Autonomous cooperative control system and autonomous cooperative control method

Abstract

The present invention improves the stability of a power system using a DC bus. According to an aspect of an embodiment of the present invention, the following autonomous cooperative control system is provided. This autonomous cooperative control system comprises: a DC bus to which power loads and generators are connected; and a plurality of battery units directly connected to the DC bus. The plurality of battery units are distributed and loaded on the DC bus. The terminal voltage of each battery unit is consistent with or approximates the reference voltage of the DC bus.

Description

[Technical field]

[0001] The present invention relates to an autonomous cooperative control system and an autonomous cooperative control method. [Background technology]

[0002] In recent years, interest in microgrids has been growing in many countries around the world. A microgrid is a smart power system that includes renewable energy generators (e.g., solar power generators, wind power generators, and geothermal power generators), batteries, and power loads (e.g., general homes, factories, commercial facilities, and EV (Electric Vehicle) charging stations).

[0003] Renewable energy generators mainly output DC (Direct Current) power. Therefore, in an AC grid that connects generators, batteries, and power loads using an AC (Alternative Current) bus, energy conversion loss occurs when converting from DC to AC, and it is necessary to synchronize with the voltage phase of the AC bus. For this reason, many microgrids adopt a DC grid that connects generators, batteries, and power loads using a DC bus (see Patent Document 1 and Non-Patent Document 1).

[0004] Since the power supply from renewable energy generators is unstable, many microgrids attempt to stabilize the voltage of the DC bus by controlling the generators, batteries, and power loads connected to the DC bus through central control, distributed control, or a combination of these using a controller. The controller also connects the DC bus to the power grid when the power consumption of the power load increases rapidly and the voltage of the DC bus drops to a certain lower limit level (see Non-Patent Document 1). Patent Document 1 also discloses a method in which a voltage conversion unit is provided between the DC bus and the storage battery, and the voltage conversion unit is controlled to start a charging operation when the voltage of the DC bus rises to a threshold value or higher, and to stop the charging operation when the voltage falls below the threshold value. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-128047 A [Non-patent literature]

[0006] [Non-Patent Document 1] Fahad Saleh Al-Ismail, "DC Microgrid Planning, Operation, and Control: A Comprehensive Review", IEEE Access, Volume 9, pp.36154-36172. Summary of the Invention [Problem to be solved by the invention]

[0007] Even if the DC bus voltage is stabilized to some extent by performing complex control as in the various systems described in Patent Document 1 and Non-Patent Document 1, the DC bus voltage may become unstable due to a sudden increase or decrease in the power load. Therefore, it is necessary for the DC bus to have a certain degree of electrical inertia. Electrical inertia refers to the ability of the bus to instantaneously generate or absorb power when the magnitude of the power load suddenly changes and a large amount of power is instantly required or there is a surplus.

[0008] The inventors have considered that one way to provide the DC bus with electrical inertia is to directly load a battery on the DC bus in preparation for a sudden need for large power or for when there is a surplus. Another method is to operate a photovoltaic (PV) device in a state that is deliberately removed from the maximum output state, and when a sudden need for large power or when there is a surplus, to instantly switch to operation in the maximum output state or to operation with a further reduced output, thereby increasing or decreasing the generated power and creating a pseudo electrical inertia.

[0009] In the system of Patent Document 1, since the storage battery is connected to the DC bus via a voltage conversion unit, the electric inertia is less effective and the electric inertia is relatively small, so the effect of suppressing voltage fluctuations by the battery is limited. In addition, in the systems of Patent Document 1 and Non-Patent Document 1, there is a risk that the DC bus voltage will temporarily drop below the lower limit level or exceed the upper limit level because the system cannot respond to a sudden increase or decrease in the power load due to a transmission delay of the control signal input and output to the controller. Therefore, in order to ensure stable operation of the power system, it is necessary to devise a way to more effectively suppress the voltage fluctuations of the DC bus due to such sudden increases and decreases in the power load. [Means for solving the problem]

[0010] According to a first aspect of the present invention, there is provided an autonomous cooperative control system including a DC bus to which a power load and a generator are connected, and a plurality of battery units directly connected to the DC bus. The plurality of battery units are distributed on the DC bus, and the terminal voltage of each battery unit is made to match or approximate a reference voltage of the DC bus.

[0011] According to a second aspect of the present invention, there is provided an autonomous cooperative control method including: measuring, by a voltmeter, a voltage of a DC bus to which a power load, a generator, and a plurality of battery units are connected, the plurality of battery units being distributed on the DC bus in a form in which they are directly connected to the DC bus, and a terminal voltage of each battery unit being equal to or close to a reference voltage of the DC bus; when the voltage of the DC bus reaches an upper or lower limit of a first voltage range centered on the reference voltage, connecting the DC bus to a power grid by a control circuit and switching to an assisted operation state in which the DC bus operates with assistance from the power grid; and when the voltage of the DC bus reaches a boundary of a specific range within the first voltage range in the assisted operation state, disconnecting the DC bus from the power grid by the control circuit and switching to an autonomous operation operation in which the DC bus operates without assistance from the power grid, wherein in the autonomous operation operation, at least some of the generators connected to the DC bus monitor the voltage of the DC bus, and perform an autonomous operation of stopping power generation or power supply to the DC bus when the voltage of the DC bus exceeds a preset upper limit level. Effect of the Invention

[0012] According to the present invention, it is possible to improve the stability of a power system that uses a DC bus. [Brief description of the drawings]

[0013] [Figure 1] 1 is a diagram illustrating an example of an autonomous cooperative control system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram illustrating an example of a DC bus according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a diagram illustrating an example of an equivalent circuit of a DC bus according to an embodiment of the present invention. [Figure 4] 10A and 10B are diagrams for explaining the damping characteristics of an electrical inertial force and the relationship between the thickness of a power line and the speed of damping. [Diagram 5] 13 is a diagram for explaining the relationship between the number of battery units loaded onto a DC bus and the strength of the electrical inertia force at each position on the DC bus. FIG. [Figure 6] 9 is a diagram showing a schematic arrangement of battery units corresponding to the graph of N=1 to 5 shown in FIG. [Figure 7] FIG. 2 is a block diagram illustrating a schematic example of a structure of a switch according to an embodiment of the present invention. [Figure 8] FIG. 2 is a diagram illustrating an example of an autonomous cooperative control method according to an embodiment of the present invention. [Figure 9] FIG. 1 is a diagram showing a simulation model of an autonomous cooperative control system. [Figure 10] FIG. 13 is a diagram showing a simulation result. [Figure 11] FIG. 2 illustrates a first stability condition for a DC bus according to an embodiment of the present invention. [Figure 12] FIG. 13 illustrates a second stability condition for a DC bus according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. In this specification and the drawings, elements having substantially the same functions are designated by the same reference numerals, and redundant description may be omitted.

