CN107147102A - Direct-current grid networking distributed and coordinated control method based on multiple agent - Google Patents
Direct-current grid networking distributed and coordinated control method based on multiple agent Download PDFInfo
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Abstract
The invention discloses a kind of direct-current grid networking distributed and coordinated control method based on multiple agent, the how intelligent distributed coordination control framework of two-stage is built；Design distributed coordination linear quadratic control strategy；Design improved outer shroud droop control device；Design inner ring voltage/current controller；It relies on information network system to carry out decision-making and controls to share with load proportion with voltage uniformity is performed.The distributed and coordinated control that the invention is proposed has taken into full account the network topology switching of information system and the uncertainty of transmission time lag, realizes the dynamic stability control under information physical system integrated environment.
Description
Technical Field
The invention belongs to the field of microgrid control under the background of energy Internet, and particularly relates to a networked distributed coordination control method for a direct-current microgrid based on multiple agents.
Background
In recent years, the occupation ratio of direct-current distributed power generation such as photovoltaic, fuel cell and stored energy in distributed energy is increasing; in addition, direct current loads are also on the rise, for example, the expansion of electric vehicle charging piles suggests that the direct current loads of electric vehicles are widely connected to the power grid. Research interest in dc micro-grids is also being stimulated by the ever-increasing trend of dc power supplies and loads. The direct-current microgrid has the following characteristics: (i) power transmission and distribution are more efficient because the direct current microgrid has no reactive power transmission; (ii) compared with an alternating-current micro-grid, the direct-current micro-grid can supply power to a direct-current load more efficiently, and the alternating-current micro-grid needs two inverter conversions from alternating current to direct current and from direct current to direct current for supplying power to the direct-current load; and the direct current micro-grid only needs one conversion from direct current to direct current, so that the efficiency is improved.
For the control of micro grids, a hierarchical control scheme is commonly adopted: namely, the three-layer control is responsible for executing the optimized scheduling of the distributed power generation, and the optimal power allocation of the distributed power generation is realized; the second-layer control determines and issues the distributed generation reference voltage values in real time based on the real-time dynamic information of the full microgrid for maintaining the grid voltage; performing in-situ distributed dynamic regulation on a layer by layer according to a reference voltage or power; of these, three-layer and two-layer control belong to centralized control based on a communication network, and one-layer master control is typical decentralized control. Corresponding to the hierarchical centralized control scheme, any network failure can cause the transmission failure of the corresponding unit information, which inevitably affects the normal operation of other units, and even causes cascading failures such as overload of part of unit systems and instability of system levels.
In order to overcome the problems, the distributed coordination control attracts attention, and if the distributed coordination control scheme is introduced into the secondary and main control of the microgrid, the distributed coordination control scheme has obvious effects on improving the reliability and expansibility of the system, reducing the communication pressure and the like. In any case, the distributed coordination control of the direct-current micro-grid must achieve two control targets, namely the voltage consistency adjustment of the whole grid and the load proportion sharing. The whole-grid voltage regulation means that the bus voltages of all distributed power generation units of the whole microgrid need to be regulated in a consistent manner according to the reference voltage set by the upper layer; the load proportion sharing is that the load is shared according to the proportion of the rated capacity of each distributed generation, so that circulation and overload among the distributed generation are effectively avoided. However, the conventional distributed droop control voltage regulation and load sharing capability is poor due to one reason that the low-voltage line impedance generates a large voltage drop, and the other reason that the load sharing capability is poor due to the inconsistency of different distributed generation rated voltages. The feasible solution of the problem is to construct centralized control based on a network system with any two points communicated in the whole network. However, this solution, even though it improves the control performance, reduces the reliability of the control, since any line fault would destroy the control functions of the whole system.
In order to overcome the defects of centralized control and traditional distributed control, the invention provides a direct current micro-grid networked distributed coordination control method based on multiple intelligent agents, which not only improves the reliability of control, but also greatly improves the capacity of voltage regulation and load proportion sharing of the whole grid.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-agent-based networked distributed coordination control method for a direct-current microgrid, which relies on an information network system to decide and execute voltage consistency control and load proportion sharing. The distributed coordination control provided by the invention fully considers the network topology switching performance and the uncertainty of transmission time lag of the information system, and realizes the dynamic stability control under the fusion environment of the information physical system.
