Microgrid collaborative control method, system and electronic equipment including V2G charging pile

Abstract

The present invention relates to the field of electric vehicle technology, and in particular to a method, system and electronic device for coordinated control of a microgrid containing a V2G charging pile. The method inputs the acquired state variables and control variables into a preset nonlinear controller to obtain a control adjustment amount, and then obtains the switching amount of the AC grid AC / DC bidirectional converter, the photovoltaic DC / DC boost converter and the electric vehicle V2G charging pile bidirectional converter, so as to realize the coordinated control of the electric vehicle V2G charging pile and the new energy; the nonlinear controller is obtained according to the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile and the state variable expected trajectory equation, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter, gain parameter and integral parameter of the nonlinear controller. Compared with the prior art, the present invention has the advantages of simple form, fast response, good stability, and easy to solve practical engineering problems.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a microgrid collaborative control method, system and electronic equipment including a V2G charging pile. Background Art

[0002] With the improvement of environmental awareness and the advancement of energy transformation, the large-scale access of electric vehicle V2G charging piles and the integration of new energy in microgrids have become an important trend in the development of new power systems. Electric vehicles connected through V2G charging piles can be widely used in microgrids as large-scale distributed energy storage devices, which can achieve stable control of microgrid DC bus voltage under the condition of new energy generation fluctuations, and maintain the safe and reliable operation of microgrid access distribution network system.

[0003] The existing coordinated control methods for electric vehicle V2G charging piles and new energy sources mainly adopt PI control methods and gain scheduling control methods. The PI control method has a simple structure, but the controller design relies on the premise of linearization near the stable working point of the nonlinear system, so the stability domain is narrow and the engineering application is limited. The gain scheduling control method adopts a local linearization method to linearize the nonlinear system at multiple steady-state working points respectively, interpolate the scheduling parameters based on the local controller, and obtain the global optimal gain scheduling controller. The gain scheduling control method is flexible in design, but in the case of external uncertain disturbances, when the scheduling variables change rapidly, the difficulty of accurate interpolation and computing power requirements will be greatly increased. Therefore, how to achieve the coordinated operation of electric vehicle V2G charging piles and new energy sources under the premise of ensuring that the nonlinear control method has a simple structure, fast response, and good stability, and then ensure the stability of the DC bus voltage of the microgrid and ensure the safe and stable operation of the power grid, has become a problem that needs to be solved in this field. Summary of the invention

[0004] The purpose of the present invention is to provide a microgrid collaborative control method, system and electronic equipment containing V2G charging piles in order to overcome the defects of the above-mentioned prior art. The nonlinear control method based on the generalized dissipative Hamiltonian system is applied to the voltage stabilization control of the DC microgrid containing the V2G charging piles of electric vehicles, which can improve the DC bus voltage anti-interference performance. The control method is simple in form, fast in response, and has good stability, and is easy to solve practical engineering problems.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to a first aspect of the present invention, a method for coordinated control of a microgrid including a V2G charging pile is provided. The control method is implemented based on a preset control system and comprises the following steps: obtaining state variables and control variables; inputting the state variables and the control variables into a preset nonlinear controller to obtain a control adjustment amount; based on the control adjustment amount, obtaining the switching quantities of an AC grid AC / DC bidirectional converter, a photovoltaic DC / DC boost converter and an electric vehicle V2G charging pile bidirectional converter to achieve coordinated control of the electric vehicle V2G charging pile and new energy; wherein the control adjustment amount includes the d-axis and q-axis components of the AC grid AC / DC bidirectional converter voltage, and the nonlinear controller is obtained according to the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile and the state variable expected trajectory equation, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter, gain parameter and integral parameter of the nonlinear controller.

