Multi-type energy storage and new energy cooperative control method and system

Abstract

The embodiment of the invention provides a multi-type energy storage and new energy cooperative control method and system, and belongs to the technical field of multi-type energy storage cooperative control. The cooperative control method comprises the following steps: acquiring a circuit of a multi-type energy storage and new energy system structure; establishing a state-space equation of multi-type energy storage and new energy under a dq-axis coordinate system according to the circuit; according to the state-space equation, establishing a nonlinear affine model of the multi-type stored energy and the new energy; a Lyapunov function is established according to the nonlinear affine model; determining an output variable of the nonlinear affine model; establishing a nonlinear controller according to the output variable; and state variables of the current multi-type energy storage and new energy system are adjusted according to the nonlinear controller. According to the cooperative control method and system, a nonlinear control method based on the Lyapunov function is applied to cooperative control of multiple types of stored energy and new energy, the bus voltage of the system is stable, and the cooperative control method and system are simple in structure, rapid in response, good in stability and easy to solve engineering practical problems.

Description

Technical Field

[0001] The present invention relates to the technical field of coordinated control of multiple types of energy storage, and in particular to a method and system for coordinated control of multiple types of energy storage and new energy. Background Art

[0002] In recent years, the capacity of new energy grid-connected in my country has continued to grow rapidly. On the one hand, with the increasing depletion of traditional petrochemical energy and the rapid increase in the demand for electric energy due to social development, on the other hand, new energy such as wind energy and photovoltaics have the advantages of wide distribution, no pollution, and recyclability, and have been vigorously developed and utilized. However, new energy such as wind energy and photovoltaics have the characteristics of intermittent, unstable, low density, and seasonal changes over time. As the scale of new energy grid connection continues to increase, the superposition of new energy power generation and load fluctuations will have many adverse effects on the stable operation of the power grid. To solve this problem, multi-type energy storage systems have received more and more attention and application. The combination of energy storage batteries and supercapacitors, as a multi-type energy storage system, can provide energy buffering, peak shaving and valley filling, and backup power supply for intermittent renewable energy power generation systems, which is an effective way to improve intermittent energy power generation. In order to better ensure the safety and stability of the power grid, it is key to achieve coordinated control of multi-type energy storage and wind power, photovoltaic wind energy, and photovoltaic new energy.

[0003] The existing multi-type energy storage and new energy coordinated control method mainly adopts vector PI control, but the stability domain is narrow and the engineering application is limited. Therefore, it is necessary to design a control method with simple structure, fast response and good stability to achieve the coordinated operation of multi-type energy storage and new energy, ensure the stability of bus voltage, and help ensure the safety and stability of the power grid. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a method and system for coordinated control of multiple types of energy storage and new energy. The method and system apply a nonlinear control method based on the Lyapunov function to the coordinated control of multiple types of energy storage and new energy, maintain the DC bus voltage of a multi-variable, nonlinear multi-type energy storage system stable, achieve reasonable power distribution of batteries and supercapacitors, and meet the source-load balance. The method and system for coordinated control of multiple types of energy storage and new energy have a simple structure, fast response, good stability, and are easy to solve practical engineering problems.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the present invention provides a method for coordinated control of multiple types of energy storage and new energy sources, and the coordinated control method includes:

[0006] Obtain circuits for multiple types of energy storage and new energy system structures;

[0007] According to the circuit, state space equations of multiple types of energy storage and new energy in the dq axis coordinate system are established;

[0008] According to the state space equation, a nonlinear affine model of multiple types of energy storage and new energy is established;

[0009] Establishing a Lyapunov function according to the nonlinear affine model;

[0010] determining an output variable of the nonlinear affine model;

[0011] establishing a nonlinear controller according to the output variable;

[0012] The state variables of the current multi-type energy storage and new energy system are adjusted according to the nonlinear controller.

