CN116388283B - Off-grid parallel operation control method and device for multi-mobile energy storage system - Google Patents
Off-grid parallel operation control method and device for multi-mobile energy storage system Download PDFInfo
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- CN116388283B CN116388283B CN202310660192.8A CN202310660192A CN116388283B CN 116388283 B CN116388283 B CN 116388283B CN 202310660192 A CN202310660192 A CN 202310660192A CN 116388283 B CN116388283 B CN 116388283B
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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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
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
- H02J3/14—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by switching loads on to, or off from, network, e.g. progressively balanced loading
- H02J3/144—Demand-response operation of the power transmission or distribution network
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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
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
- H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
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Abstract
The invention relates to a method and a device for controlling off-grid parallel operation of a multi-mobile energy storage system, wherein the method comprises the following steps: connecting the AC side output ports of the plurality of mobile energy storage systems in parallel and then connecting the AC load, and connecting the plurality of mobile energy storage systems to a communication bus through a slow communication loop and a fast communication loop respectively; the host is controlled to perform off-grid VF operation according to the set voltage and frequency, and a control mode adopts a voltage outer loop and current inner loop double closed loop control strategy; and carrying out self-adaptive adjustment according to the host current inner loop given value obtained from the host and the parameter information obtained from the slow communication loop, generating a slave current inner loop given value, and carrying out alternating current side constant current control on the slave based on the slave current inner loop given value. The invention can improve the power response speed of the system in the load switching process under the condition of meeting the load power requirement.
Description
Technical Field
The invention relates to the technical field of mobile energy storage, in particular to a method and a device for controlling off-grid parallel operation of a multi-mobile energy storage system.
Background
The mobile energy storage system is flexible, is environment-friendly compared with a diesel generator set, has high output electric energy quality, and has been widely applied to the scenes of temporary power supply, important load power conservation and the like. However, as the power consumption and the power supply time of the load are continuously increased, the demands on the output power and the battery capacity of the mobile energy storage system are continuously increased, the single-set high-power mobile energy storage system is limited in application scene due to the limitation of vehicle types, and is difficult to operate in urban areas, and the application demands of multiple sets of mobile energy storage systems are more remarkable. At present, the parallel operation of the mobile energy storage system can be divided into two modes of communication-free interconnection and communication-free interconnection. The communication interconnection-free mode mostly adopts a sagging or virtual synchronous control strategy, the capacity of the system is convenient to expand in the mode, however, static difference exists in output voltage, the output force of each converter is difficult to adjust on line, a short-plate effect exists when energy storage systems with different battery capacities are connected, and the circulation problem among the systems is difficult to solve. The master-slave control (for example CN 114552609A) is adopted under the communication interconnection mode, the master machine is used as a voltage source for control, the slave machine is used as a power source for control, the output power of each mobile energy storage system can be regulated on line under the control mode, the circulation between the systems is reduced, but the master machine is required to collect the total current information and then perform power distribution and regulation, the voltage fluctuation of a port in the load switching process is larger, and the overall dynamic response speed is poorer after the multiple mobile energy storage systems are connected in parallel.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a device for controlling off-grid parallel operation of a multi-mobile energy storage system, which can improve the power response speed of the system in the load switching process under the condition of meeting the load power requirement.
The technical scheme adopted for solving the technical problems is as follows: the off-grid parallel operation control method of the multi-mobile energy storage system comprises the following steps:
connecting the AC side output ports of the plurality of mobile energy storage systems in parallel and then connecting the AC load, and connecting the plurality of mobile energy storage systems to a communication bus through a slow communication loop and a fast communication loop respectively; the fast communication loop is used for transmitting control instructions of the host to the slave and the set value of the inner loop of the host current, and the slow communication loop is used for transmitting parameter information of the mobile energy storage system; one of the plurality of mobile energy storage systems is used as a host, and at least one of the other mobile energy storage systems is used as a slave;
the host is controlled to perform off-grid VF operation according to the set voltage and frequency, and a control mode adopts a voltage outer loop and current inner loop double closed loop control strategy;
and carrying out self-adaptive adjustment according to the host current inner loop given value obtained from the host and the parameter information obtained from the slow communication loop, generating a slave current inner loop given value, and carrying out alternating current side constant current control on the slave based on the slave current inner loop given value.
