DC micro-grid inter-site communication-free coordinated control method and device

Abstract

The application relates to the technical field of power grid energy regulation, in particular to a DC micro-grid inter-station non-communication coordination control method and device, wherein the method comprises the following steps: acquiring the voltage of an inter-station high-voltage bus and the voltage of an intra-station low-voltage bus in a target DC micro-grid, and acquiring the output current of an energy router high-voltage side in the target DC micro-grid; determining the source-load supply-demand state of a sub-station in the target DC micro-grid according to the voltage of the intra-station low-voltage bus; calculating the high-voltage side current instruction given value of the energy router according to the source-load supply-demand state and the voltage of the inter-station high-voltage bus; and calculating the current deviation between the high-voltage side current instruction given value and the output current of the energy router high-voltage side, so as to control the bidirectional power transmission between the inter-station high-voltage bus and the sub-station low-voltage bus according to the current deviation, and to enable the sub-station to complete power allocation autonomously. The method can ensure the high reliability and high autonomous safe operation of a spatial multi-sub-station interconnected energy system under extreme communication limited conditions.

Description

Technical Field

[0001] This application relates to the field of power grid energy regulation technology, and in particular to a method and device for communication-free coordination control between DC microgrids. Background Technology

[0002] With the rapid development of extraterrestrial exploration technology, establishing long-term unmanned or multi-station collaborative lunar research stations has become a research hotspot in the aerospace field. The energy system of a lunar research station typically consists of multiple spatially dispersed subsystems (such as photovoltaic power stations, molten salt / lithium battery energy storage stations, core scientific research load stations, etc.) interconnected through energy routers to form a multi-station interconnected DC microgrid architecture, in order to achieve cross-regional energy sharing.

[0003] Cross-regional energy sharing is mainly achieved through traditional collaborative control methods, such as centralized energy management or collaborative control relying on distributed consensus algorithms. However, these methods are highly dependent on high-speed and reliable communication networks. Once the communication link fails or latency surges, energy regulation commands cannot be issued in real time, which urgently needs to be improved. Summary of the Invention

[0004] This application provides a communication-free coordination control method and device for DC microstations, which can use the bus voltage as a global state messenger, completely eliminating the need for inter-station communication networks. While avoiding the risks of communication delays and interruptions, it can achieve adaptive linkage and coordination of the state on both sides within and between stations, significantly improving the dynamic stability of the power grid during power mutual assistance, and ensuring the highly reliable and autonomous safe operation of the space multi-substation interconnected energy system under extreme communication-limited conditions.

[0005] The first aspect of this application provides a method for non-communication coordination control between DC microgrids, comprising the following steps: acquiring the voltage of the inter-station high-voltage bus and the voltage of the intra-station low-voltage bus in a target DC microgrid, and acquiring the output current of the high-voltage side of the energy router in the target DC microgrid; determining the source-load supply and demand status of the substations in the target DC microgrid based on the voltage of the intra-station low-voltage bus; calculating the high-voltage side current command setpoint of the energy router based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus; calculating the current deviation between the high-voltage side current command setpoint and the output current of the high-voltage side of the energy router, so as to control the bidirectional power transmission between the inter-station high-voltage bus and the substation low-voltage bus according to the current deviation, so that the substation can complete power allocation.

[0006] In one embodiment of this application, determining the source and load supply and demand status of the substation based on the voltage of the low-voltage busbar within the substation includes: obtaining a preset low-voltage threshold of the low-voltage busbar within the substation; comparing the voltage of the low-voltage busbar within the substation with the preset low-voltage threshold to determine the source and load supply and demand status of the substation based on the comparison result, wherein the source and load supply and demand status includes a surplus power status and a demand power status.

[0007] In one embodiment of this application, the step of calculating the high-voltage side current command setpoint of the energy router based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus includes: responding to the source-load supply and demand status being a surplus power state, calculating the upper limit amplitude of the current allowed to be output by the substation based on the voltage of the low-voltage bus within the station; obtaining a first high-voltage threshold and a second high-voltage threshold of the inter-station high-voltage bus; if the voltage of the inter-station high-voltage bus is greater than or equal to the first high-voltage threshold, then setting the high-voltage side current command setpoint of the energy router to 0; if the voltage of the inter-station high-voltage bus is less than or equal to the second high-voltage threshold, then using the upper limit amplitude of the current as the high-voltage side current command setpoint of the energy router; if the voltage of the inter-station high-voltage bus is greater than the second high-voltage threshold and less than the first high-voltage threshold, then calculating the external transmission current demand value of the substation based on the voltage of the inter-station high-voltage bus and the first high-voltage threshold, so as to determine the high-voltage side current command setpoint of the energy router based on the external transmission current demand value and the upper limit amplitude of the current.

