Power distribution control device, power supply system, power supply vehicle, computer program, and power distribution control method

Abstract

To solve the imbalance among outputs of a plurality of power source vehicles the DC outputs of which are connected, irrespective of the configurations of the power source vehicles or the configuration of wiring of a load.SOLUTION: A power distribution control device includes an output information acquisition unit that acquires, from power source vehicles the DC outputs of which are connected, output information indicating the respective DC outputs of the power source vehicles, and a control parameter calculation unit that calculates, for each of the power source vehicles, a control parameter for equalizing the DC outputs from the output information on the power source vehicles. The power distribution control device transmits the control parameter to a vehicle control device provided in each of the power source vehicles and configured to be able to control an output voltage. Accordingly, the control parameter is given to droop control which is performed by the vehicle control device.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a power supply system including a plurality of power supply vehicles whose outputs are connected and operated in parallel, and configured to be capable of supplying power to an external load, a power supply vehicle, and an apparatus, method, and computer program configured to be capable of controlling the power distribution of the plurality of power sources. [Background technology]

[0002] Power supply vehicles equipped with a power storage device and a generator are known (for example, Patent Documents 1 and 2). Vehicles with such power generation capabilities use engine power as the driving force for traveling and the driving force for operating the generator, and can supply power to loads outside the vehicle as a power source at the destination in the event of a disaster, for example. 2. Description of the Related Art With the aim of increasing the capacity of output power, a power system has been put into practical use in which the AC outputs of multiple power supply vehicles are linked together to operate multiple power supply vehicles in parallel.

[0003] Meanwhile, a microgrid including a plurality of power supply devices connected by DC power lines is known (Patent Document 3). In Patent Document 3, a method called droop control is used in which a control unit of a representative power supply device among the plurality of power supply devices controls the voltage level of a DC bus line to decrease at a predetermined slope in proportion to an increase in load current. Each power supply device is connected with a device as a load. Droop control is performed to resolve imbalances in the outputs of power supply units. For example, when the current from one power supply increases, the voltage of that power supply drops, causing a corresponding current to flow from another power supply. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-201987 [Patent Document 2] Japanese Patent Application Publication No. 7-231579 [Patent Document 3] International Publication No. 2018 / 173546 Summary of the Invention [Problem to be solved by the invention]

[0005] When linking multiple power sources, including power supply vehicles, using an AC power distribution system, it is necessary to coordinate not only the voltage level but also the frequency and phase between the multiple power sources, which requires equipment and controls for synchronized operation. On the other hand, with a DC power distribution system, multiple power sources can be linked by adjusting the voltage levels, and storage batteries, solar power generation devices, and the like that use the same DC can be easily connected to the grid.

[0006] For this reason, DC power distribution is advantageous when building a power system that links multiple power sources, but even with droop control, it is difficult to resolve imbalances in the output of each power generation vehicle.This is because it is not always possible to place all vehicles close to the load, as in a microgrid, and differences in the output voltage of each power generation vehicle occur due to wiring resistance.

[0007] When a power generation vehicle is moved to a new location, it is assumed that the vehicle will be placed at a location away from the load, and that other power generation vehicles and power equipment will be connected to that vehicle in numbers appropriate to the required power capacity. When the load is concentrated at the end of the DC system current flow in this way, the imbalance in the output of each power generation vehicle is greatest due to wiring resistance. Uncertainty in the wiring lengths between power generation vehicles and between power generation vehicles and loads also contributes to imbalances due to wiring resistance. It is difficult to measure wiring resistance and update the power distribution control each time the wiring configuration of multiple power generation vehicles and loads is changed. The degree of imbalance increases as the load power increases.

[0008] In view of the above, an object of the present disclosure is to provide a power distribution control device, a power supply system, a power supply vehicle, a computer program, and a power distribution control method that are capable of resolving imbalances in the output of each power supply vehicle, regardless of the wiring configuration of the multiple power supply vehicles and loads to which DC outputs are connected. [Means for solving the problem]

[0009] The power distribution control device disclosed herein includes an output information acquisition unit that acquires output information indicating the DC output of each of a plurality of power supply vehicles connected to a DC output, and a control parameter calculation unit that calculates, for each power supply vehicle, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles. The power distribution control device provides the control parameter to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control the output voltage, thereby providing the control parameter to the droop control performed by the vehicle control device.

[0010] The power supply system of the present disclosure comprises the above-mentioned power distribution control device and a plurality of power supply vehicles, the power distribution control device being provided separately from the power supply vehicles or being provided in at least one of the power supply vehicles, and the power distribution control device of one power supply vehicle being configured to be able to control the characteristic value of the droop control while communicating with the vehicle control devices of the other power supply vehicles.

[0011] The power supply vehicle of the present disclosure is a power supply vehicle equipped with the above-mentioned power distribution control device, and the power distribution control device is configured to be able to control the characteristic value of droop control while communicating with the vehicle control devices of other power supply vehicles.

[0012] The computer program disclosed herein causes a computer to perform the following operations: acquire output information indicating the DC output of each of multiple power supply vehicles to which DC output is connected; calculate control parameters for each power supply vehicle from the output information of each of the multiple power supply vehicles to level the DC output; and send the control parameters to a vehicle control device that is provided in each of the multiple power supply vehicles and is configured to be able to control the output voltage, thereby providing the control parameters to droop control performed by the vehicle control device.

[0013] The power distribution control method of the present disclosure comprises the steps of: acquiring output information indicating the DC output of each of a plurality of power supply vehicles to which DC output is connected; calculating, for each power supply vehicle, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles; providing the control parameter to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control the output voltage, thereby providing the control parameter to the droop control performed by the vehicle control device; and adjusting the control parameter for each power supply vehicle using the output information, thereby leveling the DC output. [Effects of the Invention]

[0014] According to the present disclosure, by providing control parameters calculated using power supply car output information acquired by the power distribution control device from each power supply car to the droop control performed by the control device of each power supply car, it is possible to level the output of each power supply car even if the degree of output imbalance is so great that it is difficult to reduce the imbalance in the output of each power supply car using typical droop control alone. This allows each power supply car to operate at an averagely high capacity, making it possible to supply large amounts of stable power.