The invention adopts the following technical scheme to solve the technical problems
The networked distributed coordination control method for the direct current microgrid based on the multi-agent concretely comprises the following steps:
step 1, constructing a two-stage multi-intelligent distributed coordination control architecture;
step 2, designing a distributed coordination secondary control strategy;
step 3, designing an improved outer ring droop controller;
and 4, designing an inner ring voltage/current controller.
As a further preferable scheme of the multi-agent-based networked distributed coordination control method for the direct current microgrid, the step 1 specifically comprises the following steps:
step 1.1, connecting each distributed generation inverter control unit with a primary unit control intelligent agent respectively;
step 1.2, connecting each primary unit control intelligent agent with a secondary distributed coordination control intelligent agent;
as a further preferable scheme of the multi-agent-based networked distributed coordination control method for the direct current microgrid, the design of the distributed coordination secondary control strategy in step 2 specifically includes the following two strategies:
2.1, voltage consistency control strategy:
wherein u isjv(t) is the voltage uniformityControl strategy, j ∈ {1,2, …, N }; Kj,σ(t)Controlling the gain for the voltage; v. ofrefReference voltage, v, regulated for full network voltage uniformityj(t) is a bus voltage of the jth inverter unit system, vk(t) is a bus voltage of the kth inverter unit system, j ∈ {1,2, …, N }, vj(t)＝0,if t＜0；
2.2, load current proportion sharing control strategy:
wherein u isjc(t) load current proportional share control strategy, j ∈ {1,2, …, N };to control the gain, ijpu(t) is the jth inverter cell current, ikpu(t) is the kth inverter unit current;are network connection matrix coefficients.
As a further preferable scheme of the multi-agent-based networked distributed coordination control method for the dc microgrid, in step 3, the outer ring droop controller specifically comprises the following steps:
wherein d isjIs the droop controller gain; u. ofjrefThe reference voltage is the rated voltage and is also the reference voltage of the inner ring controller; i isjratedijpuThe product of the rated current of the jth inverter unit and the per-unit current; k is a radical ofjIs the gain of the voltage transfer controller, k ∈ omegaj,ΩjIs a set of secondary agents adjacent to the jth distributed coordination agent, and the total number is Mj。
As a further preferable scheme of the multi-agent-based networked distributed coordination control method for the dc microgrid, in step 4, the inner-loop voltage/current controller is specifically as follows:
wherein G isj∈R1×2Is the controller gain, xj(t)＝[Δuj(t),Δitj(t)]TIs a state variable;is a control input.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. through each distributed generation inverter control unit, a two-stage multi-intelligent distributed coordination control scheme is proposed and constructed, and voltage consistency and load proportion sharing control are effectively executed only by utilizing interaction information between adjacent two-stage distributed coordination multi-agents, so that the reliability of the control scheme is ensured, and the capacity of voltage regulation and load proportion sharing of the whole network is greatly improved;
2. the multi-agent control framework is easy to add, cancel or modify agent function agents according to the 'plug and play' operation of the distributed power generation units, and in addition, the interaction mode of the two-stage distributed coordination control agents can be flexibly recombined according to the topological change of the information system, so that the scheme has strong expansibility and compatibility;
3. when a secondary control strategy is designed, the time-varying property of information network transmission time lag and the saturation of a control actuator are fully considered, and a control strategy of networking voltage consistency and load proportion sharing consistency considering the time-varying property of the network time lag and the saturation of the actuator is provided;
4. when the droop controller is designed and improved, a corresponding voltage compensation mechanism is designed by utilizing a voltage and load current secondary control strategy based on the droop characteristic of the inverter, and the influence of the line impedance and the unmatched distributed generation rated voltage on the voltage regulation and load proportion sharing is effectively eliminated.
Drawings
FIG. 1 is a two-level distributed coordination control framework based on multi-agents;
FIG. 2 is a distributed coordinated control scheme of a jth distributed generation inverter control unit;
fig. 3 is a circuit configuration diagram of a jth distributed power generation inverter control unit;
fig. 4 is a block diagram of a distributed coordinated control strategy implementation of the jth distributed generation inverter control unit.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
in order to achieve the above object, the present invention studies the following:
constructing a two-stage multi-intelligent distributed coordination control framework: each distributed generation inverter control unit is connected with a primary unit control intelligent agent, and determines and executes local decentralized control, namely main control; each primary intelligent agent is connected with a secondary distributed coordination control intelligent agent and is mainly responsible for voltage consistency adjustment of the whole network and load proportion sharing, namely secondary control; in addition, the second-level intelligent agent only interacts information with the adjacent second-level multi-intelligent agent through the information network system.