[0008] In one embodiment of this application, the step of calculating the high-voltage side current command setpoint of the energy router based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus further includes: responding to the source-load supply and demand status being a demand-energy status, calculating the allowable lower limit amplitude of the current input to the substation based on the voltage of the low-voltage bus within the station; obtaining a third high-voltage threshold and a fourth high-voltage threshold of the inter-station high-voltage bus; if the voltage of the inter-station high-voltage bus is less than or equal to the third high-voltage threshold, then setting the high-voltage side current command setpoint of the energy router to 0; if the voltage of the inter-station high-voltage bus is greater than or equal to the fourth high-voltage threshold, then using the current lower limit amplitude as the high-voltage side current command setpoint of the energy router; if the voltage of the inter-station high-voltage bus is greater than the third high-voltage threshold and less than the fourth high-voltage threshold, then calculating the input current demand value of the substation based on the voltage of the inter-station high-voltage bus and the third high-voltage threshold, so as to determine the high-voltage side current command setpoint of the energy router based on the input current demand value and the current lower limit amplitude.

[0009] In one embodiment of this application, controlling the bidirectional power transmission between the inter-station high-voltage bus and the substation low-voltage bus based on the current deviation includes: determining a voltage modulation command for the power switch inside the energy router based on the current deviation; determining a drive pulse for the power switch inside the energy router based on the voltage modulation command, so as to control the duty cycle and phase shift angle of the power switch based on the drive pulse; and controlling the bidirectional power transmission between the inter-station high-voltage bus and the substation low-voltage bus based on the duty cycle and the phase shift angle.

[0010] In one embodiment of this application, the upper limit amplitude of the current can be obtained by the following formula:

[0011] in, Indicates the upper limit amplitude of the current. This represents the preset positive gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

[0012] In one embodiment of this application, the lower current limit value can be obtained by the following formula:

[0013] in, Indicates the lower limit amplitude of the current. This represents the preset reverse gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

[0014] A second aspect of this application provides a communication-free coordination control device for inter-station DC microgrids, comprising: an acquisition module for acquiring the voltage of the inter-station high-voltage bus, the voltage of the intra-station low-voltage bus, and the output current of the high-voltage side of the energy router in the target DC microgrid; a determination module for determining the source-load supply and demand status of the substations in the target DC microgrid based on the voltage of the intra-station low-voltage bus; a calculation module for calculating the high-voltage side current command setpoint of the energy router based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus; and a control module for calculating the current deviation between the high-voltage side current command setpoint and the output current of the high-voltage side of the energy router, so as to control the bidirectional power transmission between the inter-station high-voltage bus and the substation low-voltage bus according to the current deviation, so that the substation can complete power allocation.

[0015] In one embodiment of this application, the determining module includes: an acquisition unit for acquiring a preset low-voltage threshold of the low-voltage busbar within the station; and a comparison unit for comparing the voltage of the low-voltage busbar within the station with the preset low-voltage threshold to determine the source-load supply and demand status of the substation based on the comparison result, wherein the source-load supply and demand status includes a surplus power status and a demand power status.

[0016] In one embodiment of this application, the calculation module includes: a first response unit, configured to, in response to the source-load supply and demand state being a surplus power state, calculate the upper limit amplitude of the allowable output current of the substation based on the voltage of the low-voltage bus within the substation; a first determination unit, configured to obtain a first high-voltage threshold and a second high-voltage threshold of the inter-station high-voltage bus, and if the voltage of the inter-station high-voltage bus is greater than or equal to the first high-voltage threshold, control the high-voltage side current command setpoint of the energy router to be 0; a second determination unit, configured to, if the voltage of the inter-station high-voltage bus is less than or equal to the second high-voltage threshold, use the upper limit amplitude of the current as the high-voltage side current command setpoint of the energy router; and a third determination unit, configured to, if the voltage of the inter-station high-voltage bus is greater than the second high-voltage threshold and less than the first high-voltage threshold, calculate the external transmission current demand value of the substation based on the voltage of the inter-station high-voltage bus and the first high-voltage threshold, and determine the high-voltage side current command setpoint of the energy router based on the external transmission current demand value and the upper limit amplitude of the current.

[0017] In one embodiment of this application, the calculation module further includes: a second response unit, configured to, in response to the source-load supply and demand state being a demand-energy state, calculate the allowable lower limit amplitude of the input current of the substation based on the voltage of the low-voltage bus within the station; a fourth determination unit, configured to acquire the third high-voltage threshold and the fourth high-voltage threshold of the inter-station high-voltage bus, and if the voltage of the inter-station high-voltage bus is less than or equal to the third high-voltage threshold, control the high-voltage side current command setpoint of the energy router to be 0; a fifth determination unit, configured to, if the voltage of the inter-station high-voltage bus is greater than or equal to the fourth high-voltage threshold, use the current lower limit amplitude as the high-voltage side current command setpoint of the energy router; and a sixth determination unit, configured to, if the voltage of the inter-station high-voltage bus is greater than the third high-voltage threshold and less than the fourth high-voltage threshold, calculate the input current demand value of the substation based on the voltage of the inter-station high-voltage bus and the third high-voltage threshold, so as to determine the high-voltage side current command setpoint of the energy router based on the input current demand value and the current lower limit amplitude.

[0018] In one embodiment of this application, the control module includes: a first determining unit, configured to determine a voltage modulation command for the power switch inside the energy router based on the current deviation; a second determining unit, configured to determine a driving pulse for the power switch inside the energy router based on the voltage modulation command, so as to control the conduction duty cycle and phase shift angle of the power switch based on the driving pulse; and a control unit, configured to control the bidirectional power transmission between the inter-station high-voltage bus and the intra-station low-voltage bus based on the conduction duty cycle and the phase shift angle.

