CN107196339B - Microgrid stratified sampling distributed and coordinated control method based on event trigger mechanism - Google Patents

Microgrid stratified sampling distributed and coordinated control method based on event trigger mechanism Download PDF

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CN107196339B
CN107196339B CN201710535605.4A CN201710535605A CN107196339B CN 107196339 B CN107196339 B CN 107196339B CN 201710535605 A CN201710535605 A CN 201710535605A CN 107196339 B CN107196339 B CN 107196339B
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control
state
event
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CN107196339A (en
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樊渊
宋程
张扬
邱剑彬
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Anhui University
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Anhui University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]

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Abstract

The distributed and coordinated control method of present invention design micro-capacitance sensor stratified sampling event trigger mechanism, the state of two layers pair of system is divided to sample, periodic sampling first is carried out to the state from bus, obtain flow state information all in bus, then sampling heterogeneous is carried out according to trigger conditions to the state of periodic sampling, the control input of more new system simultaneously, then be adjusted by state of the droop control device to inverter, the final accurate adjustment for realizing inverter power distribution.Choosing a suitable Lyapunov function proves the stability of system, carries out derivation to selected Lyapunov function against time, devises the trigger conditions of system and demonstrate the stability of system.The conclusion that system can accurately distribute power in microgrid has been obtained finally by analysis.The invention has the following advantages that realizing the coordinated controls task such as accurate voltage and frequency-tracking, Phase synchronization, active power and reactive power distribution with lower information exchange cost.

Description

Microgrid stratified sampling distributed and coordinated control method based on event trigger mechanism
Technical field
The present invention relates to micro-capacitance sensor multiple generator coordinated control field more particularly to a kind of points based on event trigger mechanism Cloth control method for coordinating.
Background technique
In recent years, micro-capacitance sensor (abbreviation microgrid) provides a kind of effective solution mode for distributed power generation.In general, micro- Renewable energy is widely used in net to reduce the negative effect to environment.These renewable energy include put-put, Photovoltaic cell, bio-fuel, wind-driven generator etc..These different energy resource systems are included in by microgrid by organically organizing In the network unified to one, reliable electric power is provided to user.In general, microgrid may operate in independent working mode, Major network can be accessed by PCC and is worked under grid-connect mode.
Currently, the control mode of microgrid mainly has centerized fusion, distributing control and distributed AC servo system three types.Collection Chinese style control needs central controller to collect each inverter information, and uniformly issues control instruction.When inverter number compared with When more, the communication and calculating needed is with high costs, and scalability is very poor.Each inverter locally completes letter in distributing control Breath acquisition is calculated and is controlled, but lacks information exchange between inverter, thus difficult to realize such as voltage, Frequency Synchronization, power point With equal coordinated controls task.Different physical locations is typically distributed about in view of the distributed inverter in microgrid, it is entire to guarantee Stability, safety and the scalability of network become a kind of selection well using distributed control and management method.
To complete the coordinated control in microgrid between different inverters, necessary information is needed to hand between each inverter Mutually, the scalability of system can be greatly enhanced by wireless network progress information exchange.However, when inverter node in network When increasing, the cost of wireless communication increases, and not only communication pressure will increase, and the following information calculates the cost with processing It will greatly increase.These factors can seriously affect the stabilization and safety of microgrid.
The prior art one related to the present invention -- it is a kind of to balance control by the microgrid power of virtual energy storage of bulk power grid Method (Patent publication No: 103354643 A of CN), this method are bulk power grids to connect with micro-capacitance sensor as virtual energy storage system, When distributed generation resource output power deficiency in micro-capacitance sensor, power is absorbed from bulk power grid for micro-grid load power supply；When micro- electricity When distributed generation resource output power is beyond power needed for micro-capacitance sensor inside in netting, pass through microgrid power regulating system, control point The power output of cloth power supply, so that distributed generation resource flows to the output power of bulk power grid lower than given threshold in micro-capacitance sensor.It should Method is not illustrated to how power in microgrid distributes, and is not issued a certificate to the stability of system.
