Flexible interconnection device energy balance control method, system and equipment based on multi-port power interaction and medium

Abstract

The invention discloses a flexible interconnection device energy balance control method, system and equipment based on multi-port power interaction, and a medium, and belongs to the technical field of flexible interconnection device energy balance control, and the method comprises the steps: collecting multi-port flexible data; obtaining a system state estimation value; adjusting the droop control coefficient of each port by adopting a self-adaptive adjustment mechanism; calculating reference power and reference voltage of each port according to the droop control coefficient and the system state estimation value; calculating the energy balance control quantity of each port based on a Lyapunov energy function; calculating a multi-port coordination control quantity; generating a total control quantity of each port; the fault is judged by comparing the residual signal with a fault detection threshold value; and outputting the power regulation quantity and the voltage regulation quantity of each port according to the total control quantity. According to the multi-port coordination control algorithm, the power coupling effect between the ports is effectively processed through the coordination coefficient between the ports and the double-layer control structure, and the system oscillation is reduced.

Description

Technical Field

[0001] This invention relates to the field of energy balance control technology for flexible interconnected devices, and specifically to a method, system, device, and medium for energy balance control of flexible interconnected devices based on multi-port power interaction. Background Technology

[0002] With the rapid development of power systems and the large-scale integration of distributed energy resources, multi-port flexible interconnection devices are playing an increasingly important role in modern power grids. Traditional power electronic devices mostly adopt single-port or dual-port structures, which are difficult to meet the needs of diversified energy access and complex power flow control.

[0003] Existing multiport control methods are mainly based on traditional PI control or simple droop control. PI control methods struggle to handle the coupling relationships between ports in multiport scenarios. Traditional droop control uses a fixed droop coefficient and lacks the ability to adapt to dynamic load changes.

[0004] Traditional control strategies often employ independent control of each port, neglecting the coupling relationships and mutual influences between them. A power change at one port can affect other ports through system coupling, and independent control can easily lead to system oscillations and energy imbalances. Existing methods are insufficiently adaptable to differences in port characteristics and dynamic load changes, making it difficult to achieve optimal power allocation.

[0005] In terms of fault handling, traditional methods lack effective fault detection and isolation mechanisms, resulting in slow fault detection speed, low accuracy, long fault isolation response time, and system reliability that needs to be improved.

[0006] Existing technologies lack precise modeling of power flow between multiple ports, failing to adequately consider power coupling effects and system dynamics. Traditional control methods exhibit slow response times, making it difficult to meet the control requirements of rapidly changing loads. Furthermore, in terms of energy management, existing methods lack global optimization considerations, thus failing to maximize system efficiency. Summary of the Invention

[0007] In view of the above-mentioned problems, the present invention provides an energy balance control method, system, device and medium for flexible interconnected devices based on multi-port power interaction.

[0008] Therefore, the technical problem solved by this invention is: addressing the technical problems existing in the energy balance control of multi-port flexible interconnection devices, such as complex port coupling, uneven energy distribution, slow dynamic response, and weak fault handling capability. The core technical problems to be solved by this invention include: how to establish an accurate multi-port power interaction model, how to design an efficient energy balance control strategy, how to achieve adaptive power distribution optimization, and how to build a reliable fault detection and isolation mechanism.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an energy balance control method for flexible interconnected devices based on multi-port power interaction, comprising, Collect voltage, current, power, and phase angle data for each port of the multi-port flexible interconnection device; The voltage, current, power, and phase angle data are used to perform state estimation by a state observer to obtain the system state estimate. An adaptive adjustment mechanism is used to adjust the droop control coefficients of each port; The reference power and reference voltage of each port are calculated based on the droop control coefficient and the system state estimate. Based on the Lyapunov energy function, the energy balance control quantity of each port is calculated according to the system state estimate, the reference power, and the reference voltage. The multi-port coordinated control quantity is calculated based on the coordination coefficient between ports and the difference between the actual power and the reference power of each port. The energy balance control quantity is superimposed with the multi-port coordination control quantity to generate the total control quantity for each port; A residual signal is generated based on the system state estimate. The fault is determined by comparing the residual signal with the fault detection threshold. When a fault is detected, the fault port is isolated. The power regulation and voltage regulation of each port are output according to the total control quantity.

[0010] As a preferred embodiment of the energy balance control method for a flexible interconnected device based on multi-port power interaction described in this invention, wherein: the method of adjusting the droop control coefficient of each port using an adaptive adjustment mechanism includes setting a basic droop coefficient for each port; The adaptive adjustment amount is calculated using an exponential function based on the deviation between the actual power and the reference power at each port. The base droop coefficient is added to the adaptive adjustment amount to obtain the current droop control coefficient; The adaptive parameters are updated based on the power allocation optimization objective.

[0011] The beneficial effects of this preferred technical solution are as follows: By setting a basic droop coefficient and calculating the adaptive adjustment amount using an exponential function based on the deviation between the actual power and the reference power, dynamic adjustment of the droop control coefficient is achieved. This adaptive adjustment mechanism enables each port to dynamically adjust its control parameters according to operating conditions, optimizing power distribution between ports and avoiding the problem of uneven power distribution when the load changes, which is a problem with the traditional fixed droop coefficient method.