[0015] The information required for power distribution control in the present disclosure is the output information of each power supply vehicle, and does not require information such as measured wiring resistance values ​​or DC grid topology. According to the present disclosure, it is possible to resolve imbalances in the output of each power supply vehicle, regardless of the wiring configuration of multiple power supply vehicles and loads or the connection position of the loads. [Brief explanation of the drawings]

[0016] [Figure 1] The upper part is a diagram schematically illustrating a power supply system according to a first embodiment of the present disclosure, and the lower part is a diagram illustrating the configuration related to power supply from one of multiple power supply vehicles included in the power supply system. [Figure 2] The upper graph is a graph illustrating the basic logic of droop control employed in the vehicle control device of each power supply vehicle, and the lower graph is a diagram showing an example of wiring between multiple power supply vehicles and loads. [Figure 3] 2 is a schematic diagram illustrating an example of a functional configuration of the power distribution control device illustrated in FIG. 1. FIG. [Figure 4] FIG. 10 is a diagram showing an example of automatic adjustment logic for control parameters applied to the droop control of each power supply vehicle. [Figure 5] The upper graph shows the effect of improving the power distribution variation by automatically adjusting the control parameter (proportionality constant) in the first embodiment. The lower graph shows a comparative example in which droop control is performed with a fixed proportionality constant for all power supply vehicles. [Figure 6] The upper graph shows that the variation in power allocation is small according to the first embodiment, and the lower graph shows that the variation in power allocation is large according to the comparative example. [Figure 7] FIG. 10 is a diagram showing an example of automatic adjustment logic for control parameters of droop control that takes into account the power generation capacity of each power supply vehicle, in relation to the second embodiment of the present disclosure. [Figure 8] The upper diagram shows an example of the configuration of a power distribution control device when acquiring power generation capacity from state quantities related to power generation capacity, and the lower diagram shows examples of state quantities such as the remaining fuel amount and the SOC (State Of Charge) of a storage battery. [Figure 9] FIG. 11 is a schematic diagram illustrating the connection of another power supply vehicle to a DC system including a plurality of power supply vehicles and loads, in relation to a third embodiment of the present disclosure. [Figure 10] 10 is a graph for explaining adjustment of the characteristic value of the droop control in another power supply vehicle that is connected. [Figure 11] 10 is a diagram showing the output voltages of each of a plurality of power supply vehicles according to the fourth embodiment of the present disclosure. Voltage correction control performed according to the fourth embodiment solves the problem of the output voltage of the power supply vehicles deviating from the allowable range. [Figure 12] The upper graph shows deviation of the output voltage when voltage correction control is not applied, and the lower graph is a graph for explaining voltage correction control that temporarily increases the reference command value of the output voltage in the fourth embodiment. [Figure 13] 10 is a graph for explaining threshold values ​​used in the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of the present disclosure will be described with reference to the accompanying drawings. [First embodiment] (Overall schematic structure) The power supply system 1 shown in the upper part of FIG. 1 comprises a plurality of power supply vehicles 10 (10-1, 10-2, 10-3, ... 10-n) whose DC outputs are connected together and operated in parallel, and a power distribution control device 20 configured to be able to control the power distribution of the plurality of power supply vehicles 10. Each power supply vehicle 10 has an output terminal 10A that outputs the built-in vehicle DC system 11 to the outside of the vehicle, making it possible to supply power to an external load. A number of power supply vehicles 10 corresponding to the power capacity required for the power load 3 (hereinafter referred to as the load) are operated in parallel. In the specification and drawings, the power supply vehicle 10 may be referred to as a "vehicle."

[0018] The power supply vehicle 10 has the function of generating power and storing the generated power, and can be used, for example, to supply power to important facilities (shelters, hospitals, city and ward offices, starting devices at power plants, etc.) in the event of a power outage due to a disaster, or to supply power to electrically driven machines in non-electrified areas such as mountainous regions. The load 3 corresponds to a single or multiple pieces of equipment.

[0019] When each power supply vehicle 10 travels to a location where power is needed and their respective DC output terminals 10A are connected via power lines 101, the multiple power supply vehicles 10 function as a single power source, making it possible to supply large amounts of power. When a load 3 is connected to the power supply system 1, the multiple power supply vehicles 10 and the load 3 form a DC system 100, and share the load 3. It should be noted that the DC system 100 can be connected to other DC power supply devices such as, for example, a large-capacity storage battery, a solar power generation device, a wind power generation device, and the like.

[0020] 1 shows an example in which first, power supply vehicle 10-1 is connected to load 3 using electric wire 101, and then, starting from power supply vehicle 10-1 as the starting point, power supply vehicles 10-1, 10-2, 10-3, ... 10-n are successively connected via electric wire 101 to increase the power capacity. In this case, current flows through DC system 100 from the position of power supply vehicle 10-n toward load 3, so load 3 is located at the end of DC system 100. This is just one example, and the location of the load 3 is not necessarily limited to the end of the DC system 100. In addition to the load 3, other loads may be connected to an appropriate position in the DC system 100, for example, between the power supply vehicles 10-2 and 10-3. Furthermore, the wiring lengths between power supply vehicles 10 are not necessarily equal as shown in the figure, and the wiring lengths between power supply vehicles 10 may differ depending on the parking position of each power supply vehicle 10, etc.

[0021] (Power supply car configuration) 1 shows an example of the configuration related to power supply of the power supply vehicle 10. All of the multiple power supply vehicles 10 included in the power supply system 1 have the same configuration.

[0022] The power supply vehicle 10 is equipped with a vehicle control device 12 connected to the power distribution control device 20 via a communication system 110 so as to be able to communicate bidirectionally with the power distribution control device 20; an internal combustion engine 13 fueled by gasoline or diesel; a generator motor 14 mounted on a drive shaft (not shown) connected to the wheels W; an AC / DC converter 15 that converts AC power output from the generator motor 14 into DC power; a power storage device 16 that includes a secondary battery such as a lithium-ion battery and is capable of being charged and discharged; a bidirectional DC / DC converter 17 that controls the charging and discharging of the power storage device 16; an in-vehicle load 18 that corresponds to equipment such as lights and windshield wipers that is mounted on the power supply vehicle 10; and an output terminal 10A that connects the vehicle DC system 11 to the DC system 100 of the power supply system 1.

[0023] The power supply vehicle 10 of this embodiment corresponds to a so-called hybrid vehicle equipped with an engine 13 and a generator motor 14 as power sources for traveling. However, the power supply vehicle 10 is not limited to this, and may be an electric vehicle that does not have an engine and travels solely by the driving force of an electric motor that is rotated by power supplied from an electricity storage device.

[0024] The generator motor 14 is driven by power supplied from the power storage device 16 to assist the driving force of the engine 13, while generating electricity by being rotated by the power output by the engine 13 or by rotation accompanied by regenerative braking during deceleration, thereby charging the power storage device 16. The power supply vehicle 10 runs on driving force input from the engine 13 and the generator motor 14 to the drive shaft via a transmission and a differential device (not shown).

[0025] An AC / DC converter 15, a bidirectional DC / DC converter 17, and an in-vehicle load 18 are connected to the vehicle DC system 11. Electric power is exchanged between, for example, the generator motor 14 and the power storage device 16 via the vehicle DC system 11, and power is supplied from the power storage device 16 or the generator motor 14 to the in-vehicle load 18. The bidirectional DC / DC converter 17 converts, by stepping up or stepping down, the DC power supplied from the power storage device 16 into DC power of a voltage that can be output to the vehicle DC system 11, and also converts the DC power supplied from the vehicle DC system 11 into DC power of a voltage that can be output to the power storage device 16.

