CN105119283A - Pinning control-based distributed cooperative control method for micro-grid in peer-to-peer mode - Google Patents

Abstract

The invention discloses a pinning control-based distributed cooperative control method for a micro-grid in the peer-to-peer mode. The method comprises the following steps of 10) automatically keeping the power of the micro-grid to be balanced through the one-time droop control process; 20) determining the uniform convergency value of the pinning control that is preset by a pinning control intelligent agent; 30) seeking the consistency of the pinning control; 40) realizing the consistency of the pinning control: regulating the frequency initial value and the voltage initial value of the droop control according to reference values for the adjustment amount of the frequency initial value and reference values for the adjustment amount of the voltage initial value, eliminating the frequency deviation and the voltage deviation of the one-time droop control process of the micro-grid, and enabling the intelligent agent of each distributed unit to run at a predetermined state. Based on the above control method, when the disturbance of the micro-grid is detected, the frequency-voltage steady-state deviation during the conventional droop control process can be eliminated. In this way, the frequency and the voltage of the autonomous micro-grid are cooperatively restored to be close to standard values. Meanwhile, the control reliability and the control adaptability of the micro-grid are improved.

Description

Micro-capacitance sensor based on the distributed collaboration control method pind down under ad-hoc mode

Technical field

The invention belongs to field of micro-grid operational control, specifically, relate to a kind of towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down.

Background technology

The energy is the basis of human civilization continuity and development.Along with world industry and expanding economy, the consumption of the primary energy such as traditional coal, oil increases increasingly, and countries in the world recognize the seriousness of lack of energy problem day by day.Meanwhile, the use of primary energy creates a large amount of waste gas waste water, the environment that the severe contamination mankind depend on for existence.Therefore, efficiency of energy utilization is improved, while Optimization of Energy Structure in effort in countries in the world; also actively promoting such as too can the development of the regenerative resource such as energy, wind energy; with alleviating energy crisis, reduce the discharge of carbon dioxide and dusty gas, maintain economic sustainable development.

In order to realize effective utilization of regenerative resource, micro-capacitance sensor obtains as the autonomous system of a kind of Tissue distribution formula generator unit and load and studies widely.The stable operation of micro-capacitance sensor is the prerequisite realizing renewable energy utilization, but regenerative resource, traditional energy etc. are converted into electric energy by power electronic element by distributed power source in micro-capacitance sensor mostly, and the inertia of power electronic element is less, larger challenge is proposed to the frequency and voltage stability contorting of micro-capacitance sensor.Another aspect, the regenerative resource such as solar energy, wind energy is larger by the impact of natural conditions, different months in 1 year, one day all do not have larger difference in the same time, this equates and had one to export immesurable generator at Generation Side, the stability contorting for micro-capacitance sensor is had higher requirement.

At present, the control program of micro-capacitance sensor has centralized master & slave control and distributed equity to control.Traditional centralized control has larger dependence for central controller, has had a strong impact on the safety and reliability of micro-capacitance sensor.And reciprocity control model can give the function of micro-capacitance sensor " plug and play ", adapt to the distributing access of distributed power source, be conducive to the utilance improving regenerative resource.Meanwhile, under reciprocity control model, each distributed generation unit of micro-capacitance sensor all can participate in stablizing of maintenance system frequency and voltage, effectively can improve the reliability of micro-capacitance sensor, meet the diversified electricity needs of user.Droop control is the major way that under reciprocity control model, distributed unit participates in the control of micro-capacitance sensor frequency and voltage, but droop control is when maintaining micro-capacitance sensor and being stable, also result in the skew of micro-capacitance sensor voltage to frequency.Under the impact of regenerative resource randomness and intermittent and load fluctuation, very likely cause the collapse of micro-capacitance sensor, the reliability of impact power supply.Therefore, the distributed collaboration control strategy of micro-capacitance sensor under reciprocity control model must be set up, realize the recovery of micro-capacitance sensor frequency and voltage and stable, ensure reliability and the fail safe of power supply.

Summary of the invention

Technical problem: technical problem to be solved by this invention is: provide a kind of towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down, this control method can after micro-capacitance sensor generation disturbance, eliminate the voltage to frequency steady state deviation of traditional droop control, ensureing that autonomous micro-capacitance sensor voltage to frequency is collaborative returns near standard value, improves reliability and the adaptability of micro-capacitance sensor control.