[0013] Optionally, state space equations of multiple types of energy storage and new energy in a dq axis coordinate system are established according to the circuit, including:

[0014] The state space equation is established according to formulas (1) to (6):

[0015]

[0016] Among them, i d 、i q They are respectively the AC-DC converter current i of the permanent magnet synchronous wind turbine generator a 、i b 、i c The d and q axis components, i a is the a-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i b is the b-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i c is the c-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, L ω is the DC side inductance of the permanent magnet synchronous wind turbine AC-DC converter, R ω is the DC side resistance of the permanent magnet synchronous wind turbine AC-DC converter, ω is the grid angular frequency, V dc is the DC side voltage of multiple types of energy storage and new energy systems, m d 、m q are the d-axis and q-axis components of the switching quantity of the AC-DC converter of the permanent magnet synchronous wind turbine generator, respectively. d 、e q are the AC-DC converter voltage of permanent magnet synchronous wind turbine generator, e a 、e b 、e c The d and q axis components, e a is the a-phase voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, and e b is the b-phase voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, and e cis the phase c voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i pv is the photovoltaic cell output current, V pv is the photovoltaic cell output voltage, m p is the switching quantity of the photovoltaic cell DC-DC converter, L pv is the photovoltaic cell DC-DC converter inductor, C is the DC side capacitor of the multi-type energy storage and new energy system, i by is the energy storage battery current, i sr is the supercapacitor current, L by is the energy storage battery inductance, L sr is the inductance of the supercapacitor bidirectional DC-DC converter, m b is the DC switch value of the energy storage battery, m s is the switching value of the supercapacitor bidirectional DC-DC converter, V by is the energy storage battery voltage, V sr is the supercapacitor voltage, is the differential symbol.

[0017] Optionally, according to the state space equation, a nonlinear affine model of multiple types of energy storage and new energy is established, further comprising:

[0018] The state variable equation is defined according to formula (7):

[0019] x=[i d i q i pv V dc i by i sr ] T , (7)

[0020] Where x is the state variable of the nonlinear affine model.

[0021] Optionally, according to the state space equation, a nonlinear affine model of multiple types of energy storage and new energy is established, including:

[0022] According to formula (8), a nonlinear affine model of multi-type energy storage and new energy is established.

[0023]

[0024] in, is the derivative of x, A is the system parameter matrix, B1 is the d-axis affine matrix of the permanent magnet synchronous wind generator AC-DC converter, B2 is the q-axis affine matrix of the permanent magnet synchronous wind generator AC-DC converter, B3 is the affine matrix of the photovoltaic cell DC-DC converter, B4 is the affine matrix of the energy storage battery bidirectional DC-DC converter, B5 is the affine matrix of the supercapacitor bidirectional DC-DC converter, and d is the interference matrix.

[0025] Optionally, establishing a Lyapunov function according to the nonlinear affine model includes:

[0026] According to formula (9) to formula (11), the Lyapunov function is established.

[0027] Δx=xx * , (9)

[0028]

[0029] Among them, x * is the expected trajectory of the state variables of the nonlinear affine model, Δx is the tracking error of the expected trajectory of the state variables, z is the nonlinear controller parameter, and P is a positive definite symmetric matrix.

[0030] Optionally, determining the output variable of the nonlinear affine model includes:

[0031] The output variable is determined according to formula (12):

[0032]

[0033] Optionally, establishing a nonlinear controller according to the output variable comprises:

[0034] According to formula (13) and formula (14), a nonlinear controller is established:

[0035]

[0036] Δu=-K p y+K i z, (14)

[0037] Where Δu is the nonlinear controller, is the derivative of z, K p is the proportional coefficient of the nonlinear controller, k i is the integral coefficient of the nonlinear controller.

[0038] On the other hand, the present invention also provides a multi-type energy storage and new energy collaborative control system, wherein the collaborative control system includes a processor for executing any of the collaborative control methods described above.