The off-grid VF operation is carried out by the control host according to the set voltage and frequency, and the control mode adopts a voltage outer ring and current inner ring double closed-loop control strategy, which specifically comprises the following steps:
calculating an off-grid operation control angle at the current moment according to the set frequency;
the deviation between the set voltage and the actually sampled voltage is sent to a voltage outer ring controller, and a host current inner ring given value is obtained according to the output of the voltage outer ring controller and a current sampling value of a filter capacitor side of an energy storage converter of a host;
the difference value between the set value of the current inner loop of the host and the current value of the inductance side of the energy storage converter of the host is sent to the current inner loop controller, and the host voltage control quantity is obtained according to the output of the current inner loop controller and the voltage actually sampled;
and performing Park inverse transformation according to the voltage control quantity of the host and the off-grid operation control angle at the current moment, performing SVPWM (space vector pulse width modulation) on the data subjected to Park inverse transformation to obtain output pulses, and controlling the host based on the output pulses.
The off-grid operation control angle at the current moment passesThe calculation results show that, among them,θ(t) Representation oftThe off-grid operation at the moment controls the angle,f ref the frequency of the setting is indicated and the frequency of the setting is indicated,f s representing the control frequency, mod [ of the host mobile energy storage system ]]Representing taking the remainder.
The set value of the inner loop of the host current passes throughThe calculation results show that, among them,i ref (t) Representation oftTime host current inner loop set value, deltau(n) Representation ofnDeviation delta between the time-of-day set voltage and the actual sampled voltageu(t) Representation oftThe deviation between the time-of-day set voltage and the actual sampled voltage,k p u_ representing the P-parameter of the voltage outer loop controller,k i_u representing the I-parameters of the voltage outer loop controller,i 2 (t) Representation oftThe current sampling value of the filter capacitor side of the energy storage converter of the host computer at the moment.
The voltage control quantity of the host is controlled byThe calculation results show that, among them,u l (t) Representation oftHost voltage control amount at timei(n) Representation ofnThe difference value between the set value of the inner loop of the host current and the current value of the inductance side of the energy storage converter of the host is calculated and calculatedi(t) Representation oftThe difference between the set value of the inner loop of the host current and the current value of the inductance side of the energy storage converter of the host at the moment,k p i_ representing the P-parameter of the current inner loop controller,k i_i representing the I parameter of the current inner loop controller,u(t) Representation oftThe actual sampled voltage at the moment in time.
The self-adaptive adjustment is carried out according to the host current inner loop given value obtained from the host and the parameter information obtained from the slow communication loop, the slave current inner loop given value is generated, and the slave is controlled by the alternating current side constant current based on the slave current inner loop given value, and the method specifically comprises the following steps:
receiving a control instruction transmitted by a host, a host current inner ring given value and parameter information of the host and each slave;
carrying out self-adaptive adjustment on the set value of the current inner loop of the host according to the parameter information of the host and each slave to obtain the set value of the current inner loop of the slave;
and sending the slave current loop set value and the difference value of the current value of the inductance side of the energy storage converter serving as the slave into a current inner loop controller to realize constant current control.
Carrying out self-adaptive adjustment on the set value of the current inner loop of the host according to the parameter information of the host and each slave to obtain the set value of the current inner loop of the slave, and specifically comprising the following steps:
calculating the runable time of the host computer and each slave computer under the current power according to the parameter information of the host computer and each slave computer;
when the current runtimes of the slaves and the master are not the shortest, adoptingCalculating a slave current loop set point;
when the runtimes of the host are the shortest, adoptingCalculating a slave current loop set point;
when the current running time of the slave machine is the shortest, adoptingCalculating a slave current loop set point;
wherein,i l i ref__ (t) Representation oftTime of dayiThe slave current loop is given a value,i ref (t) Representation oftTime masterThe current of the motor is set to the given value of the inner ring,i l i__max represent the firstiThe current maximum value of the slave,δ P as a result of the first correction factor,，P norm_i is the firstiThe output power of each slave is rated,P norm_0 for the output power rating of the host, σ represents a second correction factor,，T i (t) Represent the firstiThe runtimes of the slaves,T 0 (t) represents the runable time of the host,δ T for the third correction factor, +.>，mIndicating the number of mobile energy storage systems.
