the fact that method 1 does not alleviate system overvoltage by photovoltaic inverter reactive power compensation or electric vehicle charging power adjustment, i.e. does not impose any voltage control, the voltage amplitude of node 18 will quickly climb to about 1.095 p.u. As shown in FIG. 2B, method 2 can successfully control the voltage within the safe range before the reactive power compensation capacity of the photovoltaic inverter is saturated, however, when the reactive power compensation capacity is saturated, the photovoltaic inverter cannot completely suppress system overvoltage, at this time, the photovoltaic power continues to increase and eventually leads to system voltage rising and exceeding 1.06 p.u. As shown in FIG. 2C, method 3, i.e. the method proposed in the present application, adopts a real-time voltage coordinated control strategy combining voltage reactive dynamic coordinated control and voltage active dynamic coordinated control. Voltage reactive dynamic coordinated control is used to suppress system overvoltage in priority, when the reactive power compensation of the photovoltaic inverter is about to be saturated, the electric vehicle starts to participate in system voltage control by increasing charging power. Under the active and reactive dynamic coordinated control of the photovoltaic inverter and the electric vehicle, the method proposed in the present application can successfully control the voltage of the distribution system within its allowable range. Figure 6 As shown, due to the fact that method 1 does not alleviate system overvoltage by photovoltaic inverter reactive power compensation or electric vehicle charging power adjustment, i.e. does not impose any voltage control, the voltage amplitude of node 18 will quickly climb to about 1.095 p.u. As shown in FIG. 2B, method 2 can successfully control the voltage within the safe range before the reactive power compensation capacity of the photovoltaic inverter is saturated, however, when the reactive power compensation capacity is saturated, the photovoltaic inverter cannot completely suppress system overvoltage, at this time, the photovoltaic power continues to increase and eventually leads to system voltage rising and exceeding 1.06 p.u. As shown in FIG. 2C, method 3, i.e. the method proposed in the present application, adopts a real-time voltage coordinated control strategy combining voltage reactive dynamic coordinated control and voltage active dynamic coordinated control. Voltage reactive dynamic coordinated control is used to suppress system overvoltage in priority, when the reactive power compensation of the photovoltaic inverter is about to be saturated, the electric vehicle starts to participate in system voltage control by increasing charging power. Under the active and reactive dynamic coordinated control of the photovoltaic inverter and the electric vehicle, the method proposed in the present application can successfully control the voltage of the distribution system within its allowable range. Figure 7 As shown, due to the fact that method 1 does not alleviate system overvoltage by photovoltaic inverter reactive power compensation or electric vehicle charging power adjustment, i.e. does not impose any voltage control, the voltage amplitude of node 18 will quickly climb to about 1.095 p.u. As shown in FIG. 2B, method 2 can successfully control the voltage within the safe range before the reactive power compensation capacity of the photovoltaic inverter is saturated, however, when the reactive power compensation capacity is saturated, the photovoltaic inverter cannot completely suppress system overvoltage, at this time, the photovoltaic power continues to increase and eventually leads to system voltage rising and exceeding 1.06 p.u. As shown in FIG. 2C, method 3, i.e. the method proposed in the present application, adopts a real-time voltage coordinated control strategy combining voltage reactive dynamic coordinated control and voltage active dynamic coordinated control. Voltage reactive dynamic coordinated control is used to suppress system overvoltage in priority, when the reactive power compensation of the photovoltaic inverter is about to be saturated, the electric vehicle starts to participate in system voltage control by increasing charging power. Under the active and reactive dynamic coordinated control of the photovoltaic inverter and the electric vehicle, the method proposed in the present application can successfully control the voltage of the distribution system within its allowable range.

[0117] Corresponding to the embodiment of the method of the present application, the present application also provides an embodiment of a voltage active and reactive dynamic coordinated control device considering communication quality, which is specifically as follows:

[0118] The voltage reactive dynamic coordinated control model establishing unit establishes a voltage reactive dynamic coordinated control model combining local reactive power control and multi-inverter reactive power dynamic control based on dynamic consistency algorithm and the designed asynchronous event triggering mechanism and information accumulation transmission mechanism, inputs the voltage of each node of the distribution system in real time into the voltage reactive dynamic coordinated control model, and the voltage reactive dynamic coordinated control model outputs the reactive power compensation amount of each node of the photovoltaic inverter under consideration of communication network time delay and packet loss as a control instruction in real time, so as to respond to the rapid fluctuation of photovoltaic power and solve the problem that the control performance of the algorithm is difficult to achieve the expected performance in the environment of poor communication quality.