[0026] A connection device 19 equipped with a circuit breaker, an inrush current prevention circuit, etc. is preferably provided at the output section of the vehicle DC system 11 to prevent damage to equipment and for safety protection. The voltage of the vehicle DC system 11 and the voltage of the DC system 100 to which the vehicle DC system 11 is connected may be the same as or different from each other. Even if there is a difference in their voltage levels, a DC / DC converter capable of stepping up and down can be provided at the output section (for example, the connection device 19) of the vehicle DC system 11 to match the voltage levels of the DC output of the power supply vehicle 10 and the DC system 100.

[0027] The output section of the vehicle DC system 11 is provided with a voltmeter 191 that measures the output voltage from the output terminal 10A to the DC system 100, and an ammeter 192 that measures the output current from the output terminal 10A to the DC system 100. The output section of the vehicle DC system 11 may also be provided with a wattmeter that measures the output power from the output terminal 10A to the DC system 100. When a connection device 19 or a step-up / step-down DC / DC converter is provided at the output section of the vehicle DC system 11, output measuring devices such as a voltmeter 191 and an ammeter 192 are arranged on the secondary side of the connection device 19 or the step-up / step-down DC / DC converter.

[0028] (Droop control by vehicle control device) The vehicle control device 12 has a driving control mode that controls the operation of the engine 13, generator motor 14, etc. when the power supply vehicle 10 is running, and a power supply control mode that controls the engine 13, generator motor 14, electricity storage device 16, etc. when supplying DC power to the external load 3. When the vehicle control device 12 is set to the power supply control mode, the vehicle control device 12 controls the output voltage output from the vehicle DC system 11 to the DC system 100 by droop control.

[0029] As shown in the upper part of Figure 2, droop control adjusts the output voltage command value (command voltage V req ) to determine Droop control is performed using the same basic logic by the vehicle control devices 12 of the power supply vehicles 10 connected via the DC system 100. In this way, for example, if the output current from some vehicles (e.g., 10-3 in FIG. 1) to the load 3 increases, the output voltage of that vehicle decreases, and the output current from other power supply vehicles 10 (e.g., 10-1, 10-2, ... 10-n) to the load 3 increases accordingly. Based on this effect, droop control contributes to reducing the imbalance (variation) in the output of each vehicle.

[0030] As shown in the example of the connection between the load 3 and the vehicles 1 to 5 in the lower part of Figure 2, when the loads 3 are connected in a concentrated manner at the end of the DC system 100, the difference in the wiring length from each of the vehicles 1 to 5 to the load 3 is greater than when the loads 3 are distributed in the DC system 100. Of the vehicles 1 to 5, the vehicle 1 is closest to the load 3, and the vehicle 5 is the farthest from the load 3. In this case, the voltage drop due to the wiring resistance 102 of the electric wire 101 causes the load 3 distribution ratio of each of the vehicles 1 to 5 to vary, and the output of each of the vehicles 1 to 5 is likely to vary. The degree of variation increases as the current of the load 3 increases.

[0031] (Distribution control by power distribution control device) Therefore, the power distribution control device 20 acquires output information indicating the DC output of each vehicle from each vehicle, and applies control parameters calculated for each vehicle from the output information of each vehicle to the droop control performed by each vehicle, thereby leveling out the output variation. The control parameters are the load and the command voltage V proportional to the load. req This corresponds to the proportionality constant K. In this disclosure, "leveling" refers to reducing the variation in the variable elements (output of each vehicle). "Leveling" includes averaging and equalization.

[0032] 3 shows the functional configuration of the power distribution control device 20. The power distribution control device 20 includes an output information acquisition unit 21 that acquires output information from each vehicle, and a control parameter calculation unit 22 that calculates control parameters for each vehicle from the output information of each vehicle. The output information can be transmitted from the vehicle control device 12 to the power distribution control device 20 via a communication system 110 shown by a dashed line in the upper part of Fig. 1. Furthermore, the control parameters can be transmitted from the power distribution control device 20 to the vehicle control device 12 via the communication system 110. The power distribution control device 20 suppresses variations in the output of each vehicle while monitoring the output information of each vehicle and updating the control parameters. The communication system 110 is configured using, for example, a cable that connects a communication terminal of the vehicle and a communication terminal of the power distribution control device 20, a wired LAN (Local Area Network), a wireless LAN, or the like.

[0033] The power distribution controller 20 may be provided separately from the vehicle and outside the vehicle, or may be provided in at least one of the vehicles. In the latter case, the power distribution controller 20 may be included in the vehicle control device 12 as part of the vehicle control device 12. In this case, when power distribution control is performed, a single vehicle to be given control authority is selected from the vehicles equipped with the power distribution controller 20. Then, the power distribution controller 20 of the single vehicle to which control authority is given controls characteristic values ​​such as the proportional constant K of droop control while communicating with the vehicle control devices 12 of the other vehicles via the communication system 110.

[0034] The vehicle control device 12 and the power distribution control device 20 may be configured as separate devices or integrated into a single device, and may be configured as a control circuit including multiple circuit elements, or as a computer program executed by a computer device having a memory, an arithmetic unit, and a storage unit. In the latter case, the control parameter calculation unit 22 corresponds to a module of the computer program.

[0035] The output information obtained from each vehicle is, for example, the load factor R p Equivalent to the load factor R p corresponds to the ratio of output power to the maximum output power of each vehicle (output / maximum output). In this embodiment, the maximum output that can be output by each vehicle (each power supply vehicle 10) is assumed to be the same. Therefore, in order to suppress and equalize the output variations, the load factor R p Instead of calculating the control parameters for each vehicle from the load factor R, the control parameters for each vehicle can be calculated from the output power of each vehicle. Therefore, the output information in this embodiment may be the output power of each vehicle. In this case, the load factor R p can be converted into output power.

[0036] Furthermore, since output power corresponds to the product of output voltage and output current, the output information of each vehicle may be output voltage and output current instead of output power. For example, the output voltage as output information measured by voltmeter 191 and the output current as output information measured by ammeter 192 are sent by vehicle control device 12 to output information acquisition unit 21 via communication system 110.

[0037] Load factor R as output information p When is 0%, the reference voltage as the command voltage is V tar , the upper voltage limit of DC grid 100 is V dc_max , the lower limit of the voltage of DC grid 100 is V dc_min Then, the reference voltage V is set so that the following equations (1) and (2) hold. tarIt is preferable to set the value of and the value of the proportional constant K. Then, the load factor R p Regardless, V dc_max From V dc_min The operating point command voltage V req It is possible to capture the above. V tar <V dc_max …(1) V dc_min <V tar -100K …(2)

[0038] With reference to FIG. 4, the process of power distribution control of this embodiment will be described while explaining an example of automatic adjustment logic for control parameters applied to the droop control of each vehicle. After the step of acquiring output information from each vehicle by the output information acquisition unit 21, the control parameter calculation unit 22 calculates the output voltage (V1 _mon ,V2 _mon ,V3 _mon ,V4 _mon ,V5 _mon ) and output current (I1 _mon ,I2 _mon ,I3 _mon ,I4 _mon ,I5 _mon ), proportional constants K1 to K5 are calculated as control parameters for each vehicle (control parameter calculation step). To this end, the control parameter calculation unit 22 first calculates the output power of each vehicle by multiplying (221) the output voltage and the output current for each vehicle, and also calculates the average value (222) of the output power of each vehicle.

