CN111799771A - Energy storage port power regulator of multi-port energy router and control method thereof - Google Patents
Energy storage port power regulator of multi-port energy router and control method thereof Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J1/00—Circuit arrangements for dc mains or dc distribution networks
- H02J1/10—Parallel operation of dc sources
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Abstract
The application provides an energy storage port power regulator of a multi-port energy router and a control method thereof. Firstly, comparing the voltage of a direct current bus with a pre-selected system bus reference voltage to obtain a voltage error amount, comparing the voltage error amount with the width of an idle voltage hysteresis loop of the energy storage system, and determining the working mode of the energy storage system; secondly, obtaining target charging and discharging current of the energy storage system through nonlinear PID control; and finally, taking the target charging and discharging current of the energy storage system as a reference signal, and obtaining a control signal of the energy storage port power regulator through phase-shifting control. According to the control method, through nonlinear PID control, frequent charging and discharging of the energy storage battery when the voltage of the direct-current bus fluctuates slightly is avoided, stable operation of the direct-current micro-grid system and the energy storage port power regulator of the multi-port energy router is facilitated, and loss caused by frequent switching of the power switch tube is avoided.
Description
Technical Field
The application relates to the technical field of distributed new energy power generation grid connection, in particular to an energy storage port power regulator of a multi-port energy router and a control method thereof.
Background
With the problem of global energy shortage becoming more and more serious, the global energy situation faces many challenges, and the new energy power generation problem is attracting more and more attention, and an effective way to use renewable energy is to realize "local collection, local storage and local utilization". The distributed power generation system cannot fully ensure the self-balance of energy, so the distributed power generation system needs to be interconnected with other power grids (distributed networks or public power grids), and can accelerate transformation and upgrade of the traditional power grid and enter a future bidirectional active power grid.
Because the traditional power system equipment cannot meet the requirements of various power supply forms, multidirectional energy flow, active power flow regulation and control and the like, the electric energy router formed based on the power electronic conversion technology can realize multidirectional energy flow capacity and active power flow control. The new energy power generation generally has the problems of randomness, intermittence, geographical dispersibility, uncontrollable property and the like, in order to relieve the pressure of a power grid, a large amount of energy storage equipment is generally put into the power grid, and the energy storage ports carry out charge and discharge control according to the operation requirement of the whole multi-port direct current micro-grid system. With the development and application of a distributed power generation technology and a direct-current microgrid system, the stability and the power supply quality of the direct-current microgrid system can be seriously influenced by the fluctuation and the randomness of new energy output.
Disclosure of Invention
In order to solve the above problems, the present application provides an energy storage port power regulator of a multi-port energy router and a control method thereof, so as to solve the problem of unstable output dc bus voltage in the prior art, and reduce frequent charging and discharging of the system and loss of the dc microgrid system.
In order to achieve the purpose, the application is realized by the following technical scheme:
in one aspect, an energy storage port power regulator of a multi-port energy router comprises a first transistor, a second transistor, a third transistor, a fourth transistor, a fifth transistor, a sixth transistor, a seventh transistor, an eighth transistor, a first voltage-sharing capacitor, a second voltage-sharing capacitor, a third voltage-sharing capacitor and a fourth voltage-sharing capacitor; the first transistor, the second transistor, the third transistor, the fourth transistor, the fifth transistor, the sixth transistor, the seventh transistor and the eighth transistor are all provided with freewheeling diodes;
the collectors of the first transistor, the second transistor, the third transistor, the fourth transistor, the fifth transistor, the sixth transistor, the seventh transistor and the eighth transistor are respectively connected with the cathode of the corresponding freewheel diode, and the emitters of the first transistor, the second transistor, the third transistor, the fourth transistor, the fifth transistor, the sixth transistor, the seventh transistor and the eighth transistor are respectively connected with the anode of the corresponding freewheel diode;
the first voltage-sharing capacitor is connected between an emitter of the first transistor and a collector of the second transistor in series, and the second voltage-sharing capacitor is connected between an emitter of the third transistor and a collector of the fourth transistor in series; an emitter of the first transistor and a collector of the fourth transistor form a first output voltage port;
the third voltage-sharing capacitor is connected between an emitter of the fifth transistor and a collector of the sixth transistor in series, and the fourth voltage-sharing capacitor is connected between an emitter of the seventh transistor and a collector of the eighth transistor in series; an emitter of the fifth transistor and a collector of the eighth transistor form a second output voltage port;
the first output voltage port and the second output voltage port are connected through an inductor;
the multi-port energy router comprises an energy storage port power regulator and a direct current bus connected with the energy storage port power regulator; the energy storage port power regulator is also connected with an energy storage system.
