KR20200055299A - Method and system for controlling distributed energy resource - Google Patents

Abstract

Disclosed are a method for controlling a distributed power resource in which a user can flexibly change a control strategy, and a system thereof. The system for controlling a distributed power resource comprises: a microgrid central controller forming a global layer and performing tertiary control; an external controller forming a flexible layer and performing primary control and secondary control by using a tertiary control performance result value; and a local controller forming a local layer and performing inner control of a distributed power source by using primary control and secondary control performance result values.

Description

Method and system for controlling distributed energy resource

The present invention relates to a method and system for controlling distributed power.

Microgrids have been proposed to provide power to island regions by utilizing several renewable energy resources. One of the methods for controlling the microgrid is droop control. It is used to determine the load sharing and solve the circulating current problem when the converters are operated in parallel. However, droop control causes a voltage drop and improper load sharing due to line resistance. To overcome this problem of droop control, cooperative control has been proposed.

In the case of cooperative control, it is divided into central control and distributed control depending on the presence or absence of a central controller. Among these, distributed control is a method in which the local control of each converter without a central controller transmits and receives necessary information through low-speed communication to perform secondary control to assist primary control. However, since there is no standardized control platform for distributed control, it is difficult to apply it to a microgrid composed of converters manufactured by various manufacturers.

The present invention provides a method and system for controlling a distributed power supply that can avoid a single point accident due to a failure of a specific device by performing primary control and secondary control in a flag sub-layer will be.

In addition, the present invention is to provide a method and system for controlling a distributed power supply that allows a user to flexibly change a control strategy by reducing the control burden of the local controller.

In addition, since the present invention performs only internal control to control local variables of the DER in the local layer, implementation of various primary and secondary controls may not be dependent on distributed power manufacturers. It is to provide a control method of a distributed power supply and a system therefor.

In addition, the present invention is to provide a method and system for controlling a distributed power supply capable of low cost, maintenance, maintenance, and performance improvement in the operation of a microgrid.

According to an aspect of the present invention, a distributed power control platform and a system for the same are provided.

According to an embodiment of the present invention, a global layer for performing tertiary control (global layer); A flexible layer performing secondary control and primary control using the result of the tertiary control; And a local layer that performs inner control using the secondary control and the primary control result, a distributed control platform may be provided.

The flexible layer may further include a delay compensation unit compensating for communication delay with the local layer.

The delay compensation unit may compensate for communication delay using the following equation.

는 통신 지연에 의한 불연속적인 로컬 정보를 기반으로 계산된 지령값에서의 변동량을 감소시키기 위한 로우 패스 필터의 컷 오프 주파수를 나타낸다. here,

Denotes the cut-off frequency of the low-pass filter to reduce the amount of change in the command value calculated based on discontinuous local information due to communication delay.

According to another embodiment of the present invention, a microgrid central controller configuring a global layer and performing tertiary control; An external controller constituting a flexible layer and performing primary control and secondary control using the result of the tertiary control; And a local controller constituting a local layer and performing internal control of a distributed power supply using the primary control and secondary control execution result values.

The external controller communicates with the microgrid central controller or other external controller through a first communication network, and communicates with the local controller through a second communication network, wherein the first communication network and the second communication network are the same or different communication networks. Can be.

When the external controller constituting the flexible layer is interworked between the microgrid central controller and the local controller in a state where the secondary control function and the tertiary control function are implemented in the microgrid central controller, implemented in the microgrid central controller. The third control function is activated, the second control function is deactivated, and the primary control function implemented in the local controller can be deactivated.

When the external controller constituting the flexible layer is interworked between the microgrid central controller and the local controller while the secondary control function and the primary control function are implemented in the local controller, the 2 implemented in the local controller The primary control function and the primary control function may be deactivated, respectively.

Further comprising a delay compensation unit for compensating the communication delay with the local controller,

The delay compensation unit may filter the frequency bandwidth of the command value using a low pass transfer function.

According to another embodiment of the present invention, the central controller and other external controllers constituting the microgrid are connected through a first communication network to receive global information, and a local controller and a second communication network to perform internal control of distributed power. A communication unit connected to receive local information; A control unit for calculating a command value by performing primary control and secondary control using the global information and the local information; And a delay compensator for compensating the command value by reflecting the communication delay with the local controller, wherein the compensated command value is transmitted to the local controller through the second communication network. Can be.

