Power coordination control method and system of mobile photovoltaic energy storage power generation vehicle

Abstract

The present application relates to the technical field of smart grid, in particular to a power coordination control method and system of a mobile photovoltaic energy storage power generation vehicle, comprising the following steps: collecting the string current of the vehicle-mounted photovoltaic array, the DC bus voltage, the remaining power of the energy storage battery, the cell temperature and the inverter heat dissipation temperature, calculating the photovoltaic fluctuation degree, the available power of the energy storage and the load impact power, constructing a power coupling matrix, and generating the photovoltaic converter duty command, the energy storage bidirectional converter charge-discharge command and the load switching command according to the power gap. In the present application, by including the cloud shadow blocking, the vehicle body posture, the battery thermal state and the inverter thermal load into the same closed loop criterion, the branch power during the mobile parking, the load sudden increase and the on-off grid switching is coordinated and distributed according to the difference value that the DC bus can withstand, the DC bus oscillation, the relay repeated action, the battery deep charging and discharging and the AC output waveform distortion are reduced, and the vehicle-mounted power supply continuity is stabilized.

Description

Technical Field

[0001] This invention relates to the field of smart grid technology, and in particular to a power coordination control method and system for mobile photovoltaic energy storage power generation vehicles. Background Technology

[0002] The field of smart grid technology involves technologies for the generation, storage, conversion, and dispatch of electrical energy based on power electronic equipment, communication control equipment, and distribution protection equipment. With "smart grid" as a key term, its core function is to perform status sensing, power allocation, and operational protection for distributed power sources, energy storage devices, load interfaces, and grid-connected interfaces. Traditional power coordination control methods used in mobile photovoltaic energy storage vehicles involve arranging foldable photovoltaic modules, a DC combiner box, a maximum power point tracking (MPPT) controller, a lithium iron phosphate battery pack, a battery management board, a bidirectional DC-DC converter, an inverter, an AC distribution cabinet, and load sockets on the vehicle chassis. The MPPT controller sends photovoltaic DC power to the DC bus, the bidirectional DC-DC converter charges and discharges the battery pack according to the bus voltage, the inverter supplies power to the AC load, and relays or contactors complete the off-grid switching.

[0003] Existing power distribution typically switches between photovoltaic (PV) branches, energy storage branches, and load branches based on DC bus voltage and manually set priorities. When PV output fluctuates due to cloud shadows and vehicle posture, the energy storage branch is often compensated with fixed limits, without distinguishing the coupling relationship between battery temperature rise, remaining charge, and inverter thermal load. During sudden load increases or grid-connected / off-grid switching, bus voltage oscillations, frequent relay operation, deep charging and discharging of batteries, and distortion of AC output waveforms can easily occur. Changes in the parking angle can also cause uneven current in the module series, making it difficult for fixed control meters to maintain power balance on the vehicle's DC side. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a power coordination control method and system for mobile photovoltaic energy storage power generation vehicles.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a power coordination control method for a mobile photovoltaic energy storage power generation vehicle, comprising the following steps: Collect the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. Calculate the string current difference, terminal voltage difference, and the weight of the shaded string in adjacent sampling periods. Construct a photovoltaic fluctuation vector based on the product relationship between the string current difference, terminal voltage difference, the weight of the shaded string, and the vehicle tilt angle. Slope analysis of DC bus voltage is performed, and combined with the remaining charge of energy storage battery, cell temperature rise and inverter heat dissipation temperature, the release power of energy storage battery, the absorbable power and inverter limiting power are calculated. Power coupling matrix is ​​constructed based on the photovoltaic fluctuation vector. The photovoltaic input power, the energy storage battery release power, the absorbable power, the inverter limiting power, the vehicle AC load start-up power, and the load connection current value in the power coupling matrix are compared to calculate the bus power difference. The load switching sequence is then selected based on the bus power difference and the load continuous power. The sign change count and amplitude growth direction of the bus power difference are determined in adjacent sampling periods. When the sign change count reaches the dynamic boundary generated by the average deviation of the DC bus voltage, the duty cycle of the photovoltaic converter, the charging and discharging power of the energy storage bidirectional converter, and the output limiting of the inverter are adjusted to generate branch control commands.

[0006] As a further aspect of the present invention, the process of constructing the photovoltaic fluctuation vector specifically includes: The system collects the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. It performs differential comparison of the output current and terminal voltage based on adjacent sampling periods, and removes missing sampling strings and strings with over-limit terminal voltage to generate string differential data. Analyze the degree of synchronous decrease of the serial current difference and the terminal voltage difference in the serial differential data, and combine the arrangement position of the serial bits in the roof array and the vehicle tilt angle to perform weighted sorting of the blocked serial bits and generate a blocking weight sequence. Calculate the product relationship between the string current difference, the terminal voltage difference, the shading weight sequence, and the vehicle tilt angle, and perform vector mapping on the product relationship according to the string position arrangement to construct the photovoltaic fluctuation vector.

[0007] As a further aspect of the present invention, the process of constructing the power coupling matrix specifically includes: The average and instantaneous voltage of the DC bus voltage are collected in adjacent sampling periods. Based on the deviation direction between the average voltage and the instantaneous voltage, the slope of the DC bus voltage is analyzed to generate the bus slope state. The remaining capacity of the energy storage battery, the cell temperature rise, and the inverter heat dissipation temperature are obtained. Based on the remaining capacity range, the cell temperature rise rate, and the upper limit of the heat dissipation temperature, the discharge boundary, the charging boundary, and the inverter output boundary are respectively limited to generate the energy storage power boundary. By associating the photovoltaic fluctuation vector, the bus slope state, and the energy storage power boundary, the coupling positions are configured according to the matching relationship between the photovoltaic fluctuation direction and the bus voltage slope direction, and a power coupling matrix is ​​constructed.