[0007] As an optimal technical solution, the acquisition process of the nonlinear controller specifically includes: constructing a state-space equation of a DC microgrid based on a V2G charging pile for electric vehicles; defining state variables, and acquiring a global energy function of a DC microgrid based on a V2G charging pile for electric vehicles according to the state variables; defining control variables, and acquiring a generalized dissipative Hamiltonian equation of a DC microgrid based on a V2G charging pile for electric vehicles according to the state-space equation and the global energy function; defining an expected energy balance point of a DC microgrid, and acquiring an expected global energy function of a DC microgrid based on a V2G charging pile for electric vehicles according to the global energy function and the expected balance point; defining an expected trajectory tracking error of a state variable, and acquiring an expected trajectory equation of a state variable according to the generalized dissipative Hamiltonian equation of a DC microgrid and the expected global energy function; and obtaining a nonlinear controller according to the generalized dissipative Hamiltonian equation of a DC microgrid and the expected trajectory equation of a state variable.

[0008] As a preferred technical solution, the DC microgrid state space equation is:

[0009]

[0010] In the formula, i d , i q are the d-axis and q-axis components of the AC / DC bidirectional converter current of the AC grid, are the AC side resistance and inductance of the AC / DC bidirectional converter of the AC grid, ω is the grid angular frequency, is the DC microgrid bus voltage, They are the d and q components of the switching quantity of the AC / DC bidirectional converter of the AC power grid, vd , v q are the d-axis and q-axis components of the AC / DC bidirectional converter voltage of the AC grid, , are the output voltage and current of the photovoltaic system respectively, L pv is the photovoltaic DC / DC boost converter inductor, is the switching quantity of the photovoltaic DC / DC boost converter, m ev It is the switching quantity of the bidirectional converter of the electric vehicle V2G charging pile. I ev is the vehicle-side current of the bidirectional converter of the electric vehicle V2G charging pile, C It is the DC side capacitor of the bidirectional converter of the V2G charging pile of electric vehicles. C ac is the DC side capacitor of the AC / DC bidirectional converter of the AC grid, C pv is the DC side capacitor of the photovoltaic DC / DC boost converter, L , R are the inductance and resistance of the bidirectional converter of the electric vehicle V2G charging pile, T is the switching cycle of the bidirectional converter of the electric vehicle V2G charging pile, n is the voltage ratio of the bidirectional converter of the V2G charging pile for electric vehicles, is the differential symbol.

[0011] As a preferred technical solution, the state variable is defined as:

[0012]

[0013] In the formula, the upper right corner of the bracket T represents transpose;

[0014] The global energy function of the DC microgrid is:

[0015]

[0016] In the formula, i d , i q are the d-axis and q-axis components of the AC / DC bidirectional converter current of the AC grid, L ac is the AC side inductance of the AC / DC bidirectional converter of the AC grid, L pv is the photovoltaic DC / DC boost converter inductor, I pv is the output current of the photovoltaic system,C It is the DC side capacitor of the bidirectional converter of the V2G charging pile of electric vehicles. V dc is the DC microgrid bus voltage, L It is the inductor of the bidirectional converter of the V2G charging pile of electric vehicles. I ev It is the vehicle-side current of the bidirectional converter of the V2G charging pile of electric vehicles.

[0017] As a preferred technical solution, the control variable is defined as:

[0018]

[0019] In the formula, v d , v q are the d-axis and q-axis components of the AC / DC bidirectional converter voltage of the AC grid, V pv Output voltage for photovoltaic system;

[0020] The generalized dissipative Hamiltonian equation of the DC microgrid is:

[0021]

[0022] In the formula, for x Derivative, is the partial differential symbol, J ( x ) is the system energy balance interconnection matrix, R ( x ) is the system internal structure matrix, g ( x ) is the internal and external interaction structure matrix.

[0023] As a preferred technical solution, the desired energy balance point of the DC microgrid is defined as:

[0024]

[0025] In the formula, x is the state variable, and the superscript * indicates the corresponding expected equilibrium point;

[0026] The desired global energy function is:

[0027]

[0028] in:

[0029]

[0030] In the formula,H ( x ) is the global energy function, H a ( x ) is the energy injected into the system through shaping of the energy function.