[0015] (1. Autonomous and Cooperative Control System) First, an autonomous cooperative control system according to an embodiment of the present invention will be described. Fig. 1 is a diagram showing a schematic diagram of an autonomous cooperative control system 10. The autonomous cooperative control system 10 shown in Fig. 1 is an example of an autonomous cooperative control system according to an embodiment of the present invention, and the application range of the technology according to the embodiment of the present invention is not limited to this example.

[0016] The autonomous cooperative control system 10 includes a DC bus 11 to which one or more power loads and one or more generators are connected, and a plurality of battery units directly connected to the DC bus 11. The generators are renewable energy generators such as solar power generators (such as PV devices), wind power generators, and geothermal power generators. The power loads are power consumption facilities such as general households, factories, commercial facilities, and EV charging stations.

[0017] In Fig. 1, three battery units 12a, 13a, and 14a are illustrated as an example of a plurality of battery units connected to the DC bus 11. In addition, in Fig. 1, generators 12b, 13b, and 14b are illustrated as an example of one or more generators, and power loads 12c, 13c, and 14c are illustrated as an example of one or more power loads. The number of battery units, generators, and power loads is not limited to this example, and may be other than three. Hereinafter, the elements and operations of the autonomous cooperative control system 10 will be specifically described.

[0018] (1-1. DC bus and battery unit) As shown in Fig. 2, the DC bus 11 is composed of at least two power lines 11a and 11b. Fig. 2 is a schematic diagram of an example of a DC bus according to an embodiment of the present invention. For example, the DC bus 11 is a 5.5SQ two-core CV cable (Cross-linked polyethylene insulated Vinyl sheath cable), i.e., a cable with a core cross-sectional area of ​​about 5.5 mm 2 The DC bus 11 may be configured as a two-core CV cable. The voltage of the DC bus 11 is maintained within a preset voltage range (allowable voltage range) centered on a specified voltage level (reference voltage) by a control mechanism in the autonomous cooperative control system 10, which will be described later. The reference voltage may be set to, for example, 400V.

[0019] 2, each battery unit is directly connected to the power lines 11a, 11b of the DC bus 11. Also, each battery unit is configured so that its terminal voltage is approximately equal to the reference voltage of the DC bus 11. For example, two batteries, each having 60 3.2V battery cells connected in series, are prepared and connected to obtain one battery unit having a terminal voltage of 384V (approximately 400V).

[0020] As the battery of each battery unit, a lithium ion battery such as a lithium iron phosphate (LiFePO) battery or a lead acid battery can be suitably used. Lithium ion batteries and lead acid batteries have a characteristic that the terminal voltage decreases monotonically as the power load becomes heavier (so-called drooping characteristic). In addition, when the charge rate (SOC (State Of Charge)) is within a certain range, the terminal voltage changes almost linearly with the SOC (see graph 21a in FIG. 2). These characteristics provide stable operation against load fluctuations and allow the charge rate to be easily estimated from the terminal voltage.

[0021] A plurality of battery units are distributed on the DC bus 11 to increase the electrical inertia of the DC bus 11. The electrical inertia represents the resistance of the voltage of the DC bus 11 to a sudden increase in the amount of power consumed by the power load and a sudden increase in the amount of power supplied by the generator. For example, the electrical inertia f1 of the DC bus 11, which causes the voltage of the DC bus 11 to change by ΔV1 when a sudden current fluctuation of 1A occurs in the power load, is smaller than the electrical inertia f2 of the DC bus 11, which causes the voltage of the DC bus 11 to change by ΔV2 (ΔV1>ΔV2) under the same conditions. This means that the DC bus 11 having the electrical inertia f2 is more stable than the DC bus 11 having the electrical inertia f1.

[0022] (1-2. Electrical inertia force) Here, the source of the electrical inertial force of the DC bus 11 will be further described with reference to Fig. 3. Fig. 3 is a diagram showing a schematic example of an equivalent circuit of a DC bus on which battery units (storage batteries) are distributed and loaded.

[0023] The example of FIG. 3 is a schematic representation of an equivalent circuit of the DC bus 11 to which two battery units 31 and 32 are connected. The battery unit 31 is represented by a battery capacity 31a and an internal resistance 31b. Similarly, the battery unit 32 is represented by a battery capacity 32a and an internal resistance 32b. The inductance and resistance of the power line 11a are represented by distributed inductors 33a and 33b and distributed resistors 34a and 34b, respectively. Similarly, the inductance and resistance of the power line 11b are represented by distributed inductors 33c and 33d and distributed resistors 34c and 34d, respectively. The capacitance between the power lines 11a and 11b is represented by a line capacitance 35.

[0024] When the terminal voltage of the battery units 31, 32 is equal to the reference voltage of the DC bus 11, the smaller the internal resistances 31b, 32b of the battery units 31, 32 are, the larger the electrical inertia force becomes, and conversely, the larger the internal resistances 31b, 32b are, the smaller the electrical inertia force becomes. The electrical inertia force of the DC bus 11 is also related to the distributed resistances 34a, 34b, 34c, 34d of the power lines 11a, 11b. For example, the shorter the distance between the connection point of the power load and the connection point of the battery units 31, 32 is (i.e., the smaller the resistance of the power lines 11a, 11b is), the larger the electrical inertia force becomes.

[0025] The power load may be connected to any point (location) on the DC bus 11, and if the battery units are loaded in a concentrated manner at one location, the electrical inertia does not work sufficiently against a sudden increase in power consumption in the power load far from the battery units. On the other hand, if multiple battery units are loaded in a distributed manner at multiple locations on the DC bus 11, the expected electrical inertia works even if the power consumption of the power load loaded at any point on the DC bus suddenly increases, and a sudden voltage drop on the DC bus 11 can be suppressed. Similarly, a renewable energy generator such as a PV may be connected to any point on the DC bus, and even if the power supply from any generator suddenly increases, if the battery units are loaded in a distributed manner on the DC bus 11, the electrical inertia can suppress a sudden voltage rise on the DC bus 11.

