Electric vehicle V2G charging pile stability control method and system and electronic equipment

Abstract

The invention relates to the technical field of electric vehicles, in particular to an electric vehicle V2G charging pile stability control method and system and electronic equipment. According to the method, after a state variable and a control variable are obtained, the state variable and the control variable are input into a passive controller to obtain a switching function, and on-off of a three-phase four-wire bidirectional converter of the electric vehicle V2G charging pile based on the LCL filter is controlled based on the switching function; the passive controller is obtained based on an improved electric vehicle V2G charging pile three-phase four-wire bidirectional converter port controlled dissipation Hamilton equation and a state variable expected trajectory equation, and the state variable expected trajectory equation is used for dynamically adjusting injection damping parameters of the passive controller. Compared with the prior art, the device has the advantages of simple structure, quick response, good stability, easiness in solving engineering practical problems and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a method, system and electronic equipment for stabilizing a V2G charging pile of an electric vehicle. Background Art

[0002] The three-phase four-wire converter of the electric vehicle V2G charging pile can realize bidirectional power exchange between electric vehicles and the power grid. It has the advantages of high DC bus voltage utilization and compensation of unbalanced voltage. The LCL filter can effectively suppress the high-frequency current harmonics of the power grid. Therefore, the stable control of the electric vehicle V2G charging pile is the key to realizing the power grid harmonic suppression function.

[0003] Traditional control methods for electric vehicle V2G charging piles mainly include vector control and repetitive control. The vector control method has a simple structure, but the controller design relies on the premise of linearization near the stable operating point of the nonlinear system, so the stability domain is narrow and the engineering application is limited. The repetitive control method can effectively suppress periodic harmonic signals of known frequencies in the power grid, but when the frequency of the harmonic signal fluctuates, the control accuracy decreases significantly. Therefore, how to ensure that the control method has a simple structure, fast response, and good stability, so that the electric vehicle V2G charging pile can achieve low harmonic, high-quality and stable control of the power grid current, 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 stable control method, system and electronic device for an electric vehicle V2G charging pile in order to overcome the defects of the above-mentioned prior art. The passive control method is applied to a three-phase four-wire converter of an electric vehicle V2G charging pile based on an LCL filter to achieve accurate and rapid tracking of the expected trajectory of the grid-connected current, and can effectively eliminate the adverse effects of grid harmonics. The stable control method for an electric vehicle V2G charging pile has a simple structure, fast response, 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: According to a first aspect of the present invention, a method for stabilizing an electric vehicle V2G charging pile is provided. The control method is implemented based on a preset control system, and specifically comprises the following steps: acquiring state variables and control variables; inputting the state variables and the control variables into a preset passive controller to obtain a switching function; based on the switching function, controlling the on-off of a three-phase four-wire bidirectional converter of an electric vehicle V2G charging pile based on an LCL filter; wherein the passive controller is obtained based on an improved controlled dissipation Hamiltonian equation of a port of a three-phase four-wire bidirectional converter of the electric vehicle V2G charging pile and a state variable expected trajectory equation, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter of the passive controller.

[0006] As an optimal technical solution, the acquisition process of the passive controller specifically includes: constructing a state space equation of a three-phase four-wire bidirectional converter of an electric vehicle V2G charging pile based on an LCL filter; defining state variables, and obtaining a global energy function of the three-phase four-wire bidirectional converter according to the state variables; defining control variables, and obtaining a port controlled dissipation Hamiltonian equation of the three-phase four-wire bidirectional converter according to the state space equation and the global energy function; defining an expected equilibrium point of the state variables, and obtaining an expected global energy function according to the equilibrium point; defining an expected trajectory tracking error of the state variables, and obtaining an expected trajectory equation of the state variables according to the port controlled dissipation Hamiltonian equation and the expected global energy function; and obtaining a passive controller according to the port controlled dissipation Hamiltonian equation and the expected trajectory equation of the state variables.