The runnable time of the master and each slave at the current power passesThe calculation results show that, among them,T i (t) The time of the run-time is indicated,S i indicating the rated capacity of the battery,SOC i (t) Representation oftThe time of day contains the state of charge,P i (t) Representation oftOutput of time of day, subscriptiRepresenting the identity of the master and the slave.
The technical scheme adopted for solving the technical problems is as follows: the off-grid parallel operation control device of the multi-mobile energy storage system is provided, an alternating current load is connected after alternating current side output ports of the multi-mobile energy storage system are connected in parallel, the multi-mobile energy storage system is connected into a communication bus through a slow communication loop and a fast communication loop respectively, wherein the fast communication loop is used for transmitting a control instruction of a host to a slave and a set value of a host current inner loop, and the slow communication loop is used for transmitting parameter information of the mobile energy storage system; one of the plurality of mobile energy storage systems is used as a host, at least one of the other mobile energy storage systems is used as a slave, the host comprises a host controller, and the slave comprises a slave controller; the host controller controls the host to carry out off-grid VF operation according to the set voltage and frequency, and the control mode adopts a voltage outer ring and current inner ring double closed-loop control strategy; the slave controller generates a slave current inner loop given value after self-adaptive adjustment according to a host current inner loop given value obtained from a host and parameter information obtained from a slow communication loop, and carries out alternating current side constant current control on the slave based on the slave current inner loop given value.
The technical scheme adopted for solving the technical problems is as follows: an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and operable on the processor, where the processor implements the steps of the off-grid parallel operation control method of the multi-mobile energy storage system when executing the computer program.
The technical scheme adopted for solving the technical problems is as follows: there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the off-grid parallel operation control method of a multi-mobile energy storage system described above.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: according to the invention, a master-slave control architecture is adopted, on one hand, information interaction among different mobile energy storage systems is realized by means of quick communication and slow communication, and the output power of the different mobile energy storage systems is regulated on line, so that the condition that the whole parallel system cannot meet the load power requirement due to overdischarge of a single system is prevented; on the other hand, each slave is brought into the current inner loop control of the host, the power response speed of the system in the load switching process is improved, the fluctuation of an output voltage port is reduced, and the output power quality of the parallel system is improved.
Drawings
FIG. 1 is a flow chart of a method for off-grid parallel operation control of a multi-mobile energy storage system in an embodiment of the invention;
FIG. 2 is an access topology of a mobile energy storage system with different power and battery capacity in an embodiment of the present invention;
FIG. 3 is a control block diagram of a mobile energy storage system with different power levels and different battery capacities in an embodiment of the invention;
FIG. 4 is a flow chart of adaptively adjusting current in an embodiment of the invention;
FIG. 5 is a response chart of a 100kW and 150kW mobile energy storage system in a test environment constructed in an embodiment of the invention when the system is started;
FIG. 6 is a response chart of a 100kW and 150kW mobile energy storage system in a test environment constructed in an embodiment of the invention in standby mode;
FIG. 7 is a graph of response at 60kW load input in a test environment constructed in accordance with an embodiment of the invention;
figure 8 is a graph of response at 60kW load shedding in a test environment constructed in accordance with an embodiment of the present invention.
Description of the embodiments
The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. Further, it is understood that various changes and modifications may be made by those skilled in the art after reading the teachings of the present invention, and such equivalents are intended to fall within the scope of the claims appended hereto.
The first embodiment of the invention relates to a control method for off-grid parallel operation of a multi-mobile energy storage system, which is shown in fig. 1 and comprises the following steps:
step 1, connecting a plurality of mobile energy storage systems with an alternating current load after connecting the alternating current side output ports in parallel, and connecting the plurality of mobile energy storage systems with a communication bus through a slow communication loop and a fast communication loop respectively; the fast communication loop is used for transmitting control instructions of the host to the slave and the set value of the inner loop of the host current, and the slow communication loop is used for transmitting parameter information of the mobile energy storage system; one of the plurality of mobile energy storage systems serves as a master, and at least one of the other mobile energy storage systems serves as a slave.