[0039] Next, the control parameter calculation unit 22 compares the output power of each vehicle with the average value (222), and calculates proportionality constants K1 to K5 as control parameters based on the difference (223) of the output power from the average value (222). Here, in order to level out the output of each vehicle, the proportionality constant of the droop control of a vehicle whose output power is smaller than the average value (222) is reduced, and the proportionality constant of the droop control of a vehicle whose output power is larger than the average value (222) is increased. Therefore, for each vehicle, the value obtained by multiplying the difference (223) between the average value (222) and the output power by the gain Gp is ​​set as the reference value K of the proportionality constant. _ini By adding (224) to the above, proportional constants K1 to K5 are calculated. Here, since the proportionality constant is a negative value, making the proportionality constant smaller corresponds to making it larger in absolute value, and making the proportionality constant larger corresponds to making it smaller in absolute value.

[0040] In order to prevent control instability due to a sudden change in the control parameters when a transient state change such as a power fluctuation in the load 3 occurs, the control parameter calculation unit 22 may have a function 225 that limits the rate of change of the proportionality constants K1 to K5 within a predetermined range for each of the proportionality constants K1 to K5.

[0041] The gain Gp is ​​a proportional gain, and the value of the gain Gp can be determined taking into consideration the control followability of the output leveling of each vehicle and the reduction of steady-state deviation. In addition to the proportional gain Gp, an integral gain Gi may be added to reduce steady-state deviation. The proportionality constants K1 to K5 calculated by the control parameter calculation unit 22 are sent to the vehicle control device 12 of the corresponding vehicle. For example, the proportionality constant K1 is sent to the vehicle control device 12 of the vehicle 1 shown in the lower part of Fig. 3 and is given to the droop control performed by the vehicle control device 12 of the vehicle 1 (control parameter giving step). The proportionality constants K2 to K5 are similarly set.

[0042] As a result of the power distribution control device 20 automatically adjusting the proportional constants K1 to K5 using the output information of each of the vehicles 1 to 5, the load factors of each vehicle all show the same value and are leveled (leveling step), as shown in the upper part of Fig. 5. In other words, the power of the load 3 is distributed almost equally to each of the vehicles 1 to 5 operating in parallel in the DC system 100. Here, the white circles (○) represent the operating points of the droop control for each of vehicles 1 to 5, and all of them represent operating points at the same timing. The numbers inside the white circles represent the vehicle numbers. White circle number 1 corresponds to vehicle 1 shown in Figure 2. The same applies to the other white circles 2 to 5.

[0043] (Major effects of power distribution control according to this embodiment) The effects of the power distribution control of this embodiment will be described with reference to a comparative example. As shown in the comparative example in the lower part of Figure 5, when the same proportional constant K is set for the droop control of each of vehicles 1 to 5, the power allocated to vehicles 1 to 5 varies greatly due to differences in the value of wiring resistance 102. In this case, the output of some vehicles decreases by about 30%, and as a whole, the power generation capacity of each vehicle is not fully utilized. As shown in the lower part of Figure 6, the variation in output among the vehicles can reach, for example, 30%.

[0044] In contrast, according to the power distribution control of this embodiment, the proportionality constants K1 to K5 are adjusted for each vehicle so that, due to a voltage drop caused by wiring resistance 102, the proportionality constant K1 is reduced for a vehicle (e.g., vehicle 1 in FIG. 2) whose output power is lower than the average value of the output power indicated by the output information, and the proportionality constant K1 is increased for a vehicle (e.g., vehicle 5 in FIG. 2) whose output power is higher than the average value. As a result, as shown in the upper parts of FIGS. 5 and 6, the outputs of vehicles 1 to 5 are leveled and almost no difference is observed. According to this embodiment, even if the degree of output imbalance is so great that it is difficult to reduce the imbalance in the output of each vehicle using typical droop control alone, due to wiring resistance 102 caused by the connection position of load 3 or the large power capacity of load 3, the power of load 3 is evenly distributed to each vehicle, allowing vehicles 1 to 5 as a whole to generate power at a higher average capacity than in the comparative example. This enables large-capacity, stable power supply.

[0045] The information required for power distribution control in this embodiment is the output voltage and output current (or output power) of each vehicle, and therefore information such as measured wiring resistance and DC grid topology is not required. According to this embodiment, the imbalance in output from each vehicle can be resolved regardless of the wiring configuration of the multiple power supply vehicles 10 and the loads 3 or the connection position of the loads in the DC system 100. Furthermore, even if it becomes necessary to change the connection position of the load 3 or the vehicle in the DC system 100, or to add or remove a load 3 or a vehicle, there is no other information that needs to be detected other than the information on the output of each vehicle, so the power distribution to multiple vehicles can continue to be equalized. Furthermore, the information transmitted from the power distribution control device 20 to each vehicle is mainly proportional constants (K1 to K5), and even when the load fluctuates drastically, it is sufficient to update the proportional constants, so there is no need to update command values ​​such as voltage and current. Therefore, power can be distributed stably while minimizing the communication load.

[0046] The mechanism for leveling the outputs of vehicles 1 to 5 by adjusting proportionality constants K1 to K5 will be described assuming a case where the outputs of the vehicles are leveled from a state where they vary greatly as in a comparative example. For vehicle 1, which is close to load 3 and therefore has a relatively large voltage drop, comparing the operating point indicated by the white circle in the comparative example with the operating point indicated by the white circle in the first embodiment, the load factor decreases as the proportionality constant decreases from K to K1 (increases in absolute value). For vehicle 5, which has a relatively small power drop, the operating point indicated by the white circle in the comparative example moves to the operating point indicated by the white circle in the first embodiment, and the load factor decreases as the proportionality constant increases from K to K5 (decreases in absolute value). By adjusting the proportional constants K1 to K5 of the droop control of each of the vehicles 1 to 5, including the other vehicles 2 to 4, when the load factor of each vehicle is equalized between the maximum load factor (load factor of vehicle 1) and the minimum load factor (load factor of vehicle 5) in the comparative example, the command voltage V req increases, so the output increases.

[0047] Second Embodiment Next, a second embodiment of the present disclosure will be described. In contrast to the first embodiment, in which the maximum output power of each vehicle is assumed to be the same, in the second embodiment, when the power generation capacities of each vehicle differ, a load factor corresponding to the power generation capacity of each vehicle is acquired as output information from each vehicle, and a control parameter (proportionality constant) for each vehicle based on the load factor is applied to the droop control performed by the vehicle control device 12 of each vehicle, thereby leveling the load factors of each vehicle. Except for this point, the power distribution control device of the second embodiment is configured similarly to the power distribution control device 20 of the first embodiment. In this disclosure, "power generation capacity" refers to the maximum output that each vehicle can output. For example, if the power generation capacity is 100 kW and the output power is 60 kW, the load factor is 60%.