Designing a distributed coordination secondary control strategy: (1) in order to carry out consistency regulation on the whole network voltage according to the reference voltage value given by the upper layer, a voltage regulator is designed in each two-stage distributed coordination control intelligent agent to execute a consistency control strategy of voltage containment. (2) In order to realize load proportion sharing of all distributed inverter control units, a current regulator is also designed in each secondary distributed coordination control agent to execute a control strategy of load current proportion sharing. In addition, when a voltage and current consistency control strategy is designed, only the state information of the adjacent two-level distributed coordination control intelligent agent is used, so that the network transmission pressure is reduced; meanwhile, the change of the network topology of the information system, the time-varying transmission time lag and the saturation of the inverter control actuator are fully considered, and the secondary control under the fusion of the information physical system is realized.
Designing an improved outer ring droop controller: in each unit control agent, the improved outer loop droop controller is designed as follows: 1) synthesizing a correction term of an inner ring voltage control reference value in the droop characteristic of the unit system inverter by using a voltage consistency control strategy from the unit secondary intelligent agent; 2) synthesizing a voltage shift lifting item in the droop characteristic of the unit system inverter by utilizing a load current proportion sharing control strategy from the unit secondary intelligent agent, and further finely adjusting an inner ring voltage control reference value; 3) and synthesizing a reference value of an inner ring current controller by utilizing the current proportion sharing control strategy of the unit secondary intelligent agent and the current proportion sharing control strategy of all the unit secondary intelligent agents adjacent to the unit based on the droop characteristic of the unit system inverter. According to the improved outer ring droop controller designed based on the secondary control strategy, through the networked distributed coordination effect, voltage drop caused by line impedance and poor load sharing caused by inconsistent distributed generation rated voltage are effectively eliminated, and the voltage regulation and load sharing capabilities of distributed droop control are greatly improved.
Designing an inner loop voltage/current controller: in each unit control agent, the traditional PI control is replaced, and the inner-loop voltage/current controller is designed to be an H infinity robust controller, so that the robustness of the distributed power generation unit to uncertain factors is improved.
Detailed Description
Constructing an implementation scheme of a two-stage multi-intelligent distributed coordination control architecture: a direct-current microgrid physical system is taken as a research object, an information system is taken as a support, a two-stage multi-agent control framework is constructed as shown in figure 1, and on the basis that a first-stage unit controls primary main control of agents, secondary control of voltage consistency and load proportion sharing of the whole network is achieved by a second-stage distributed multi-agent under a cooperative interaction mode. The structure and function of the two-stage multi-agent is as follows: (1) each distributed generation inverter control unit is connected with a primary unit control intelligent agent, and determines and executes local decentralized control, namely main control; the unit control agent is designed into a hybrid BDI agent with a reaction layer and a consultation layer, wherein the reaction layer comprises a sensing, identifying and executing module and can quickly react to the change of the operating environment, so that the adaptability of a unit system to the environmental change is ensured; the consultation layer comprises a function module of 'belief, desire and intention', and can process the state of the distributed power generation unit into knowledge information so as to intelligently decide and execute the distributed dynamic control of the unit system in place. (2) Each primary intelligent agent is connected with a secondary distributed coordination control intelligent agent, only secondary multi-intelligent interaction information adjacent to the primary intelligent agent is provided through an information network system, and the primary intelligent agent is mainly responsible for voltage consistency adjustment and load proportion sharing of the whole network, namely secondary control; the BDI intelligent agent is structurally designed to be composed of belief, desire and intention functional modules, the belief module filters and screens standardized knowledge information from an information system, and based on useful standardized knowledge information of the belief, secondary control is intelligently decided and executed in the intention module according to the desire of control of voltage consistency regulation and load proportion sharing of the secondary intelligent agent.
According to the multi-agent control architecture constructed by the invention, a master-slave interaction mode is adopted between longitudinal agents, namely, a secondary agent sends a distributed coordination consistency control strategy to a primary agent, the primary agent receives the strategy, synthesizes an improved outer ring droop controller based on the droop characteristic of an inverter unit, and then sends reference voltage and reference current to an inner ring voltage/current controller so as to execute distributed coordination secondary control and decentralized local control; and the horizontal peer multi-agent interaction mode is a non-master-slave interaction mode, namely, the horizontal peer multi-agent interaction mode has equal interaction rights.