[0019] In one embodiment of this application, the upper limit amplitude of the current can be obtained by the following formula:

[0020] in, Indicates the upper limit amplitude of the current. This represents the preset positive gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

[0021] In one embodiment of this application, the lower current limit value can be obtained by the following formula:

[0022] in, Indicates the lower limit amplitude of the current. This represents the preset reverse gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

[0023] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the communication-free coordination control method between DC microelectronic stations as described in the above embodiments.

[0024] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described inter-DC microelectronic communication-free coordination control method.

[0025] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0026] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a flowchart of a non-communication coordination control method between DC microelectronic stations according to an embodiment of this application; Figure 2 This is a schematic diagram of a DC microgrid system topology according to a specific embodiment of this application; Figure 3 This is a schematic diagram of the IV characteristic curve of inter-station control according to a specific embodiment of this application; Figure 4 This is a block diagram of the inter-site control architecture of an energy router according to a specific embodiment of this application; Figure 5 This is a block diagram of a DC microelectronics inter-site communication coordination control device according to an embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0028] The lunar surface environment is extremely harsh, with long lunar days and long lunar nights lasting up to 14 Earth days. The payloads of each lunar research substation exhibit strong periodicity and abrupt changes. More importantly, under the extreme operating conditions on the lunar surface, wireless or wired communication resources between multiple stations are severely constrained and are easily interfered with by factors such as space radiation and terrain obstruction, leading to the risk of high communication delays or even communication interruptions in inter-station coordination.

[0029] Traditional methods of inter-substation coordination and control (such as centralized energy management or coordination and control relying on distributed consensus algorithms) heavily rely on high-speed and reliable communication networks. Once the communication link fails or latency surges, traditional strategies will be unable to issue power coordination commands in real time, which can easily lead to power imbalance among substations, deterioration of bus voltage, and trigger system-level cascading failures.

[0030] In addition, traditional control methods usually allocate power based on the voltage status of only one side (such as the main grid side), which cannot take into account the actual energy supply margin of the "station's" own energy storage / load, and can easily lead to the collapse of weak substations due to excessive power transmission.

[0031] The following description, with reference to the accompanying drawings, outlines a method and apparatus for non-communication-based coordination control between DC microgrids according to embodiments of this application. Addressing the issue mentioned in the background section that traditional inter-microgrid coordination control methods heavily rely on high-speed, reliable communication networks, and that a failure in the communication link would prevent the real-time issuance of energy regulation commands, this application provides a method for non-communication-based coordination control between DC microgrids.

[0032] Figure 1 This is a flowchart illustrating a method for communication-free coordination and control between DC microelectronic stations provided in an embodiment of this application.

[0033] like Figure 1 As shown, the inter-DC microgrid coordination control method includes the following steps: In step S101, the voltage of the high-voltage bus between stations and the low-voltage bus within the station in the target DC microgrid are obtained, as well as the output current of the high-voltage side of the energy router in the target DC microgrid are obtained.

[0034] In this embodiment of the application, a DC microgrid may refer to a microgrid system in which all source loads and energy routers are interconnected via a DC bus. Specifically, such as... Figure 2 As shown, the complete composition of the target DC microgrid may include: multiple spatially distributed independent substations (lunar research substations), an energy router (one for each substation), and a two-level DC bus architecture. The two-level DC bus architecture includes an intra-station low-voltage bus and an inter-station high-voltage bus. The intra-station low-voltage bus can refer to a dedicated DC power backbone line within a single substation, a power backbone shared by photovoltaic, energy storage, and loads within a single substation. The inter-station high-voltage bus can refer to a common high-voltage DC backbone line shared by all lunar substations, serving as a unified power transmission channel connecting all substations and enabling cross-site energy sharing. The energy router connects the inter-station high-voltage bus and the intra-station low-voltage bus to achieve bidirectional energy flow across regions.

[0035] In actual implementation, a sampling module can be deployed locally on the energy router, and the real-time high-voltage voltage of the inter-station high-voltage bus connected to the energy router can be collected in real time based on the sampling hardware (such as sampling circuits, sensors, acquisition chips, etc.) in the sampling module. Real-time low-voltage voltage of the low-voltage busbar within the station and the real-time output current of the high-voltage side of the energy router. This information is collected to determine the source and load supply and demand status of each substation and the allowable output current limit of the substation in subsequent steps, based on the aforementioned collected signals.

[0036] In step S102, the source-load supply and demand status of the substation in the target DC microgrid is determined based on the voltage of the low-voltage bus in the station.

[0037] Among them, the source-load supply and demand status can refer to the real-time balance between the total power generation energy and the total power load within a single substation.

[0038] In one embodiment of this application, determining the source and load supply and demand status of a substation based on the voltage of the low-voltage busbar within the substation includes: obtaining a preset low-voltage threshold of the low-voltage busbar within the substation; comparing the voltage of the low-voltage busbar within the substation with the preset low-voltage threshold to determine the source and load supply and demand status of the substation based on the comparison result, wherein the source and load supply and demand status includes surplus power status and demand power status.

[0039] Specifically, the core control module in this application can be based on the sampled low-voltage bus voltage within the station. The location of the substation is used to identify the source and load supply and demand status within it. The control module can pre-set multiple voltage thresholds; in this embodiment, at least a first low-voltage threshold may be included. (e.g., 102V), second low voltage threshold (e.g., 105V) and the third low voltage threshold (e.g., 108V).

