A method and apparatus for current sharing control of a distributed DC power supply

Abstract

This application proposes a current sharing control method and apparatus for distributed DC power sources, belonging to the field of microgrid control technology. The method includes: at the triggering time of the common trigger function, updating the output estimate of the reference distributed DC power source obtained by the distributed estimator from the neighboring distributed DC power source, and simultaneously sending the state estimate of the reference distributed DC power source by the distributed estimator to the controller; the controller calculates the controller output based on the state estimate of the reference distributed DC power source by the distributed estimator, and sends the controller output to the Buck converter to realize current sharing control of the distributed DC power source. This application saves communication bandwidth and Buck converter update frequency, and the common trigger function reduces the occupation of computing resources.

Description

Technical Field

[0001] This invention belongs to the field of microgrid control technology, specifically relating to a current sharing control method and device for distributed DC power sources. Background Technology

[0002] Distributed DC power sources achieve current sharing through heterogeneous Buck converters. Designing feedback control laws based on state estimators, taking advantage of the heterogeneous characteristics, is an effective way to achieve the current sharing objective. To save communication bandwidth between Distributed Generation Units (DGUs) and reduce the update frequency of Buck converters, event-triggered mechanisms have been widely introduced into current sharing control schemes. However, existing state estimators and current sharing controllers rely on a two-step design approach, making it difficult to fully improve the robustness of DGUs, and both event-triggered mechanisms require their own computational resources. Currently, some studies have proposed event-triggered current sharing control schemes for DGUs. Reference 1 (DOI: 10.1109 / TII.2022.3188352) proposes a side-event-triggered current sharing control strategy for DGUs, achieving the objective through a two-step design of the state estimator and controller, and configuring a side-event-triggered mechanism independently for each communication channel. Reference 2 (patent application number CN202410213111.4) discloses a distributed secondary control method for DC microgrids with an event triggering mechanism, which effectively reduces the interaction frequency between DGUs and saves communication bandwidth.

[0003] Research revealed the following shortcomings in existing technologies:

[0004] (1) Existing event triggering mechanisms are widely used for interactive communication between DGUs, but few are used to determine the timing of the control law update of the Buck converter. In particular, how to coordinate the timing of communication and control law update at the same time to reduce the consumption of computing resources is still an urgent problem to be solved.

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

[0006] To address the shortcomings of existing technologies, this application proposes a current sharing control method and device for distributed DC power supplies. By using a common trigger function to simultaneously determine the timing of interactive communication and Buck converter updates, the robustness of the DGU is further optimized through the joint design of estimator and controller parameters.

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

[0008] Obtain the state and output values ​​of the i-th distributed DC power source, the state and output values ​​of the i-th distributed DC power source at the trigger time, the reference output value of the reference distributed DC power source at the trigger time, and the output estimate of the reference distributed DC power source at the trigger time of the neighboring distributed estimator.

[0009] The reference output value at the triggering time of the reference distributed DC power source and the output estimate of the reference distributed DC power source at the triggering time of the neighboring distributed estimator are sent to the pre-designed i-th distributed estimator to obtain the state estimate and output estimate of the reference distributed DC power source by the i-th distributed estimator.

[0010] The i-th common trigger module receives the state value of the i-th distributed DC power source, the state estimate of the i-th distributed estimator for the reference distributed DC power source, and the output estimate. It is used to output the next trigger time of the i-th distributed DC power source, update the output estimate of the i-th distributed estimator for the reference distributed DC power source obtained by the neighboring distributed DC power source, and send the state estimate of the i-th distributed estimator for the reference distributed DC power source to the pre-designed i-th controller.

[0011] The pre-designed i-th controller calculates its output based on the state estimate of the reference distributed DC power source 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 source.

[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. The process includes:

[0013] Initialize the state-space equations and electrical parameters of the control center for each distributed DC power source. The control center includes a distributed estimator and a controller.

[0014] Based on the state-space equations and electrical parameters of the control centers of each distributed DC power source, the distributed estimation strategy of the distributed estimator and the current sharing control strategy of the controller are formulated.

