CN110460100B - Micro-grid dynamic compensation control method and system based on distributed residual error generator - Google Patents

Micro-grid dynamic compensation control method and system based on distributed residual error generator Download PDF

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CN110460100B
CN110460100B CN201910814507.3A CN201910814507A CN110460100B CN 110460100 B CN110460100 B CN 110460100B CN 201910814507 A CN201910814507 A CN 201910814507A CN 110460100 B CN110460100 B CN 110460100B
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inverter
ith
residual error
distributed residual
dynamic compensation
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CN110460100A (en
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胡长斌
陆珩
罗珊娜
周京华
温春雪
朴政国
郝晓光
马瑞
范辉
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North China University of Technology
Electric Power Research Institute of State Grid Hebei Electric Power Co Ltd
State Grid Hebei Energy Technology Service Co Ltd
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North China University of Technology
Electric Power Research Institute of State Grid Hebei Electric Power Co Ltd
State Grid Hebei Energy Technology Service Co Ltd
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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
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Abstract

The disclosure relates to a micro-grid dynamic compensation control method and system based on a distributed residual error generator, wherein the method comprises the following steps: establishing a state space equation of the distributed residual error generator according to the obtained state space equation of the ith inverter when the N inverters are connected in parallel, and obtaining a control model based on the distributed residual error generator; and converting the control model based on the distributed residual error generator into a model with disturbance di as input, calculating a dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control. The invention can realize plug and play of the inverter and the load.

Description

Micro-grid dynamic compensation control method and system based on distributed residual error generator
Technical Field
The disclosure relates to the technical field of power electronics, in particular to a micro-grid dynamic compensation control method and system based on a distributed residual error generator.
Background
The micro-grid is a new leading-edge technology on the basis of new energy distributed power generation, supports a large power grid mutually, and is an effective mode for improving the energy supply benefit of distributed power generation. The micro-grid has two operation modes of grid connection and grid disconnection (island). Under the grid-connected working mode, the micro-grid and the medium-low voltage distribution network run in a grid-connected mode and support each other, and bidirectional energy exchange is realized. Under the condition of external grid faults or planned islanding, the micro-grid can be converted into an off-grid operation mode to supply power for important loads inside the micro-grid. Distributed micro sources and energy storage devices such as photovoltaic, wind power and fuel cells are mostly connected in parallel into a micro grid at a public connection point through inverters, so that the micro grid and multiple inverters are commonly connected in parallel. However, due to the difference in output impedance and connection impedance of the inverters, the nonlinearity of the load, the different control modes, and the diversification of the internal structure of the microgrid, there are still many technical problems in the aspects of microgrid multi-inverter parallel control and microgrid power quality active control, and a breakthrough is needed.
In a micro-grid multi-inverter parallel system, power equalization and circulating current suppression can be realized by using droop control based on virtual impedance, but the voltage of a bus fluctuates when an inverter is switched in and cut off, so that the stability of the whole system is influenced, and plug and play cannot be completely realized.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An object of the present disclosure is to provide a distributed residual error generator-based microgrid dynamic compensation control method and system, thereby overcoming, at least to some extent, one or more of the problems due to the limitations and disadvantages of the related art.
According to one aspect of the disclosure, a distributed residual error generator-based microgrid dynamic compensation control method is provided, which includes the following steps:
establishing a multi-inverter parallel model, namely obtaining a state space equation of an ith inverter when N inverters are connected in parallel according to a multi-inverter parallel topology and an interconnection relation between the ith inverter and a jth inverter;
a distributed residual error generator designing step, namely establishing a state space equation of the distributed residual error generator according to the state space equation of the ith inverter and obtaining a control model based on the distributed residual error generator;
a dynamic compensation controller design step of transforming the control model based on the distributed residual error generator to perturb diAnd calculating the dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control.
In an exemplary embodiment of the disclosure, the state space equation of the ith inverter when the N inverters are connected in parallel is as follows:
Figure BDA0002185973690000021
wherein N isiSet of adjacent inverters, x, for the ith inverteri＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the state quantity of the system, xj＝(ILj,d,ILj,q,Ucj,d,Ucj,q)TIs the state quantity of the neighboring system, ui＝(Uti,d,Uti,q)TAs system input quantity, di＝(Ioi,d,Ioi,q)TAs disturbance input of the system, yi＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the output of the system.
