CN105119283B - Micro-capacitance sensor based on the distributed collaboration control method for pining down under towards ad-hoc mode - Google Patents
Micro-capacitance sensor based on the distributed collaboration control method for pining down under towards ad-hoc mode Download PDFInfo
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Abstract
The invention discloses it is a kind of towards under ad-hoc mode micro-capacitance sensor based on the distributed collaboration control method for pining down, the control method comprises the steps：Step 10）One time droop control keeps microgrid power to balance automatically；Step 20）It is determined that pining down, intelligent body is default to pin down uniform convergence value；Step 30）Seek to pin down uniformity；Step 40）Reach and pin down uniformity：The reference value of reference value and Initial Voltage Value adjustment amount according to frequency initial value adjustment amount, adjust the frequency initial value and Initial Voltage Value of droop control, the frequency departure and voltage deviation of droop control of micro-capacitance sensor are eliminated, each distributed unit intelligent body is operated in predetermined state.The control method after micro-capacitance sensor is disturbed, can eliminate the voltage to frequency steady-state deviation of traditional droop control, it is ensured that autonomous micro-capacitance sensor frequency voltage collaboration is returned near standard value, improves the reliability and adaptability of micro-capacitance sensor control.
Description
Technical field
The invention belongs to field of micro-grid operational control, it particularly relates to a kind of towards micro-capacitance sensor under ad-hoc mode
Based on the distributed collaboration control method for pining down.
Background technology
The energy is the basis that human civilization continues and develops.With world industry and expanding economy, traditional coal, stone
The consumption of the primary energy such as oil increases increasingly, and the seriousness of lack of energy problem is increasingly recognized in countries in the world.Meanwhile, once can
The use in source generates substantial amounts of waste gas waste water, severe contamination environment for the survival of mankind.Therefore, countries in the world are in effort
Improve efficiency of energy utilization, while Optimization of Energy Structure, also actively promote too can the regenerative resource such as energy, wind energy hair
Exhibition, with alleviating energy crisis, reduces the discharge of carbon dioxide and dusty gas, maintains economic sustainable development.
In order to realize effective utilization of regenerative resource, micro-capacitance sensor is used as a kind of Tissue distribution formula generator unit and load
Autonomous system has obtained extensive research.The stable operation of micro-capacitance sensor is the premise for realizing renewable energy utilization, but micro-capacitance sensor
In distributed power source regenerative resource, traditional energy etc. are converted into by electric energy by power electronic element mostly, and electric power is electric
The inertia of subcomponent is smaller, and the frequency and Voltage Stability Control to micro-capacitance sensor propose larger challenge.On the other hand, the sun
The regenerative resources such as energy, wind energy are influenceed larger by natural conditions, the different months in 1 year, unequal in the same time at one day
There is larger difference, have an immesurable generator of output this equates in Generation Side, for the stability contorting of micro-capacitance sensor
Propose requirement higher.
At present, the control program of micro-capacitance sensor has the master ＆ slave control of centralization and distributed equity control.Traditional concentration
Control has larger dependence for central controller, has had a strong impact on the safety and reliability of micro-capacitance sensor.And equity control
Molding formula can assign the function of micro-capacitance sensor " plug and play ", and the distributing for adapting to distributed power source is accessed, and be conducive to the raising can
The utilization rate of the renewable sources of energy.Meanwhile, each distributed generation unit of micro-capacitance sensor can participate in maintenance system under reciprocity control model
The stabilization of frequency and voltage, can effectively improve the reliability of micro-capacitance sensor, meet the diversified electricity needs of user.Droop control
It is distributed unit participation micro-capacitance sensor frequency and voltage-controlled major way under reciprocity control model, but droop control is in maintenance
In the case of micro-capacitance sensor stabilization, the skew of micro-capacitance sensor frequency voltage is also result in.Regenerative resource randomness and it is intermittent with
And under the influence of load fluctuation, it is most likely that the collapse of micro-capacitance sensor is caused, the reliability of power supply is influenceed.Therefore, it is necessary to set up
The distributed collaboration control strategy of micro-capacitance sensor under reciprocity control model, realizes recovery and the stabilization of micro-capacitance sensor frequency and voltage, protects
The reliability and security of testimony electricity.
