CN112436501B - Improved balance control method for multiple energy storage units of direct-current micro-grid - Google Patents

Improved balance control method for multiple energy storage units of direct-current micro-grid Download PDF

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CN112436501B
CN112436501B CN202011289005.2A CN202011289005A CN112436501B CN 112436501 B CN112436501 B CN 112436501B CN 202011289005 A CN202011289005 A CN 202011289005A CN 112436501 B CN112436501 B CN 112436501B
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方炜
齐楠
刘晓东
刘宿城
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Anhui University of Technology AHUT
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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
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/10—Parallel operation of dc sources
    • H02J1/106—Parallel operation of dc sources for load balancing, symmetrisation, or sharing
    • 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
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
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Abstract

The invention relates to the field of electrical control, in particular to an improved balance control method for multiple energy storage units of a direct current microgrid, which comprises the steps of constructing a balance control circuit for the multiple energy storage units of the direct current microgrid, constructing a monotone increasing function according to self charge state parameters, introducing the monotone increasing function into an energy storage unit improved droop control loop, and forming reference voltage of a control system; the reference voltage, the output voltage obtained by sampling and the input current form a double closed-loop control system, a digital controller outputs a duty ratio control signal to drive a switching power device, and the communication-free self-adaptive droop control of the energy storage unit is realized; the invention adopts an algorithm applied to two working modes of charging and discharging of the energy storage unit, does not need to switch, does not need to sample the output current of the interface converter, and simplifies the design of the controller.

Description

Improved balance control method for multiple energy storage units of direct-current micro-grid
Technical Field
The invention relates to the field of electrical control, in particular to an improved balance control method for multiple energy storage units of a direct-current micro-grid.
Background
In recent years, micro-grids have received much attention from various academic circles as power supply systems that integrate distributed energy sources, energy storage elements, and power converters. The direct-current micro-grid is used as a reliable and efficient power supply mode, and becomes an important form of a future intelligent power distribution system by virtue of the advantages of strong system reliability, high transmission efficiency and no need of considering phase, reactive power and harmonic problems.
The direct-current micro-grid is used as a small-inertia weak support system, generally has small capacity and does not have good anti-interference capability. In order to meet the requirements of stable operation and capacity increase configuration of the system, Energy Storage Units (ESUs) in the Energy Storage system are generally connected in parallel in a distributed manner to a direct current bus. However, with the access of multiple energy storage units, the inconsistency of the State of Charge (SoC) among the units may cause the overcharge and discharge of some energy storage units and the frequent switching of the system, thereby seriously affecting the service life of the energy storage units and even endangering the stability of the microgrid.
With the gradual and deep research on the Energy Storage system of the DC Microgrid, some researchers have proposed Adaptive Droop Control based on the SoC of the Energy Storage unit, for example, as the published documents "dynamic distribution method of load power with bus voltage drop compensation function in the Energy Storage system of the DC Microgrid" and "State-of-Charge Balance Using Adaptive Droop Control for Distributed Energy Storage Systems in DC Microgrid Applications", the Droop coefficient in the Droop Control is associated with the SoC, and the Droop curve is dynamically adjusted through the real-time change of the SoC, so as to finally realize the SoC Balance of each Energy Storage unit and the balanced distribution of the load power. On the basis of the theory, the document 'Double-queue State-of-Charge-Based Droop Control Method for Distributed Energy Storage Systems in Autonomous DC Microgrids' further applies the adaptive Droop Control to the charging and discharging modes.
However, the control method proposed in the above document ignores the line resistance between the output end of the converter and the dc bus, the droop control expressions corresponding to the charging and discharging processes are different, and the controller needs to be frequently switched during the dynamic conversion process of the energy storage unit during the charging and discharging, which increases the design difficulty of the controller and also brings adverse effects to the control effect of the system.
Based on the above, the invention designs an improved balance control method for multiple energy storage units of a direct current micro-grid, so as to solve the above problems.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an improved balance control method for multiple energy storage units of a direct current micro-grid.
In order to achieve the purpose, the invention provides the following technical scheme:
an improved balance control method for multiple energy storage units of a direct-current micro-grid comprises the following steps:
the method comprises the following steps: the method comprises the following steps of constructing a balance control circuit of the multiple energy storage units of the direct-current microgrid, wherein the balance control circuit of the multiple energy storage units of the direct-current microgrid comprises a DC-DC bidirectional conversion circuit, an input current sampling circuit, an output voltage sampling circuit, an A/D conversion circuit and a digital controller, one end of the DC-DC bidirectional conversion circuit is connected with the energy storage units, and the other end of the DC-DC bidirectional conversion circuit is connected with a direct-current bus of the direct-current microgrid through a line;
step two: the energy storage unit estimates the state of charge (SoC) of the energy storage unit, constructs a monotone increasing function according to real-time parameters of the SoC, and introduces the monotone increasing function into an energy storage unit self-adaptive droop control loop to form an improved reference voltage droop expression;
step three: comparing the reference voltage with the sampled output voltage, and forming voltage outer loop control through a PI controller and an amplitude limiter;
step four: comparing the voltage outer ring output with the sampled input current, and generating a PWM signal through a PI controller to form current inner ring control;
step five: the digital controller outputs a PWM signal to drive a switching power device of the DC-DC bidirectional conversion circuit, and the communication-free self-adaptive droop control of the energy storage unit is realized.