A kind of prior art two related to the present invention -- microgrid power droop control method (Patent publication No: CN 106300431 A), this method constructs P- ω and Q-V droop control device and three-phase grid-connected inverter system.By reference voltage with Virtual voltage obtains error voltage value as difference, and output signal is generated pwm pulse wave by SVPWM modulation through pi regulator, is made Three-phase grid-connected inverting system generates electricity by way of merging two or more grid systems.When being incorporated into the power networks, reactive power is controllable to zero, i.e. inverter does not export idle function Rate.The disadvantages of the method are as follows being not carried out adjusting while to active power and reactive power；The requirement of real-time of system is high, leads to Traffic is very big.
A kind of prior art three related to the present invention -- alternating current-direct current mixing micro-capacitance sensor method for controlling power balance (patent Publication No.: CN 106451572A), which is given at when causing Voltage Drop because of grid collapses, and interface converter can root Accordingly to reduce the voltage magnitude of exchange subnet according to the rising degree of DC voltage.Power inverter is according to the voltage for exchanging subnet The reduction of amplitude accordingly reduces output power, so that the active power of system reaches balance.It is not carried out in the technical solution Accurate voltage and frequency-tracking, and due to comprising direct current with exchange, control process is more complex.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of to realize that accurate voltage and frequency-tracking, phase are same The microgrid stratified sampling based on event trigger mechanism of the coordinated controls tasks such as step, active power and reactive power distribution is distributed Control method for coordinating.
The present invention is to solve a kind of above-mentioned technical problem: microgrid based on event trigger mechanism by the following technical programs Stratified sampling distributed and coordinated control method, the various Distributed-generation equipments in microgrid access inversion by DC filtering circuit Device, inverter is filtered by ac filter circuit to be followed by numbering each inverter i into microgrid bus, i ∈ 1, 2 ..., N }, which is characterized in that each inverter i is realized using hierarchical control mode to microgrid active power, reactive power It adjusts, wherein hierarchical control mode specifically includes: upper layer coordinated control, the sagging control of bottom；
(1) upper layer coordinated control
Upper layer coordinated control include communication module, coordinated control setting, event triggering sampling, and i-th of inverter and It is linked into communication module with the event triggering sample states of the neighbours' inverter of i-th of inverter in correspondence with；Communicate mould The output end of block is connected to event triggering sampling, and the output end of event triggering sampling is connected to communication module, each inverter i It is communicated by communication module with neighbours' inverter j, and the communication between them is two-way, each inverter i outfit event Triggering sampling is used as upper layer coordinated control, and upper layer coordinated control issues sagging control to bottom droop control device according to the demand of microgrid Set up fixed point；
(2) the sagging control of bottom
The sagging control of bottom includes droop control device, inverter, periodic sampling, is set under bottom by upper layer coordinated control Vertical controlling set point；The output end of droop control device is connected to inverter, and the output end of inverter is connected respectively to microgrid bus In periodic sampling, the state of periodic sampling is separately sent in bottom droop control device and the triggering sampling of upper layer event；
Period, which uses, carries out periodic sampling to the following state of inverter i output end:
Vi: the fundamental voltage of i-th of inverter output end；
ωi: the frequency of i-th of inverter output end；
Pi: the active power of i-th of inverter output end；
Qi: the reactive power of i-th of inverter output end；
The signal of periodic sampling is sent in bottom droop control device and the triggering sampling of upper layer event and is judged: when event is touched Hair sampling condition carries out nonuniform sampling when meeting, to the periodic sampling status signal of inverter, by communication module will with it is inverse The state acquisition for becoming the neighbours' inverter of device i in correspondence with comes, and updates the control input u of inverter ii(t), meanwhile, Issue sagging controlling set point according to the demand of microgrid and give bottom droop control device, each bottom droop control device according to receive come Periodic sampling data and the sagging controlling set point that issues of upper layer event triggering sampling carry out sagging control, it is defeated to adjust inverter Voltage V outiAnd frequencies omegai。
Optimization, sagging control carries out in accordance with the following methods:
WhereinIt is the rated frequency and rated active power that inverter exports respectively,It is the sagging control of active power The sagging coefficient of system, ωi, PiIt is the frequency and active power of inverter reality output respectively；Vi *,It is inverter output respectively Voltage rating and rated reactive power,It is the sagging coefficient of the sagging control of reactive power, Vi, QiIt is inverter reality respectively The voltage and reactive power of border output.
