CN113285488B - Hybrid energy storage coordination control method based on multi-level architecture - Google Patents
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Abstract
The invention discloses a hybrid energy storage coordination control method based on a multi-hierarchy architecture, which comprises the following steps: determining an electrochemical energy storage local-level operation response model; determining a local-level operation response model of the superconducting energy storage; determining an energy storage system local level automatic response control strategy; determining a power distribution network hybrid energy storage, distributed photovoltaic, load and line overall equipment interconnection relation model; determining an energy storage system cooperative level automatic response control strategy; acquiring a cooperative-level automatic response control instruction by using a model prediction control method, and issuing the cooperative-level automatic response control instruction to the hybrid energy storage system; the invention effectively solves the problems of voltage fluctuation and energy storage control caused by high permeability of distributed new energy in the power distribution network.
Description
Technical Field
The invention relates to the field of energy storage system operation control of a power system, in particular to a hybrid energy storage coordination control method based on a multi-level architecture.
Background
With the continuous development of renewable energy technologies, the wide application of renewable energy technologies becomes an inevitable choice for power grid development, and in the face of the serious challenge of energy sustainable development, how to solve a series of randomness and volatility problems caused by the massive grid connection of renewable energy is a great difficulty to be overcome in urgent need of the current power system. According to local conditions, different types of energy storage systems are developed and connected into the power distribution network, so that the space-time decoupling of renewable energy sources can be realized, the renewable energy sources can be fully consumed on the spot, and the function of improving the overall voltage operation level of the power distribution network is exerted. However, the application of the energy storage system in the power system is gradually brought into the positive orbit, such as participating in the frequency adjustment of the power grid, improving the quality of the electric energy, and improving the stability of the system, and the application of the energy storage system will bring a positive influence on the safe and stable operation of the power grid. However, at present, the operation control of the hybrid energy storage system in the operation of the power distribution network is in a primary stage, and the flexibility of energy storage is difficult to exert to dynamically control the voltage, so that the research on the cooperative control of the hybrid energy storage system is significant. In the past, the steady-state economic optimization control strategy is mainly used in the research on the operation control strategy of the energy storage system, the problem of convergence solving exists, the local optimization is easy to fall into, and in other researches, the problem of power regulation and stability of grid connection of a single energy storage device is only considered, and the problem of interactivity between the energy storage system and a power grid is ignored.
Therefore, based on the problems, a hybrid energy storage coordination control method based on a multi-level architecture is provided, and the problem of rapid voltage fluctuation caused by large access scale of distributed new energy in a power distribution network can be effectively solved.
Disclosure of Invention
In order to improve the real-time performance of model predictive control, the invention provides a method for improving the control effect of a calculation optimization instruction process through a double-level control structure. According to the invention, a local-level and cooperative-level double-level control framework is established, the real-time control performance of model predictive control is improved, and a new solution thought is provided for solving the problem of safe and stable voltage operation of a power distribution network containing large-scale distributed new energy access.
The invention relates to a hybrid energy storage coordination control method based on a multi-level architecture, which comprises the following steps:
determining an electrochemical energy storage local-level operation response model;
determining a local-level operation response model of the superconducting energy storage;
determining an energy storage system local level automatic response control strategy;
determining a power distribution network hybrid energy storage, distributed photovoltaic, load and line overall equipment interconnection relation model;
determining an energy storage system cooperative automatic response control strategy;
and acquiring a cooperative automatic response control instruction by using a model prediction control method, and issuing the cooperative automatic response control instruction to the hybrid energy storage system.