[0040] Furthermore, such as Figure 3 As shown, it can be based on Based on the real-time rise and fall (boom and bust) situation, the operating state is divided into the following two core modes and matched with the corresponding current-voltage (IV) droop control curves: Mode 1: Surplus energy state (external transmission mode), when the following conditions are met... (e.g., 105V) When the voltage reaches 108V, it can be determined that the power generation of distributed power sources such as photovoltaics within the substation exceeds the local load consumption, the energy storage system is in a high-charge state, and the substation has the ability to transmit power externally. At this time, the control module can automatically activate the corresponding droop control curve for external transmission as the basis for power adjustment.

[0041] Mode 2: Demand Power Status (Input Mode), when the demand power is met... (e.g., 102V) When the voltage is 105V, it is determined that the substation is facing a power shortage and needs to draw energy from the inter-station grid. At this time, the control module can automatically activate the corresponding droop control curve as the basis for power adjustment.

[0042] The current-voltage droop control curve can be described as a linear piecewise characteristic curve with the bus voltage as the vertical axis and the converter output current as the horizontal axis. The energy router can establish a one-to-one correspondence between voltage and output current based on this curve. This correspondence enables automatic adjustment of bidirectional transmission current when the bus voltage changes, achieving autonomous power balancing and mutual assistance among multiple substations without inter-station communication.

[0043] In this embodiment, by comparing the low-voltage bus voltage within the substation with a preset threshold, the two types of source load supply and demand states of the substation—surplus and shortage—can be quickly distinguished. This eliminates the need for complex power calculations, reducing the computing burden on the controller. Furthermore, it enables autonomous switching of the corresponding droop control curve without inter-station communication, avoiding the risk of communication interruption. At the same time, it provides a basis for subsequent calculation of the dynamic power limit of the substation's allowed input and output, as well as the high-voltage side command setpoint of the energy router. This achieves energy mutual assistance between substations while protecting the stable operation of the substation's local equipment.

[0044] In step S103, the high-voltage side current command setpoint of the energy router is calculated based on the source load supply and demand status and the voltage of the inter-station high-voltage bus.

[0045] The high-voltage side current command setpoint can refer to the target reference current calculated by the controller based on the low-voltage supply and demand status within the station, the voltage of the high-voltage bus between stations, and the dynamic power limiting. This current serves as the given signal for the underlying closed-loop control, used to regulate the magnitude and direction of bidirectional power transmission between the energy router and the high-voltage bus between stations.

[0046] In one embodiment of this application, the high-voltage side current command setpoint of the energy router is calculated based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus, including: in response to the source-load supply and demand status being a surplus power state, calculating the upper limit amplitude of the allowable output current of the substation based on the voltage of the low-voltage bus within the station; obtaining a first high-voltage threshold and a second high-voltage threshold of the inter-station high-voltage bus; if the voltage of the inter-station high-voltage bus is greater than or equal to the first high-voltage threshold, then setting the high-voltage side current command setpoint of the energy router to 0; if the voltage of the inter-station high-voltage bus is less than or equal to the second high-voltage threshold, then using the upper limit amplitude of the current as the high-voltage side current command setpoint of the energy router; if the voltage of the inter-station high-voltage bus is greater than the second high-voltage threshold and less than the first high-voltage threshold, then calculating the external transmission current demand value of the substation based on the voltage of the inter-station high-voltage bus and the first high-voltage threshold, so as to determine the high-voltage side current command setpoint of the energy router based on the external transmission current demand value and the upper limit amplitude of the current.

[0047] After matching the corresponding control curve, the control module can combine the voltage of the high-voltage bus between stations. Further calculation of the high-voltage side current command setpoint At the same time, to balance the needs of the large network with local security, a system that is subject to [unclear] can be introduced. Dynamically adjustable amplitude limiting mechanism.

[0048] Specifically, under the outward droop control curve operating condition, the first high-voltage threshold of the inter-station high-voltage bus can be preset. The control module can adjust according to the station voltage. Dynamically calculate the current allowable upper limit of the forward output current. Its calculation formula can be set as:

[0049] In the formula, This is the preset positive gain coefficient.

[0050] From the above formula, it can be seen that the low-voltage voltage within the station The higher the value, the more surplus local electricity there is, and the greater the upper limit of the current allowed to be transmitted to the main grid. The larger the value, the greater the final high-voltage side current command setpoint. According to The intervals are generated using the following segmentation logic: Inter-station high-voltage blockade zone: When This indicates that the inter-station grid voltage (inter-station high-voltage bus voltage) is too high or has been boosted by other stations, and no power replenishment is needed. The control module can set the high-voltage side current command value. This is to control the energy router to stop sending power.

[0051] Maximum power transmission area: when This indicates a severe undervoltage in the inter-station network, requiring urgent external support. This means transmitting current to the main grid (inter-station high-voltage bus) at the maximum safety boundary allowed by the current substation margin.

[0052] External droop adjustment zone: when At this time, the DC microgrid system is operating in the non-communication droop regulation stage. The control module can first linearly calculate the droop current demand value (external transmission current demand value) based on the degree of voltage drop in the main grid. :

[0053] In the formula, This represents the outward droop coefficient.

