Current sharing control method and device for distributed direct-current power supply

Abstract

The invention provides a current sharing control method and device for a distributed direct current power supply, and belongs to the technical field of micro-grid control, and the method comprises the steps: updating an output estimation value of a distributed estimator for a reference distributed direct current power supply, obtained by a neighbor distributed direct current power supply, at a triggering moment of a common triggering function, meanwhile, a state estimation value of the reference distributed direct-current power supply by the distributed estimator is sent to the controller; and the controller calculates the output of the controller according to the state estimation value of the reference distributed direct current power supply by the distributed estimator, and sends the output of the controller to the Buck converter so as to realize the current sharing control of the distributed direct current power supply. And the co-triggering function reduces the occupation of computing resources.

Description

Technical Field

[0001] The present invention belongs to the technical field of microgrid control, and in particular relates to a current sharing control method and device for a distributed direct current power supply. Background Art

[0002] Distributed DC power supplies achieve current sharing through heterogeneous Buck converters. Designing a feedback control law based on a state estimator according to heterogeneous characteristics is an effective way to achieve the current sharing goal. In order to save the communication bandwidth between distributed DC power supplies (Distributed Generation Unit, DGU) and reduce the update frequency of the Buck converter, event triggering mechanisms are widely introduced into current sharing control schemes. However, the existing state estimators and current sharing controllers rely on a two-step design method, which makes it difficult to fully improve the robustness of the DGU, and the event triggering mechanisms of both require their own computing resources. At present, some studies have proposed event-triggered DGU current sharing control schemes. Reference 1 (DOI is 10.1109 / TII.2022.3188352) proposes an edge event-triggered current sharing control strategy for DGU, which achieves the goal through a two-step design of a state estimator and a controller, and independently configures an edge event triggering mechanism for each communication channel. Document 2 (patent application number CN202410213111.4) discloses a distributed secondary control method for a DC microgrid with an event trigger mechanism, which effectively reduces the interaction frequency between DGUs and saves communication bandwidth.

[0003] The investigation found that the existing technology has the following deficiencies:

[0004] (1) Existing event triggering mechanisms are widely used for interactive communication between DGUs, but are rarely used to determine the control law update time of the Buck converter. In particular, how to coordinate the communication and control law update time to reduce the computing resource usage remains an urgent problem to be solved.

[0005] (2) The existing DGU current sharing relies on an estimator-based control scheme, but the step-by-step design of the two makes it difficult to fully improve the robustness of the DGU against the interconnection line current. There is an urgent need to jointly design the DGU estimator and controller to achieve coordinated robust optimization. Summary of the invention

[0006] In view of the shortcomings of the prior art, this application proposes a current sharing control method and device for a distributed DC power supply, which simultaneously determines the interactive communication and Buck converter update times through a common trigger function to reduce the occupancy of communication resources and computing resources. In addition, the robustness of the DGU is further optimized through the joint design of the estimator and controller parameters.

[0007] In a first aspect, the present application proposes a current sharing control method for a distributed DC power supply, comprising:

[0008] Obtaining the state value and output value of the ith distributed DC power source, the state value and output value of the ith distributed DC power source at the triggering moment, the reference output value of the reference distributed DC power source at the triggering moment, and the output estimation value of the reference distributed DC power source at the triggering moment of the neighbor distributed estimator;

[0009] Sending the reference output value of the reference distributed DC power supply at the triggering moment and the output estimation value of the reference distributed DC power supply at the triggering moment of the neighbor distributed estimator to the pre-designed i-th distributed estimator to obtain the state estimation value and output estimation value of the reference distributed DC power supply by the i-th distributed estimator;

[0010] The i-th co-trigger module receives the state value of the i-th distributed DC power supply, the state estimation value of the i-th distributed estimator for the reference distributed DC power supply, and the output estimation value, and is used to output the next triggering moment of the i-th distributed DC power supply, and update the output estimation value of the i-th distributed estimator for the reference distributed DC power supply obtained by the neighbor distributed DC power supply, and at the same time send the state estimation value of the i-th distributed estimator for the reference distributed DC power supply to the pre-designed i-th controller;

[0011] The pre-designed i-th controller calculates the output of the pre-designed i-th controller according to the state estimation value of the reference distributed DC power supply by the i-th distributed estimator, and sends the output of the pre-designed i-th controller to the Buck converter to realize the current sharing control of the distributed DC power supply.