The content of the invention
Technical problem：The technical problems to be solved by the invention are：A kind of base towards micro-capacitance sensor under ad-hoc mode is provided
In the distributed collaboration control method for pining down, the control method can eliminate traditional droop control after micro-capacitance sensor is disturbed
Voltage to frequency steady-state deviation, it is ensured that the collaboration of autonomous micro-capacitance sensor frequency voltage is returned near standard value, improves micro-capacitance sensor control
Reliability and adaptability.
Technical scheme：In order to solve the above technical problems, the embodiment of the present invention takes a kind of towards micro-capacitance sensor under ad-hoc mode
Based on the distributed collaboration control method for pining down, the control method comprises the steps：
Step 10) one time droop control keeps microgrid power to balance automatically：When micro-capacitance sensor occurs power disturbance, it is based on
The distributed generation unit intelligent body of droop control, the frequency and voltage of micro-capacitance sensor are automatically controlled according to formula (1), change power defeated
Go out, maintain the power-balance of micro-capacitance sensor：
Formula (1)
In formula, fiRepresent i-th frequency reference of distributed generation unit droop control generation；fn,iRepresent i-th point
The frequency initial value of cloth generator unit droop control；mP,iRepresent i-th active sagging coefficient of distributed generation unit；Pi
Represent i-th active power of distributed generation unit output；UiRepresent i-th distributed generation unit droop control generation
Voltage reference value；Un,iRepresent i-th Initial Voltage Value of distributed generation unit droop control；nQ,iRepresent i-th distribution
The idle sagging coefficient of generator unit；QiRepresent i-th reactive power of distributed generation unit output；I represents distributed hair
The numbering of electric unit；
Step 20) determine to pin down that intelligent body is default to pin down uniform convergence value：The control of distributed generation unit and phase
Information exchange between mutually is responsible for by intelligent body, each distributed generation unit one intelligent body of correspondence, distributed generation unit
The numbering of numbering and intelligent body corresponding with the distributed generation unit is identical；Intelligent body is pind down according to formula (2) determination default
Uniform convergence value：
Formula (2)
In formula, fcExpression pins down the default frequency departure uniform convergence value of intelligent body；UcIt is default that expression pins down intelligent body
Voltage deviation uniform convergence value；N represents the sum using the intelligent body of droop control；
Step 30) seek to pin down uniformity：In micro-capacitance sensor linear quadratic control, distributed generation unit intelligent body is according to communication
Coupling is sought to pin down the uniformity of intelligent body, and the error of frequency and Initial Voltage Value adjustment amount is set according to formula (3)：
Formula (3)
In formula, eiRepresent ef,iAnd eU,iThe column vector of composition, ef,iRepresent i-th intelligent body droop control frequency initial value
The reference value of adjustment amount and the error for pining down the default frequency departure uniform convergence value of intelligent body, eU,iRepresent i-th intelligent body
The reference value of droop control Initial Voltage Value adjustment amount and the error for pining down the default frequency departure uniform convergence value of intelligent body,
Δfn,iRepresent i-th reference value of intelligent body droop control frequency initial value adjustment amount, Δ Un,iRepresent that i-th intelligent body is sagging
The reference value of control voltage initial value adjustment amount；
For the e in formula (3)i, according to i-th information interactive process of intelligent body, obtain i-th intelligent body and be based on pining down
Distributed collaboration governing equation, as shown in formula (4)：
Formula (4)
In formula,Represent to eiCarry out derivation, ejRepresent ef,jAnd eU,jThe column vector of composition, ef,jRepresent j-th intelligent body
The reference value of droop control frequency initial value adjustment amount and the error for pining down the default frequency departure uniform convergence value of intelligent body,
eU,jRepresent j-th reference value of intelligent body droop control Initial Voltage Value adjustment amount and pin down the default frequency departure of intelligent body
The error of uniform convergence value；wijThe communicative couplings between intelligent body i and intelligent body j are represented, if intelligent body i and intelligent body j
Connected by communication line, then wij≠ 0, otherwise, wij=0；diRepresent pinning control gain, di≥0；di=0 shows no pin
To the pinning control of intelligent body i；
Step 40) reach and pin down uniformity：Using the distributed unit intelligent body of droop control, obtained according to formula (4)
The reference value of frequency initial value adjustment amount and the reference value of Initial Voltage Value adjustment amount, adjust droop control frequency initial value and
Initial Voltage Value, eliminates the frequency departure and voltage deviation of droop control of micro-capacitance sensor；When the frequency for pining down intelligent body is initial
The reference value of value adjustment amount and the reference value of Initial Voltage Value adjustment amount respectively reach it is default pin down uniform convergence value, make every
Individual distributed unit intelligent body operates in predetermined state, the frequency and voltage stabilization of micro-capacitance sensor near standard value, whole micro- electricity
Net is in collaborative work state.