[0048] 7 shows an example of the automatic adjustment logic of the control parameters in the second embodiment. Here, in order to obtain the load factor, the output voltage (V1 _mon ,V2 _mon ,V3 _mon,V4 _mon ,V5 _mon ), output current (I1 _mon ,I2 _mon ,I3 _mon ,I4 _mon ,I5 _mon ), and power generation capacity (P1 _mon ,P2 _mon ,P3 _mon ,P4 _mon ,P5 _mon ) is acquired, and the load factor of each of vehicles 1 to 5 is calculated for each vehicle using the following equation (3) (226). {(output voltage × output current) / power generation capacity} …(3)

[0049] Once the load factors (226) of the vehicles 1 to 5 are obtained, the control parameter calculation unit 22 calculates the average value (227) of the load factors of each vehicle. After this, proportional constants K1 to K5 for leveling the load factors of each vehicle are calculated by the same calculation process as in the first embodiment (FIG. 4).

[0050] The power distribution control device 20 provides proportional constants K1 to K5 calculated based on the load factors to the droop control performed by the vehicle control device 12 of each vehicle. As a result, the variations in the load factors of vehicles 1 to 5 are suppressed and leveled, similar to the state of power distribution in the first embodiment shown in the upper part of Fig. 5, for example. According to the second embodiment, even if the DC system 100 is configured with a group of vehicles with different power generation capacities, it is possible to control the output distribution of each vehicle equally without being affected by the topology or wiring resistance of the DC grid. As a result, the power generation capacity of all vehicles connected to the DC output can be maximized, thereby increasing the maximum capacity of the DC system 100.

[0051] [Modification of the second embodiment] It is sufficient for output information acquisition unit 21 to acquire from each vehicle the output information necessary to obtain the load factor of each vehicle. For example, output information acquisition unit 21 may acquire the output power and power generation capacity as output information for at least some of vehicles 1 to 5, or, if the load factor is sent from vehicle control device 12 of at least some of the vehicles to power distribution control device 20, may acquire only the load factor as output information for those vehicles. Alternatively, if the power generation capacity of each vehicle is set in advance in a memory unit such as the power distribution control device 20, the control parameter calculation unit 22 can use, for example, the load factor calculated from the output power (or output voltage and output current) acquired from each vehicle by the output information acquisition unit 21 and the power generation capacity read from the memory unit to calculate the control parameters.

[0052] In addition, the power generation capacity may be acquired as output information from each vehicle by the output information acquisition unit 21, or may be determined by the power distribution control device 20 using state quantities regarding the power generation capacity sent from each vehicle to the power distribution control device 20. In this case, as shown in the upper part of Figure 8, the power distribution control device 20 includes, in addition to an output information acquisition unit 21 and a control parameter calculation unit 22, a state quantity acquisition unit 23 that acquires state quantities related to the power generation capacity of the power supply vehicle 10, and a power generation capacity determination unit 24 that determines the power generation capacity using the state quantities. The average output voltage calculation unit 25 and the correction on / off unit 26 provided in the power distribution control device 20 will be explained in the third embodiment and thereafter.

[0053] The state quantity related to the power generation capacity is, for example, the remaining amount of fuel supplied to the engine 13, the SOC (State Of Charge) of the power storage device 16, and the temperature. The power generation capacity determination unit 24 calculates and determines the power generation capacity from, for example, the correlation between the SOC and remaining fuel amount and the power generation capacity shown in the lower part of Fig. 8. For example, when the remaining fuel amount is FL1 and the SOC is at a "medium" level, the power generation capacity determination unit 24 determines the power generation capacity to be C1. The correlation between the state quantity and the power generation capacity may be common to vehicles 1 to 5, or may be different. When the output information acquisition unit 21 acquires the power generation capacity from the vehicle, the power generation capacity determination unit 24 may correct the power generation capacity acquired from the vehicle using the state quantity acquired by the state quantity acquisition unit 23.

[0054] Using the power generation capacity reflecting the state quantity, the control parameter calculation unit 22 calculates the load factor, for example, by the above-mentioned formula (3). By providing the control parameters (proportional constants K1 to K5) calculated based on the load factor to each vehicle control device 12, it is possible to equalize the load factors of vehicles 1 to 5 while more fully utilizing the power generation capacity of each vehicle under the conditions represented by the state quantity.

[0055] Furthermore, when the remaining fuel level or SOC decreases or the temperature increases, the power generation capacity decreases based on a preset correlation, and when the load factor increases accordingly, the output voltage decreases due to the action of droop control. Therefore, when a need arises for a vehicle to temporarily reduce its output due to a decrease in the remaining fuel level, a decrease in SOC, a temperature increase, or other reasons, the output of the vehicle can be automatically reduced by adjusting the control parameters (proportional constants K1 to K5) in the same way as during steady state. In this way, by temporarily reducing the power generation capacity while performing seamless output distribution control across steady state and when the fuel level or SOC decreases, the continuous operating time of the vehicle can be extended.

[0056] Third Embodiment Next, a third embodiment of the present disclosure will be described with reference to Fig. 9 and Fig. 10. As shown in Fig. 9, it is assumed that vehicles 1 to 4 are connected to a DC system 100 and power is being supplied to a load 3, and that an additional vehicle 5 is connected to the same DC system 100. The output voltage of vehicle 5 is set to the same reference voltage V as the other vehicles 1 to 4. tar When the droop control is performed, the output voltage of the vehicle 5 at the moment when the vehicle 5 is connected to the DC grid 100 (before connection, there is no load, so the reference voltage V tar ) and the voltage of the DC grid 100 is significantly different.

[0057] Therefore, in the third embodiment, when the vehicle 5 is added, not only the proportional constant K5 but also the reference voltage Vtar By correcting (intercept), the inrush current caused by the potential difference at the time of connection is suppressed. The power distribution control device 20 of the third embodiment includes an average output voltage calculation unit 25 that calculates the average output voltage of a plurality of power supply vehicles 10, similar to the power distribution control device 20 of the second embodiment shown in the upper part of FIG.

