An Improved Droop Control Method Combining High-Order Dynamic Inertia and Dynamic Virtual Impedance

Abstract

The present invention discloses an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance. First, the parameters of distributed power sources and the initial control parameters of droop control are configured, and the initial values of dynamic inertia and virtual impedance are initialized; the voltage, current, frequency and power change data of each distributed power source in the microgrid are collected in real time through sensors; the cut-off frequency and damping ratio of the dynamic inertia link are adjusted; the virtual resistance and virtual inductance are adjusted to dynamically obtain the virtual impedance; the feedback data is analyzed and the dynamic inertia and virtual impedance parameters are iteratively optimized. The improved droop control method combining high-order dynamic inertia and dynamic virtual impedance of the present invention has the advantages of being able to reduce the influence of power fluctuations on the operation of the microgrid system, improving the decoupling ability between distributed power sources, and improving the dynamic performance and stability of the microgrid system by adjusting the dynamic inertia parameters and virtual impedance characteristics of the microgrid system in real time.

Description

Technical Field

[0001] The present invention relates to a simulation experiment platform, in particular to an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance. Background Art

[0002] A microgrid refers to a small power generation and distribution system composed of distributed generation (DG), energy storage devices, energy conversion devices, loads, monitoring and protection devices, etc. Distributed power sources, energy storage devices, loads, etc. are all connected to the DC bus, and the DC network is then connected to the external AC grid through a power electronic inverter device (inverter).

[0003] Droop control simulates the droop characteristics of synchronous generators in traditional power systems. The working principle of droop control is as follows: Inverter power supplies detect the magnitudes of their respective output powers, and perform decoupled control on active power and reactive power; according to the droop characteristics, the reference values of output frequency and voltage amplitude are obtained, so as to reasonably distribute the active and reactive power of the system. A common application of droop control is "active power frequency modulation and reactive power voltage regulation". For an inverter power supply grid-connected system, using the droop characteristics: (1) When the active power output of the inverter decreases, the output frequency increases; when the active power output of the inverter increases, the output frequency decreases; (2) When the capacitive reactive power output of the inverter decreases, the voltage increases; when the capacitive reactive power output of the inverter increases, the voltage decreases.

[0004] Traditional droop control strategies are widely used in microgrids. By simulating the steady-state characteristics of synchronous generators, the voltage amplitude and angular frequency are adjusted according to reactive power and active power. However, this strategy has problems of insufficient inertia (such as voltage inertia and angular frequency inertia), making the voltage and angular frequency of distributed power supply units vulnerable to power fluctuations. At the same time, traditional droop control strategies are prone to reduce the power regulation accuracy between power sources under the coupling of resistance-inductance characteristics, affecting the stability of the microgrid.

[0005] Virtual impedance is a virtual component introduced in power electronic systems. By adding a virtual impedance to the original circuit, the line impedance is approximately made inductive, thereby reducing the unbalanced impedance between devices. It is mainly used to improve the dynamic response and stability of the system, and can reduce the coupling between distributed power supply units. By adjusting the parameters of the virtual impedance, the line can be made to exhibit more inductive characteristics, thereby achieving power decoupling, improving the distribution of reactive power, reducing the circulating current between inverters, and improving the quality of power output. However, using virtual impedance alone is difficult to solve the influence of power fluctuations on voltage and angular frequency, and the system stability still needs to be further improved.

[0006] Therefore, there is an urgent need for an improved control strategy to enhance the stability of the system and reduce the impact of power fluctuations on the operation of the microgrid. Summary of the Invention

[0007] The present invention aims to avoid the deficiencies existing in the above-mentioned prior art, and provides an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance to reduce the impact of power fluctuations on the operation of the microgrid system and improve the dynamic performance and stability of the microgrid system.

[0008] The present invention adopts the following technical solutions to solve the technical problems.

[0009] The present invention discloses an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance, including the following steps:

[0010] Step 1: Configure the parameters of each distributed power source in the microgrid system and the initial control parameters of droop control, and initialize the initial values of the high-order dynamic inertia link and the dynamic virtual impedance link;

[0011] Step 2: Real-time collect the voltage U, current I, angular frequency ω of each distributed power source in the microgrid system and the power change data of the inverter through sensors;

[0012] Step 3: Adjust the cut-off angular frequency ω and damping ratio ζ of the high-order dynamic inertia link;

[0013] Step 4: In the dynamic virtual impedance link, adjust the virtual resistance and virtual inductance to dynamically obtain the virtual impedance;

[0014] Step 5: Analyze the feedback data and iteratively optimize the dynamic inertia and virtual impedance parameters.