Further, the expression of the SoC real-time parameter constructing monotonic increasing function in the second step is as follows:
Figure BDA0002783298430000031
wherein k and n are both droop curve adjustment factors and are used for adjusting the SoC equalization rate; and delta is a bus deviation adjustment factor and is used for adjusting the bus voltage deviation range.
Further, the modified reference voltage droop expression in the second step is as follows:
Voi*＝vdc+f(SoCi)；
wherein, Voi *Is the output voltage reference of the ith converter; v. ofdcThe given initial voltage is the rated voltage of the direct current bus.
Further, the DC-DC bidirectional conversion circuit in the first step comprises an input capacitor CinInductor L and switch tube QH、QLAnd an output capacitor Co。
Further, in the first step, the input current sampling circuit and the output voltage sampling circuit pass through the sampling resistor and are sequentially connected with the A/D conversion circuit and the digital controller in series, and the output end of the digital controller is connected with a switching tube Q in the DC-DC bidirectional conversion circuitH、QL。
Further, the improved reference voltage droop expression can be applied to two modes of charging and discharging the energy storage unit.
Compared with the prior art, the invention has the beneficial effects that:
1. the balance control method provided by the invention can complete self-adaptive SoC droop control of the direct current micro-grid energy storage unit under two working modes of charging and discharging by using a reference voltage droop expression without switching a controller. However, in the prior art, two different droop expressions are mostly adopted in the charging mode and the discharging mode, so that the two corresponding controllers need to be frequently switched according to different working modes of the energy storage unit in the operation process.
2. The balance control method provided by the invention adopts an improved reference voltage droop expression, has a simple form, does not need to sample the output current of the energy storage unit, and omits a droop coefficient, thereby greatly simplifying the design of the controller. In the prior art, the output current needs to be sampled, the self-adaptive droop control of the energy storage unit is realized by setting the droop coefficient, the sampling data is more, and the design difficulty of the controller is increased.
3. According to the method, a monotone increasing function is constructed according to the real-time parameters of the SoC, k and n are set as droop curve adjusting factors, and delta is a bus deviation adjusting factor and can be flexibly selected according to the bus voltage rated value and the specification of the power converter.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a DC micro-grid structure with multiple energy storage units according to the present invention;
fig. 2 is an equivalent structure circuit model of a dc micro-grid with two energy storage units connected in parallel for output after adaptive droop control in the embodiment of the present invention;
FIG. 3 is a schematic diagram of a dynamic adjustment process of droop control to load current in view of line resistance according to the present invention;
FIG. 4 is a block diagram of a multi-energy storage unit SoC balance control system according to the present invention;
fig. 5 is a waveform diagram of the output current of the converter and SoC during the dynamic charge and discharge operation of the energy storage system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present embodiment provides a technical solution: an improved balance control method for multiple energy storage units of a direct-current micro-grid comprises the following steps:
the method comprises the following steps: the method comprises the following steps of constructing a balance control circuit of the multiple energy storage units of the direct-current microgrid, wherein the balance control circuit of the multiple energy storage units of the direct-current microgrid comprises a DC-DC bidirectional conversion circuit, an input current sampling circuit, an output voltage sampling circuit, an A/D conversion circuit and a digital controller, one end of the DC-DC bidirectional conversion circuit is connected with the energy storage units, and the other end of the DC-DC bidirectional conversion circuit is connected with a direct-current bus of the direct-current microgrid through a line;
step two: the energy storage unit estimates the state of charge (SoC) of the energy storage unit, constructs a monotone increasing function according to real-time parameters of the SoC, and introduces the monotone increasing function into an energy storage unit self-adaptive droop control loop to form an improved reference voltage droop expression;
step three: comparing the reference voltage with the sampled output voltage, and forming voltage outer loop control through a PI controller and an amplitude limiter;
step four: comparing the voltage outer ring output with the sampled input current, and generating a PWM signal through a PI controller to form current inner ring control;
step five: the digital controller outputs a PWM signal to drive a switching power device of the DC-DC bidirectional conversion circuit, and the communication-free self-adaptive droop control of the energy storage unit is realized.