[0058] When the power distribution control device 20 calculates the average output voltage of the plurality of vehicles 1 to 4 by the average output voltage calculation unit 25 (average output voltage calculation step), it sends a pre-coupling voltage setting command to the vehicle control device 12 of the vehicle 5 before coupling the vehicle 5 to the DC system 100 including the plurality of vehicles 1 to 4. By doing so, the no-load steady-state command voltage V tar Average output voltage V avr is temporarily set (pre-connection voltage setting step). In this way, before vehicle 5 is coupled, the reference voltage of vehicle 5 is set to the average output voltage V avr , the potential difference between the DC system 100 and the reference voltage of the vehicle 5 when the vehicle 5 is connected decreases, so that the inrush current flowing from the vehicle 5 to the DC system 100 can be reduced. Without using this method, it is possible to reduce the inrush current by measuring the output voltage at the connection position of vehicle 5 or the vehicle 4 closest to the connection position of vehicle 5, and temporarily lowering the reference voltage of vehicle 5 to the output voltage at vehicle 4, etc., before coupling vehicle 5. In contrast, according to this embodiment, it is simple because there is no need to install a voltmeter at the connection position of vehicle 5 or to provide a mechanism or function for identifying vehicles 4 near the connection position.

[0059] After the vehicle 5 is connected to the DC system 100, the reference value at no load is set to the average output voltage V avr to steady-state command voltage V tar (reference value increasing step). During this time, the output of vehicle 5 is gradually increased (reference voltage increasing step), so that the load power is evenly distributed to vehicles 1 to 5. According to the third embodiment, vehicle 5 can be added to DC system 100 with significantly reduced inrush current without stopping the parallel operation of load 3 or vehicles 1 to 4, regardless of the connection position of vehicle 5, and without the need to detect the connection position, thereby increasing the power supply capacity. In addition to the vehicle 5, when connecting a power supply device such as a power storage device or a solar power generation device to the DC system 100, the command voltage V req The intercept value V tar The average value of the output voltage of the other power supplies (vehicles 1 to 4) is V avr By temporarily lowering the voltage to 10 V, the inrush current can be suppressed and the connection can be made in the same way.

[0060] [Fourth embodiment] A fourth embodiment of the present disclosure will be described with reference to Figs. 11 to 13. A voltage drop occurs in each part of the DC system 100, which corresponds to the product of the current and the wiring resistance. As shown in Fig. 11, in cases such as when a load is connected to the end of the DC system 100, the voltage decreases as the load approaches. When the load factor is high due to an increase in the load, the voltage drop becomes larger. Even in such cases, in the fourth embodiment, a threshold is used to set a command voltage V for all vehicles 1 to 5 connected to the DC system 100 so that the input voltage to the load does not fall below a lower limit. req Reference voltage V tar (intercept) is corrected.

[0061] The power distribution control device 20 of the fourth embodiment includes a correction on / off unit 26, similar to the power distribution control device 20 of the second embodiment shown in the upper part of Fig. 8. The correction on / off unit 26 adjusts the voltage lower limit V dc_min to the upper voltage limit V dc_max Voltage lower limit V dc_min A threshold value (e.g., V th ), the correction control for keeping the output voltage of the droop control of each of the vehicles 1 to 5 within a specified range is turned on or off (correction on / off step).

[0062] The process of the correction on / off step will be described. The correction on / off unit 26 detects when the output voltage of some of the vehicles 1 to 5, in this example the vehicle 5, exceeds the threshold V th If the voltage V is lower than the reference voltage V, a correction ON command is sent to each of the vehicle control devices 12 of all the vehicles 1 to 5. req Reference voltage V tar At this time, the values ​​of the proportional constants K1 to K5 in the droop control are maintained. th In order to determine whether the output voltage of all vehicles 1 to 5 is below the threshold V th It is better to compare it with.

[0063] Command voltage V req Reference voltage V tar When the load factor is increased, the voltages of all vehicles 1 to 5 increase equally by the amount of the increase in the intercept. At this time, the voltages of all vehicles 1 to 5 are maintained within the specified range, but if the load factor subsequently decreases, the output voltages of each vehicle 1 to 5 will exceed the upper limit value V dc_max Therefore, the power distribution control device 20 determines whether the output voltage of at least some of the vehicles, in this example, the vehicle 5, exceeds the threshold V th When the vehicle speed increases relative to the threshold value V, the correction control is terminated by sending a correction off command to each vehicle control device 12 (correction control termination step). th To determine whether the output voltage exceeds the threshold V, for example, th It is better to compare it with.

[0064] Referring to Figure 13, the threshold V th The details of the voltage lower limit are explained below. dc_min Then, to provide some margin, the lower limit V dc_min A voltage slightly higher than +V m ) to the threshold V th For example, for every 1 [V] of output voltage decrease, a voltage correction of α [V] is added. The value of α is a positive value. V mThe value of can be determined according to the magnitude of the voltage drop due to the wiring resistance when the load is 100%, and it should be small when the voltage drop is small, and large when the voltage drop is large. However, V dc_min +V m The value of V dc_max If the value of α is too large, the voltage command will change suddenly, so a small value is better in terms of control stability, but if it is too small, the voltage correction function will be insufficient. In consideration of this, the value of α can be set to, for example, 0.1 to 20.

[0065] According to the fourth embodiment, when the minimum voltage among the output voltages of the vehicles 1 to 5 decreases due to an increase in the load, the voltage correction control is performed on all the coupled vehicles 1 to 5, and the reference voltage V tar Then, the load decreases, and the minimum voltage of vehicles 1 to 5 increases accordingly, and the voltage correction control is released, and the reference voltage V tar This control makes it possible to keep the output voltage of the DC system 100 within a specified range even if the input voltage to the load 3 drops more than expected due to disturbances such as an increase in wiring resistance or contact resistance. Even without a means for detecting the wiring resistance or the input voltage to the load 3, it is possible to switch the correction control on and off using only the voltage values ​​of the vehicles 1 to 5, and it becomes possible to maintain the voltage of the entire DC system 100 at a constant level.

[0066] In addition to the above, it is possible to select and discard the configurations given in the above embodiments, or to change them to other configurations as appropriate.

[0067] [Note] According to the above disclosure, the following configuration can be understood. [1] The power distribution control device disclosed herein includes an output information acquisition unit that acquires output information indicating the DC output of each of a plurality of power supply vehicles connected to a DC output, and a control parameter calculation unit that calculates, for each power supply vehicle, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles. The power distribution control device provides the control parameter to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control the output voltage, thereby providing the control parameter to droop control performed by the vehicle control device.

[0068] [2] In the power distribution control device described in [1], it is preferable that the output information acquisition unit acquires one of the following (1) to (4) as the output information. (1) Output power of the power supply vehicle, (2) The output voltage and output current of the power supply vehicle; (3) Load factor as the ratio of the output power of the power supply vehicle to its maximum output power; (4) (1) or (2) above and the power generating capacity of the power supply vehicle.

[0069] [3] In the power distribution control device described in [1] or [2], it is preferable that the control parameter calculation unit calculates the control parameter based on the difference in output from the average value of the output indicated by the output information of each of the multiple power supply vehicles.

[0070] [4] In the power distribution control device described in any one of [1] to [3], it is preferable that the droop control performed by the vehicle control device determines a command value for the output voltage that decreases as the load increases, and the control parameter corresponds to a proportionality constant between the load and the command value that is proportional to the load.