As preference, described step 40) in, whole micro-capacitance sensor based on the distributed collaboration governing equation for pining down
Shown in matrix such as formula (5)：
Formula (5)
In formula, E represents micro-capacitance sensor frequency and Initial Voltage Value adjustment amount error matrix,Represent the derivative of E；EfRepresent micro-
Mains frequency initial value adjustment amount error matrix,Represent EfDerivative, Ef=[ef,1、ef,2、…、ef,n], wherein, ef,1Represent
The 1st frequency initial value adjustment amount error of intelligent body, ef,2The 2nd frequency initial value adjustment amount error of intelligent body is represented,
ef,nRepresent n-th frequency initial value adjustment amount error of intelligent body；N represents the sum of intelligent body in micro-capacitance sensor；EURepresent micro- electricity
Net Initial Voltage Value adjustment amount error matrix,Represent EUDerivative, EU=[eU,1、eU,2、…、eU,n], eU,1Represent the 1st intelligence
The Initial Voltage Value adjustment amount error of energy body, eU,2Represent the 2nd Initial Voltage Value adjustment amount error of intelligent body, eU,nRepresent the
The n Initial Voltage Value adjustment amount error of intelligent body；W represents communicative couplings matrix, wijIt is (i, j) individual element of matrix W, D
=[d1、d2、…、dn], D represents that micro-capacitance sensor pins down matrix, d1Represent the 1st pinning control gain of intelligent body, d2Represent the 2nd
The pinning control gain of intelligent body, dnRepresent n-th pinning control gain of intelligent body；InRepresent unit matrix；WfURepresentIt is right
The transformation matrices of E, its value is determined by formula (6)：
Formula (6)
In formula, 0nRepresent the matrix of n ranks 0.
As preference, described step 30) in, wijDetermine according to formula (7), formula (8)：
Formula (7)
Formula (8)
In formula, NiRepresent the set of the intelligent body numbering adjacent with intelligent body i；niIt is the intelligent body number adjacent with intelligent body i
Mesh；njIt is the intelligent body number adjacent with intelligent body j；θ is the convergence factor for influenceing average homogeneity algorithm the convergence speed, 0<θ<1.
Beneficial effect：Compared with prior art, the embodiment of the present invention has the advantages that：The face of the embodiment of the present invention
To under ad-hoc mode micro-capacitance sensor based on the distributed collaboration control method for pining down, multiple is implemented using the concept of pinning control
The voltage to frequency of the distributed generation unit based on droop control recovers control.By the uniformity process of pinning control, this hair
Bright carried control method can in a distributed fashion eliminate the voltage to frequency steady-state deviation of traditional droop control, it is ensured that autonomous
The collaboration of micro-capacitance sensor frequency voltage is returned near standard value, improves the reliability and adaptability of micro-capacitance sensor control program.
Brief description of the drawings
Fig. 1 is FB(flow block) of the 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 when machine is operated.
Fig. 5 is the active power lines figure of each distributed power source output of micro-capacitance sensor in the embodiment of the present invention.
Fig. 6 is the reactive power lines figure of each distributed power source output of micro-capacitance sensor in the embodiment of the present invention.
Fig. 7 is the frequency lines figure of micro-capacitance sensor in the embodiment of the present invention.