In the second invention step, the expression of the SoC real-time parameter structure monotone increasing function is as follows:
Figure BDA0002783298430000051
wherein k and n are both droop curve adjustment factors and are used for adjusting the SoC equalization rate; and delta is a bus deviation adjustment factor and is used for adjusting the bus voltage deviation range.
The improved reference voltage droop expression in step two of the invention is as follows:
Voi*＝vdc+f(SoCi)； (2)
wherein, Voi *Is the output voltage reference of the ith converter; v. ofdcThe given initial voltage is the rated voltage of the direct current bus.
In the first step of the invention, the DC-DC bidirectional conversion circuit comprises an input capacitor CinInductor L and switch tube QH、QLAnd an output capacitor Co. In the first step of the invention, an input current sampling circuit and an output voltage sampling circuit pass through a sampling resistor and then are sequentially connected with an A/D conversion circuit and a voltage sampling circuitThe digital controllers are connected in series, and the output end of the digital controller is connected with a switching tube Q in a DC-DC bidirectional conversion circuitH、QL. The improved reference voltage droop expression can be applied to two modes of charging and discharging of the energy storage unit, frequent switching of a controller in the dynamic charging and discharging change process of the traditional droop control is avoided, meanwhile, sampling of output current of the energy storage unit is not needed, and a droop coefficient is omitted, so that the design of the controller is greatly simplified.
One specific application of this embodiment is: as shown in fig. 1, in the dc microgrid with multiple energy storage units, the energy storage units are connected to a dc bus of the dc microgrid through a bidirectional Buck/Boost interface converter via a line, a rated voltage of the bus is selected to be 48V, and line resistances between the converter and the dc bus are considered to be equal. The energy storage units output PWM control signals by the corresponding controllers to drive the interface converters to realize the charging and discharging of the energy storage units, so that the stability of the direct-current micro-grid is maintained. The controllers are not interconnected and communicated with each other, and are distributed and autonomous control.
The method adopts a mode of combining an open-circuit voltage method with a charge accumulation method to estimate the SoC of the energy storage unit, and specifically comprises the steps of firstly measuring the open-circuit voltage of the energy storage unit, calculating the initial SoC, defining the initial SoC as SoCi _0, wherein i represents the ith group of energy storage units, and then calculating the SoC according to the charge accumulation method. Taking an energy storage system composed of 2 energy storage units as an example, the SoC calculation formula of the energy storage unit is as follows:
Figure BDA0002783298430000061
in the formula ibat1、ibat2The input currents of the ESU #1 interface converter and the ESU #2 interface converter are respectively.
FIG. 2 is an equivalent structure circuit model of a DC micro-grid with two parallel energy storage units for output after adaptive droop control, wherein V iso1And Vo2The output voltages of the two converters are respectively; rd1、Rd2Sag coefficients for ESUs #1 and ESUs #2, respectively; r islFor connecting interface converters with dcA line resistance of the flow bus; i iso1And Io2The output currents of ESUs #1 and ESUs #2, respectively.
The theoretical basis of this embodiment is: according to the equivalent model shown in FIG. 2, when droop control is adopted, the DC bus voltage VbusWith load current IoLine resistance rlThe relational expression between can be written as:
Figure BDA0002783298430000062
vdcthe dc bus voltage rating for this example is 48V for dc bus voltage rating. According to the above formula, when the droop coefficient and the reference voltage are adjusted, the load current changes accordingly. It is by this change that droop control achieves a reasonable distribution of system load. Fig. 3(a) is an output voltage and current curve when the droop coefficient is changed, and fig. 3(b) is an output voltage and current curve when the dc bus reference voltage is changed. Therefore, as long as the SoC is associated with the reference voltage or the droop coefficient, the droop control expression can be continuously updated according to the real-time transformation of the SoC, and the adaptive droop control based on the SoC is realized.
Fig. 4 is a block diagram of a multi-energy-storage-unit SoC equalization control system according to the present invention. And (3) constructing a monotone increasing function according to the SoC real-time parameters obtained by the formula (3), and introducing the monotone increasing function into an energy storage unit adaptive droop control loop, thereby forming improved reference voltage droop expressions (1) and (2) in the invention. Wherein, the reference voltage is compared with the sampled output voltage, and the voltage outer loop control is formed through the PI controller and the amplitude limiter. And comparing the output signal of the voltage outer ring with the sampled input current, and generating a PWM (pulse width modulation) signal through a PI (proportional-integral) controller to form current inner ring control. The digital controller outputs a PWM signal to drive a switching power device of the interface converter, and the communication-free self-adaptive droop control of the energy storage unit is realized.