[0008] As a further aspect of the present invention, the process of filtering the load switching sequence specifically includes: The photovoltaic input power, the energy storage battery release power, the absorbable power, the inverter limiting power, the vehicle AC load start-up power, and the load connection terminal current value in the power coupling matrix are obtained. The bus power difference is calculated according to the power surge during the AC load start-up phase, and a load power gap table is generated. By comparing the load power gap table with the load continuous power, loads whose startup impact exceeds the inverter output limit are eliminated based on the load connection current value, and the loads are sorted according to the connection stability from low to high continuous power to generate a load constraint sorting table. The loads that satisfy the direction of bus power difference compensation are selected from the load constraint sorting table. The sorting position is corrected according to the matching relationship between the switching action interval and the bus voltage recovery trend, and the load switching sequence is output.

[0009] As a further aspect of the present invention, the process of generating the branch control command specifically includes: The system monitors the sign and amplitude changes of the bus power difference in adjacent sampling periods, counts the number of sign changes based on the frequency of alternation of positive and negative signs, and identifies the bus energy imbalance trend by combining the direction of continuous increase in amplitude, generating a record of the fluctuation direction. Calculate the mean deviation of DC bus voltage, generate a dynamic boundary based on the duration and magnitude of the mean deviation, and compare the number of sign changes with the dynamic boundary to generate a boundary determination result; Based on the boundary determination results and the fluctuation direction records, adjust the duty cycle of the photovoltaic converter, the charging and discharging power of the energy storage bidirectional converter, and the output limit of the inverter, establish a branch execution mapping, and generate branch control commands.

[0010] As a further aspect of the present invention, the calculation process of the product relationship specifically includes: The series current difference, terminal voltage difference, the obstruction weight sequence, and vehicle tilt angle are obtained. The consistency of power reduction caused by obstruction is determined based on the changing direction of the series current difference and terminal voltage difference. The consistency result is correlated with the vehicle tilt angle to generate a tilt angle correction record. Compare the weights of each bit in the tilt correction record and the occlusion weight sequence, and correct the bit difference data according to the rule that the bit with higher weight is amplified first and the bit with lower weight retains its original differential contribution, so as to generate bit correction data. The mapping relationship between the serial bit correction data and the vehicle tilt angle is established by merging the serial bit correspondence results according to the physical arrangement order of the roof array.

[0011] As a further aspect of the present invention, the verification process of the energy storage power boundary specifically includes: The remaining capacity and cell temperature rise of the energy storage battery are obtained. The release boundary is reduced based on the degree to which the remaining capacity is close to the discharge cutoff range, and the discharge duration is limited based on the degree to which the cell temperature rise is close to the thermal protection zone, and a release boundary record is generated. The remaining capacity and cell temperature rise of the energy storage battery are obtained. The absorbable boundary is reduced based on the degree to which the remaining capacity approaches the full charge protection zone, and the charging duration is limited based on the degree to which the cell temperature rise exceeds the temperature rise stability range, thus generating an absorption boundary record. By associating the release boundary record, the absorption boundary record, and the inverter heat dissipation temperature, the inverter output boundary is synchronously compressed based on the degree to which the heat dissipation temperature approaches the derating range, thereby generating the energy storage power boundary.

[0012] As a further aspect of the present invention, the modification process of the load constraint sorting table specifically includes: Obtain the load constraint sorting table, the bus power difference and the load continuous power, determine the power compensation direction for load connection or disconnection based on the positive or negative direction of the bus power difference, delete the load sorting items that are opposite to the power compensation direction, and generate the direction filtering result. The load continuous power and start-up power in the direction screening results are compared. The sorting is adjusted according to the rule that loads with larger differences have lower access priority and loads with smaller differences have higher access priority, and the impact correction results are generated. The impact correction result is correlated with the load access current value. Load sorting items whose access current value exceeds the current boundary corresponding to the inverter output limit are removed, and sorting items that meet the current boundary are retained. The load switching sequence is then output.

[0013] As a further aspect of the present invention, the process of generating the boundary determination result specifically includes: The average deviation of the DC bus voltage and the difference in the bus power are obtained. The dynamic boundary is increased based on the number of sampling periods in which the average deviation continues to increase, and the dynamic boundary is decreased based on the number of sampling periods in which the average deviation continues to decrease, thereby generating a boundary update record. The boundary update record is compared with the number of symbol changes. When the number of symbol changes reaches the dynamic boundary, the bus power oscillation state is confirmed. When the number of symbol changes does not reach the dynamic boundary, the bus power tracking state is confirmed, and an oscillation judgment record is generated. By associating the oscillation determination record with the fluctuation direction record, the duty cycle adjustment amplitude of the photovoltaic converter is compressed according to the bus power oscillation state, and the charging and discharging power change rate of the energy storage bidirectional converter is simultaneously limited to generate a boundary determination result.

[0014] A power coordination control system for a mobile photovoltaic energy storage power generation vehicle, the system being used to implement the aforementioned power coordination control method for the mobile photovoltaic energy storage power generation vehicle, the system comprising: The fluctuation construction module collects the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. It calculates the string current difference, terminal voltage difference, and the weight of the shaded string in adjacent sampling periods, and constructs the photovoltaic fluctuation vector according to the product relationship. The coupling construction module performs slope analysis on the DC bus voltage, calculates the power boundary by combining the remaining power of the energy storage battery, the cell temperature rise and the inverter heat dissipation temperature, and constructs a power coupling matrix based on the photovoltaic fluctuation vector. The sequence filtering module compares the power data in the power coupling matrix, the starting power of the vehicle AC load, and the current value at the load connection terminal, calculates the bus power difference, and filters the load switching sequence based on the bus power difference and the continuous power of the load. The instruction generation module determines the number of sign changes and the direction of amplitude growth of the bus power difference, and adjusts the power parameters of each branch when the number of sign changes reaches the dynamic boundary, thereby generating branch control instructions.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, the rate of change of on-board photovoltaic string current, DC bus voltage slope, remaining battery capacity, cell temperature rise, and inverter heat dissipation margin are synchronously mapped into a power coupling matrix. The difference in the bus's tolerable power is calculated based on the photovoltaic fluctuation term and the available energy storage term in the matrix. A graded switching sequence is formed based on the starting impact and continuous power of the on-board load. Before the grid-connected / off-grid switching, the energy storage branch compensation power and inverter limiting command are generated, so that the photovoltaic branch, energy storage branch, and load branch are adjusted in a closed loop according to the same power gap. This reduces bus voltage oscillation and relay repetitive operation, suppresses deep charging and discharging of the battery and AC output waveform distortion, and reduces the impact of uneven component string current on DC-side power balance. Attached Figure Description