In an exemplary embodiment of the present disclosure, the disturbance amount Ioj,dAnd Ioj,qThe current is composed of circulating current, local load current and common load currentAre formed by stacking, Icij,dAnd Icij,qFor circulating currents between the ith inverter and the jth inverter, Icji,dAnd Icji,qFor circulating currents between the jth inverter and the ith inverter, Iloadi,dAnd Iloadi,qIs the local load current of the ith inverter, Iloadj,dAnd Iloadj,qIs the local load current of the jth inverter, IPloadi,dAnd IPloadi,qIs the common load current of the ith inverter, IPloadj,dAnd IPloadj,qIs the common load current of the jth inverter.
In an exemplary embodiment of the present disclosure, the multi-inverter parallel model establishing step further includes:
and defining variables of each parameter in the multi-inverter parallel topology under a dq coordinate system.
In an exemplary embodiment of the present disclosure, in the step of designing the distributed residual error generator, a state space equation of the distributed residual error generator is:
Figure BDA0002185973690000031
wherein,
Figure BDA0002185973690000032
is the observer state quantity of the ith inverter, uiIs the input quantity of the ith inverter,
Figure BDA0002185973690000033
observer state quantity, r, of adjacent inverters to the ith inverteriIs the residual of the i-th inverter, yiIs the output quantity of the ith inverter, LiiIs the observer gain matrix to be designed.
In an exemplary embodiment of the present disclosure, the distributed residual generator designing step further includes:
state space equations for the distributed residual generator:
Figure BDA0002185973690000034
the conditions were determined by the lyapunov theorem of stability: v (t) is positive definite, dv (t)/dt is negative definite, when | | t | → ∞, there is v (t) → ∞, and a linear matrix inequality is obtained:
Figure BDA0002185973690000041
Figure BDA0002185973690000042
Figure BDA0002185973690000043
to LiiAnd solving to obtain a control model based on the distributed residual error generator.
In an exemplary embodiment of the disclosure, the linear matrix inequality is further constrained according to a pole configuration, wherein:
order (A)ii-LiiCi)→Aii，Pi→P，αi→ alpha and taui→ τ, the regional pole configuration inequality of the ith inverter can be obtained
Figure BDA0002185973690000044
To LiiAnd solving to obtain a control model based on the distributed residual error generator.
In an exemplary embodiment of the present disclosure, the distributed residual generator designing step further includes:
transforming the distributed residual generator based control model to perturb diFor the input model, the LMI calculation is used according to the model matching principle
min||G(s)yd-Trd(s)QGp(s)||∞；
And calculating a dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator.
According to one aspect of the present disclosure, there is provided a microgrid dynamic compensation control system based on a distributed residual error generator, comprising:
the multi-inverter parallel model establishing module is used for obtaining a state space equation of the ith inverter when the N inverters are connected in parallel according to the multi-inverter parallel topology and the interconnection relation between the ith inverter and the jth inverter;
the distributed residual error generator design module is used for establishing a state space equation of the distributed residual error generator according to the state space equation of the ith inverter and obtaining a control model based on the distributed residual error generator;
a dynamic compensation controller design module for transforming the distributed residual generator based control model to perturb diAnd calculating the dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control.