Fig. 8 is each distributed power source voltage effective value lines figure of micro-capacitance sensor in the embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and case study on implementation
The present invention is in depth described in detail.It should be appreciated that specific implementation case described herein is only used to explain this hair
It is bright, it is not used to limit invention.
As shown in figure 1, the embodiment of the present invention it is a kind of towards under ad-hoc mode micro-capacitance sensor based on pin down distribution association
Same control method, comprises the steps：
Step 10) one time droop control keeps microgrid power to balance automatically：When micro-capacitance sensor occurs power disturbance, it is based on
The distributed generation unit intelligent body of droop control, the frequency and voltage of micro-capacitance sensor are automatically controlled according to formula (1), change power defeated
Go out, maintain the power-balance of micro-capacitance sensor：
Formula (1)
In formula, fiRepresent i-th distributed generation unit (English：Distributed Generator, abbreviation DG in text)
The frequency reference that droop control is produced；fn,iRepresent i-th frequency initial value of distributed generation unit droop control；mP,iTable
Show i-th active sagging coefficient of distributed generation unit；PiRepresent i-th active power of distributed generation unit output；Ui
Represent i-th voltage reference value of distributed generation unit droop control generation；Un,iUnder representing i-th distributed generation unit
Hang down the Initial Voltage Value for controlling；nQ,iRepresent i-th idle sagging coefficient of distributed generation unit；QiRepresent i-th distribution
The reactive power of generator unit output；I represents the numbering of distributed generation unit.
Step 20) determine to pin down that intelligent body is default to pin down uniform convergence value：The control of distributed generation unit and phase
Information exchange between mutually is responsible for by intelligent body, each distributed generation unit one intelligent body of correspondence, distributed generation unit
The numbering of numbering and intelligent body corresponding with the distributed generation unit is identical；, intelligent body is pind down according to formula (2) determination default
Uniform convergence value：
Formula (2)
In formula, fcExpression pins down the default frequency departure uniform convergence value of intelligent body；UcIt is default that expression pins down intelligent body
Voltage deviation uniform convergence value；N represents the sum using the intelligent body of droop control.
Before it is determined that pining down intelligent body convergency value, it is thus necessary to determine that X intelligent body is chosen and pins down, patent reality of the present invention
In applying example, X=1.When distributed unit number increases in micro-capacitance sensor, need to accordingly increase intelligent body, to keep pining down uniformity
Stability.
Step 30) seek to pin down uniformity：In micro-capacitance sensor linear quadratic control, distributed generation unit intelligent body is according to communication
Coupling is sought to pin down the uniformity of intelligent body, and the error of frequency and Initial Voltage Value adjustment amount is set according to formula (3)：
Formula (3)
In formula, eiRepresent ef,iAnd eU,iThe column vector of composition, ef,iRepresent i-th intelligent body droop control frequency initial value
The reference value of adjustment amount and the error for pining down the default frequency departure uniform convergence value of intelligent body, eU,iRepresent i-th intelligent body
The reference value of droop control Initial Voltage Value adjustment amount and the error for pining down the default frequency departure uniform convergence value of intelligent body,
Δfn,iRepresent i-th reference value of intelligent body droop control frequency initial value adjustment amount, Δ Un,iRepresent that i-th intelligent body is sagging
The reference value of control voltage initial value adjustment amount.
For the e in formula (3)i, according to i-th information interactive process of intelligent body, obtain i-th intelligent body and be based on pining down
Distributed collaboration governing equation, as shown in formula (4)：
Formula (4)
In formula,Represent to eiCarry out derivation, ejAs shown in formula (9), ejRepresent ef,jAnd eU,jThe column vector of composition, ef,jTable
Show j-th reference value of intelligent body droop control frequency initial value adjustment amount and pin down the default frequency departure uniformity of intelligent body
The error of convergency value, eU,jRepresent j-th reference value of intelligent body droop control Initial Voltage Value adjustment amount and to pin down intelligent body pre-
If frequency departure uniform convergence value error；Δfn,jRepresent j-th intelligent body droop control frequency initial value adjustment amount
Reference value, Δ Un,jRepresent j-th reference value of intelligent body droop control Initial Voltage Value adjustment amount.wijRepresent intelligent body i and intelligence
Communicative couplings between energy body j, if intelligent body i and intelligent body j is connected by communication line, wij≠ 0, otherwise, wij=0；
diRepresent pinning control gain, di≥0；di=0 shows pinning control not for intelligent body i.