[0026] For the above reasons, the embodiment of the present invention employs a configuration in which a plurality of battery units are distributed and loaded on the DC bus 11. The method of loading the battery units (number and arrangement) can be determined based on the strength of the required electrical inertia. For example, the method of loading the battery units can be determined by simulation or the like so that the voltage of the DC bus 11 is always maintained within an allowable voltage range in an assumed environment by also using control to connect the DC bus 11 to a power grid as necessary.

[0027] As described above, the electrical inertia force is important for stable operation of the DC bus 11. In addition to suppressing voltage fluctuations in the DC bus 11 caused by sudden fluctuations in the power consumption of the power load and / or the power generated by a generator such as a PV, suppressing voltage fluctuations over a longer period is also important for stable operation of the DC bus 11. The time during which the electrical inertia force can be sustained is longer as the battery capacities 31a, 32a of the battery units 31, 32 are larger, and is shorter as the battery capacities 31a, 32a are smaller. In other words, the larger the capacity of each battery unit is, the more it is possible to suppress voltage fluctuations in the DC bus 11 caused by fluctuations in power consumption and power generation over a longer period.

[0028] From the above, it can be said that the magnitude of the electric inertial force is determined by the electric resistance of the battery unit, etc., and the duration of the electric inertial force is determined by the battery capacity.

[0029] As described above, by distributing a plurality of battery units on the DC bus 11, the electric inertia force works effectively at any location on the DC bus 11, and the DC bus 11 can be stably operated. In addition, by increasing the capacity of each battery unit, the inertia duration is extended, which contributes to the stable operation of the DC bus 11 for a longer period of time. Note that, when a battery is indirectly connected to the DC bus via a DC / DC converter or the like, as in the systems described in Patent Document 1 and Non-Patent Document 1, the electric inertia force of the battery is less effective and the electric inertia force is relatively small, so that the effect of the battery in suppressing voltage fluctuations is limited.

[0030] Here, further explanation will be added regarding the above-mentioned electrical inertial force so that the characteristics thereof can be better understood.

[0031] First, in order to make it easier to intuitively understand the above-mentioned electrical inertia force, we will temporarily leave the discussion on the DC bus and briefly consider electrical "inertia force" using an existing power grid as an example.

[0032] The source of inertial force in existing power grids is the power plant located at the most upstream of the power grid. For example, in the case of a thermal power plant, a generator is turned by rotating a large steam turbine. A turbine has a large moment of inertia because its heavy rotating body rotates at high speed. Therefore, even if a large power load is suddenly applied and a force acts to slow down the rotation of the turbine, the large moment of inertia allows it to continue rotating without decreasing the rotation speed significantly. If the moment of inertia of the turbine's rotating body is M and the rotational angular velocity is ω, the energy K of the rotational motion of this turbine is given by the following equation (Equation 1).

number

[0033] At the power plant, the energy of the rotational motion of the turbine is converted into electrical energy by a generator, the voltage is stepped down at several substations along the way, and finally delivered to the power load. Now consider a case where a power load is suddenly connected to a transmission line with a baseline voltage of V, and a current of I(A) is drawn from it. In this case, the power P consumed by the power load is P=VI. If we do not take into account the transmission losses in the transmission line and the voltage conversion losses at the substation, this power P should be equal to the change in the rotational energy of the turbine at the power plant over time, according to the law of conservation of energy. Therefore, the following relationship (Equation 2) exists between the power P and the moment of inertia M of the turbine's rotating body.

number

[0034] From the above relationship, we can see that the strength of the inertial force (moment of inertia M) acting against the force that tries to slow down the turbine rotation speed by the connected power load is proportional to the power P that can be extracted by the connected power load. From this, we can see that the maximum power P that can be instantaneously extracted by the power load connected to the power line when connected is max It can be seen that the characteristics of the electrical inertia force can be evaluated using P max We further consider the characteristics of the electrical inertia on the DC bus using

[0035] First, consider a DC bus in which one battery unit is directly connected to the DC bus and the battery unit is integrated with the power line. If the reference voltage of the DC bus is denoted as V (the terminal voltage of the battery unit in a no-load state is also equal to V) and the internal resistance of the battery unit is denoted as r, then when one power load is connected to a certain position on the DC bus, the resistance is P max is given by the following formula (3): In the formula, r' represents the electrical resistance of the power line from the battery unit to the connection point of the power load.

number

[0036] Since the electrical resistance r' of the power line depends on the distance from the battery unit to the connection point of the power load, it can be seen that the electrical inertia varies depending on the position on the DC bus. Also, from the above formula (Equation 3), it can be seen that the electrical inertia weakens the farther away from the battery unit. For example, when V = 400 (V), r = 1 (Ω), and r' = 1 (Ω), P max =2×10 4 (W), and when r'=4(Ω), P max =0.8×10 4 (W). The electrical resistance r' of the power line also depends on the cross-sectional area of ​​the core wire. The larger the cross-sectional area of ​​the core wire, the smaller the electrical resistance dr per unit length. Therefore, by using a CV cable with a large cross-sectional area of ​​the core wire, it is possible to apply electrical inertia force to a position far from the battery unit. In this regard,max The characteristic changes are shown in Figure 4.

[0037] The graph in Figure 4 shows the P max The cross-sectional areas of the core wires of the CV cables compared are 8SQ (2×dr=4.34Ω / km), 22SQ (2×dr=1.08Ω / km), 60SQ (2×dr=0.397Ω / km), and 200SQ (2×dr=0.121Ω / km).

[0038] In both graphs, the P max However, when comparing the 8SQ and 200SQ cases, the 200SQ case shows that even if the battery unit is 800m away, the P max is 2×10 5 (W) or more, but in the case of 8SQ, it is 2 x 10 5 (W) or less. Thus, the electrical inertia force depends on the cross-sectional area of ​​the power line wire as well as the distance from the battery unit. Therefore, in order to ensure that the electrical inertia force acts evenly on the DC bus, the cross-sectional area of ​​the power line wire as well as the number and arrangement of the battery units is an important factor.