[0015] By jointly solving the gain matrices of the distributed estimator and the controller, the estimation gain matrix in the distributed estimator and the control gain matrix in the controller are obtained.

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

[0017]

[0018] in, Let i be the state estimate of the reference distributed DC source by the i-th distributed estimator. for The derivative of c, where N is the total number of distributed DC power sources and distributed estimators, and c is the derivative of N. i,j Let c be the coupling gain for communication between the i-th distributed DC power source and the j-th neighboring distributed DC power source. i,0 For reference, the coupling gain of the communication between the distributed DC power source and the i-th distributed DC power source, The trigger time of the distributed estimator for the j-th neighbor. The output estimate of the reference distributed DC power source, Let i be the output estimate of the i-th distributed estimator for the reference distributed DC source. For reference to the triggering time of distributed DC power sources The output value is L, which 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 be c. i,j =1, otherwise let c i,j =0. The coupling gain c of the reference distributed DC power source. i,0 Similarly, A0 is the first electrical parameter matrix of the reference distributed DC power source, calculated as follows:

[0019]

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

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

[0022]

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

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

[0025] Among them, A i Let B be the first electrical parameter matrix of the i-th distributed DC power source. i For the second electrical parameter matrix, C i The third electrical parameter matrix is ​​defined as follows:

[0026]

[0027] Among them, C ti Let L be the filter capacitor value of the i-th distributed DC power source. ti R is the value of the i-th filter inductor. ti R is the value of the i-th filter resistor. li Let r be the resistance value of the i-th load. i This is the flow sharing ratio parameter.

[0028] The common triggering function includes: the common triggering function of the i-th distributed DC power source and the single event triggering function of the reference distributed DC power source;

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

[0030]

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

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

[0033]

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

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

[0036]

[0037] Among them, g i (t) is the output of the common-trigger function. Let i be the trigger time of the i-th distributed DC power source. Let t be the next trigger time for the i-th distributed DC power source, where t is any time.

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

[0039]

[0040] Where g0(t) is the single-event trigger function of the reference distributed DC power source, and k0 is the number of triggers of the reference distributed DC power source. To reference the next triggering time of the distributed DC power source, The triggering time of the reference distributed DC power source.

[0041] Secondly, this 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 triggering modules, N controllers, a reference distributed DC power supply, and a single event triggering module;

[0043] The i-th distributed DC power source is connected to the i-th power sensor and the i-th Buck converter respectively, and is used to output DC power.

[0044] The i-th power sensor is used to acquire the 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 common trigger module, and the neighbor distributed estimator, respectively. It is used to calculate the state estimate and output estimate of the i-th distributed estimator for the reference distributed DC power source based on 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 trigger time, the output value of the reference distributed DC power source at the trigger time, and the output estimate of the neighbor distributed estimator for the reference distributed DC power source at the trigger time.

[0046] The i-th common trigger module is connected to the i-th distributed estimator and the i-th controller respectively. It receives the state value of the i-th distributed DC power source, the state estimate of the i-th distributed estimator for the reference distributed DC power source, and the output estimate. It is used to output the next trigger time of the i-th distributed DC power source, update the output estimate of the i-th distributed estimator for the reference distributed DC power source obtained by the neighboring distributed DC power source, and send the state estimate of the i-th distributed estimator for the reference distributed DC power source to the pre-designed i-th controller.

[0047] The i-th controller is connected to the i-th common trigger module and the i-th Buck converter respectively. It is used to calculate the output of the pre-designed i-th controller based on the state estimate 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 triggering module and is used to provide a reference output value for the triggering time of the reference distributed DC power supply.

[0049] The single-event triggering 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 time of the reference distributed DC power supply.

[0050] Thirdly, this application proposes an electronic device comprising: one or more processors, and a memory for storing instructions that, when executed by the one or more processors, cause the one or more processors to perform the current sharing control method for a distributed DC power supply.