As shown in fig. 2, the ac side output ports of the multiple mobile energy storage systems are connected in parallel and then connected to an ac load, and voltage sampling and current sampling are required to be performed in a single mobile energy storage system, where the positions of the current sampling points are respectively located on the inductor side and the filter capacitor side of the converter, and the sampled current values are respectivelyi abc_1 Andi abc_2 the position of the voltage sampling point is at the output port of the converter, and the sampling value isu abc . And in the secondary communication loops of the mobile energy storage systems, the slow communication loop and the fast communication loop are respectively connected into respective communication buses, wherein the content of main transmission of the slow communication loop is the nominal capacity, the nominal power, the current power and the state of charge (SOC) of a battery of the mobile energy storage system, and the content of main transmission of the fast communication loop comprises a control instruction of a host to a slave and a host current inner loop given value.
And step 2, controlling the host to perform off-grid VF operation according to the set voltage and frequency, wherein the control mode adopts a voltage outer ring and current inner ring double closed-loop control strategy.
As shown in fig. 3, the main mobile energy storage system operation control includes the following steps:
step 2.1, according to the off-grid operation voltage frequency requirement, performing voltage set pointu d_ref And frequency set pointf ref Setting, and calculating the off-grid operation control angle at the current moment according to the set frequency, wherein the calculation mode is as follows:
wherein,θ(t) Representation oftThe off-grid operation at the moment controls the angle,f s representing the control frequency, mod [ of the host mobile energy storage system ]]Representing taking remainder, i.e. calculatingThe remainder after division by 2π;
step 2.2, calculating the set voltageu d_ref Andttime of dayVoltage of actual samplingu d (t) Deviation betweenu d (t) Will deviateu d (t) Sending the voltage to the D-axis voltage outer ring controller, and according to the output of the D-axis voltage outer ring controller and the filter capacitor side of the energy storage converter of the host machinei d2 (t) Is obtained from the current sample value of (2)tHost current inner loop setpoint at timei dref (t) The calculation mode is as follows:
wherein,k p u_ the P parameter representing the D-axis voltage outer loop controller,k i_u and the I parameter of the D-axis voltage outer loop controller is represented.
Step 2.3, calculatingtHost current inner loop setpoint at timei dref (t) And the current value of the inductance side of the energy storage converter of the host machinei d (t) Difference of #)i d (t) Will difference%i d (t) The D-axis current inner loop controller is sent into the D-axis current inner loop controller, and the output of the D-axis current inner loop controller and the actually sampled voltage are used for controlling the D-axis current inner loop controlleru d (t) Obtaining a hostdControl amount of shaft voltageu dl (t) The calculation mode is as follows:
wherein,k p i_ the P parameter representing the D-axis current inner loop controller,k i_i the I parameter of the D-axis current inner loop controller is represented.
Step 2.4 obtaining a host in the same manner as the above stepsqControl amount of shaft voltageu ql (t) I.e. calculating the set voltageu q_ref Andtvoltage of actual sampling at momentu q (t) Deviation betweenu q (t) Will deviateu q (t) Sending the output of the Q-axis voltage outer ring controller and the filter capacitor side of the energy storage converter of the host machinei q2 (t) Is obtained from the current sample value of (2)tHost current inner loop setpoint at timei qref (t) The method comprises the steps of carrying out a first treatment on the surface of the Calculation oftHost current inner loop setpoint at timei qref (t) And the current value of the inductance side of the energy storage converter of the host machinei q (t) Difference of #)i q (t) Will difference%i q (t) Sending the voltage to the Q-axis current inner loop controller, and according to the output of the Q-axis current inner loop controller and the actual sampled voltageu q (t) Obtaining a hostqControl amount of shaft voltageu ql (t)。
Step 2.5, according to the hostdControl amount of shaft voltageu dl (t) Host computerqControl amount of shaft voltageu ql (t) And the off-grid operation control angle at the current momentθ(t) And performing Park inverse transformation, performing SVPWM (space vector pulse width modulation) on the data subjected to Park inverse transformation to obtain output pulses, and controlling the host based on the output pulses.
The host computer controls the self battery capacity in the process of controlS 0 Current state of charge of batterySOC 0 (t) Rated powerP norm_0 The current inner loop given value is sent to each slave machine through the slow communication loopi dref (t) Andi qref (t) Current output power valueP 0 (t) And the data is sent to each slave machine through a quick communication loop.