[0031] As a preferred technical solution, the state variable expected trajectory tracking error is defined as:

[0032]

[0033] The expected trajectory equation of the state variable is:

[0034]

[0035] in:

[0036]

[0037]

[0038] In the formula, for x Derivative, J d ( x ) is the energy balance interconnection matrix expected by the control system, J a ( x ) is the injected dissipation matrix, R d ( x ) is the system internal structure matrix expected by the control system, R a ( x ) is the injected damping matrix, J(x) is the system energy balance interconnection matrix, R(x) is the system internal structure matrix, g(x) It is the internal and external interaction structure matrix.

[0039] As a preferred technical solution, the nonlinear controller is expressed as:

[0040]

[0041] in:

[0042] ,

[0043] In the formula, k p , k i are the gain parameter and integral parameter of the nonlinear controller respectively, wis the integral variable of the control variable.

[0044] According to a second aspect of the present invention, a microgrid cooperative control system including a V2G charging pile is provided. The system is used to implement the control method, and at least includes a sensor, a nonlinear controller and a pulse width modulator. The sensor is used to obtain state variables and control variables. The nonlinear controller is used to receive the state variables and the control variables to obtain a control adjustment amount, and based on the control adjustment amount, the switching amount of the AC grid AC / DC bidirectional converter, the photovoltaic DC / DC boost converter and the electric vehicle V2G charging pile bidirectional converter is obtained through the pulse width modulator to achieve coordinated control of the electric vehicle V2G charging pile and new energy; wherein the control adjustment amount includes the d-axis and q-axis components of the AC grid AC / DC bidirectional converter voltage, and the nonlinear controller is obtained according to the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile and the state variable expected trajectory equation, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter, gain parameter and integral parameter of the nonlinear controller.

[0045] According to a third aspect of the present invention, there is provided an electronic device having a program stored thereon, wherein the method described above is implemented when the program is executed.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. The nonlinear controller provided by the present invention is obtained based on the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile and the expected trajectory equation of the state variable. There is no need to make local linear approximation of the AC grid AC / DC bidirectional converter, the photovoltaic DC / DC boost converter and the electric vehicle V2G charging pile bidirectional converter near the stable working point. The generalized dissipative Hamiltonian equation is designed for the nonlinear characteristics of the DC microgrid, and can accurately characterize the energy balance interconnection characteristics of the system, which not only provides conditions for simplifying the design of the nonlinear controller, but also ensures the global asymptotic stability of the closed-loop control system.

[0048] 2. The nonlinear controller provided by the present invention is simple in form and fast in response. It can maintain the stability of the DC bus voltage of the microgrid based on the V2G charging pile of electric vehicles with strong coupling and significant nonlinear characteristics, realize the coordinated operation of the V2G charging pile of electric vehicles and new energy, and improve the anti-interference performance of the DC bus voltage;

[0049] 3. The present invention tracks the dynamic response characteristics according to the expected trajectory of the state variable and adjusts the selection of the damping parameter, gain parameter and integral parameter injected by the nonlinear controller, which can avoid the difficulty of accurately obtaining the scheduling parameters and the significant increase in computing power requirements of the gain scheduling control method when external uncertain disturbances occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic flow chart of the method provided by the present invention;

[0051] Figure 2 This is a schematic diagram of the DC microgrid structure based on the electric vehicle V2G charging pile in Example 1 of the present invention, wherein: i a , i b , i c They are the AC side of the AC grid AC / DC bidirectional converter a Mutually, b Mutually, c Phase current, obtained by Park transformation i d , i q , v a , v b , v c They are the AC side of the AC grid AC / DC bidirectional converter a Mutually, b Mutually, c Phase voltage, obtained by Park transformation v d , v q ;

[0052] Figure 3 The DC microgrid dynamic response waveform when the active power output of the photovoltaic system suddenly drops using the nonlinear control method in Example 1 of the present invention is shown in FIG. Figure 3 (a) Part of the DC bus voltage waveform, Figure 3 Part (b) is the current waveform of the bidirectional converter on the vehicle side of the V2G charging pile of the electric vehicle. Figure 3 Part (c) is the switching waveform of the bidirectional converter of the electric vehicle V2G charging pile. DETAILED DESCRIPTION

[0053] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0054] Example 1

[0055] The microgrid collaborative control method containing V2G charging piles provided by the present invention is a nonlinear control method. This method designs a global stable controller from the energy perspective, so that the control system can still stably operate at the desired operating point under the condition of external interference, realize zero static error tracking of the desired trajectory, and has good DC bus voltage disturbance suppression capability, which is of great practical significance for maintaining the stable operation of the microgrid.