Optimization, the control process of active power and reactive power be it is identical, below using reactive power as control pair As design upper layer coordinated control suitably controls input ui(t):
Definition 1: reactive power Qi(t) weight reactive powerAre as follows:
Wherein χi∈ (0,1] it is reactive power Qi(t) distribution weight；
Define 2: the state quantity measurement y of systemi(t) are as follows:
Wherein NiIt is the set of all other inverter composition with inverter i in correspondence with；
The then state quantity measurement y in a cycle sampling periodi(mh) are as follows:
Wherein Qi(mh) the discrete periodic sampling state of expression, the sampling period of h expression bottom, and m ∈ 0,1, 2,...}；
Define 3: the measurement error e of state quantity measurementi(mh) are as follows:
WhereinFor k-th of triggering moment of the i-th inverter,Indicate the i-th inverter kth time triggering (Together Reason)；When consideration step-length isWhen, (6) formula is rewritten are as follows:
Set the kinetics equation that system mode updates are as follows:
Wherein ui(t) be system control input；Take control input ui(t) are as follows:
Wherein ki∈ (0,5) is the suitable feedback gain chosen.
Optimization, the event for designing upper layer coordinated control using reactive power as control object below triggers sampling mechanism:
Choose Lyapunov functionWhereinL is system communication The Laplace matrix of figure；And the event triggering moment sequence based on this Lyapunov function designing system
Wherein N+Indicate Positive Integer Set；
To state Qi(t) periodic samples are carried out, sampled data state Q is generatedi(mh), and event triggering sampling is reported and submitted And determining whether to trigger nonuniform sampling according to (10) formula, event triggering sampling is received by communication module to be transmitted by neighbours' inverter Nonuniform sampling stateAnd with local cycle sample states data Qi(mh) entry event triggering sampling together In, when inequality condition (10) meets, to the state Q of inverteri(mh) nonuniform sampling is carried out, event triggering state is generatedBy stateNeighbours' inverter of inverter i is passed to, and updates control input ui(t), then by holding accordingly Row device acts on inverter, achievees the purpose that control；Otherwise, equal always until next triggering moment without nonuniform sampling Generation.
Optimization, it is somebody's turn to do the microgrid stratified sampling distributed and coordinated control method based on event trigger mechanism, further includes proving The step of stability of system, comprising:
By (8), (9) two formulas can be obtained:
Then consider the dynamic of weight state, can obtain
Wherein ξi=ki/χi；Then
WhereinU (t)=col (ui(t)), y (t)=col (yi(t)), e (t)=col (ei(t))；
Take Lyapunov function
Wherein L is the Laplace matrix of the system obtained according to algebraic graph theory knowledge；To the Lyapunov function against time Carrying out derivation can obtain:
Due to sampling and controlling the zeroth order retention performance of input, can obtain
Then
Because t ∈ [mh, mh+h), so t-mh≤h；Therefore (17) formula is writeable are as follows:
Due to(18) formula can be rewritten as:
It utilizes with lower inequality
It can obtain
Wherein λNIt is the maximum eigenvalue of Laplace matrix L；In order to makeFollowing inequality is enabled to set up
(23) formula is brought into (22) formula, can be obtained
WhereinSelect suitable parameter ξ, βmax, so that following inequality is set up
It can obtain,
By (25) Shi Ke get
By (26) formula it is found that system is stable；Therefore, trigger conditions (10) formula according to designed by (23) formula It is feasible, and can guarantee that system is stable.
The present invention has the advantage that compared with prior art may be implemented the periodicity of signal in microgrid using this method Even sampling and nonuniform sampling two-level architecture, information on demand exchanges between multi-inverter is realized in the way of event-triggered communication, To realize accurate voltage and frequency-tracking, Phase synchronization, active power and reactive power with lower information exchange cost The coordinated controls tasks such as distribution.
Detailed description of the invention
Fig. 1 is the single inverter stratified sampling control structure figure of the present invention.
Fig. 2 is inventive algorithm flow chart.