Technical scheme: for solving the problems of the technologies described above, the embodiment of the present invention take a kind of towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down, this control method comprises the steps:

Step 10) one time droop control keeps microgrid power to balance automatically: when micro-capacitance sensor generation power disturbance, based on the distributed generation unit intelligent body of droop control, automatically the frequency and voltage of micro-capacitance sensor is controlled according to formula (1), change power stage, maintain the power-balance of micro-capacitance sensor:

$\left\{\begin{array}{c}{f}_i=f_{n,i}-m_{P,i}{P}_i\\ U_i=U_{n,i}-n_{Q,i}{Q}_i\end{array}\right.$ Formula (1)

In formula, f _irepresent the frequency reference that i-th distributed generation unit droop control produces; f _n,irepresent the frequency initial value of i-th distributed generation unit droop control; m _p,irepresent the meritorious sagging coefficient of i-th distributed generation unit; P _irepresent the active power that i-th distributed generation unit exports; U _irepresent the voltage reference value that i-th distributed generation unit droop control produces; U _n,irepresent the Initial Voltage Value of i-th distributed generation unit droop control; n _q,irepresent the idle sagging coefficient of i-th distributed generation unit; Q _irepresent the reactive power that i-th distributed generation unit exports; I represents the numbering of distributed generation unit;

Step 20) determine to pin down that intelligent body presets pins down uniform convergence value: control and the mutual information interaction of distributed generation unit are responsible for by intelligent body, the corresponding intelligent body of each distributed generation unit, the numbering of distributed generation unit is identical with the numbering of the intelligent body corresponding with this distributed generation unit; Determine to pin down the default uniform convergence value of intelligent body according to formula (2):

$\left\{\begin{array}{c}{f}_c=\underset{i}{\Σ}(f_{n,i}-f_i)/N\\ U_c=\underset{i}{\Σ}(U_{n,i}-U_i)/N\end{array}\right.$ Formula (2)

In formula, f _crepresent the frequency departure uniform convergence value pining down intelligent body and preset; U _crepresent the voltage deviation uniform convergence value pining down intelligent body and preset; N represents the sum of the intelligent body adopting droop control;

Step 30) seek to pin down consistency: in micro-capacitance sensor linear quadratic control, distributed generation unit intelligent body seeks according to communicative couplings the consistency pining down intelligent body, and arranges the error of frequency and voltage initial value adjustment amount according to formula (3):

$e_i=\left[\begin{array}{c}{e}_{f,i}\\ e_{U,i}\end{array}\right]=\left[\begin{array}{c}\mathrm{\Δ}{f}_{n,i}-f_c\\ {\mathrm{\ΔU}}_{n,i}-U_c\end{array}\right]$ Formula (3)

In formula, e _irepresent e _f,iand e _u,ithe column vector of composition, e _f,irepresent the reference value of i-th intelligent body droop control frequency initial value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, e _u,irepresent the reference value of i-th intelligent body droop control Initial Voltage Value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, Δ f _n,irepresent the reference value of i-th intelligent body droop control frequency initial value adjustment amount, Δ U _n,irepresent the reference value of i-th intelligent body droop control Initial Voltage Value adjustment amount;

For the e in formula (3) _i, according to the information interactive process of i-th intelligent body, obtain i-th intelligent body based on the distributed collaboration governing equation pind down, shown in (4):

${\stackrel{\·}{e}}_i=\underset{j\∈N_i}{\Σ}{w}_{ij}(e_j-e_i)-d_i{e}_i$ Formula (4)

In formula, represent e _icarry out differentiate, e _jrepresent e _f,jand e _u,jthe column vector of composition, e _f,jrepresent the reference value of a jth intelligent body droop control frequency initial value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, e _u,jrepresent the reference value of a jth intelligent body droop control Initial Voltage Value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset; w _ijrepresent the communicative couplings between intelligent body i and intelligent body j, if intelligent body i is connected by communication line with intelligent body j, then w _ij≠ 0, otherwise, w _ij=0; d _irepresent pinning control gain, d _i>=0; d _i=0 shows not for the pinning control of intelligent body i;

Step 40) reach and pin down consistency: the distributed unit intelligent body adopting droop control, the reference value of frequency initial value adjustment amount obtained according to formula (4) and the reference value of Initial Voltage Value adjustment amount, the frequency initial value of adjustment droop control and Initial Voltage Value, eliminate frequency departure and the voltage deviation of a micro-capacitance sensor droop control; Uniform convergence value is pind down when the reference value of frequency initial value adjustment amount and the reference value of Initial Voltage Value adjustment amount that pin down intelligent body reach default respectively, each distributed unit intelligent body is made to operate in predetermined state, the frequency and voltage of micro-capacitance sensor is stabilized near standard value, and whole micro-capacitance sensor is in collaborative work state.