[0039] Through the above technical scheme, the present invention provides a method and system for coordinated control of multi-type energy storage and new energy, by obtaining the circuit of the multi-type energy storage and new energy system structure, establishing the state space equation of multi-type energy storage and new energy in the dq axis coordinate system according to the circuit, establishing the nonlinear affine model of multi-type energy storage and new energy according to the state space equation, establishing the Lyapunov function according to the nonlinear affine model, determining the output variable of the nonlinear affine model, establishing a nonlinear controller according to the output variable, and adjusting the state variable of the current energy system according to the nonlinear controller. The coordinated control method and system apply the nonlinear control method based on the Lyapunov function to the coordinated control of multi-type energy storage and new energy, maintain the DC bus voltage of the multi-variable, nonlinear multi-type energy storage system stable, realize the reasonable distribution of battery and supercapacitor power, meet the source-load balance, and the coordinated control method and system of multi-type energy storage and new energy are simple in structure, fast in response, and good in stability, and easy to solve practical engineering problems.

[0040] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0042] Figure 1 is a circuit diagram of a multi-type energy storage and new energy system structure according to an embodiment of the present invention;

[0043] Figure 2 is a flow chart of a method for coordinated control of multiple types of energy storage and new energy sources according to an embodiment of the present invention;

[0044] Figure 3 is a flow chart of establishing a nonlinear affine model according to an embodiment of the present invention;

[0045] Figure 4 This is a DC bus voltage waveform diagram when wind power and photovoltaic power suddenly drop and load power suddenly increases according to an embodiment of the present invention;

[0046] Figure 5 It is a current waveform diagram of an energy storage battery when wind power and photovoltaic power output suddenly decrease and load power suddenly increases according to an embodiment of the present invention;

[0047] Figure 6 This is a supercapacitor current waveform diagram when wind power and photovoltaic power output suddenly drop and load power suddenly increases according to an embodiment of the present invention;

[0048] Figure 7It is a DC bus voltage waveform diagram when wind power and photovoltaic power output suddenly increase and load power suddenly decreases according to an embodiment of the present invention;

[0049] Figure 8 It is a battery current waveform diagram when wind power and photovoltaic power output suddenly increase and load power suddenly decreases according to an embodiment of the present invention;

[0050] Fig. 9 This is a supercapacitor current waveform diagram when wind power and photovoltaic power output suddenly increase and load power suddenly decreases according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0052] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0053] like Figure 1 The figure shows a circuit diagram of a multi-type energy storage and new energy system structure according to an embodiment of the present invention. Figure 2 The figure is a flow chart of a method for coordinated control of multiple types of energy storage and new energy sources according to an embodiment of the present invention. Figure 2 In the embodiment of the present invention, the collaborative control method may include:

[0054] In step S10, circuits of multiple types of energy storage and new energy system structures are obtained;

[0055] In step S20, state space equations of multiple types of energy storage and new energy in a dq axis coordinate system are established according to the circuit;

[0056] In step S30, a nonlinear affine model of multiple types of energy storage and new energy is established according to the state space equation;

[0057] In step S40, a Lyapunov function is established according to the nonlinear affine model;

[0058] In step S50, the output variable of the nonlinear affine model is determined;

[0059] In step S60, a nonlinear controller is established according to the output variable;

[0060] In step S70, the state variables of the current multi-type energy storage and new energy system are adjusted according to the nonlinear controller.

[0061] In step S10 to step S70, first obtain Figure 1 The circuit of the multi-type energy storage and new energy system structure shown in the figure establishes the state space equation of the multi-type energy storage and new energy in the dq axis coordinate system according to the circuit, and then establishes the nonlinear affine model of the multi-type energy storage and new energy according to the state space equation, establishes the Lyapunov function through the nonlinear affine model, determines the output variable of the nonlinear affine model, establishes a nonlinear controller according to the output variable, and adjusts the state variables of the current multi-type energy storage and new energy system through the nonlinear controller. The collaborative control method applies the nonlinear control method based on the Lyapunov function to the collaborative control of the multi-type energy storage and new energy system, maintains the DC bus voltage of the multi-variable, nonlinear multi-type energy storage system stable, realizes the reasonable power distribution of the battery and supercapacitor, and satisfies the source-load balance.