In another aspect, a method for controlling a power regulator of a power storage port of a multi-port energy router includes:
acquiring direct current bus voltage;
determining a difference value between the direct current bus voltage and a preset system bus reference voltage to obtain a voltage error amount;
determining the working mode of the energy storage system according to the voltage error and the preset idle voltage hysteresis loop width of the energy storage system;
determining an energy storage system control mode according to the energy storage system working mode, and acquiring target charging and discharging current of the energy storage system when the energy storage system control mode is a voltage and current double closed-loop control mode or a constant-current charging and constant-voltage charging control mode;
and taking the target charging and discharging current of the energy storage system as a reference signal, and obtaining a control signal of the energy storage port power regulator through phase-shifting control.
Optionally, the method for determining the operating mode of the energy storage system according to the voltage error amount and the preset idle voltage hysteresis loop width of the energy storage system includes:
if-Uh≤ΔU≤UhThen the energy storage system worksThe operation mode is an idle mode;
if Δ U < -UhIf the working mode of the energy storage system is the discharging mode, judging that the working mode of the energy storage system is the discharging mode;
if Δ U > UhIf the working mode of the energy storage system is the charging mode, judging that the working mode of the energy storage system is the charging mode;
wherein, Uhand-UhThe loop width of the idle voltage hysteresis loop of the energy storage system is preset, and delta U is a voltage error quantity.
Optionally, the method for determining the control mode of the energy storage system according to the working mode of the energy storage system includes:
when the working mode of the energy storage system is a discharging mode, the control mode of the energy storage system is a voltage and current double closed-loop control mode;
when the working mode of the energy storage system is a charging mode, the control mode of the energy storage system is a constant-current charging and then constant-voltage charging control mode.
Optionally, the voltage-current dual closed-loop control mode includes:
nonlinear PID outer loop voltage control and linear PI control of the inner current loop.
Optionally, the method of controlling the mode of constant-current charging and then constant-voltage charging includes:
after the step of obtaining the target charging current of the energy storage system, comparing the state of charge parameter of the energy storage battery with a preset state of charge parameter of the energy storage battery:
if SOC is less than or equal to SOCsetThen a constant current control mode is adopted;
if SOC > SOCsetThen a constant voltage control mode is adopted;
wherein SOC is the state of charge parameter of the energy storage battery, SOCsetThe state of charge parameter of the energy storage battery is preset.
Optionally, before the step of obtaining the target charging and discharging current of the energy storage system, the method further includes:
obtaining theoretical charging and discharging current of the energy storage system through nonlinear PID control according to the voltage error amount;
acquiring a charge state parameter of an energy storage battery;
and selecting one energy storage system charge-discharge current from the selection range of the energy storage system charge-discharge reference current as the target charge-discharge current of the energy storage system according to the state of charge parameters of the energy storage battery.
Optionally, the selection range of the charge-discharge reference current of the energy storage system is [0, ibat]And selecting the maximum value of the range as the actually measured charge and discharge current of the energy storage system.