[0039] Conversely, once the cross-sectional area of ​​the core wire of the power line is determined, the range on the DC bus where the electrical inertia force of each battery unit acts with sufficient strength is also determined to some extent. As already explained, the strength of the electrical inertia force is mainly affected by the distance (i.e., electrical resistance) between the battery unit and the connection point of the power load, not by the capacity of each battery unit. Note that the capacity of each battery unit mainly affects the duration during which the electrical inertia force acts. Therefore, in order to apply a sufficient electrical inertia force to the power load connected anywhere on the DC bus, it is important to arrange an appropriate number of battery units at appropriate positions on the DC bus.

[0040] Therefore, using a model in which battery units are arranged at equal intervals on the DC bus, we investigated the P max The change in the characteristics of P for N=1-5, 10, and 20 was examined. max The calculation results are shown in FIG. 5. For the cases of N=1 to 5, examples of battery unit layout are shown in FIG. 6(a) to (e). In case (a) of N=1, a battery unit is placed in the center of the DC bus, and in case (b) of N=2, one battery unit is placed on each end of the DC bus. For the cases of N=3 to 5, as shown in FIG. 6(c) to (e), the battery units are placed so that they are spaced equally apart. Similarly, for the cases of N=10 and 20, the battery units are placed so that they are spaced equally apart. Note that these layout examples are merely examples, and the scope of application of the present invention is not limited to these.

[0041] Referring to FIG. 5, in the case of N=1, P max is the peak, and as you move away from that position, P max The value of P has dropped significantly. max =3×10 5 If more than (W) is required, in the case of N=1, this condition is not met at a location more than 300 m away from the battery unit. On the other hand, in the case of N=2, the P max =3×10 5 (W) or more, so that no matter where the power load is connected to the DC bus, there is a sufficient electrical inertia force. As N increases, the P max As the value of N increases, as in the cases of N = 10 and 20, the electrical inertia force becomes stronger. max The value approaches a nearly constant level.

[0042] In this way, by distributing multiple battery units on the DC bus, it becomes possible to exert a sufficient electrical inertia force over the entire DC bus or over the entire required area, and stable operation of the DC bus can be achieved. Such an effect cannot be obtained when the battery units are concentrated in one place (see the case of N=1). Therefore, in order to achieve stable operation of the DC bus by electrical inertia, it is necessary to distribute multiple battery units on the DC bus and to directly load each battery unit onto the DC bus. It is also preferable to use thicker power lines.

[0043] (1-3. Generators and power loads) Referring again to Fig. 2, as described above, the battery units of the autonomous cooperative control system 10 are distributed and loaded on the DC bus 11, and directly connected to the power lines 11a and 11b of the DC bus 11. On the other hand, the generators and power loads are indirectly connected to the DC bus 11, as in the generator 22 and the power loads 23 and 24 shown in Fig. 2, and operate autonomously.

[0044] In the example of FIG. 2, the generator 22 is connected to the DC bus 11 via the DC / DC converter 22a. When the DC bus 11 is not connected to the power grid (off-grid case), the generator 22 monitors the voltage of the DC bus 11, and when the voltage of the DC bus 11 exceeds a preset upper limit level, the generator 22 stops generating power, or the DC / DC converter 22a stops the power supply to the DC bus 11. These autonomous operations can reduce the risk of the voltage of the DC bus 11 increasing abnormally. On the other hand, when the DC bus 11 is connected to the power grid (on-grid case), the surplus power that cannot be consumed or stored among the generated power is absorbed by the power grid, so the generator 22 does not need to perform the above-mentioned autonomous operation. In this case, the generator 22 can feed all the generated power into the DC bus 11.

[0045] On the other hand, it is desirable for the power loads connected to the DC bus 11 to be able to freely receive the necessary power supply from the DC bus 11 when necessary. Therefore, autonomous operation is not familiar. However, in order to avoid blackouts, it is preferable for the power loads 23 to be connected to the DC bus 11 via an externally controllable CB (Circuit Breaker) 23a that allows them to be forcibly disconnected from the bus in an emergency or abnormality, as in the case of the power loads 23. The CB 23a has a role of cutting off the power supply from the DC bus 11 to the power loads 23 when the voltage of the DC bus 11 falls below a certain abnormal level. The abnormal level is set to a level significantly lower than a lower limit value LV1 of a first voltage range described later, and can also be set to a level lower than a lower limit value LV2 of an allowable voltage range (a third voltage range described later) allowed in the existing power system.

[0046] When an AC-driven power load 24 is connected to the DC bus 11, the power load 24 is connected to the DC bus 11 via a DC / AC converter 24a. The DC / AC converter 24a converts DC power from the DC bus 11 into AC power and supplies it to the power load 24. When the voltage of the DC bus 11 falls below the above-mentioned abnormal level, the DC / AC converter 24a may cut off the power supply from the DC bus 11 to the power load 24. Alternatively, a CB may be separately provided between the DC bus 11 and the power load 24. These controls make it possible to avoid a blackout.

[0047] (1-4. About autonomous cooperative control) Referring again to Fig. 1, the DC bus 11 is connected to a local grid 17 via a switch 15 and a converter 16. The local grid 17 is an external power system such as a power system capable of stably supplying power by using thermal power generation, hydroelectric power generation, wind power generation, nuclear power generation, etc., or another power grid. The local grid 17 not only supplies power to the connected DC bus 11, but also receives surplus power from the connected DC bus 11.

[0048] When switch 15 is turned on, the DC bus 11 and local grid 17 are connected. In the connected state, when the voltage of the DC bus 11 is lower than a certain level, power is supplied from the local grid 17 to the DC bus 11 via the converter 16, and conversely, when the voltage of the DC bus 11 is higher than a certain level, power from the DC bus 11 is received by the local grid 17. The converter 16 converts DC power on the DC bus 11 side to AC power on the local grid 17 side, or converts AC power on the local grid 17 side to DC power on the DC bus 11 side.

[0049] (A) Switch configuration example The function of the switch 15 described above can be implemented by, for example, the switch 40 shown in FIG. 7. FIG. 7 is a block diagram that shows a schematic configuration of the switch 40. As shown in FIG. 7, the switch 40 includes a voltmeter 41, a switching mechanism 42, and a control mechanism 43. The voltmeter 41 is a means for measuring the voltage at a connection point (voltage monitoring point) between the DC bus 11 and the local grid 17. The switching mechanism 42 is a means for switching between connection / disconnection between the DC bus 11 and the local grid 17. The control mechanism 43 is a means (e.g., a control circuit) for controlling the switching operation of the switching mechanism 42 based on the measurement value of the voltmeter 41. The configuration of FIG. 7 that employs the voltmeter is advantageous in terms of cost compared to the case where the configuration of a voltage monitoring system described later is employed. Details of the control by the control mechanism 43 will be described later with reference to FIG. 8.