Formula (9)
wijDetermine according to formula (7), formula (8)：
Formula (7)
Formula (8)
In formula, NiRepresent the set of the intelligent body numbering adjacent with intelligent body i；niIt is the intelligent body number adjacent with intelligent body i
Mesh；njIt is the intelligent body number adjacent with intelligent body j；θ is the convergence factor for influenceing average homogeneity algorithm the convergence speed, 0<θ<1.
Step 40) reach and pin down uniformity：Using the distributed unit intelligent body of droop control, obtained according to formula (4)
The reference value of frequency initial value adjustment amount and the reference value of Initial Voltage Value adjustment amount, adjust droop control frequency initial value and
Initial Voltage Value, eliminates the frequency departure and voltage deviation of droop control of micro-capacitance sensor；When the frequency for pining down intelligent body is initial
The reference value of value adjustment amount and the reference value of Initial Voltage Value adjustment amount respectively reach it is default pin down uniform convergence value, make every
Individual distributed unit intelligent body operates in predetermined state, the frequency and voltage stabilization of micro-capacitance sensor near standard value, whole micro- electricity
Net is in collaborative work state.
In step 40) in, matrix such as formula (5) institute based on the distributed collaboration governing equation for pining down of whole micro-capacitance sensor
Show：
Formula (5)
In formula, E represents micro-capacitance sensor frequency and Initial Voltage Value adjustment amount error matrix,Represent the derivative of E；EfRepresent micro-
Mains frequency initial value adjustment amount error matrix,Represent EfDerivative, Ef=[ef,1、ef,2、…、ef,n], wherein, ef,1Represent
The 1st frequency initial value adjustment amount error of intelligent body, ef,2The 2nd frequency initial value adjustment amount error of intelligent body is represented,
ef,nRepresent n-th frequency initial value adjustment amount error of intelligent body；N represents the sum of intelligent body in micro-capacitance sensor；EURepresent micro- electricity
Net Initial Voltage Value adjustment amount error matrix,Represent EUDerivative, EU=[eU,1、eU,2、…、eU,n], eU,1Represent the 1st intelligence
The Initial Voltage Value adjustment amount error of energy body, eU,2Represent the 2nd Initial Voltage Value adjustment amount error of intelligent body, eU,nRepresent the
The n Initial Voltage Value adjustment amount error of intelligent body；W represents communicative couplings matrix, wijIt is (i, j) individual element of matrix W, D
=[d1、d2、…、dn], D represents that micro-capacitance sensor pins down matrix, d1Represent the 1st pinning control gain of intelligent body, d2Represent the 2nd
The pinning control gain of intelligent body, dnRepresent n-th pinning control gain of intelligent body；InRepresent unit matrix；WfURepresentIt is right
The transformation matrices of E, its value is determined by formula (6)：
Formula (6)
In formula, 0nRepresent the matrix of n ranks 0.