According to the microgrid dynamic compensation control method based on the distributed residual error generator in the exemplary embodiment of the disclosure, a state space equation of the distributed residual error generator is established through an obtained state space equation of an ith inverter when N inverters are connected in parallel, and a control model based on the distributed residual error generator is obtained; and converting the control model based on the distributed residual error generator into a model with disturbance di as input, calculating a dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control. On one hand, the dynamic voltage compensation controller is added into the inverter compensation control strategy, voltage fluctuation generated when the inverter and the load are cut in and cut off is restrained, plug and play of the inverter and the load are achieved, on the other hand, the circulating current problem is rapidly solved in combination with virtual impedance, power equalization is achieved, on the other hand, the voltage fluctuation problem of the inverter and the load which are cut in and cut off is solved, and comprehensive management of the micro-grid power quality problem by using the residual capacity of the inverter is achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure, as claimed
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The above and other features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a flowchart of a distributed residual generator based microgrid dynamic compensation control method according to an exemplary embodiment of the present disclosure;
fig. 2 illustrates an inverter parallel topology according to an exemplary embodiment of the present disclosure;
FIG. 3 shows a schematic diagram of a distributed residual generator according to an example embodiment of the present disclosure;
FIG. 4 illustrates a disturbance d according to an exemplary embodiment of the present disclosureiIs a schematic diagram of the input model matching form;
FIG. 5 illustrates a schematic diagram of a distributed residual generator based dynamic compensation control architecture according to an exemplary embodiment of the present disclosure;
FIG. 6 illustrates a schematic diagram of a distributed residual generator-based microgrid dynamic compensation control strategy in an exemplary embodiment according to the present disclosure;
fig. 7 shows a schematic diagram of a microgrid dynamic compensation control system based on a distributed residual error generator according to an exemplary embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the disclosure can be practiced without one or more of the specific details, or with other methods, components, materials, devices, steps, and so forth. In other instances, well-known structures, methods, devices, implementations, materials, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in the form of software, or in one or more software-hardened modules, or in different networks and/or processor devices and/or microcontroller devices.
In the present exemplary embodiment, a distributed residual error generator-based microgrid dynamic compensation control method is provided, and referring to fig. 1, the distributed residual error generator-based microgrid dynamic compensation control method may include the following steps:
a multi-inverter parallel model establishing step S110, according to the multi-inverter parallel topology and the interconnection relation between the ith inverter and the jth inverter, obtaining a state space equation of the ith inverter when the N inverters are connected in parallel;
a distributed residual error generator designing step S120, wherein a state space equation of the distributed residual error generator is established according to the state space equation of the ith inverter, and a control model based on the distributed residual error generator is obtained;
a dynamic compensation controller designing step S130, converting the control model based on the distributed residual error generator to disturb diIs a model of the input, anAnd (4) calculating the dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control.
According to the microgrid dynamic compensation control method based on the distributed residual error generator in the exemplary embodiment of the disclosure, a state space equation of the distributed residual error generator is established through an obtained state space equation of an ith inverter when N inverters are connected in parallel, and a control model based on the distributed residual error generator is obtained; and converting the control model based on the distributed residual error generator into a model with disturbance di as input, calculating a dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control. On one hand, the dynamic voltage compensation controller is added into the inverter compensation control strategy, voltage fluctuation generated when the inverter and the load are cut in and cut off is restrained, plug and play of the inverter and the load are achieved, on the other hand, the circulating current problem is rapidly solved in combination with virtual impedance, power equalization is achieved, on the other hand, the voltage fluctuation problem of the inverter and the load which are cut in and cut off is solved, and comprehensive management of the micro-grid power quality problem by using the residual capacity of the inverter is achieved.
In the following, a method for controlling the microgrid dynamic compensation based on the distributed residual error generator in the present exemplary embodiment will be further described.
In step S110, according to the multi-inverter parallel topology and the interconnection relationship between the ith inverter and the jth inverter, a state space equation of the ith inverter when the N inverters are connected in parallel is obtained;
fig. 2 shows an inverter parallel topology, according to which variables are defined in the dq coordinate system. Wherein L isiAnd LjIs a filter inductance of the inverter, riAnd rjIs parasitic resistance of inductor, CiAnd CjIs a filter capacitor of an inverter, Uti,dAnd Uti,qFor station i to reverseOutput voltage of the device, Utj,dAnd Utj,qFor the jth inverter output voltage, Ili,dAnd Ili,qFor the I-th inverter inductor current, Ilj,dAnd Ilj,qFor the inductor current of the jth inverter, Uci,dAnd Uci,qFor the ith inverter capacitor voltage, Ucj,dAnd Ucj,qFor the capacitor voltage of the jth inverter, Ioi,dAnd Ioi,qFor the I-th inverter input current, Ioj,dAnd Ioj,qAnd inputting current for the jth inverter.