[0054] Subsequently, the external current demand value can be further compared with the dynamic upper limit value, and the smaller value between the two can be taken as the final instruction, that is: .

[0055] In another embodiment of this application, the high-voltage side current command setpoint of the energy router is calculated based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus. The method further includes: responding to a source-load supply and demand status of demanding power, calculating the lower limit of the allowable input current of the substation based on the voltage of the low-voltage bus within the station; obtaining the third and fourth high-voltage thresholds of the inter-station high-voltage bus; if the voltage of the inter-station high-voltage bus is less than or equal to the third high-voltage threshold, setting the high-voltage side current command setpoint of the energy router to 0; if the voltage of the inter-station high-voltage bus is greater than or equal to the fourth high-voltage threshold, using the lower limit current as the high-voltage side current command setpoint of the energy router; if the voltage of the inter-station high-voltage bus is greater than the third high-voltage threshold and less than the fourth high-voltage threshold, calculating the input current demand value of the substation based on the voltage of the inter-station high-voltage bus and the third high-voltage threshold, and determining the high-voltage side current command setpoint of the energy router based on the input current demand value and the lower limit current value.

[0056] This embodiment can systematically design segmented adjustment logic for stations lacking electrons based on the input droop control curve operating conditions. It calculates the power extraction current based on the voltage of the high-voltage bus between stations, and dynamically limits the maximum power absorption power in combination with the low-voltage voltage within the station. It outputs a high-voltage side current command to control the router to absorb power from the high-voltage bus between stations to replenish the station, taking into account both the voltage stability of the entire network and the local power supply safety of the substation.

[0057] Specifically, a third high-voltage threshold can be preset under the input droop control curve. (e.g., 1820V) and the fourth high voltage threshold (e.g., 1900V), based on the station voltage Dynamically calculate the current allowable lower limit of reverse input current. (Defining the reverse input as a negative value), its calculation formula is:

[0058] In the formula, This is the preset inverse gain coefficient.

[0059] From the above formula, it can be seen that the low-voltage voltage within the station The lower the value, the more severe the power shortage at the substation, and the lower the absolute value boundary of the current that can be drawn from the main grid (i.e., The larger the value, the higher the final high-voltage side current command setpoint. According to The intervals are generated using the following segmentation logic: Inter-station low-pressure protection zone: when This indicates that the main power grid between stations is severely underpowered and experiencing a significant voltage drop. If the substation continues to forcibly draw power at this point, it will cause the main power grid to collapse completely. Therefore, the control module can force... The energy router stops absorbing power, and the substation switches to local autonomous backup operation.

[0060] Maximum power input region: when This indicates that the power grid between stations has abundant energy and high voltage. At this time, the control module can... Power is extracted from the main grid in reverse order based on the maximum allowable boundary corresponding to the current power shortage level of the substation.

[0061] Input droop adjustment area: when At that time, the control module can linearly calculate the reverse input current demand value based on the degree of rise in the main grid voltage. (Negative value):

[0062] In the formula, Enter the droop coefficient.

[0063] Subsequently, the control module can compare this negative demand value (input current demand value) with the dynamic lower limit value, and take the smaller of the two absolute values ​​(i.e., the larger value in an algebraic sense) as the final instruction, that is: .

[0064] In step S104, the current deviation between the high-voltage side current command setpoint and the output current of the high-voltage side of the energy router is calculated, so as to control the bidirectional power transmission between the high-voltage bus between the stations and the low-voltage bus of the substations according to the current deviation, so that the substations can autonomously complete power distribution.

[0065] Among them, bidirectional power transmission refers to the bidirectional flow of electrical energy between the low-voltage busbar within the station and the high-voltage busbar between stations. Specifically, it can autonomously switch between power supply and power intake directions according to the supply and demand status of the substation.

[0066] Forward: Low-voltage busbar within the station — Energy router — High-voltage busbar between stations (surplus power within the station, transmitting power externally) Reverse direction: Inter-station high-voltage busbar — Energy router — Intra-station low-voltage busbar (Power is drawn from the main grid when the station is short of power). In one embodiment of this application, controlling bidirectional power transmission between the high-voltage bus between the inter-station and the low-voltage bus between the sub-stations based on current deviation includes: determining a voltage modulation command for the power switch inside the energy router based on the current deviation; determining a drive pulse for the power switch inside the energy router based on the voltage modulation command, so as to control the duty cycle and phase shift angle of the power switch based on the drive pulse; and controlling the bidirectional power transmission between the high-voltage bus between the inter-station and the low-voltage bus between the sub-stations based on the duty cycle and phase shift angle.