Fig. 3 is the communication exchanges figure and the corresponding Laplace matrix L of communication exchanges figure of inverter in the present invention.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation Example.
Inverter is accessed by DC filtering circuit to the various Distributed-generation equipments in microgrid, inverter passes through exchange Filter circuit, which is filtered, to be followed by into microgrid bus, each inverter in microgrid one and only one it is unique number, for side Just it describes, each inverter i is numbered, i ∈ { 1,2 ..., N }.
If Fig. 1, each inverter i realize the adjusting to microgrid active power, reactive power using hierarchical control mode, Middle hierarchical control mode specifically includes: upper layer coordinated control, the sagging control of bottom.
1. upper layer coordinated control
Upper layer coordinated control include communication module, coordinated control setting, event triggering sampling, wherein coordinated control setting, Event triggers set of samples into event trigger controller, and i-th of inverter and the neighbours with i-th of inverter in correspondence with The event triggering sample states of inverter are linked into communication module；The output end of communication module is connected to event triggering sampling, And the output end of event triggering sampling is connected to communication module.Each inverter i is logical by communication module and neighbours' inverter j Letter, and the communication between them is two-way (such as Fig. 3).Each inverter i is equipped with event trigger controller and assists as upper layer Regulation system, event triggering moment areFor kth+1 time of i-th of inverter triggering and k ∈ { 0,1,2 ... }, h is Sampling period.Meanwhile upper layer coordinated control issues sagging controlling set point to bottom droop control device according to the demand of microgrid.
2. the sagging control of bottom
The sagging control of bottom includes droop control device, inverter, periodic sampling, is set under bottom by upper layer coordinated control Vertical controlling set pointVi *,The output end of droop control device is connected to inverter, inverter it is defeated Outlet is connected respectively in microgrid bus and periodic sampling, and the state of periodic sampling is separately sent to bottom droop control device and upper In layer event triggering sampling.
Sagging control carries out in accordance with the following methods:
WhereinIt is the rated frequency and rated active power that inverter exports respectively,It is the sagging control of active power The sagging coefficient of system, ωi, PiIt is the frequency and active power of inverter reality output respectively；Vi *,It is inverter output respectively Voltage rating and rated reactive power,It is the sagging coefficient of the sagging control of reactive power, Vi, QiIt is inverter reality respectively The voltage and reactive power of border output；
Each inverter i is locally realizing the control of inner ring voltage and current, and outer ring is controlled using droop control mode.
Period, which uses, carries out periodic sampling to the following state of inverter i output end:
Vi: the fundamental voltage of i-th of inverter output end；
ωi: the frequency of i-th of inverter output end；
Pi: the active power of i-th of inverter output end；
Qi: the reactive power of i-th of inverter output end；
The signal of periodic sampling is sent in bottom droop control device and the triggering sampling of upper layer event and is judged: when event is touched Hair sampling condition carries out nonuniform sampling when meeting, to the periodic sampling status signal of inverter, by communication module will with it is inverse The state acquisition for becoming the neighbours' inverter of device i in correspondence with comes, and updates the control input of inverter i.Meanwhile according to micro- The demand of net issues sagging controlling set point and gives bottom droop control device, each bottom droop control device according to receive come period The sagging controlling set point that sampled data and the triggering sampling of upper layer event issue carries out sagging control, adjusts the electricity of inverter output Press ViAnd frequencies omegai。
Being in communication with each other between inverter, event triggering sampling are responsible in upper layer coordinated control, and to the power P of inverter ii, Qi It is allocated, and is required to issue the sagging controlling set point of suitable bottom according to control Vi *, The voltage V that the sagging control of bottom is exported according to the state adjustment inverter i of the sagging controlling set point and periodic sampling issuediWith Frequencies omegai, finally inverter is linked into microgrid bus.
Trigger the advantages of controlling using event to be: which reduces information processing and communications cost in periodic samples On the basis of, the traffic between inverter is further decreased, stability and safety are improved；The present invention is coordinated using event triggering Control drawn game subordinate is hung down the method for hierarchical control that control combines, this method for voltage and frequency-tracking, active power and The coordinated controls tasks such as reactive power distribution can be competent at.