When the system is approximately stable, according to the interconnection relation between the ith inverter and the jth inverter, obtaining a state space equation of the ith inverter when the N inverters are connected in parallel:
Figure BDA0002185973690000081
wherein N isiSet of adjacent inverters, x, for the ith inverteri＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the state quantity of the system, xj＝(ILj,d,ILj,q,Ucj,d,Ucj,q)TIs the state quantity of the neighboring system, ui＝(Uti,d,Uti,q)TAs system input quantity, di＝(Ioi,d,Ioi,q)TAs disturbance input of the system, yi＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the output of the system.
Disturbance variable Ioj,dAnd Ioj,qFormed by superposition of three parts of circulating current, local load current and common load current, Icij,dAnd Icij,qFor circulating currents between the ith inverter and the jth inverter, Icji,dAnd Icji,qFor circulating currents between the jth inverter and the ith inverter, Iloadi,dAnd Iloadi,qIs the local load current of the ith inverter, Iloadj,dAnd Iloadj,qLocal load current for jth inverter，IPloadi,dAnd IPloadi,qIs the common load current of the ith inverter, IPloadj,dAnd IPloadj,qIs the common load current of the jth inverter.
In step S120, according to a state space equation of the ith inverter, establishing a state space equation of the distributed residual error generator, and obtaining a control model based on the distributed residual error generator;
aiming at a micro-grid multi-inverter interconnection system, designing a distributed residual error generator, namely a state space equation of the distributed residual error generator:
Figure BDA0002185973690000091
wherein,
Figure BDA0002185973690000092
is the observer state quantity of the ith inverter, uiIs the input quantity of the ith inverter,
Figure BDA0002185973690000093
observer state quantity, r, of adjacent inverters to the ith inverteriIs the residual of the i-th inverter, yiIs the output quantity of the ith inverter, LiiIs the observer gain matrix to be designed.
Obtaining a matrix inequality according to the Lyapunov principle stability theorem, wherein the Lyapunov principle stability theorem is as follows: v (t) is positive, dV (t)/dt is negative, and when | | t | → ∞, there are V (t) → ∞; solving by LMI to obtain Lii。
Figure BDA0002185973690000094
Figure BDA0002185973690000095
Figure BDA0002185973690000096
Since there is no L in the distributed observeriiIs limited to satisfy only H∞L of the Performance indexiiThe values are usually large and inconvenient to use, and the linear matrix inequality is further constrained according to a pole configuration, where:
order (A)ii-LiiCi)→Aii，Pi→P，αi→ alpha and taui→ τ, the regional pole configuration inequality of the ith inverter can be obtained
Figure BDA0002185973690000101
FIG. 3 shows a distributed residual generator, using LMI to solve the linear matrix inequality, calculating LiiA distributed residual generator is obtained. Wherein, Ki(s) is equivalent to the droop control loop and the voltage-current double closed loop of the original inverter, GiAnd(s) is an inverter as a controlled object.
In step S130, the distributed residual generator based control model is transformed to perturb diAnd calculating the dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control.
FIG. 4 shows a disturbance diFor input model matching form schematic, without considering original controller Ki(s) in the case of a disturbance d, the distributed residual generator shown in FIG. 3 is transformed to that shown in FIG. 4iIs a model matching form of the input.
FIG. 5 shows a schematic diagram of a dynamic compensation control structure based on a distributed residual error generator, using LMI to solve min | | G(s) according to a model matching principleyd-Trd(s)QGp(s)||∞Obtaining dynamic compensation controller Q(s)。
The distributed residual error generator is constructed by collecting the control input quantity and output quantity of each inverter and the state quantity of the adjacent inverters, and the dynamic compensation controller Q(s) is added on the basis, so that the schematic diagram of the dynamic compensation control structure based on the distributed residual error generator shown in fig. 5 is obtained.
Fig. 6 shows a microgrid dynamic compensation control strategy based on a distributed residual error generator, and dynamic compensation control based on the distributed residual error generator is added on the basis of the original droop control of an inverter.