[0015] The characteristics of an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance of the present invention also lie in:

[0016] Further, in the step 1, the parameters of the distributed power source include the basic impedance parameter and the filter parameter;

[0017] The initial control parameters of the droop control include the reactive droop coefficient Kv and the active droop coefficient Kw.

[0018] Further, in the step 1, the high-order dynamic inertia link includes a dynamic voltage inertia model and a dynamic angular frequency inertia model.

[0019] Further, the dynamic voltage inertia model H v (s, t) is expressed by the following formula (1);

[0020] (1)

[0021] In the formula (1), ω sω(t) is the cut-off angular frequency that varies with time t in the dynamic voltage inertia model, ω s0 is the initial cut-off angular frequency of the dynamic voltage inertia model, k1 and k2 are the adjustment coefficients of the dynamic voltage inertia model, ζ0 is the initial damping ratio of the dynamic voltage inertia model, ζ(t) is the damping ratio that varies with time t in the dynamic voltage inertia model; ΔP(t) is the real-time active power fluctuation of the inverter output, which varies with time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which varies with time t; S represents the Laplace transform parameter.

[0022] Furthermore, the dynamic angular frequency inertia model H ω (s, t) is expressed by the following formula (2);

[0023] (2)

[0024] In the formula (2), ω s1 (t) is the cut-off angular frequency that varies with time t in the dynamic angular frequency inertia model, ω s10 is the initial cut-off angular frequency of the dynamic angular frequency inertia model, k3 and k4 are the adjustment coefficients of the dynamic angular frequency inertia model, ζ 10 is the initial damping ratio of the dynamic angular frequency inertia model, ζ1(t) is the damping ratio that varies with time t in the dynamic angular frequency inertia model, ΔP(t) is the real-time active power fluctuation of the inverter output, which varies with time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which varies with time t; S represents the Laplace transform parameter.

[0025] Furthermore, in the step 4, the dynamic virtual impedance Z vi (s, t) is calculated and obtained by the following formula (3);

[0026] (3)

[0027] In the formula (3), R vi (s, t) is the virtual resistance value that varies with time t, L vi (s, t) is the virtual inductance value that varies with time t, j represents the imaginary unit, k r (t) and k l (t) are the resistance dynamic adjustment coefficient and the inductance dynamic adjustment coefficient respectively; R0 is the basic resistance, L0 is the basic inductance; ω is the cut-off angular frequency; ΔP(t) is the real-time active power fluctuation of the inverter output, which varies with time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which varies with time t; S in (s, t) represents the Laplace transform parameter, and t is the time.

[0028] Further, the dynamic resistance adjustment coefficient k is calculated by using the following formula (4): r (t);

[0029] (4)

[0030] In the formula (4), k r0 is the initial resistance adjustment coefficient; α r is the sensitivity of the resistance adjustment coefficient, indicating the influence of the active power change on the resistance adjustment; ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with time t.

[0031] Further, the dynamic inductance adjustment coefficient k is calculated by using the following formula (5): l (t);

[0032] (5)

[0033] In the formula (5), k l0 is the initial inductance adjustment coefficient; α l is the sensitivity of the inductance adjustment coefficient, indicating the influence of the reactive power change on the inductance adjustment; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with time t.

[0034] The present invention also discloses an electronic device, including at least one processor and a memory communicatively connected to the at least one processor; characterized in that the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the improved droop control method combining high-order dynamic inertia and dynamic virtual impedance.

[0035] The present invention also discloses a non-transitory computer-readable storage medium storing computer instructions, characterized in that the computer instructions are used to cause the computer to execute the improved droop control method combining high-order dynamic inertia and dynamic virtual impedance.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] The present invention discloses an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance, which combines high-order dynamic inertia and dynamic virtual impedance to enhance the dynamic performance and stability of the microgrid system; first, configure the parameters of distributed power sources and the initial control parameters of droop control, and initialize the initial values of dynamic inertia and virtual impedance; collect the voltage, current, frequency, and power change data of each distributed power source in the microgrid in real time through sensors; adjust the cut-off frequency and damping ratio of the dynamic inertia link; adjust the virtual resistance and virtual inductance to dynamically obtain the virtual impedance; analyze the feedback data and iteratively optimize the parameters of dynamic inertia and virtual impedance.