[0119] The voltage active dynamic coordinated control model establishing unit establishes a voltage active dynamic coordinated control model combining local active power control and electric vehicle cluster active power dynamic control if the voltage reactive dynamic coordinated control model cannot effectively alleviate the overvoltage of the distribution system, inputs the voltage of each node of the distribution system after voltage reactive dynamic coordinated control into the voltage active dynamic coordinated control model in real time, and the voltage active dynamic coordinated control model outputs the charging power increment of each node of the electric vehicle under consideration of communication network time delay and packet loss as a control instruction in real time, so as to further suppress the voltage out-of-limit problem.

[0120] The active power rollback and reactive power rollback execution unit, when overvoltage is not detected at each node of the power distribution system within a certain time, first triggers the active power rollback mechanism, the active power consistency variable in the voltage active power dynamic collaborative control model gradually decreases until zero, and thereafter if overvoltage is still not detected at each node, the reactive power rollback mechanism is triggered, the reactive power consistency variable in the voltage reactive power dynamic collaborative control model gradually decreases until zero, thereby reducing the burden of reactive power compensation of the photovoltaic inverter and active power adjustment of the electric vehicle, and realizing real-time voltage collaborative control of the power distribution system.

[0121] As to the apparatus in the above-mentioned embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and thus will not be described in detail here.

[0122] For the apparatus embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the part of the method embodiments. The apparatus embodiments described above are merely illustrative, and the units illustrated as separate components can or can not be physically separate, and the components illustrated as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present application scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0123] Correspondingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement a voltage active power dynamic collaborative control method considering communication quality as described above.

[0124] Correspondingly, the present application also provides a computer readable storage medium having computer instructions stored thereon, which are executed by a processor to implement a voltage active power dynamic collaborative control method considering communication quality as described above.

[0125] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0126] It is to be understood that the application is not limited to the precise construction already described above and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application should only be limited by the claims appended hereto.

Claims

1. A dynamic coordinated control method for voltage active and reactive power considering communication quality, characterized in that, include: S1: Establish a voltage and reactive power dynamic coordinated control model for the power distribution system. Input the voltage of each node of the power distribution system into the voltage and reactive power dynamic coordinated control model in real time. After processing, the voltage and reactive power dynamic coordinated control model outputs the reactive power compensation amount of the photovoltaic inverter of each node in real time, taking into account the communication network delay and packet loss, as a control command, so as to perform voltage and reactive power dynamic coordinated control of the power distribution system. S2: Establish a voltage and active power dynamic coordinated control model for the power distribution system. When the voltage and reactive power dynamic coordinated control fails to alleviate the overvoltage situation in the power distribution system, the voltage of each node in the power distribution system after the voltage and reactive power dynamic coordinated control is input into the voltage and active power dynamic coordinated control model in real time. After processing, the voltage and active power dynamic coordinated control model outputs the incremental charging power of electric vehicles at each node in real time, taking into account the communication network delay and packet loss, as a control command, thereby performing voltage and active power dynamic coordinated control on the power distribution system. S3: When no overvoltage is detected at any node of the power distribution system within a preset time period, the real-time voltage of the power distribution system is controlled in a coordinated manner through the active and reactive power back-off mechanism to achieve dynamic coordinated control of the voltage of the power distribution system in terms of active and reactive power. In step S1, the voltage and reactive power dynamic coordinated control model of the power distribution system is as follows: in, The variable represents the local reactive power control change at node i of the power distribution system at time t; a represents the control step size of the local reactive power control; C pv,i V represents the total installed capacity of all photovoltaic inverters at node i; i (t) represents the local node voltage of node i at time t; Indicates the preset voltage upper limit; and Let represent the local reactive power output of all photovoltaic inverters at time t and t+Δt under local reactive power control, respectively, where Δt represents the time interval of local reactive power control. This represents the change in local reactive power output of all photovoltaic inverters at node i at time t under local reactive power control; x pv,i (t) and x pv,i (t+ΔT) represent the first auxiliary variable of node i at times t and t+ΔT, respectively. pv,i (t) and y pv,i (t+ΔT) represent the second auxiliary variable of node i at time t and t+ΔT respectively, and ΔT represents the time interval of the reactive power dynamic control of the multi-inverter; and Let i and j represent the out-degrees of node i and node j, respectively. and These represent the values ​​received by node i at times t and t-ΔT, respectively, in relation to the first auxiliary variable x. pv,i (t) Related cooperative reactive power state value The cumulative value, and These represent the values ​​received by node i at times t and t-ΔT, respectively, in relation to the second auxiliary variable y. pv,i (t) Related cooperative reactive power state value The cumulative value, and These represent the cooperative reactive power state values ​​that node j has received from node i. and The sum; [ ] new This represents the valid information of reactive power state update extracted according to the information accumulation transmission mechanism; Condition 1 is that node i receives a message from its neighboring node j, and the time interval between the current and previous message reception by node i from neighboring node j is denoted as n, and the set of neighboring nodes in Condition 1 is denoted as n. Condition 2 is that node i does not receive any message from its neighboring node j within m consecutive time intervals. Let l be the set of neighboring nodes in condition 2. i Node i will be triggered under condition 1 or condition 2, and n <m;z pv,i (t+ΔT) represents the reactive power consistency variable of node i at time t+ΔT; and Let represent the reactive power output of all photovoltaic inverters at node i at times t and t+ΔT under multi-inverter reactive power dynamic control, respectively. Q represents the change in reactive power output of all photovoltaic inverters at node i at time t+ΔT under multi-inverter reactive power dynamic control; pv,i (t+ΔT) and Q pv,i (t+ΔT-Δt) represent the reactive power compensation of the photovoltaic inverters at node i at times t+ΔT and t+ΔT-Δt, respectively, considering communication network delay and packet loss.