[0016] Figure 1 This is the main flowchart of the power collaborative control of the present invention; Figure 2 This is a schematic diagram of the vehicle-mounted power coordination system of the present invention; Figure 3 This is a schematic diagram illustrating the photovoltaic fluctuation vector construction effect of the present invention; Figure 4 This is a schematic diagram illustrating the power coupling and load switching effects of the present invention; Figure 5 This is a schematic diagram illustrating the branch control anomaly suppression effect of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the software-based technical solution is described in detail below with reference to system architecture diagrams and embodiments. It should be understood that the specific embodiments described herein are only for explaining the technical solutions of this invention and do not constitute a limitation on the scope of protection.

[0018] In the description of this invention, the system architecture relationships or data processing flows indicated by terms such as "layer," "module," "interface," "data flow," "client," and "server" are all defined based on the architecture diagram or flowchart corresponding to the embodiments. This way of describing is only used to clearly illustrate the logical relationships between the elements in the technical solution, and not to limit the physical deployment form. The term "multiple" includes two or more technical units, including but not limited to multiple data nodes, processing threads, service instances, or functional components and other scalable elements. The specific number is determined according to the actual business scenario and needs to be specifically specified.

[0019] Please see Figures 1 to 5 This embodiment provides a power coordination control method for a mobile photovoltaic energy storage power generation vehicle. In practical applications, for example, during the continuous operation of the off-grid power supply link formed by the roof photovoltaic array, energy storage battery, DC bus, inverter, and on-board AC load after the mobile photovoltaic energy storage power generation vehicle has stopped, the control program continuously receives photovoltaic serial electrical signals, vehicle attitude signals, battery thermal status signals, inverter heat dissipation status signals, and load access signals, including the following steps: S1: Collect the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. Calculate the string current difference, terminal voltage difference, and the weight of the shaded string in adjacent sampling periods. Construct a photovoltaic fluctuation vector based on the product relationship between the string current difference, terminal voltage difference, the weight of the shaded string, and the vehicle tilt angle.

[0020] The photovoltaic fluctuation vector is a serial-level state data object written to the control buffer. It is formed by the serial identifier, current change state, voltage change state, shading weight state, and tilt correction state of the vehicle-mounted photovoltaic array, and participates in the subsequent power coupling matrix construction. The vehicle tilt angle is the attitude field output by the vehicle attitude detection link, used to correct the difference in light reception of the roof photovoltaic array under parking attitude changes. When there is a lack of adjacent sampling periods during the initial sampling phase, the calibration reference state saved by the vehicle controller is used as the differential reference. After entering the stable operation phase, the serial state formed by the previous valid sampling period is used as the differential reference.

[0021] S101: Collect the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. Perform differential comparison on the output current and terminal voltage according to adjacent sampling periods, and remove the missing sampling strings and the strings with over-limit terminal voltage to generate string differential data.

[0022] The differential data for each serial position is a differential record cached according to the physical arrangement order of the rooftop photovoltaic array. It records the direction of current change, direction of voltage change, valid sampling status, and time sequence status of each serial position in adjacent sampling periods. During acquisition, the serial position identifier, sampling time sequence, and sensor channel status are verified. If the serial position identifier cannot match the topology table, it is written to a pending verification status. If the sampling time sequence is repeated, the valid record confirmed by the controller is retained. When the terminal voltage enters outside the protection boundary, it does not participate in the shading weight generation but is only passed to the subsequent log cache as an abnormal serial position record. After the differential data for each serial position is completed, it enters the shading analysis process and serves as the basic input for power fluctuation direction identification.

[0023] S102: Analyze the degree of synchronous decrease of the serial current difference and the terminal voltage difference in the serial differential data, and combine the arrangement position of the serial bits in the roof array and the vehicle tilt angle to perform weighted sorting of the obstructed serial bits and generate an obstruction weight sequence.

[0024] The occlusion weight sequence is a dimensionless configuration field indexed by the serial position. The field sources include the roof array serial position topology table, vehicle tilt angle status, historical occlusion calibration records, and current serial position differential data. During the analysis, the consistency between the direction of serial current decrease and the direction of terminal voltage decrease is judged. Serial positions where the current decreases but the terminal voltage does not change in the same direction enter the electrical anomaly verification state. Serial positions where the current and terminal voltage decrease synchronously and the serial position is located in the tilt-affected area enter the occlusion candidate state. The weighted sorting does not use fixed values; instead, it forms an occlusion weight sequence according to the level fields corresponding to serial position, attitude direction, and differential synchronization in the rule table. This occlusion weight sequence is then passed to the product relationship processing process.

[0025] S103: Calculate the product relationship between the series current difference, terminal voltage difference, shading weight sequence and vehicle tilt angle, and perform vector mapping on the product relationship according to the series position arrangement order to construct the photovoltaic fluctuation vector.