Since the control process of active power and reactive power is identical, so below using reactive power as control pair As design upper layer coordinated control suitably controls input ui(t) and event triggers sampling mechanism:
Definition 1: reactive power Qi(t) weight reactive powerAre as follows:
Wherein χi∈ (0,1] it is reactive power Qi(t) distribution weight；
Define 2: the state quantity measurement y of systemi(t) are as follows:
Wherein NiIt is the set of all other inverter composition with inverter i in correspondence with；
The then state quantity measurement y in a cycle sampling periodi(mh) are as follows:
Wherein Qi(mh) the discrete periodic sampling state of expression, the sampling period of h expression bottom, and m ∈ 0,1, 2,...}；
Define 3: the measurement error e of state quantity measurementi(mh) are as follows:
WhereinFor k-th of triggering moment of the i-th inverter,Indicate the i-th inverter kth time triggering (Together Reason)；When consideration step-length isWhen, (6) formula can be rewritten as:
Set the kinetics equation that system mode updates are as follows:
Wherein ui(t) be system control input；Take control input ui(t) are as follows:
Wherein ki∈ (0,5) is the suitable feedback gain chosen；
Choose Lyapunov functionWhereinL
It is the Laplace matrix of system communication figure, the value of L such as Fig. 3；And based on this Lyapunov function designing system Event triggering moment sequence
Wherein N+Indicate Positive Integer Set；
To state Qi(t) periodic samples are carried out, sampled data state Q is generatedi(mh), and event triggering sampling is reported and submitted And determine whether to trigger nonuniform sampling according to (10) formula.Event triggering sampling is received by communication module to be transmitted by neighbours' inverter Nonuniform sampling stateAnd with local cycle sample states data Qi(mh) entry event triggering sampling together In.
When inequality condition (10) meets, to the state Q of inverteri(mh) nonuniform sampling is carried out, event touching is generated Hair-like stateBy stateNeighbours' inverter of inverter i is passed to, and updates control input ui(t), then by phase The actuator answered acts on inverter, achievees the purpose that control；Otherwise, equal always until next touching without nonuniform sampling Send out the generation at moment.
According to periodic samples state Q in event triggering samplingi(mh), event triggers nonuniform sampling stateWith And Neighbor Event triggering stateThe sagging controlling set point of raw cost inverter, is used for the sagging control of current inverter, from And realize the coordination between multiple inverters.
In conclusion may make when (10) formula is set upLim can then be obtainedt→∞Y (t)=0 and system are gradually Into stable；BecauseWherein L is the Laplace matrix of system diagram, so the feature vector that L characteristic value is 0 is 1N；Therefore, and if only ifConverge on α 1NWhen, limt→∞Y (t)=0 is set up；SoIt is i.e. all Inverter will realize that reactive power is progressively distributed by ratio.
Below in conjunction with Fig. 2 and it is given above reactive power adjusting example, sketches control algolithm of the invention:
1. in the example, it is contemplated that a microgrid being made of 6 inverters, i.e. N=6.It is convenient for expression, it is each inverse Become device and assigns unique number i, i a ∈ { 1,2 ..., 6 }；
2. the parameter in algorithm is arranged, takeWherein SN=(0.54,0.72,0.34,0.66,0.45, 0.26) Sbase is nominal rated power, SbaseIt is the reference power of distribution；ki∈(0,5), βi=0.5, βmax=0.5, ξ=2, λN=5, h=0.01s；3. pair reactive power Qi(t) periodic sampling is carried out, discrete periodic sampling state Q is obtainedi(mh)；
4. the Q that step 3 is obtainedi(mh) be updated in trigger conditions (10) and calculate, and carry out following judgement and Operation:
When the establishment of inequality (10) formula is to execute step 5；Otherwise, step 5 is not executed, continues to calculate (10) formula, until (10) step 5 is just executed when formula is set up；
5. couple state Qi(mh) nonuniform sampling is carried out, event triggering sample states are obtained
6. triggering sample states by the resulting event of step 5Designed control input (9) formula is updated to calculate And update control input ui(t), and according to the demand of microgrid to bottom droop control device sagging controlling set point is issued；
7. bottom droop control device carries out sagging control to inverter i according to the sagging controlling set point issued in step 6；
8. return step 4 continues to run by above-mentioned steps.