Optionally, the nonlinear PID control method includes:
acquiring an output deviation amount f (t) of a nonlinear combination, and controlling an energy storage port power regulator according to the output deviation amount f (t) of the nonlinear combination;
the method for determining the output deviation amount f (t) of the nonlinear combination comprises the following steps:
f(t)＝kpfal(e1,α1,1)+kIfal(e0,α0,0)+kDfal(e2,α2,2)
in the formula, kpIs a proportional parameter, kIIs an integral coefficient, and kDFor the differential parameters, fal (e, α,) is the non-linear function, α is the non-linearity, is the non-linear range,
wherein e1＝u1-y1、e2＝u2-y2、
u1Tracking signal of Δ U, y1Is iLB_refOf the tracking signal u2Differential signal of DeltaU, y2Is iLB_refThe differential signal of (2).
Optionally, a tracking signal U of Δ U1And iLB_refTracking signal y of1Can be formed by TD1Solving the dynamic equation;
the TD1The dynamic equation of (a) is the following formula:
in the formula, R1Is TD1The dynamic parameters of (a) are set,
t is time, A ═ u1-u(t)+|u2|u2/(2R1),u2A differential signal of Δ U, which is a non-linear range;
differential signal U of Δ U2And iLB_refIs a differential signal y2Can be formed by TD2Solving the dynamic equation;
the TD2The dynamic equation of (a) is the following formula:
in the formula, R2Is TD2The dynamic parameters of (a) are set,
t is time, A ═ y1-y(t)+|y2|y2/(2R2)，y2Is iLB_refThe differential signal of (2) is set to a non-linear range.
According to the technical scheme, the energy storage port power regulator of the multi-port energy router and the control method thereof are provided, and the method comprises the steps of obtaining direct current bus voltage, charging and discharging current of an energy storage system and charge state parameters of an energy storage battery; comparing the direct-current bus voltage with a pre-selected system bus reference voltage to obtain a voltage error amount, and comparing the voltage error amount with a pre-selected idle voltage hysteresis loop width of the energy storage system to determine an energy storage system working mode; determining an energy storage system control mode according to the energy storage system working mode; when the control mode of the energy storage system is a voltage and current double closed-loop control mode or a constant-current charging and then constant-voltage charging control mode, the target charging and discharging current of the energy storage system is obtained; and obtaining a control signal of the energy storage port power regulator through phase shift control according to the target charging and discharging current of the energy storage system as a reference signal. According to the control method, through nonlinear PID control, frequent charging and discharging of the energy storage battery when the voltage of the direct-current bus fluctuates slightly is avoided, stable operation of the direct-current micro-grid system and the energy storage port power regulator of the multi-port energy router is facilitated, and loss caused by frequent switching of the power switch tube is avoided.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a topology diagram of a power regulator of a energy storage port of a multi-port energy router according to an embodiment of the present application;
FIG. 2 is a block diagram of a non-linear control strategy;
FIG. 3 is a reference current selection block diagram;
fig. 4 is a non-linear PID control block diagram.
Wherein, 1-energy storage battery.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the application easy to understand, the application is further described in the following with the specific embodiments.
In one aspect, fig. 1 is a topology diagram of a power regulator of a energy storage port of a multi-port energy router according to an embodiment of the present application. As shown in fig. 1, the energy storage port power regulator of the multi-port energy router comprises a first transistor T1, a second transistor T2, a third transistor T3, a fourth transistor T4, a fifth transistor T5, a sixth transistor T6, a seventh transistor T7, an eighth transistor T8, a first voltage-sharing capacitor C1, a second voltage-sharing capacitor C2, a third voltage-sharing capacitor C3 and a fourth voltage-sharing capacitor C4; the first transistor T1, the second transistor T2, the third transistor T3, the fourth transistor T4, the fifth transistor T5, the sixth transistor T6, the seventh transistor T7 and the eighth transistor T8 are all provided with freewheeling diodes;
the collectors of the first transistor T1, the second transistor T2, the third transistor T3, the fourth transistor T4, the fifth transistor T5, the sixth transistor T6, the seventh transistor T7 and the eighth transistor T8 are respectively connected to the cathodes of the corresponding freewheeling diodes, and the emitters of the first transistor T1, the second transistor T2, the third transistor T3, the fourth transistor T4, the fifth transistor T5, the sixth transistor T6, the seventh transistor T7 and the eighth transistor T8 are respectively connected to the anodes of the corresponding freewheeling diodes;
the first voltage-sharing capacitor C1 is connected in series between the emitter of the first transistor T1 and the collector of the second transistor T2, and the second voltage-sharing capacitor C2 is connected in series between the emitter of the third transistor T3 and the collector of the fourth transistor T4; the emitter of the first transistor T1 and the collector of the fourth transistor T4 form a first output voltage port, denoted AB.
