CN108711873B - Energy storage group power control method based on distributed nonlinear cooperative controller - Google Patents
Energy storage group power control method based on distributed nonlinear cooperative controller Download PDFInfo
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses an energy storage group power control method based on a distributed nonlinear cooperative controller. Processing the reference value and the actual value of the active power output by the energy storage group through a nonlinear error controller to obtain the reference values of the output currents of all the energy storage systems; establishing a communication network for connecting all energy storage systems in the energy storage group; each energy storage system is controlled by a distributed nonlinear cooperative controller. The invention improves the active power distribution precision of the energy storage group; the dynamic response speed of the energy storage system power control is improved; the influence of interference on the power control of the energy storage group is reduced; and the capacity of the energy storage group for dealing with communication faults is improved.
Description
Technical Field
The invention relates to a power control method of a power grid, in particular to an energy storage group power control method based on a distributed nonlinear cooperative controller.
Background
The energy storage system can effectively relieve the uncertain disturbance caused by a large amount of intermittent and fluctuating new energy to the power system, and the capacity of the power system for absorbing the new energy is improved. In addition, the energy storage group consisting of a large number of energy storage systems is efficiently managed, and perfect technical support can be provided for voltage and frequency fluctuation of a power system and electric energy trading of a power market. However, for energy storage systems with geographically dispersed locations, how to accurately and quickly control the output power of the energy storage group so as to meet the power scheduling requirement of a superior scheduling system has become a hot problem in the field of research on energy storage systems or energy storage groups. Whether the total output power of the energy storage group can meet the requirements of the power system or not determines whether the functions of the energy storage system can be charged and developed or not.
The goals of power control of the energy storage group and the energy storage system are as follows:
wherein, P*P is a reference value and an actual value of the active power output by the energy storage group respectively; i is 1,2, …, n, n is the number of energy storage systems in the energy storage group;
xirespectively are a reference value and an actual value of the output current of the ith energy storage system. The above formula is the target of energy storage group power control and is also an important theoretical basis for energy storage system distributed control.
The control of the power of the energy storage group is realized, the sum of the output power of all energy storage systems is collected in real time by a control center in the existing method, and the output power of each energy storage system is controlled by a centralized communication network and an energy management method. However, since the energy storage system is geographically dispersed, it is very complicated to construct a centralized communication network, and the cost is high and the noise immunity is poor. The power control method which does not depend on a complex communication network and can improve the system operation robustness is found to replace the existing power control method to realize the high-efficiency management of the output power of the energy storage group, so that the problem which needs to be solved at present is formed.
Disclosure of Invention
In order to solve the above problems, the present invention provides an energy storage group power control method based on a distributed nonlinear cooperative controller. The invention aims at the energy storage group containing a large number of energy storage systems, and establishes a control method of each energy storage system and the output power of the energy storage group based on a nonlinear theory and a network control method, thereby achieving the purposes of improving the robustness of a communication system and realizing the accurate and stable control of the power of the energy storage group.
The technical scheme of the invention adopts the following steps as shown in figure 1:
1) processing the reference value and the actual value of the active power output by the energy storage group through a nonlinear error controller to obtain the reference values of the output currents of all the energy storage systems;
2) establishing a communication network for connecting all energy storage systems in the energy storage group;
3) and controlling each energy storage system by using the distributed nonlinear cooperative controller to enable the actual value of the output current of all the energy storage systems to approach the reference value.
In the step 1), the reference values of the output currents of all the energy storage systems are obtained by a nonlinear error controller of the following formula:
wherein the content of the first and second substances,
is the ithThe output current reference value of the energy storage systems, i is 1,2, …, n is the number of the energy storage systems contained in the energy storage group; p*And P is a reference value and an actual value of the active power output by the energy storage group respectively, e is a natural index, and lambda is an adjusting factor.
In step 2), for each energy storage system in the energy storage group, connecting the energy storage system with another one or more energy storage systems closest to the energy storage system through a communication line, so as to connect all the energy storage systems of the energy storage group to form a communication network, where the communication network is represented as:
wherein C is a communication matrix; epsilonijIs a communication intensity factor; c. CijAs a communication coefficient, 0<cij<1 denotes that the jth energy storage system is connected to the ith energy storage system, c ij0 means that the jth power supply is not connected to the ith power supply; i and j represent ordinal numbers of energy storage systems in the energy storage groups, and i, j is 1,2 …, n; ln represents a natural logarithm operation.