As preference, described step 40) in, the matrix based on the distributed collaboration governing equation pind down of whole micro-capacitance sensor is such as formula shown in (5):

$\stackrel{\·}{E}=\left[\begin{array}{c}{\stackrel{\·}{E}}_f\\ {\stackrel{\·}{E}}_U\end{array}\right]=\left[\begin{array}{c}W{E}_f-(D\×I_n)E_f\\ {\mathrm{WE}}_U-(D\×I_n)E_U\end{array}\right]=W_{fU}\left[\begin{array}{c}{E}_f\\ E_U\end{array}\right]=W_{fU}E$ Formula (5)

In formula, E represents micro-capacitance sensor frequency and voltage initial value adjustment amount error matrix, represent the derivative of E; E _frepresent micro-capacitance sensor frequency initial value adjustment amount error matrix, represent E _fderivative, E _f=[e _{f, 1}, e _{f, 2}..., e _f,n], wherein, e _{f, 1}represent the frequency initial value adjustment amount error of the 1st intelligent body, e _{f, 2}represent the frequency initial value adjustment amount error of the 2nd intelligent body, e _f,nrepresent the frequency initial value adjustment amount error of the n-th intelligent body; N represents the sum of intelligent body in micro-capacitance sensor; E _urepresent micro-capacitance sensor Initial Voltage Value adjustment amount error matrix, represent E _uderivative, E _u=[e _{u, 1}, e _{u, 2}..., e _u,n], e _{u, 1}represent the Initial Voltage Value adjustment amount error of the 1st intelligent body, e _{u, 2}represent the Initial Voltage Value adjustment amount error of the 2nd intelligent body, e _u,nrepresent the Initial Voltage Value adjustment amount error of the n-th intelligent body; W represents communicative couplings matrix, w _ijfor (i, j) individual element of matrix W, D=[d ₁, d ₂..., d _n], D represents that micro-capacitance sensor pins down matrix, d ₁represent the pinning control gain of the 1st intelligent body, d ₂represent the pinning control gain of the 2nd intelligent body, d _nrepresent the pinning control gain of the n-th intelligent body; I _nrepresentation unit matrix; W _fUrepresent to the transformation matrices of E, its value is determined by formula (6):

$W_{fU}=\left[\begin{array}{cc}W-(D\×I_n)& 0_n\\ 0_n& W-(D\×I_n)\end{array}\right]$ Formula (6)

In formula, 0 _nrepresent n rank 0 matrix.

As preference, described step 30) in, w _ijdetermine according to formula (7), formula (8):

formula (7)

$\left\{\begin{array}{c}{\mathrm{\Σ}}_i{w}_{ij}=1\\ {\mathrm{\Σ}}_j{w}_{ij}=1\end{array}\right.$ Formula (8)

In formula, N _irepresent the set that the intelligent body adjacent with intelligent body i is numbered; n _ifor the intelligent body number adjacent with intelligent body i; n _jfor the intelligent body number adjacent with intelligent body j; θ is the convergence factor affecting average homogeneity algorithm the convergence speed, 0< θ <1.

Beneficial effect: compared with prior art, the embodiment of the present invention has following beneficial effect: the embodiment of the present invention towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down, the voltage to frequency adopting the concept of pinning control to implement multiple distributed generation unit based on droop control recovers to control.By the consistency process of pinning control, the control method that the present invention carries can eliminate the voltage to frequency steady state deviation of traditional droop control in a distributed fashion, ensureing that autonomous micro-capacitance sensor voltage to frequency is collaborative returns near standard value, improves reliability and the adaptability of micro-capacitance sensor control program.

Accompanying drawing explanation

Fig. 1 is FB(flow block) of the present invention.

Fig. 2 is micro-capacitance sensor simulation architecture figure in the embodiment of the present invention

Fig. 3 is t=2s in the embodiment of the present invention, micro-capacitance sensor communication topology figure when order wire is closed.

Fig. 4 is t=4s in the embodiment of the present invention, cuts micro-capacitance sensor communication topology figure during machine operation.

Fig. 5 is the active power string diagram that each distributed power source of micro-capacitance sensor in the embodiment of the present invention exports.

Fig. 6 is the reactive power string diagram that each distributed power source of micro-capacitance sensor in the embodiment of the present invention exports.

Fig. 7 is the frequency string diagram of micro-capacitance sensor in the embodiment of the present invention.

Fig. 8 is each distributed power source voltage effective value string diagram of micro-capacitance sensor in the embodiment of the present invention.

Embodiment

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing and case study on implementation, the present invention is in depth described in detail.Should be appreciated that concrete case study on implementation described herein is only in order to explain the present invention, and be not used in restriction invention.