The stability of system is proved below:
By (8), (9) two formulas can be obtained:
Then consider the dynamic of weight state, can obtain
Wherein ξi=ki/χi；Then
WhereinU (t)=col (ui(t)), y (t)=col (yi(t)), e (t)=col (ei(t))；
Take Lyapunov function
Wherein L is the Laplace matrix (such as Fig. 3) of the system obtained according to algebraic graph theory knowledge；To the Lyapunov letter Several pairs of times, which carry out derivation, to be obtained:
Due to sampling and controlling the zeroth order retention performance of input, can obtain
Then
Because t ∈ [mh, mh+h), so t-mh≤h；Therefore (17) formula is writeable are as follows:
Due to(18) formula can be rewritten as:
It utilizes with lower inequality
It can obtain
Wherein λNIt is the maximum eigenvalue of Laplace matrix L；In order to makeFollowing inequality is enabled to set up
(23) formula is brought into (22) formula, can be obtained
WhereinSelect suitable parameter ξ, βmax, so that following inequality is set up
It can obtain,
By (25) Shi Ke get
By (26) formula it is found that system is stable；Therefore, trigger conditions (10) formula according to designed by (23) formula It is feasible, and can guarantee that system is stable.
Above design principle, method are interpreted as that of the invention is explained further, rather than limit the present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (5)

  1. A kind of various distributions 1. microgrid stratified sampling distributed and coordinated control method based on event trigger mechanism, in microgrid Generating equipment accesses inverter by DC filtering circuit, and inverter is filtered by ac filter circuit to be followed by into microgrid mother Line numbers each inverter i, i ∈ { 1,2 ..., N }, which is characterized in that each inverter i is real using hierarchical control mode Now to the adjusting of microgrid active power, reactive power, wherein hierarchical control mode is specifically included: under upper layer coordinated control, bottom It hangs down and controls；
    (1) upper layer coordinated control
    Upper layer coordinated control includes communication module, coordinated control setting, event triggering sampling, and i-th of inverter and with i-th The event triggering sample states of the neighbours' inverter of a inverter in correspondence with are linked into communication module；Communication module it is defeated Outlet is connected to event triggering sampling, and the output end of event triggering sampling is connected to communication module, and each inverter i passes through logical Letter module communicate with neighbours' inverter j, and the communication between them be it is two-way, each inverter i outfit event, which triggers, adopts Sample issues sagging control to bottom droop control device according to the demand of microgrid and sets as upper layer coordinated control, upper layer coordinated control Point；
    (2) the sagging control of bottom
    The sagging control of bottom includes droop control device, inverter, periodic sampling, sets the sagging control of bottom by upper layer coordinated control Set up fixed point；The output end of droop control device is connected to inverter, and the output end of inverter is connected respectively to microgrid bus and week In phase sampling, the state of periodic sampling is separately sent in bottom droop control device and the triggering sampling of upper layer event；
    Period, which uses, carries out periodic sampling to the following state of inverter i output end:
    Vi: the fundamental voltage of i-th of inverter output end；
    ωi: the frequency of i-th of inverter output end；
    Pi: the active power of i-th of inverter output end；
    Qi: the reactive power of i-th of inverter output end；
    The signal of periodic sampling is sent in bottom droop control device and the triggering sampling of upper layer event and is judged: when event triggering is adopted When batten part meets, nonuniform sampling is carried out to the periodic sampling status signal of inverter, it will be with inverter i by communication module The state acquisition of neighbours' inverter in correspondence with comes, and updates the control input u of inverter ii(t), meanwhile, according to micro- The demand of net issues sagging controlling set point and gives bottom droop control device, each bottom droop control device according to receive come period The sagging controlling set point that sampled data and the triggering sampling of upper layer event issue carries out sagging control, adjusts the electricity of inverter output Press ViAnd frequencies omegai。
  2. 2. the microgrid stratified sampling distributed and coordinated control method according to claim 1 based on event trigger mechanism, It is characterized in that, sagging control carries out in accordance with the following methods:
    WhereinPi *It is the rated frequency and rated active power that inverter exports respectively,It is the sagging control of active power Sagging coefficient, ωi, PiIt is the frequency and active power of inverter reality output respectively；Vi *,It is the volume of inverter output respectively Constant voltage and rated reactive power,It is the sagging coefficient of the sagging control of reactive power, Vi, QiIt is inverter reality output respectively Voltage and reactive power.