[0007] As a preferred technical solution, the state space equation is: In the formula, i 1d , i 1q are the d-axis and q-axis components of the LCL filter input current respectively, i 2d , i 2q are the d-axis and q-axis components of the LCL filter output current respectively, u Cd , u Cq are the d-axis and q-axis components of the LCL filter capacitor voltage respectively, u dc is the DC side capacitor voltage of the three-phase four-wire converter, u gd , u gq are the d-axis and q-axis components of the grid voltage respectively, S d , S q are the d-axis and q-axis components of the switching function of the three-phase four-wire converter, L 1 , L 2 They are the three-phase four-wire converter and the output side inductor of the LCL filter. C. R are the LCL filter capacitor and resistor respectively, ω is the grid angular frequency, is the differential symbol.

[0008] As a preferred technical solution, the state variable is defined as: The global energy function is: In the formula, x is the state variable, L 1 , L 2 They are the three-phase four-wire converter and the output side inductor of the LCL filter. i 1d , i 1q are the d-axis and q-axis components of the LCL filter input current respectively, i 2d , i 2q are the d-axis and q-axis components of the LCL filter output current respectively, u Cd , u Cq are the d-axis and q-axis components of the LCL filter capacitor voltage respectively, C is the LCL filter capacitor.

[0009] As a preferred technical solution, the control variable is defined as: In the formula, S d , S q are the d-axis and q-axis components of the switching function of the three-phase four-wire converter, u dc is the DC side capacitor voltage of the three-phase four-wire converter, u gd , u gq are the d-axis and q-axis components of the grid voltage respectively; The port controlled dissipation Hamiltonian equation is: In the formula, is a state variable The derivative of y is the output variable, J(x) is the matrix that represents the internal structure of the control system, R(x) is a semi-positive definite symmetric matrix that characterizes the dissipative nature of the control system, g(x) It is a matrix that represents the internal and external relationships of the control system.

[0010] As a preferred technical solution, the expected equilibrium point of the state variable is defined as: In the formula, xis the state variable, the superscript * indicates the corresponding expected equilibrium point, L 1 , L 2 They are the three-phase four-wire converter and the output side inductor of the LCL filter. i 1d , i 1q are the d-axis and q-axis components of the LCL filter input current respectively, i 2d , i 2q are the d-axis and q-axis components of the LCL filter output current respectively, u Cd , u Cq are the d-axis and q-axis components of the LCL filter capacitor voltage respectively, C is the LCL filter capacitor; The expected 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 the passive control law.

[0011] As a preferred technical solution, the state variable expected trajectory tracking error is defined as: The expected trajectory equation of the state variable is: in: In the formula, is a state variable The derivative of J d ( x ) is the interconnection matrix expected by the control system, J a ( x ) is the injected dissipation matrix, R d ( x ) is the desired damping matrix of the control system, R a ( x) is the injected damping matrix, J(x) is the matrix that represents the internal structure of the control system, R(x) is a semi-positive definite symmetric matrix that characterizes the dissipative nature of the control system, g(x) It is a matrix that represents the internal and external relationships of the control system.

[0012] As a preferred technical solution, the control variable, i.e. the passive controller u It is expressed as: .

[0013] According to a second aspect of the present invention, a stability control system for an electric vehicle V2G charging pile is provided. The system is used to implement the control method, and at least includes a state variable sensor, a control variable sensor and a passive controller. The state variable sensor is used to obtain the state variable, the control variable sensor is used to obtain the control variable, and the passive controller is used to receive the state variable and the control variable to obtain a switching function, and based on the switching function, control the on-off of a three-phase four-wire bidirectional converter of an electric vehicle V2G charging pile based on an LCL filter; wherein the passive controller is obtained based on an improved controlled dissipation Hamiltonian equation of the three-phase four-wire bidirectional converter port of the electric vehicle V2G charging pile and a state variable expected trajectory equation, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter of the passive controller.