Designing an implementation scheme of a distributed coordination secondary control strategy: corresponding to the control architecture of the two-stage multi-agent shown in fig. 1, the jth distributed generation inverter control unit is taken as a research example, and a distributed coordination control scheme is designed as shown in fig. 2. The secondary control of the invention aims to realize voltage consistency adjustment and load proportion sharing based on an information network system, so that design methods of voltage consistency and load current proportion sharing control strategies are respectively provided below.
(1) Voltage uniformity control strategy
In the context of deep fusion of an cyber-physical system, a switching signal of an information network is defined as a piecewise linkage function σ (t) in consideration of changes in the network topology structure of the information system, so that the information network with a switching topology is described as ψσ(t)And the corresponding networks before and after each handover have connectivity. Furthermore, in view of the time-varying nature of the transmission time lag of the information system, 0 ≦ τ (t ≦ τ,0 ≦ t ≦ infinity is defined, where τ is an upper limit value, and therefore it is necessary to use the available ujv(t- τ (t)) instead of ujv(t) of (d). The invention provides a voltage consistency control strategy based on containment based on an information network system with topology switching and transmission time lag uncertainty.
The bus voltage dynamics of the jth inverter cell system under voltage uniformity control is described as
Wherein v isj(t) is a bus voltage (per unit value) of the jth inverter unit system, ηΔujv(t) is a consistency control strategy subject to actuator saturation corresponding to a positive scalar Δ, actuator saturation ηΔR → R is described as
Wherein
The voltage consistency control strategy based on the containment is designed as
Wherein j ∈ {1,2, …, N }; vj(t)＝0,if t＜0；Kj,σ(t)A voltage control gain; v. ofrefAnd the voltage of the whole network is consistent with the regulated reference voltage.
The difference between the jth inverter unit bus voltage and the reference voltage is:the full net voltage dynamics can be described as:
wherein,Πσ(t)＝Kσ(t)(t)(Lσ(t)+Fσ(t))；
Kσ(t)＝diag[k1,σ(t),k2,σ(t),…,kN,σ(t)]；(t)＝diag[1(t),2(t),…,N(t)]；Fσ(t)＝diag[f1,σ(t),f2,σ(t),…,fN,σ(t)]。
theorem 1 dynamic regulation of the grid-wide voltage (5), based on a voltage consistency control strategy (4), provided that a matrix Y ∈ R is presentN×NAnd a symmetric positive definite matrix P, Q, X, Z ∈ RN×NSatisfy the requirement of
And
wherein phi11＝2PΠσ(t)+τX+Y+YT+Q,Φ12＝Φ21＝PΠσ(t)-Y,The voltage uniformity adjustment lim can be obtainedt→∞vj(t) ≡ 0 where j ∈ {1,2, …, N }.
According to theorem 1, when the network topology of the information system is determined, K is reasonably selectedσ(t)The transmission time lag can meet the requirement of the upper limit tau, and Kσ(t)Is determined.
(2) Load current proportion sharing control strategy
Because the secondary control is to ensure voltage consistency adjustment and load current proportion sharing at the same time, when designing current proportion sharing, the secondary control is still based on the same network topology as the voltage consistency adjustment, and only has different network weight incidence matrixes, and at this time, the information network is described as follows:and is
The current of the jth inverter unit based on the current proportion sharing control strategy is dynamically described as
Wherein ijpu(t) is the jth inverter cell current ηΗujc(t) current proportional share control strategy.
Considering the uncertainty of network transmission time lag, the current proportion sharing control strategy is
Wherein, j ∈ {1,2, …, N };to control the gain.
For current proportional sharing, theorem 1 is still satisfied, only in the linear matrix inequality,wherein,selecting an appropriate control gain according to theorem 1To meet the requirement of the transmission skew upper limit tau.
Embodiments of the improved outer loop droop controller were designed: the primary master control of the invention consists of an outer ring improved droop controller and an inner ring voltage/current controller, wherein the outer ring controller provides voltage and current reference values for an inner ring, and a design method of the outer ring improved droop controller is provided below.