[0050] As a modified example, the function of the control mechanism 43 may be omitted, and an external voltage monitoring system may be provided to monitor the voltage at the connection point between the DC bus 11 and the local grid 17 and to control the switch 15. In this case, the voltage monitoring system can be further modified to monitor the voltage of the DC bus 11 at the connection points of each battery unit, each generator, and each power load. The voltage monitoring system includes a processor and a memory. The processor is a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like. The memory is a read only memory (ROM), a random access memory (RAM), a flash memory, or the like. For example, the processor acquires measurement data of a voltmeter provided at each connection point through a communication line, and stores the acquired measurement data in the memory.

[0051] (B) Switch operation and autonomous cooperative control method Next, an autonomous cooperative control method according to an embodiment of the present invention will be described.

[0052] As already described, each battery unit connected to the DC bus 11 is configured so that the terminal voltage is approximately equal to the reference voltage of the DC bus 11 when the SOC is within a certain range, and is controlled so that the SOC is maintained within the certain range during operation. Each power load connected to the DC bus 11 is configured so that it can freely receive power supply from the DC bus 11 as needed within a range in which cutoff control by a CB or the like does not operate. Each generator connected to the DC bus 11 operates autonomously to stop power generation or cut off the power supply when the voltage of the DC bus 11 exceeds a certain level in the off-grid state where there is no power exchange with the local grid 17. On the other hand, each generator does not need to operate autonomously in the on-grid state where power exchange with the local grid 17 is possible, and the generated power can flow to the DC bus 11 without limit.

[0053] By each element connected to the DC bus 11 operating autonomously, a stable power supply from the DC bus 11 to each power load can be maintained to some extent even in an autonomous driving operation in an off-grid state in which the DC bus 11 is disconnected from the local grid 17. However, the voltage of the DC bus 11 may fall outside a preset first voltage range depending on the amount of power generated by each generator, the capacity and SOC of each battery, the number and size of power loads connected to the DC bus 11, or other factors. Therefore, when the voltage of the DC bus 11 is about to deviate from the first voltage range, the switch 15 is turned on, and the autonomous driving operation is switched to an on-grid state in which the DC bus 11 is connected to the local grid 17, and the operation is switched to an assist control operation by the local grid 17.

[0054] Here, the control by the control mechanism 43 will be described in more detail with reference to FIG. 8. FIG. 8 is a diagram showing an example of an autonomous cooperative control method according to an embodiment of the present invention. The vertical axis of the graph shown in FIG. 8 is the voltage of the DC bus 11 at the voltage monitoring point, and the horizontal axis is time. LV0, LV1, LV2, HV0, HV1, and HV2 in the diagram are preset voltage thresholds. LV0 is set to a level lower than the reference voltage (400V in this example), and LV1 is set to a level even lower than LV0. On the other hand, HV0 is set to a level higher than the reference voltage, and HV1 is set to a level even higher than HV0. In addition, the voltage range allowed in the existing power system is ±5% of the reference voltage, and the upper and lower limits of the voltage range are denoted as HV2 and LV2, respectively. In order to make the electric inertia force work effectively, it is necessary to set the range from LV1 to HV1 (first voltage range) so that the terminal voltage of the battery falls within a range showing a characteristic that changes almost linearly with respect to the SOC.

[0055] In the above example, when the voltage is about to deviate from the first voltage range, the switch 15 is turned on, and an assist operation from the local grid 17 is started. Then, the autonomous cooperative control system 10 controls the voltage of the DC bus 11 at all times to be within the first voltage range. However, slight undershoot and overshoot are permitted, and the voltage of the DC bus 11 at the voltage monitoring point may reach the range from HV1 to HV2 and the range from LV1 to LV2. However, when the voltage deviates from the first voltage range, assist control is performed to bring the voltage back within the first voltage range as quickly as possible. The range from LV0 to HV0 is referred to as the second voltage range. The second voltage range includes the reference voltage and is within the first voltage range. The range from LV2 to HV2 may be referred to as the third voltage range. The third voltage range is set to a specified voltage range (allowable voltage range) allowed by the existing power system (or the local grid to be connected). The first voltage range is set within the third voltage range.

[0056] A curve 51 in the figure represents the voltage at the connection point between the DC bus 11 and the local grid 17 (i.e., the connection point between the DC bus 11 and the switch 15). In this example, initially, in an off-grid autonomous operation state (a state in which the voltage of the DC bus 11 is within the second voltage range), the voltage of the DC bus 11 is near the reference voltage, but if the state in which the power generated by all the generators (such as PV) in the DC bus 11 exceeds the power consumption of the entire power load continues, the difference in power flows to the battery unit. As a result, the battery unit's charge rate increases, so the terminal voltage also increases, and the voltage of the DC bus 11 increases. The voltage of the DC bus 11 increases over time, exceeds HV0, and reaches HV1 at the point P1. In this way, when the voltage of the DC bus 11 increases and reaches HV1, the control mechanism 43 performs control to connect the DC bus 11 to the local grid 17. After the connection, surplus power is transmitted from the DC bus 11 to the local grid 17, and the voltage of the DC bus 11 begins to decrease. In other words, if converter 16 is operated so that the voltage on the DC bus 11 side of converter 16 is the reference voltage (400V in this example), current will flow from the DC bus 11, which has a higher voltage, to converter 16, and the voltage of DC bus 11, which has become too high, will begin to drop.