The command value may be a voltage or current command value.

The control unit may control the secondary control function or the primary control function to be deactivated when the secondary control function and the tertiary control function are implemented in the central controller and the primary control function is implemented in the local controller. Can be.

When the secondary control function and the primary control function are implemented in the local controller, the controller may control the secondary control function and the primary control function of the local controller to be inactive.

The delay compensation unit may filter the frequency bandwidth of the command value using a low pass transfer function.

According to another aspect of the present invention, a method for controlling dispersion is provided.

According to an embodiment of the present invention, receiving local information from a local controller that performs internal control of the distributed power supply; Receiving global information according to the third control performance from the central controller of the microgrid; Calculating a command value by performing primary control and secondary control based on the local information and the global information; And compensating for the command value by reflecting a communication delay with the local controller.

The compensated voltage command value is transmitted to the local controller, and the local controller can perform internal control based on the compensated command value.

The compensating for the command value may be compensated by filtering the frequency bandwidth of the voltage command value using a low pass transfer function.

By providing a method and system for controlling a distributed power supply according to an embodiment of the present invention, there is an advantage that a user can flexibly change a control strategy by reducing a control burden of a local controller.

In addition, since the present invention performs only internal control to control local variables of the DER in the local layer, implementation of various primary and secondary controls may not be dependent on distributed power manufacturers. There is an advantage.

In addition, the present invention has the advantage of being able to lower the cost, maintenance, maintenance and performance improvement in the operation of the microgrid.

1 is a diagram illustrating a distributed power control platform according to an embodiment of the present invention.
2 is a view schematically showing the configuration of a distributed control system according to an embodiment of the present invention.
3 is a schematic diagram of a distributed power control system according to another embodiment of the present invention.
Figure 4 is a block diagram schematically showing the internal configuration of an external controller according to an embodiment of the present invention.
5 and 6 are timing diagrams of voltage command values before and after compensation according to an embodiment of the present invention.
7 is a flowchart illustrating a distributed control method according to an embodiment of the present invention.
8 is a view showing a microgrid configuration according to an embodiment of the present invention.
9 is a diagram illustrating a result waveform when communication delay is compensated by an external controller constituting a flexible layer according to an embodiment of the present invention.
FIG. 10 is a diagram showing a result waveform when droop control is applied to primary control in an external controller according to an embodiment of the present invention.
11 and 12 are diagrams showing a result waveform according to application of secondary control when droop control is applied to primary control in an external controller constituting a flexible layer according to an embodiment of the present invention.

As used herein, a singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, the terms "consisting of" or "comprising" should not be construed as including all of the various components, or various steps described in the specification, among which some components or some steps It may not be included, or it should be construed to further include additional components or steps. In addition, terms such as "... unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software. .

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a distributed power control platform according to an embodiment of the present invention.

Referring to FIG. 1, the distributed power control platform 100 according to an embodiment of the present invention includes a global layer 110, a flexible layer 120, and a local layer 130. The distributed control platform 100 according to an embodiment of the present invention has a three-layer structure, and each layer (ie, the global layer 110, the flexible layer 120, and the local layer 130) is different from each other. It can be included in the controller.

The global layer 110 is located in a microgrid central controller (microgrid central controller (MGCC), hereinafter referred to as MGCC), and is responsible for tertiary control.

In the microgrid, tertiary control is the highest control method, and the set values for the main variables of the secondary control are commanded to satisfy the main requirements such as voltage / frequency, active power, and reactive power for maintaining the power system. Can give. That is, tertiary control is a control for adjusting power flow between multiple distributed power sources or power flow between microgrids.

That is, the global layer 110 is in charge of tertiary control, and may transmit a result value (control value) according to performing the tertiary control to the flexible layer 120. The global layer 110 and the flexible layer 120 may communicate through a first communication network.

The flexible layer 120 is positioned between the upper controller constituting the microgrid and the lower controller performing internal control of distributed power, and may be flexibly positioned in the global layer 110 or the local layer 130 depending on the situation. .

The flexible layer 120 may be located in a separate external controller. The external controller including the flexible layer 120 performs primary control and secondary control, and may transmit the result (voltage command value) accordingly to the local layer 130.