[0071] [5] In the power distribution control device according to any one of [1] to [4], the droop control performed by the vehicle control device determines a command value of the output voltage that decreases with an increase in the load, and the control parameter corresponds to a proportional constant of the command value with respect to the change in the load, and the reference voltage as the command value when there is no load is V tar , the proportional constant is K, and the upper voltage limit of the DC system including multiple power supply vehicles is Vdc_max , The lower limit of the DC system voltage is V dc_min When V tar <V dc_max And V dc_min <V tar -100K, preferably.

[0072] [6] The power distribution control device described in any one of [1] to [5] includes a state quantity acquisition unit that acquires state quantities related to the power generation capacity of the power supply vehicle, and a power generation capacity determination unit that determines the power generation capacity of the power supply vehicle using the state quantities, and it is preferable that the control parameter calculation unit calculates the control parameter based on a load factor as a ratio of the output power of the power supply vehicle to the power generation capacity.

[0073] [7] In the power distribution control device according to any one of [1] to [6], it is preferable that the control parameter calculation unit limits the rate of change of the control parameter to within a predetermined range.

[0074] [8] The power distribution control device described in any one of [1] to [7] is provided with an average output voltage calculation unit that calculates the average output voltage of multiple power supply vehicles, and it is preferable that the power distribution control device, prior to connecting another power supply vehicle or power supply device to a DC system including multiple power supply vehicles, sends a pre-connection voltage setting command to a control device provided in the other power supply vehicle or power supply device, thereby setting an average output voltage that is lower than the steady-state voltage command value under no load as an initial reference value that is a voltage command value for droop control when connecting the other power supply vehicle or power supply device.

[0075] [9] The power distribution control device described in any one of [1] to [8] includes a correction on / off unit that turns on and off correction control to keep the output voltage of each of multiple power supply vehicles within a range based on a threshold value that is set near the lower limit voltage within a range from the lower limit voltage to the upper limit voltage of a DC system including multiple power supply vehicles, and when the output voltage of at least some of the power supply vehicles decreases relative to the threshold value, the correction on / off unit sends a correction on command to each of the vehicle control devices of the multiple power supply vehicles to start correction control to raise the reference value as a command value for the no-load output voltage while maintaining the value of the proportionality constant in droop control, and when the output voltage of at least some of the power supply vehicles increases relative to the threshold value, it preferably ends the correction control by sending a correction off command to each of the vehicle control devices of the multiple power supply vehicles.

[0076]

[10] The power supply system disclosed herein comprises the above-mentioned power distribution control device and a plurality of power supply vehicles, and the power distribution control device is provided separately from the power supply vehicles or is provided in at least one of the power supply vehicles, and the power distribution control device of one power supply vehicle is configured to be able to control the characteristic value of the droop control while communicating with the vehicle control devices of the other power supply vehicles.

[0077]

[11] The power supply vehicle disclosed herein is a power supply vehicle equipped with the above-mentioned power distribution control device, and the power distribution control device is configured to be able to control the characteristic value of the droop control while communicating with the vehicle control devices of other power supply vehicles.

[0078]

[12] The computer program disclosed herein causes a computer to perform the following operations: acquire output information indicating the DC output of each of multiple power supply vehicles to which DC output is connected; calculate control parameters for each power supply vehicle from the output information of each of the multiple power supply vehicles to level out the DC output; and send the control parameters to a vehicle control device provided in each of the multiple power supply vehicles and configured to be able to control the output voltage, thereby providing the control parameters to the droop control performed by the vehicle control device.

[0079]

[13] The power distribution control method disclosed herein includes the steps of: acquiring output information indicating the DC output of each of a plurality of power supply vehicles to which DC output is connected; calculating control parameters for each of the plurality of power supply vehicles from the output information of each of the plurality of power supply vehicles to level out the DC output; providing the control parameters to the droop control performed by the vehicle control device by sending the control parameters to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control the output voltage; and adjusting the control parameters for each power supply vehicle using the output information, thereby leveling out the DC output.

[0080]

[14] In the power distribution control method described in

[13] , it is preferable to include an average output voltage calculation step of calculating the average output voltage of multiple power supply vehicles; a step of sending a pre-connection voltage setting command to a control device provided in the other power supply vehicle or power supply device prior to connecting the other power supply vehicle or power supply device to a DC system including multiple power supply vehicles, thereby setting an average output voltage lower than the no-load steady-state voltage command value as an initial reference value which is a voltage command value for droop control when connecting the other power supply vehicle or power supply device; and a step of gradually increasing the reference value as the no-load voltage command value used for droop control from the initial reference value to the steady-state voltage command value after connecting the other power supply vehicle or power supply device to the DC system.

[0081]

[15] The power distribution control method described in

[13] or

[14] preferably includes a correction on / off step of turning on / off correction control to keep the output voltage of each of the multiple power supply vehicles within a range based on a threshold value that is set near the lower limit voltage within a range from the lower limit voltage to the upper limit voltage of a DC system including the multiple power supply vehicles, and the correction on / off step preferably includes the steps of: when the output voltage of at least some of the power supply vehicles decreases relative to the threshold value, sending a correction on command to each of the vehicle control devices of the multiple power supply vehicles to start correction control to raise the reference value as a command value for the no-load output voltage while maintaining the value of the proportionality constant in droop control; and when the output voltage of at least some of the power supply vehicles increases relative to the threshold value, sending a correction off command to each of the vehicle control devices of the multiple power supply vehicles to end the correction control. [Explanation of symbols]

[0082] 1. Power supply system 3. Load 10 power car 10A output terminal 11 Vehicle DC system 12 Vehicle control device 13 Engine 14 Generator motor 15 AC / DC converter 16 Energy storage devices 17 Bidirectional DC / DC converter 18 In-vehicle load 19 Connecting Devices 20 Power distribution control device 21 Output information acquisition unit 22 Control parameter calculation unit 23 State quantity acquisition unit 24 Power Generation Capacity Determination Department 25 Average output voltage calculation section 26 Correction ON / OFF section 100 DC system 101 Electric wire 102 Wiring Resistance 110 Communication System 191 Voltmeter 192 Ammeter Gp Proportional Gain K,K1~K5 proportionality constant R p load factor V avr Average Output Voltage V dc_min Voltage Lower Limit V dc_max Voltage Upper Limit V req Command voltage V tar Reference voltage, steady-state command voltage (steady-state voltage command value) V th Threshold W wheels

Claims

1. an output information acquisition unit that acquires output information indicating the DC output of each of the power supply vehicles from each of the multiple power supply vehicles to which a DC output is connected; a control parameter calculation unit that calculates, for each of the power supply vehicles, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles, sending the control parameters to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control an output voltage, thereby providing the control parameters to droop control performed by the vehicle control device; The droop control performed by the vehicle control device includes: Determine the output voltage command value that decreases as the load increases, the control parameter corresponds to a proportionality constant of the command value relative to a change in the load; The reference voltage as the command value when there is no load is V tar , The proportionality constant is K, The upper voltage limit value of the DC system including the plurality of power supply vehicles is V dc_max , When the lower limit voltage value of the DC system is V dc_min , A power distribution controller, wherein V tar <V dc_max and V dc_min <V tar -100K.