[0026] The product relationship is a linked record obtained by the control program after jointly looking up the series current difference status, terminal voltage difference status, shading weight level, and vehicle tilt angle level. It is used to represent the combined effect of current changes, voltage changes, shading tendency, and vehicle attitude changes within the same series position. During processing, the direction of change in the series position differential data is matched with the shading weight sequence, and then the matching result is associated with the attitude interval to which the vehicle tilt angle belongs to form series position correction data. The series position correction data is written to the vector cache according to the physical arrangement order of the roof array. Series positions that fail the validity check retain an abnormal state identifier. Abnormal states do not participate in the coupling strength configuration but are retained in the operation log. The photovoltaic fluctuation vector is output to the DC bus and the energy storage power is processed in a coordinated manner.

[0027] S2: Perform slope analysis on the DC bus voltage, and calculate the release power, absorption power and inverter limiting power of the energy storage battery by combining the remaining power of the energy storage battery, the temperature rise of the battery cell and the heat dissipation temperature of the inverter. Construct a power coupling matrix based on the photovoltaic fluctuation vector.

[0028] The power coupling matrix is ​​an associated data structure in the control cache, establishing associated positions based on the photovoltaic input state, DC bus slope state, energy storage power boundary, inverter output boundary, and subsequent load power demand. The energy storage battery's releaseable power, absorbable power, and inverter limiting power are all boundary fields, jointly generated by the battery management link, thermal management link, and inverter status link. These boundary fields are updated with the sampling period and stored in the power control cache. When a DC bus voltage sampling signal transmission failure occurs, the previous valid bus slope state is maintained and a pending confirmation flag is written. When this pending confirmation flag enters the subsequent load switching sequence filtering, a conservative sorting rule is triggered.

[0029] S201: Collect the average and instantaneous voltage of the DC bus voltage in adjacent sampling periods, perform slope analysis on the DC bus voltage based on the deviation direction between the average voltage and the instantaneous voltage, and generate the bus slope state.

[0030] The bus slope state is a state field describing the direction and continuity of DC bus voltage changes, derived from the instantaneous voltage record and periodic average record output by the bus voltage detection link. During slope analysis, the bus voltage sampling time sequence is first verified, then the deviation direction of the instantaneous voltage from the voltage average is identified. If the deviation direction matches the previous valid cycle, a continuous change state is written; if the deviation direction changes, a transitional change state is written. During the initial sampling phase, if no complete adjacent cycle is formed, the initial bus slope state is generated using the initial reference voltage state. During stable operation, it is continuously updated using adjacent valid cycles. The bus slope state is output to the power coupling matrix configuration process and participates in the dynamic boundary generation in branch control commands.

[0031] S202: Obtain the remaining capacity of the energy storage battery, the cell temperature rise, and the inverter heat dissipation temperature. Based on the remaining capacity range, the cell temperature rise rate, and the upper limit of the heat dissipation temperature, limit the discharge boundary, the charging boundary, and the inverter output boundary respectively to generate the energy storage power boundary.

[0032] The energy storage power boundary is a control field that simultaneously records the release boundary, absorption boundary, and inverter output boundary. Remaining capacity is derived from the battery management link, cell temperature rise from the battery thermal state detection link, and inverter heat dissipation temperature from the inverter heat dissipation state detection link. The remaining capacity range, temperature rise range, and heat dissipation range all originate from the factory configuration table and maintenance calibration table within the vehicle controller. The configuration table is stored in a read-only configuration area; during runtime, only the corresponding state level is read, and no specific values ​​are written. When the remaining capacity approaches the protection boundary, the discharge or charging direction is restricted. When the cell temperature rise enters a protection trend, the continuous charge / discharge capacity is reduced. When the inverter heat dissipation state enters a derating trend, the inverter output boundary is reduced. The energy storage power boundary is written to the power control cache and transmitted to the coupling matrix configuration process.

[0033] S203: Obtain the remaining power and cell temperature rise of the energy storage battery, reduce the release boundary based on the degree to which the remaining power is close to the discharge cutoff range, and limit the discharge duration based on the degree to which the cell temperature rise is close to the thermal protection zone, and generate a release boundary record.

[0034] The release boundary record is a discharge constraint field for the energy storage battery when outputting power to the DC bus. The field includes the remaining charge level, temperature rise trend level, discharge allowable state, and continuous discharge limit state. During processing, the timing consistency between the battery management link and the thermal state detection link is first checked. If the timing is inconsistent, the previous valid release boundary record is inherited and marked as pending update. When the remaining charge level is close to the discharge cutoff range, the control program reads the corresponding release limit level from the configuration table. When the cell temperature rise trend is close to the thermal protection range, the continuous discharge limit state is further written. The release boundary record and the absorption boundary record are jointly entered into the energy storage power boundary generation process.

[0035] S204: Obtain the remaining power and cell temperature rise of the energy storage battery, reduce the absorbable boundary based on the degree to which the remaining power is close to the full charge protection zone, and limit the charging duration based on the degree to which the cell temperature rise exceeds the temperature rise stability range, and generate an absorption boundary record.

[0036] The absorption boundary record is a charging constraint field for the energy storage battery when absorbing power from the DC bus. The field includes the remaining charge level, temperature rise stability state, charging allowable state, and continuous charging limit state. During processing, the remaining charge level is matched against the full charge protection range, and the cell temperature rise trend is matched against the temperature rise stability range. When the remaining charge is close to the full charge protection range, the absorbable boundary is lowered; when the temperature rise exceeds the stability range, the continuous charging limit state is written. In case of missing samples or abnormal thermal state signals, the absorption boundary record enters a conservative charging state. This conservative charging state is invoked by the energy storage power boundary to prevent subsequent coupling matrices from configuring the charging capability as the normal absorption state.