Further, the method for determining the electrochemical energy storage local-level operation response model comprises the following steps:
the energy stored by the energy storage system may be expressed as:
in the formula (I), the compound is shown in the specification,for the initial energy of the electrochemical energy storage system, P BESS Charging and discharging power for an electrochemical energy storage system;
then there is an electrochemical energy storage system model as follows
In the formula (I), the compound is shown in the specification,reference active command deviation, Δ P, for electrochemical energy storage systems int Is composed ofAnd P BESS The integral of the deviation is then calculated,andproportional and integral parameters, T, for the outer loop PI controller id Time constant, T, for inner loop control fd Is the filter time constant, Δ i L For electrochemical energy storage of the current deviation, U, on the DC side BESS For the electrochemical energy storage DC side voltage, s is a differential operator, Δ P BESS For the amount of deviation of the output power of the electrochemical energy storage system,is the initial output power deviation, delta C, of the electrochemical energy storage system BESS Storing the energy deviation for the electrochemical energy storage system;
written as a state space equation of the form:
in the formula, x ES Is the state quantity of the electrochemical energy storage system u ES For controlling the quantity of the electrochemical energy storage system, d ES Disturbance variable of electrochemical energy storage system, A ES System matrix being an electrochemical energy storage system, B ES Control matrix for electrochemical energy storage systems, E ES A perturbation matrix of the electrochemical energy storage system;
further, the method for determining the local-level operation response model of the superconducting energy storage comprises the following steps:
energy E stored in superconducting energy storage sm Can be expressed as:
in the formula, L sm Is an inductor, I smd Direct side current for superconducting energy storage;
the direct current can be represented as
In the formula, P sm Representing the output active power of the superconducting energy storage, xi is the power loss coefficient, I smd0 Is the initial value of the direct current. Thus, the output active and reactive power of the superconducting energy storage can be expressed as
In the formula, Q sm Representing the output reactive power of superconducting energy storage, U sm And I sm Is the amplitude, alpha, of the AC voltage and current of the converter sm Is a voltage U sm And current I sm M is the modulation degree of the converter;
suppose P sm,r And Q sm,r The reference values of active power and reactive power of the superconducting energy storage respectively are
Therefore, the superconducting energy storage system can be expressed as a second-order model
In the formula, T smc Is response time constant, mu, of superconducting energy storage converter smα And mu smm Is a control signal.
Written as a state space equation of the form:
in the formula, x SM Is a state quantity of the superconducting energy storage system u SM For controlling the quantity of the superconducting energy storage system, d SM Disturbance quantity of superconducting energy storage system, A SM System matrix being a superconducting energy storage system, B SM A control matrix for a superconducting energy storage system, E SM Is a disturbance matrix of the superconducting energy storage system.
Further, the method for determining the local-level automatic response control strategy of the energy storage system comprises the following steps:
the electrochemical energy storage and superconducting energy storage local control strategy adopts a PI control mode of grid-connected point voltage deviation feedback, and realizes local-level automatic response of an energy storage system by changing a power reference instruction through a voltage-active/reactive droop characteristic curve, and can be realized by the following modes:
wherein R is the voltage reactive droop coefficient, Q d For the reactive regulation of energy storage, V is the actual voltage of the grid-connected point of energy storage, V cor As a correction amount of voltage, Q max For maximum reactive power output of stored energy, Q min In order to store the energy and the minimum reactive power output,andis electricityThe lower limit and the upper limit of the pressure regulation dead zone,andthe lower limit and the upper limit of the voltage safe operation range.
Further, the method for determining the interconnection relation model of the hybrid energy storage, distributed photovoltaic, load and line overall equipment of the power distribution network comprises the following steps:
in the formula,. DELTA.P i 、ΔQ i Respectively the active and reactive power injection quantity of the ith node, and the sensitivity factor S δP 、S UP Respectively representing the influence of active output fluctuation on the phase angle and amplitude of the voltage, S δQ 、S UQ The influence of reactive power output fluctuation on node voltage phase angle and amplitude is respectively shown, and the voltage amplitude variation delta U and an active and reactive power variation sequence delta P of a system containing N PQ nodes meet the following conditions:
ΔU=S UP ΔP+S UQ ΔQ (28)
the cooperative peer system operation model is formed as follows:
in the formula, x s Is the state quantity u of the distribution network system s For controlling the system of the distribution network, d s Disturbance variable, y, for distribution network systems s For the output of the distribution network system, A s System matrix, B, for distribution network systems s For control matrices of the distribution network system, E s Disturbance matrix for distribution network systems, C s An output matrix of the power distribution network system; and has the following components:
in the formula (I), the compound is shown in the specification,is N ES A system matrix of individual battery energy storage systems,is N SM A system matrix of superconducting energy storage systems;
in the formula (I), the compound is shown in the specification,is N ES A control matrix for each of the battery energy storage systems,is N SM A control matrix for each superconducting energy storage system;
in the formula (I), the compound is shown in the specification,is N ES A disturbance matrix of each battery energy storage system;is N SM A disturbance matrix of the superconducting energy storage system.
And setting voltage reference values of access nodes of the energy storage systems according to the running state of the power distribution network, outputting reactive suppression voltage deviation by the energy storage systems when node voltage generates deviation, and calculating a control command through cooperative automatic response control if the voltage deviation continues to increase. The automatic energy storage response control strategy of the cooperative stage mainly depends on real-time measurement data of a power distribution network, the voltage is controlled within a safe operation range (0.95 pu-1.05 pu.) more strictly, and the contribution of each energy storage is adjusted.