[0012] As a preferred embodiment of the energy balance control method for a flexible interconnected device based on multi-port power interaction described in this invention, the calculation of the energy balance control quantity of each port includes constructing a Lyapunov energy function that includes the squared deviation term between the actual power and the reference power of each port and the squared deviation term between the actual voltage and the reference voltage of each port. The gradient of the energy function is obtained by performing partial derivative calculations on the Lyapunov energy function with respect to the state variables at each port. Based on the energy function gradient and control gain, the energy balance control quantity of each port is calculated using a negative feedback control law.

[0013] The beneficial effects of this preferred technical solution are as follows: By constructing a Lyapunov energy function containing squared power deviation terms and squared voltage deviation terms, a global evaluation index for system energy is established. The gradient of the energy function is obtained by performing partial derivative calculations on the energy function with respect to the state variables of each port. Combined with a negative feedback control law, the energy balance control quantity is calculated, realizing multi-port coordinated control based on energy theory. This method fully considers the coupling relationship between ports, significantly accelerating power balance and significantly reducing steady-state error compared to traditional independent control methods. The introduction of the energy function provides the system with a clear stability criterion, ensuring the convergence of the control system and improving the coordination and overall performance of multi-port power interaction.

[0014] As a preferred embodiment of the energy balance control method for a flexible interconnected device based on multi-port power interaction described in this invention, the calculation of the multi-port coordination control quantity based on the inter-port coordination coefficient and the difference between the actual power and the reference power of each port includes calculating the inter-port coordination coefficient between any two ports based on the rated power of each port and the total rated power. For the i-th port, calculate the difference between the actual power and the reference power for each of the other ports except the i-th port; Multiply the difference between each of the other ports by the port coordination coefficient between the i-th port and each of the other ports respectively; The multiplication results are summed to obtain the multi-port coordination control quantity of the i-th port.

[0015] As a preferred embodiment of the energy balance control method for a flexible interconnected device based on multi-port power interaction described in this invention, the step of judging the fault by comparing the residual signal with the fault detection threshold includes generating a residual signal based on the difference between the actual observed value of each port and the estimated value of the system state. The fault detection threshold is calculated based on the statistical characteristics of the residual signal; Determine whether the amplitude of the residual signal exceeds the fault detection threshold; When the amplitude of the residual signal exceeds the fault detection threshold, it is determined that a fault has occurred at the corresponding port; Set the power of the faulty port to zero to isolate the faulty port.

[0016] As a preferred embodiment of the energy balance control method for a flexible interconnected device based on multi-port power interaction described in this invention, the step of calculating the reference power and reference voltage of each port according to the droop control coefficient and the system state estimate includes setting the base power of each port as the reference power reference value. The power regulation amount of each port is generated based on the system operating status; The reference power for each port is obtained by adding the base power to the power adjustment amount; Extract the actual power of each port from the system state estimate; Calculate the difference between the actual power and the rated power at each port; Multiplying the droop control coefficient by the difference yields the voltage offset. The reference voltage for each port is obtained by adding the rated voltage to the voltage offset.

[0017] As a preferred embodiment of the energy balance control method for a flexible interconnected device based on multi-port power interaction described in this invention, the method of obtaining the system state estimate includes establishing a system state equation, wherein the system state equation describes the evolution of the system state over time. Establish observation equations that describe the relationship between measurement outputs and system state; Based on the system state equation and the state estimate of the previous moment, state prediction is performed to obtain the prior state estimate; Calculate the observation residual between the actual measured value and the predicted measured value corresponding to the prior state estimate; The observation residuals are weighted using Kalman gain; The weighted observation residuals are added to the prior state estimate to obtain the posterior state estimate as the system state estimate.

[0018] This invention provides an energy balance control system for flexible interconnected devices based on multi-port power interaction.

[0019] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an energy balance control system for a flexible interconnected device based on multi-port power interaction, comprising: a data acquisition unit for acquiring voltage, current, power and phase angle data of each port of the multi-port flexible interconnected device; The state observation unit is used to perform state estimation on the voltage, current, power and phase angle data to obtain the system state estimate value; An adaptive adjustment unit is used to adjust the droop control coefficient of each port using an adaptive adjustment mechanism; The reference value calculation unit is used to calculate the reference power and reference voltage of each port based on the droop control coefficient and the system state estimate. An energy balance control unit is used to calculate the energy balance control quantity of each port based on the Lyapunov energy function, the system state estimate, the reference power, and the reference voltage. The coordination control unit is used to calculate the multi-port coordination control quantity based on the coordination coefficient between ports and the difference between the actual power and the reference power of each port; A control quantity synthesis unit is used to superimpose the energy balance control quantity and the multi-port coordination control quantity to generate the total control quantity of each port. The detection isolation unit is used to generate a residual signal based on the system state estimate, determine the fault by comparing the residual signal with the fault detection threshold, and isolate the fault port when a fault is detected. The control output unit is used to output the power regulation amount and voltage regulation amount of each port according to the total control amount.

[0020] The present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the energy balance control method for a flexible interconnected device based on multi-port power interaction.

[0021] The present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the energy balance control method for a flexible interconnect device based on multi-port power interaction.

[0022] The beneficial effects of this invention are as follows: by constructing a Lyapunov energy function and adopting a negative feedback control law, the coupling relationship between ports is fully considered. Compared with the traditional independent control method, the power balance speed is significantly accelerated, the steady-state error is significantly reduced, and the system's coordinated control capability is improved.

[0023] The adaptive adjustment amount is calculated by an exponential function to achieve dynamic adjustment of the droop control coefficient. Compared with the traditional fixed droop coefficient method, the power distribution balance is improved and the system efficiency is improved.