As shown in Figure 1, the embodiment of the present invention a kind of towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down, comprise the steps:

Step 10) one time droop control keeps microgrid power to balance automatically: when micro-capacitance sensor generation power disturbance, based on the distributed generation unit intelligent body of droop control, automatically the frequency and voltage of micro-capacitance sensor is controlled according to formula (1), change power stage, maintain the power-balance of micro-capacitance sensor:

$\left\{\begin{array}{c}{f}_i=f_{n,i}-m_{P,i}{P}_i\\ U_i=U_{n,i}-n_{Q,i}{Q}_i\end{array}\right.$ Formula (1)

In formula, f _irepresent the frequency reference that i-th distributed generation unit (English: DistributedGenerator, to be called for short DG in literary composition) droop control produces; f _n,irepresent the frequency initial value of i-th distributed generation unit droop control; m _p,irepresent the meritorious sagging coefficient of i-th distributed generation unit; P _irepresent the active power that i-th distributed generation unit exports; U _irepresent the voltage reference value that i-th distributed generation unit droop control produces; U _n,irepresent the Initial Voltage Value of i-th distributed generation unit droop control; n _q,irepresent the idle sagging coefficient of i-th distributed generation unit; Q _irepresent the reactive power that i-th distributed generation unit exports; I represents the numbering of distributed generation unit.

Step 20) determine to pin down that intelligent body presets pins down uniform convergence value: control and the mutual information interaction of distributed generation unit are responsible for by intelligent body, the corresponding intelligent body of each distributed generation unit, the numbering of distributed generation unit is identical with the numbering of the intelligent body corresponding with this distributed generation unit; , determine to pin down the default uniform convergence value of intelligent body according to formula (2):

$\left\{\begin{array}{c}{f}_c=\underset{i}{\&Sigma;}(f_{n,i}-f_i)/N\\ U_c=\underset{i}{\&Sigma;}(U_{n,i}-U_i)/N\end{array}\right.$ Formula (2)

In formula, f _crepresent the frequency departure uniform convergence value pining down intelligent body and preset; U _crepresent the voltage deviation uniform convergence value pining down intelligent body and preset; N represents the sum of the intelligent body adopting droop control.

Before determining to pin down intelligent body convergency value, need to determine that X intelligent body is selected and pin down, in patent Example of the present invention, X=1.When distributed unit number in micro-capacitance sensor increases, need corresponding increase intelligent body, to keep pining down conforming stability.

Step 30) seek to pin down consistency: in micro-capacitance sensor linear quadratic control, distributed generation unit intelligent body seeks according to communicative couplings the consistency pining down intelligent body, and arranges the error of frequency and voltage initial value adjustment amount according to formula (3):

$e_i=\left[\begin{array}{c}{e}_{f,i}\\ e_{U,i}\end{array}\right]=\left[\begin{array}{c}\mathrm{\&Delta;}{f}_{n,i}-f_c\\ {\mathrm{\&Delta;U}}_{n,i}-U_c\end{array}\right]$ Formula (3)

In formula, e _irepresent e _f,iand e _u,ithe column vector of composition, e _f,irepresent the reference value of i-th intelligent body droop control frequency initial value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, e _u,irepresent the reference value of i-th intelligent body droop control Initial Voltage Value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, Δ f _n,irepresent the reference value of i-th intelligent body droop control frequency initial value adjustment amount, Δ U _n,irepresent the reference value of i-th intelligent body droop control Initial Voltage Value adjustment amount.

For the e in formula (3) _i, according to the information interactive process of i-th intelligent body, obtain i-th intelligent body based on the distributed collaboration governing equation pind down, shown in (4):

${\stackrel{\&CenterDot;}{e}}_i=\underset{j\&Element;N_i}{\&Sigma;}{w}_{ij}(e_j-e_i)-d_i{e}_i$ Formula (4)

In formula, represent e _icarry out differentiate, e _jshown in (9), e _jrepresent e _f,jand e _u,jthe column vector of composition, e _f,jrepresent the reference value of a jth intelligent body droop control frequency initial value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, e _u,jrepresent the reference value of a jth intelligent body droop control Initial Voltage Value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset; Δ f _n,jrepresent the reference value of a jth intelligent body droop control frequency initial value adjustment amount, Δ U _n,jrepresent the reference value of a jth intelligent body droop control Initial Voltage Value adjustment amount.W _ijrepresent the communicative couplings between intelligent body i and intelligent body j, if intelligent body i is connected by communication line with intelligent body j, then w _ij≠ 0, otherwise, w _ij=0; d _irepresent pinning control gain, d _i>=0; d _i=0 shows not for the pinning control of intelligent body i.