[0012] The estimated gain matrix in the pre-designed i-th distributed estimator and the control gain matrix in the pre-designed i-th controller are obtained by jointly solving the distributed estimator and the controller, and the process includes:

[0013] Initialize state space equations and electrical parameters of a control center of each distributed DC power source, the control center including a distributed estimator and a controller;

[0014] Formulate a distributed estimation strategy of a distributed estimator and a current sharing control strategy of a controller according to the state space equations and electrical parameters of the control centers of the distributed DC power supplies;

[0015] The gain matrices of the distributed estimator and the controller are jointly solved to obtain the estimation gain matrix in the distributed estimator and the control gain matrix in the controller.

[0016] The distributed estimation strategy of the distributed estimator is calculated as follows:

[0017]

[0018] in, is the state estimation value of the reference distributed DC power source by the i-th distributed estimator, for The derivative of , N is the total number of distributed DC power supplies and distributed estimators, c i,j is the coupling gain between the ith distributed DC power source and the jth neighbor distributed DC power source, c i,0 is the coupling gain between the reference distributed DC power source and the i-th distributed DC power source, is the triggering time of the jth neighbor distributed estimator The estimated output value of the reference distributed DC power supply, is the output estimate of the reference distributed DC power source by the i-th distributed estimator, The triggering time of the reference distributed DC power supply is The output value of , L is the pre-designed estimated gain matrix, when there is a communication link connecting the i-th and j-th DGUs, let the communication coupling gain c i,j =1, otherwise set c i,j = 0. Reference to the coupling gain c of the distributed DC power supply i,0 Similarly, A0 is the first electrical parameter matrix of the reference distributed DC power supply, and the calculation formula is as follows:

[0019]

[0020] Among them, C t0 is the filter capacitance value of the reference distributed DC power supply, L t0 is the filter inductance value, R t0 is the filter resistance value, R l0 is the load resistance.

[0021] The current sharing control strategy of the controller is calculated as follows:

[0022]

[0023] Among them, u i (t) is the output of the i-th controller, ki is the triggering number of the i-th distributed DC power source, is the triggering time of the i-th distributed DC power source The status value of is the triggering time of the i-th distributed estimator The state estimate of the reference DGU. i is the pre-designed control gain matrix, the first adjustment matrix Π i and the second adjustment matrix Γi Satisfies the following output regulation equation:

[0024] A i Π i +B i Γ i =Π i A0,C i Π i =C0

[0025] Among them, A i is the first electrical parameter matrix of the i-th distributed DC power supply, B i is the second electrical parameter matrix, C i is the third electrical parameter matrix, defined as:

[0026]

[0027] Among them, C ti is the filter capacitance value of the i-th distributed DC power supply, L ti is the i-th filter inductance value, R ti is the value of the ith filter resistor, R li is the resistance of the i-th load, r i is the current sharing ratio parameter.

[0028] The co-trigger function includes: a co-trigger function of the i-th distributed DC power supply and a single event trigger function of the reference distributed DC power supply;

[0029] The co-triggering function of the i-th distributed DC power supply is calculated as follows:

[0030]

[0031] Among them, g i (t) is the common triggering function of the i-th distributed DC power supply, is the maximum eigenvalue of matrix M, M is the adjacency matrix of the communication network, P is the first positive definite matrix, Q i is the second positive definite matrix, is the trigger gain matrix, Π i is the first adjustment matrix, Γ i is the second adjustment matrix, K i is the pre-designed control gain matrix, is the output trigger error of the i-th distributed DC power supply, is the triggering time of the jth distributed estimator The output estimate of the reference DGU, is the output estimate of the i-th distributed estimator for the reference DGU, is the state trigger error of the i-th distributed DC power supply, is the triggering time of the i-th distributed estimator The status value of is the triggering time of the i-th distributed estimator The state estimate of the reference DGU, s i (t) is the state value of the i-th distributed DGU, is the state estimation value of the reference DGU by the i-th distributed estimator, χ is the first trigger threshold parameter, and η is the second trigger threshold parameter.

[0032] The single event trigger function of the reference distributed DC power supply is calculated as follows:

[0033]

[0034] Where g0(t) is the single event trigger function of the reference distributed DC power supply, c=diag(c 1,0 ,…,c N,0 ) is the first communication gain matrix, ||·||0 is the vector 0 norm, is the trigger error of the reference distributed DC power supply, y0(t) is the output value of the reference distributed DC power supply, The triggering time of the reference distributed DC power supply is The output value of , L is the pre-designed estimated gain matrix;

[0035] The triggering time of the co-triggering function is calculated as follows:

[0036]

[0037] Among them, g i (t) is the output of the co-trigger function, is the triggering time of the i-th distributed DC power source, is the next triggering time of the ith distributed DC power source, and t is any time.

