CN113746190A - Distributed cooperative control method and system for single voltage balance - Google Patents

Distributed cooperative control method and system for single voltage balance Download PDF

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CN113746190A
CN113746190A CN202110940921.6A CN202110940921A CN113746190A CN 113746190 A CN113746190 A CN 113746190A CN 202110940921 A CN202110940921 A CN 202110940921A CN 113746190 A CN113746190 A CN 113746190A
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voltage
cell
control method
distributed cooperative
cooperative control
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刘建刚
杨胜杰
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Hunan University of Technology
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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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • H02J7/0014—Circuits for equalisation of charge between batteries
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
    • 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
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/50—Charging of capacitors, supercapacitors, ultra-capacitors or double layer capacitors

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  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention is suitable for the technical field of electronic energy storage, and relates to a distributed cooperative control method for single voltage equalization, which comprises the following steps: s10, measuring each super-capacitor monomer C by means of a voltage sensoriVoltage across
Figure DDA0003214841610000011
By comparing voltages
Figure DDA0003214841610000012
With all neighbor node cell voltages
Figure DDA0003214841610000013
And a reference voltage
Figure DDA0003214841610000014
Calculating the local voltage tracking error ei；S20. Tracking error e of local voltageiObtaining a virtual control input u through a proportion and amplitude limiting control linki(ii) a S30, order
Figure DDA0003214841610000015
By means of the voltage across the supercapacitor cell
Figure DDA0003214841610000016
Charging current icAnd a known capacitance value CiC', available switch SiDuty cycle at each cycle
Figure DDA0003214841610000017
The distributed cooperative voltage-sharing strategy provided by the invention does not need a centralized controller, each super capacitor monomer only needs to know the voltage information of the super capacitor monomer and the voltage information of the adjacent super capacitor monomers, the purpose of voltage balancing can be realized through mutual local information interaction, the circuit structure is simple, and the voltage balancing is convenient.

Description

Distributed cooperative control method and system for single voltage balance
Technical Field
The invention belongs to the technical field of electronic energy storage, and particularly relates to a distributed cooperative control method and system for single voltage equalization.
Background
As a novel electric traction rail transit system, the energy storage type light rail adopts the super capacitor as a power source, and the high-efficiency energy storage equipment of the super capacitor is utilized, so that a traction power grid does not need to be erected, and the energy of regenerative braking can be absorbed and reused. In addition, as an electrochemical energy storage device, the super capacitor can provide higher power density, cycle performance and mechanical strength.
In order to meet the requirement of high power, thousands of super capacitor monomers are connected in series and in parallel with each other. However, when a large number of supercapacitor cells are connected in series, due to the inherent characteristics of the individual capacitors, such as: the monomer capacity, the self-discharge rate, the internal resistance, the temperature and the like make the voltage of the series super capacitor monomer unbalanced. Therefore, the problem of voltage sharing of the series super capacitor is solved.
The classical methods for solving the voltage equalization mainly include an energy dissipation type and an energy transfer type, the energy dissipation type voltage equalization method is to realize voltage equalization by dissipating redundant energy through some components, and related technologies such as a resistance equalizer, a voltage stabilizing diode, a switch resistance equalizer and the like, however, in the case of an energy storage type light rail, the charging current is very large, which causes the equalizing current to be also very large. If an energy dissipation type voltage-sharing method is adopted, a large amount of energy can be wasted, and the purpose of energy storage cannot be achieved; the core idea of energy transfer type voltage sharing is to transfer energy from a high-voltage cell to a low-voltage cell to realize voltage balancing, which is mainly based on dc/dc converters, including flyback converters, buck-boost converters, switched capacitor converters, etc., although this method has high energy efficiency, there are some disadvantages, such as long voltage balancing time, complex circuit structure, etc.