The secondary control performs a voltage frequency recovery function, a power sharing compensation function, and the like within the microgrid. That is, the secondary control may be a control for improving fluctuations in output voltage or inappropriate load sharing occurring in the primary control.

In addition, primary control represents droop control or DC bus signaling.

The local layer 130 is responsible for inner control using the result of performing secondary control and primary control.

Therefore, the local controller 230 including the local layer 130 may perform internal control in the distributed power supply using the primary and secondary control execution result values (command values). Here, the command value may be a voltage or current command value.

The basic structure of the distributed control platform has been briefly described with reference to FIG. 1. The distributed control system for this is shown in FIG. 2. The distributed control system will be described in more detail with reference to FIG. 2.

2 is a diagram schematically showing the configuration of a distributed control system according to an embodiment of the present invention.

Referring to FIG. 2, a distributed control system 200 according to an embodiment of the present invention includes a MGCC 210, a plurality of external controllers 220, and a plurality of local controllers 230.

MGCC 210 includes a global layer. The MGCC 210 may perform tertiary control. The MGCC 210 communicates with the external controller 220 through the first communication network, and may transmit the result of performing the third control to the external controller 220. Also, the MGCC 210 may receive local information from the external controller 220 through the first communication network.

The external controller 220 includes a flexible layer. Accordingly, the external controller 220 may perform the primary control and the secondary control using the result of the tertiary control execution, and transmit the result (command value) accordingly to the local controller 230. As already described above, the result value (command value) may be a voltage or current command value.

The external controller 220 may communicate with the local controller 230 through a second communication network.

That is, the external controller 220 including the flexible layer 120 is connected to the MGCC 210 through a first communication network, and can communicate with the MGCC through a first communication method. In addition, the external controller 220 including the flexible layer 120 is connected to the local controller 230 through a second communication network, and may communicate with the local controller 230 through a second communication method.

Here, the first communication network and the second communication network may be the same, or may be different. In an embodiment of the present invention, it is assumed that the first communication network and the second communication network are different from each other, and this will be mainly described.

In addition, communication between external controllers including the flexible layer may also be performed through a first communication method based on the first communication network.

Here, the first communication network and the second communication network may be constructed using any one of RS-232C, RS-485, CAN, and Ethernet.

In transmitting the command value according to the primary and secondary control from the external controller 220 to the local controller 230 including the local layer, an intermediate process occurs due to the limited communication speed of the second communication network, and communication delay. Will appear.

Due to this communication delay, the external controller 220 samples the local information very slowly from the local controller 230, and there is a problem in that it acquires discontinuous local information. This discontinuity increases the amount of change in the command value calculated through the primary control and the secondary control performed by the external controller 220 and affects the stability of the entire distributed control system.

Therefore, in one embodiment of the present invention, the delay compensation unit 420 compensates for communication delay.

라 칭하기로 한다. For example, it is assumed that droop control is performed in the primary control. Transmits and receives local information and command values through the first communication network,

Let's call it.

The transfer function of the output voltage with respect to the reference voltage can be expressed as Equation (1).

는 각각 전류 제어 폐루프 전달함수, 전압 제어기, 전압-전류 전달함수, 전압 제어 폐루프 전달함수, 통신 지연을 나타낸다. 이때,

는 수학식 2와 같이 나타낼 수 있다.

는 주파수 대역에서 시스템의 위상 여유를 감소시키는 요인이며, 통신 지연이 클수록 낮은 주파수 대역부터 시스템의 위상 여부를 감소시켜 결과적으로 전체 시스템의 불안정을 야기한다. here,

Denotes a current control closed loop transfer function, a voltage controller, a voltage-current transfer function, a voltage control closed loop transfer function, and a communication delay. At this time,

Can be expressed as Equation 2.

Is a factor that reduces the phase margin of the system in the frequency band, and the larger the communication delay, the more the system phase is reduced from the lower frequency band, resulting in instability of the entire system.

Therefore, the delay compensator 420 may maintain the droop control characteristic and reduce bandwidth through a transfer function of a low pass filter composed of one pole, as shown in Equation (3).