And 3, carrying out self-adaptive adjustment according to the host current inner loop given value obtained from the host and the parameter information obtained from the slow communication loop, generating a slave current inner loop given value, and carrying out alternating current side constant current control on the slave based on the slave current inner loop given value. Specifically, the method comprises the following steps:
step 3.1, receiving the control instruction transmitted by the host and the given value of the inner loop of the host currenti dref (t) Andi qref (t) And parameter information of the master and each slave including the rated capacity of the batteryS i Rated powerP norm i_ State of chargeSOC i (t) Current powerP i (t) Subscript ofiFor each mobile energy storage system identification, 0 is the host, and the rest represents the firstiSleeving a slave;
and 3.2, carrying out self-adaptive adjustment on the given value of the current inner loop of the host according to the parameter information of the host and each slave to obtain the given value of the current inner loop of the slave. The specific adaptive adjustment method is shown in fig. 4, and includes:
based on the rated capacity of the battery of the master and each slaveS i State of chargeSOC i (t) Current powerP i (t) Calculating runtimes of a master and slaves at current powerT i (t) Subscript ofiFor each mobile energy storage system identifier, the calculation mode is as follows:
runtimes of the master and each slaveT i (t) Comparing, if the current running time of the slave is not shortest, judging whether the running time of the host is shortest, if the running time of the host is not shortest, calculating the current given value of the slave according to the current instruction correction strategy 1i dl i ref__ (t) Andi ql i ref__ (t) The calculation mode is as follows:
if the runtimes of the host are the mostShort, calculating the current set value of the current slave according to the current instruction correction strategy 2i dl i ref__ (t) Andi ql i ref__ (t) The calculation mode is as follows:
if the current running time of the slave is shortest, calculating the current set value of the slave according to the current instruction correction strategy 3i dl i ref__ (t) Andi ql i ref__ (t) The calculation mode is as follows:
wherein,i d_ref (t) Andi q_ref (t) Respectively representtThe host d-axis current inner loop given value and the host q-axis current inner loop given value at the moment,i dl i__max andi ql i__max respectively represent the firstiThe d-axis current maximum and q-axis current maximum of the slave,δ P as a result of the first correction factor,，P norm i_ is the firstiThe output power of each slave is rated,P norm_0 for the output power rating of the host, σ represents the second correction factor, +.>，δ T For the third correction factor, +.>，T i (t) Representing the runtimes of the mobile energy storage systems at the current power wheniWhen=0, the mobile energy storage system as the host is shown inThe runable time at the current power is,mindicating the number of mobile energy storage systems.
And 3.3, sending the difference value between the slave current loop set value and the current value of the inductance side of the energy storage converter serving as the slave into a current inner loop controller to realize constant current control.
In order to verify the effectiveness of the proposed control strategy, a test environment containing a 100kW mobile energy storage system, a 150kW mobile energy storage system and a 60kW load access is established, and test results are shown in fig. 5-8, which show that the parallel system can realize rapid power adjustment in the load switching process, and the response speed is high.
It is not difficult to find out that by adopting a master-slave control architecture, on one hand, information interaction among different mobile energy storage systems is realized by means of quick communication and slow communication, and the output power of the different mobile energy storage systems is regulated on line, so that the whole parallel system cannot meet the load power requirement due to overdischarge of a single system is prevented; on the other hand, each slave is brought into the current inner loop control of the host, the power response speed of the system in the load switching process is improved, the fluctuation of an output voltage port is reduced, and the output power quality of the parallel system is improved.
The second embodiment of the invention relates to an off-grid parallel operation control device for a plurality of mobile energy storage systems, wherein the output ports of the alternating current sides of the mobile energy storage systems are connected in parallel and then connected with an alternating current load, and the mobile energy storage systems are respectively connected with a communication bus through a slow communication loop and a fast communication loop; the fast communication loop is used for transmitting control instructions of the host to the slave and the set value of the inner loop of the host current, and the slow communication loop is used for transmitting parameter information of the mobile energy storage system; one of the plurality of mobile energy storage systems is used as a host, and at least one of the other mobile energy storage systems is used as a slave; the host comprises a host controller, and the slave comprises a slave controller; the host controller controls the host to carry out off-grid VF operation according to the set voltage and frequency, and the control mode adopts a voltage outer ring and current inner ring double closed-loop control strategy; the slave controller generates a slave current inner loop given value after self-adaptive adjustment according to a host current inner loop given value obtained from a host and parameter information obtained from a slow communication loop, and carries out alternating current side constant current control on the slave based on the slave current inner loop given value.