Therefore, how to provide a voltage equalization method with a simple circuit structure and convenient voltage equalization is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a distributed cooperative control method for single voltage equalization, so as to solve the problems of inconvenient voltage equalization and complex voltage equalization circuit in the prior art; in addition, the invention also provides a distributed cooperative control system for single voltage equalization.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a distributed cooperative control method for cell voltage equalization, including the following steps:
s10, measuring each super-capacitor monomer C by means of a voltage sensoriVoltage across
Figure BDA0003214841590000021
By comparing said voltages
Figure BDA0003214841590000022
With all neighbor node cell voltages
Figure BDA0003214841590000023
And a reference voltage
Figure BDA0003214841590000024
Calculating the local voltage tracking error ei；
S20, tracking the local voltage by an error eiObtaining a virtual control input u through a proportion and amplitude limiting control linki；
S30、Order to
Figure BDA0003214841590000025
By means of the voltage across the supercapacitor cell
Figure BDA0003214841590000026
Charging current icAnd a known capacitance value CiC', available switch SiDuty cycle at each cycle
Figure BDA0003214841590000027
Further, each super capacitor unit C in the step S10iThe communication between the super capacitors is realized in a one-way mode by utilizing a CAN bus communication protocol, and each super capacitor monomer CiThe communication network of (a) is modeled as a directed graph G (v, e, a).
Further, the local voltage tracking error e in the step S10iThe expression is as follows:
Figure BDA0003214841590000028
wherein N isi＝{vj∈ν:(vj,vi) Epsilon as node viNeighbor set of aijIs an element in the adjacency matrix A corresponding to the directed graph G (v, epsilon, A), which depicts a node vjTo node viCommunication weight of aij>0 means that voltage information for cell j can be obtained for cell i; giTo pin the gain, which represents the weight of the edge connecting the virtual node with the root node, gi>0 denotes a node viThe reference voltage can be known
Figure BDA0003214841590000031
The information of (1).
Further, for the corresponding directed graph G (v, ε, A), if (v)j,vi)∈ε，
Figure BDA0003214841590000032
Further, only one node can obtain the reference voltage
Figure BDA0003214841590000033
The information of (1).
Further, the virtual control input u in the step S20iThe expression is as follows:
ui＝-kiφ(ei)
wherein k isi>0 is the proportional control gain to be designed and phi (-) is a bounded saturation function.
In a second aspect, the present invention further provides a distributed cooperative control system for cell voltage balancing, including:
several super capacitor units CiA plurality of equalizing capacitors C' and a plurality of switches Si；
Each super capacitor monomer CiIn parallel with an identical equalizing capacitor C', each of said switches SiThe equalizing capacitor C ' is connected with the same equalizing capacitor C ' in series and used for determining whether the equalizing capacitor C ' is connected into the circuit or not.
Further, the whole circuit is decoupled into n independent control circuits.
Compared with the prior art, the distributed cooperative control method and the distributed cooperative control system for the monomer voltage equalization provided by the invention at least have the following beneficial effects:
the distributed cooperative voltage-sharing strategy provided by the invention does not need a centralized controller, each super capacitor monomer only needs to know the voltage information of the super capacitor monomer and the voltage information of the adjacent super capacitor monomers, the purpose of voltage balancing can be realized through mutual local information interaction, the circuit structure is simple, and the voltage balancing is convenient.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic diagram of a distributed cooperative control method for cell voltage equalization according to an embodiment of the present invention;
fig. 2 is a circuit diagram of a distributed cooperative control system for cell voltage equalization according to an embodiment of the present invention;
fig. 3 is a super capacitor single cell communication topology diagram of a distributed cooperative control system for single cell voltage equalization according to an embodiment of the present invention;
fig. 4 is a voltage balance curve diagram in a charging mode of a distributed cooperative control method for cell voltage balance according to an embodiment of the present invention;
fig. 5 is a voltage equalization curve diagram in a zero initial condition charging mode of a distributed cooperative control method for cell voltage equalization according to an embodiment of the present invention;
fig. 6 is a voltage balance curve diagram in a discharging mode of a distributed cooperative control method for cell voltage balance according to an embodiment of the present invention;
fig. 7 is a voltage equalization curve diagram in a static voltage equalization mode of a distributed cooperative control method for cell voltage equalization according to an embodiment of the present invention;
fig. 8 is a voltage balance curve diagram of a large-scale network of a distributed cooperative control method for cell voltage balance provided in an embodiment of the present invention in a charging mode;