[0062] In this Figure 2 In the method shown, step S10 can be used to obtain a circuit of a multi-type energy storage and new energy system structure. Step S20 can be used to establish a state space equation of multi-type energy storage and new energy in a dq axis coordinate system according to the circuit. The specific method for establishing the state space equation can be a variety of forms known to those skilled in the art. In one example of the present invention, the state space equation can be established according to formulas (1) to (6),

[0063]

[0064]

[0065] Among them, i d 、i q They are respectively the AC-DC converter current i of the permanent magnet synchronous wind turbine generator a 、i b 、i c The d and q axis components, i a is the a-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i b is the b-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i c is the c-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, L ω is the DC side inductance of the permanent magnet synchronous wind turbine AC-DC converter, R ω is the DC side resistance of the permanent magnet synchronous wind turbine AC-DC converter, ω is the grid angular frequency, V dc is the DC side voltage of multiple types of energy storage and new energy systems, m d 、mq are the d-axis and q-axis components of the switching quantity of the AC-DC converter of the permanent magnet synchronous wind turbine generator, respectively. d 、e q are the AC-DC converter voltage of permanent magnet synchronous wind turbine generator, e a 、e b 、e c The d and q axis components, e a is the a-phase voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, and e b is the b-phase voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, and e c is the phase c voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i pv is the photovoltaic cell output current, V pv is the photovoltaic cell output voltage, m p is the switching quantity of the photovoltaic cell DC-DC converter, L pv is the photovoltaic cell DC-DC converter inductor, C is the DC side capacitor of the multi-type energy storage and new energy system, i by is the energy storage battery current, i sr is the supercapacitor current, L by is the energy storage battery inductance, L sr is the inductance of the supercapacitor bidirectional DC-DC converter, m b is the DC switch value of the energy storage battery, m s is the switching value of the supercapacitor bidirectional DC-DC converter, V by is the energy storage battery voltage, Vs sr is the supercapacitor voltage, is the differential symbol.

[0066] Step S30 can be used to establish a nonlinear affine model of multiple types of energy storage and new energy sources according to the state space equation. The specific method for establishing the nonlinear affine model can be various methods known to those skilled in the art. In one example of the present invention, the method for establishing the nonlinear affine model can include: Figure 3 The steps shown. Specifically:

[0067] In step S11, the state variable equation is defined according to formula (7):

[0068] x=[i d i q i pv V dc i by i sr ] T , (7)

[0069] Where x is the state variable of the nonlinear affine model.

[0070] In step S12, a nonlinear affine model of multiple types of energy storage and new energy is established according to formula (8):

[0071]

[0072] in, is the derivative of x, A is the system parameter matrix, B1 is the d-axis affine matrix of the permanent magnet synchronous wind generator AC-DC converter, B2 is the q-axis affine matrix of the permanent magnet synchronous wind generator AC-DC converter, B3 is the affine matrix of the photovoltaic cell DC-DC converter, B4 is the affine matrix of the energy storage battery bidirectional DC-DC converter, B5 is the affine matrix of the supercapacitor bidirectional DC-DC converter, and d is the interference matrix.

[0073] Specifically, the system parameter matrix A, the permanent magnet synchronous wind generator AC-DC converter d-axis affine matrix B1, the permanent magnet synchronous wind generator AC-DC converter q-axis affine matrix B2, the photovoltaic cell DC-DC converter affine matrix B3, the energy storage battery bidirectional DC-DC converter affine matrix B4, the supercapacitor bidirectional DC-DC converter affine matrix B5 and the interference matrix d can be determined according to formulas (15) to (21).

[0074]

[0075]

[0076] Step S40 can be used to establish a Lyapunov function according to a nonlinear affine model. The specific method for establishing the Lyapunov function can be various forms known to those skilled in the art. In one example of the present invention, the Lyapunov function can be established according to formula (9) to formula (11),

[0077] Δx=xx * , (9)

[0078]

[0079] Among them, x * is the expected trajectory of the state variables of the nonlinear affine model, Δx is the tracking error of the expected trajectory of the state variables, z is the nonlinear controller parameter, and P is a positive definite symmetric matrix.