[0057] As already described, in the autonomous cooperative control system 10, a plurality of battery units are distributed and loaded on the DC bus 11, and the electrical inertia is strengthened. Therefore, a sudden voltage rise of the DC bus 11 is suppressed even in response to a sudden increase in the amount of power generation. As a result, even if the voltage slightly exceeds HV1 immediately before switching to on-grid due to some reason such as a transmission delay of a control signal, the voltage of the DC bus is pulled back into the first voltage range and quickly returns to a level equal to or lower than HV1. In this way, by increasing the electrical inertia, the time during which the voltage of the DC bus 11 deviates from the first voltage range can be shortened as much as possible. Note that it is preferable that the time until the voltage of the DC bus 11 returns to a level equal to or lower than HV1 is within a predetermined time (for example, 1 second). In other words, the autonomous cooperative control system 10 functions to return to the first voltage range within a predetermined time without deviating from the third voltage range, even if the voltage deviates from the first voltage range, due to charging from the DC bus 11 to the plurality of battery units directly connected to the DC bus 11 and the assist operation by the local grid 17.

[0058] After becoming on-grid at time P1, the voltage of the DC bus 11 drops below HV1, and then reaches HV0 at time P2. In this way, when the voltage of the DC bus 11 drops to reach HV0, the control mechanism 43 performs control to disconnect the DC bus 11 from the local grid 17, and ends the assist operation by the local grid 17.

[0059] In the example of FIG. 8, if the power generated by all the generators in the DC bus 11 continues to be lower than the power consumption of the entire power load of the DC bus 11 after the assist operation ends at P2, the difference in power is discharged from the battery unit. As a result, the battery charge rate decreases, so the terminal voltage also decreases, and the bus voltage decreases. As a result, the voltage of the DC bus 11 drops below LV0, and reaches LV1 at the point of P3. In this way, when the voltage of the DC bus 11 drops to LV1, which is the lower limit of the first voltage range, the control mechanism 43 connects the DC bus 11 to the local grid 17 and obtains assistance from the local grid 17 again. After the connection, power is supplied from the local grid 17 to the DC bus 11, and the voltage of the DC bus 11 starts to rise.

[0060] Since the autonomous cooperative control system 10 has a strengthened electric inertia force, a sudden voltage drop in the DC bus 11 is suppressed even in response to a sudden increase in load. As a result, even if the voltage falls slightly below LV1 immediately before switching to on-grid due to some reason such as a transmission delay of a control signal, it is quickly pulled back into the first voltage range and quickly returned to a level equal to or higher than LV1. In this way, by increasing the electric inertia force, the time during which the voltage of the DC bus 11 deviates from the first voltage range can be shortened as much as possible. Note that it is preferable that the time until the voltage returns to a level equal to or higher than LV1 is within a predetermined time (for example, 1 second). In other words, even if the autonomous cooperative control system 10 deviates from the first voltage range due to discharge from a plurality of battery units directly connected to the DC bus 11 to the DC bus 11 and the assist operation by the local grid 17, it functions to return to the first voltage range within a predetermined time without deviating from the third voltage range.

[0061] After becoming on-grid at time P3, the voltage of the DC bus 11 rises and exceeds LV1, and then reaches LV0 at time P4. When the voltage of the DC bus 11 rises and reaches LV0, the control mechanism 43 disconnects the DC bus 11 from the local grid 17, and ends the assist operation by the local grid 17.

[0062] As described above, when the voltage of the DC bus 11 at the voltage monitoring point rises and reaches HV1, and when the voltage drops and reaches LV1, the control mechanism 43 turns on the switch 15 to connect the DC bus 11 to the local grid 17. When the voltage of the DC bus 11 at the voltage monitoring point drops and reaches HV0, and when the voltage rises and reaches LV0, the control mechanism 43 turns off the switch 15 to disconnect the DC bus 11 from the local grid 17. By these controls, the voltage of the DC bus 11 is generally maintained within the first voltage range, and even if a slight overshoot or undershoot occurs, it quickly converges to the first voltage range without departing from the third voltage range. The control in the case where a voltage monitoring system is used (modified example) is similar to the above.

[0063] <2. Stability conditions for DC bus voltage> As described above, by distributing and directly connecting the battery units to the DC bus 11 to strengthen the electrical inertia force and by appropriately setting the capacity of each battery unit to ensure sufficient inertia duration, stable operation of the DC bus 11 through autonomous cooperative control can be achieved in an assumed environment. However, the conditions for stable operation (stability conditions) depend on the scale of the power load loaded on the DC bus 11, the thickness (electrical resistance) and length of the core wire of the bus electric cable, etc. Therefore, the stability conditions were explored by simulation.

[0064] (2-1. Simulation model and assumed environment) For the simulation, the simulation model shown in Fig. 9 was used. Fig. 9 shows a simulation model of the autonomous cooperative control system.

[0065] In this model, a first battery unit 61 connected to batteries 61a and 61b, a second battery unit 62 connected to batteries 62a and 62b, and a third battery unit 63 connected to batteries 63a and 63b are loaded onto a DC bus 11. Each battery is assumed to be a lithium-ion battery, and the cells are configured so that the terminal voltage is approximately equal to the reference voltage of the DC bus 11, and the battery operates in a region in which the terminal voltage changes linearly with respect to the SOC. Power loads 61c, 62c, and 63c, and generators 61d, 62d, and 63d are further loaded onto the DC bus 11. The DC bus 11 is connected to a switch 64 and configured to be connectable to a local grid 65.

[0066] Here, the distance (length of the power line) between the first battery unit 61 and the power load 61c is L1, and the distance between the power load 61c and the generator 61d is L2. The distance between the second battery unit 62 and the generator 61d is L3, and the distance between the second battery unit 62 and the power load 62c is L4. The distance between the power load 62c and the generator 62d is L5, the distance between the generator 62d and the third battery unit 63 is L6, and the distance between the third battery unit 63 and the power load 63c is L7. The distance between the power load 63c and the generator 63d is L8.

[0067] In this model, each power line of the DC bus 11 is a 5.5SQ CV cable. The reference voltage of the DC bus 11 is set to 400V, and one power line is set to +200V with respect to the ground potential, and the other power line is set to -200V with respect to the ground potential. The total length of the DC bus 11 is set to 200m, and the distances L1 to L8 between the connection points are all set to 25m. In this example, the same level of electrical inertia force acts on any power load when a sudden increase in power consumption occurs.