[0024] By using a Kalman filter for state estimation, generating a residual signal, and comparing it with a fault detection threshold, rapid fault detection and accurate fault location are achieved. This mechanism can quickly isolate faulty ports, prevent fault propagation, and ensure the safe and stable operation of the system.

[0025] The multi-port coordinated control algorithm effectively handles the power coupling effect between ports and reduces system oscillation by using inter-port coordination coefficients and a two-layer control structure. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 The above is a general flowchart of an energy balance control method for a flexible interconnected device based on multi-port power interaction, provided as an embodiment of the present invention. Detailed Implementation

[0028] To make the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0029] Example 1, referring to Figure 1 This is one embodiment of the present invention, which provides an energy balance control method for flexible interconnected devices based on multi-port power interaction, comprising: Step 1: Collect voltage, current, power, and phase angle data for each port of the multi-port flexible interconnection device; Step 2: Perform state estimation on the voltage, current, power, and phase angle data using a state observer to obtain the system state estimate; Step 3: Adjust the droop control coefficient of each port using an adaptive adjustment mechanism; Step 4: Calculate the reference power and reference voltage of each port based on the droop control coefficient and the system state estimate; Step 5: Based on the Lyapunov energy function, calculate the energy balance control quantity for each port according to the system state estimate, the reference power, and the reference voltage; Step 6: Calculate the multi-port coordination control quantity based on the inter-port coordination coefficient and the difference between the actual power and the reference power of each port; Step 7: Superimpose the energy balance control quantity with the multi-port coordination control quantity to generate the total control quantity for each port; Step 8: Generate a residual signal based on the system state estimate, determine the fault by comparing the residual signal with the fault detection threshold, and isolate the fault port when a fault is detected; Step 9: Output the power regulation and voltage regulation of each port according to the total control quantity.

[0030] Multi-port flexible interconnected devices face the core problem of precise energy balance control in actual operation. Step 1 collects voltage, current, power, and phase angle data, which contains measurement noise; direct use of this data affects control accuracy. Step 2 uses a state observer to filter and estimate the data, resolving the measurement noise interference problem. Steps 3 and 4 address the control reference value setting issue. Traditional fixed reference values ​​cannot adapt to load changes; this embodiment achieves dynamic optimization of the control reference by adaptively adjusting the droop control coefficient and calculating the reference power and voltage. Step 5 constructs a Lyapunov energy function to handle power and voltage deviations across multiple ports, resolving the global energy imbalance caused by independent control. Step 6 calculates the coordination control quantity using inter-port coordination coefficients and power differences, resolving system oscillation caused by inter-port interference. Step 8 achieves rapid fault diagnosis by comparing the residual signal with a threshold and sets the power of the faulty port to zero for isolation, resolving the system reliability degradation caused by untimely fault handling.

[0031] This embodiment implements a complete multi-port energy balance control method flow. Step 1 acquires real-time system information through data acquisition. Step 2, the state observer, provides accurate state estimates for energy balance control in step 5 and fault detection in step 8, achieving multiple uses of data. Steps 3 and 4 establish an adaptive adjustment mechanism for control parameters, enabling the reference power and reference voltage to dynamically change according to the system's operating state, providing accurate targets for subsequent control. Step 5, based on the Lyapunov energy function, realizes the transformation from local control to global optimization, ensuring stable energy balance of the system through energy function gradient and negative feedback control law. Steps 6 and 7, through a two-layer control strategy design, organically combine energy balance control and multi-port coordination control, ensuring both single-port energy balance and multi-port power coordination, effectively suppressing oscillations caused by power coupling between ports. Step 8, fault detection and isolation processing, is executed in parallel with the main control flow, monitoring the system's health status in real time and ensuring safe and reliable system operation. Step 9 converts the total control quantity into power regulation and voltage regulation outputs, completing the complete method flow from data acquisition to control output.

[0032] Example 2, an embodiment of the present invention, provides an energy balance control method for a flexible interconnected device based on multi-port power interaction, based on the previous embodiment, comprising: Step 2: The system state estimate is obtained by performing state estimation on the voltage, current, power, and phase angle data using a state observer, including the following steps A1-A6: A1: Establish the system state equation, which describes the evolution of the system state over time; A2: Establish observation equations that describe the relationship between measurement outputs and system state; A3: Based on the system state equation and the state estimate of the previous moment, perform state prediction to obtain the prior state estimate; A4: Calculate the observation residual between the actual measured value and the predicted measured value corresponding to the prior state estimate; A5: Weight the observed residuals using Kalman gain; A6: Add the weighted observation residuals to the prior state estimate to obtain the posterior state estimate as the system state estimate.

[0033] In this embodiment of the application, in step 2, the system state estimate is obtained by: Establish the system state equations: in Let be the system state vector. For the system matrix, For the input matrix, To control the input, To account for process noise, establish the observation equation: in For observation output, For the observation matrix, To observe noise, state prediction is performed based on the system state equations: in This is a priori state estimation. The observed residuals are calculated using the actual measured values. Compared with predicted measurements The difference. (Through Kalman gain) The observed residuals are weighted. The state estimate is updated as follows: in This is the posterior state estimate, used as the system state estimate.

[0034] In an optional implementation, step 2, obtaining the system state estimate can be achieved by: establishing system state equations and observation equations that incorporate nonlinear characteristics, and locally linearizing the nonlinear function near the current operating point; obtaining the locally linearized system matrix and observation matrix by calculating the partial derivative matrix of the nonlinear function; performing state prediction based on the linearized matrices using a Kalman filter process, and calculating the state prediction covariance matrix; calculating the Kalman gain based on the prediction covariance matrix and the observation noise covariance matrix; and updating the state using the residual between the actual measured value and the predicted measured value to obtain the system state estimate considering the nonlinear characteristics.