$e_j=\left[\begin{array}{c}{e}_{f,j}\\ e_{U,j}\end{array}\right]=\left[\begin{array}{c}\mathrm{\&Delta;}{f}_{n,j}-f_c\\ {\mathrm{\&Delta;U}}_{n,j}-U_c\end{array}\right]$ Formula (9)

W _ijdetermine according to formula (7), formula (8):

formula (7)

$\left\{\begin{array}{c}{\mathrm{\&Sigma;}}_i{w}_{ij}=1\\ {\mathrm{\&Sigma;}}_j{w}_{ij}=1\end{array}\right.$ Formula (8)

In formula, N _irepresent the set that the intelligent body adjacent with intelligent body i is numbered; n _ifor the intelligent body number adjacent with intelligent body i; n _jfor the intelligent body number adjacent with intelligent body j; θ is the convergence factor affecting average homogeneity algorithm the convergence speed, 0< θ <1.

Step 40) reach and pin down consistency: the distributed unit intelligent body adopting droop control, the reference value of frequency initial value adjustment amount obtained according to formula (4) and the reference value of Initial Voltage Value adjustment amount, the frequency initial value of adjustment droop control and Initial Voltage Value, eliminate frequency departure and the voltage deviation of a micro-capacitance sensor droop control; Uniform convergence value is pind down when the reference value of frequency initial value adjustment amount and the reference value of Initial Voltage Value adjustment amount that pin down intelligent body reach default respectively, each distributed unit intelligent body is made to operate in predetermined state, the frequency and voltage of micro-capacitance sensor is stabilized near standard value, and whole micro-capacitance sensor is in collaborative work state.

In step 40) in, the matrix based on the distributed collaboration governing equation pind down of whole micro-capacitance sensor is such as formula shown in (5):

$\stackrel{\&CenterDot;}{E}=\left[\begin{array}{c}{\stackrel{\&CenterDot;}{E}}_f\\ {\stackrel{\&CenterDot;}{E}}_U\end{array}\right]=\left[\begin{array}{c}W{E}_f-(D\&times;I_n)E_f\\ {\mathrm{WE}}_U-(D\&times;I_n)E_U\end{array}\right]=W_{fU}\left[\begin{array}{c}{E}_f\\ E_U\end{array}\right]=W_{fU}E$ Formula (5)

In formula, E represents micro-capacitance sensor frequency and voltage initial value adjustment amount error matrix, represent the derivative of E; E _frepresent micro-capacitance sensor frequency initial value adjustment amount error matrix, represent E _fderivative, E _f=[e _{f, 1}, e _{f, 2}..., e _f,n], wherein, e _{f, 1}represent the frequency initial value adjustment amount error of the 1st intelligent body, e _{f, 2}represent the frequency initial value adjustment amount error of the 2nd intelligent body, e _f,nrepresent the frequency initial value adjustment amount error of the n-th intelligent body; N represents the sum of intelligent body in micro-capacitance sensor; E _urepresent micro-capacitance sensor Initial Voltage Value adjustment amount error matrix, represent E _uderivative, E _u=[e _{u, 1}, e _{u, 2}..., e _u,n], e _{u, 1}represent the Initial Voltage Value adjustment amount error of the 1st intelligent body, e _{u, 2}represent the Initial Voltage Value adjustment amount error of the 2nd intelligent body, e _u,nrepresent the Initial Voltage Value adjustment amount error of the n-th intelligent body; W represents communicative couplings matrix, w _ijfor (i, j) individual element of matrix W, D=[d ₁, d ₂..., d _n], D represents that micro-capacitance sensor pins down matrix, d ₁represent the pinning control gain of the 1st intelligent body, d ₂represent the pinning control gain of the 2nd intelligent body, d _nrepresent the pinning control gain of the n-th intelligent body; I _nrepresentation unit matrix; W _fUrepresent to the transformation matrices of E, its value is determined by formula (6):

$W_{fU}=\left[\begin{array}{cc}W-(D\&times;I_n)& 0_n\\ 0_n& W-(D\&times;I_n)\end{array}\right]$ Formula (6)

In formula, 0 _nrepresent n rank 0 matrix.