[0037] S205: Associate the release boundary record, absorption boundary record and inverter heat dissipation temperature, and synchronously compress the inverter output boundary according to the degree to which the heat dissipation temperature approaches the derating range to generate the energy storage power boundary. Associate the photovoltaic fluctuation vector, bus slope state and energy storage power boundary, configure the coupling position according to the matching relationship between the photovoltaic fluctuation direction and the bus voltage slope direction, and construct the power coupling matrix.

[0038] The inverter output boundary is the power boundary field allowed for inverter output under the current heat dissipation state, derived from the inverter heat dissipation state detection link and the inverter protection configuration table. During the association process, the release boundary record, absorption boundary record, and inverter output boundary are written to the same power control cache. Then, the direction of the PV fluctuation vector's serial fluctuation is matched with the bus slope state. When the PV input decreases and the bus slope enters a decreasing state, the coupling position points to energy storage release priority; when the PV input increases and the bus slope enters an increasing state, the coupling position points to energy storage absorption or inverter limiting; when the PV fluctuation direction is inconsistent with the bus slope direction, the coupling position enters a pending confirmation state. The power coupling matrix is ​​output to the load switching sequence filtering process.

[0039] S3: Compare the photovoltaic input power, energy storage battery release power, absorbable power, inverter limiting power, vehicle AC load starting power, and load connection current in the power coupling matrix, calculate the bus power difference, and select the load switching sequence based on the bus power difference and the load continuous power.

[0040] The load switching sequence is a sorting field used when an onboard AC load enters, holds, or disconnects. The field consists of load identifier, starting power status, continuous power status, connection end current status, switching direction status, and action interval status. The bus power difference is the status field representing the difference between the DC bus input capacity and the load demand. It originates from the power coupling matrix and the load connection detection link and is not output as a fixed value, but rather as a gap status, surplus status, and tracking status for subsequent judgment. The load connection end current value comes from the onboard AC power distribution link. When the collected value cannot match the load identifier, the load enters a state where new connection is prohibited and the log record is retained.

[0041] S301: Obtain the photovoltaic input power, energy storage battery release power, absorbable power, inverter limiting power, vehicle AC load start-up power, and load connection current value from the power coupling matrix. Calculate the bus power difference based on the power surge during the AC load start-up phase and generate a load power gap table.

[0042] The load power gap table is a record of power demand status indexed by load identifier. It records the impact state of each on-board AC load on the DC bus during startup, its continuous operating demand state, and the current state at the connection point. During processing, the photovoltaic input capacity, energy storage release capacity, energy storage absorption capacity, and inverter limiting capacity in the power coupling matrix are compared with the startup power status of the on-board AC load. If the bus input capacity is insufficient, it is written in the gap direction; if the bus input capacity exceeds the current load demand, it is written in the surplus direction; and if the bus input capacity and load demand are within the tracking range, it is written in the tracking direction. The load power gap table is output to the load constraint sorting process.

[0043] S302: Compare the load power gap table with the load continuous power, eliminate loads whose startup impact exceeds the inverter output limit based on the load connection current value, and sort them according to the connection stability from low to high continuous power to generate a load constraint sorting table.

[0044] The load constraint sorting table is a control field that prioritizes the actions of on-board AC loads eligible for switching. The fields include load identifier, connection permission status, disconnection permission status, startup impulse status, continuous power status, and current boundary status. During the comparison process, the load continuous power field and the load startup power field are read. The startup impulse status is matched against the current boundary corresponding to the inverter output limit. Loads exceeding the current boundary are written to the rejection status, while loads not exceeding the current boundary enter the sorting state. During sorting, the continuous power status is combined with the direction of the bus power difference to form a connection stability order, and the load constraint sorting table undergoes a direction correction process.

[0045] S303: Obtain the load constraint sorting table, bus power difference and load continuous power, determine the power compensation direction of load connection or disconnection based on the positive or negative direction of the bus power difference, delete the load sorting item opposite to the power compensation direction, and generate direction filtering results.

[0046] The direction selection result is a load sorting record filtered according to the direction of the bus power gap. When the bus power difference points to a gap state, the control program retains loads that can be disconnected or postpones load connection, and deletes connection sorting items that would widen the gap state; when the bus power difference points to a surplus state, the control program retains loads that can be connected or postpones load disconnection, and deletes disconnection sorting items that would widen the surplus state. If the bus power difference is in a tracking state, the direction selection result maintains the previous effective switching direction and restricts frequent switching actions. The direction selection result is output to the impact correction process.

[0047] S304: Compare the difference between the load's continuous power and starting power in the direction screening results, adjust the sorting according to the rule of lowering the access priority of loads with larger differences and raising the access priority of loads with smaller differences, generate the impact correction result, and associate the impact correction result with the load access current value, remove the load sorting items whose access current value exceeds the current boundary corresponding to the inverter output limit, and output the load switching sequence.

[0048] The impact correction result is a sorted record of the directional screening results after applying the start-up impact constraint. During processing, the load continuous power field and the start-up power field are read. If the difference between these two fields falls within the larger impact level, the access priority is reduced; if the difference falls within the smaller impact level, the access priority is increased. The levels are derived from the on-board AC load configuration table and the inverter output boundary configuration table. When the access current value exceeds the current boundary corresponding to the inverter output limit, the load sorting item enters the prohibited access state; when the access current value is normal but load communication confirmation fails, the load sorting item enters the pending confirmation state. The load switching sequence is output to the branch control command generation process and, together with the branch execution mapping, forms the control action constraint.

[0049] S4: Determine the number of sign changes and the direction of amplitude growth of the bus power difference in adjacent sampling periods. When the number of sign changes reaches the dynamic boundary generated by the average deviation of the DC bus voltage, adjust the duty cycle of the photovoltaic converter, the charging and discharging power of the energy storage bidirectional converter, and the output limiting of the inverter to generate branch control commands.