Further, the method for obtaining the cooperative automatic response control instruction by using the model predictive control method and sending the cooperative automatic response control instruction to the hybrid energy storage system comprises the following steps:
discretizing the system operation model (8) according to the cooperative level to obtain:
wherein, A, B u 、B d Are respectively A s 、B s 、E s Of the discretized matrix form, Δ x s (k)、Δu s (k)、Δd s (k) Are each x s 、u s 、d s K denotes the k sampling instants.
The objective function for modeling prediction is as follows:
min J(x(k),ΔU(k))=||Γ y (Y p,s (k+1|k))-R(k+1)|| 2 +||Γ u ΔU(k)|| 2 (34)
in the formula, gamma y And Γ u Is a weighting matrix, R (k + 1) is a given control output reference sequence, Δ U (k) is a control increment sequence, p is a predicted step size of the MPC, m is a control step size, Y is a control step size p,s (k + 1|k) is the p-step control output at time k based on model (8) prediction, where:
in the formula,. DELTA.u s (k)、Δu s (k+1)、…、Δu s (k + m + 1) is the control increment of k, k +1, … and k + m +1 respectively;
in the formula, r (k + 1), r (k + 2), … and r (k + p) are reference output vectors at the time of k +1, … and k + p respectively;
in the formula, y (k + 1|k), y (k + 2|k), …, and y (k + p | k) are prediction output vectors from time k to time k +1, …, and k + p, respectively;
finally solving the control vector delta u at each moment s (k) And issuing the data to each energy storage system to realize the automatic response control of the cooperative energy storage system.
The hybrid energy storage cooperative control method based on the multilevel architecture has the beneficial effects that:
1. according to the hybrid energy storage cooperative control method based on the multi-level architecture, the voltage deviation of an access node is reduced and the overall voltage level of a power distribution network is kept together according to the cooperative cooperation of the local level control and the cooperative level control, the problem that the distributed power supply affects the voltage operation level when being accessed to the power distribution network in a large scale is solved, the control architecture considers the quality of electric energy from local to global, and the consumption efficiency of the distributed power supply can be fully improved on the premise that the power distribution network operates safely and stably;
2. according to the hybrid energy storage cooperative control method based on the multi-level architecture, the secondary control instruction of the hybrid energy storage system which is optimal in real time is obtained by using the model predictive control method, the problem of adaptability of a conventional method to model accuracy under the condition of solving the scale of a power distribution network is solved, the problem of performance reduction caused by inaccuracy of the model in a large-scale system is solved, and efficient optimized operation of accessing a large-scale distributed power supply into the power distribution network is realized.
Drawings
Fig. 1 is a flowchart of a hybrid energy storage coordination control method based on a multi-level architecture according to an embodiment of the present invention;
fig. 2 is a voltage fluctuation diagram of the node 19 before and after control by using the method provided by the embodiment of the invention.
Detailed Description
The method for hybrid energy storage coordination control based on a multi-level architecture provided by the invention has a method flow as shown in fig. 1, and as can be seen from fig. 1, the method comprises the following steps:
determining an electrochemical energy storage local-level operation response model;
determining a local-level operation response model of the superconducting energy storage;
determining an energy storage system local level automatic response control strategy;
determining a model of the interconnection relation among hybrid energy storage, distributed photovoltaic, load and line overall equipment of the power distribution network;
determining an energy storage system cooperative level automatic response control strategy;
and acquiring a cooperative automatic response control instruction by using a model prediction control method, and issuing the cooperative automatic response control instruction to the hybrid energy storage system.