[0038] The triggering time of the reference distributed DC power supply is calculated as follows:

[0039]

[0040] Where g0(t) is the single event trigger function of the reference distributed DC power supply, k0 is the triggering times of the reference distributed DC power supply, The next triggering moment of the reference distributed DC power supply, is the triggering moment of the reference distributed DC power supply.

[0041] In a second aspect, the present application proposes a current sharing control device for a distributed DC power supply, comprising:

[0042] N distributed DC power supplies, N power sensors, N Buck converters, N distributed estimators, N common trigger modules, N controllers, reference distributed DC power supplies, single event trigger module;

[0043] The i-th distributed DC power supply is connected to the i-th power sensor and the i-th Buck converter respectively to output DC power;

[0044] The i-th power sensor is used to obtain status data of the i-th distributed DC power source;

[0045] The i-th distributed estimator is connected to the i-th power sensor, the i-th co-trigger module, and the neighbor distributed estimator, respectively, and is used to calculate the state estimation value and output estimation value of the i-th distributed estimator for the reference distributed DC power supply according to the state value and output value of the i-th distributed DC power supply, the state value and output value of the i-th distributed DC power supply at the triggering moment, the output value of the reference distributed DC power supply at the triggering moment, and the output estimation value of the neighbor distributed estimator for the reference distributed DC power supply at the triggering moment;

[0046] The i-th co-trigger module is connected to the i-th distributed estimator and the i-th controller respectively, receives the state value of the i-th distributed DC power supply, the state estimation value of the i-th distributed estimator to the reference distributed DC power supply and the output estimation value, is used to output the next triggering moment of the i-th distributed DC power supply, and updates the output estimation value of the i-th distributed estimator to the reference distributed DC power supply obtained by the neighbor distributed DC power supply, and at the same time sends the state estimation value of the i-th distributed estimator to the reference distributed DC power supply to the pre-designed i-th controller;

[0047] The i-th controller is connected to the i-th co-trigger module and the i-th Buck converter respectively, and is used to calculate the output of the pre-designed i-th controller according to the state estimation value of the reference distributed DC power supply by the i-th distributed estimator, and send the output of the pre-designed i-th controller to the Buck converter to realize the current sharing control of the distributed DC power supply;

[0048] The reference distributed DC power supply is connected to the single event trigger module and is used to provide a reference output value at the triggering moment of the reference distributed DC power supply;

[0049] The single event trigger module is connected to the reference distributed DC power supply, and is used to send the reference output value to the neighbor distributed estimator at the triggering moment of the reference distributed DC power supply.

[0050] In a third aspect, the present application proposes an electronic device comprising: one or more processors, and a memory, wherein the memory is used to store instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the current equalization control method of a distributed DC power supply.

[0051] In a fourth aspect, the present application proposes a computer-readable storage medium storing executable instructions, which, when executed, enable a processor to execute the current sharing control method of a distributed DC power supply.

[0052] In a fifth aspect, the present application proposes a computer program product, including a computer program or instructions, which, when executed by a processor, implements the current sharing control method of a distributed DC power supply.

[0053] Beneficial effects:

[0054] The present application proposes a current sharing control method and device for a distributed DC power supply. The co-trigger mechanism of the present application uses a co-trigger function to simultaneously determine the update time of the DGU interactive communication and the Buck converter, saving the communication bandwidth and the update frequency of the Buck converter, and the co-trigger function reduces the occupation of communication resources and computing resources. The present application collaboratively solves the estimator and the controller, overcomes the nonlinear problem in the matrix inequality, and optimizes the robustness of the DGU to the interconnection line current through the collaborative design of the estimator and the controller. The current sharing control method proposed in the present application can effectively evaluate the robustness index of the DGU to the interconnection line current under any initial value conditions of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A current sharing control method for a distributed DC power supply according to an embodiment of the present application

[0056] Figure 2 A flow chart of the joint solution of the distributed estimator and controller in the embodiment of the present application;

[0057] Figure 3 Schematic diagram of the joint solution of the distributed estimator and controller in the embodiment of the present application;

[0058] Figure 4 Schematic diagram of the circuit principle of each distributed DC power supply in the embodiment of the present application;

[0059] Figure 5 A schematic diagram of the principle of a current sharing control device for a distributed DC power supply in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The specific implementation of the present application is further described in detail below in conjunction with the drawings and examples.