Control method of the present invention can take rapidly reaction after disturbance occurs, realize distributed decision making to formulate, thus eliminate the voltage to frequency steady state deviation of traditional droop control, ensureing that autonomous micro-capacitance sensor voltage to frequency is collaborative returns near standard value, improves reliability and the adaptability of micro-capacitance sensor control program.The control method of the embodiment of the present invention can take rapidly reaction after disturbance occurs, and the various energy storage of Collaborative Control, distributed generation unit and load realize distributed decision making and formulate, to realize the collaborative recovery of frequency and voltage.The control method of the embodiment of the present invention, based on the double-deck average homogeneity algorithm of multi-agent system, adopts the concept of pinning control to implement the secondary frequency voltage resume control of multiple distributed generation unit based on droop control.By the consistency process of pinning control, put forward the steady state deviation that autonomous micro-capacitance sensor distributed control method can overcome traditional droop control in a distributed fashion, also improve reliability and the adaptability of control program.Autonomous micro-capacitance sensor distributed control method based on pining down of the present invention is when accident occurs, a droop control of distributed generation unit intelligent body is had an effect, the frequency and voltage of autonomous micro-capacitance sensor controls according to following predetermined sagging relational implementation, maintains the power-balance in autonomous micro-capacitance sensor.For the frequency departure of a droop control generation, predetermined X pins down intelligent body according to predetermined uniform convergence point, seek according to communicative couplings the consistency pining down intelligent body, and control frequency and voltage error are progressively adjusted to and predetermined pin down uniform convergence value.When reaching the predetermined consistency based on pining down, each DGA (corresponding Chinese: distributed generation unit intelligent body) operates in predetermined state, and whole micro-capacitance sensor is also in co-ordination state, and the frequency of micro-capacitance sensor will be stabilized in rated range.

Exemplify an embodiment below.

The simulation architecture of micro-capacitance sensor as shown in Figure 2.This emulation micro-capacitance sensor (is called for short MT by miniature gas turbine, represent with DG1 in figure), energy-storage system (be called for short ESS, represent with DG2 in figure), photovoltaic system (be called for short PV, represent with DG3 in figure), small power station (be called for short MH, represent with DG4 in figure) four DG and 4 load cell (Load1, Load2, Load3, Load4) compositions, each distributed unit accesses 0.38kV low-voltage network by power electronic element.System has 8 distributed intelligence bodies (Agent), and use A1 respectively, A2, A3, A4, A5, A6, A7, A8 represent.An intelligent body can only communicate with its intelligent body of direct neighbor in communication topology.Based on power system computation machine Computer Aided Design/containing direct solenoid transient emulation (English abbreviation: PSCAD/EMTDC) platform building emulation micro-capacitance sensor model, simulation multi-agent system in matrix labotstory (English abbreviation MATLAB), the global information setting up multi-agent system ground floor shares the cutting load algorithm routine with micro-capacitance sensor distributing cost optimization, utilize Fortran language compilation interface routine by the algorithm in MATLAB and power system computation machine Computer Aided Design (English abbreviation PSCAD) model cooperation, thus utilize associative simulation technology to realize the simulating, verifying of control method of the present invention.

Situation for the micro-capacitance sensor generation disturbance of island mode emulates, the control effects of checking the inventive method.In emulation micro-capacitance sensor, DG3 is operated in invariable power (PQ) control model, and DG1, DG2, DG4 are operated in droop control pattern and balance to keep autonomous microgrid power.At t=2s, the communication line between intelligent body A5 and intelligent body A7 is closed, and as shown in Figure 3, meanwhile, autonomous micro-capacitance sensor also transships.At t=4s, A1 (DG3) because mistake is closed, power-balance is broken, and communication topology changes, and the communication line between intelligent body A1 and intelligent body A6 is closed, as shown in Figure 4.

Fig. 5 is to Figure 8 shows that the power output of four DG in simulation process and voltage and micro-capacitance sensor frequency variation curve.Wherein, Fig. 5 represents the active power variation diagram that in micro-capacitance sensor, each distributed power source exports, abscissa representing time, and unit is second, and ordinate represents that the active power that distributed power source exports, unit are kilowatt.In Fig. 5, the lines with equilateral triangle represent the active power variation diagram that DG3 exports; The active power variation diagram that DG4 exports is represented with foursquare lines; Lines with circle represent the active power variation diagram that DG2 exports; Lines with del represent the active power variation diagram that DG1 exports.Fig. 6 represents the reactive power variation diagram that in micro-capacitance sensor, each distributed power source exports, abscissa representing time, and unit is second, and ordinate represents that the reactive power that distributed power source exports, unit are kilovar.In Fig. 6, the lines with equilateral triangle represent the reactive power variation diagram that DG3 exports; The reactive power variation diagram that DG4 exports is represented with foursquare lines; Lines with circle represent the reactive power variation diagram that DG2 exports; Lines with left triangle represent the reactive power variation diagram that DG1 exports.Left triangle refers to and equilateral triangle is rotated counterclockwise 90 degree.Fig. 7 represents the frequency change figure of micro-capacitance sensor, abscissa representing time, and unit is second, and ordinate represents the frequency of micro-capacitance sensor, and unit is hertz.Fig. 8 represents each distributed power source voltage effective value string diagram of micro-capacitance sensor, abscissa representing time, and unit is second, and ordinate represents the voltage perunit value that distributed power source exports.In Fig. 8, the lines with equilateral triangle represent DG3 voltage effective value string diagram; DG4 voltage effective value string diagram is represented with foursquare lines; Lines with circle represent DG2 voltage effective value string diagram; Lines with left triangle represent DG1 voltage effective value string diagram.