[0035] In another optional implementation, step 2 can also obtain the system state estimate by: generating a set of representative sampling points using a deterministic sampling method, wherein the sampling points accurately reflect the probability distribution characteristics of the state variables; nonlinearly propagating the sampling points through the system state equation to obtain the sampling point distribution in the predicted state space; calculating the statistical characteristics of the prior state estimate based on the predicted sampling points; nonlinearly propagating the predicted sampling points through the observation equation to obtain the sampling point distribution in the measurement space; calculating the cross-correlation matrix based on the sampling point distributions in the state space and measurement space; calculating the filter gain based on the cross-correlation matrix and the measurement noise covariance matrix; and performing state correction using the deviation between the actual measured value and the predicted measured value to obtain the posterior state estimate.

[0036] Step 3: Adjusting the droop control coefficients of each port using an adaptive adjustment mechanism includes the following steps B1-B4: B1: Set the basic droop coefficient for each port; B2: The adaptive adjustment amount is calculated using an exponential function based on the deviation between the actual power and the reference power at each port. B3: Add the basic droop coefficient to the adaptive adjustment amount to obtain the current droop control coefficient; B4: Update the adaptive parameters according to the power allocation optimization objective.

[0037] In this embodiment of the application, in step B2, the adaptive adjustment amount is calculated using an exponential function through: Calculate the actual power of each port With reference power absolute value of deviation The adaptive adjustment amount is calculated using an exponential decay function: in For adaptive adjustment coefficients, This is the decay rate parameter. The adaptive adjustment amount is compared with the base droop coefficient. Add them together to obtain the current droop control coefficient: in For the first Each port at time The droop control coefficient. Based on the power allocation optimization objective function. For adaptive parameters Update: in For learning rate, The time step is used. This method achieves exponential decay adjustment of the droop coefficient with power deviation. When the power deviation is large, the adjustment amount is large, and when the power is close to the reference value, the adjustment amount decays rapidly, ensuring the stability of control.

[0038] In an optional implementation, in step B2, the adaptive adjustment amount is calculated using an exponential function by: calculating the deviation between the actual power and the reference power at each port, and establishing a piecewise exponential adjustment mechanism based on the sign of the deviation. When the actual power is greater than the reference power, a forward decaying exponential function is used to calculate the adjustment amount, increasing the droop coefficient to reduce the port output power. When the actual power is less than the reference power, a reverse decaying exponential function is used to calculate the adjustment amount, decreasing the droop coefficient to increase the port output power. The decay rate of the exponential function is adaptively adjusted according to the magnitude of the power deviation; the larger the power deviation, the smaller the decay rate to maintain a larger adjustment effect, and the smaller the power deviation, the larger the decay rate to accelerate the convergence speed.

[0039] In another optional implementation, step B2, calculating the adaptive adjustment amount via the exponential function can also be achieved by: establishing a multi-parameter adaptive exponential adjustment mechanism that considers the combined effects of power deviation and voltage deviation; calculating the deviation between the actual power and reference power, and the deviation between the actual voltage and reference voltage at each port, to construct a comprehensive deviation index; using a multivariate exponential function to perform a nonlinear mapping on the comprehensive deviation index to generate the adaptive adjustment amount; dynamically adjusting the weighting coefficients of the exponential function according to the load characteristics and operating conditions of each port, so that the adaptive adjustment characteristics of different ports can match their actual operating requirements; and establishing an online learning mechanism for adaptive parameters to continuously optimize the parameter configuration of the exponential function based on system operating data.

[0040] Step 5: Based on the Lyapunov energy function, the calculation of the energy balance control quantities for each port according to the system state estimate, the reference power, and the reference voltage includes the following steps C1-C3: C1: Construct a Lyapunov energy function that includes the squared deviations between the actual power and the reference power at each port, as well as the squared deviations between the actual voltage and the reference voltage at each port. C2: Perform partial derivative operations on the Lyapunov energy function with respect to the state variables of each port to obtain the gradient of the energy function; C3: Calculate the energy balance control quantity of each port using a negative feedback control law based on the energy function gradient and control gain.

[0041] Step 6: Calculating the multi-port coordinated control quantity based on the inter-port coordination coefficient and the difference between the actual power and the reference power of each port includes the following steps D1-D2: D1: Calculate the port coordination coefficient between any two ports based on the rated power of each port and the total rated power; D2: For the i-th port, calculate the difference between the actual power and the reference power for all other ports except the i-th port; D3: Multiply the difference between the other ports by the port coordination coefficient between the i-th port and the other ports respectively; D4: Summing the multiplication results to obtain the multi-port coordination control quantity of the i-th port.

[0042] In this embodiment of the application, in step D1, the inter-port coordination coefficient between any two ports is calculated by: Get the Rated power of each port and the Rated power of each port and the total rated power of the system Computing port and port Coordination coefficient between them: in For port and port The coordination coefficient between them. For the first For each port, calculate the power difference between the other ports. ,in Calculate the coordinated control quantities: in For the first Multi-port coordination control variables for each port. This represents the total number of ports. This coordination factor is based on the ratio of the product of the rated power of each port to the square of the total rated power, achieving a proportional coordination weight allocation of power capacity.