  3. 3. the microgrid stratified sampling distributed and coordinated control method according to claim 1 or 2 based on event trigger mechanism, It is characterized in that, the control process of active power and reactive power be it is identical, set below using reactive power as control object Meter upper layer coordinated control suitably controls input ui(t):
    Definition 1: reactive power Qi(t) weight reactive powerAre as follows:
    Wherein χi∈ (0,1] it is reactive power Qi(t) distribution weight；
    Define 2: the state quantity measurement y of systemi(t) are as follows:
    Wherein NiIt is the set of all other inverter composition with inverter i in correspondence with；
    The then state quantity measurement y in a cycle sampling periodi(mh) are as follows:
    Wherein Qi(mh) the discrete periodic sampling state of expression, the sampling period of h expression bottom, and m ∈ 0,1,2 ... }；
    Define 3: the measurement error e of state quantity measurementi(mh) are as follows:
    WhereinFor k-th of triggering moment of the i-th inverter,Indicate the i-th inverter kth time triggering (Similarly)；When Consider that step-length isWhen, (6) formula is rewritten are as follows:
    Set the kinetics equation that system mode updates are as follows:
    Wherein ui(t) be system control input；Take control input ui(t) are as follows:
    Wherein ki∈ (0,5) is the suitable feedback gain chosen.
  4. 4. the microgrid stratified sampling distributed and coordinated control method according to claim 3 based on event trigger mechanism, It is characterized in that, the event for designing upper layer coordinated control using reactive power as control object below triggers sampling mechanism:
    Choose Lyapunov functionWhereinL is system communication figure Laplace matrix；And the event triggering moment sequence based on this Lyapunov function designing system
    Wherein N+Indicate Positive Integer Set；
    To state Qi(t) periodic samples are carried out, sampled data state Q is generatedi(mh), and event triggering sampling and root are reported and submitted Determine whether to trigger nonuniform sampling according to (10) formula, event triggering sampling is transmitted by communication module reception by neighbours' inverter non- Uniform sampling stateAnd with local cycle sample states data Qi(mh) together in entry event triggering sampling, when When inequality condition (10) meets, to the state Q of inverteri(mh) nonuniform sampling is carried out, event triggering state is generatedBy stateNeighbours' inverter of inverter i is passed to, and updates control input ui(t), then by holding accordingly Row device acts on inverter, achievees the purpose that control；Otherwise, equal always until next triggering moment without nonuniform sampling Generation.
  5. 5. the microgrid stratified sampling distributed and coordinated control method according to claim 4 based on event trigger mechanism, It is characterized in that, further includes the steps that the stability of proof system, comprising:
    By (8), (9) two formulas can be obtained:
    Then consider the dynamic of weight state, can obtain
    Wherein ξi=ki/χi；Then
    WhereinU (t)=col (ui(t)), y (t)=col (yi(t)), e (t)=col (ei(t))；
    Take Lyapunov function
    Wherein L is the Laplace matrix of the system obtained according to algebraic graph theory knowledge；The Lyapunov function against time is carried out Derivation can obtain:
    Due to sampling and controlling the zeroth order retention performance of input, can obtain
    Then
    Because t ∈ [mh, mh+h), so t-mh≤h；Therefore (17) formula is writeable are as follows:
    Due to(18) formula can be rewritten as:
    It utilizes with lower inequality
    It can obtain
    Wherein λNIt is the maximum eigenvalue of Laplace matrix L；In order to makeFollowing inequality is enabled to set up
    (23) formula is brought into (22) formula, can be obtained
    WhereinSelect suitable parameter ξ, βmax, so that following inequality is set up
    It can obtain,
    By (25) Shi Ke get
    By (26) formula it is found that system is stable；Therefore, trigger conditions (10) formula according to designed by (23) formula is feasible , and can guarantee that system is stable.
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