The third voltage-sharing capacitor C3 is connected in series between the emitter of the fifth transistor T5 and the collector of the sixth transistor T6, and the fourth voltage-sharing capacitor C4 is connected in series between the emitter of the seventh transistor T7 and the collector of the eighth transistor T8; the emitter of the fifth transistor T5 and the collector of the eighth transistor T8 form a second output voltage port, denoted CD, across which power can flow in both directions.
The first output voltage port and the second output voltage port are connected through an inductor; the number of the inductors is two.
The multi-port energy router comprises an energy storage port power regulator and a direct current bus connected with the energy storage port power regulator, wherein an emitter of a first transistor T1 is connected to the positive electrode of the direct current bus, and a collector of a fourth transistor T4 is connected to the negative electrode of the direct current bus.
The energy storage port power regulator is also connected with an energy storage system 1, and the energy storage system 1 is composed of energy storage batteries connected in series and a Battery Monitoring System (BMS).
On the other hand, a method for controlling a power regulator of an energy storage port of a multi-port energy router, which realizes the control of the port power, comprises the following steps:
obtaining the DC bus voltage Udc；
Determining the DC bus voltage UdcAnd a preset system bus reference voltage Udc-refObtaining a voltage error amount delta U;
determining the working mode of the energy storage system according to the voltage error amount delta U and the preset idle voltage hysteresis loop width of the energy storage system;
determining an energy storage system control mode according to the working mode of the energy storage system, and acquiring a target charging and discharging current i of the energy storage system when the energy storage system control mode is a voltage and current double closed-loop control mode or a constant-current charging and then constant-voltage charging control modeLB_ref；
Charging and discharging the target current i of the energy storage systemLB_refAnd as a reference signal, obtaining a control signal of the energy storage port power regulator through phase-shifting control.
In some embodiments, fig. 2 is a block diagram of a nonlinear control strategy, and as shown in fig. 2, the method for determining the operating mode of the energy storage system according to the voltage error amount Δ U and the preset idle voltage hysteresis loop width of the energy storage system includes:
if-Uh≤ΔU≤UhIf the working mode of the energy storage system is the idle mode, judging that the working mode of the energy storage system is the idle mode;
if Δ U < -UhIf the working mode of the energy storage system is the discharging mode, judging that the working mode of the energy storage system is the discharging mode;
if Δ U > UhIf the working mode of the energy storage system is the charging mode, judging that the working mode of the energy storage system is the charging mode;
wherein, Uhand-UhThe loop width of the idle voltage hysteresis loop of the energy storage system is preset, and delta U is a voltage error quantity.
The method for determining the control mode of the energy storage system according to the working mode of the energy storage system comprises the following steps:
when the working mode of the energy storage system is an idle mode, the output of the energy storage system is 0, and the energy storage port does not act;
when the working mode of the energy storage system is a discharging mode, the control mode of the energy storage system is a voltage and current double closed-loop control mode;
when the working mode of the energy storage system is a charging mode, the control mode of the energy storage system is a constant-current charging and then constant-voltage charging control mode.