[0056] This embodiment provides a microgrid collaborative control method control system including a V2G charging pile. The control system includes a sensor, a nonlinear controller and a pulse width modulator. Based on the control system, Figure 1 As shown, the implementation process of the above method specifically includes: the sensor detects the state variable and the control variable in real time, the nonlinear controller inputs the detected state variable and the control variable, and outputs the control adjustment amount, and based on the control adjustment amount, the switching quantity of the AC grid AC / DC bidirectional converter, the photovoltaic DC / DC boost converter and the electric vehicle V2G charging pile bidirectional converter is obtained through the pulse width modulator to realize the coordinated control of the electric vehicle V2G charging pile and new energy.

[0057] The aforementioned nonlinear controller is obtained based on the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile (i.e., the generalized dissipative Hamiltonian equation of the DC microgrid) and the state variable expected trajectory equation, wherein the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter, gain parameter, and integral parameter of the nonlinear controller. Exemplarily, the acquisition of the passive controller includes two parts:

[0058] In the first part, the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile is established in the dq coordinate system;

[0059] In the second part, a nonlinear controller is designed based on energy function modeling to achieve coordinated control of electric vehicle V2G charging piles and new energy sources, so that the state variables are stable at the desired operating point and the DC microgrid bus voltage is stable.

[0060] The specific implementation process of the two parts is as follows:

[0061] In the dq coordinate system, the state space equation of the DC microgrid based on the electric vehicle V2G charging pile is constructed. Specifically, the state space equation is:

[0062] (1)

[0063] In the formula, i d , i q are the d-axis and q-axis components of the AC / DC bidirectional converter current of the AC grid, are the AC side resistance and inductance of the AC / DC bidirectional converter of the AC grid, ω is the grid angular frequency, is the DC microgrid bus voltage, They are the d and q components of the switching quantity of the AC / DC bidirectional converter of the AC power grid, v d , v q are the d-axis and q-axis components of the AC / DC bidirectional converter voltage of the AC grid, , are the output voltage and current of the photovoltaic system respectively, L pv is the photovoltaic DC / DC boost converter inductor, is the switching quantity of the photovoltaic DC / DC boost converter, m ev It is the switching quantity of the bidirectional converter of the electric vehicle V2G charging pile. I ev is the vehicle-side current of the bidirectional converter of the electric vehicle V2G charging pile, C It is the DC side capacitor of the bidirectional converter of the V2G charging pile of electric vehicles. C ac is the DC side capacitor of the AC / DC bidirectional converter of the AC grid, C pv is the DC side capacitor of the photovoltaic DC / DC boost converter, L , R are the inductance and resistance of the bidirectional converter of the electric vehicle V2G charging pile, T is the switching cycle of the bidirectional converter of the electric vehicle V2G charging pile, n is the voltage ratio of the bidirectional converter of the electric vehicle V2G charging pile, is the differential symbol.

[0064] Define state variables, and obtain the global energy function of the DC microgrid based on the electric vehicle V2G charging pile according to the state variables. Specifically, the state variables are defined as:

[0065] (2)

[0066] In the formula, the upper right corner of the bracket T represents transpose;

[0067] Based on this, the global energy function of the DC microgrid based on the electric vehicle V2G charging pile H ( x )for:

[0068] (3)

[0069] Define the control variables, and obtain the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile according to the state space equation and the global energy function. Specifically, the control variables are defined as:

[0070] (4)

[0071] In the formula, v d , v q are the d-axis and q-axis components of the AC / DC bidirectional converter voltage of the AC grid, V pv Output voltage for photovoltaic system;

[0072] Based on this, and according to equations (1) and (3), the generalized dissipative Hamilton equation of the DC microgrid based on the electric vehicle V2G charging pile is established as follows:

[0073] (5)

[0074] in:

[0075] (6)

[0076] (7)

[0077] (8)

[0078] In the formula, for x Derivatives; is the symbol for partial differential; J ( x ) is the system energy balance interconnection matrix, satisfying ; R ( x ) is the system internal structure matrix; g ( x ) is the internal and external interaction structure matrix.