Control method of the invention can take reaction rapidly after generation is disturbed, and realize that distributed decision making is formulated, so that
Eliminate the voltage to frequency steady-state deviation of traditional droop control, it is ensured that it is attached that autonomous micro-capacitance sensor frequency voltage collaboration returns to standard value
Closely, the reliability and adaptability of micro-capacitance sensor control program are improved.The control method of the embodiment of the present invention can be to be sent out in disturbance
Rapid after life to take reaction, the various energy storage of Collaborative Control, distributed generation unit and load realize that distributed decision making is formulated, with reality
The collaboration of existing frequency and voltage recovers.The control method of the embodiment of the present invention is based on the double-deck average homogeneity of multi-agent system
Algorithm, the secondary voltage to frequency that multiple distributed generation units based on droop control are implemented using the concept of pinning control is extensive
Multiple control.By the uniformity process of pinning control, the side that autonomous micro-capacitance sensor distributed control method can be in a distributed manner is carried
Formula overcomes the steady-state deviation of traditional droop control, also improves the reliability and adaptability of control program.It is of the invention based on leading
The autonomous micro-capacitance sensor distributed control method of system when accident occurs, send out by a droop control of distributed generation unit intelligent body
Raw effect, the frequency and voltage of autonomous micro-capacitance sensor are controlled according to following predetermined sagging relational implementations, in the autonomous micro-capacitance sensor of maintenance
Power-balance.For a frequency departure for droop control generation, predetermined X pins down intelligent body according to predetermined uniformity
Convergence point, seeks to pin down the uniformity of intelligent body according to being communicatively coupled, and it is predetermined to control frequency and voltage error progressively to adjust
Pin down uniform convergence value.When reaching based on the predetermined uniformity for pining down, each DGA (correspondence Chinese：Distributed power generation list
First intelligent body) operate in predetermined state, whole micro-capacitance sensor is also at co-ordination state, and the frequency of micro-capacitance sensor will stabilise at specified
In the range of.
One embodiment is enumerated below.
The simulation architecture of micro-capacitance sensor is as shown in Figure 2.By miniature gas turbine, (abbreviation MT, uses DG1 to the emulation micro-capacitance sensor in figure
Represent), energy-storage system (abbreviation ESS, represented with DG2 in figure), photovoltaic system (abbreviation PV, represented with DG3 in figure), small power station
(abbreviation MH, represented with DG4 in figure) four DG and 4 load cell (Load1, Load2, Load3, Load4) compositions, each distribution
Formula unit accesses 0.38kV low-voltage networks by power electronic element.System has 8 distributed intelligence bodies (Agent), uses respectively
A1, A2, A3, A4, A5, A6, A7, A8 are represented.One intelligent body can only the intelligent body of direct neighbor enters in communication topology with it
Row communication.Based on power system computation machine Computer Aided Design/(English abbreviation of transient emulation containing direct solenoid：PSCAD/EMTDC) put down
Platform builds emulation micro-capacitance sensor models, and simulation multi-agent system, sets up many intelligence in matrix labotstory (English abbreviation MATLAB)
Shared and micro-capacitance sensor distributing cost optimization the cutting load algorithm routine of global information of energy system system ground floor, utilizes
Fortran language compilations interface routine is by the algorithm in MATLAB and power system computation machine Computer Aided Design (English abbreviation
PSCAD) model cooperation, so as to realize the simulating, verifying of control method of the invention using associative simulation technology.
Situation about being disturbed for the micro-capacitance sensor of island mode is emulated, and verifies the control effect of the inventive method.
In micro-capacitance sensor is emulated, DG3 is operated in invariable power (PQ) control model, and DG1, DG2, DG4 is operated in droop control pattern to protect
Hold autonomous microgrid power balance.Communication line between t=2s, intelligent body A5 and intelligent body A7 is closed, as shown in figure 3,
Meanwhile, autonomous micro-capacitance sensor also overloads.In t=4s, A1 (DG3) is closed due to mistake, and power-balance is broken, communication topology
Change, the communication line between intelligent body A1 and intelligent body A6 is closed, as shown in Figure 4.
Fig. 5 to Fig. 8 show in simulation process the power output and voltage and micro-capacitance sensor frequency change curve of four DG.
Wherein, Fig. 5 represents the active power variation diagram of each distributed power source output in micro-capacitance sensor, and abscissa represents the time, and unit is the second,
Ordinate represent distributed power source output active power, unit for kilowatt.In Fig. 5, the lines with equilateral triangle represent DG3
The active power variation diagram of output；The active power variation diagram of DG4 outputs is represented with foursquare lines；With circular line
Bar represents the active power variation diagram of DG2 outputs；Lines with del represent the active power variation diagram of DG1 outputs.