fig. 9 is a voltage balance curve diagram of a large-scale network of a distributed cooperative control method for cell voltage balance in a discharging mode according to an embodiment of the present invention;
fig. 10 is a voltage equalization curve diagram of a large-scale network of a distributed cooperative control method for single voltage equalization in a static voltage equalization mode according to an embodiment of the present invention;
fig. 11 is a time-varying directional communication topology diagram when a link failure exists in a distributed cooperative control system with single voltage equalization according to an embodiment of the present invention;
fig. 12 is a cooperative voltage balancing curve diagram when a communication link fails in a charging mode of a distributed cooperative control method for cell voltage balancing according to an embodiment of the present invention;
fig. 13 is a cooperative voltage balancing curve diagram when a communication link fails in a zero initial condition charging mode of the distributed cooperative control method for cell voltage balancing according to the embodiment of the present invention;
fig. 14 is a cooperative voltage balancing curve diagram when a communication link fails in a discharging mode of the distributed cooperative control method for cell voltage balancing according to the embodiment of the present invention;
fig. 15 is a coordinated voltage balancing curve diagram when a communication link fails in a static voltage balancing mode of the distributed coordinated control method for single voltage balancing according to the embodiment of the present invention.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, e.g., the terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., refer to an orientation or position based on that shown in the drawings, are for convenience of description only and are not to be construed as limiting of the present disclosure.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention provides a distributed cooperative control method for single voltage balance, which is used for voltage balance of an ultra-high capacitor on an energy storage type light rail, and comprises the following steps: s10, measuring each super-capacitor monomer C by means of a voltage sensoriVoltage across
Figure BDA0003214841590000061
By comparing voltages
Figure BDA0003214841590000062
With all neighbor node cell voltages
Figure BDA0003214841590000063
And a reference voltage
Figure BDA0003214841590000064
Calculating the local voltage tracking error ei(ii) a S20, tracking the local voltage with the error eiObtaining a virtual control input u through a proportion and amplitude limiting control linki(ii) a S30, order
Figure BDA0003214841590000065
By means of the voltage across the supercapacitor cell
Figure BDA0003214841590000066
Charging current icAnd a known capacitance value CiC', available switch SiDuty cycle at each cycle
Figure BDA0003214841590000067
The distributed cooperative voltage-sharing strategy provided by the invention does not need a centralized controller, each super capacitor monomer only needs to know the voltage information of the super capacitor monomer and the voltage information of the adjacent super capacitor monomers, the purpose of voltage balancing can be realized through mutual local information interaction, the circuit structure is simple, and the voltage balancing is convenient.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.
The invention provides a distributed cooperative control method for single voltage balance, which is used for voltage balance of an ultra-high capacitor on an energy storage type light rail, and as shown in figure 1, the distributed cooperative control method for single voltage balance comprises the following steps:
s10, measuring each super-capacitor monomer C by means of a voltage sensoriVoltage across
Figure BDA0003214841590000071
By comparing said voltages
Figure BDA0003214841590000072
With all neighbor node cell voltages
Figure BDA0003214841590000073
And a reference voltage
Figure BDA0003214841590000074
Calculating the local voltage tracking error ei；
S20, tracking the local voltage by an error eiObtaining a virtual control input u through a proportion and amplitude limiting control linki；
S30, order
Figure BDA0003214841590000075
By means of the voltage across the supercapacitor cell
Figure BDA0003214841590000076
Charging current icAnd a known capacitance value CiC', available switch SiDuty cycle at each cycle
Figure BDA0003214841590000077
Further, in this embodiment, each super capacitor unit C in step S10iThe communication between the super capacitors is realized in a one-way mode by utilizing a CAN bus communication protocol, and each super capacitor monomer CiThe communication network of (a) is modeled as a directed graph G (v, e, a).
Further, in this embodiment, as shown in fig. 1, the local voltage tracking error e in step S10iThe expression is as follows:
Figure BDA0003214841590000078
wherein N isi＝{vj∈ν:(vj,vi) Epsilon as node viNeighbor set of aijIs an element in the adjacency matrix A corresponding to the directed graph G (v, epsilon, A), which depicts a node vjTo node viCommunication weight of aij>0 means that voltage information for cell j can be obtained for cell i; giTo pin the gain, which represents the weight of the edge connecting the virtual node with the root node, gi>0 denotes a node viThe reference voltage can be known
Figure BDA0003214841590000079
The information of (1).
Further, in this embodiment, as shown in fig. 1, the virtual control input u is input in step S20iThe expression is as follows:
ui＝-kiφ(ei)
wherein k isi>0 is the proportional control gain to be designed and phi (-) is a bounded saturation function.