[0079] The expected energy balance point of the DC microgrid is defined, and the expected global energy function of the DC microgrid based on the electric vehicle V2G charging pile is obtained according to the global energy function and the expected balance point.

[0080] Specifically, the expected energy balance point of the DC microgrid based on the electric vehicle V2G charging pile in the dq coordinate system is defined as:

[0081] (9)

[0082] In the formula, xis the state variable, and the superscript * indicates the corresponding expected equilibrium point;

[0083] According to equations (3) and (9), the expected global energy function of the DC microgrid built on the electric vehicle V2G charging pile is:

[0084] (10)

[0085] in:

[0086] (11)

[0087] In the formula, H a ( x ) is the energy injected into the system through shaping of the energy function.

[0088] Define the state variable expected trajectory tracking error, and obtain the state variable expected trajectory equation based on the generalized dissipative Hamiltonian equation of the DC microgrid and the expected global energy function. Specifically, the state variable expected trajectory tracking error is defined as:

[0089] (12)

[0090] In order to realize the stable control of the DC microgrid bus voltage and achieve the asymptotic tracking target of the expected trajectory of the state variable, that is, , then according to equations (5) and (10), the expected trajectory equation of the state variable can be obtained:

[0091] (13)

[0092] in:

[0093] (14)

[0094] (15)

[0095] (16)

[0096] (17)

[0097] In the formula, J d ( x ) is the energy balance interconnection matrix expected by the control system, J a ( x ) is the injected dissipation matrix, R d ( x ) is the system internal structure matrix expected by the control system, Ra ( x ) is the injected damping matrix, R 1 、R 2 、R 3 、R 4 、R 5 Injects damping parameters into nonlinear controllers. R a ( x ) can control the tracking speed of the desired trajectory of the state variable.

[0098] According to the generalized dissipative Hamiltonian equation of the DC microgrid and the expected trajectory equation of the state variable, the nonlinear controller is obtained. Specifically, according to equations (5) and (13), the nonlinear controller can be obtained as follows:

[0099] (18)

[0100] in:

[0101] , (19)

[0102] In the formula, k p , k i are the gain parameter and integral parameter of the nonlinear controller respectively, w is the integral variable of the control variable.

[0103] The designed nonlinear controller can stabilize the state variables at the desired operating point, and the DC microgrid bus voltage can be maintained stable through the coordinated control of the electric vehicle V2G charging pile and new energy.

[0104] In order to verify the dynamic performance of the designed microgrid cooperative control method containing V2G charging piles, the simulation conditions are set: t =7200s, the active power output of the photovoltaic system suddenly drops, and the dynamic response of the DC bus voltage and the vehicle-side current of the bidirectional converter of the electric vehicle V2G charging pile is analyzed. Figure 2 The DC microgrid structure diagram based on the V2G charging pile of electric vehicles in this embodiment is shown in FIG. R ev , C ev , V ev They are the output side resistance, capacitance and output voltage of the electric vehicle respectively; Figure 3: is the dynamic response waveform of the DC microgrid when the active power output of the photovoltaic system using the nonlinear control method in this embodiment suddenly drops.

[0105] from Figure 3 It can be seen from the analysis that when the active power of the photovoltaic system suddenly drops, the microgrid coordinated control method containing V2G charging piles designed in this embodiment is adopted. The DC bus voltage of the microgrid is adjusted briefly and quickly restored to the expected bus voltage value of 400V; the vehicle-side current response of the bidirectional converter of the electric vehicle V2G charging pile is fast, without overshoot, and the switch quantity control is accurate. By adjusting the output current of the electric vehicle V2G charging pile, the state variable is quickly stabilized at the expected working point, and the zero static error tracking of the expected trajectory of the state variable is achieved, effectively suppressing the adverse effects of external uncertainty disturbances on the DC bus voltage of the microgrid, maintaining the smooth operation of the system, and the closed-loop control system achieves global asymptotic stability. The simulation results show that the designed microgrid coordinated control method containing V2G charging piles has the characteristics of simple form, fast response and good stability.