[0067] Specifically, such as Figure 4 As shown, the final current command setpoint calculated in the above steps The data can be transmitted in real time to the underlying dual-closed-loop control system of the energy router (typically an outer voltage / power loop and an inner current loop) via the core control module. Within the underlying controller... Compared with the sampled high-voltage side real-time current Calculate the standard error by performing a difference operation:

[0068] The error signal The input is processed by a proportional-integral (PI) controller or a quasi-proportional-resonant (PR) controller, and the output is a full voltage modulation command. This command can be further processed by space vector pulse width modulation (SVPWM) or pulse width modulation (PWM) to generate drive pulses for the power switching transistors. Based on these drive pulses, the fully controlled power electronic devices of the bidirectional full-bridge DC-DC (Direct Current to Direct Current Converter) or dual active bridge (DAB) converter inside the energy router are directly controlled. By adjusting the duty cycle and phase shift angle of the switching transistors, the magnitude and direction of the bidirectional power flow (i.e., power transmission) between the high-voltage bus between the inter-stations and the low-voltage bus within the station are precisely controlled. This ensures the global dynamic stability and autonomous energy coordination of the entire multi-station interconnected microgrid system without relying on inter-station communication.

[0069] Those skilled in the art will understand that "fully controlled power electronic devices" is a broad general term, and power switching transistors are a branch of power electronic devices. Power electronic devices include rectifier diodes, thyristors, MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors), IGBTs (Insulated Gate Bipolar Transistors), etc. Among them, devices such as MOSFETs and IGBTs that can actively turn on and off current are power switching transistors (fully controlled switching transistors).

[0070] In summary, the communication-free coordination control method between DC microgrids proposed in the above embodiments mainly includes the following four aspects: 1. Energy status determination and control curve matching within the station.

[0071] The voltage range of the low-voltage bus within the substation is defined as the criterion for determining the system's supply and demand status. When the voltage within the substation is in the surplus range, the substation is determined to be a power supply node, and the external droop control curve is automatically matched. When the voltage within the substation is in the demand range, the substation is determined to be a power receiving node, and the input droop control curve is automatically matched. The local voltage range division provides a decoupled control reference for the energy router.

[0072] 2. No inter-station communication droop control and power mutual assistance.

[0073] Based on the voltage drop or rise of the high-voltage bus between stations, the power / current demand across regions is linearly calculated using a matched droop control curve. In the absence of any inter-station communication, relying solely on the global "information" of the high-voltage bus voltage, the multi-station interconnected system automatically achieves energy self-balancing and bus voltage stability control.

[0074] 3. Dynamic boundary constraints and amplitude limiting mechanisms.

[0075] A dynamic limiting method is proposed that links the control boundary with the adaptive state of the substation. The maximum allowable upper limit of the external current or the maximum allowable lower limit of the input current of the energy router is dynamically bound to the real-time voltage of the low-voltage bus in the substation, either positively or negatively. This mechanism prevents the substation from collapsing due to excessive power transmission or absorption.

[0076] 4. Low-level driver and bidirectional power execution.

[0077] The extreme value (the smaller or larger value) between the matched droop control calculation value and the dynamic limiting value is used as the final high-voltage side current command setpoint. This command is input to the internal current closed-loop controller of the energy router, which drives multi-stage power switching transistors by generating pulse width modulation signals, ultimately realizing efficient and autonomous bidirectional power transmission between the cross-regional high-voltage bus and the substation low-voltage bus.

[0078] The DC microelectronics inter-site communication-free coordination control method of this application has the following technical advantages compared with the prior art: 1) The communication-free coordination control method of this application can effectively avoid the risk of communication delay and interruption under extreme space conditions and significantly improve the dynamic stability of the system during power mutual assistance.

[0079] 2) The method of this application does not require the addition of any inter-station communication hardware links. It can be achieved simply by using an energy router to jointly sample and optimize the voltage and current signals from multiple local sides, which has excellent economy and scalability.

[0080] 3) The control method of this application has clear logic and low computational load, and is easy to implement digitally in the underlying controller of the energy router, which is beneficial to practical engineering applications.

[0081] According to the DC microstation inter-station communication-free coordination control method proposed in the embodiments of this application, this method addresses the inter-station power imbalance and voltage instability caused by limited, delayed or interrupted communication resources under extreme space conditions (such as long lunar night / long lunar day, strong sudden load changes). It achieves inter-station adaptive power mutual assistance without communication network dependence by using energy routers to conduct local joint sampling of voltage and current on both sides of the station / inter-station. At the same time, it introduces a current limiting mechanism that is dynamically adjusted by the station voltage, so as to respond to the macro-level main network scheduling requirements of the inter-station while protecting the source load safety boundary of the substation itself.

[0082] Next, refer to the appendix. Figure 5 This application describes a DC microelectronics inter-site communication coordination control device proposed according to an embodiment of the present application.

[0083] Figure 5 This is a block diagram of a DC microelectronics inter-site communication coordination control device according to an embodiment of this application.

[0084] like Figure 5 As shown, the DC microelectronics inter-station communication coordination control device 10 includes: an acquisition module 100, a determination module 200, a calculation module 300, and a control module 400.

[0085] The acquisition module 100 can be used to acquire the voltage of the high-voltage bus between stations and the low-voltage bus within the station in the target DC microgrid, as well as the output current of the high-voltage side of the energy router in the target DC microgrid.

[0086] The determination module 200 can be used to determine the source-load supply and demand status of a substation in a target DC microgrid based on the voltage of the low-voltage bus in the substation.

[0087] The calculation module 300 can be used to calculate the high-voltage side current command setpoint of the energy router based on the source load supply and demand status and the voltage of the inter-station high-voltage bus.