[0061] Embodiment 1:

[0062] This application proposes a current sharing control method for a distributed DC power supply, such as Figure 1 As shown, including:

[0063] Step S1: obtaining the state value and output value of the i-th distributed DC power source, the state value and output value of the i-th distributed DC power source at the triggering moment, the reference output value of the reference distributed DC power source at the triggering moment, and the output estimation value of the reference distributed DC power source at the triggering moment of the neighbor distributed estimator;

[0064] Step S2: sending the reference output value of the reference distributed DC power supply at the triggering moment and the output estimation value of the reference distributed DC power supply at the triggering moment of the neighbor distributed estimator to the pre-designed i-th distributed estimator, and obtaining the state estimation value and output estimation value of the reference distributed DC power supply by the i-th distributed estimator;

[0065] Step S3: the i-th co-trigger module receives the state value of the i-th distributed DC power supply, the state estimation value of the i-th distributed estimator to the reference distributed DC power supply, and the output estimation value, and is used to output the next triggering moment of the i-th distributed DC power supply, and updates the output estimation value of the i-th distributed estimator to the reference distributed DC power supply obtained by the neighbor distributed DC power supply, and at the same time sends the state estimation value of the i-th distributed estimator to the reference distributed DC power supply to the pre-designed i-th controller;

[0066] Step S4: The pre-designed i-th controller calculates the output of the pre-designed i-th controller according to the state estimation value of the reference distributed DC power supply by the i-th distributed estimator, and sends the output of the pre-designed i-th controller to the Buck converter to achieve current sharing control of the distributed DC power supply.

[0067] In this embodiment, the distributed estimator and the controller are pre-designed, and their parameters are obtained by jointly solving the distributed estimator and the controller, such as Figure 2 , Figure 3 As shown, the process includes:

[0068] Step S100: Initializing the state space equations and electrical parameters of the control center of each distributed DC power source, the control center including a distributed estimator and a controller;

[0069] In this embodiment, Figure 4As shown in the figure, N distributed DC power sources coordinate the output voltage of the Buck converter at the event triggering moment through interactive communication, thereby realizing the current sharing control of the DGU. At the same time, in view of the influence of the tie line current, the robustness of the DGU is optimized by jointly solving the estimator and controller gains;

[0070] In this embodiment, the state space equations and electrical parameters of each distributed DC power supply control center are first initialized. The voltage conversion circuit of the distributed DC power supply is as follows: Figure 5 As shown in the figure, the output current is balanced by adjusting the Buck converter. i (t) and the power supply output current I ti (t) is the state of the i-th distributed DC power source, that is, V ti (t) is the control input, that is, In addition, the tie line current satisfies Among them, V i (t) is the i-th load voltage, V j (t) is the jth load voltage, R ij is the resistance value of the tie line between the i-th and j-th distributed DC power sources, I ti (t) is the output current of the i-th power supply. According to Kirchhoff's law, the following model is established:

[0071]

[0072] Consider that the current sharing ratio between distributed DC power sources is 1 / r1:…:1 / r N , where r1,…,r N is the current sharing ratio parameter, then the regulated output is selected as On this basis, the following state space equation is established:

[0073]

[0074] y i (t) = C i s i (t)

[0075] in, For i The derivative of (t), is the tie line current of the ith distributed DC power source, H i is the tie line parameter matrix, defined as

[0076]

[0077] The state of the reference DGU is selected as the load voltage V0(t), the power supply output current I t0 (t) and control input voltage Vt0 (0), that is The state space equation is:

[0078]

[0079] y0(t)=C0s0(t)

[0080] in, is the derivative of s0(t), is the tie line current of the reference distributed DC power source, H0 and C0 are the electrical parameter matrices of the reference distributed DC power source, defined as:

[0081]

[0082] Consider V t0 (0) = V t , where V t It is a positive number. It is not difficult to see that the output current of the Buck converter of the reference distributed DC power supply is a constant, and its model matrix is:

[0083]

[0084] Due to H i is a row vector, and each distributed DC power source satisfies the following output planning equation:

[0085] A i Π i +B i Γ i =Π i A0,C i Π i =C0

[0086] Next, a topological model is established for the communication network between DGUs. express, Represents a set of DGU nodes, is the set of communication links. When there is a communication link connecting the i-th and j-th DGUs, let the communication coupling gain c i,j =1, otherwise set c i,j =0. The adjacency matrix and Laplace matrix of the communication network are M=[m i,j ] N×N and Among them, m i,j is the i-th row and j-th column element of the neighbor matrix M, l i,j is the element in the i-th row and j-th column of the Laplace matrix. When i≠j, l i,j =m i,j =-c i,j , and when i=j, and mi,i =0. In addition, a first communication gain matrix c=diag(c 1,0 ,…,c N,0 ) and the second communication gain matrix

[0087] Step S101: formulating a distributed estimation strategy of a distributed estimator and a current sharing control strategy of a controller according to the state space equations and electrical parameters of the control centers of the distributed DC power sources;