[0014] According to a third aspect of the present invention, there is provided an electronic device, comprising a memory, a processor, and a program stored in the memory, wherein the processor implements the control method when executing the program.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The passive controller of the present invention is obtained based on the controlled dissipation Hamilton equation of the three-phase four-wire bidirectional converter port of the improved electric vehicle V2G charging pile and the expected trajectory equation of the state variable. Based on the passive controller, the three-phase four-wire bidirectional converter and the LCL filter are controlled as a whole, without taking into account the internal resonance of the LCL filter. The switching function of the three-phase four-wire bidirectional converter can be obtained only according to the expected trajectory of the grid-connected current. The calculation is simple and the response is fast. At the same time, the dynamic response characteristics can be tracked according to the expected trajectory of the state variable, and the passive controller injection damping parameters can be adjusted, which can avoid the deficiency that the controller parameter setting in the traditional control method is easily affected by the perturbation of the model parameters; 2. In the process of obtaining the passive controller, the present invention can achieve asymptotic tracking of the expected trajectory of the state variables through global energy function shaping, while ensuring the global asymptotic stability of the closed-loop control system and a wider stability domain. Based on this, the passive controller with a simple form can achieve accurate and rapid tracking of the expected trajectory of the state variables, stably control the grid-connected current of the three-phase four-wire converter of the electric vehicle V2G charging pile, effectively suppress the grid harmonics, and achieve global asymptotic stability of the closed-loop control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic flow chart of the method provided by the present invention; Figure 2 This is a schematic diagram of the structure of a three-phase four-wire converter for a V2G charging pile for electric vehicles in Example 1 of the present invention; Figure 3 The grid-connected current when the grid current amplitude suddenly drops by 1 / 3 and contains uncertain harmonics in the control method of Example 1 of the present invention, and the V2G charging pile of the electric vehicle adopts the passive control method i 2a , i 2b , i 2c Waveform graph; Figure 4 This is a harmonic analysis diagram of the grid-connected current when a passive control method is adopted in a V2G charging pile of an electric vehicle under the control method of Example 1 of the present invention, in a situation where the grid current amplitude suddenly drops by 1 / 3 and contains uncertain harmonics. DETAILED DESCRIPTION

[0017] 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.

[0018] Example 1 The passive control method provided by the present invention designs a global stable controller from the energy perspective, so that the electric vehicle V2G charging pile can still operate stably at the expected working point when the grid current amplitude changes suddenly and contains uncertain harmonics, and realize zero static error tracking of the expected trajectory of the grid-connected current. It has better grid harmonic suppression capability and is of great practical significance for expanding the engineering application of electric vehicle V2G charging piles.

[0019] This embodiment provides a stable control method and control system for an electric vehicle V2G charging pile. The control system includes a passive controller, a state variable sensor, and a control variable sensor. Based on the control system, Figure 1As shown, the implementation process of the above method specifically includes: the state variable sensor and the control variable sensor detect the state variable and the control variable in real time, input the state variable and the control variable into the passive controller, and the passive controller outputs the switching function of the three-phase four-wire bidirectional converter (also referred to as S d , S q ), and controls the on-off of the three-phase four-wire bidirectional converter of the electric vehicle V2G charging pile based on the LCL filter according to the switching function.

[0020] The aforementioned passive controller is obtained based on the improved port controlled dissipation Hamiltonian equation (i.e., port controlled dissipation Hamiltonian equation) of the three-phase four-wire bidirectional converter of the electric vehicle V2G charging pile and the state variable expected trajectory equation, wherein the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter of the passive controller. Exemplarily, the acquisition of the passive controller includes two parts: In the first part, the controlled dissipation Hamiltonian equation of the three-phase four-wire converter port of the electric vehicle V2G charging pile is established in the dq coordinate system; In the second part, from the energy perspective, a passive controller is designed to make the state variable expected trajectory tracking error tend to zero static error, achieve stable grid-connected current control, and effectively suppress grid harmonics.