[0088] The control module 400 can be used to calculate the current deviation between the high-voltage side current command setpoint and the output current of the high-voltage side of the energy router, so as to control the bidirectional power transmission between the high-voltage bus between the stations and the low-voltage bus of the substations according to the current deviation, so that the substations can autonomously complete power distribution.

[0089] In one embodiment of this application, the determining module 200 may include: an acquisition unit and a comparison unit; wherein, the acquisition unit may be used to acquire a preset low-voltage threshold of the low-voltage bus in the station; the comparison unit may be used to compare the voltage of the low-voltage bus in the station with the preset low-voltage threshold to determine the source and load supply and demand status of the substation based on the comparison result, wherein the source and load supply and demand status includes surplus power status and demand power status.

[0090] In one embodiment of this application, the calculation module 300 may include: a first response unit, a first determination unit, a second determination unit, and a third determination unit; wherein, the first response unit may be used to calculate the upper limit amplitude of the allowable output current of the substation based on the voltage of the low-voltage bus in response to the source-load supply and demand state being a state of surplus power; the first determination unit may be used to obtain a first high-voltage threshold and a second high-voltage threshold of the inter-station high-voltage bus, and if the voltage of the inter-station high-voltage bus is greater than or equal to the first high-voltage threshold, the high-voltage side current command setpoint of the energy router is controlled to be 0; the second determination unit may be used to use the upper limit amplitude of the current as the high-voltage side current command setpoint of the energy router if the voltage of the inter-station high-voltage bus is less than or equal to the second high-voltage threshold; the third determination unit may be used to calculate the external transmission current demand value of the substation based on the voltage of the inter-station high-voltage bus and the first high-voltage threshold if the voltage of the inter-station high-voltage bus is greater than the second high-voltage threshold and less than the first high-voltage threshold, so as to determine the high-voltage side current command setpoint of the energy router based on the external transmission current demand value and the upper limit amplitude of the current.

[0091] In one embodiment of this application, the calculation module 300 may further include: a second response unit, a fourth determination unit, a fifth determination unit, and a sixth determination unit; wherein, the second response unit may be used to calculate the lower limit of the allowable input current of the substation based on the voltage of the low-voltage bus in response to the source-load supply and demand state being a demand power state; the fourth determination unit may be used to obtain the third high-voltage threshold and the fourth high-voltage threshold of the inter-station high-voltage bus, and if the voltage of the inter-station high-voltage bus is less than or equal to the third high-voltage threshold, the high-voltage side current command setpoint of the energy router is controlled to be 0; the fifth determination unit may be used to use the lower limit of the current as the high-voltage side current command setpoint of the energy router if the voltage of the inter-station high-voltage bus is greater than or equal to the fourth high-voltage threshold; the sixth determination unit may be used to calculate the input current demand value of the substation based on the voltage of the inter-station high-voltage bus and the third high-voltage threshold if the voltage of the inter-station high-voltage bus is greater than the third high-voltage threshold and less than the fourth high-voltage threshold, so as to determine the high-voltage side current command setpoint of the energy router based on the input current demand value and the lower limit of the current.

[0092] In one embodiment of this application, the control module 400 may include: a first determining unit, a second determining unit, and a control unit; wherein, the first determining unit may be used to determine the voltage modulation command of the power switch inside the energy router according to the current deviation; the second determining unit may be used to determine the driving pulse of the power switch inside the energy router according to the voltage modulation command, so as to control the conduction duty cycle and phase shift angle of the power switch according to the driving pulse; the control unit may be used to control the bidirectional power transmission between the inter-station high-voltage bus and the intra-station low-voltage bus according to the conduction duty cycle and phase shift angle.

[0093] In one embodiment of this application, the upper limit of the current amplitude can be obtained by the following formula:

[0094] in, Indicates the upper limit amplitude of the current. This represents the preset positive gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

[0095] In one embodiment of this application, the lower current limit value can be obtained by the following formula:

[0096] in, Indicates the lower limit amplitude of the current. This represents the preset reverse gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

[0097] It should be noted that the foregoing explanation of the embodiment of the DC microelectronics inter-station communication coordination control method also applies to the DC microelectronics inter-station communication coordination control device of this embodiment, and will not be repeated here.

[0098] According to the DC microgrid inter-station communication-free coordination control device proposed in the embodiments of this application, this device addresses the inter-station power imbalance and voltage instability caused by limited, delayed, or interrupted communication resources under extreme space conditions (such as long lunar nights / days, strong sudden load changes). It achieves inter-station adaptive power mutual assistance without communication network dependence by using energy routers to locally and jointly sample the voltage and current on both sides of the station / inter-station. At the same time, it introduces a current limiting mechanism that is dynamically adjusted by the station voltage, so as to respond to the macro-level main network scheduling needs of inter-stations while protecting the source load safety boundary of the substation itself.

[0099] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0100] When the processor 602 executes the program, it implements the communication-free coordination control method between DC microelectronic stations provided in the above embodiments.

[0101] Furthermore, electronic devices also include: Communication interface 603 is used for communication between memory 601 and processor 602.

[0102] The memory 601 is used to store computer programs that can run on the processor 602.

[0103] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0104] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0105] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0106] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0107] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described DC microelectronics inter-station communication-free coordination control method.