[0088] In order to achieve the current sharing target of distributed DC power supply, a current sharing control scheme based on distributed estimators is formulated. Each estimator communicates with each other and receives signals from some DGUs. The internal state of the reference DGU is estimated. Each DGU uses the information provided by its own estimator to design the feedback control law of the Buck converter and adjust the duty cycle of the PWM wave. First, the event-triggered distributed observer is designed as follows:

[0089]

[0090] in, is the distributed estimation strategy of the distributed estimator, is the state estimation value of the reference distributed DC power source by the i-th distributed estimator, N is the total number of distributed DC power sources and distributed estimators, c i,j is the coupling gain of the communication between the i-th and j-th distributed DC power sources, c i,0 is the coupling gain between the reference distributed DC power source and the i-th distributed DC power source, is the triggering time of the jth distributed estimator The estimated output value of the reference distributed DC power supply, is the output estimate of the reference distributed DC power source by the i-th distributed estimator, The triggering time of the reference distributed DC power supply is The output value of Indicates that the i-th DGU is only Receive and update neighbor output estimates at all times On this basis, the event-triggered control law of the Buck converter, that is, the current sharing control strategy of the controller, is calculated as follows:

[0091]

[0092] Among them, u i (t) is the output of the i-th controller, ki is the triggering number of the i-th distributed DC power source, is the triggering time of the i-th distributed DC power source The status value of is the triggering time of the i-th distributed estimator The estimated value of the state of the reference distributed DC power supply at the time, K i is the pre-designed control gain matrix, Π i is the first adjustment matrix, Γ i is the second adjustment matrix.

[0093] Because u i (t) The feedback information used is Update, so there is That is, the Buck converter only Update the control quantity at all times.

[0094] Considering the state estimation error and the global estimation error There are the following global dynamics:

[0095]

[0096] in, is the tie-line extended parameter matrix of the reference distributed DC power source, I is the unit matrix, is the global trigger error of the reference distributed DC power supply, is the interconnection line current expansion vector of the i-th distributed DC power source, is the global trigger error, is the global tie line current vector. Consider the state tracking error of the i-th distributed DC power source and the global state tracking error The global dynamic equations are as follows:

[0097]

[0098] in, for e i The derivative of (t), is the tie-line extended parameter matrix of the i-th distributed DC power source, is the first coupling matrix, is the second coupling matrix, is the first global electrical parameter matrix, is the second global electrical parameter matrix, is the global control gain matrix, is the first global coupling matrix, is the second global coupling matrix, is the global tie line parameter matrix, Triggers a discrepancy for the global state.

[0099] Step S102: designing a co-triggering mechanism and a co-triggering function of a distributed estimator and a controller;

[0100] In this embodiment, it can be understood that step S102 may not be included in the process of jointly solving the gain matrix of the distributed estimator and the controller, but the co-trigger mechanism and the co-trigger function also need to be designed in advance so that the co-trigger mechanism and the co-trigger function can be applied in the current sharing control of steps S1 to S4.

[0101] Design as Figure 5 The estimator and controller co-trigger mechanism shown in FIG. 1 is a co-trigger mechanism in which the control center of each DGU (including the estimator and controller) sends an output estimate to the neighboring DGU at the following time: And send control instructions to the Buck converter

[0102]

[0103] Each DGU only uses its own state and estimation information, without the data of other neighboring DGUs, thus avoiding continuous interactive communication. Therefore, the event trigger function g of the i-th DGU is i (t) Designed to:

[0104]

[0105] in, represents the largest eigenvalue of matrix M, P and Q i is the positive definite matrix to be designed. Obviously, the communication time between DGUs and the control update time of the Buck converter are determined by the co-trigger mechanism and the co-trigger function. On the one hand, the DGUs communicate only at the event trigger time, saving the communication bandwidth; on the other hand, the Buck converter updates the duty cycle of the PWM wave only at the event trigger time to avoid the PWM wave frequency being too high. This co-trigger design avoids configuring multiple trigger functions to determine the update time of different signals, reducing the computing resources and storage space occupied.

[0106] In addition, the reference DGU also transmits reference information to other DGUs through an event trigger mechanism, that is, sending The trigger moment meets

[0107]

[0108] Since the control input of the reference DGU is a constant, the trigger mechanism does not update the control law of the DGU. k0 is the triggering number of the reference distributed DC power supply, and the event trigger function g0(t) is designed as:

[0109]

[0110] Where g0(t) is the single event trigger function of the reference distributed DC power supply, c=diag(c 1,0 ,…,c N,0 ) is the first communication gain matrix, ||·||0 is the vector 0 norm, is the trigger error of the reference distributed DC power supply, y0(t) is the output value of the reference distributed DC power supply, The triggering time of the reference distributed DC power supply is The output value of , L is the pre-designed estimated gain matrix.