[0051] Fourthly, this application proposes a computer-readable storage medium storing executable instructions that, when executed, cause a processor to perform the current sharing control method for a distributed DC power supply.

[0052] Fifthly, this application proposes a computer program product, including a computer program or instructions, which, when executed by a processor, implements the aforementioned current sharing control method for a distributed DC power supply.

[0053] Beneficial effects:

[0054] This application proposes a current sharing control method and apparatus for a distributed DC power supply. The common-triggering mechanism utilizes a common-triggering function to simultaneously determine the update timing of the DGU interactive communication and the Buck converter, saving communication bandwidth and the Buck converter's update frequency. Furthermore, the common-triggering function reduces the consumption of communication and computational resources. This application employs a collaborative solution for the estimator and controller, overcoming the nonlinearity problem in matrix inequalities, and optimizes the robustness of the DGU to tie-line currents through the collaborative design of the estimator and controller. The current sharing control method proposed in this application can effectively evaluate the robustness of the DGU to tie-line currents under arbitrary initial conditions of the system. Attached Figure Description

[0055] Figure 1 This application provides an embodiment of a current sharing control method for a distributed DC power supply.

[0056] Figure 2 Flowchart of the joint solution process of the distributed estimator and controller in an embodiment of this application;

[0057] Figure 3 A schematic diagram illustrating the joint solution of the distributed estimator and controller in an embodiment of this application;

[0058] Figure 4 Circuit principle diagrams of each distributed DC power supply in the embodiments of this application;

[0059] Figure 5 A schematic diagram of the principle of a current sharing control device for a distributed DC power supply according to an embodiment of this application. Detailed Implementation

[0060] The specific implementation methods of this application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0061] Example 1:

[0062] This application proposes a current sharing control method for distributed DC power sources, such as... Figure 1 As shown, it includes:

[0063] Step S1: Obtain 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 trigger time, the reference output value of the reference distributed DC power source at the trigger time, and the output estimate of the reference distributed DC power source at the trigger time of the neighbor distributed estimator.

[0064] Step S2: Send the reference output value of the triggering time of the reference distributed DC power source and the output estimate of the neighboring distributed estimator for the reference distributed DC power source at the triggering time to the pre-designed i-th distributed estimator to obtain the state estimate and output estimate of the i-th distributed estimator for the reference distributed DC power source.

[0065] Step S3: The i-th common trigger module receives the state value of the i-th distributed DC power source, the state estimate of the i-th distributed estimator for the reference distributed DC power source, and the output estimate, and uses it to output the next trigger time of the i-th distributed DC power source, update the output estimate of the i-th distributed estimator for the reference distributed DC power source obtained by the neighboring distributed DC power source, and send the state estimate of the i-th distributed estimator for the reference distributed DC power source 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 based on the state estimate 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.

[0067] In this embodiment, both 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: Initialize the state-space equations and electrical parameters of the control center of each distributed DC power source. The control center includes a distributed estimator and a controller.

[0069] In this embodiment, as Figure 4As shown, N distributed DC power sources communicate with each other to coordinate the output voltage of the Buck converter at the event trigger moment, thereby achieving current sharing control of the DGU. Simultaneously, to address the impact of tie-line current, the robustness of the DGU is optimized by jointly solving the estimator and controller gain.

[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, output current sharing is achieved through adjustment of the Buck converter. The load voltage V is selected. i (t) and power supply output current I ti (t) represents the state of the i-th distributed DC power source, i.e. V ti (t) represents the control input, i.e. In addition, the tie line current meets the requirements. Among them, V i (t) represents the i-th load voltage, V j (t) represents the j-th load voltage, R ij Let I be the tie line resistance value between the i-th and j-th distributed DC power sources. ti (t) represents the output current of the i-th power source. Based on Kirchhoff's laws, the following model is established:

[0071]

[0072] Considering the current sharing ratio among the distributed DC power sources as 1 / r1:…:1 / r N Where r1,…,r N If the current sharing ratio parameter is selected, then the controlled output is chosen as... Based on this, the following state-space equations are established:

[0073]

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

[0075] in, For s i The derivative of (t), H is the tie-line current of the i-th distributed DC power source. i The connection parameter matrix is ​​defined as follows:

[0076]

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

[0078]

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

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

[0081]

[0082] Consider V t0 (0)=V t , where V t Since the values ​​are positive constants, it is easy to see that the output current of the Buck converter in the reference distributed DC power supply is constant, and its model matrix is:

[0083]

[0084] Due to H i It is a row vector, and the output planning equations between the distributed DC power sources are as follows:

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

[0086] Next, a topology model of the communication network between DGUs is established, consisting of a connected graph. express, Represents the set of DGU nodes. Let c be the set of communication links. When there exists a communication link connecting the i-th and j-th DGUs, let the communication coupling gain be c. i,j =1, otherwise let c i,j =0. The adjacency matrix and Laplace matrix of this communication network are M = [m i,j ] N×N and Where, m i,j Let l be the element in the i-th row and j-th column of the neighbor matrix M. i,j Let l be 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 When i = j, there is and mi,i =0. Furthermore, the first communication gain matrix is ​​defined as c = diag(c 1,0 ,…,c N,0 ) and second communication gain matrix

[0087] Step S101: Based on the state-space equations and electrical parameters of the control centers of each distributed DC power source, formulate the distributed estimation strategy of the distributed estimator and the current sharing control strategy of the controller.

[0088] To achieve the current sharing target of distributed DC power sources, a current sharing control scheme based on distributed estimators is proposed. Each estimator communicates with the others and receives signals from a portion of the DGU (Distributed Generator Unit). The internal state of the reference DGU is estimated. Each DGU uses information provided by its own estimator to design the feedback control law of the Buck converter to adjust the duty cycle of the PWM wave. First, the event-triggered distributed observer is designed as follows:

[0089]

[0090] in, For distributed estimators, the distributed estimation strategy is... Let c be the state estimate of the reference distributed DC source by the i-th distributed estimator, N be the total number of distributed DC sources and distributed estimators, and c be the state estimate of the reference distributed DC source. i,j For the coupling gain of the communication between the i-th and j-th distributed DC power sources, c i,0 For reference, the coupling gain of the communication between the distributed DC power source and the i-th distributed DC power source, The trigger time of the j-th distributed estimator The output estimate of the reference distributed DC power source, Let i be the output estimate of the i-th distributed estimator for the reference distributed DC source. For reference to the triggering time of distributed DC power sources The output value, in the above formula This indicates that the i-th DGU exists only when... Receive and update neighbor output estimates in real time Based on this, the event-triggered control law of the Buck converter, i.e., the current sharing control strategy of the controller, is calculated as follows:

[0091]

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

[0093] Due to u i (t) The feedback information used is all in Updated, therefore available That is, the Buck converter only The control quantity is updated continuously.

[0094] Considering state estimation error and global estimation error The following global dynamics exist:

[0095]

[0096] in, For reference to the tie-line extended parameter matrix of distributed DC power sources, I is the identity matrix. To reference the global triggering error of distributed DC power sources, Let be the tie-line current extension vector of the i-th distributed DC source. For global trigger error, Let be the global tie-line current vector. Consider the state tracking error of the i-th distributed DC source. and global state tracking error The global dynamic equations are as follows:

[0097]

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

[0099] Step S102: Design the co-triggering mechanism and co-triggering function for the distributed estimator and controller;

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

[0101] Design as Figure 5 The co-triggering mechanism shown in the diagram involves each DGU's control center (including the estimator and controller) sending its output estimate to neighboring DGUs at the following times. And send control commands to the Buck converter.