[0106] Example 2

[0107] This embodiment provides an electronic device, including a memory, a processor, and a program stored in the memory, and the processor implements the method provided in Embodiment 1 when executing the program. Exemplarily, the processor includes a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or computer program instructions loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The CPU, ROM, and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus. Multiple components in the device are connected to the I / O interface, including: input units, such as keyboards, mice, etc.; output units, such as various types of displays, speakers, etc.; storage units, such as disks, optical disks, etc.; and communication units, such as network cards, modems, wireless communication transceivers, etc. The communication unit allows the device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunication networks. The processing unit performs the various methods and processes described above, such as one or more steps of the method in the aforementioned Embodiment 1. For example, in some embodiments, the method in embodiment 1 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on the device via a ROM and / or a communication unit. When the computer program is loaded into the RAM and executed by the CPU, one or more steps of the method in embodiment 1 described above may be performed. Alternatively, in other embodiments, the CPU may be configured to perform one or more steps of the method in embodiment 1 in any other appropriate manner (e.g., by means of firmware). The functions described above may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0108] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A microgrid collaborative control method containing a V2G charging pile, characterized in that: The control method is implemented based on a preset control system and includes the following steps: Get state variables and control variables; Inputting the state variable and the control variable into a preset nonlinear controller to obtain a control adjustment amount; Based on the control adjustment amount, the switching amount of the AC grid AC / DC bidirectional converter, the photovoltaic DC / DC boost converter and the electric vehicle V2G charging pile bidirectional converter is obtained to achieve coordinated control of the electric vehicle V2G charging pile and new energy; Wherein, the control adjustment quantity includes the d-axis and q-axis components of the voltage of the AC / DC bidirectional converter of the AC power grid, and the nonlinear controller is obtained according to the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile and the state variable expected trajectory equation, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter, gain parameter and integral parameter of the nonlinear controller; The acquisition process of the nonlinear controller specifically includes: Construct the state space equation of DC microgrid based on electric vehicle V2G charging pile; Define state variables, and obtain a global energy function of a DC microgrid based on an electric vehicle V2G charging pile according to the state variables; Define control variables, and obtain a generalized dissipative Hamiltonian equation for a DC microgrid based on an electric vehicle V2G charging pile according to the state space equation and the global energy function; Defining an expected balance point of energy of a DC microgrid, and obtaining an expected global energy function of a DC microgrid based on a V2G charging pile for electric vehicles according to the global energy function and the expected balance point; Defining a state variable expected trajectory tracking error, and obtaining a state variable expected trajectory equation according to the DC microgrid generalized dissipative Hamiltonian equation and the expected global energy function; According to the generalized dissipative Hamiltonian equation of the DC microgrid and the desired trajectory equation of the state variable, a nonlinear controller is obtained.

2. The microgrid collaborative control method containing V2G charging piles according to claim 1 is characterized in that: The DC microgrid state space equation is: In the formula, i d , i q are the d-axis and q-axis components of the AC / DC bidirectional converter current of the AC grid, are the AC side resistance and inductance of the AC / DC bidirectional converter of the AC grid, ω is the grid angular frequency, is the DC microgrid bus voltage, They are the d and q components of the switching quantity of the AC / DC bidirectional converter of the AC power grid, v d , v q are the d-axis and q-axis components of the AC / DC bidirectional converter voltage of the AC grid, , are the output voltage and current of the photovoltaic system respectively, L pv is the photovoltaic DC / DC boost converter inductor, is the switching quantity of the photovoltaic DC / DC boost converter, m ev It is the switching quantity of the bidirectional converter of the electric vehicle V2G charging pile. I ev is the vehicle-side current of the bidirectional converter of the electric vehicle V2G charging pile, C It is the DC side capacitor of the bidirectional converter of the V2G charging pile of electric vehicles. C ac is the DC side capacitor of the AC / DC bidirectional converter of the AC grid, C pv is the DC side capacitor of the photovoltaic DC / DC boost converter, L , R are the inductance and resistance of the bidirectional converter of the electric vehicle V2G charging pile, T is the switching cycle of the bidirectional converter of the electric vehicle V2G charging pile, n is the voltage ratio of the bidirectional converter of the electric vehicle V2G charging pile, is the differential symbol.