The host controller includes:
the off-grid operation control angle calculation module is used for calculating the off-grid operation control angle at the current moment according to the set frequency;
the current inner loop set value calculation module is used for sending the deviation between the set voltage and the actually sampled voltage into the voltage outer loop controller, and obtaining a host current inner loop set value according to the output of the voltage outer loop controller and the current sampling value of the filter capacitor side of the energy storage converter of the host;
the voltage control amount calculating module is used for sending the difference value between the given value of the current inner loop of the host and the current value of the inductance side of the energy storage converter of the host into the current inner loop controller, and obtaining the voltage control amount of the host according to the output of the current inner loop controller and the voltage actually sampled;
the control module is used for performing Park inverse transformation according to the voltage control quantity of the host and the off-grid operation control angle at the current moment, performing SVPWM (space vector pulse width modulation) on the data subjected to Park inverse transformation to obtain output pulses, and controlling the host based on the output pulses.
The off-grid operation control angle calculation module is used for calculating the off-grid operation control angle of the off-grid operation control angleCalculating an off-grid operation control angle at the current moment, wherein,θ(t) Representation oftThe off-grid operation at the moment controls the angle,f ref the frequency of the setting is indicated and the frequency of the setting is indicated,f s representing the control frequency, mod [ of the host mobile energy storage system ]]Representing taking the remainder.
The current inner loop given value calculation module is used for calculating the current inner loop given value byCalculating a set value of an inner loop of the host current, wherein,i ref (t) Representation oftTime host current inner loop set value, deltau(n) Representation ofnTime-of-day set voltage and actualDeviation, delta between inter-sampled voltagesu(t) Representation oftThe deviation between the time-of-day set voltage and the actual sampled voltage,k p u_ representing the P-parameter of the voltage outer loop controller,k i_u representing the I-parameters of the voltage outer loop controller,i 2 (t) Representation oftThe current sampling value of the filter capacitor side of the energy storage converter of the host computer at the moment.
The voltage control quantity calculation module is used for calculating the voltage control quantity byCalculating a host voltage control amount, wherein,u l (t) Representation oftHost voltage control amount at timei(n) Representation ofnThe difference value between the set value of the inner loop of the host current and the current value of the inductance side of the energy storage converter of the host is calculated and calculatedi(t) Representation oftThe difference between the set value of the inner loop of the host current and the current value of the inductance side of the energy storage converter of the host at the moment,k p i_ representing the P-parameter of the current inner loop controller,k i_i representing the I parameter of the current inner loop controller,u(t) Representation oftThe actual sampled voltage at the moment in time.
The slave controller includes:
the receiving module is used for receiving control instructions transmitted by the host, the set value of the inner loop of the host current and the parameter information of the host and each slave;
the current adjusting module is used for adaptively adjusting the given value of the current inner loop of the host according to the parameter information of the host and each slave to obtain the given value of the current inner loop of the slave;
and the constant current control module is used for sending the difference value of the current loop given value of the slave machine and the current value of the inductance side of the energy storage converter of the slave machine to the current inner loop controller to realize constant current control.
The current regulation module includes:
a running time calculating unit for calculating the running time of the host computer and each slave computer under the current power according to the parameter information of the host computer and each slave computer;
a comparison unit for comparing the runtimes of the master and each slave at the current power;
a first adjustment unit for adopting when the current runnability time of the slave and the runnability time of the master are not the shortestCalculating a slave current loop set point;
a second adjusting unit for adopting when the runnability time of the host is the shortestCalculating a slave current loop set point;
a third adjusting unit for adopting when the current running time of the slave is shortestCalculating a slave current loop set point;
wherein,i l i ref__ (t) Representation oftTime of dayiThe slave current loop is given a value,i ref (t) Representation oftThe host current inner loop set point at the moment,i l i__max represent the firstiThe current maximum value of the slave,δ P as a result of the first correction factor,，P norm_i is the firstiThe output power of each slave is rated,P norm_0 for the output power rating of the host, σ represents a second correction factor,，T i (t) Represent the firstiThe runtimes of the slaves,T 0 (t) represents the runable time of the host,δ T for the third correction factor, +.>，mIndicating the number of mobile energy storage systems.