[0102]

[0103] Each DGU utilizes only its own state and estimated information, without needing data from other neighboring DGUs, thus avoiding continuous interactive communication. Therefore, the event triggering function g of the i-th DGU... i (t) is designed as follows:

[0104]

[0105] in, Let P and Q represent the largest eigenvalues ​​of matrix M. i Let be the positive definite matrix to be designed. Clearly, the communication timing between DGUs and the control update timing of the Buck converter are determined by the common-trigger mechanism and common-trigger function. On the one hand, the DGUs communicate only at the event trigger time, saving communication bandwidth; on the other hand, the Buck converter updates the PWM wave duty cycle only at the event trigger time, avoiding excessively high PWM wave frequency. This common-trigger design avoids configuring multiple trigger functions to determine the update timing of different signals, reducing the consumption of computational resources and storage space.

[0106] In addition, the reference DGU also transmits reference information to other DGUs through an event-triggered mechanism, i.e., sends... The triggering time satisfies

[0107]

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

[0109]

[0110] Where g0(t) is the single-event trigger function of the reference distributed DC power source, and c = diag(c 1,0 ,…,c N,0 Let be the first communication gain matrix, and ||·||0 be the zero norm of the vector. To reference the triggering error of the distributed DC power supply, y0(t) is the output value of the reference distributed DC power supply. For reference to the triggering time of distributed DC power sources The output value is L, which 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 gain matrices of the estimator and controller are jointly solved to collaboratively optimize the robustness of the DGU to tie-line currents. While the update algorithms for the observer and controller are presented in the above steps, the crucial gain matrix still needs to be solved using linear matrix inequalities 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 using the following linear matrix inequality. matrix

[0113]

[0114] in, Representation matrix The smallest eigenvalue and The estimator and controller gains are designed as follows: and Clearly, the above equation solves for the gains of both the estimator and the controller collaboratively, taking into account the coupling between the estimator and the controller to optimize the robustness of the DGU to tie-line current. A current-sharing control scheme that satisfies the above conditions can enable the distributed DC power supply to meet the following performance indicators:

[0115] (1) Target of flow sharing among DGUs For any positive constant Established.

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

[0117]

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

[0119] Example 2:

[0120] This embodiment proposes a current sharing control device for a distributed DC power supply, such as... Figure 5 As shown, it includes:

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

[0122] The i-th distributed DC power source is connected to the i-th power sensor and the i-th Buck converter respectively, and is used to output DC power.

[0123] The i-th power sensor is used to acquire the 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 common trigger module, and the neighbor distributed estimator, respectively. It is used to calculate the state estimate and output estimate of the i-th distributed estimator for the reference distributed DC power source based on 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 trigger time, the output value of the reference distributed DC power source at the trigger time, and the output estimate of the neighbor distributed estimator for the reference distributed DC power source at the trigger time.

[0125] The i-th common trigger module is connected to the i-th distributed estimator and the i-th controller respectively. It receives the state value of the i-th distributed DC power source, the state estimate of the i-th distributed estimator for the reference distributed DC power source, and the output estimate. It is used to output the next trigger time of the i-th distributed DC power source, update the output estimate of the i-th distributed estimator for the reference distributed DC power source obtained by the neighboring distributed DC power source, and send the state estimate of the i-th distributed estimator for the reference distributed DC power source to the pre-designed i-th controller.

[0126] The i-th controller is connected to the i-th common trigger module and the i-th Buck converter respectively. It is used to calculate the output of the pre-designed i-th controller based on the state estimate 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 triggering module and is used to provide a reference output value for the triggering time of the reference distributed DC power supply.

[0128] The single-event triggering 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 time of the reference distributed DC power supply.

[0129] Example 3:

[0130] This embodiment proposes 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 for a distributed DC power supply.

[0131] The electronic device may be a mobile phone, computer, or tablet computer, etc., and includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements a current sharing control method for a distributed DC power supply as described in the embodiment. It is understood that the electronic device may 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 ride-hailing pick-up point dynamic prediction and multi-strategy configuration method as described in the above embodiments. 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 application-related data.

[0133] The processor can be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic components, and is used to execute the current sharing control method for a distributed DC power supply described in the above embodiments.