Unequal voltage ratings and line load distribution between distributed generations can result in currents that fall significantly off the proportional share value. Although this problem can be solved by increasing the droop characteristic gain, a large droop gain brings a large voltage droop. Therefore, the invention proposes to construct an improved droop controller by utilizing a secondary consistency control strategy
Wherein d isjDroop controller gain; u. ofjrefThe rated voltage is also the reference voltage of the inner ring controller; k is a radical ofjIs the gain of the voltage transfer controller, k ∈ omegaj,ΩjIs a set of secondary agents adjacent to the jth distributed coordination agent, and the total number is Mj。
The improved droop controller (9) has a voltage boost term compared to conventional droop characteristicsAlso referred to as a voltage transfer controller, which is made up of its per unit inverter unit current value and the jth inverter rated current delivered by all adjacent secondary agents. Transfer controller gain kjThe determination is based on the following criteria.
(1) Voltage transfer controllerShould approximate d as closely as possiblejIjratedijpuTo ensure that the voltage drop is fully compensated and the operating voltage is brought close to or equal to its nominal value.
(2) The voltage rise values for the droop characteristics of all distributed generation inverters should be equal to ensure that the voltage transfer does not affect current sharing, i.e.
(3) The transfer controller gain should be smaller than the droop gain, i.e. it should be smaller
kj≤djj∈{1,2,…,N} (11)
Based on the designed voltage transfer controller, when the load is increased, the voltage value can be properly increased to make the operation voltage close to or equal to the rated value.
According to the improved droop controller, the inner loop reference voltage is set to a value of
The inner-loop reference voltage value is determined as equation (1) and (7) to Eq. (12)
The reference value of the inner loop current is
Equations (13) and (14) show: in the control based on two-stage intelligent agents, the first-stage unit control intelligent agent needs to rely on a consistency control strategy sent by all adjacent second-stage intelligent agents to construct an improved droop controller, so that effective compensation of droop characteristics is realized, and a reference value provided for an inner ring controller is provided on the basis; the inner ring controller performs effective dynamic adjustment according to the voltage and current reference values provided by the outer ring droop controller. The process shows that the voltage and current of the inverter unit are adjusted in real time according to the mutual information of the adjacent multi-agents, so the process is called distributed coordination control.
Design the inner loop voltage/current controller implementation: the inner loop voltage/current controller design method is given below.
To avoid loss of generality, assume that the jth distributed generation and the adjacent m-1 distributed generation pass through a transmission line (R)jk＞0，LjkThe circuit structure diagram of the jth distributed generation inverter unit is shown in fig. 3, and supplies power to an internal load connected to the PCC point through an LC filter.
The dynamic equation of the jth distributed generation inverter unit is as follows
Wherein all parameters and variables of the equation have been labeled in FIG. 3; and defines: Δ uj＝uj-ujref；Δitj＝itj-ijref。
Due to ijkFor the current between the j-th and k-th DC buses, i.e. dijk/dt＝-dikjIf/dt is 0, then
ijk＝-ikj＝(uk-uj)/Rjk(16)
Since the voltage consistency of the whole network is guaranteed by means of secondary control, this will cause Δ ijIs small, therefore, Δ i in equation (15)jCan be treated as a current disturbance, the dynamic equation of the jth distributed generation inverter unit can be described as
Wherein x isj(t)＝[Δuj(t),Δitj(t)]TIs a state variable;is a control input; omegaj(t)＝ΔijA disturbance vector; the matrix coefficients are as follows:
the voltage/current controller is designed as
Wherein G isj∈R1×2Is the controller gain.
The dynamic equation of the jth distributed generation inverter unit under the controller (19) is
Wherein
For the purpose of robust control, H is given here∞The control index is
Wherein, tfTo control the termination time; qj＝Qj T> 0 and Pj＝Pj TMore than 0 is a weight matrix; rhojRobust performance index.
Theorem 2: the jth distributed generation inverter control unit (20) is responsive to any disturbancesHas the robust stability performance described in (21) except that P is presentj＝Pj T> 0 satisfies the following linear matrix inequality
The controller design problem of theorem 2 above can be transformed into the LMI convex optimization problem:
Subject to Pj＝Pj T＞0and(22). (23)
by solving the convex optimization problem of (23), the inner loop controller parameters can be obtained.
A block diagram of a distributed coordinated control strategy implementation based on the jth distributed generation inverter control unit of a two-level agent is shown in fig. 4.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A multi-agent-based networked distributed coordination control method for a direct current microgrid is characterized by comprising the following steps: the method specifically comprises the following steps:
step 1, constructing a two-stage multi-intelligent distributed coordination control architecture;
step 2, designing a distributed coordination secondary control strategy;
step 3, designing an improved outer ring droop controller;
and 4, designing an inner ring voltage/current controller.