[0021] The specific implementation process of the two parts is as follows: In the dq coordinate system, the state space equation of the three-phase four-wire bidirectional converter of the electric vehicle V2G charging pile based on the LCL filter is constructed. Specifically, the state space equation is: (1) In the formula, i 1d , i 1q They are the d-axis and q-axis components of the LCL filter input current respectively; i 2d , i 2q They are the d-axis and q-axis components of the LCL filter output current respectively; u Cd , u Cq They are the d-axis and q-axis components of the LCL filter capacitor voltage respectively; u dc is the capacitor voltage on the DC side of the three-phase four-wire converter; u gd , u gq are the d-axis and q-axis components of the grid voltage respectively; S d ,S q They are the d-axis and q-axis components of the switching function of the three-phase four-wire converter respectively; L 1 , L 2 They are the output side inductors of the three-phase four-wire converter and the LCL filter respectively; C. R They are the LCL filter capacitor and resistor respectively; ω is the grid angular frequency; is the differential symbol.

[0022] Define the state variables of the three-phase four-wire converter of the electric vehicle V2G charging pile, and obtain the global energy function of the three-phase four-wire converter of the electric vehicle V2G charging pile according to the state variables. Specifically, the state variables are defined as: (2) Based on this, the global energy function H ( x )for: (3) In the formula, x is a state variable.

[0023] Defining Control Variables u , and according to the state space equation and the global energy function, the controlled dissipation Hamiltonian equation of the three-phase four-wire bidirectional converter port is obtained. Specifically, the control variable is defined as: (4) Based on this, and according to equations (1) and (3), the controlled dissipation Hamilton equation of the three-phase four-wire converter port of the electric vehicle V2G charging pile is established as follows: (5) In the formula, is a state variable The derivative of y is the output variable, J(x) is the matrix that represents the internal structure of the control system, R(x) is a semi-positive definite symmetric matrix that characterizes the dissipative nature of the control system, g(x) It is a matrix that represents the internal and external associations of the control system, which is specifically expressed as: (6) (7) (8) Define the expected equilibrium point of the state variables, and obtain the expected global energy function based on the equilibrium point. Specifically, from the energy perspective, the expected equilibrium point of the state variables is defined as: (9) In the formula, x is the state variable, and the superscript * indicates the corresponding expected equilibrium point.

[0024] In order to make the closed-loop control system at the desired equilibrium point x * The energy reaches the minimum value at the point where the closed-loop control system can converge to the desired equilibrium point asymptotically. The expected global energy function is expressed as: (10) in: (11) In the formula, H a ( x ) is the energy injected into the system through the passive control law.

[0025] Define the state variable expected trajectory tracking error, and obtain the state variable expected trajectory equation based on the port controlled dissipation Hamilton equation and the expected global energy function. Specifically, the state variable expected trajectory tracking error is defined as: (12) Based on this, in order to achieve asymptotic tracking of the expected trajectory of the state variables, that is, According to equations (5) and (10), the expected trajectory equation of the state variable is: (13) in: (14) (15) , (16) In the formula, J d ( x ) is the interconnection matrix expected by the control system, J a ( x ) is the injected dissipation matrix, R d ( x ) is the desired damping matrix of the control system, R a ( x ) is the injected damping matrix, R1, R2, R3, R4, R5, R6 are the passive controller injected damping parameters. a (x) Speed ​​control that tracks the desired trajectory of the state variable can be achieved.

[0026] According to the port controlled dissipation Hamilton equation and the state variable expected trajectory equation, the passive controller is obtained. Specifically, according to equations (5) and (13), the control variable, i.e., the passive controller u for: (17) The passive controller can achieve zero static error of the expected trajectory tracking error of the state variable, maintain the grid current stability, and effectively suppress the grid harmonics. R a ( x ) can ensure the accurate and rapid tracking of the expected trajectory of the grid-connected current. The passive controller has a simple form, small calculation amount, good dynamic responsiveness and a wide stability range.

[0027] In order to verify the dynamic response performance and harmonic suppression performance of the designed electric vehicle V2G charging pile stability control method, the simulation conditions are set: t =20ms, the grid current amplitude suddenly drops by 1 / 3 and contains uncertain harmonics. The dynamic response of the grid-connected current and the harmonic content of the electric vehicle V2G charging pile are analyzed.