[0068] In the simulation, the stop or cutoff control of each generator is omitted, and the generated power from each generator is supplied to the DC bus 11 without any restrictions. The amount of power supplied from each generator is assumed to be the amount of power generated by PV equivalent to the amount of sunlight in January in Sendai City, Japan, and the amount of power consumed by each power load is assumed to be the amount of power consumed by an average household in January in Sendai City. The voltage thresholds LV2, LV1, LV0, HV0, HV1, and HV2 are set to 380V, 385V, 395V, 405V, 415V, and 420V, respectively. The voltage range allowed in the existing power system is ±5% of the reference voltage, and the voltage thresholds HV2 and LV2 are set to the upper and lower limits of that voltage range, respectively. Note that MALTAB / Simulink was used as the simulation tool, but a person skilled in the art can verify the following simulation results with any tool by referring to the above-mentioned simulation conditions.

[0069] The connection state between the local grid 65 and the DC bus 11 is switched by controlling the switch 64 using the control method shown in Fig. 8. Simulation results for the above model and environment are shown in Fig. 10. Fig. 10 shows the results of simulating the change in DC bus voltage at the connection point with the local grid 65 over the month of January.

[0070] (2-2. Simulation results) Graph 71 in FIG. 10(a) shows the simulation results corresponding to the first scenario in which the capacity of each battery unit is (20 / 3) kWh and the total capacity of the batteries connected to the DC bus 11 is 20 kWh. As graph 71 shows, the voltage of the DC bus 11 is maintained in a range between LV1 and HV1 by receiving assistance from the local grid 65 as necessary. Since the battery units are distributed and loaded on the DC bus 11 and a sufficient electrical inertia force is acting, the voltage does not deviate significantly from that range and the voltage of the DC bus 11 is always stable.

[0071] Graph 72 in FIG. 10(b) shows the simulation results corresponding to the second scenario in which the capacity of each battery unit is (10 / 3) kWh and the total capacity of the batteries connected to the DC bus 11 is 10 kWh. As shown in graph 72, the voltage of the DC bus 11 is maintained in a range between LV1 and HV1 by receiving assistance from the local grid 65 as necessary. As in the first scenario, sufficient electrical inertia is acting so that the voltage does not deviate significantly from the range and the voltage of the DC bus 11 is always stable. However, due to the reduced capacity of each battery unit, assistance from the local grid 65 is received more frequently in the second scenario than in the first scenario.

[0072] Graph 73 in FIG. 10(c) shows the simulation results corresponding to the third scenario in which the capacity of each battery unit is (5 / 3) kWh and the total capacity of the batteries connected to the DC bus 11 is 5 kWh. As shown in graph 73, the voltage of the DC bus 11 is maintained within the range from LV1 to HV1 by receiving assistance from the local grid 65 as necessary. As in the first scenario, sufficient electrical inertia is present, so the voltage does not deviate significantly from the range and the voltage of the DC bus 11 is always stable. However, because the capacity of each battery unit has been further reduced, assistance from the local grid 65 is received more frequently in the third scenario than in the second scenario.

[0073] From the above simulation results, it can be seen that as the battery capacity decreases, the frequency of being on-grid increases, and the frequency and duration of receiving assistance from the local grid 65 also increases. Meanwhile, even in the third scenario with the smallest battery capacity, the voltage of the DC bus 11 recovers to a range of LV1 or higher or HV1 or lower immediately after receiving assistance from the local grid 65, and stable operation of the DC bus 11 is achieved. This shows that even if the battery unit is small, stable operation of the DC bus 11 can be achieved by distributing multiple battery units on the DC bus 11 and obtaining appropriate assistance from the local grid 65 through autonomous cooperative control.

[0074] However, as the scale of the power load (for example, the number of power loads connected to the DC bus 11 or the size of the load) increases, the range of voltage fluctuations accompanying sudden changes in power consumption also increases. To deal with this, it is necessary to increase the capacity of the battery loaded on the DC bus 11. However, since an increase in battery capacity leads to an increase in cost, it is necessary to find an optimal balance between battery cost and the stability of the DC bus voltage. Therefore, based on the above simulation model, we repeatedly performed simulations while changing the scale of the power load and the battery capacity to explore the stability conditions of the DC bus.

[0075] FIG. 11 is a diagram showing the stability conditions of the DC bus according to the embodiment of the present invention. The stable region 81 in the figure shows the condition (stability condition) in which the voltage of the DC bus 11 is almost maintained within the first voltage range by receiving assistance from the local grid 65 as necessary. On the other hand, the unstable region 83 shows the condition in which the voltage of the DC bus 11 that has deviated from the first voltage range cannot be restored to the first voltage range even with assistance from the local grid 65, or takes a very long time (a certain specified value A (e.g., 60 seconds or more)) even if it can be restored. The transition region 82 is an intermediate state between the stable region 81 and the unstable region 83, and shows the condition in which the voltage of the DC bus 11 frequently deviates from the first range, and the time required to restore to the first voltage range even with assistance from the local grid 65 is shorter than a certain specified value A but longer than a certain specified value B (e.g., 1 second).

[0076] With reference to the stable region 81, it can be seen that if the battery capacity is sufficiently large, the DC bus 11 can be operated stably regardless of the scale of the power load. However, from the viewpoint of cost, it is preferable that the battery capacity is small. Therefore, when attention is paid to the boundary between the stable region 81 and the transition region 82, it can be seen that the battery capacity required for stable operation of the DC bus 11 is proportional to the scale of the power load in a range where the scale of the power load is a certain value or more (4 or more in this example). According to the stability conditions shown in FIG. 11, the capacity of each battery unit loaded on the DC bus 11 may be set to a minimum capacity proportional to the scale of the power load, and the stability of the DC bus 11 can be maintained by distributed loading even with such small-capacity battery units.

[0077] As already explained, the stability of the DC bus 11 depends not only on the battery capacity but also on the electrical inertia force. The electrical inertia force is related not only to the internal resistance of the battery but also to the distributed resistance of the power line. The distributed resistance of the power line increases as the distance between the connection point of the power load and the connection point of the battery unit becomes longer or as the power line becomes thinner. When the distributed resistance of the power line increases, the electrical inertia force becomes less likely to act. Therefore, it is more preferable for the stability of the DC bus 11 that the distance between the connection point of the power load and the connection point of the battery unit is shorter and the power line is thicker.

[0078] Fig. 12 is a diagram showing the stability conditions of the DC bus according to the embodiment of the present invention from a different perspective than that of Fig. 11. The graph in Fig. 12 has the cross-sectional area of ​​the core wire of the CV cable used for the power line on the horizontal axis and the length of the CV cable on the vertical axis, and maps a stable region 91, a transition region 92, and an unstable region 93.