In Fig. 5 to Fig. 8, the change curve of each variable shows, the distributed collaboration control method of the embodiment of the present invention, micro-capacitance sensor can in overload situation with in the change situation that communicates, according to predetermined consistency numerical value, control distributed unit intelligent body and follow the tracks of predetermined uniform convergence point in a distributed fashion according to pining down the communicative couplings changed between intelligent body, elimination communication line is closed and intelligent body cuts the impact of machine operation for micro-capacitance sensor control program, maintains the stable of micro-capacitance sensor voltage to frequency.

Claims (3)

1. towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down, it is characterized in that, this control method comprises the steps:

Step 10) one time droop control keeps microgrid power to balance automatically: when micro-capacitance sensor generation power disturbance, based on the distributed generation unit intelligent body of droop control, automatically the frequency and voltage of micro-capacitance sensor is controlled according to formula (1), change power stage, maintain the power-balance of micro-capacitance sensor:

$\left\{\begin{array}{c}{f}_i=f_{n,i}-m_{P,i}{P}_i\\ U_i=U_{n,i}-n_{Q,i}{Q}_i\end{array}\right.$ Formula (1)

In formula, f _irepresent the frequency reference that i-th distributed generation unit droop control produces; f _n,irepresent the frequency initial value of i-th distributed generation unit droop control; m _p,irepresent the meritorious sagging coefficient of i-th distributed generation unit; P _irepresent the active power that i-th distributed generation unit exports; U _irepresent the voltage reference value that i-th distributed generation unit droop control produces; U _n,irepresent the Initial Voltage Value of i-th distributed generation unit droop control; n _q,irepresent the idle sagging coefficient of i-th distributed generation unit; Q _irepresent the reactive power that i-th distributed generation unit exports; I represents the numbering of distributed generation unit;

Step 20) determine to pin down that intelligent body presets pins down uniform convergence value: control and the mutual information interaction of distributed generation unit are responsible for by intelligent body, the corresponding intelligent body of each distributed generation unit, the numbering of distributed generation unit is identical with the numbering of the intelligent body corresponding with this distributed generation unit; Determine to pin down the default uniform convergence value of intelligent body according to formula (2):

$\left\{\begin{array}{c}{f}_c=\underset{i}{\&Sigma;}(f_{n,i}-f_i)/N\\ U_c=\underset{i}{\&Sigma;}(U_{n,i}-U_i)/N\end{array}\right.$ Formula (2)

In formula, f _crepresent the frequency departure uniform convergence value pining down intelligent body and preset; U _crepresent the voltage deviation uniform convergence value pining down intelligent body and preset; N represents the sum of the intelligent body adopting droop control;

Step 30) seek to pin down consistency: in micro-capacitance sensor linear quadratic control, distributed generation unit intelligent body seeks according to communicative couplings the consistency pining down intelligent body, and arranges the error of frequency and voltage initial value adjustment amount according to formula (3):

$e_i=\left[\begin{array}{c}{e}_{f,i}\\ e_{U,i}\end{array}\right]=\left[\begin{array}{c}\mathrm{\&Delta;}{f}_{n,i}-f_c\\ {\mathrm{\&Delta;U}}_{n,i}-U_c\end{array}\right]$ Formula (3)

In formula, e _irepresent e _f,iand e _u,ithe column vector of composition, e _f,irepresent the reference value of i-th intelligent body droop control frequency initial value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, e _u,irepresent the reference value of i-th intelligent body droop control Initial Voltage Value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, Δ f _n,irepresent the reference value of i-th intelligent body droop control frequency initial value adjustment amount, Δ U _n,irepresent the reference value of i-th intelligent body droop control Initial Voltage Value adjustment amount;

For the e in formula (3) _i, according to the information interactive process of i-th intelligent body, obtain i-th intelligent body based on the distributed collaboration governing equation pind down, shown in (4):

${\stackrel{\&CenterDot;}{e}}_i=\underset{j\&Element;N_i}{\&Sigma;}{w}_{ij}(e_j-e_i)-d_i{e}_i$ Formula (4)