[0134] Example 4:

[0135] This embodiment proposes a computer-readable storage medium that stores executable instructions. When these instructions are executed, if they are implemented as 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 several instructions to cause 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 ride-hailing pick-up point dynamic prediction and multi-strategy configuration method described in the various embodiments of this application.

[0137] The aforementioned storage media include: flash memory, hard disk, multimedia card, card-type memory (e.g., SD (Secure Digital Memory Card) or DX (Memory Data Register, MDR) memory, 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, optical disk, server, APP (Application) application store, and other media capable of storing program verification codes. These media store computer programs, which, when executed by a processor, can implement the various steps of the aforementioned dynamic prediction and multi-strategy configuration method for ride-hailing pick-up points.

[0138] Example 5:

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

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

[0141] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0142] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A current sharing control method for a distributed DC power source, characterized in that, include: Obtain the state and output values ​​of the i-th distributed DC power source, the state and output values ​​of the i-th distributed DC power source at the trigger time, the reference output value of the reference distributed DC power source at the trigger time, and the output estimate of the reference distributed DC power source at the trigger time of the neighboring distributed estimator. The reference output value at the triggering time of the reference distributed DC power source and the output estimate of the reference distributed DC power source at the triggering time of the neighboring distributed estimator are sent to the pre-designed i-th distributed estimator to obtain the state estimate and output estimate of the reference distributed DC power source by the i-th distributed estimator. The i-th common trigger module receives the state value of the i-th distributed DC power source, the state estimate of the i-th distributed estimator for the reference distributed DC power source, and the output estimate. It is used to output the next trigger time of the i-th distributed DC power source, update the output estimate of the i-th distributed estimator for the reference distributed DC power source obtained by the neighboring distributed DC power source, and send the state estimate of the i-th distributed estimator for the reference distributed DC power source to the pre-designed i-th controller. The pre-designed i-th controller calculates its output based on the state estimate of the reference distributed DC power source 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 source. The pre-designed i-th distributed estimator and the pre-designed i-th controller include a common trigger function, which simultaneously determines the update time of the distributed DC power source interaction communication and the Buck converter.

2. The 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. The process includes: Initialize the state-space equations and electrical parameters of the control center for each distributed DC power source. The control center includes a distributed estimator and a controller. Based on the state-space equations and electrical parameters of the control centers of each distributed DC power source, the distributed estimation strategy of the distributed estimator and the current sharing control strategy of the controller are formulated. By jointly solving the gain matrices of the distributed estimator and the controller, the estimation gain matrix in the distributed estimator and the control gain matrix in the controller are obtained.

3. The current sharing control method for 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, Let i be the state estimate of the reference distributed DC source by the i-th distributed estimator. for The derivative of N, where N is the total number of distributed DC power sources and distributed estimators. Let be the coupling gain for communication between the i-th distributed DC power source and the j-th neighboring distributed DC power source. For reference, the coupling gain of the communication between the distributed DC power source and the i-th distributed DC power source, The trigger time of the distributed estimator for the j-th neighbor. The output estimate of the reference distributed DC power source, Let i be the output estimate of the i-th distributed estimator for the reference distributed DC source. Triggering time of reference distributed DC power source Output value, where L is the pre-designed estimated gain matrix. The first electrical parameter matrix is ​​used as a reference for the distributed DC power source.

4. The current sharing control method for a distributed DC power supply according to claim 2, characterized in that, The current sharing control strategy of the controller is calculated as follows: ;in, Let be the output of the i-th controller, and ki be the trigger count of the i-th distributed DC power supply. The triggering time of the i-th distributed DC power source The state value, The trigger time of the i-th distributed estimator The state estimate of the reference distributed DC power source, For the pre-designed control gain matrix, This is the first adjustment matrix. This is the second adjustment matrix.