는 통신 지연에 의한 불연속적인 로컬 정보를 기반으로 계산된 지령값에서의 변동량을 감소시키기 위한 로우 패스 필터의 컷 오프 주파수를 나타낸다. here,

Denotes the cut-off frequency of the low-pass filter to reduce the amount of change in the command value calculated based on discontinuous local information due to communication delay.

The local controller 230 is located in the distributed power supply, and performs internal control using a command value received by the external controller 220.

That is, the local controller 230 may control the distributed power supply through a command value (compensated command value) transmitted from the flexible layer of the external controller 220.

Thus, by performing the primary and secondary control in the external controller 220 including the flexible layer, there is an advantage that can avoid the problem of a single point of accident due to the failure of a specific distributed power.

3 is a diagram schematically showing a distributed power control system according to another embodiment of the present invention.

3, it is assumed that the secondary control function is included in the MGCC 310 included in the distributed power control system 300, and the primary control function is included in the local controller 330. Shall be

The external controller 320 according to an embodiment of the present invention may be located in a distributed power source including the local controller 330.

The external controller 320 according to an embodiment of the present invention, as described above, includes a flexible layer, and may include primary control and secondary control functions.

When the local controller 330 included in the conventional distributed power supply and the MGCC 310 and the external controller 320 are interlocked, the external controller 320 performs primary control and secondary control, so that the local controller 330 The primary control function is deactivated, and the secondary control function of MGCC 310 may also be deactivated.

For each distributed power supply, the specifications are different for each manufacturer, so when adjusting the settings for primary control, the settings must be changed according to the characteristics of each manufacturer. There is a problem.

However, when the external controller 320 is configured to include a flexible layer according to an embodiment of the present invention, and the external controller 320 is responsible for primary control and secondary control, the state is not dependent on the manufacturer. It is possible to change the design of the secondary control and the secondary control.

In addition, as already described above, the external controller 320 is configured to include the flexible layer 120, and the external controller 320 is responsible for primary control and secondary control, and separately between the external controller 320. It is possible to communicate through the communication network of the external controller 320 by allowing the communication with the MGCC 210 through a communication network different from the local controller 330, there is an advantage that can be avoided when a single point accident occurs in a specific distributed power .

4 is a block diagram schematically showing the internal configuration of an external controller according to an embodiment of the present invention, and FIGS. 5 and 6 are timing diagrams of command values before and after compensation according to an embodiment of the present invention It is a drawing.

Referring to FIG. 4, the external controller 220 according to an embodiment of the present invention includes a communication unit 410, a control unit 415, and a delay compensation unit 420.

4 will be described with respect to the internal configuration of the external controller 220 including the flexible layer illustrated in FIG. 2. As described above, the flexible layer 120 according to an embodiment of the present invention may perform secondary control and primary control.

The communication unit 410 is a means for receiving data through communication with the MGCC 210 or the local controller 230 through the first communication network or the second communication network.

For example, the communication unit 410 may receive global information through a first communication network and transmit local information received through a second communication network. Also, the communication unit 410 may receive local information from the local controller 230 through the second communication network, and compensate and transmit a command value corresponding to the result of performing the primary and secondary control. Here, the global information may be a result of performing the third control.

The control unit 415 performs primary control and secondary control using global information and local information received through the communication unit 410, and outputs a result value accordingly. The controller 415 may calculate a result value (command value) according to the primary control and the secondary control based on the local information. As such, the calculated result value (command value) may be transmitted to the local controller including the local layer through the second communication network.

As already described above, in receiving the command value at the local layer, an intermediate process occurs due to the limited communication speed of the second communication network, and communication delays appear, so the external controller 220 samples the local information very slowly. There is a problem in that it acquires discontinuous local information. This discontinuity increases the amount of change in the command value calculated through the primary control and secondary control performed by the external controller 220 and affects the stability of the entire system.

Therefore, in one embodiment of the present invention, the delay compensation unit 420 compensates for communication delay.

The delay compensation unit 420 may output a command value compensated for communication delay to the communication unit 410. Accordingly, the communication unit 410 may transmit the command value compensated for the communication delay to the local controller 230 through the second communication network.

5 and 6 are timing diagrams of command values before and after compensation according to an embodiment of the present invention.