In summary, the dynamic voltage compensation controller is added to the inverter compensation control strategy, voltage fluctuation generated when the inverter and the load are cut in and cut off is suppressed, plug and play of the inverter and the load is achieved, on the other hand, the problem of circulation is rapidly solved by combining virtual impedance, power equalization is achieved, on the other hand, the problem of voltage fluctuation when the inverter and the load are cut in and cut off is solved, and comprehensive management of the problem of electric energy quality of the microgrid by using the residual capacity of the inverter is achieved.
In addition, in the present exemplary embodiment, a microgrid dynamic compensation control system based on a distributed residual error generator is also provided. Referring to fig. 7, the distributed residual error generator-based microgrid dynamic compensation control system 700 includes a multi-inverter parallel model building module 710, a distributed residual error generator design module 720, and a dynamic compensation controller design module 730, wherein:
the multi-inverter parallel model establishing module 710 is used for obtaining a state space equation of an ith inverter when the N inverters are connected in parallel according to the multi-inverter parallel topology and the interconnection relationship between the ith inverter and the jth inverter;
the distributed residual error generator design module 720 is used for establishing a state space equation of the distributed residual error generator according to the state space equation of the ith inverter and obtaining a control model based on the distributed residual error generator;
a dynamic compensation controller design module 730 for transforming the distributed residual generator based control model to perturb diAnd calculating the dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control.
It should be noted that although in the above detailed description several modules or units of the microgrid dynamic compensation control system based on a distributed residual error generator are mentioned, this division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be limited only by the terms of the appended claims.

Claims (8)

1. A micro-grid dynamic compensation control method based on a distributed residual error generator is characterized by comprising the following steps:
establishing a multi-inverter parallel model, namely obtaining a state space equation of an ith inverter when N inverters are connected in parallel according to a multi-inverter parallel topology and an interconnection relation between the ith inverter and a jth inverter;
a distributed residual error generator designing step, namely establishing a state space equation of the distributed residual error generator according to the state space equation of the ith inverter and obtaining a control model based on the distributed residual error generator; state space equations for the distributed residual generator:
Figure FDA0002821886300000011
the conditions were determined by the lyapunov theorem of stability: v (t) is positive definite, dv (t)/dt is negative definite, when | | t | → ∞, there is v (t) → ∞, and a linear matrix inequality is obtained:
Figure FDA0002821886300000012
Figure FDA0002821886300000013
Figure FDA0002821886300000014
to LiiSolving to obtain a control model based on a distributed residual error generator;
wherein N isiSet of adjacent inverters, x, for the ith inverteri＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the state quantity of the system, xj＝(ILj,d,ILj,q,Ucj,d,Ucj,q)TIs the state quantity of the neighboring system, ui＝(Uti,d,Uti,q)TAs system input quantity, di＝(Ioi,d,Ioi,q)TAs disturbance input of the system, yi＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the output quantity of the system;
Figure FDA0002821886300000021
is the observer state quantity of the ith inverter, uiIs the input quantity of the ith inverter,
Figure FDA0002821886300000022
observer state quantity, r, of adjacent inverters to the ith inverteriIs the residual of the i-th inverter, yiIs the output quantity of the ith inverter, LiiIs an observer gain matrix to be designed;
a dynamic compensation controller design step of transforming the control model based on the distributed residual error generator to perturb diAnd calculating the dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control.
2. The method of claim 1, wherein the state space equation for the ith inverter when the N inverters are connected in parallel is:
Figure FDA0002821886300000023
3. the method of claim 2, wherein the disturbance amount Ioj,dAnd Ioj,qThe method is formed by superposing three parts, namely circulating current, local load current and common load current, and further comprises the following steps: the disturbance amount Ioj,dAnd Ioj,qFrom Icij,dAnd Icij,q、Icji,dAnd Icji,q、Iloadi,dAnd Iloadi,q、Iloadj,dAnd Iloadj,q、IPloadi,dAnd IPloadi,q、IPloadj,dAnd IPloadj,qComposition is carried out;
wherein, Icij,dAnd Icij,qFor circulating currents between the ith inverter and the jth inverter, Icji,dAnd Icji,qFor circulating currents between the jth inverter and the ith inverter, Iloadi,dAnd Iloadi,qIs the local load current of the ith inverter, Iloadj,dAnd Iloadj,qIs the local load current of the jth inverter, IPloadi,dAnd IPloadi,qIs the common load current of the ith inverter, IPloadj,dAnd IPloadj,qIs the common load current of the jth inverter.