In the distributed cooperative control method for single body voltage equalization described in the above embodiment, each super capacitor single body only needs to know the voltage information of itself and its neighboring single body, and the purpose of voltage equalization can be achieved through mutual local information interaction, and the voltage equalization process is convenient and fast.
The embodiment of the present invention further provides a distributed cooperative control system for cell voltage equalization, which adopts a distributed cooperative control method for cell voltage equalization, and as shown in fig. 2, the distributed cooperative control system for cell voltage equalization includes: several super capacitor units CiA plurality of equalizing capacitors C' and a plurality of switches Si(ii) a Each super capacitor monomer CiIn parallel with an identical equalizing capacitor C', each of said switches SiThe equalizing capacitor C ' is connected with one same equalizing capacitor C ' in series and used for determining whether the equalizing capacitor C ' is connected into a circuit or not, and the whole circuit is decoupled into n independent control circuits.
In this embodiment, with reference to fig. 1, fig. 2, and fig. 3, a distributed cooperative control method and system for cell voltage balancing provided in this embodiment are verified by using Matlab software under a directed graph.
The element design principle of the weighting matrix A is as follows: for the corresponding directed graph G (v, ε, A), if (v)j,vi)∈ε，
Figure BDA0003214841590000081
The 1 st node is a root node, i.e. only one node can obtain a reference voltage
Figure BDA0003214841590000089
Information of (2), i.e. g 11. In the control law, the hyperbolic tangent function Φ (z) ═ tanh (z) is selected to ensure the control input is bounded.
In the simulation, a system in which 4 supercapacitor cells are serially engineered, i.e., n is 4, is considered first. In the cooperative voltage balance control law, control gain
Figure BDA0003214841590000082
In the present embodiment, the first and second electrodes are,FIG. 4 and FIG. 5 show the reference voltages in the charging mode
Figure BDA0003214841590000083
Initial voltage in FIG. 4
Figure BDA0003214841590000084
Initial voltage in FIG. 5
Figure BDA0003214841590000085
In this embodiment, as shown in FIG. 6, the reference voltage in discharge mode
Figure BDA0003214841590000086
Initial voltage in FIG. 6
Figure BDA0003214841590000087
In this embodiment, as shown in FIG. 7, the reference voltage in the static voltage equalizing mode
Figure BDA0003214841590000088
Initial voltage in FIG. 7
Figure BDA0003214841590000091
By using the distributed cooperative control method and system for cell voltage equalization provided by the invention, corresponding voltage equalization curves in charging and discharging modes are shown in fig. 4, 5 and 6, and it can be seen that the proposed voltage equalization target is realized under the control of the distributed cooperative control method for cell voltage equalization provided by the invention. As shown in FIG. 4, voltage equalization targets at the super capacitor
Figure BDA0003214841590000092
Before reaching, the voltage of the super capacitor monomer keeps the same rising rate. As can be seen in fig. 4, the voltage convergence speed of the first super capacitor cell is the fastest relative to the other cells, because only the 1 st cell in fig. 2 can directly know the reference voltage
Figure BDA0003214841590000093
I.e. the distance of the 1 st cell from the virtual leader is the closest relative to the other cells, the rest of the cells can only indirectly obtain the information of the reference voltage. When reference voltage is applied
Figure BDA0003214841590000094
The average value of the initial voltage of the super capacitor single body is equal to the average value of the initial voltage of the super capacitor single body, and the result of the cooperative voltage balance is shown in fig. 7 by adopting the distributed cooperative control method and the distributed cooperative control system for the single body voltage balance.
In order to further verify the effectiveness of the distributed cooperative control method and system for cell voltage equalization provided by the present invention, a large-scale scheme (n-50) situation may be considered. The initial voltage of the super capacitor is a random value, and the voltage balance curves in the charging mode, the discharging mode and the static voltage-sharing mode are respectively obtained by using a cooperative voltage-balancing control law, where n is 50, as shown in fig. 8, 9 and 10. As can be seen from the figure, although the network size is very large, the convergence time is very short, and the effectiveness of the cooperative voltage-sharing strategy is shown.
When a communication link failure occurs, wherein a time-varying directional communication topology is shown in fig. 11, the distributed cooperative control method and system for cell voltage equalization are still adopted, and voltage equalization curves in a charging mode, a discharging mode and a static voltage equalization mode are obtained respectively, as shown in fig. 12, 13, 14 and 15. As can be seen from the graph, as long as the time-varying directed communication topological graph contains one directed spanning tree in a concentrated manner, the cooperative voltage-sharing objective can still be achieved, however, the convergence time is longer than the equalization effect when no communication link fails.