Fig. 6 represents the reactive power variation diagram of each distributed power source output in micro-capacitance sensor, and abscissa represents the time, and unit is the second, indulges and sits
Mark represent distributed power source output reactive power, unit for kilovar.In Fig. 6, the lines with equilateral triangle represent that DG3 is exported
Reactive power variation diagram；The reactive power variation diagram of DG4 outputs is represented with foursquare lines；With circular lines table
Show the reactive power variation diagram of DG2 outputs；Lines with left triangle represent the reactive power variation diagram of DG1 outputs.Left three
Angular refers to by 90 degree of equilateral triangle rotate counterclockwise.Fig. 7 represents the frequency variation diagram of micro-capacitance sensor, and abscissa represents the time, single
Position is the second, and ordinate represents the frequency of micro-capacitance sensor, and unit is hertz.Fig. 8 represents that each distributed power source voltage of micro-capacitance sensor is effective
Value lines figure, abscissa represents the time, and unit is the second, and ordinate represents the voltage perunit value of distributed power source output.In Fig. 8,
Lines with equilateral triangle represent DG3 voltage effective value lines figures；DG4 voltage effective value lines are represented with foursquare lines
Bar figure；DG2 voltage effective value lines figures are represented with circular lines；Lines with left triangle represent that DG1 voltages are effective
Value lines figure.
The change curve of each variable shows in Fig. 5 to Fig. 8, the distributed collaboration control method of the embodiment of the present invention, micro- electricity
Net, according to predetermined uniformity numerical value, can control distributed unit intelligent body in the case of overload situation and communication change
Communicative couplings according to changing between pining down intelligent body track predetermined uniform convergence point in a distributed fashion, eliminate order wire
Road is closed and intelligent body cuts influence of the machine operation for micro-capacitance sensor control program, maintains the stabilization of micro-capacitance sensor frequency voltage.
Claims (3)
1. it is a kind of towards under ad-hoc mode micro-capacitance sensor based on the distributed collaboration control method for pining down, it is characterised in that the control
Method processed comprises the steps：
Step 10) one time droop control keeps microgrid power to balance automatically：When micro-capacitance sensor occurs power disturbance, based on sagging
The distributed generation unit intelligent body of control, the frequency and voltage of micro-capacitance sensor are automatically controlled according to formula (1), change power output,
Maintain the power-balance of micro-capacitance sensor：
In formula, fiRepresent i-th frequency reference of distributed generation unit droop control generation；fn,iRepresent i-th distribution
The frequency initial value of generator unit droop control；mP,iRepresent i-th active sagging coefficient of distributed generation unit；PiRepresent
I-th active power of distributed generation unit output；UiRepresent i-th voltage of distributed generation unit droop control generation
Reference value；Un,iRepresent i-th Initial Voltage Value of distributed generation unit droop control；nQ,iRepresent i-th distributed power generation
The idle sagging coefficient of unit；QiRepresent i-th reactive power of distributed generation unit output；I represents distributed power generation list
The numbering of unit；
Step 20) determine to pin down that intelligent body is default to pin down uniform convergence value：The control of distributed generation unit and each other
Information exchange be responsible for by intelligent body, each distributed generation unit correspondence one intelligent body, the numbering of distributed generation unit
And the numbering of intelligent body corresponding with the distributed generation unit is identical；Determined to pin down that intelligent body is default to be pind down according to formula (2)
Uniform convergence value：
In formula, fcExpression pins down the default frequency departure uniform convergence value of intelligent body；UcExpression pins down the default voltage of intelligent body
Deviation uniform convergence value；N represents the sum using the intelligent body of droop control；
Step 30) seek to pin down uniformity：In micro-capacitance sensor linear quadratic control, distributed generation unit intelligent body is according to communicative couplings
Seek to pin down the uniformity of intelligent body, and the error of frequency and Initial Voltage Value adjustment amount is set according to formula (3)：
In formula, eiRepresent ef,iAnd eU,iThe column vector of composition, ef,iRepresent i-th intelligent body droop control frequency initial value adjustment amount
Reference value and the error for pining down the default frequency departure uniform convergence value of intelligent body, eU,iRepresent i-th sagging control of intelligent body