4. The method of claim 1, wherein the multi-inverter parallel modeling step further comprises:
and defining variables of each parameter in the multi-inverter parallel topology under a dq coordinate system.
5. The method of claim 1, wherein in the distributed residual generator designing step, the state space equation of the distributed residual generator is:
Figure FDA0002821886300000031
wherein,
Figure FDA0002821886300000032
is the observer state quantity of the ith inverter, uiIs the input quantity of the ith inverter,
Figure FDA0002821886300000033
observer state quantity, r, of adjacent inverters to the ith inverteriIs the residual of the i-th inverter, yiIs the output quantity of the ith inverter, LiiIs the observer gain matrix to be designed.
6. The method of claim 5, further comprising further constraining the linear matrix inequality according to a pole placement, wherein:
order (A)ii-LiiCi)→Aii，Pi→P，αi→ alpha and taui→ τ, the regional pole configuration inequality of the ith inverter can be obtained
Figure FDA0002821886300000034
To LiiSolving to obtain a control model based on a distributed residual error generator;
wherein alpha isi、τiAnd allocating a matrix for the ith inverter pole, wherein alpha and tau are allocated matrix values for the simplified ith inverter pole.
7. The method of claim 1, wherein the distributed residual generator designing step further comprises:
transforming the distributed residual generator based control model to perturb diFor the input model, the LMI calculation is used according to the model matching principle
min||G(s)yd-Trd(s)QGp(s)||∞；
Wherein, G(s)yd、Trd(s) are respectively linear matrix inequality input functions, QGp(s) is a linear matrix inequality constant function;
and calculating a dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator.
8. A distributed residual generator based microgrid dynamic compensation control system, the system comprising:
the multi-inverter parallel model establishing module is used for obtaining a state space equation of the ith inverter when the N inverters are connected in parallel according to the multi-inverter parallel topology and the interconnection relation between the ith inverter and the jth inverter;
the distributed residual error generator design module is used for establishing a state space equation of the distributed residual error generator according to the state space equation of the ith inverter and obtaining a control model based on the distributed residual error generator; state space equations for the distributed residual generator:
Figure FDA0002821886300000041
the conditions were determined by the lyapunov theorem of stability: v (t) is positive definite, dv (t)/dt is negative definite, when | | t | → ∞, there is v (t) → ∞, and a linear matrix inequality is obtained:
Figure FDA0002821886300000042
Figure FDA0002821886300000043
Figure FDA0002821886300000044
to LiiSolving to obtain a control model based on a distributed residual error generator;
wherein N isiSet of adjacent inverters, x, for the ith inverteri＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the state quantity of the system, xj＝(ILj,d,ILj,q,Ucj,d,Ucj,q)TIs the state quantity of the neighboring system, ui＝(Uti,d,Uti,q)TAs system input quantity, di＝(Ioi,d,Ioi,q)TAs disturbance input of the system, yi＝(ILi,d,ILi,q,Uci,d,Uci,q)TIs the output quantity of the system;
Figure FDA0002821886300000051
is the observer state quantity of the ith inverter, uiIs the input quantity of the ith inverter,
Figure FDA0002821886300000052
observer state quantity, r, of adjacent inverters to the ith inverteriIs the residual of the i-th inverter, yiIs the output quantity of the ith inverter, LiiIs an observer gain matrix to be designed;
a dynamic compensation controller design module for transforming the distributed residual generator based control model to perturb diAnd calculating the dynamic compensation controller Q(s) to obtain a dynamic compensation control model based on the distributed residual error generator, and adding the dynamic compensation control model into a droop control generation compensation control strategy to perform micro-grid dynamic compensation control.
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