The voltage-current dual closed-loop control mode comprises the following steps:
the nonlinear PID outer ring voltage control and the linear PI control of the internal current ring realize the stabilization of the DC bus voltage through the nonlinear PID outer ring voltage control, ensure that a system can still quickly track the expected value of the DC bus voltage when the load suddenly changes, and realize the reliability of power supply by combining the linear PI control of the internal current ring.
The method for controlling the mode of constant-current charging and then constant-voltage charging comprises the following steps:
obtaining a target charging current i of the energy storage systemLB_refAccording to the SOC of the energy storage battery and the preset SOC of the energy storage batterysetAnd (3) comparison:
if SOC is less than or equal to SOCsetThen a constant current control mode is adopted;
if SOC > SOCsetThen a constant voltage control mode is adopted;
wherein SOC is the state of charge parameter of the energy storage battery, SOCsetThe state of charge parameter of the energy storage battery is preset.
In some embodiments, the target charging and discharging current i of the energy storage system is obtainedLB_refBefore, further comprising:
obtaining theoretical charging and discharging current i of the energy storage system through nonlinear PID control according to the voltage error delta Ubat'；
Acquiring a state of charge (SOC) parameter of an energy storage battery;
fig. 3 is a reference current selection block diagram, and as shown in fig. 3, according to the state of charge parameter SOC of the energy storage battery, one energy storage system charge-discharge current is selected as the target charge-discharge current i of the energy storage system from the selection range of the energy storage system charge-discharge reference currentLB_ref。
The selection range of the charging and discharging reference current of the energy storage system is [0, ibat]Wherein the maximum value of the range i is selectedbatThe actually measured charging and discharging current of the energy storage system. When the energy storage system is charged to the maximum value, setting the value of the charge-discharge reference current of the energy storage system to be zero, and immediately stopping charging; when the energy storage system discharges to the minimum value, the charge-discharge reference current of the energy storage system is also adjusted to zero, and the discharge is immediately stopped; under normal conditions, the charging and discharging reference current value of the energy storage system is ibat。
In some embodiments, fig. 4 is a block diagram of a non-linear PID control, and as shown in fig. 4, the method of the non-linear PID control includes:
acquiring an output deviation amount f (t) of a nonlinear combination, and controlling an energy storage port power regulator according to the output deviation amount f (t) of the nonlinear combination;
the method for determining the output deviation amount f (t) of the nonlinear combination comprises the following steps:
f(t)＝kpfal(e1,α1,1)+kIfal(e0,α0,0)+kDfal(e2,α2,2)
in the formula, kpIs a proportional parameter, kIIs an integral coefficient, and kDFor the differential parameters, fal (e, α,) is the non-linear function, α is the non-linearity, is the non-linear range,
wherein e1＝u1-y1、e2＝u2-y2、
u1Tracking signal of Δ U, y1Is iLB_refOf the tracking signal u2Differential signal of DeltaU, y2Is iLB_refThe differential signal of (2).
Δ U tracking signal U1And iLB_refTracking signal ofy1Can be formed by TD1Solving the dynamic equation;
the TD1The dynamic equation of (a) is the following formula:
in the formula, R1Is TD1The dynamic parameters of (a) are set,
t is time, A ═ u1-u(t)+|u2|u2/(2R1),u2A differential signal of Δ U, which is a non-linear range;
differential signal U of Δ U2And iLB_refIs a differential signal y2Can be formed by TD2Solving the dynamic equation;
the TD2The dynamic equation of (a) is the following formula:
in the formula, R2Is TD2The dynamic parameters of (a) are set,
t is time, A ═ y1-y(t)+|y2|y2/(2R2)，y2Is iLB_refThe differential signal of (2) is set to a non-linear range.