[0080] Step S50 can be used to determine the output variable of the nonlinear affine model. The specific method for determining the output variable can be various forms known to those skilled in the art. In one example of the present invention, the output variable can be determined according to formula (12):

[0081]

[0082] In order to eliminate the tracking error of the expected trajectory of the state variable and realize the coordinated control of multiple types of energy storage and new energy, step S60 can be used to establish a nonlinear controller according to the output variable. The specific method of establishing the nonlinear controller can be various forms known to those skilled in the art. In one example of the present invention, a nonlinear controller is established according to formula (13) and formula (14):

[0083]

[0084] Δu=-K p y+K i z, (14)

[0085] Where Δu is the nonlinear controller, is the derivative of z, K p is the proportional coefficient of the nonlinear controller, K i is the integral coefficient of the nonlinear controller.

[0086] By taking the derivative of formula (11), we can get formula (22):

[0087]

[0088] According to the Lyapunov stability theorem, we can analyze formula (11) and formula (22) and know that since V(Δx,z)≥0, Then the closed-loop control system is asymptotically stable, and the state variables can converge asymptotically to the desired operating point x*, that is, the established nonlinear controller can ensure that the tracking error of the desired trajectory of the state variables approaches the zero static error target.

[0089] In order to verify the dynamic performance of the designed multi-type energy storage and new energy coordinated control method, the bus voltage of the system is stabilized when the new energy output suddenly changes and the load demand fluctuates. The simulation conditions are set as follows: (1) The wind and photovoltaic output suddenly drop, and the load power suddenly increases: at t=3s, the wind speed changes from 6m / s to 5m / s; the photovoltaic current changes from 2A to 1A; the load changes from 50Ω to 100Ω, and the load current changes from 2A to 1A. (2) The wind and photovoltaic output suddenly increase, and the load power suddenly drops: at t=3s, the wind speed changes from 5m / s to 6m / s; the photovoltaic current changes from 1A to 2A; the load changes from 100Ω to 50Ω, and the load current changes from 1A to 2A. Figure 4 , Figure 5 , Figure 6 and Figure 7 , Figure 8 , Fig. 9Analysis shows that the multi-type energy storage and new energy coordinated control method designed by the present invention can effectively suppress the DC bus voltage fluctuation within the range of 98V-102V. The nonlinear control method has a small overshoot of the energy storage battery and supercapacitor current and a fast tracking speed in the transient process, and has good dynamic response performance, thus realizing stable control of the bus voltage. In the case of sudden changes in the output of new energy and fluctuations in load demand, multi-type energy storage and new energy can achieve coordinated operation, and the closed-loop control system has good stability. The simulation results show that the designed multi-type energy storage and new energy coordinated control method has the characteristics of fast response and good stability.

[0090] On the other hand, the present invention also provides a multi-type energy storage and new energy collaborative control system, wherein the collaborative control system includes a processor for executing any of the collaborative control methods described above.

[0091] Through the above technical scheme, the present invention provides a method and system for coordinated control of multiple types of energy storage and new energy sources, by obtaining the circuit of the structure of the multiple types of energy storage and new energy system, establishing the state space equation of multiple types of energy storage and new energy in the dq axis coordinate system according to the circuit, establishing the nonlinear affine model of multiple types of energy storage and new energy according to the state space equation, establishing the Lyapunov function according to the nonlinear affine model, determining the output variable of the nonlinear affine model, establishing a nonlinear controller according to the output variable, and adjusting the state variable of the current energy system according to the nonlinear controller. The coordinated control method and system apply the nonlinear control method based on the Lyapunov function to the coordinated control of multiple types of energy storage and new energy sources, realize the stability of the system bus voltage, and the coordinated control method and system have simple structure, fast response, good stability, and are easy to solve practical engineering problems.

[0092] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0096] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0097] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0098] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0099] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0100] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for coordinated control of multiple types of energy storage and new energy, characterized in that: The collaborative control method comprises: Obtain circuits for multiple types of energy storage and new energy system structures; Establishing state space equations of multiple types of energy storage and new energy in a dq axis coordinate system according to the circuit; According to the state space equation, a nonlinear affine model of multiple types of energy storage and new energy is established; Establishing a Lyapunov function according to the nonlinear affine model; determining an output variable of the nonlinear affine model; establishing a nonlinear controller according to the output variable; The state variables of the current multi-type energy storage and new energy system are adjusted according to the nonlinear controller.