[0050] Branch control commands are control output records for photovoltaic converters, bidirectional energy storage converters, and inverters. Fields include the photovoltaic converter duty cycle adjustment direction, the bidirectional energy storage converter charging and discharging direction, energy storage power variation limitation status, inverter output limiting status, and load switching correlation status. The sign change count is the cumulative status field showing the switching between deficit and surplus states of the bus power difference within adjacent effective sampling periods. The amplitude growth direction is the trend field showing the degree of deviation of the bus power difference within the effective sampling period. The dynamic boundary is an updatable judgment field generated from the DC bus voltage mean deviation status, derived from the bus voltage detection link and control configuration table.

[0051] S401: Monitors the positive and negative signs and amplitude changes of the bus power difference in adjacent sampling periods, counts the number of sign changes based on the frequency of alternation of positive and negative signs, and identifies the trend of bus energy imbalance by combining the direction of continuous increase in amplitude, and generates a record of the fluctuation direction.

[0052] The fluctuation direction record is a time-series record describing the direction of change, switching status, and deviation trend of the bus power difference. During processing, the load switching sequence, bus power difference, and bus slope status are read. If the bus power difference changes from a gap state to a surplus state, or vice versa, within an adjacent valid period, the sign change count status is updated. If the bus power difference continues to expand in the same deviation direction, the amplitude growth direction is written. If the historical period is insufficient, the previous valid fluctuation direction record is inherited. The initial record is formed using the starting reference state during the sampling phase. The fluctuation direction record is then passed to the boundary determination process.

[0053] S402: Obtain the DC bus voltage mean deviation and bus power difference, increase the dynamic boundary based on the number of sampling periods where the mean deviation continues to increase, and decrease the dynamic boundary based on the number of sampling periods where the mean deviation continues to decrease, and generate a boundary update record.

[0054] The boundary update record records the update status of the dynamic boundary within the current control cycle. Fields include the direction of the average deviation of the bus voltage, the duration of the deviation, the direction of boundary adjustment, and the boundary validity identifier. The average deviation of the DC bus voltage originates from the bus voltage detection link, and the deviation status is matched against the bus stability range in the control configuration table. When the average deviation continuously increases, the dynamic boundary enters a tightening state to identify bus power oscillations earlier; when the average deviation continuously decreases, the dynamic boundary enters a relaxing state to reduce repeated load switching and branch control actions. The boundary update record is output to the oscillation determination process.

[0055] S403: Compare the boundary update record with the number of sign changes. When the number of sign changes reaches the dynamic boundary, the bus power oscillation state is confirmed. When the number of sign changes does not reach the dynamic boundary, the bus power tracking state is confirmed. An oscillation judgment record is generated and associated with the oscillation judgment record and the fluctuation direction record. The duty cycle adjustment amplitude of the photovoltaic converter is compressed according to the bus power oscillation state, and the charging and discharging power change rate of the energy storage bidirectional converter is limited simultaneously to generate the boundary judgment result.

[0056] The oscillation determination record is a state field used to distinguish between bus power oscillation and bus power tracking states. During comparison, the dynamic boundaries in valid states in the boundary update record are read and matched against the sign change count state using rules. When entering the bus power oscillation state, the branch control switches to suppression action, compressing the photovoltaic converter duty cycle adjustment range, limiting the charge and discharge power change rate of the energy storage bidirectional converter, and conservatively updating the inverter output limit. When entering the bus power tracking state, the branch control maintains the sorting constraints given by the load switching sequence. The boundary determination result is passed to the branch execution mapping establishment process.

[0057] S404: Based on the boundary judgment results and fluctuation direction records, adjust the duty cycle of the photovoltaic converter, the charging and discharging power of the energy storage bidirectional converter, and the output limit of the inverter, establish branch execution mapping, and generate branch control commands.

[0058] Branch execution mapping involves writing the boundary judgment results, fluctuation direction records, load switching sequences, and corresponding branch control actions into a mapping record in the control output buffer. When the bus power shortage trend is clear and has not entered an oscillation state, branch execution mapping prioritizes increasing the control authority of the energy storage release direction and limits the inverter output amplitude change. When the bus power surplus trend is clear and has not entered an oscillation state, branch execution mapping prioritizes increasing the control authority of the energy storage absorption direction and adjusts the photovoltaic converter duty cycle in conjunction with the photovoltaic fluctuation vector. When the bus power oscillation state is established, branch execution mapping compresses the adjustment amplitude of each branch and delays high-impact actions in the load switching sequence. After the branch control command is issued, the execution confirmation status is received. If the confirmation fails, the previous valid branch control command is retained and written into the fault feedback record. The fault feedback record enters the boundary judgment process of the next sampling cycle.

[0059] In the same embodiment, the power coordination control system of the mobile photovoltaic energy storage power generation vehicle, in conjunction with the aforementioned method, carries the above-mentioned processing link. The system includes a fluctuation construction module, a coupling construction module, a sequence filtering module, and an instruction generation module. The fluctuation construction module receives the output current of each string of the vehicle-mounted photovoltaic array, the voltage of each string terminal, and the vehicle tilt angle, generates a photovoltaic fluctuation vector, and transmits it to the coupling construction module. The coupling construction module receives the photovoltaic fluctuation vector, the bus slope state, the energy storage power boundary, and the inverter output boundary, constructs a power coupling matrix, and transmits it to the sequence filtering module. The sequence filtering module receives the power coupling matrix, the vehicle-mounted AC load start-up power, the load continuous power, and the load access terminal current value, outputs the load switching sequence, and transmits it to the instruction generation module. The instruction generation module receives the bus power difference, the load switching sequence, the fluctuation direction record, and the boundary judgment result, generates branch control instructions, and writes the execution confirmation status back to the control cache.