[0038] The improved droop control method combining high-order dynamic inertia and dynamic virtual impedance of the present invention has the advantages of being able to reduce the impact of power fluctuations on the operation of the microgrid system, improving the decoupling ability between distributed power sources, and improving the dynamic performance and stability of the microgrid system by adjusting the dynamic inertia parameters and virtual impedance characteristics of the microgrid system in real time. Brief Description of the Drawings

[0039] Figure 1 It is a block diagram of an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance of the present invention.

[0040] Figure 2 It is a schematic diagram of high-order dynamic inertia control of an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance of the present invention.

[0041] Figure 3 It is a schematic diagram of dynamic virtual impedance control of an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance of the present invention.

[0042] The following further illustrates the present invention through specific embodiments and in conjunction with the drawings. Specific Embodiments

[0043] See Figures 1 to 3 , the present invention discloses an improved droop control method combining high-order dynamic inertia and dynamic virtual impedance, including the following steps:

[0044] Step 1: Configure the parameters of each distributed power source in the microgrid system and the initial control parameters of droop control, and initialize the initial values of the high-order dynamic inertia link and the dynamic virtual impedance link;

[0045] Configure the basic impedance, filter parameters, and initial control parameters of the distributed power source, and initialize the initial values of dynamic inertia and virtual impedance;

[0046] Step 2: Real-time collect the voltage U, current I, angular frequency ω of each distributed power source in the microgrid system and the power change data of the inverter (including the active power fluctuation ΔP(t), reactive power fluctuation ΔQ(t) of the inverter, and the dynamic virtual impedance Z vi (s, t)) obtained by calculating through ΔP(t) and ΔQ(t);

[0047] Step 3: Adjust the cut-off angular frequency ω and damping ratio ζ of the high-order dynamic inertia link;

[0048] According to the active power fluctuation ΔP(t) and reactive power fluctuation ΔQ(t), adjust the cut-off angular frequency ω and damping ratio ζ of the dynamic inertia link, enhance the ability to suppress the fluctuations of the output voltage U and angular frequency ω of each distributed power source, and output the phase signal θ and command voltage signal Vref of the inverter;

[0049] Step 4: In the dynamic virtual impedance link, adjust the virtual resistance and virtual inductance to dynamically obtain the virtual impedance;

[0050] Real-time calculate and adjust the virtual resistance and virtual inductance, dynamically obtain the virtual impedance, and optimize power decoupling through the voltage control link to reduce the mutual interference between distributed power sources;

[0051] Step 5: Analyze the feedback data and iteratively optimize the dynamic inertia and virtual impedance parameters.

[0052] Execute the improved droop control strategy, real-time analyze the feedback data and iteratively optimize the dynamic inertia and virtual impedance parameters to ensure the stability and robustness of the system.

[0053] An improved droop control method combining high-order dynamic inertia and dynamic virtual impedance of the present invention includes a high-order dynamic inertia link and a dynamic virtual impedance link; in the high-order dynamic inertia link, a dynamic second-order inertia model is introduced to slow down the change rate of voltage and angular frequency, and by filtering high-frequency noise and transient fluctuations, improve the anti-interference ability of the system to power fluctuations; in the dynamic virtual impedance link, by real-time adjusting the virtual impedance characteristics of distributed power sources, reduce the power coupling between distributed power sources and optimize the power distribution accuracy. The present invention can significantly improve the dynamic performance of the microgrid, reduce the influence of power fluctuations on voltage and angular frequency, and at the same time improve the decoupling ability between distributed power sources, thereby enhancing the stability and robustness of the microgrid.

[0054] Specifically in implementation, in the step 1, the parameters of the distributed power source include basic impedance parameters and filter parameters;

[0055] The initial control parameters of the droop control include the reactive droop coefficient Kv and the active droop coefficient Kw.

[0056] The basic impedance parameters include: R0 is the basic resistance, and L0 is the basic inductance.

[0057] In specific implementation, in step 1, the high-order dynamic inertia link includes a dynamic voltage inertia model and a dynamic angular frequency inertia model.

[0058] Initializing the initial values of the high-order dynamic inertia link and the dynamic virtual impedance link includes the following parameters: ω s0 is the initial cut-off angular frequency of the dynamic voltage inertia model, ζ0 is the initial damping ratio of the dynamic voltage inertia model, ω s10 is the initial cut-off angular frequency of the dynamic angular frequency inertia model, ζ 10 is the initial damping ratio of the dynamic angular frequency inertia model, R0 is the basic resistance, and L0 is the basic inductance.

[0059] In the present invention, the dynamic voltage inertia model optimizes voltage stability by adjusting the cut-off angular frequency ω and the damping ratio ζ in real time according to the fluctuations of the active power P and the reactive power Q; the dynamic angular frequency inertia model reduces the influence of power fluctuations on the system frequency by dynamically adjusting the angular frequency cut-off value and the damping ratio, and improves the robustness of frequency regulation.