Referring to the equivalent model of fig. 2, it can be derived that the expressions of the output currents of the two converters in this embodiment are:
Figure BDA0002783298430000071
namely:
Figure BDA0002783298430000072
because f (SoC) is a monotone increasing function, the output current of the converter is in a direct proportion relation with the SoC value of the corresponding ESU. In the discharging process, the energy storage unit with a larger SoC provides more load current, and the energy storage unit with a smaller SoC provides smaller load current; on the contrary, during charging, because of the output current IoiIs negative, if there is SoC1>SoC2Then, Io1>Io2Can be derived as | Io1|<|Io2I.e. the larger SoC energy storage unit obtains less load current, and the smaller SoC obtains more load current. Finally, the SoC of each energy storage unit and the load current gradually tend to be consistent in the dynamic operation process, and the final control target is achieved.
The control system shown in fig. 4 can be applied to two working modes of charging and discharging of the system at the same time, so that only one controller is needed to realize dynamic operation of the energy storage system, and frequent switching of the controllers in charging and discharging operation of the energy storage system in the prior art is avoided.
As shown in fig. 4, the controller provided by the present invention does not sample the output current of each converter, which effectively reduces the design difficulty of the controller.
Fig. 5 is a waveform diagram of the output current and SoC of the converter during the dynamic charge and discharge operation of the energy storage system, fig. 5(a) is a waveform diagram of the output current, and fig. 5(b) is a waveform diagram of the SoC. When 0-10 s, the system is in a discharge mode, and the output current I corresponding to the energy storage unit with higher SoC iso1Output current I of energy storage unit larger than SoC lowero2And the current and the SoC of the two are developed towards the consistent trend; when the system has load jump in 10-20 s, each unit generates required workRedistributing output current and stably operating; recovering the load to the state of 0-10 s at 20-30 s; when the system runs for 30-50 s, mode switching occurs in the system, the energy storage unit runs in a charging mode from discharging, and the charging current value I of the energy storage unit with higher SoC iso1Charging current value I of energy storage unit smaller than SoCo2(ii) a After 50s, the system is restored to a discharge state, and the load current and the SoC are finally balanced.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (4)

1. An improved balance control method for multiple energy storage units of a direct current micro-grid is characterized by comprising the following steps:
the method comprises the following steps: the method comprises the following steps of constructing a balance control circuit of the multiple energy storage units of the direct-current microgrid, wherein the balance control circuit of the multiple energy storage units of the direct-current microgrid comprises a DC-DC bidirectional conversion circuit, an input current sampling circuit, an output voltage sampling circuit, an A/D conversion circuit and a digital controller, one end of the DC-DC bidirectional conversion circuit is connected with the energy storage units, and the other end of the DC-DC bidirectional conversion circuit is connected with a direct-current bus of the direct-current microgrid through a line;
step two: the energy storage unit estimates the state of charge (SoC) of the energy storage unit, constructs a monotone increasing function according to real-time parameters of the SoC, and introduces the monotone increasing function into an energy storage unit self-adaptive droop control loop to form an improved reference voltage droop expression;
step three: comparing the reference voltage with the sampled output voltage, and forming voltage outer loop control through a PI controller and an amplitude limiter;
step four: comparing the voltage outer ring output with the sampled input current, and generating a PWM signal through a PI controller to form current inner ring control;
step five: the digital controller outputs a PWM signal to drive a switching power device of the DC-DC bidirectional conversion circuit, so that the communication-free self-adaptive droop control of the energy storage unit is realized;
the expression of the SoC real-time parameter construction monotone increasing function in the second step is as follows:
Figure FDA0003511615680000011
wherein k and n are both droop curve adjustment factors and are used for adjusting the SoC equalization rate; delta is a bus deviation adjustment factor used for adjusting the bus voltage deviation range;
the improved reference voltage droop expression in the second step is as follows:
Voi *＝vdc+f(SoCi)；
wherein, Voi *Is the output voltage reference of the ith converter; v. ofdcThe given initial voltage is the rated voltage of the direct current bus.
2. The improved balance control method for the multiple energy storage units of the direct current micro-grid according to claim 1, characterized in that: the DC-DC bidirectional conversion circuit in the first step comprises an input capacitor CinInductor L and switch tube QH、QLAnd an output capacitor Co。
3. The improved balance control method for the multiple energy storage units of the direct current micro-grid according to claim 2, characterized in that: in the first step, an input current sampling circuit and an output voltage sampling circuit pass through a sampling resistor and are sequentially connected with an A/D conversion circuit and a digital controller in series, and the output end of the digital controller is connected with a switching tube Q in a DC-DC bidirectional conversion circuitH、QL。
4. The improved balance control method for the multiple energy storage units of the direct current micro-grid according to claim 1, characterized in that: the improved reference voltage droop expression can be applied to two modes of charging and discharging the energy storage unit.
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