The reference value of Initial Voltage Value adjustment amount processed and the error for pining down the default frequency departure uniform convergence value of intelligent body, Δ fn,i
Represent i-th reference value of intelligent body droop control frequency initial value adjustment amount, Δ Un,iRepresent i-th intelligent body droop control
The reference value of Initial Voltage Value adjustment amount；
For the e in formula (3)i, according to i-th information interactive process of intelligent body, i-th intelligent body is obtained based on dividing for pining down
Cloth Collaborative Control equation, as shown in formula (4)：
In formula,Represent to eiCarry out derivation, ejRepresent ef,jAnd eU,jThe column vector of composition, ef,jRepresent j-th sagging control of intelligent body
The reference value of frequency initial value adjustment amount processed and the error for pining down the default frequency departure uniform convergence value of intelligent body, eU,jTable
Show j-th reference value of intelligent body droop control Initial Voltage Value adjustment amount and pin down the default frequency departure uniformity of intelligent body
The error of convergency value；wijThe communicative couplings between intelligent body i and intelligent body j are represented, if intelligent body i and intelligent body j is by logical
Believe connection, then wij≠ 0, otherwise, wij=0；diRepresent pinning control gain, di≥0；di=0 shows not for intelligence
The pinning control of body i；
Step 40) reach and pin down uniformity：Using the distributed unit intelligent body of droop control, according to the frequency that formula (4) is obtained
The reference value of initial value adjustment amount and the reference value of Initial Voltage Value adjustment amount, adjust the frequency initial value and voltage of droop control
Initial value, eliminates the frequency departure and voltage deviation of droop control of micro-capacitance sensor；When the frequency initial value for pining down intelligent body is adjusted
The reference value of whole amount and the reference value of Initial Voltage Value adjustment amount respectively reach it is default pin down uniform convergence value, make each point
Cloth unit intelligent body operates in predetermined state, the frequency and voltage stabilization of micro-capacitance sensor near standard value, at whole micro-capacitance sensor
In collaborative work state.
2. according to described in claim 1 towards under ad-hoc mode micro-capacitance sensor based on the distributed collaboration control method for pining down,
Characterized in that, described step 40) in, the matrix such as formula based on the distributed collaboration governing equation for pining down of whole micro-capacitance sensor
(5) shown in：
In formula, E represents micro-capacitance sensor frequency and Initial Voltage Value adjustment amount error matrix,Represent the derivative of E；EfRepresent micro-capacitance sensor
Frequency initial value adjustment amount error matrix,Represent EfDerivative, Ef=[ef,1、ef,2、…、ef,n], wherein, ef,1Represent the 1st
The frequency initial value adjustment amount error of individual intelligent body, ef,2Represent the 2nd frequency initial value adjustment amount error of intelligent body, ef,n
Represent n-th frequency initial value adjustment amount error of intelligent body；N represents the sum of intelligent body in micro-capacitance sensor；EURepresent micro-capacitance sensor
Initial Voltage Value adjustment amount error matrix,Represent EUDerivative, EU=[eU,1、eU,2、…、eU,n], eU,1Represent the 1st intelligence
The Initial Voltage Value adjustment amount error of body, eU,2Represent the 2nd Initial Voltage Value adjustment amount error of intelligent body, eU,nRepresent n-th
The Initial Voltage Value adjustment amount error of individual intelligent body；W represents communicative couplings matrix, wijIt is (i, j) individual element of matrix W, D=
[d1、d2、…、dn], D represents that micro-capacitance sensor pins down matrix, d1Represent the 1st pinning control gain of intelligent body, d2Represent the 2nd intelligence
The pinning control gain of energy body, dnRepresent n-th pinning control gain of intelligent body；InRepresent unit matrix；WfURepresentTo E
Transformation matrices, its value by formula (6) determine：
In formula, 0nRepresent the matrix of n ranks 0.
3. according to described in claim 1 towards under ad-hoc mode micro-capacitance sensor based on the distributed collaboration control method for pining down,
Characterized in that, described step 30) in, wijDetermine according to formula (7), formula (8)：
In formula, NiRepresent the set of the intelligent body numbering adjacent with intelligent body i；niIt is the intelligent body number adjacent with intelligent body i；
njIt is the intelligent body number adjacent with intelligent body j；θ is the convergence factor for influenceing average homogeneity algorithm the convergence speed, 0<θ<1.
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