[0111] Step S103: jointly solve the gain matrices of the distributed estimator and the controller to obtain the estimation gain matrix in the distributed estimator and the control gain matrix in the controller.

[0112] In this embodiment, the estimator and controller gain matrices are jointly solved to collaboratively optimize the robustness of the DGU to the tie line current. In the above steps, the update algorithms of the observer and the controller are given, but the key gain matrix still needs to be solved using the linear matrix inequality technology to ensure the stability of the current sharing process. First, given the robustness index γ and any small positive constant ε, the positive definite matrix is ​​solved by the following linear matrix inequality: matrix

[0113]

[0114] in, Representation Matrix The minimum eigenvalue of The estimator and controller gains are designed as and Obviously, the above equation solves the gain of the estimator and the controller in a coordinated manner, taking into account the coupling between the estimator and the controller to optimize the robustness of the DGU to the tie line current. The current sharing control scheme that meets the above conditions can enable the distributed DC power supply to meet the following indicators:

[0115] (1) Current sharing target between DGUs For any positive constant Established.

[0116] (2) The robustness of DGU to the tie line current meets in

[0117]

[0118] Where v(t) is an arbitrary vector signal.

[0119] Embodiment 2:

[0120] This embodiment provides a current sharing control device for a distributed DC power supply, such as Figure 5 As shown, including:

[0121] N distributed DC power supplies, N power sensors, N Buck converters, N distributed estimators, N common trigger modules, N controllers, reference distributed DC power supplies, single event trigger module;

[0122] The i-th distributed DC power supply is connected to the i-th power sensor and the i-th Buck converter respectively to output DC power;

[0123] The i-th power sensor is used to obtain status data of the i-th distributed DC power source;

[0124] The i-th distributed estimator is connected to the i-th power sensor, the i-th co-trigger module, and the neighbor distributed estimator, respectively, and is used to calculate the state estimation value and output estimation value of the i-th distributed estimator for the reference distributed DC power supply according to the state value and output value of the i-th distributed DC power supply, the state value and output value of the i-th distributed DC power supply at the triggering moment, the output value of the reference distributed DC power supply at the triggering moment, and the output estimation value of the neighbor distributed estimator for the reference distributed DC power supply at the triggering moment;

[0125] The i-th co-trigger module is connected to the i-th distributed estimator and the i-th controller respectively, receives the state value of the i-th distributed DC power supply, the state estimation value of the i-th distributed estimator to the reference distributed DC power supply and the output estimation value, is used to output the next triggering moment of the i-th distributed DC power supply, and updates the output estimation value of the i-th distributed estimator to the reference distributed DC power supply obtained by the neighbor distributed DC power supply, and at the same time sends the state estimation value of the i-th distributed estimator to the reference distributed DC power supply to the pre-designed i-th controller;

[0126] The i-th controller is connected to the i-th co-trigger module and the i-th Buck converter respectively, and is used to calculate the output of the pre-designed i-th controller according to the state estimation value of the reference distributed DC power supply by the i-th distributed estimator, and send the output of the pre-designed i-th controller to the Buck converter to realize the current sharing control of the distributed DC power supply;

[0127] The reference distributed DC power supply is connected to the single event trigger module and is used to provide a reference output value at the triggering moment of the reference distributed DC power supply;

[0128] The single event trigger module is connected to the reference distributed DC power supply, and is used to send the reference output value to the neighbor distributed estimator at the triggering moment of the reference distributed DC power supply.

[0129] Embodiment 3:

[0130] This embodiment provides an electronic device, including: one or more processors, and a memory, wherein the memory is used to store instructions, and when the instructions are executed by the one or more processors, the one or more processors execute the current sharing control method of a distributed DC power supply.

[0131] The electronic device can be a mobile phone, a computer or a tablet computer, etc., including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, a current sharing control method of a distributed DC power supply as described in the embodiment is implemented. It can be understood that the electronic device can also include an input / output (I / O) interface and a communication component.

[0132] The processor is used to execute all or part of the steps in the method for dynamically predicting and configuring a multi-strategy online car-hailing boarding point as described in the above embodiment. The memory is used to store various types of data, which may include, for example, instructions for any application or method in the electronic device, as well as data related to the application.

[0133] The processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is used to execute the current sharing control method of a distributed DC power supply described in the above embodiment.

[0134] Embodiment 4:

[0135] This embodiment provides a computer-readable storage medium storing executable instructions. When the instructions are executed and implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0136] The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method for dynamic prediction and multi-strategy configuration of online car-hailing boarding points described in the various embodiments of the present application.