[0028] Figure 2 This is a schematic diagram of the structure of a three-phase four-wire converter for an electric vehicle V2G charging pile in this embodiment, wherein: i 1a , i 1b , i 1c They are respectively the input side of the LCL filter a Mutually, b Mutually, c Phase current, obtained by Park transformation i 1d , i 1q ; i 2a , i 2b , i 2c They are the output side of the LCL filter. a Mutually, b Mutually, c Phase current, obtained by Park transformation i 2d , i 2q ; u dc is the DC side capacitor voltage of the three-phase four-wire converter, S 1 ~S 8They are the IGBT devices of each bridge arm of the three-phase four-wire converter. v ga , v gb , v gc Power grid a Mutually, b Mutually, c Phase voltage; Figure 3 The grid-connected current when the V2G charging pile of an electric vehicle adopts a passive control method in the case where the grid current amplitude suddenly drops by 1 / 3 and contains uncertain harmonics in the control method of this embodiment i 2a , i 2b , i 2c Waveform graph; Figure 4 This is a harmonic analysis diagram of the grid-connected current when a passive control method is used for a V2G charging pile of an electric vehicle in the control method of this embodiment when the grid current amplitude suddenly drops by 1 / 3 and contains uncertain harmonics.

[0029] from Figure 3 and Figure 4 Analysis shows that, by adopting the passive control method designed in this embodiment, when the effective value of the grid current drops suddenly from 15A to 10A and contains uncertain harmonics, the grid-connected current of the electric vehicle V2G charging pile can be quickly tracked to the expected trajectory within 1ms, and the harmonic THD is effectively controlled within 2%; the passive control method realizes the small overshoot and fast tracking speed of the grid-connected current of the electric vehicle V2G charging pile in the transient process, has good dynamic response performance, and achieves the purpose of stable control of grid-connected current and harmonic suppression; the electric vehicle V2G charging pile runs smoothly, and the closed-loop control system has good stability. The simulation results show that the designed stable control method of the electric vehicle V2G charging pile has the characteristics of fast response and good stability.

[0030] Example 2 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.

[0031] 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 stable control method for an electric vehicle V2G charging pile, characterized in that: The control method is implemented based on a preset control system and specifically includes the following steps: Get state variables and control variables; Inputting the state variable and the control variable into a preset passive controller to obtain a switching function; Based on the switching function, the switch on and off of the three-phase four-wire bidirectional converter of the electric vehicle V2G charging pile based on the LCL filter is controlled; The passive controller is obtained based on the controlled dissipation Hamiltonian equation and the state variable expected trajectory equation of the improved three-phase four-wire bidirectional converter port of the electric vehicle V2G charging pile, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter of the passive controller.

2. The electric vehicle V2G charging pile stability control method according to claim 1 is characterized in that: The acquisition process of the passivity controller specifically includes: Construct the state space equation of the three-phase four-wire bidirectional converter for electric vehicle V2G charging pile based on LCL filter; defining state variables, and obtaining a global energy function of a three-phase four-wire bidirectional converter according to the state variables; Define control variables, and obtain a controlled dissipation Hamiltonian equation for a three-phase four-wire bidirectional converter port according to the state space equation and the global energy function; Defining an expected equilibrium point of the state variables, and obtaining an expected global energy function according to the equilibrium point; Defining a state variable expected trajectory tracking error, and obtaining a state variable expected trajectory equation according to the port controlled dissipation Hamiltonian equation and the expected global energy function; A passive controller is obtained according to the port controlled dissipation Hamiltonian equation and the state variable expected trajectory equation.