[0060] The fluctuation construction module only handles the data formation task between serial electrical signals, vehicle attitude signals, and photovoltaic fluctuation vectors; it does not handle energy storage boundary judgment or load switching sequencing. The coupling construction module only handles the association configuration task between bus slope state, energy storage power boundary, inverter output boundary, and power coupling matrix; it does not directly output load switching actions. The sequence filtering module only handles the tasks of bus power difference, load constraint sequencing, and load switching sequence formation; it does not directly modify the photovoltaic converter duty cycle or the charging and discharging power of the bidirectional energy storage converter. The instruction generation module only handles dynamic boundary judgment, branch execution mapping, and branch control instruction output tasks, and feeds back the instruction results to the next sampling period through execution confirmation status.

[0061] In the aforementioned processing chain, the photovoltaic fluctuation vector writes the changes in shading of the rooftop photovoltaic array into the serial-level state buffer; the power coupling matrix writes the photovoltaic input, energy storage boundary, bus slope, and inverter limiting into the same associated structure; the load switching sequence converts the load start-up impact, continuous power, and access current into a sorted state; and the branch control command binds the oscillation state of the bus power difference with the adjustment actions of each branch. In the event of sampling loss, communication confirmation failure, sensor channel abnormality, or unconfirmed control command, the control buffer retains the previous valid state and writes an anomaly flag. The anomaly flag participates in the state update and boundary determination of the next sampling cycle, enabling the mobile photovoltaic energy storage power generation vehicle to maintain a continuous power coordination control chain when photovoltaic input fluctuations, limited energy storage capacity, limited inverter heat dissipation, and changes in on-board load access coexist simultaneously.

[0062] The above embodiments illustrate preferred embodiments of the present invention. Any equivalent adjustments to the technical solution based on software engineering methods are within the scope of protection, including but not limited to: implementing algorithm logic using different programming languages, refactoring functional modules into services, adjusting data interaction protocols, and optimizing resource scheduling strategies. Any implementation scheme derived from reasonable modifications to the data processing flow, service call chain, or system architecture layer without departing from the core technology of the present invention should be considered within the scope of protection defined by the claims of the present invention.

Claims

1. A power coordination control method for a mobile photovoltaic energy storage power generation vehicle, characterized in that, Includes the following steps: Collect the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. Calculate the string current difference, terminal voltage difference, and the weight of the shaded string in adjacent sampling periods. Construct a photovoltaic fluctuation vector based on the product relationship between the string current difference, terminal voltage difference, the weight of the shaded string, and the vehicle tilt angle. Slope analysis of DC bus voltage is performed, and combined with the remaining charge of energy storage battery, cell temperature rise and inverter heat dissipation temperature, the release power of energy storage battery, the absorbable power and inverter limiting power are calculated. Power coupling matrix is ​​constructed based on the photovoltaic fluctuation vector. The photovoltaic input power, the energy storage battery release power, the absorbable power, the inverter limiting power, the vehicle AC load start-up power, and the load connection current value in the power coupling matrix are compared to calculate the bus power difference. The load switching sequence is then selected based on the bus power difference and the load continuous power. The sign change count and amplitude growth direction of the bus power difference are determined in adjacent sampling periods. When the sign change count reaches the dynamic boundary generated by the average deviation of the DC bus voltage, the duty cycle of the photovoltaic converter, the charging and discharging power of the energy storage bidirectional converter, and the output limiting of the inverter are adjusted to generate branch control commands.

2. The power coordination control method for a mobile photovoltaic energy storage power generation vehicle according to claim 1, characterized in that, The process of constructing the photovoltaic fluctuation vector specifically includes: The system collects the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. It performs differential comparison of the output current and terminal voltage based on adjacent sampling periods, and removes missing sampling strings and strings with over-limit terminal voltage to generate string differential data. Analyze the degree of synchronous decrease of the serial current difference and the terminal voltage difference in the serial differential data, and combine the arrangement position of the serial bits in the roof array and the vehicle tilt angle to perform weighted sorting of the blocked serial bits and generate a blocking weight sequence. Calculate the product relationship between the string current difference, the terminal voltage difference, the shading weight sequence, and the vehicle tilt angle, and perform vector mapping on the product relationship according to the string position arrangement to construct the photovoltaic fluctuation vector.

3. The power coordination control method for a mobile photovoltaic energy storage power generation vehicle according to claim 2, characterized in that, The process of constructing the power coupling matrix specifically includes: The average and instantaneous voltage of the DC bus voltage are collected in adjacent sampling periods. Based on the deviation direction between the average voltage and the instantaneous voltage, the slope of the DC bus voltage is analyzed to generate the bus slope state. The remaining capacity of the energy storage battery, the cell temperature rise, and the inverter heat dissipation temperature are obtained. Based on the remaining capacity range, the cell temperature rise rate, and the upper limit of the heat dissipation temperature, the discharge boundary, the charging boundary, and the inverter output boundary are respectively limited to generate the energy storage power boundary. By associating the photovoltaic fluctuation vector, the bus slope state, and the energy storage power boundary, the coupling positions are configured according to the matching relationship between the photovoltaic fluctuation direction and the bus voltage slope direction, and a power coupling matrix is ​​constructed.

4. The power coordination control method for the mobile photovoltaic energy storage power generation vehicle according to claim 3, characterized in that, The process of selecting the load switching sequence specifically includes: The photovoltaic input power, the energy storage battery release power, the absorbable power, the inverter limiting power, the vehicle AC load start-up power, and the load connection terminal current value in the power coupling matrix are obtained. The bus power difference is calculated according to the power surge during the AC load start-up phase, and a load power gap table is generated. By comparing the load power gap table with the load continuous power, loads whose startup impact exceeds the inverter output limit are eliminated based on the load connection current value, and the loads are sorted according to the connection stability from low to high continuous power to generate a load constraint sorting table. The loads that satisfy the direction of bus power difference compensation are selected from the load constraint sorting table. The sorting position is corrected according to the matching relationship between the switching action interval and the bus voltage recovery trend, and the load switching sequence is output.