2. The collaborative control method according to claim 1, characterized in that: According to the circuit, state space equations of multiple types of energy storage and new energy in the dq axis coordinate system are established, including: The state space equation is established according to formulas (1) to (6): Among them, i d 、i q They are respectively the AC-DC converter current i of the permanent magnet synchronous wind turbine generator a 、i b 、i c The d and q axis components, i a is the a-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i b is the b-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i c is the c-phase current of the AC-DC converter of the permanent magnet synchronous wind turbine generator, L ω is the DC side inductance of the permanent magnet synchronous wind turbine AC-DC converter, R ω is the DC side resistance of the permanent magnet synchronous wind turbine AC-DC converter, ω is the grid angular frequency, V dc is the DC side voltage of multiple types of energy storage and new energy systems, m d 、m q are the d-axis and q-axis components of the switching quantity of the AC-DC converter of the permanent magnet synchronous wind turbine generator, respectively. d 、e q are the AC-DC converter voltage of permanent magnet synchronous wind turbine generator, e a 、e b 、e c The d and q axis components, e a is the a-phase voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, and e b is the b-phase voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, and e c is the phase c voltage of the AC-DC converter of the permanent magnet synchronous wind turbine generator, i pv is the photovoltaic cell output current, V pv is the photovoltaic cell output voltage, m p is the switching quantity of the photovoltaic cell DC-DC converter, L pv is the photovoltaic cell DC-DC converter inductor, C is the DC side capacitor of the multi-type energy storage and new energy system, i by is the energy storage battery current, i sr is the supercapacitor current, L by is the energy storage battery inductance, L sr is the inductance of the supercapacitor bidirectional DC-DC converter, m b is the DC switch value of the energy storage battery, m s is the switching value of the supercapacitor bidirectional DC-DC converter, V by is the energy storage battery voltage, V sr is the supercapacitor voltage, is the differential symbol.

3. The collaborative control method according to claim 2, characterized in that: According to the state space equation, a nonlinear affine model of multiple types of energy storage and new energy is established, which also includes: The state variable equation is defined according to formula (7): x=[i d i q i pv V dc i by i sr ] T , (7) Where x is the state variable of the nonlinear affine model.

4. The collaborative control method according to claim 3, characterized in that: According to the state space equation, a nonlinear affine model of multiple types of energy storage and new energy is established, including: According to formula (8), a nonlinear affine model of multi-type energy storage and new energy is established. in, is the derivative of x, A is the system parameter matrix, B1 is the d-axis affine matrix of the permanent magnet synchronous wind generator AC-DC converter, B2 is the q-axis affine matrix of the permanent magnet synchronous wind generator AC-DC converter, B3 is the affine matrix of the photovoltaic cell DC-DC converter, B4 is the affine matrix of the energy storage battery bidirectional DC-DC converter, B5 is the affine matrix of the supercapacitor bidirectional DC-DC converter, and d is the interference matrix.

5. The collaborative control method according to claim 4, characterized in that: Establishing a Lyapunov function according to the nonlinear affine model includes: According to formula (9) to formula (11), the Lyapunov function is established. Δx=x-x * ,(9) Among them, x * is the expected trajectory of the state variables of the nonlinear affine model, Δx is the tracking error of the expected trajectory of the state variables, z is the nonlinear controller parameter, and P is a positive definite symmetric matrix.

6. The collaborative control method according to claim 4, characterized in that: Determining the output variable of the nonlinear affine model includes: The output variable is determined according to formula (12):

7. The collaborative control method according to claim 6, characterized in that: A nonlinear controller is established according to the output variable, comprising: According to formula (13) and formula (14), a nonlinear controller is established: Δu=-K p y+K i with,(14) Where Δu is the nonlinear controller, is the derivative of z, K p is the proportional coefficient of the nonlinear controller, K i is the integral coefficient of the nonlinear controller.

8. A multi-type energy storage and new energy coordinated control system, characterized in that: The collaborative control system includes a processor for executing the collaborative control method as described in any one of claims 1 to 7.

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