2. an output information acquisition unit that acquires output information indicating the DC output of each of the power supply vehicles from each of the multiple power supply vehicles to which a DC output is connected; a control parameter calculation unit that calculates, for each of the power supply vehicles, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles; an average output voltage calculation unit that calculates an average output voltage of the plurality of power supply vehicles, sending the control parameters to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control an output voltage, thereby providing the control parameters to droop control performed by the vehicle control device; The power distribution control device comprises: a power distribution control device that, prior to connecting another power supply vehicle or power supply device to a DC system that includes the plurality of power supply vehicles, sends a pre-connection voltage setting command to a control device provided in the other power supply vehicle or power supply device, and sets the average output voltage that is lower than the steady-state voltage command value under no load as an initial reference value that is a voltage command value for the droop control when the other power supply vehicle or power supply device is connected.

3. an output information acquisition unit that acquires output information indicating the DC output of each of the power supply vehicles from each of the multiple power supply vehicles to which a DC output is connected; a control parameter calculation unit that calculates, for each of the power supply vehicles, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles; a correction on / off unit that turns on and off correction control so as to keep the output voltage of each of the multiple power supply vehicles within a range from a lower limit value to an upper limit value of a voltage of a DC system including the multiple power supply vehicles, based on a threshold value that is set near the lower limit value of the voltage within the range, sending the control parameters to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control an output voltage, thereby providing the control parameters to droop control performed by the vehicle control device; The correction on / off unit when the output voltage of at least some of the power supply vehicles decreases relative to the threshold value, a correction-on command is sent to each of the vehicle control devices of the plurality of power supply vehicles, thereby starting correction control to increase a reference value as a command value for the no-load output voltage while maintaining the value of the proportionality constant in the droop control; a power distribution control device that, when the output voltage of at least some of the power supply vehicles increases relative to the threshold value, ends the correction control by sending a correction off command to each of the vehicle control devices of the plurality of power supply vehicles.

4. The output information acquisition unit acquires, as the output information, any one of the following (1) to (4): (1) the output power of the power supply vehicle; (2) the output voltage and output current of the power supply vehicle; (3) a load factor as a ratio of the output power to the maximum output power of the power supply vehicle; (4) (1) or (2) above and the power generation capacity of the power supply vehicle, The power distribution control device according to any one of claims 1 to 3.

5. the control parameter calculation unit calculates the control parameter based on a difference between the output and an average value of the output indicated by the output information of each of the plurality of power supply vehicles. The power distribution control device according to any one of claims 1 to 3.

6. The droop control performed by the vehicle control device determines a command value of an output voltage that decreases with an increase in load, the control parameter corresponds to a proportionality constant between the load and the command value proportional to the load; The power distribution control device according to any one of claims 1 to 3.

7. a state quantity acquisition unit that acquires a state quantity related to the power generation capacity of the power supply vehicle; a power generation capacity determination unit that determines the power generation capacity of the power supply vehicle using the state quantity, the control parameter calculation unit calculates the control parameter based on a load factor as a ratio of the output power of the power supply vehicle to the power generation capacity. The power distribution control device according to any one of claims 1 to 3.

8. the control parameter calculation unit limits the rate of change of the control parameter to a predetermined range; The power distribution control device according to any one of claims 1 to 3.

9. The power distribution control device according to any one of claims 1 to 3; the plurality of power supply cars, the power distribution control device is provided separately from the power supply cars or is provided in at least one of the power supply cars, a power supply system in which the power distribution control device of one of the power supply vehicles is configured to be able to control the characteristic value of the droop control while communicating with the vehicle control devices of the other power supply vehicles.

10. The power supply vehicle is equipped with the power distribution control device according to any one of claims 1 to 3, The power supply vehicle is configured so that the power distribution control device can control the characteristic value of the droop control while communicating with the vehicle control devices of the other power supply vehicles.

11. acquiring output information indicating the DC output of each of the power supply vehicles from each of the multiple power supply vehicles to which a DC output is connected; calculating, for each of the power supply vehicles, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles; sending the control parameters to a vehicle control device that is provided in each of the plurality of power supply vehicles and is configured to be able to control an output voltage, thereby providing the control parameters to droop control performed by the vehicle control device; Determine the output voltage command value that decreases as the load increases, the control parameter corresponds to a proportionality constant of the command value relative to a change in the load; The reference voltage as the command value when there is no load is V tar , The proportionality constant is K, The upper voltage limit value of the DC system including the plurality of power supply vehicles is V dc_max , When the lower limit voltage value of the DC system is V dc_min , A computer program causing a computer to execute the droop control in which V tar < V dc_max and V dc_min < V tar -100K.

12. acquiring output information indicating the DC output of each of the power supply vehicles from each of the plurality of power supply vehicles to which a DC output is connected; calculating, for each of the power supply vehicles, a control parameter for leveling the DC output from the output information of each of the plurality of power supply vehicles; a step of transmitting the control parameters to a vehicle control device provided in each of the plurality of power supply vehicles and configured to be able to control an output voltage, thereby applying the control parameters to droop control performed by the vehicle control device; a step of adjusting the control parameters for each power supply vehicle using the output information, thereby leveling the DC output; an average output voltage calculation step of calculating an average output voltage of the plurality of power supply vehicles; a step of setting the average output voltage lower than the steady-state voltage command value under no load as an initial reference value which is a voltage command value for the droop control when connecting the other power supply vehicle or power supply device by sending a pre-connection voltage setting command to a control device provided in the other power supply vehicle or power supply device prior to connecting the other power supply vehicle or power supply device to the DC system including the plurality of power supply vehicles; and gradually increasing a reference value as a no-load voltage command value used for the droop control from the initial reference value to the steady-state voltage command value after the other power supply vehicle or power supply device is connected to the DC system.

13. a correction on / off step of turning on and off correction control so as to keep the output voltage of each of the plurality of power supply vehicles within a range from a lower limit value to an upper limit value of the voltage of a DC system including the plurality of power supply vehicles, based on a threshold value that is set near the lower limit value of the voltage within the range from the lower limit value to the upper limit value of the voltage of the DC system including the plurality of power supply vehicles, The correction on / off step includes: a step of starting correction control that increases a reference value as a command value for the no-load output voltage while maintaining the value of the proportionality constant in the droop control by sending a correction-on command to each of the vehicle control devices of the plurality of power supply vehicles when the output voltage of at least some of the power supply vehicles decreases relative to the threshold value; and when the output voltage of at least some of the power supply vehicles increases relative to the threshold value, ending the correction control by sending a correction-off command to each of the vehicle control devices of the plurality of power supply vehicles. The power distribution control method according to claim 12.

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