[0137] The aforementioned storage media include: flash memory, hard disk, multimedia card, card-type memory (for example, SD (Secure Digital Memory Card) or DX (Memory Data Register, MDR) memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, CD, server, APP (Application, abbreviation of application software) application store and other media that can store program verification codes, on which computer programs are stored. When the computer program is executed by the processor, the various steps of the above-mentioned online car-hailing boarding point dynamic prediction and multi-strategy configuration method can be implemented.

[0138] Embodiment 5:

[0139] This embodiment provides a computer program product, including a computer program or an instruction, which, when executed by a processor, implements the current sharing control method of a distributed DC power supply.

[0140] Based on such understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a computer program product.

[0141] The various embodiments in the present application are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0142] The protection scope of the present application is not limited to the above-mentioned embodiments. Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the scope and spirit of the present disclosure. If these changes and modifications fall within the scope of the claims of the present disclosure and their equivalents, the intention of the present disclosure also includes these changes and modifications.

Claims

1. A current sharing control method for a distributed DC power supply, characterized in that: include: Obtaining the state value and output value of the ith distributed DC power source, the state value and output value of the ith distributed DC power source at the triggering moment, the reference output value of the reference distributed DC power source at the triggering moment, and the output estimation value of the reference distributed DC power source at the triggering moment of the neighbor distributed estimator; Sending the reference output value of the reference distributed DC power supply at the triggering moment and the output estimation value of the reference distributed DC power supply at the triggering moment of the neighbor distributed estimator to the pre-designed i-th distributed estimator to obtain the state estimation value and output estimation value of the reference distributed DC power supply by the i-th distributed estimator; The i-th co-trigger module receives the state value of the i-th distributed DC power supply, the state estimation value of the i-th distributed estimator for the reference distributed DC power supply, and the output estimation value, and is used to output the next triggering moment of the i-th distributed DC power supply, and update the output estimation value of the i-th distributed estimator for the reference distributed DC power supply obtained by the neighbor distributed DC power supply, and at the same time send the state estimation value of the i-th distributed estimator for the reference distributed DC power supply to the pre-designed i-th controller; The pre-designed i-th controller calculates the output of the pre-designed i-th controller according to the state estimation value of the reference distributed DC power supply by the i-th distributed estimator, and sends the output of the pre-designed i-th controller to the Buck converter to realize the current sharing control of the distributed DC power supply.

2. A current sharing control method for a distributed DC power supply according to claim 1, characterized in that: The estimated gain matrix in the pre-designed i-th distributed estimator and the control gain matrix in the pre-designed i-th controller are obtained by jointly solving the distributed estimator and the controller, and the process includes: Initialize state space equations and electrical parameters of a control center of each distributed DC power source, the control center including a distributed estimator and a controller; Formulate a distributed estimation strategy of a distributed estimator and a current sharing control strategy of a controller according to the state space equations and electrical parameters of the control centers of the distributed DC power supplies; The gain matrices of the distributed estimator and the controller are jointly solved to obtain the estimation gain matrix in the distributed estimator and the control gain matrix in the controller.

3. The current sharing control method of a distributed DC power supply according to claim 2, characterized in that: The distributed estimation strategy of the distributed estimator is calculated as follows: in, is the state estimation value of the reference distributed DC power source by the i-th distributed estimator, for The derivative of , N is the total number of distributed DC power supplies and distributed estimators, c i,j is the coupling gain between the ith distributed DC power source and the jth neighbor distributed DC power source, c i,0 is the coupling gain between the reference distributed DC power source and the i-th distributed DC power source, is the triggering time of the jth neighbor distributed estimator The estimated output value of the reference distributed DC power supply, is the output estimate of the reference distributed DC power source by the i-th distributed estimator, Reference distributed DC power supply triggering time Output value, L is the pre-designed estimated gain matrix, and A0 is the first electrical parameter matrix of the reference distributed DC power supply.

4. The current sharing control method of a distributed DC power supply according to claim 2, characterized in that: The current sharing control strategy of the controller is calculated as follows: Among them, u i (t) is the output of the ith controller, ki is the triggering number of the ith distributed DC power source, is the triggering time of the i-th distributed DC power source The status value of is the triggering time of the i-th distributed estimator The estimated value of the state of the reference distributed DC power supply, K i is the pre-designed control gain matrix, Π i is the first adjustment matrix, Γ i is the second adjustment matrix.