In formula, represent e _icarry out differentiate, e _jrepresent e _f,jand e _u,jthe column vector of composition, e _f,jrepresent the reference value of a jth intelligent body droop control frequency initial value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset, e _u,jrepresent the reference value of a jth intelligent body droop control Initial Voltage Value adjustment amount and pin down the error of the frequency departure uniform convergence value that intelligent body is preset; w _ijrepresent the communicative couplings between intelligent body i and intelligent body j, if intelligent body i is connected by communication line with intelligent body j, then w _ij≠ 0, otherwise, w _ij=0; d _irepresent pinning control gain, d _i>=0; d _i=0 shows not for the pinning control of intelligent body i;

Step 40) reach and pin down consistency: the distributed unit intelligent body adopting droop control, the reference value of frequency initial value adjustment amount obtained according to formula (4) and the reference value of Initial Voltage Value adjustment amount, the frequency initial value of adjustment droop control and Initial Voltage Value, eliminate frequency departure and the voltage deviation of a micro-capacitance sensor droop control; Uniform convergence value is pind down when the reference value of frequency initial value adjustment amount and the reference value of Initial Voltage Value adjustment amount that pin down intelligent body reach default respectively, each distributed unit intelligent body is made to operate in predetermined state, the frequency and voltage of micro-capacitance sensor is stabilized near standard value, and whole micro-capacitance sensor is in collaborative work state.

2. according to according to claim 1 towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down, it is characterized in that, described step 40) in, the matrix based on the distributed collaboration governing equation pind down of whole micro-capacitance sensor is such as formula shown in (5):

$\stackrel{\&CenterDot;}{E}=\left[\begin{array}{c}{\stackrel{\&CenterDot;}{E}}_f\\ {\stackrel{\&CenterDot;}{E}}_U\end{array}\right]=\left[\begin{array}{c}W{E}_f-(D\&times;I_n)E_f\\ {\mathrm{WE}}_U-(D\&times;I_n)E_U\end{array}\right]=W_{fU}\left[\begin{array}{c}{E}_f\\ E_U\end{array}\right]=W_{fU}E$ Formula (5)

In formula, E represents micro-capacitance sensor frequency and voltage initial value adjustment amount error matrix, represent the derivative of E; E _frepresent micro-capacitance sensor frequency initial value adjustment amount error matrix, represent E _fderivative, E _f=[e _{f, 1}, e _{f, 2}..., e _f,n], wherein, e _{f, 1}represent the frequency initial value adjustment amount error of the 1st intelligent body, e _{f, 2}represent the frequency initial value adjustment amount error of the 2nd intelligent body, e _f,nrepresent the frequency initial value adjustment amount error of the n-th intelligent body; N represents the sum of intelligent body in micro-capacitance sensor; E _urepresent micro-capacitance sensor Initial Voltage Value adjustment amount error matrix, represent E _uderivative, E _u=[e _{u, 1}, e _{u, 2}..., e _u,n], e _{u, 1}represent the Initial Voltage Value adjustment amount error of the 1st intelligent body, e _{u, 2}represent the Initial Voltage Value adjustment amount error of the 2nd intelligent body, e _u,nrepresent the Initial Voltage Value adjustment amount error of the n-th intelligent body; W represents communicative couplings matrix, w _ijfor (i, j) individual element of matrix W, D=[d ₁, d ₂..., d _n], D represents that micro-capacitance sensor pins down matrix, d ₁represent the pinning control gain of the 1st intelligent body, d ₂represent the pinning control gain of the 2nd intelligent body, d _nrepresent the pinning control gain of the n-th intelligent body; I _nrepresentation unit matrix; W _fUrepresent to the transformation matrices of E, its value is determined by formula (6):

$W_{fU}=\left[\begin{array}{cc}W-(D\&times;I_n)& 0_n\\ 0_n& W-(D\&times;I_n)\end{array}\right]$ Formula (6)

In formula, 0 _nrepresent n rank 0 matrix.

3. according to according to claim 1 towards micro-capacitance sensor under ad-hoc mode based on the distributed collaboration control method pind down, it is characterized in that, described step 30) in, w _ijdetermine according to formula (7), formula (8):

formula (7)

$\left\{\begin{array}{c}{\mathrm{\&Sigma;}}_i{w}_{ij}=1\\ {\mathrm{\&Sigma;}}_j{w}_{ij}=1\end{array}\right.$ Formula (8)

In formula, N _irepresent the set that the intelligent body adjacent with intelligent body i is numbered; n _ifor the intelligent body number adjacent with intelligent body i; n _jfor the intelligent body number adjacent with intelligent body j; θ is the convergence factor affecting average homogeneity algorithm the convergence speed, 0< θ <1.