3. The microgrid collaborative control method containing V2G charging piles according to claim 1 is characterized in that: The state variables are defined as: In the formula, the upper right corner of the bracket T represents transpose; The global energy function of the DC microgrid is: In the formula, i d , i q are the d-axis and q-axis components of the AC / DC bidirectional converter current of the AC grid, L ac is the AC side inductance of the AC / DC bidirectional converter of the AC grid, L pv is the photovoltaic DC / DC boost converter inductor, I pv is the output current of the photovoltaic system, C It is the DC side capacitor of the bidirectional converter of the V2G charging pile of electric vehicles. V dc is the DC microgrid bus voltage, L It is the inductor of the bidirectional converter of the V2G charging pile of electric vehicles. I ev It is the vehicle-side current of the bidirectional converter of the V2G charging pile of electric vehicles.

4. The microgrid collaborative control method containing V2G charging piles according to claim 3 is characterized in that: The control variables are defined as: In the formula, v d , v q are the d-axis and q-axis components of the AC / DC bidirectional converter voltage of the AC grid, V pv Output voltage for photovoltaic system; The generalized dissipative Hamiltonian equation of the DC microgrid is: In the formula, for x Derivative, is the partial differential symbol, J ( x ) is the system energy balance interconnection matrix, R ( x ) is the system internal structure matrix, g ( x ) is the internal and external interaction structure matrix.

5. The microgrid collaborative control method containing V2G charging piles according to claim 4 is characterized in that: The desired balance point of the DC microgrid energy is defined as: In the formula, x is the state variable, and the superscript * indicates the corresponding expected equilibrium point; The desired global energy function is: in: In the formula, H ( x ) is the global energy function, H a ( x ) is the energy injected into the system through shaping of the energy function.

6. The microgrid collaborative control method containing V2G charging piles according to claim 5 is characterized in that: The state variable desired trajectory tracking error is defined as: The expected trajectory equation of the state variable is: in: In the formula, for x Derivative, J d ( x ) is the energy balance interconnection matrix expected by the control system, J a ( x ) is the injected dissipation matrix, R d ( x ) is the system internal structure matrix expected by the control system, R a ( x ) is the injected damping matrix, J(x) is the system energy balance interconnection matrix, R(x) is the system internal structure matrix, g(x) It is the internal and external interaction structure matrix.

7. The microgrid collaborative control method containing V2G charging piles according to claim 6 is characterized in that: The nonlinear controller is expressed as: in: ， In the formula, k p , k i are the gain parameter and integral parameter of the nonlinear controller respectively, w is the integral variable of the control variable.

8. A microgrid collaborative control system containing a V2G charging pile, characterized in that: The system is used to implement the control method according to any one of claims 1 to 7, and at least includes a sensor, a nonlinear controller and a pulse width modulator, wherein the sensor is used to obtain a state variable and a control variable, and the nonlinear controller is used to receive the state variable and the control variable to obtain a control adjustment amount, and based on the control adjustment amount, the switching amount of the AC grid AC / DC bidirectional converter, the photovoltaic DC / DC boost converter and the electric vehicle V2G charging pile bidirectional converter is obtained through the pulse width modulator to realize the coordinated control of the electric vehicle V2G charging pile and the new energy; Among them, the control adjustment quantity includes the d-axis and q-axis components of the AC / DC bidirectional converter voltage of the AC power grid. The nonlinear controller is obtained according to the generalized dissipative Hamiltonian equation of the DC microgrid based on the electric vehicle V2G charging pile and the state variable expected trajectory equation. The state variable expected trajectory equation is used to dynamically adjust the injection damping parameter, gain parameter and integral parameter of the nonlinear controller.

9. An electronic device having a program stored thereon, characterized in that: When the program is executed, the method according to any one of claims 1 to 7 is implemented.

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