[0060] In specific implementation, the dynamic voltage inertia model H v (s, t) is represented by the following formula (1);

[0061] (1)

[0062] In formula (1), ω s (t) is the cut-off angular frequency that changes with time t in the dynamic voltage inertia model, ω s0 is the initial cut-off angular frequency of the dynamic voltage inertia model, k1 and k2 are the adjustment coefficients of the dynamic voltage inertia model, ζ0 is the initial damping ratio of the dynamic voltage inertia model, ζ(t) is the damping ratio that changes with time t in the dynamic voltage inertia model; ΔP(t) is the fluctuation of the active power output by the real-time inverter, which changes with time t; ΔQ(t) is the fluctuation of the reactive power output by the real-time inverter, which changes with time t; S represents the Laplace transform parameter.

[0063] In specific implementation, the dynamic angular frequency inertia model H ω (s, t) is represented by the following formula (2);

[0064] (2)

[0065] In formula (2), ω s1 (t) is the cut-off angular frequency that changes with time t in the dynamic angular frequency inertia model, ωs10 is the initial cut-off angular frequency of the dynamic angular frequency inertia model, k3 and k4 are the adjustment coefficients of the dynamic angular frequency inertia model, and ζ 10 is the initial damping ratio of the dynamic angular frequency inertia model, ζ1(t) is the damping ratio that changes with time t in the dynamic angular frequency inertia model, ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with time t; S represents the Laplace transform parameter.

[0066] In specific implementation, in step 4, the following formula (3) is used to calculate and obtain the dynamic virtual impedance Z vi (s, t);

[0067] (3)

[0068] In the formula (3), R vi (s, t) is the virtual resistance value that changes with time t, L vi (s, t) is the virtual inductance value that changes with time t, j represents the imaginary unit, k r (t) and k l (t) are the resistance dynamic adjustment coefficient and the inductance dynamic adjustment coefficient respectively; R0 is the base resistance, L0 is the base inductance; ω is the cut-off angular frequency; ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with time t; S in (s, t) represents the Laplace transform parameter, and t is the time.

[0069] The virtual resistance R vi (s, t) and the virtual inductance L vi (s, t) are calculated and adjusted in real time using formula (3), and the dynamic virtual impedance Z vi (s, t) is obtained dynamically. The power decoupling is optimized through the voltage control link to reduce the mutual interference between distributed power sources; the dynamic virtual impedance optimizes the power decoupling performance of the system by dynamically adjusting the real-time characteristics of the resistance and inductance according to the load change and the output state of the distributed power source.

[0070] In specific implementation, the following formula (4) is used to calculate and obtain the resistance dynamic adjustment coefficient k r (t);

[0071] (4)

[0072] In the formula (4), k r0 is the initial resistance adjustment coefficient; α ris the sensitivity of the resistance adjustment coefficient, representing the impact of the active power change on the resistance adjustment; ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with time t.

[0073] During specific implementation, the following formula (5) is used to calculate and obtain the inductance dynamic adjustment coefficient k l (t);

[0074] (5)

[0075] In the said formula (5), k l0 is the initial inductance adjustment coefficient; α l is the sensitivity of the inductance adjustment coefficient, representing the impact of the reactive power change on the inductance adjustment; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with time t.

[0076] According to the real-time changes of the system state and load conditions, formula (4) and formula (5) are used to calculate k r (t) and k l (t) in formula (3) respectively.

[0077] The present invention also discloses an electronic device, including at least one processor and a memory communicatively connected to the at least one processor; characterized in that the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the improved droop control method combining high-order dynamic inertia and dynamic virtual impedance.

[0078] The present invention also discloses a non-transitory computer-readable storage medium storing computer instructions, characterized in that the computer instructions are used to enable the computer to execute the improved droop control method combining high-order dynamic inertia and dynamic virtual impedance.

[0079] The improved droop control method of the present invention combining high-order dynamic inertia and dynamic virtual impedance realizes innovative designs in terms of voltage inertia, angular frequency inertia and dynamic virtual impedance, significantly improves the dynamic performance and stability of the microgrid, and has broad application potential in both islanding and grid-connected operations.