5. The current sharing control method for a distributed DC power supply according to claim 1, characterized in that, The common triggering function includes: the common triggering function of the i-th distributed DC power source and the single event triggering function of the reference distributed DC power source; The common triggering function of the i-th distributed DC power source is calculated as follows: ;in, Let be the common triggering function of the i-th distributed DC power source. Let P be the largest eigenvalue of matrix M, where M is the adjacency matrix of the communication network, and P is the first positive definite matrix. It is the second positive definite matrix. To trigger the gain matrix, This is the first adjustment matrix. This is the second adjustment matrix. For the pre-designed control gain matrix, Let be the output triggering error of the i-th distributed DC power source. The trigger time of the j-th distributed estimator The output estimate of the reference distributed DC power source, Let i be the output estimate of the i-th distributed estimator for the reference distributed DC source. Let be the state triggering error of the i-th distributed DC power source. The trigger time of the i-th distributed estimator The state value, The trigger time of the i-th distributed estimator State estimates, Let i be the state value of the i-th distributed DC power source. Let i be the state estimate of the reference distributed DC source by the i-th distributed estimator. This is the first trigger threshold parameter. This is the second trigger threshold parameter; The single-event trigger function of the reference distributed DC power source is calculated as follows: ;in, For reference, the single-event triggering function of distributed DC power sources, This is the first communication gain matrix. For vectors with a 0 norm, To reference the triggering error of distributed DC power sources, For reference, the output value of the distributed DC power source, For reference to the triggering time of distributed DC power sources The output value is L, which is the pre-designed estimated gain matrix.

6. The current sharing control method for a distributed DC power supply according to claim 1, characterized in that, The triggering time of the common triggering function is calculated as follows: ;in, For the output of the common trigger function, Let i be the trigger time of the i-th distributed DC power source. Let t be the next trigger time for the i-th distributed DC power source, where t is any time. Referring to the triggering time of the distributed DC power source, the calculation formula is as follows: Where k0 is the number of times the reference distributed DC power source is triggered. For reference, the single-event triggering function of distributed DC power sources, To reference the next triggering time of the distributed DC power source, The triggering time of the reference distributed DC power source.

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 triggering modules, N controllers, a reference distributed DC power supply, and a single event triggering module; The i-th distributed DC power source is connected to the i-th power sensor and the i-th Buck converter respectively, and is used to output DC power. The i-th power sensor is used to acquire the 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 common trigger module, and the neighbor distributed estimator, respectively. It is used to calculate the state estimate and output estimate of the i-th distributed estimator for the reference distributed DC power source based on 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 trigger time, the output value of the reference distributed DC power source at the trigger time, and the output estimate of the neighbor distributed estimator for the reference distributed DC power source at the trigger time. The i-th common trigger module is connected to the i-th distributed estimator and the i-th controller respectively. It receives the state value of the i-th distributed DC power source, the state estimate of the i-th distributed estimator for the reference distributed DC power source, and the output estimate. It is used to output the next trigger time of the i-th distributed DC power source, update the output estimate of the i-th distributed estimator for the reference distributed DC power source obtained by the neighboring distributed DC power source, and send the state estimate of the i-th distributed estimator for the reference distributed DC power source to the pre-designed i-th controller. The i-th controller is connected to the i-th common-trigger module and the i-th Buck converter, respectively. It is used to calculate the output of the pre-designed i-th controller based on the state estimate 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 current sharing control of the distributed DC power supply. The pre-designed i-th distributed estimator and the pre-designed i-th controller include a common-trigger function, which simultaneously determines the interaction communication of the distributed DC power supply and the update time of the Buck converter. The reference distributed DC power supply is connected to the single-event triggering module and is used to provide a reference output value for the triggering time of the reference distributed DC power supply. The single-event triggering 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 time of the reference distributed DC power supply.

8. An electronic device, characterized in that, include: One or more processors, and a memory for storing instructions that, when executed by the one or more processors, cause the one or more processors to perform a current sharing control method for a distributed DC 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 that, when executed, cause the processor to perform a current sharing control method for a distributed DC 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 instructions are executed by the processor, they implement the current sharing control method for a distributed DC power supply as described in any one of claims 1 to 6.

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