[0108] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0109] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0110] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0111] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0112] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0113] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0114] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0115] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for non-communication coordination control between DC microelectronic stations, characterized in that, include: The voltage of the high-voltage bus between stations and the low-voltage bus within the station in the target DC microgrid are obtained, as well as the output current of the high-voltage side of the energy router in the target DC microgrid is obtained. The source-load supply and demand status of the substation in the target DC microgrid is determined based on the voltage of the low-voltage bus in the station. Based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus, the high-voltage side current command setpoint of the energy router is calculated; The current deviation between the high-voltage side current command setpoint and the output current of the high-voltage side of the energy router is calculated, and the bidirectional power transmission between the inter-station high-voltage bus and the substation low-voltage bus is controlled according to the current deviation, so that the substation can complete power distribution.

2. The method according to claim 1, characterized in that, The step of determining the source-load supply and demand status of the substation in the target DC microgrid based on the voltage of the low-voltage bus within the substation includes: Obtain the preset low-voltage threshold of the low-voltage busbar within the station; The voltage of the low-voltage bus in the substation is compared with the preset low-voltage threshold to determine the source-load supply and demand status of the substation based on the comparison result. The source-load supply and demand status includes surplus power status and demand power status.

3. The method according to claim 2, characterized in that, The step of calculating the high-voltage side current command setpoint of the energy router based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus includes: In response to the source load supply and demand state being a state of surplus power, the upper limit of the current allowed to be output by the substation is calculated based on the voltage of the low-voltage bus in the substation. Obtain the first high voltage threshold and the second high voltage threshold of the inter-station high voltage bus. If the voltage of the inter-station high voltage bus is greater than or equal to the first high voltage threshold, then control the high voltage side current command setpoint of the energy router to be 0. If the voltage of the inter-station high-voltage bus is less than or equal to the second high-voltage threshold, then the upper limit amplitude of the current is used as the high-voltage side current command setpoint of the energy router. If the voltage of the inter-station high-voltage bus is greater than the second high-voltage threshold and less than the first high-voltage threshold, the external transmission current demand value of the substation is calculated based on the voltage of the inter-station high-voltage bus and the first high-voltage threshold, and the high-voltage side current command setpoint of the energy router is determined based on the external transmission current demand value and the upper limit amplitude of the current.

4. The method according to claim 2, characterized in that, The step of calculating the high-voltage side current command setpoint of the energy router based on the source-load supply and demand status and the voltage of the inter-station high-voltage bus also includes: In response to the source load supply and demand state being a demand power state, the lower limit of the current allowed to be input to the substation is calculated based on the voltage of the low-voltage bus in the substation. Obtain the third and fourth high-voltage thresholds of the inter-station high-voltage bus. If the voltage of the inter-station high-voltage bus is less than or equal to the third high-voltage threshold, then control the high-voltage side current command setpoint of the energy router to be 0. If the voltage of the inter-station high-voltage bus is greater than or equal to the fourth high-voltage threshold, then the current dropout amplitude will be used as the high-voltage side current command setpoint of the energy router. If the voltage of the inter-station high-voltage bus is greater than the third high-voltage threshold and less than the fourth high-voltage threshold, the input current demand value of the substation is calculated based on the voltage of the inter-station high-voltage bus and the third high-voltage threshold, and the high-voltage side current command setpoint of the energy router is determined based on the input current demand value and the current lower limit value.

5. The method according to claim 1, characterized in that, The method of controlling the bidirectional power transmission between the inter-station high-voltage bus and the intra-station low-voltage bus based on the current deviation includes: The voltage modulation command of the power switch inside the energy router is determined based on the current deviation; The driving pulse of the power switch inside the energy router is determined according to the voltage modulation command, so as to control the duty cycle and phase shift angle of the power switch according to the driving pulse; The bidirectional power transmission between the inter-station high-voltage bus and the intra-station low-voltage bus is controlled according to the conduction duty cycle and the phase shift angle, so that the substation can complete power distribution.

6. The method according to claim 3, characterized in that, The upper limit value of the current can be obtained by the following formula: in, Indicates the upper limit amplitude of the current. This represents the preset positive gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

7. The method according to claim 4, characterized in that, The lower limit value of the current can be obtained by the following formula: in, Indicates the lower limit amplitude of the current. This represents the preset reverse gain coefficient. This indicates the voltage of the low-voltage busbar within the station. This indicates the second low-pressure threshold.

8. A DC microelectronics inter-station communication-free coordination control device, characterized in that, include: The acquisition module is used to acquire the voltage of the high-voltage bus between stations and the low-voltage bus within the station in the target DC microgrid, as well as the output current of the high-voltage side of the energy router in the target DC microgrid. The determination module is used to determine the source-load supply and demand status of the substation in the target DC microgrid based on the voltage of the low-voltage bus in the station. The calculation module is used to calculate the high-voltage side current command setpoint of the energy router based on the source load supply and demand status and the voltage of the inter-station high-voltage bus. The control module is used to calculate the current deviation between the high-voltage side current command setpoint and the output current of the high-voltage side of the energy router, so as to control the bidirectional power transmission between the inter-station high-voltage bus and the substation low-voltage bus according to the current deviation, so that the substation can autonomously complete power allocation.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the DC microelectronics inter-station communication-free coordination control method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the communication-free coordination control method between DC microstations as described in any one of claims 1-7.

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