2. The multi-agent based networked distributed coordination control method for the direct current microgrid according to claim 1, characterized in that: the step 1 specifically comprises the following steps:
step 1.1, connecting each distributed generation inverter control unit with a primary unit control intelligent agent respectively;
and 1.2, connecting each primary unit control intelligent agent with a secondary distributed coordination control intelligent agent.
3. The multi-agent based networked distributed coordination control method for the direct current microgrid according to claim 1, characterized in that: the design distributed coordination secondary control strategy described in the step 2 specifically includes the following two strategies:
2.1, voltage consistency control strategy:
wherein u isjv(t) is a voltage consistency control strategy, j ∈ {1,2, …, N }; Kj,σ(t)Controlling the gain for the voltage; v. ofrefReference voltage, v, regulated for full network voltage uniformityj(t) is a bus voltage of the jth inverter unit system, vk(t) is a bus voltage of the kth inverter unit system, j ∈ {1,2, …, N }, vj(t)＝0,if t＜0；
2.2, load current proportion sharing control strategy:
wherein u isjc(t) load current proportional share control strategy, j ∈ {1,2, …, N };to control the gain, ijpu(t) is the jth inverter cell current, ikpu(t) is the kth inverter unit current;are network connection matrix coefficients.
4. The multi-agent based networked distributed coordination control method for the direct current microgrid according to claim 1, characterized in that: in step 3, the outer ring droop controller is specifically as follows:
wherein d isjIs the droop controller gain; u. ofjrefThe reference voltage is the rated voltage and is also the reference voltage of the inner ring controller; i isjratedijpuIs the product of the rated current of the jth inverter unit and the per unit current, kjIs the gain of the voltage transfer controller, k ∈ omegaj,ΩjIs a set of secondary agents adjacent to the jth distributed coordination agent, and the total number is Mj。
5. The multi-agent based networked distributed coordination control method for the direct current microgrid according to claim 1, characterized in that: in step 4, the inner loop voltage/current controller is specifically as follows:
wherein G isj∈R1×2Is the controller gain, xj(t)＝[Δuj(t),Δitj(t)]TIs a state variable;is a control input.
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| CN107623337A (en) * | 2017-09-26 | 2018-01-23 | 武汉大学 | A kind of energy management method for micro-grid |
| CN107706939A (en) * | 2017-09-26 | 2018-02-16 | 燕山大学 | The distributed control method of time lag and packet loss problem is considered in microgrid under CPS concepts |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107623337A (en) * | 2017-09-26 | 2018-01-23 | 武汉大学 | A kind of energy management method for micro-grid |
| CN107706939A (en) * | 2017-09-26 | 2018-02-16 | 燕山大学 | The distributed control method of time lag and packet loss problem is considered in microgrid under CPS concepts |
| CN107623337B (en) * | 2017-09-26 | 2019-09-10 | 武汉大学 | A kind of energy management method for micro-grid |
| CN107706939B (en) * | 2017-09-26 | 2021-01-08 | 燕山大学 | Distributed control method considering time lag and packet loss problems in microgrid under CPS concept |
| CN108199392A (en) * | 2018-01-15 | 2018-06-22 | 中国石油大学(华东) | A kind of H ∞ decentralized controller design methods of the enhancing stability of power system based on multi-agent theory |
| CN109301878A (en) * | 2018-10-19 | 2019-02-01 | 三峡大学 | A kind of distributed generation resource consistency control method and control system based on multiple agent |
| CN109301878B (en) * | 2018-10-19 | 2024-02-02 | 三峡大学 | Distributed power source consistency control method and control system based on multiple intelligent agents |
| CN113241794A (en) * | 2021-05-28 | 2021-08-10 | 合肥工业大学 | Island micro-grid self-adaptive control method based on multiple intelligent agents |
| CN113241794B (en) * | 2021-05-28 | 2022-08-26 | 合肥工业大学 | Island micro-grid self-adaptive control method based on multiple intelligent agents |
| CN113487207A (en) * | 2021-07-16 | 2021-10-08 | 重庆大学 | Multi-target energy management system in multi-energy community based on multi-agent system optimal user cluster |
| CN113487207B (en) * | 2021-07-16 | 2022-06-28 | 重庆大学 | Multi-target energy management system in multi-energy community based on multi-agent system optimal user cluster |
| CN114094664A (en) * | 2021-11-22 | 2022-02-25 | 江南大学 | SoC balance control method and system for distributed battery energy storage system |
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