5 is a graph showing a command value output from the control unit 415 where the communication delay is not compensated. As shown in FIG. 5, it can be seen that the amount of change in the command value due to discontinuous local information acquisition increases.

However, as shown in FIG. 6, it is shown that the amount of change in the command value is greatly increased through communication delay compensation to reduce the bandwidth while maintaining the primary control characteristic by adding one pole to the command value based on the low pass transfer function. It can be seen that it can be prevented.

7 is a flowchart illustrating a distributed control method according to an embodiment of the present invention. Hereinafter, a distributed control method of an external controller including a flexible layer in a distributed control system constituting a microgrid will be described.

In step 710, the external controller 220 receives local information from the local controller 230 through the second communication network. Here, the local information may be information related to voltage and current control of the distributed power supply.

In step 715, the external controller 220 transmits local information to the MGCC 210 through the first communication network, and receives global information from the MGCC 210. Here, the global information may be a result value (command value) according to the execution of the third control.

In step 720, the external controller 220 performs primary and secondary control based on global information and local information, and calculates a result (command value) accordingly.

In step 725, the external controller 220 compensates the calculated command value.

For example, the external controller 220 may compensate the command value by reflecting the communication delay. The external controller 220 may correct the command value by reflecting the communication delay by adding one pole based on the low pass transfer function, thereby compensating for the communication delay reducing the frequency bandwidth bandwidth.

In step 730, the external controller 220 transmits the command value compensated for the communication delay to the local controller 230 through the second communication network. Accordingly, the local controller 230 may perform internal control of the distributed power supply using a command value compensated for communication delay.

8 is a view showing a microgrid configuration according to an embodiment of the present invention.

Referring to FIG. 8, a microgrid according to an embodiment of the present invention includes a first distributed power source 801 for energy connection with a DC power source, a second distributed power source 802 for energy connection with an AC power source, and a DC load And converters 803a and 803b.

The first distributed power source 801 and the second distributed power source 802 are controlled by the local controllers 810a and 810b, respectively. Here, the local controllers 810a and 810b constitute a local layer, but the local controllers 810a and 810b may perform internal control, respectively.

These local controllers 810a and 810b are interlocked with external controllers 820a and 820b, respectively, which constitute the flexible layer 120. In addition, the external controllers constituting the flexible layer can communicate between different external controllers, and can communicate with the MGCC 210. These external controllers 820a and 820b are located between the MGCC 210 and the local controllers 810a and 810b, and may be responsible for primary and secondary control. This is the same as described above, so a duplicate description will be omitted.

9 is a diagram showing a result waveform when communication delay is compensated in an external controller constituting a flexible layer according to an embodiment of the present invention. As shown in FIG. 9, as the command value is transmitted to the local controller 230 without compensating for the communication delay in the external controller 220, the output voltage and output current of the distributed power supply greatly vibrate and cause unstable operation. You can see that it does.

However, as in one embodiment of the present invention, it can be seen that the external controller 220 operates stably by compensating for the communication delay and transmitting the command value to the local controller 230.

10 is a diagram showing a result waveform when droop control is applied to primary control in an external controller according to an embodiment of the present invention. As shown in FIG. 10, it can be seen that as the droop control is applied, the output voltage of the distributed power supply decreases with load.

11 and 12 are diagrams illustrating a result waveform according to application of secondary control when droop control is applied to primary control in an external controller constituting a flexible layer according to an embodiment of the present invention. FIG. 11 illustrates a case in which secondary control for compensating for voltage fluctuation of droop control is applied, and it can be seen that the output voltage of the distributed power is restored to 120V, which is a reference voltage.

12 is a case in which the secondary control for compensating the voltage fluctuation and the load sharing performance of the droop control is applied, it can be seen that the output voltage of the distributed power is restored to 120V and the load sharing of the distributed power is performed the same.

The apparatus and method according to an embodiment of the present invention may be implemented in a form of program instructions that can be executed through various computer means and may be recorded on a computer readable medium. Computer-readable media may include program instructions, data files, data structures, or the like alone or in combination. The program instructions recorded on the computer-readable medium may be specially designed and configured for the present invention or may be known and usable by those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, and magnetic media such as floptical disks. Includes hardware devices specifically configured to store and execute program instructions such as magneto-optical media and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language code that can be executed by a computer using an interpreter, etc., as well as machine language codes produced by a compiler.