According to the technical scheme, the energy storage port power regulator of the multi-port energy router and the control method thereof are provided, and the method comprises the step of obtaining the voltage U of the direct-current busdcCharging and discharging current i of energy storage systembatAnd a state of charge parameter SOC of the energy storage battery; according to the DC bus voltage UdcAnd a preselected system bus reference voltage Udc-refComparing to obtain a voltage error amount delta U, and determining the working mode of the energy storage system according to the comparison between the voltage error amount delta U and the idle voltage hysteresis loop width of the energy storage system selected in advance(ii) a Determining an energy storage system control mode according to the working mode of the energy storage system, and acquiring a target charging and discharging current i of the energy storage system when the energy storage system control mode is a voltage and current double closed-loop control mode or a constant-current charging and then constant-voltage charging control modeLB_ref(ii) a According to the target charging and discharging current i of the energy storage systemLB_refAnd as a reference signal, obtaining a control signal of the energy storage port power regulator through phase-shifting control. The control method provided by the application avoids the energy storage battery from being under the voltage U of the direct current bus through nonlinear PID controldcAnd in the case of small fluctuation, frequent charging and discharging are realized, so that the stable operation of the direct-current microgrid system and the energy storage port power regulator of the multi-port energy router is facilitated, and the loss caused by frequent switching of the power switch tube is avoided.
The embodiments of the present application have been described in detail, but the description is only for the preferred embodiments of the present application and should not be construed as limiting the scope of the application. All equivalent changes and modifications made within the scope of the present application shall fall within the scope of the present application.
Claims (10)
1. An energy storage port power regulator of a multi-port energy router is characterized by comprising a first transistor, a second transistor, a third transistor, a fourth transistor, a fifth transistor, a sixth transistor, a seventh transistor, an eighth transistor, a first voltage-sharing capacitor, a second voltage-sharing capacitor, a third voltage-sharing capacitor and a fourth voltage-sharing capacitor; the first transistor, the second transistor, the third transistor, the fourth transistor, the fifth transistor, the sixth transistor, the seventh transistor and the eighth transistor are all provided with freewheeling diodes;
the collectors of the first transistor, the second transistor, the third transistor, the fourth transistor, the fifth transistor, the sixth transistor, the seventh transistor and the eighth transistor are respectively connected with the cathode of the corresponding freewheel diode, and the emitters of the first transistor, the second transistor, the third transistor, the fourth transistor, the fifth transistor, the sixth transistor, the seventh transistor and the eighth transistor are respectively connected with the anode of the corresponding freewheel diode;
the first voltage-sharing capacitor is connected between an emitter of the first transistor and a collector of the second transistor in series, and the second voltage-sharing capacitor is connected between an emitter of the third transistor and a collector of the fourth transistor in series; an emitter of the first transistor and a collector of the fourth transistor form a first output voltage port;
the third voltage-sharing capacitor is connected between an emitter of the fifth transistor and a collector of the sixth transistor in series, and the fourth voltage-sharing capacitor is connected between an emitter of the seventh transistor and a collector of the eighth transistor in series; an emitter of the fifth transistor and a collector of the eighth transistor form a second output voltage port;
the first output voltage port and the second output voltage port are connected through an inductor;
the multi-port energy router comprises an energy storage port power regulator and a direct current bus connected with the energy storage port power regulator; the energy storage port power regulator is also connected with an energy storage system.
2. A method for controlling a power regulator of a power storage port of a multi-port energy router, the method comprising:
acquiring direct current bus voltage;
determining a difference value between the direct current bus voltage and a preset system bus reference voltage to obtain a voltage error amount;
determining the working mode of the energy storage system according to the voltage error and the preset idle voltage hysteresis loop width of the energy storage system;
determining an energy storage system control mode according to the energy storage system working mode, and acquiring target charging and discharging current of the energy storage system when the energy storage system control mode is a voltage and current double closed-loop control mode or a constant-current charging and constant-voltage charging control mode;
and taking the target charging and discharging current of the energy storage system as a reference signal, and obtaining a control signal of the energy storage port power regulator through phase-shifting control.