[0079] The stable region 91 indicates a condition (stability condition) in which the voltage of the DC bus 11 is maintained almost within the first voltage range by receiving assistance from the local grid 65 as necessary. On the other hand, the unstable region 93 indicates a condition in which the voltage of the DC bus 11 that has deviated from the first voltage range cannot be restored to the first voltage range even with assistance from the local grid 65, or, even if it can be restored, it takes a certain specified value A or more. The transition region 92 is an intermediate state between the stable region 91 and the unstable region 93, and indicates a condition in which the voltage of the DC bus 11 frequently deviates outside the first range, and even with assistance from the local grid 65, it takes a time shorter than a certain specified value A but longer than a certain specified value B to restore to the first voltage range. As can be seen from the graph in FIG. 12, the thinner and longer the CV cable, the larger the distributed resistance of the power line, and the lower the stability of the DC bus 11 tends to be. From this, it can be seen that in order to ensure stable operation of the DC bus 11, it is important to use a CV cable with as thick a core wire as possible, and to keep the length of the CV cable below a certain level.

[0080] Table 1 below shows the relationship between the thickness of the core wire of the CV cable and the overall length of the DC bus 11 in which the state of the stable region 91 can be maintained. SQ is the cross-sectional area of ​​the core wire of the CV cable, and L is the overall length of the DC bus 11. From Table 1, it can be seen that by making the core wire of the CV cable thicker, the stability of the DC bus 11 can be maintained even if the overall length of the DC bus 11 is extended. This is because a thicker core wire reduces the distributed resistance of the CV cable, and the electrical inertia force acts stronger than when the core wire is thin. In other words, by making the core wire thicker and strengthening the electrical inertia force, the overall length of the DC bus 11 can be extended while maintaining the stability of the DC bus 11.

[0081] [Table 1]

[0082] Although the preferred embodiment of the present invention has been described above with reference to the accompanying drawings, the present invention is not limited to the above examples. It is clear that a person skilled in the art can think of various modified or altered examples within the scope of the claims, and these also naturally belong to the technical scope of the present invention. [Explanation of symbols]

[0083] 10 Autonomous and cooperative control system 11 DC Bus 11a, 11b power line 12a, 13a, 14a Battery Unit 12b, 13b, 14b Generators 12c, 13c, 14c power loads 15 Switch 16 Converter 17 Local Grid

Claims

1. An autonomous cooperative control system, comprising: a DC (Direct Current) bus to which a power load and a generator are connected, the DC bus being connected to a local grid consisting of a power system or another power system when a voltage of the DC bus reaches an upper limit or a lower limit of a first voltage range centered on a reference voltage of the DC bus, and operating with assistance from the local grid; A plurality of battery units directly connected to the DC bus, the plurality of battery units being distributed on the DC bus, and a terminal voltage of each battery unit being equal to or close to a reference voltage of the DC bus; Equipped with An autonomous cooperative control system, wherein a total length of the DC bus in the autonomous cooperative control system is set to be longer in proportion to a cross-sectional area of ​​a power line forming the DC bus, thereby maintaining a stable region state in which the voltage of the DC bus does not deviate from a third voltage range allowed in the local grid and returns to within the first voltage range within a predetermined time.

2. When the voltage of the DC bus reaches an upper limit or a lower limit of a first voltage range from within a first voltage range centered on the reference voltage, the DC bus is connected to a local grid consisting of a power system or another power system and switches to an assisted operation state in which the DC bus operates with assistance from the local grid; when in the assisted driving state the voltage of the DC bus reaches a boundary of a second voltage range within the first voltage range, the DC bus is disconnected from the local grid and switches to an autonomous driving operation in which the DC bus operates without assistance from the local grid; In the autonomous operation, at least some of the generators connected to the DC bus monitor the voltage of the DC bus and perform an autonomous operation to stop generating power or supplying power to the DC bus when the voltage of the DC bus exceeds a preset upper limit level. The autonomous cooperative control system according to claim 1 .

3. The plurality of battery units are directly connected to the DC bus, thereby functioning to suppress a sudden voltage change of the DC bus when power consumption due to a power load on the DC bus and power generation by a generator suddenly increase. The autonomous cooperative control system according to claim 2 .

4. the first voltage range is set within the third voltage range, and the autonomous cooperative control system functions to suppress abrupt voltage changes in the DC bus by the plurality of battery units and to prevent the voltage of the DC bus from deviating from the third voltage range and to return to the first voltage range within a predetermined time by assistance from the local grid, even if the power consumption and the amount of power generation increase suddenly and the voltage of the DC bus deviates from the first voltage range. The autonomous cooperative control system according to claim 3 .

5. a capacity of each battery unit directly connected to the DC bus is set to increase in proportion to a scale of a power load connected to the DC bus, thereby maintaining a stable region state in which the voltage of the DC bus does not deviate from the third voltage range and returns to within the first voltage range within the predetermined time; The autonomous cooperative control system according to claim 4.

6. A step of measuring a voltage of a DC (Direct Current) bus to which a power load, a generator, and a plurality of battery units are connected by a voltmeter, the plurality of battery units being distributed and loaded on the DC bus in a form of being directly connected to the DC bus, and a terminal voltage of each battery unit being equal to or close to a reference voltage of the DC bus; a step of switching to an assisted operation state in which the DC bus is connected to a local grid consisting of a power grid or another power system by a control circuit when the voltage of the DC bus reaches an upper limit or a lower limit of the first voltage range from within a first voltage range centered on the reference voltage, and the control circuit operates with assistance from the local grid; and when the voltage of the DC bus reaches a boundary of a second voltage range within the first voltage range in the assisted driving state, disconnecting the DC bus from the local grid by the control circuit and switching to an autonomous driving operation in which the vehicle operates without assistance from the local grid; by setting an overall length of the DC bus in an autonomous cooperative control system including the DC bus and the plurality of battery units to be longer in proportion to a cross-sectional area of ​​a power line forming the DC bus, a stable region state is maintained in which the voltage of the DC bus does not deviate from a third voltage range permitted in the local grid and returns to within the first voltage range within a predetermined time; In the autonomous operation, at least some of the generators connected to the DC bus monitor the voltage of the DC bus and perform an autonomous operation to stop generating power or supplying power to the DC bus when the voltage of the DC bus exceeds a preset upper limit level. Autonomous cooperative control method.

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