The run-time calculation unit is implemented byThe runtimes of the master and each slave at the current power are calculated, wherein,T i (t) The time of the run-time is indicated,S i indicating the rated capacity of the battery,SOC i (t) Representation oftThe time of day contains the state of charge,P i (t) Representation oftOutput of time of day, subscriptiRepresenting the identity of the master and the slave.
The third embodiment of the invention relates to an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the off-grid parallel operation control method of the multi-mobile energy storage system when executing the computer program.
A fourth embodiment of the present invention relates to a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the off-grid parallel operation control method of a multi-mobile energy storage system described above.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The scheme in the embodiment of the invention can be realized by adopting various computer languages, such as object-oriented programming language Java, an transliteration script language JavaScript and the like.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (11)
1. The off-grid parallel operation control method of the multi-mobile energy storage system is characterized by comprising the following steps of:
connecting the AC side output ports of the plurality of mobile energy storage systems in parallel and then connecting the AC load, and connecting the plurality of mobile energy storage systems to a communication bus through a slow communication loop and a fast communication loop respectively; the fast communication loop is used for transmitting control instructions of the host to the slave and the set value of the inner loop of the host current, and the slow communication loop is used for transmitting parameter information of the mobile energy storage system; one of the plurality of mobile energy storage systems is used as a host, and at least one of the other mobile energy storage systems is used as a slave;
the host is controlled to perform off-grid VF operation according to the set voltage and frequency, and a control mode adopts a voltage outer loop and current inner loop double closed loop control strategy;
and carrying out self-adaptive adjustment according to the host current inner loop given value obtained from the host and the parameter information obtained from the slow communication loop, generating a slave current inner loop given value, and carrying out alternating current side constant current control on the slave based on the slave current inner loop given value.
2. The method for controlling off-grid parallel operation of a multi-mobile energy storage system according to claim 1, wherein the off-grid VF operation is performed by the host according to the set voltage and frequency, and the control method adopts a voltage outer loop and current inner loop dual closed loop control strategy, which specifically comprises:
calculating an off-grid operation control angle at the current moment according to the set frequency;
the deviation between the set voltage and the actually sampled voltage is sent to a voltage outer ring controller, and a host current inner ring given value is obtained according to the output of the voltage outer ring controller and a current sampling value of a filter capacitor side of an energy storage converter of a host;
the difference value between the set value of the current inner loop of the host and the current value of the inductance side of the energy storage converter of the host is sent to the current inner loop controller, and the host voltage control quantity is obtained according to the output of the current inner loop controller and the voltage actually sampled;
and performing Park inverse transformation according to the voltage control quantity of the host and the off-grid operation control angle at the current moment, performing SVPWM (space vector pulse width modulation) on the data subjected to Park inverse transformation to obtain output pulses, and controlling the host based on the output pulses.
3. The method for controlling off-grid parallel operation of multiple mobile energy storage systems according to claim 2, wherein the off-grid operation control angle at the current moment is determined byThe calculation results show that, among them,θ(t) Representation oftThe off-grid operation at the moment controls the angle,f ref the frequency of the setting is indicated and the frequency of the setting is indicated,f s representing the control frequency, mod [ of the host mobile energy storage system ]]Representing taking the remainder.
4. The method for off-grid parallel operation control of a multiple mobile energy storage system of claim 2, wherein the host current inner loop setpoint is passed throughThe calculation results show that, among them,i ref (t) Representation oftTime host current inner loop set value, deltau(n) Representation ofnDeviation delta between the time-of-day set voltage and the actual sampled voltageu(t) Representation oftThe deviation between the time-of-day set voltage and the actual sampled voltage,k p u_ representing the P-parameter of the voltage outer loop controller,k i_u representing the I-parameters of the voltage outer loop controller,i 2 (t) Representation oftThe current sampling value of the filter capacitor side of the energy storage converter of the host computer at the moment.