According to the distributed cooperative control method and system for single body voltage balance, the voltage balance of the series super capacitor is achieved by using the idea of distributed cooperative control of a multi-agent system, a centralized controller is not needed, the method is distributed, and each super capacitor single body only needs to know the voltage information of the super capacitor single body and the voltage information of the neighbor. In order to characterize the communication of the series super capacitor monomer on the information layer, a communication network is modeled by using a graph, a general saturation function is defined because the variation range of the voltage is bounded, the general saturation function is introduced into a cooperative controller to ensure the bounding of control input, and the bounded voltage cooperative controller is designed based on the nearest neighbor principle, wherein the adjustable proportional control gain can improve the convergence of the system.
It is to be understood that the above-described embodiments are merely preferred embodiments of the present invention, and not all embodiments are shown in the drawings, which are set forth to limit the scope of the invention. This invention may be embodied in many different forms and, on the contrary, these embodiments are provided so that this disclosure will be thorough and complete. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and modifications can be made, and equivalents may be substituted for elements thereof. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.

Claims (8)

1. A distributed cooperative control method for single voltage balance is characterized by comprising the following steps:
s10, measuring each super-capacitor monomer C by means of a voltage sensoriVoltage across
Figure FDA0003214841580000011
By comparing said voltages
Figure FDA0003214841580000012
With all neighbor node cell voltages
Figure FDA0003214841580000013
And a reference voltage
Figure FDA0003214841580000014
Calculating the local voltage tracking error ei；
S20, tracking the local voltage by an error eiObtaining a virtual control input u through a proportion and amplitude limiting control linki；
S30, order
Figure FDA0003214841580000015
By means of the voltage across the supercapacitor cell
Figure FDA0003214841580000016
Charging current icAnd a known capacitance value CiC', available switch SiDuty cycle at each cycle
Figure FDA0003214841580000017
2. The distributed cooperative control method for cell voltage equalization according to claim 1, wherein each super capacitor cell C in step S10iThe communication between the super capacitors is realized in a one-way mode by utilizing a CAN bus communication protocol, and each super capacitor monomer CiThe communication network of (a) is modeled as a directed graph G (v, e, a).
3. The distributed cooperative control method for cell voltage equalization according to claim 2, wherein the local voltage tracking error e in step S10iThe expression is as follows:
Figure FDA0003214841580000018
wherein N isi＝{vj∈ν:(vj,vi) Epsilon as node viNeighbor set of aijIs an element in the adjacency matrix A corresponding to the directed graph G (v, epsilon, A), which depicts a node vjTo node viCommunication weight of aij>0 means that voltage information for cell j can be obtained for cell i; giTo pin the gain, which represents the weight of the edge connecting the virtual node with the root node, gi>0 denotes a node viThe reference voltage can be known
Figure FDA0003214841580000019
The information of (1).
4. The distributed cooperative control method for cell voltage equalization as recited in claim 3, wherein for the corresponding directed graph G (v, ε, A), if (v, ε, A)j,vi)∈ε，
Figure FDA00032148415800000110
5. The distributed cooperative control method for cell voltage equalization according to claim 4, wherein only one node can obtain the reference voltage
Figure FDA00032148415800000111
The information of (1).
6. The distributed cooperative control method for cell voltage equalization according to claim 5, wherein the virtual control input u in step S20iThe expression is as follows:
ui＝-kiφ(ei)
wherein k isi>0 is the proportional control gain to be designed and phi (-) is a bounded saturation function.
7. A system employing the distributed cooperative control method of cell voltage equalization of claims 1 to 6, comprising:
several super capacitor units CiA plurality of equalizing capacitors C' and a plurality of switchesSi；
Each super capacitor monomer CiIn parallel with an identical equalizing capacitor C', each of said switches SiThe equalizing capacitor C ' is connected with the same equalizing capacitor C ' in series and used for determining whether the equalizing capacitor C ' is connected into the circuit or not.
8. The system of distributed cooperative control method of cell voltage equalization of claim 7, wherein the entire circuit is decoupled into n independent control circuits.
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