3. The control method according to claim 2, wherein the method for determining the operating mode of the energy storage system according to the voltage error amount and the preset idle voltage hysteresis loop width of the energy storage system comprises the following steps:
if-Uh≤ΔU≤UhIf the working mode of the energy storage system is the idle mode, judging that the working mode of the energy storage system is the idle mode;
if Δ U < -UhIf the working mode of the energy storage system is the discharging mode, judging that the working mode of the energy storage system is the discharging mode;
if Δ U > UhIf the working mode of the energy storage system is the charging mode, judging that the working mode of the energy storage system is the charging mode;
wherein, Uhand-UhThe loop width of the idle voltage hysteresis loop of the energy storage system is preset, and delta U is a voltage error quantity.
4. The control method according to claim 2, wherein the method of determining the energy storage system control mode according to the energy storage system operation mode comprises:
when the working mode of the energy storage system is a discharging mode, the control mode of the energy storage system is a voltage and current double closed-loop control mode;
when the working mode of the energy storage system is a charging mode, the control mode of the energy storage system is a constant-current charging and then constant-voltage charging control mode.
5. The control method of claim 4, wherein the voltage-current dual closed-loop control mode comprises:
nonlinear PID outer loop voltage control and linear PI control of the inner current loop.
6. The control method of claim 4, wherein the method of the constant-current-first-constant-voltage-charge control mode comprises:
after the step of obtaining the target charging current of the energy storage system, comparing the state of charge parameter of the energy storage battery with a preset state of charge parameter of the energy storage battery:
if SOC is less than or equal to SOCsetThen a constant current control mode is adopted;
if SOC > SOCsetThen a constant voltage control mode is adopted;
wherein SOC is the state of charge parameter of the energy storage battery, SOCsetThe state of charge parameter of the energy storage battery is preset.
7. The control method according to claim 2, characterized by further comprising, before the step of obtaining the target charge-discharge current of the energy storage system:
obtaining theoretical charging and discharging current of the energy storage system through nonlinear PID control according to the voltage error amount;
acquiring a charge state parameter of an energy storage battery;
and selecting one energy storage system charge-discharge current from the selection range of the energy storage system charge-discharge reference current as the target charge-discharge current of the energy storage system according to the state of charge parameters of the energy storage battery.
8. The control method according to claim 7, wherein the reference charging/discharging current of the energy storage system is selected within a range of [0, i ]bat]And selecting the maximum value of the range as the actually measured charge and discharge current of the energy storage system.
9. The control method according to claim 7, wherein the nonlinear PID control method includes:
acquiring an output deviation amount f (t) of a nonlinear combination, and controlling an energy storage port power regulator according to the output deviation amount f (t) of the nonlinear combination;
the method for determining the output deviation amount f (t) of the nonlinear combination comprises the following steps:
f(t)＝kpfal(e1,α1,1)+kIfal(e0,α0,0)+kDfal(e2,α2,2)
in the formula, kpIs a proportional parameter, kIIs an integral coefficient, andkDfor the differential parameters, fal (e, α,) is the non-linear function, α is the non-linearity, is the non-linear range,
wherein e1＝u1-y1、e2＝u2-y2、
u1Tracking signal of Δ U, y1Is iLB_refOf the tracking signal u2Differential signal of DeltaU, y2Is iLB_refThe differential signal of (2).
10. Control method according to claim 9, characterized in that the tracking signal U of Δ U1And iLB_refTracking signal y of1Can be formed by TD1Solving the dynamic equation;
the TD1The dynamic equation of (a) is the following formula:
in the formula, R1Is TD1The dynamic parameters of (a) are set,
t is time, A ═ u1-u(t)+|u2|u2/(2R1),u2A differential signal of Δ U, which is a non-linear range;
differential signal U of Δ U2And iLB_refIs a differential signal y2Can be formed by TD2Solving the dynamic equation;
the TD2The dynamic equation of (a) is the following formula:
in the formula (I), the compound is shown in the specification,R2is TD2The dynamic parameters of (a) are set,
t is time, A ═ y1-y(t)+|y2|y2/(2R2)，y2Is iLB_refThe differential signal of (2) is set to a non-linear range.
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