5. The method for off-grid parallel operation control of a multi-mobile energy storage system of claim 2, wherein the host voltageControlled quantity byThe calculation results show that, among them,u l (t) Representation oftHost voltage control amount at timei(n) Representation ofnThe difference value between the set value of the inner loop of the host current and the current value of the inductance side of the energy storage converter of the host is calculated and calculatedi(t) Representation oftThe difference between the set value of the inner loop of the host current and the current value of the inductance side of the energy storage converter of the host at the moment,k p i_ representing the P-parameter of the current inner loop controller,k i_i representing the I parameter of the current inner loop controller,u(t) Representation oftThe actual sampled voltage at the moment in time.
6. The off-grid parallel operation control method of the multi-mobile energy storage system according to claim 1, wherein the self-adaptive adjustment is performed according to a host current inner loop given value obtained from a host and parameter information obtained from a slow communication loop, a slave current inner loop given value is generated, and ac side constant current control is performed on a slave machine based on the slave current inner loop given value, specifically comprising:
receiving a control instruction transmitted by a host, a host current inner ring given value and parameter information of the host and each slave;
carrying out self-adaptive adjustment on the set value of the current inner loop of the host according to the parameter information of the host and each slave to obtain the set value of the current inner loop of the slave;
and sending the slave current loop set value and the difference value of the current value of the inductance side of the energy storage converter serving as the slave into a current inner loop controller to realize constant current control.
7. The off-grid parallel operation control method of the multi-mobile energy storage system according to claim 6, wherein the method is characterized by adaptively adjusting a given value of an inner loop of a host current according to parameter information of a host and each slave to obtain the given value of the slave current, and specifically comprises the following steps:
calculating the runable time of the host computer and each slave computer under the current power according to the parameter information of the host computer and each slave computer;
when the current runtimes of the slaves and the master are not the shortest, adoptingCalculating a slave current loop set point;
when the runtimes of the host are the shortest, adoptingCalculating a slave current loop set point;
when the current running time of the slave machine is the shortest, adoptingCalculating a slave current loop set point;
wherein,i l i ref__ (t) Representation oftTime of dayiThe slave current loop is given a value,i ref (t) Representation oftThe host current inner loop set point at the moment,i l i__max represent the firstiThe current maximum value of the slave,δ P as a result of the first correction factor,，P norm_i is the firstiThe output power of each slave is rated,P norm_0 for the output power rating of the host, σ represents a second correction factor,，T i (t) Represent the firstiThe runtimes of the slaves,T 0 (t) represents the runable time of the host,δ T for the third correction factor, +.>，mRepresenting the number of mobile energy storage systemsAmount of the components.
8. The method of claim 7, wherein the running time of the master and each slave at the current power is passed byThe calculation results show that, among them,T i (t) The time of the run-time is indicated,S i indicating the rated capacity of the battery,SOC i (t) Representation oftThe time of day contains the state of charge,P i (t) Representation oftOutput of time of day, subscriptiRepresenting the identity of the master and the slave.
9. The off-grid parallel operation control device for the multi-mobile energy storage system is characterized in that the alternating current side output ports of the multi-mobile energy storage system are connected in parallel and then connected with an alternating current load, the multi-mobile energy storage system is connected with a communication bus through a slow communication loop and a fast communication loop respectively, the fast communication loop is used for transmitting control instructions of a host to a slave and a given value of a host current inner loop, and the slow communication loop is used for transmitting parameter information of the mobile energy storage system; one of the plurality of mobile energy storage systems is used as a host, at least one of the other mobile energy storage systems is used as a slave, the host comprises a host controller, and the slave comprises a slave controller; the host controller controls the host to carry out off-grid VF operation according to the set voltage and frequency, and the control mode adopts a voltage outer ring and current inner ring double closed-loop control strategy; the slave controller generates a slave current inner loop given value after self-adaptive adjustment according to a host current inner loop given value obtained from a host and parameter information obtained from a slow communication loop, and carries out alternating current side constant current control on the slave based on the slave current inner loop given value.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the off-grid parallel operation control method of the multi-mobile energy storage system according to any one of claims 1-8.
11. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor performs the steps of the off-grid parallel operation control method of a multi-mobile energy storage system according to any of claims 1-8.
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