2. The voltage active and reactive power dynamic coordinated control method considering communication quality according to claim 1, characterized in that: In step S2, the voltage and active power dynamic coordinated control model of the power distribution system is as follows: in, b represents the change in local active power control at node i of the power distribution system at time t; b represents the control step size of local active power control; C ev,i V represents the total energy storage battery capacity of all electric vehicles at node i; i (t)′ represents the local node voltage of node i at time t after voltage-reactive dynamic coordinated control; Indicates the preset voltage upper limit; and Δt' represents the charging power increment of all electric vehicles at time t and t+Δt′ under local active power control, respectively; Δt′ represents the time interval of local active power control. This represents the change in the incremental charging power of all electric vehicles at node i at time t under local active power control; x ev,i (t) and x ev,i 9t+ΔT′) represent the first auxiliary variable of node i at times t and t+ΔT′, respectively. ev,i (t) and y ev,i (t+ΔT′) represent the second auxiliary variable of node i at times t and t+ΔT′, respectively, and ΔT′ represents the time interval of the active dynamic control of the electric vehicle cluster; and Let i and j represent the out-degrees of node i and node j, respectively. and These represent the values ​​received by node i at times t and t-ΔT′, respectively, in relation to the first auxiliary variable x. evi (t) Related cooperative active power state value The cumulative value, and These represent the values ​​received by node i at times t and t-ΔT, respectively, in relation to the second auxiliary variable y. ev,i (t) Related cooperative active power state value The cumulative value, and These represent the cooperative active state values ​​that node j has received from node i. and The sum; [ ] new This represents the valid information on active power status updates extracted according to the information accumulation and transmission mechanism; z ev,i (t+ΔT′) represents the active consistency variable of node i at time t+ΔT′; and Let represent the charging power increments of the electric vehicle cluster at time t and t+ΔT′ under the active power dynamic control of the electric vehicle cluster, respectively. P represents the change in the increment of charging power of the electric vehicle cluster at node i at time t+ΔT′ under the active power dynamic control of the electric vehicle cluster; ev,i (t+ΔT′) and P ev,i (t+ΔT′-Δt′) represent the increment of electric vehicle charging power at node i at times t+Δt′ and t+Δt′-Δt′, respectively, considering communication network latency and packet loss.