[0043] In an optional implementation, in step D1, the inter-port coordination coefficient between any two ports can be calculated by: obtaining the rated power and current actual power of each port, and calculating the power margin of each port. The power margin is the difference between the rated power and the actual power, reflecting the adjustability of each port. A dynamic coordination coefficient is calculated based on the ratio of the power margins between ports; ports with larger power margins are assigned larger coordination weights, and ports with smaller power margins are assigned smaller coordination weights. A normalization mechanism for the coordination coefficients is established to ensure that the sum of the coordination coefficients between all ports meets specific constraints. The power margin is dynamically updated according to the system operating conditions, and the inter-port coordination coefficients are adjusted in real time.

[0044] In another optional implementation, in step D1, calculating the port coordination coefficient between any two ports can also be achieved by: obtaining the electrical distance or impedance parameters between the ports and establishing a coordination coefficient calculation method based on network topology; calculating the equivalent reactance or resistance between any two ports, setting a larger coordination coefficient between ports with closer electrical distances or smaller impedances to reflect the strength of power coupling between ports; constructing a comprehensive coordination coefficient by combining the rated power and electrical distance of each port, considering both port capacity differences and coupling strength between ports; establishing symmetry and positive definiteness constraints on the coordination coefficient matrix to ensure the stability of coordinated control; and dynamically updating the coordination coefficient matrix according to system topology changes or port switching conditions.

[0045] Step 8: Generate a residual signal based on the system state estimate, and determine the fault by comparing the residual signal with the fault detection threshold. When a fault is detected, isolate the faulty port, including the following steps E1-E5: E1: Generate residual signals based on the differences between the actual observed values ​​at each port and the estimated system state values; E2: Calculate the fault detection threshold based on the statistical characteristics of the residual signal; E3: Determine whether the amplitude of the residual signal exceeds the fault detection threshold; E4: When the amplitude of the residual signal exceeds the fault detection threshold, it is determined that a fault has occurred at the corresponding port; E5: Sets the power of the faulty port to zero, completing the faulty port isolation.

[0046] In this embodiment of the application, in step 8, the residual signal is generated by: Get the Each port at time Actual observed values and the system state estimate obtained from step 2 Calculate the residual signal: in For the first The residual signal of each port, Given the observation matrix. Calculate the statistical properties of the residual signal, including the residual mean. and residual standard deviation Calculate the fault detection interval value: in This is the fault detection threshold. This is the critical value corresponding to the confidence level. Determine if the residual signal amplitude exceeds the threshold: When the above conditions are met, the first... One port has failed. Implement a fault isolation policy and set the power of the failed port to: Complete the isolation of the faulty port to prevent the fault from affecting the normal operation of other ports.

[0047] In an optional implementation, step 8 involves generating the residual signal by: establishing a multivariate residual signal generation mechanism that comprehensively considers multiple observations such as voltage, current, power, and phase angle; calculating the difference between the voltage, current, power, and phase angle observations at each port and the corresponding state estimate to generate a multidimensional residual vector; weighting and fusing the multidimensional residual vector, setting different weight coefficients based on the sensitivity of each observation to the fault; calculating the magnitude of the fused residual signal as a fault judgment indicator; establishing an adaptive threshold adjustment mechanism to dynamically update the fault detection threshold based on the historical statistical characteristics of the residual signal; and determining that a fault has occurred when the fused residual signal exceeds the adaptive threshold.

[0048] In another optional implementation, step 8 can also generate residual signals by: establishing a hierarchical fault detection mechanism, setting multi-level residual signals and multi-level fault detection thresholds. The first-level residual signal reflects the rapid fault characteristics of the port, generated using the difference between observed data and state estimates over a shorter time window, and correspondingly sets a higher detection threshold for detecting sudden severe faults. The second-level residual signal reflects the slow-changing fault characteristics of the port, generated using the accumulated deviation of observed data over a longer time window, and correspondingly sets a lower detection threshold for detecting gradual minor faults. Different fault handling strategies are adopted based on whether the residual signals of different levels exceed the corresponding thresholds. For rapid faults, the port power is immediately set to zero to complete isolation; for slow-changing faults, power is first limited and then gradually reduced to zero.

[0049] Step 9: The output of power regulation and voltage regulation values ​​for each port based on the total control quantity includes the following steps F1-F7: F1: Sets the base power of each port as the reference power base value; F2: Generates the power regulation amount for each port based on the system operating status; F3: Add the base power to the power adjustment amount to obtain the reference power for each port; F4: Extract the actual power of each port from the system state estimate; F5: Calculate the difference between the actual power and the rated power of each port; F6: Multiply the droop control coefficient by the difference to obtain the voltage offset; F7: Add the rated voltage to the voltage offset to obtain the reference voltage for each port.

[0050] Example 3, an embodiment of the present invention, provides an energy balance control method for a flexible interconnected device based on multi-port power interaction, based on the previous embodiment, comprising: Furthermore, this embodiment's method, based on energy function theory and a multi-port power interaction mechanism, constructs an energy balance control framework for a multi-port flexible interconnected device. Through adaptive droop control and state observer technology, it achieves coordinated power distribution among multiple ports and stable system operation.

[0051] Specifically, during the system initialization and parameter configuration phase, the hardware connection and communication network of the multi-port flexible interconnection device are established, and the rated parameters and operating constraints of each port are configured. Control system parameters are initialized, including PI controller parameters, droop control coefficients, and protection setpoints. Initial parameters for the state observer and Kalman filter are established, and fault detection thresholds are configured.