Further, the method for determining the electrochemical energy storage local-level operation response model comprises the following steps:
the energy stored by the energy storage system may be expressed as:
in the formula (I), the compound is shown in the specification,for the initial energy of the electrochemical energy storage system, P BESS Charging and discharging power for an electrochemical energy storage system;
then there is an electrochemical energy storage system model as follows
In the formula (I), the compound is shown in the specification,reference active command deviation, Δ P, for electrochemical energy storage systems int Is composed ofAnd P BESS The integral of the deviation is then calculated,andproportional and integral parameters, T, for the outer loop PI controller id Time constant, T, for inner loop control fd Is the filter time constant, Δ i L For electrochemical energy storage of the current deviation, U, on the DC side BESS The direct current side voltage of the electrochemical energy storage is obtained, and s is a differential operator;
written as a state space equation of the form:
in the formula, x ES Is the state quantity of the electrochemical energy storage system u ES For controlling the quantity of the electrochemical energy storage system, d ES Disturbance variable of electrochemical energy storage system, A ES System matrix being an electrochemical energy storage system, B ES A control matrix for an electrochemical energy storage system, E ES A perturbation matrix of the electrochemical energy storage system;
further, the method for determining the superconducting energy storage local-level operation response model comprises the following steps:
energy E stored in superconducting energy storage sm Can be expressed as:
in the formula, L sm Is an inductor, I smd The current is the direct current side current of the superconducting energy storage;
the direct current can be represented as
In the formula, P sm Representing the output active power of the superconducting energy storage, xi is the power loss coefficient, I smd0 Is the initial value of the DC side current. Thus, the output active and reactive power of the superconducting energy storage can be expressed as
In the formula, Q sm Representing the output reactive power of superconducting energy storage, U sm And I sm Is the amplitude, alpha, of the AC voltage and current of the converter sm Is a voltage U sm And current I sm M is the modulation degree of the converter;
suppose P sm,r And Q sm,r The reference values of active power and reactive power of the superconducting energy storage respectively are
Therefore, the superconducting energy storage system can be expressed as a second-order model
In the formula, T smc Is response time constant, mu, of superconducting energy storage converter smα And mu smm Is a control signal.
Written as a state space equation of the form:
in the formula, x SM Is a state quantity of a superconducting energy storage system, u SM For controlling the quantity of the superconducting energy storage system, d SM Disturbance quantity of superconducting energy storage system, A SM System matrix being a superconducting energy storage system, B SM Control matrix for superconducting energy storage systems, E SM Is a disturbance matrix of the superconducting energy storage system.
Further, the method for determining the local-level automatic response control strategy of the energy storage system comprises the following steps:
the electrochemical energy storage and superconducting energy storage local control strategy adopts a PI control mode of grid-connected point voltage deviation feedback, and realizes local-level automatic response of an energy storage system by changing a power reference instruction through a voltage-active/reactive droop characteristic curve, and can be realized by the following modes:
wherein R is voltage reactive droop coefficient, Q d For the reactive regulation of energy storage, V is the actual voltage of the grid-connected point of energy storage, V cor As a correction amount of voltage, Q max For maximum reactive power output of stored energy, Q min In order to store energy and output the minimum reactive power,andthe lower limit and the upper limit of the voltage regulation dead zone,andthe lower limit and the upper limit of the voltage safe operation range.
Further, the method for determining the power distribution network hybrid energy storage, distributed photovoltaic, load and line whole equipment interconnection relation model comprises the following steps:
in the formula,. DELTA.P i 、ΔQ i Respectively the active and reactive power injection quantity of the ith node, and the sensitivity factor S δP 、S UP Respectively representing the influence of active output fluctuation on the phase angle and amplitude of the voltage, S δQ 、S UQ The influence of reactive power output fluctuation on node voltage phase angle and amplitude is respectively shown, and the voltage amplitude variation delta U and an active and reactive power variation sequence delta P of a system containing N PQ nodes meet the following conditions:
ΔU=S UP ΔP+S UQ ΔQ (49)
the cooperative peer system operation model is formed as follows:
in the formula, x s Is the state quantity u of the distribution network system s For controlling the system of the distribution network, d s For disturbance of the distribution network system, y s For the output of the distribution network system, A s System matrix, B, for distribution network systems s For control matrices of the distribution network system, E s Disturbance matrix for distribution network systems, C s An output matrix of the power distribution network system; and has the following components:
in the formula (I), the compound is shown in the specification,is N ES A system matrix of individual battery energy storage systems,is N SM A system matrix of superconducting energy storage systems;
in the formula (I), the compound is shown in the specification,is N ES A control matrix of the individual battery energy storage systems,is N SM A control matrix for each superconducting energy storage system;
in the formula (I), the compound is shown in the specification,is N ES A disturbance matrix of each battery energy storage system;is N SM A disturbance matrix of the superconducting energy storage system.
And setting voltage reference values of access nodes of the energy storage systems according to the running state of the power distribution network, outputting reactive suppression voltage deviation by the energy storage systems when node voltage generates deviation, and calculating a control command through cooperative automatic response control if the voltage deviation continues to increase. The automatic energy storage response control strategy of the cooperative stage mainly depends on real-time measurement data of a power distribution network, the voltage is controlled within a safe operation range (0.95 pu-1.05 pu.) more strictly, and the contribution of each energy storage is adjusted.