In the step 3), the expression of the distributed nonlinear cooperative controller is as follows:
wherein u isiThe control quantity of the energy storage output power of the ith energy storage system;
is the first derivative of the output current reference value of the ith energy storage system; tanh () is a hyperbolic tangent function; e.g. of the typeiIs the difference between the output current reference value and the output current actual value of the ith energy storage system,
ejis the difference between the output current reference value and the output current actual value of the jth energy storage system,
is the output current reference value x of the ith and jth energy storage systemsi、xjActual values of output current and current of the ith energy storage system and the jth energy storage system are respectively set; sin is a sine function.
In the step 3), each energy storage system is controlled by using the distributed nonlinear cooperative controller, so that the actual values of the output currents of all the energy storage systems approach to the reference value.
The invention has the beneficial effects that:
according to the invention, the reference value of the output current of each energy storage system is utilized to control the internal output power of the energy storage group, and the established distributed communication network avoids the adverse effects of the traditional energy storage group monitoring control center on data acquisition, signal transmission and control function realization.
The nonlinear error controller can enable the actual value of the output power of the energy storage group to accurately track the reference value, and simultaneously improve the capability of resisting external disturbance.
The distributed nonlinear cooperative controller can enable each energy storage system to master the real-time information of the current reference values output by all the energy storage systems, and meanwhile, the output power of each energy storage system can meet the requirements of energy storage groups quickly and accurately.
The invention improves the reliable operation capability of the output power of the energy storage group, improves the self-perception capability and the global monitoring capability of each energy storage system, improves the intelligent level of each energy storage system, and realizes the autonomous operation capability of the energy storage group.
Therefore, the active power control capability of the energy storage group is improved, the influence of the fault of the communication network on the reliable operation of the energy storage group is eliminated, and the influence of the energy storage group control center on the robustness of the energy storage group control and communication is eliminated; the convergence time of all the energy storage systems for outputting active power is shortened, and the steady-state performance and the control precision of the energy storage group are improved.
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FIG. 1 is a logic diagram of a control flow of the method of the present invention.
Fig. 2 shows a reference value and an actual value of the output power of the energy storage group according to the embodiment.
Fig. 3 shows the reference value and the actual value of the current output by each energy storage system according to the embodiment.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The method comprises the steps that 1) a reference value of active power output by an energy storage group is issued by a scheduling center, an actual value of the active power output by the energy storage group can be obtained by detecting through an ammeter at a common coupling point, the difference between the actual value and the actual value can be obtained through a nonlinear error controller, the reference values of output currents of all energy storage systems can be obtained, and the reference values of the output currents are used for controlling the power of all the energy storage systems in the energy storage group.
Step 2) of the invention establishes a communication network for connecting all energy storage systems in the energy storage group, the network belongs to a distributed communication network, the network is not provided with an energy storage group monitoring center, adjacent energy storage systems are directly connected through a communication line and exchange information, the reference value of the output current of each energy storage system is mutually transmitted among all power supplies, and by reasonably selecting a communication intensity factor and a communication coefficient, the adverse effects of the energy storage group monitoring center on data acquisition, transmission and control can be avoided, and the capability of the communication network for coping with external information interference and network attack can be improved.
In the step 3), the current output by all the energy storage systems is controlled in real time by using the distributed nonlinear cooperative controller by means of the established energy storage group distributed communication network, so that the active power output by each energy storage system is controlled, the distributed nonlinear cooperative controller adopts an advanced nonlinear theory and a network control theory, each energy storage system can master the real-time information of the output current reference value of all the energy storage systems, and thus, a centralized control framework of an energy storage group monitoring center can be avoided, and the distributed nonlinear cooperative controller has the advantages of high control speed, high precision and strong robustness.
The specific examples of the implementation of the complete process according to the invention are as follows:
a simulation experiment is carried out on the energy storage group power control method provided by the invention in MATLAB. The experimental parameters are shown in table 1 below.