[0052] Configure system operating modes and control strategies, including power distribution mode and voltage control mode. Establish a data acquisition system and configure sensors and measuring devices. Initialize the energy management system and set optimization objectives and constraints.

[0053] During the real-time data acquisition and status estimation phase, electrical quantity information from each port is collected in real time, including key parameters such as voltage, current, power, and frequency. The system's operating status is monitored, including temperature, switch status, and fault signals. Operating information and scheduling instructions from external systems are obtained through the communication network.

[0054] A Kalman filter is used for state estimation to obtain accurate system state information. Measurement noise and external interference are handled to improve the accuracy of state estimation. A data quality inspection mechanism is established to identify and handle abnormal data.

[0055] In the energy balance control phase, a multi-port energy balance control strategy is designed based on the Lyapunov energy function. The power deviation and control parameters of each port are calculated in real time to achieve global energy balance in the system. The power allocation strategy is dynamically adjusted according to load changes and system status.

[0056] Monitor system energy flow to ensure stable power exchange between ports. Implement voltage and frequency control to maintain system power quality. Establish energy management optimization algorithms to maximize system efficiency.

[0057] During the adaptive droop control phase, the droop control coefficient is adaptively adjusted based on the operating characteristics and load changes of each port. This achieves a reasonable power distribution among the ports, preventing overload of any single port. The system's dynamic response is monitored, and control parameters are optimized to improve system stability.

[0058] Implement power limiting and protection mechanisms to ensure that each port operates within safe limits. Update the adaptive parameter learning algorithm based on system operating experience. Establish an online droop characteristic identification mechanism to adapt to equipment aging and parameter drift.

[0059] During the fault detection and isolation phase, a state observer is used to generate residual signals to monitor system faults in real time. Multi-level fault detection thresholds are set to distinguish between faults and anomalies of different degrees. Based on the fault type and severity, corresponding isolation and handling strategies are formulated.

[0060] Implement rapid isolation of faulty ports to prevent the fault from spreading and affecting the entire system. Activate backup ports or reconfigure the system topology to maintain continuous system operation. Record fault information and handling procedures to provide data support for fault analysis and prevention.

[0061] During the system performance evaluation and optimization phase, the system's operational performance is evaluated regularly, including indicators such as energy balance accuracy, dynamic response speed, and control stability. The operating efficiency and coordination performance of each port are analyzed to identify areas for improvement. The accuracy and timeliness of fault detection and isolation are statistically analyzed.

[0062] Based on operational data and performance evaluation results, optimize control parameters and strategies. Establish performance benchmarks and evaluation systems to provide a basis for system improvement. Update control algorithms and protection strategies to adapt to changes in the system's operating environment.

[0063] Collect voltage, current, power, and phase angle data from each port of the multi-port flexible interconnect device. Establish the state vector of the multi-port system, represented as: (1) In the formula, Let be the state vector of the i-th port. Port voltage, Port current, Active power Inject the system's reactive power into the i-th port. Let be the voltage phase angle of the i-th port.

[0064] The system power balance equation is established as follows: (2) In the formula, n is the total number of ports. This represents the system's power loss.

[0065] Establish a power coupling model between ports, expressed as follows: (3) In the formula, For power transfer from port i to port j, This is the equivalent reactance between ports.

[0066] Establish the system energy function: (4) In the formula, The total energy of the system. For the energy of the i-th port, Energy for energy storage systems.

[0067] Energy balance control strategies include the Lyapunov energy function: (5) In the formula, It is a Lyapunov function. Let i be the reference power for the i-th port. For reference voltage, These are the weighting coefficients.

[0068] Energy balance control law: (6) In the formula, This is the control variable for the i-th port. To control the gain, It is a state variable.

[0069] Power regulation control: (7) In the formula, Based on power, This refers to the power regulation amount.

[0070] Voltage regulation control: (8) In the formula, Rated voltage, The droop coefficient is... This is the rated power.

[0071] In adaptive droop control, the adaptive droop coefficient is expressed as: (9) In the formula, The base droop factor is the value when the operating point is exactly equal to the reference power; The droop gain adjustment range is typically set to 0.03–0.08. For the sensitivity index weight, The larger the value, the faster the running point will quickly approach the reference value even if it deviates slightly from the reference value. The smaller the value, the more gradual the change; generally, it is taken as 0.05–0.2.

[0072] Power allocation optimization: (10) In the formula, J is the optimization objective function. For optimal power, As a power deviation penalty weight, The larger the value, the less allowable deviation from the planned power. It is set according to the unit type and scheduling priority, and is generally taken as 0.5–5.0. As a penalty weight for voltage deviation, The larger the value, the more sensitive it is to voltage. It should be set according to voltage quality requirements, and is usually taken as 1.0–10.0.

[0073] Dynamic power limiting: (11) In the formula, , These are the minimum and maximum power limits for the i-th port, respectively.

[0074] Adaptive parameter update: (12) In the formula, Let k be the learning rate and k be the time step.

[0075] The state observer design includes: System state equations: (13) In the formula, x is the system state vector, A is the system matrix, B is the input matrix, u is the control input, and w is the process noise.

[0076] Observation equation: (14) In the formula, y is the observation output, C is the observation matrix, and v is the observation noise.

[0077] Kalman filter: (15) In the formula, This is for prior state estimation.

[0078] State estimation update: (16) In the formula, For Kalman gain.

[0079] In fault detection and isolation, residual generation: (17) In the formula, Let i be the residual of the i-th port. For the actual output, To estimate the state.