5. The current sharing control method of a distributed DC power supply according to claim 1, characterized in that: The co-trigger function includes: a co-trigger function of the i-th distributed DC power supply and a single event trigger function of the reference distributed DC power supply; The co-triggering function of the i-th distributed DC power supply is calculated as follows: Among them, g i (t) is the common triggering function of the i-th distributed DC power supply, is the maximum eigenvalue of matrix M, M is the adjacency matrix of the communication network, P is the first positive definite matrix, Q i is the second positive definite matrix, is the trigger gain matrix, Π i is the first adjustment matrix, Γ i is the second adjustment matrix, K i is the pre-designed control gain matrix, is the output trigger error of the i-th distributed DC power supply, is the triggering time of the jth distributed estimator The estimated output value of the reference distributed DC power supply, is the output estimate of the reference distributed DC power source by the i-th distributed estimator, is the state trigger error of the i-th distributed DC power supply, is the triggering time of the i-th distributed estimator The status value of is the triggering time of the i-th distributed estimator The estimated value of the state, s i (t) is the state value of the i-th distributed DC power source, is the state estimation value of the reference distributed DC power supply by the i-th distributed estimator, χ is the first trigger threshold parameter, and η is the second trigger threshold parameter; The single event trigger function of the reference distributed DC power supply is calculated as follows: Where g0(t) is the single event trigger function of the reference distributed DC power supply, c=diag(c 1,0 ,…,c N,0 ) is the first communication gain matrix, ||·||0 is the vector 0 norm, is the trigger error of the reference distributed DC power supply, y0(t) is the output value of the reference distributed DC power supply, The triggering time of the reference distributed DC power supply is The output value of , L is the pre-designed estimated gain matrix.

6. The current sharing control method of a distributed DC power supply according to claim 1, characterized in that: The triggering time of the co-triggering function is calculated as follows: Among them, g i (t) is the output of the co-trigger function, is the triggering time of the i-th distributed DC power source, is the next triggering time of the ith distributed DC power source, and t is any time; Referring to the triggering time of the distributed DC power supply, the calculation formula is as follows: Wherein, k0 is the triggering number of the reference distributed DC power supply, g0(t) is the single event triggering function of the reference distributed DC power supply, The next triggering moment of the reference distributed DC power supply, is the triggering moment of the reference distributed DC power supply.

7. A current sharing control device for a distributed DC power supply, characterized in that: include: N distributed DC power supplies, N power sensors, N Buck converters, N distributed estimators, N common trigger modules, N controllers, reference distributed DC power supplies, single event trigger module; The i-th distributed DC power supply is connected to the i-th power sensor and the i-th Buck converter respectively to output DC power; The i-th power sensor is used to obtain status data of the i-th distributed DC power source; The i-th distributed estimator is connected to the i-th power sensor, the i-th co-trigger module, and the neighbor distributed estimator, respectively, and is used to calculate the state estimation value and output estimation value of the i-th distributed estimator for the reference distributed DC power supply according to the state value and output value of the i-th distributed DC power supply, the state value and output value of the i-th distributed DC power supply at the triggering moment, the output value of the reference distributed DC power supply at the triggering moment, and the output estimation value of the neighbor distributed estimator for the reference distributed DC power supply at the triggering moment; The i-th co-trigger module is connected to the i-th distributed estimator and the i-th controller respectively, receives the state value of the i-th distributed DC power supply, the state estimation value of the i-th distributed estimator to the reference distributed DC power supply and the output estimation value, is used to output the next triggering moment of the i-th distributed DC power supply, and updates the output estimation value of the i-th distributed estimator to the reference distributed DC power supply obtained by the neighbor distributed DC power supply, and at the same time sends the state estimation value of the i-th distributed estimator to the reference distributed DC power supply to the pre-designed i-th controller; The i-th controller is connected to the i-th co-trigger module and the i-th Buck converter respectively, and is used to calculate the output of the pre-designed i-th controller according to the state estimation value of the reference distributed DC power supply by the i-th distributed estimator, and send the output of the pre-designed i-th controller to the Buck converter to realize the current sharing control of the distributed DC power supply; The reference distributed DC power supply is connected to the single event trigger module and is used to provide a reference output value at the triggering moment of the reference distributed DC power supply; The single event trigger module is connected to the reference distributed DC power supply, and is used to send the reference output value to the neighbor distributed estimator at the triggering moment of the reference distributed DC power supply.

8. An electronic device, characterized in that: include: One or more processors, and a memory, wherein the memory is used to store instructions, and when the instructions are executed by the one or more processors, the one or more processors execute a current sharing control method for a distributed direct current power supply as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: It stores executable instructions, which, when executed, enable a processor to execute a current sharing control method for a distributed direct current power supply as described in any one of claims 1 to 6.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, a current sharing control method for a distributed DC power supply as described in any one of claims 1 to 6 is implemented.

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