3. The electric vehicle V2G charging pile stability control method according to claim 2 is characterized in that: The state space equation is: In the formula, i 1d , i 1q are the d-axis and q-axis components of the LCL filter input current respectively, i 2d , i 2q are the d-axis and q-axis components of the LCL filter output current respectively, u Cd , u Cq are the d-axis and q-axis components of the LCL filter capacitor voltage respectively, u dc is the DC side capacitor voltage of the three-phase four-wire converter, u gd , u gq are the d-axis and q-axis components of the grid voltage respectively, S d , S q are the d-axis and q-axis components of the switching function of the three-phase four-wire converter, L 1 , L 2 They are the three-phase four-wire converter and the output side inductor of the LCL filter. C. R are the LCL filter capacitor and resistor respectively, ω is the grid angular frequency, is the differential symbol.

4. The electric vehicle V2G charging pile stability control method according to claim 2, characterized in that: The state variables are defined as: The global energy function is: In the formula, x is the state variable, L 1 , L 2 They are the three-phase four-wire converter and the output side inductor of the LCL filter. i 1d , i 1q are the d-axis and q-axis components of the LCL filter input current respectively, i 2d , i 2q are the d-axis and q-axis components of the LCL filter output current respectively, u Cd , u Cq are the d-axis and q-axis components of the LCL filter capacitor voltage respectively, C is the LCL filter capacitor.

5. The electric vehicle V2G charging pile stability control method according to claim 4 is characterized in that: The control variables are defined as: In the formula, S d , S q are the d-axis and q-axis components of the switching function of the three-phase four-wire converter, u dc is the DC side capacitor voltage of the three-phase four-wire converter, u gd , u gq are the d-axis and q-axis components of the grid voltage respectively; The port controlled dissipation Hamiltonian equation is: In the formula, is a state variable The derivative of y is the output variable, J(x) is the matrix that represents the internal structure of the control system, R (x) is a semi-positive definite symmetric matrix that characterizes the dissipative nature of the control system, g(x) It is a matrix that represents the internal and external relationships of the control system.

6. The electric vehicle V2G charging pile stability control method according to claim 2, characterized in that: The desired equilibrium point of the state variables is defined as: In the formula, x is the state variable, the superscript * indicates the corresponding expected equilibrium point, L 1 , L 2 They are the three-phase four-wire converter and the output side inductor of the LCL filter. i 1d , i 1q are the d-axis and q-axis components of the LCL filter input current respectively, i 2d , i 2q are the d-axis and q-axis components of the LCL filter output current respectively, u Cd , u Cq are the d-axis and q-axis components of the LCL filter capacitor voltage respectively, C is the LCL filter capacitor; The expected 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 the passive control law.

7. The electric vehicle V2G charging pile stability control method according to claim 6, 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, is a state variable The derivative of J d ( x ) is the interconnection matrix expected by the control system, J a ( x ) is the injected dissipation matrix, R d ( x ) is the desired damping matrix of the control system, R a ( x ) is the injected damping matrix, J(x) is the matrix that represents the internal structure of the control system, R(x) is a semi-positive definite symmetric matrix that characterizes the dissipative nature of the control system, g(x) It is a matrix that represents the internal and external relationships of the control system.

8. The electric vehicle V2G charging pile stability control method according to claim 7, characterized in that: The control variable, i.e., the passive controller u It is expressed as: 。 9. A V2G charging pile stability control system for electric vehicles, characterized in that: The system is used to implement the control method according to any one of claims 1 to 8, and at least comprises a state variable sensor, a control variable sensor and a passive controller, wherein the state variable sensor is used to obtain a state variable, the control variable sensor is used to obtain a control variable, and the passive controller is used to receive the state variable and the control variable to obtain a switching function, and based on the switching function, control the switch on and off of the three-phase four-wire bidirectional converter of the electric vehicle V2G charging pile based on the LCL filter; The passive controller is obtained based on the controlled dissipation Hamiltonian equation and the state variable expected trajectory equation of the improved three-phase four-wire bidirectional converter port of the electric vehicle V2G charging pile, and the state variable expected trajectory equation is used to dynamically adjust the injection damping parameter of the passive controller.

10. An electronic device comprising a memory, a processor, and a program stored in the memory, characterized in that: When the processor executes the program, the control method as described in any one of claims 1 to 8 is implemented.

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