Further, the method for obtaining the cooperative automatic response control instruction by using the model predictive control method and sending the cooperative automatic response control instruction to the hybrid energy storage system comprises the following steps:
discretizing the system operation model (8) according to the cooperative level to obtain:
wherein A, B u 、B d Are respectively A s 、B s 、E s In the form of a discretized matrix of, Δ x s (k)、Δu s (k)、Δd s (k) Are respectively x s 、u s 、d s K denotes the k sampling instants.
The objective function for modeling prediction is as follows:
min J(x(k),ΔU(k))=||Γ y (Y p,s (k+1|k))-R(k+1)|| 2 +||Γ u ΔU(k)|| 2 (55)
in the formula, gamma y And Γ u Is a weighting matrix, R (k + 1) is a given control output reference sequence, Δ U (k) is a control increment sequence, p is a predicted step size of the MPC, m is a control step size, Y is a control step size p,s (k + 1|k) is the p-step control output at time k based on model (8) prediction, where:
in the formula,. DELTA.u s (k)、Δu s (k+1)、…、Δu s (k + m + 1) is the control increment of k, k +1, …, k + m +1 respectively;
in the formula, r (k + 1), r (k + 2), … and r (k + p) are reference output vectors at the time of k +1, … and k + p respectively;
in the formula, y (k + 1|k), y (k + 2|k), …, and y (k + p | k) are prediction output vectors from time k to time k + 1, …, and k + p, respectively;
finally solving the control vector delta u of each moment s (k) And issuing the data to each energy storage system to realize the automatic response control of the cooperative energy storage system.
For example, in the embodiment, in order to further verify the hybrid energy storage coordination control method based on the multi-level architecture, a power distribution network including three standard IEEE33 nodes of the energy storage system is used as an example for simulation, and on the premise that the voltage of each node is within an allowable range, the voltage control effects of the system before and after control are compared. The parameter setting is shown in table 1, and the voltage control capability in the power distribution network is obviously improved after the control is carried out by the method.
TABLE 1 hybrid energy storage parameter configuration for power distribution networks
Serial number | Electrochemical energy storage | Electrochemical energy storage | Superconducting energy storage |
Access node | 16 | 19 | 29 |
Installed capacity (kW) | 400 | 300 | 400 |
Capacitive reactive power (kVar) | (0,160) | (0,180) | (0,160) |
Inductive reactive power (kvar) | (-160,0) | (-180,0) | (-160,0) |
The foregoing detailed description of the present application has been presented to illustrate the principles and implementations of the present application using simulation, and the above description of the embodiments is only for the purpose of facilitating understanding the method and core concept of the present application, and the present application may be modified in various aspects, and in summary, the present description should not be construed as limiting the present application.
Claims (6)
1. The hybrid energy storage coordination control method based on the multi-level architecture is characterized by comprising the following steps of:
determining an electrochemical energy storage local-level operation response model;
determining a local-level operation response model of the superconducting energy storage;
determining an energy storage system local level automatic response control strategy;
determining a power distribution network hybrid energy storage, distributed photovoltaic, load and line overall equipment interconnection relation model;
determining an energy storage system cooperative automatic response control strategy;
and acquiring a cooperative automatic response control instruction by using a model prediction control method, and issuing the cooperative automatic response control instruction to the hybrid energy storage system.
2. The hybrid energy storage coordination control method based on the multi-hierarchy architecture as claimed in claim 1, wherein the method for determining the electrochemical energy storage local operation response model comprises:
the energy stored by the energy storage system may be expressed as:
in the formula (I), the compound is shown in the specification,is electrochemicalInitial energy of the energy storage system, P BESS Charging and discharging power for an electrochemical energy storage system;
written as a state space equation in the form:
in the formula, x ES Is the state quantity of the electrochemical energy storage system u ES For controlling the quantity of the electrochemical energy storage system, d ES Disturbance variable of electrochemical energy storage system, A ES System matrix being an electrochemical energy storage system, B ES A control matrix for an electrochemical energy storage system, E ES Is a perturbation matrix of the electrochemical energy storage system.