[0080] Fault detection threshold: (18) In the formula, This is the fault detection threshold. The mean of the residuals, The standard deviation of the residuals. This represents the critical value corresponding to the confidence level.

[0081] Fault diagnosis criteria: (19) Fault isolation strategy: (20) In the formula, This refers to the power after isolation.

[0082] In multi-port coordinated control, the coordination coefficient between ports is: (twenty one) In the formula, Let be the coordination coefficient between port i and port j. The total rated power.

[0083] Coordination control law: (twenty two) In the formula, Let i be the coordination control quantity for the i-th port.

[0084] Total control quantity: (twenty three) In the formula, This represents the total control quantity for the i-th port.

[0085] In power optimization allocation, the efficiency objective function is: (twenty four) In the formula, For overall efficiency, The output power of the i-th port, This refers to the input power.

[0086] Loss model: (25) In the formula, The square loss coefficient is proportional to the current². The linear loss coefficient reflects the transformer's iron loss and part of the dielectric loss; This refers to constant losses, namely, fixed losses such as no-load iron loss and cooling system losses.

[0087] Optimize constraints: (26) In the formula, This represents the total power requirement.

[0088] Lagrange multiplier method: (27) In the formula, L is the Lagrange function. It is a Lagrange multiplier.

[0089] In dynamic response control, the system transfer function is: (28) In the formula, Pass the function to the i-th port. For steady-state gain, is the time constant.

[0090] PI controller: (29) In the formula, For PI controller output, For proportional gain, This is the integral gain.

[0091] Feedforward control: (30) In the formula, This is the feedforward control variable.

[0092] In stability analysis, the small-signal model is used. (31) In the formula, For state increment, To control the increment, , This is a linearized matrix.

[0093] Eigenvalue calculation: (32) In the formula, Let be the eigenvalues, and I be the identity matrix.

[0094] Stability criterion: (33) In the formula, Let be the real part of the i-th eigenvalue.

[0095] In the protection mechanism, overload protection includes: (34) In the formula, To protect the setpoint value.

[0096] Voltage protection: (35) In the formula, , These are voltage protection limits.

[0097] Example 4 is an embodiment of the present invention, which provides an energy balance control method for flexible interconnected devices based on multi-port power interaction. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through experiments.

[0098] This study constructs a simulation model of a four-port flexible interconnect device based on the MATLAB / Simulink platform, with rated powers of 1MW, 800kW, 600kW, and 400kW for each port. Simulations verify the control performance under different operating conditions, including normal operation, sudden load changes, and port failure scenarios.

[0099] Table 1: Performance Comparison of Different Control Methods

[0100] Table 2: System response characteristics under different operating conditions

[0101] Table 3: Energy Management Optimization Effects

[0102] Simulation results demonstrate that the multi-port power interaction energy balance control method proposed in this patent achieves significant improvements in all performance indicators. The power balance time is reduced to 42.7 ms, the steady-state error is decreased to 1.2%, and the system efficiency is increased to 96.2%. Under fault conditions, the fault detection time is reduced to less than 15 ms, and the system can quickly isolate the faulty port and re-establish energy balance. The energy management optimization strategy improves the overall system efficiency to 96.8% and the power distribution balance reaches 0.94, fully validating the effectiveness and superiority of the proposed method.

[0103] Example 5 is an embodiment of the present invention, which provides an energy balance control system for flexible interconnected devices based on multi-port power interaction, comprising: The data acquisition unit is used to collect voltage, current, power and phase angle data of each port of the multi-port flexible interconnection device; The state observation unit is used to perform state estimation on the voltage, current, power and phase angle data to obtain the system state estimate value; An adaptive adjustment unit is used to adjust the droop control coefficient of each port using an adaptive adjustment mechanism; The reference value calculation unit is used to calculate the reference power and reference voltage of each port based on the droop control coefficient and the system state estimate. An energy balance control unit is used to calculate the energy balance control quantity of each port based on the Lyapunov energy function, the system state estimate, the reference power, and the reference voltage. The coordination control unit is used to calculate the multi-port coordination control quantity based on the coordination coefficient between ports and the difference between the actual power and the reference power of each port; A control quantity synthesis unit is used to superimpose the energy balance control quantity and the multi-port coordination control quantity to generate the total control quantity of each port. The detection isolation unit is used to generate a residual signal based on the system state estimate, determine the fault by comparing the residual signal with the fault detection threshold, and isolate the fault port when a fault is detected. The control output unit is used to output the power regulation amount and voltage regulation amount of each port according to the total control amount.

[0104] This embodiment also provides an electronic device applicable to a flexible interconnect device energy balance control method based on multi-port power interaction, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the flexible interconnect device energy balance control method based on multi-port power interaction proposed in the above embodiment.

[0105] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements an energy balance control method for a flexible interconnected device based on multi-port power interaction as proposed in the above embodiments.

[0106] The storage medium proposed in this embodiment and the energy balance control method for a flexible interconnect device based on multi-port power interaction proposed in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0107] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0108] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An energy balance control method for a flexible interconnected device based on multi-port power interaction, characterized in that: include, Collect voltage, current, power, and phase angle data for each port of the multi-port flexible interconnection device; The voltage, current, power, and phase angle data are used to perform state estimation by a state observer to obtain the system state estimate. An adaptive adjustment mechanism is used to adjust the droop control coefficients of each port; The reference power and reference voltage of each port are calculated based on the droop control coefficient and the system state estimate. Based on the Lyapunov energy function, the energy balance control quantity of each port is calculated according to the system state estimate, the reference power, and the reference voltage. The multi-port coordinated control quantity is calculated based on the coordination coefficient between ports and the difference between the actual power and the reference power of each port. The energy balance control quantity is superimposed with the multi-port coordination control quantity to generate the total control quantity for each port; A residual signal is generated based on the system state estimate. The fault is determined by comparing the residual signal with the fault detection threshold. When a fault is detected, the fault port is isolated. The power regulation and voltage regulation of each port are output according to the total control quantity.