TABLE 1
The power and current waveforms are detected through the Scope module, the time of the dynamic process is calculated through the Timer module, and experimental data are obtained by adopting the control method provided by the invention: pref–P<0.15kW, the convergence time of the actual values of the currents output by all the energy storage systems<0.3s, error between actual value and reference value of current output by each energy storage system<0.65％。
The experimental screenshots are as follows:
(1) when the reference value of the active power output by the micro energy storage group changes, the reference value (solid line) and the actual measured value (broken line) of the output power of the energy storage group are shown in fig. 2 below. As can be seen from fig. 2: the power control method provided by the invention can ensure that the sum of the active power output by all energy storage systems in the energy storage group meets the requirement of a scheduling instruction, and has the advantages of quick response, high steady-state precision and the like.
(2) When the reference value of the active power output by the energy storage group changes, the actual value of the current output by each energy storage system is as shown in fig. 3 below. As can be seen from fig. 3: the power control method provided by the invention can enable each energy storage system to adjust the actual value of the output current of the energy storage system according to the instruction of the dispatching center, thereby avoiding the adverse effect of the geographical dispersion characteristic of energy storage on power control, improving the stability and reliability of each energy storage system and further realizing the effective control of each energy storage system.
The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.
The invention improves the reliable operation capability of the output power of the energy storage group and improves the intelligent level of each energy storage system; the self-perception capability and the overall monitoring capability of each energy storage system are improved, and the autonomous operation capability of the energy storage group is realized; the active power control capability of the energy storage group is improved; eliminating the interference of communication network faults and network attacks on the power control of the energy storage group; the adverse effects of the traditional energy storage group monitoring center on the communication cost and the communication reliability of the energy storage group are eliminated; the convergence speed of the active power output by the energy storage system is increased, and the steady-state and dynamic performance of the energy storage group power control is improved.
Claims (3)
1. An energy storage group power control method based on a distributed nonlinear cooperative controller is characterized in that: the method comprises the following steps:
1) processing the reference value and the actual value of the active power output by the energy storage group through a nonlinear error controller to obtain the reference values of the output currents of all the energy storage systems;
2) establishing a communication network for connecting all energy storage systems in the energy storage group;
in step 2), for each energy storage system in the energy storage group, connecting the energy storage system with another one or more energy storage systems closest to the energy storage system through a communication line, so as to connect all the energy storage systems of the energy storage group to form a communication network, where the communication network is represented as:
wherein C is a communication matrix; epsilonijIs a communication intensity factor; c. CijAs a communication coefficient, 0<cij<1 denotes that the jth energy storage system is connected to the ith energy storage system, cij0 means that the jth power supply is not connected to the ith power supply; i and j represent ordinal numbers of energy storage systems in the energy storage groups, and i, j is 1,2 …, n; ln represents natural logarithm operation;
3) controlling each energy storage system by using a distributed nonlinear cooperative controller;
in the step 3), the expression of the distributed nonlinear cooperative controller is as follows:
wherein u isiThe control quantity of the energy storage output power of the ith energy storage system;
is the first derivative of the output current reference value of the ith energy storage system; tanh () is a hyperbolic tangent function; e.g. of the typeiIs the difference between the output current reference value and the output current actual value of the ith energy storage system,
ejis the difference between the output current reference value and the output current actual value of the jth energy storage system,
is the output current reference value x of the ith and jth energy storage systemsi、xjActual values of output current and current of the ith energy storage system and the jth energy storage system are respectively set; sin is a sine function.
2. The energy storage group power control method based on the distributed nonlinear cooperative controller according to claim 1, characterized in that: in the step 1), the reference values of the output currents of all the energy storage systems are obtained by a nonlinear error controller of the following formula:
wherein the content of the first and second substances,
the output current reference value of the ith energy storage system is represented, i is 1,2, …, n, n is the number of the energy storage systems contained in the energy storage group; p*And P is a reference value and an actual value of the active power output by the energy storage group respectively, e is a natural index, and lambda is an adjusting factor.
3. The energy storage group power control method based on the distributed nonlinear cooperative controller according to claim 1, characterized in that: in the step 3), each energy storage system is controlled by using the distributed nonlinear cooperative controller, so that the actual values of the output currents of all the energy storage systems approach to the reference value.
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