The hardware device described above may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

So far, the present invention has been focused on the embodiments. Those skilled in the art to which the present invention pertains will appreciate that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in terms of explanation, not limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent range should be interpreted as being included in the present invention.

100: distributed power control platform
110: global layer
120: flexible layer
130: local layer
200: distributed power control system
210: microgrid central controller (MGCC)
220: external controller
230: local controller

Claims (19)

A global layer that performs tertiary control;
A flexible layer performing secondary control and primary control using the result of the tertiary control; And
A distributed control platform including a local layer performing inner control using the secondary control and the primary control result.
According to claim 1,
The global layer and the flexible layer communicate through a first communication network,
The flexible layer and the local layer communicate through a second communication network,
The distributed control platform, characterized in that the first communication network and the second communication network are the same or different communication networks.
According to claim 1,
The flexible layer,
And a delay compensation unit compensating for communication delay with the local layer.
According to claim 1,
The delay compensation unit is distributed control platform, characterized in that for compensating the communication delay using the following equation.

here,

Denotes the cut-off frequency of the low pass filter to reduce the amount of variation in the command value calculated based on discontinuous local information due to communication delay.
A microgrid central controller that configures a global layer and performs tertiary control;
An external controller constituting a flexible layer and performing primary control and secondary control using the result of the tertiary control; And
A distributed control system comprising a local controller that configures a local layer and performs internal control of distributed power using the primary control and secondary control results.
The method of claim 5,
The external controller,
Communicate with the microgrid central controller or other external controller through a first communication network, and communicate with the local controller through a second communication network,
The first communication network and the second communication network is a distributed control system, characterized in that the same or different communication networks.
The method of claim 5,
When an external controller constituting the flexible layer is interworked between the microgrid central controller and a local controller while the secondary control function and the tertiary control function are implemented in the microgrid central controller, implemented in the microgrid central controller. Distributed control system characterized in that the third control function is activated, the second control function is deactivated, and the primary control function implemented in the local controller is deactivated.
The method of claim 5,
When the external controller constituting the flexible layer is interworked between the microgrid central controller and the local controller while the secondary control function and the primary control function are implemented in the local controller, the 2 implemented in the local controller The primary control function and the primary control function are decentralized control systems, respectively.
The method of claim 5,
And a delay compensation unit compensating for communication delay with the local controller.
The method of claim 9,
The delay compensation unit,
A distributed control system characterized in that the frequency bandwidth of the command value is filtered using a low pass transfer function.
A communication unit configured to receive global information by being connected to a central controller constituting a microgrid through a first communication network and to receive local information by being connected through a second communication network and a local controller that performs internal control of distributed power;
A control unit for calculating a command value by performing primary control and secondary control using the global information and the local information; And
It includes a delay compensation unit for compensating the command value by reflecting the communication delay with the local controller,
The compensated command value is an external controller, characterized in that transmitted to the local controller through the second communication network.
The method of claim 11,
The command value is an external controller, characterized in that the voltage or current command value.
The method of claim 11,
The control unit,
When the secondary control function and the tertiary control function are implemented in the central controller, and when the primary control function is implemented in the local controller, the secondary control function or the primary control function is controlled to be deactivated. External controller.
The method of claim 11,
The control unit,
When the secondary control function and the primary control function are implemented in the local controller, an external controller, characterized in that the secondary control function and the primary control function of the local controller are controlled to be inactive.
The method of claim 11,
The delay compensation unit,
An external controller characterized in that the frequency bandwidth of the command value is filtered using a low pass transfer function.
Receiving local information from a local controller that performs internal control of distributed power;
Receiving global information according to the third control performance from the central controller of the microgrid;
Calculating a command value by performing primary control and secondary control based on the local information and the global information; And
And compensating for the command value by reflecting a communication delay with the local controller.
The method of claim 16,
The compensated command value is transmitted to the local controller,
And the local controller performs internal control based on the compensated command value.
The method of claim 16,
Compensating the command value,
Distributed control method characterized in that by compensating by filtering the frequency bandwidth of the command value using a low-pass transfer function.
The method of claim 16,
The command value is a distributed control method characterized in that the voltage or current command value.

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