[0080] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0081] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An improved droop control method combining high-order dynamic inertia and dynamic virtual impedance, characterized in that, It includes the following steps: Step 1: Configure the parameters of each distributed power source in the microgrid system and the initial control parameters of droop control, and initialize the initial values of the high-order dynamic inertia link and the dynamic virtual impedance link; the initialization of the initial values of the high-order dynamic inertia link and the dynamic virtual impedance link includes the following parameters: ω s0 is the initial cut-off angular frequency of the dynamic voltage inertia model, ζ0 is the initial damping ratio of the dynamic voltage inertia model, ω s10 is the initial cut-off angular frequency of the dynamic angular frequency inertia model, ζ 10 is the initial damping ratio of the dynamic angular frequency inertia model, R0 is the base resistance, and L0 is the base inductance; Step 2: Real-time collect the voltage U, current I, angular frequency ω of each distributed power source in the microgrid system and the power change data of the inverter through sensors; Step 3: Adjust the cut-off angular frequency ω and damping ratio ζ of the high-order dynamic inertia link; Step 4: In the dynamic virtual impedance link, adjust the virtual resistance and virtual inductance to dynamically obtain the virtual impedance; In the said step 4, the dynamic virtual impedance Z vi vi (s, t) is calculated and obtained by using the following formula (3); （3） In the formula (3), R vi (s, t) is a virtual resistance value that changes with the change of time t, and L vi (s, t) is a virtual inductance value that changes with the change of time t. j represents the imaginary unit, and k r (t) and k l (t) are the resistance dynamic adjustment coefficient and the inductance dynamic adjustment coefficient respectively; R0 is the base resistance, and L0 is the base inductance; ω is the cut-off angular frequency; ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with the change of time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with the change of time t; S in (s, t) represents the Laplace transform parameter, and t is the time; The dynamic adjustment coefficient k of the resistor is calculated by using the following formula (4) r (t); （4） In the formula (4), k r0 is the initial resistance adjustment coefficient; α r is the sensitivity of the resistance adjustment coefficient, indicating the influence of the active power change on the resistance adjustment; ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with time t; The inductance dynamic adjustment coefficient k is calculated by using the following formula (5) l (t); （5） In the formula (5), k l0 is the initial inductance adjustment coefficient; α l is the sensitivity of the inductance adjustment coefficient, indicating the influence of the reactive power change on the inductance adjustment; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with time t; Step 5: Analyze the feedback data and iteratively optimize the dynamic inertia and virtual impedance parameters.

2. An improved droop control method combining high-order dynamic inertia and dynamic virtual impedance according to claim 1, characterized in that, In the said Step 1, the parameters of the distributed power source include the basic impedance parameter and the filter parameter; The initial control parameters of the droop control include the reactive power droop coefficient Kv and the active power droop coefficient Kw.

3. An improved droop control method combining high-order dynamic inertia and dynamic virtual impedance according to claim 1, characterized in that, In the said Step 1, the high-order dynamic inertia link includes a dynamic voltage inertia model and a dynamic angular frequency inertia model.

4. An improved droop control method combining high-order dynamic inertia and dynamic virtual impedance according to claim 3, characterized in that, The dynamic voltage inertia model H v (s, t) is expressed by the following formula (1); （1） In the formula (1), ω s (t) is the cut-off angular frequency that changes with time t in the dynamic voltage inertia model, ω s0 is the initial cut-off angular frequency of the dynamic voltage inertia model, k1 and k2 are the adjustment coefficients of the dynamic voltage inertia model, ζ0 is the initial damping ratio of the dynamic voltage inertia model, and ζ(t) is the damping ratio that changes with time t in the dynamic voltage inertia model; ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with time t; S represents the Laplace transform parameter.

5. An improved droop control method combining high-order dynamic inertia and dynamic virtual impedance according to claim 3, characterized in that, The dynamic angular frequency inertia model H ω (s, t) is expressed by the following formula (2); （2） In the formula (2), ω s1 (t) is the cut-off angular frequency that changes with time t in the dynamic angular frequency inertia model, ω s10 is the initial cut-off angular frequency of the dynamic angular frequency inertia model, k3 and k4 are the adjustment coefficients of the dynamic angular frequency inertia model, ζ 10 is the initial damping ratio of the dynamic angular frequency inertia model, ζ1(t) is the damping ratio that changes with time t in the dynamic angular frequency inertia model, ΔP(t) is the real-time active power fluctuation of the inverter output, which changes with time t; ΔQ(t) is the real-time reactive power fluctuation of the inverter output, which changes with time t; S represents the Laplace transform parameter.

6. An electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor; characterized in that, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the improved droop control method combining high-order dynamic inertia and dynamic virtual impedance according to any one of claims 1-5.

7. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the improved droop control method combining high-order dynamic inertia and dynamic virtual impedance according to any one of claims 1-5.

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