2. The energy balance control method for a flexible interconnected device based on multi-port power interaction as described in claim 1, characterized in that: The method of adjusting the droop control coefficient of each port using an adaptive adjustment mechanism includes setting the basic droop coefficient of each port. The adaptive adjustment amount is calculated using an exponential function based on the deviation between the actual power and the reference power at each port. The base droop coefficient is added to the adaptive adjustment amount to obtain the current droop control coefficient; The adaptive parameters are updated based on the power allocation optimization objective.

3. The energy balance control method for a flexible interconnected device based on multi-port power interaction as described in claim 2, characterized in that: The calculation of the energy balance control quantity for each port includes constructing a Lyapunov energy function that includes the squared deviation of the actual power and reference power of each port and the squared deviation of the actual voltage and reference voltage of each port. The gradient of the energy function is obtained by performing partial derivative calculations on the Lyapunov energy function with respect to the state variables at each port. Based on the energy function gradient and control gain, the energy balance control quantity of each port is calculated using a negative feedback control law.

4. The energy balance control method for a flexible interconnected device based on multi-port power interaction as described in claim 3, characterized in that: The calculation of multi-port coordinated control quantity based on the inter-port coordination coefficient and the difference between the actual power and the reference power of each port includes calculating the inter-port coordination coefficient between any two ports based on the rated power of each port and the total rated power. For the i-th port, calculate the difference between the actual power and the reference power for each of the other ports except the i-th port; Multiply the difference between each of the other ports by the port coordination coefficient between the i-th port and each of the other ports respectively; The multiplication results are summed to obtain the multi-port coordination control quantity of the i-th port.

5. The energy balance control method for a flexible interconnected device based on multi-port power interaction as described in claim 4, characterized in that: The step of judging the fault by comparing the residual signal with the fault detection threshold includes generating a residual signal based on the difference between the actual observed value of each port and the estimated value of the system state. The fault detection threshold is calculated based on the statistical characteristics of the residual signal; Determine whether the amplitude of the residual signal exceeds the fault detection threshold; When the amplitude of the residual signal exceeds the fault detection threshold, it is determined that a fault has occurred at the corresponding port; Set the power of the faulty port to zero to isolate the faulty port.

6. The energy balance control method for a flexible interconnected device based on multi-port power interaction as described in claim 5, characterized in that: The step of calculating the reference power and reference voltage of each port based on the droop control coefficient and the system state estimate includes setting the base power of each port as the reference power reference value; The power regulation amount of each port is generated based on the system operating status; The reference power for each port is obtained by adding the base power to the power adjustment amount; Extract the actual power of each port from the system state estimate; Calculate the difference between the actual power and the rated power at each port; Multiplying the droop control coefficient by the difference yields the voltage offset. The reference voltage for each port is obtained by adding the rated voltage to the voltage offset.

7. The energy balance control method for a flexible interconnected device based on multi-port power interaction as described in claim 6, characterized in that: The process of obtaining the system state estimate includes establishing a system state equation, which describes the evolution of the system state over time. Establish observation equations that describe the relationship between measurement outputs and system state; Based on the system state equation and the state estimate of the previous moment, state prediction is performed to obtain the prior state estimate; Calculate the observation residual between the actual measured value and the predicted measured value corresponding to the prior state estimate; The observation residuals are weighted using Kalman gain; The weighted observation residuals are added to the prior state estimate to obtain the posterior state estimate as the system state estimate.

8. An energy balance control system for a flexible interconnected device based on multi-port power interaction, employing the energy balance control method for a flexible interconnected device based on multi-port power interaction as described in any one of claims 1 to 7, characterized in that, include: The data acquisition unit is used to collect voltage, current, power and phase angle data of each port of the multi-port flexible interconnection device; The state observation unit is used to perform state estimation on the voltage, current, power and phase angle data to obtain the system state estimate value; An adaptive adjustment unit is used to adjust the droop control coefficient of each port using an adaptive adjustment mechanism; The reference value calculation unit is used to calculate the reference power and reference voltage of each port based on the droop control coefficient and the system state estimate. An energy balance control unit is used to calculate the energy balance control quantity of each port based on the Lyapunov energy function, the system state estimate, the reference power, and the reference voltage. The coordination control unit is used to calculate the multi-port coordination control quantity based on the coordination coefficient between ports and the difference between the actual power and the reference power of each port; A control quantity synthesis unit is used to superimpose the energy balance control quantity and the multi-port coordination control quantity to generate the total control quantity of each port. The detection isolation unit is used to generate a residual signal based on the system state estimate, determine the fault by comparing the residual signal with the fault detection threshold, and isolate the fault port when a fault is detected. The control output unit is used to output the power regulation amount and voltage regulation amount of each port according to the total control amount.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the energy balance control method for a flexible interconnected device based on multi-port power interaction as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the energy balance control method for a flexible interconnected device based on multi-port power interaction as described in any one of claims 1 to 7.

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