3. The voltage active and reactive power dynamic coordinated control method considering communication quality according to claim 1, characterized in that: In step S3, if no overvoltage is detected at any node of the power distribution system within a preset time period, the active power backoff mechanism is triggered first, and the active power consistency variable in the voltage and active power dynamic collaborative control model gradually decreases until it reaches zero. If no overvoltage is detected at any node thereafter, the reactive power backoff mechanism is triggered, and the reactive power consistency variable in the voltage and reactive power dynamic collaborative control model gradually decreases until it reaches zero, thereby realizing real-time voltage collaborative control of the power distribution system.

4. The voltage active and reactive power dynamic coordinated control method considering communication quality according to claim 3, characterized in that: The active power backoff mechanism is as follows: If the values ​​of the reactive power consistency variables in the voltage-reactive power dynamic coordinated control model of all nodes in the power distribution system do not change within the preset time period qΔT′, then the local controller does not detect local overvoltage within the preset time period. The active power consistency variables in the voltage-active power dynamic coordinated control model then decrease in value by a preset ratio until they reach zero. At this time, the incremental update of the electric vehicle charging power is as follows: z ev,i (t+qΔT′)=z ev,i (t+(q-1)ΔT′)-α′z ev,i (t+(q-1)ΔT′) z ev,i (t+(q-1)ΔT′)=z ev,i (t+(q-2)ΔT′)=z ev,i (t+(q-3)ΔT′)=… =z ev,i 9t+ΔT′)=z ev,i (t) Among them, z ev,i (t+qΔT′), z ev,i (t+(q-1)ΔT′), z ev,i (t+(q-2)ΔT′), z ev,i (t+(q-3)ΔT′), ..., z ev,i (t+ΔT′) and z ev,i (t) represents the active power consistency variables of node i at time t+qΔT′, t+(q-1)ΔT′, t+(q-2)ΔT′, t+(q-3)ΔT′, ..., t+ΔT′ and time t, respectively, in the voltage active power dynamic coordinated control model. ΔT′ represents the time interval of the active power dynamic control of the electric vehicle cluster; α′ represents the control step size of the active power backoff mechanism. P represents the incremental charging power of all electric vehicles at node i at time t under local active power control. ev,i (t+qΔT′) represents the final output of the electric vehicle charging power increment of node i at time t+qΔT′, considering communication network delay and packet loss; C ev,i This represents the total energy storage battery capacity of all electric vehicles at node i.

5. The voltage active and reactive power dynamic coordinated control method considering communication quality according to claim 3, characterized in that: The reactive power backoff mechanism is as follows: When the charging power of the electric vehicle does not need adjustment, i.e., the active power consistency variable in the voltage active power dynamic coordinated control model is zero, if the local controller does not detect local overvoltage within a preset time period, the reactive power consistency variable in the voltage reactive power dynamic coordinated control model will decrease its value by a preset ratio until it reaches zero. At this time, the reactive power compensation of the photovoltaic inverter will be updated as follows: z pv,i (t+qΔT)=z pv,i (t+(q-1)ΔT)-αz pv,i (t+(q-1)ΔT) z pv,i (t+(q-1)ΔT)=z pv,i (t+(q-2)ΔT)=z pv,i (t+(q-3)ΔT)=… = z pv,i (t + ΔT) = z pv,i (t) and z ev,i (t) = 0 Among them, z pv,i (t+qΔT), z pv,i (t+(q-1)ΔT), z pv,i (t+(q-2)ΔT), z pv,i (t+(q-3)ΔT), ..., z pv,i (t+ΔT) and z pv,i (t) represent the reactive consistency variables at time t+ΔT, t+(q-1)ΔT, t+(q-2)ΔT, t+(q-3)ΔT, ..., t+ΔT and time t at node i, respectively; α represents the control step size of the reactive backoff mechanism; Q represents the local reactive power output of all photovoltaic inverters at node i at time t under local reactive power control. pv,i (t+qΔT) represents the reactive power compensation of the photovoltaic inverters at node i at time t+qΔT, considering communication network delay and packet loss; C pv,i This represents the total installed capacity of all photovoltaic inverters on node i.

6. An electronic device, characterized in that, include: A memory and a processor are coupled to each other, wherein the memory stores program data, and the processor invokes the program data to perform the method as described in any one of claims 1-5.

7. A computer-readable storage medium storing program data thereon, characterized in that, When the program data is executed by the processor, the method as described in any one of claims 1-5 is implemented.

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