5. The power coordination control method for the mobile photovoltaic energy storage power generation vehicle according to claim 4, characterized in that, The process of generating the branch control command specifically includes: The system monitors the sign and amplitude changes of the bus power difference in adjacent sampling periods, counts the number of sign changes based on the frequency of alternation of positive and negative signs, and identifies the bus energy imbalance trend by combining the direction of continuous increase in amplitude, generating a record of the fluctuation direction. Calculate the mean deviation of DC bus voltage, generate a dynamic boundary based on the duration and magnitude of the mean deviation, and compare the number of sign changes with the dynamic boundary to generate a boundary determination result; Based on the boundary determination results and the fluctuation direction records, adjust the duty cycle of the photovoltaic converter, the charging and discharging power of the energy storage bidirectional converter, and the output limit of the inverter, establish a branch execution mapping, and generate branch control commands.

6. The power coordination control method for a mobile photovoltaic energy storage power generation vehicle according to claim 2, characterized in that, The calculation process of the product relationship specifically includes: The series current difference, terminal voltage difference, the obstruction weight sequence, and vehicle tilt angle are obtained. The consistency of power reduction caused by obstruction is determined based on the changing direction of the series current difference and terminal voltage difference. The consistency result is correlated with the vehicle tilt angle to generate a tilt angle correction record. Compare the weights of each bit in the tilt correction record and the occlusion weight sequence, and correct the bit difference data according to the rule that the bit with higher weight is amplified first and the bit with lower weight retains its original differential contribution, so as to generate bit correction data. The mapping relationship between the serial bit correction data and the vehicle tilt angle is established by merging the serial bit correspondence results according to the physical arrangement order of the roof array.

7. The power coordination control method for a mobile photovoltaic energy storage power generation vehicle according to claim 3, characterized in that, The verification process for the energy storage power boundary specifically includes: The remaining capacity and cell temperature rise of the energy storage battery are obtained. The release boundary is reduced based on the degree to which the remaining capacity is close to the discharge cutoff range, and the discharge duration is limited based on the degree to which the cell temperature rise is close to the thermal protection zone, and a release boundary record is generated. The remaining capacity and cell temperature rise of the energy storage battery are obtained. The absorbable boundary is reduced based on the degree to which the remaining capacity approaches the full charge protection zone, and the charging duration is limited based on the degree to which the cell temperature rise exceeds the temperature rise stability range, thus generating an absorption boundary record. By associating the release boundary record, the absorption boundary record, and the inverter heat dissipation temperature, the inverter output boundary is synchronously compressed based on the degree to which the heat dissipation temperature approaches the derating range, thereby generating the energy storage power boundary.

8. The power coordination control method for a mobile photovoltaic energy storage power generation vehicle according to claim 4, characterized in that, The modification process of the load constraint sorting table specifically includes: Obtain the load constraint sorting table, the bus power difference and the load continuous power, determine the power compensation direction for load connection or disconnection based on the positive or negative direction of the bus power difference, delete the load sorting items that are opposite to the power compensation direction, and generate the direction filtering result. The load continuous power and start-up power in the direction screening results are compared. The sorting is adjusted according to the rule that loads with larger differences have lower access priority and loads with smaller differences have higher access priority, and the impact correction results are generated. The impact correction result is correlated with the load access current value. Load sorting items whose access current value exceeds the current boundary corresponding to the inverter output limit are removed, and sorting items that meet the current boundary are retained. The load switching sequence is then output.

9. The power coordination control method for a mobile photovoltaic energy storage power generation vehicle according to claim 5, characterized in that, The process of generating the boundary determination result specifically includes: The average deviation of DC bus voltage and the difference of bus power are obtained. The dynamic boundary is increased based on the number of sampling periods in which the average deviation continues to increase, and the dynamic boundary is decreased based on the number of sampling periods in which the average deviation continues to decrease, and a boundary update record is generated. The boundary update record is compared with the number of symbol changes. When the number of symbol changes reaches the dynamic boundary, the bus power oscillation state is confirmed. When the number of symbol changes does not reach the dynamic boundary, the bus power tracking state is confirmed, and an oscillation judgment record is generated. By associating the oscillation determination record with the fluctuation direction record, the duty cycle adjustment amplitude of the photovoltaic converter is compressed according to the bus power oscillation state, and the charging and discharging power change rate of the energy storage bidirectional converter is simultaneously limited to generate a boundary determination result.

10. A power coordination control system for a mobile photovoltaic energy storage power generation vehicle, characterized in that, The system is used to implement the power coordination control method for the mobile photovoltaic energy storage power generation vehicle according to any one of claims 1-9, and the system includes: The fluctuation construction module collects the output current of each string of the vehicle-mounted photovoltaic array, the terminal voltage of each string, and the vehicle tilt angle. It calculates the string current difference, terminal voltage difference, and the weight of the shaded string in adjacent sampling periods, and constructs the photovoltaic fluctuation vector according to the product relationship. The coupling construction module performs slope analysis on the DC bus voltage, calculates the power boundary by combining the remaining power of the energy storage battery, the cell temperature rise and the inverter heat dissipation temperature, and constructs a power coupling matrix based on the photovoltaic fluctuation vector. The sequence filtering module compares the power data in the power coupling matrix, the starting power of the vehicle AC load, and the current value at the load connection terminal, calculates the bus power difference, and filters the load switching sequence based on the bus power difference and the continuous power of the load. The instruction generation module determines the number of sign changes and the direction of amplitude growth of the bus power difference, and adjusts the power parameters of each branch when the number of sign changes reaches the dynamic boundary, thereby generating branch control instructions.

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