3. The hybrid energy storage coordination control method based on the multi-hierarchy architecture as claimed in claim 1, wherein the method for determining the local operation response model of the superconducting energy storage is as follows:
energy E stored in superconducting energy storage sm Can be expressed as:
in the formula, L sm Is an inductor, I smd The current is the direct current side current of the superconducting energy storage;
written as a state space equation of the form:
in the formula, x SM Is a state quantity of a superconducting energy storage system, u SM For controlling the quantity of the superconducting energy storage system, d SM Disturbance quantity of superconducting energy storage system, A SM System matrix being a superconducting energy storage system, B SM A control matrix for a superconducting energy storage system, E SM Is a disturbance matrix of the superconducting energy storage system.
4. The hybrid energy storage coordination control method based on multi-hierarchy architecture as claimed in claim 1, wherein the method for determining the local-level automatic response control strategy of the energy storage system comprises:
the electrochemical energy storage and superconducting energy storage local control strategy adopts a PI control mode of grid-connected point voltage deviation feedback, and realizes local-level automatic response of an energy storage system by changing a power reference instruction through a voltage-active/reactive droop characteristic curve, and can be realized by the following modes:
wherein R is the voltage reactive droop coefficient, Q d V is the actual voltage of the energy storage grid-connected point cor As a correction amount of voltage, Q max For maximum reactive power, Q, of stored energy min In order to store energy and output the minimum reactive power,andthe lower limit and the upper limit of the voltage regulation dead zone,andthe lower limit and the upper limit of the voltage safe operation range.
5. The hybrid energy storage coordination control method based on the multi-hierarchy architecture as claimed in claim 1, wherein the method for determining the power distribution network hybrid energy storage, distributed photovoltaic, load and line overall equipment interconnection relation model comprises:
in the formula,. DELTA.P i 、ΔQ i Respectively the active and reactive power injection quantity of the ith node, and the sensitivity factor S δP 、S UP Respectively representing the influence of active output fluctuation on the phase angle and amplitude of the voltage, S δQ 、S UQ The influence of reactive power output fluctuation on node voltage phase angle and amplitude is respectively shown, and the voltage amplitude variation delta U and an active and reactive power variation sequence delta P of a system containing N PQ nodes meet the following conditions:
ΔU=S UP ΔP+S UQ ΔQ (7)
the cooperative peer system operation model is formed as follows:
in the formula, x s Is the state quantity u of the distribution network system s For controlling the system of the distribution network, d s For disturbance of the distribution network system, y s For the output of the distribution network system, A s System matrix for distribution network system, B s For control matrices of the distribution network system, E s Disturbance matrix for distribution network systems, C s An output matrix of the power distribution network system; and has the following components:
in the formula (I), the compound is shown in the specification,is N ES A system matrix of individual battery energy storage systems,is N SM A system matrix of superconducting energy storage systems;
in the formula (I), the compound is shown in the specification,is N ES A control matrix for each of the battery energy storage systems,is N SM A control matrix for each superconducting energy storage system;
6. The hybrid energy storage coordination control method based on the multi-hierarchy architecture as claimed in claim 1, wherein the method for obtaining the cooperative automatic response control command by using the model prediction control method and sending the cooperative automatic response control command to the hybrid energy storage system comprises:
discretizing the system operation model (8) according to the cooperative level to obtain:
wherein A, B u 、B d Are respectively A s 、B s 、E s In the form of a discretized matrix of (a), ax s (k)、Δu s (k)、Δd s (k) Are respectively x s 、u s 、d s K represents k sampling instants;
the objective function for modeling prediction is as follows:
min J(x(k),ΔU(k))=||Γ y (Y p,s (k+1|k))-R(k+1)|| 2 +||Γ u ΔU(k)|| 2 (13)
in the formula, gamma y And Γ u Is a weighting matrix, R (k + 1) is a given control output reference sequence, Δ U (k) is a control increment sequence, p is a predicted step size of the MPC, m is a control step size, Y is a control step size p , s (k + 1|k) is the p-step control output at time k based on model (8) prediction, where:
in the formula,. DELTA.u s (k)、Δu s (k+1)、…、Δu s (k + m + 1) is the control increment of k, k +1, … and k + m +1 respectively;
in the formula, r (k + 1), r (k + 2), … and r (k + p) are reference output vectors at the time of k +1, … and k + p respectively;
in the formula, y (k + 1|k), y (k + 2|k), …, and y (k + p | k) are prediction output vectors from time k to time k +1, …, and k + p, respectively;
finally solving the control vector delta u of each moment s (k) And issuing the data to each energy storage system to realize the automatic response control of the cooperative energy storage system.
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