CN115133520B - Storage battery energy coordination control method suitable for light storage integrated system - Google Patents

Storage battery energy coordination control method suitable for light storage integrated system Download PDF

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CN115133520B
CN115133520B CN202210925754.2A CN202210925754A CN115133520B CN 115133520 B CN115133520 B CN 115133520B CN 202210925754 A CN202210925754 A CN 202210925754A CN 115133520 B CN115133520 B CN 115133520B
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storage battery
voltage
battery
current
working mode
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CN115133520A (en
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王艳敏
宁佳铭
王庆宇
袁世博
张涵清
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Harbin Institute of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/10—Parallel operation of dc sources
    • H02J1/109—Scheduling or re-scheduling the operation of the DC sources in a particular order, e.g. connecting or disconnecting the sources in sequential, alternating or in subsets, to meet a given demand
    • 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
    • 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
    • H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/22—The renewable source being solar energy
    • H02J2300/24—The renewable source being solar energy of photovoltaic origin
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/22—The renewable source being solar energy
    • H02J2300/24—The renewable source being solar energy of photovoltaic origin
    • H02J2300/26—The renewable source being solar energy of photovoltaic origin involving maximum power point tracking control for photovoltaic sources
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy
    • Y02E10/56—Power conversion systems, e.g. maximum power point trackers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E70/00—Other energy conversion or management systems reducing GHG emissions
    • Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin

Abstract

A storage battery energy coordination control method suitable for an optical storage integrated system belongs to the technical field of storage battery energy control. The invention aims at solving the problem that the existing nonlinear control method for the bidirectional DC/DC converter can not realize bidirectional energy coordination control of an optical storage integrated system. Comprising the following steps: according to P pv And P dc Controlling the working state of the storage battery; if the power difference Δp=p pv ‑P dc Not less than 0, and U dc ≥U dc_H The state of the storage battery is subjected to charging control according to a preset working mode 1; if U is dc_L <U dc <U dc_H And battery power SOC>90%, the state of the storage battery is controlled according to a preset working mode 2; if the power difference Δp=p pv ‑P dc <0, and U dc ≤U dc_L Discharging control is carried out on the state of the storage battery according to a preset working mode 3; if U is dc_L <U dc <U dc_H And battery power SOC<15%, the state of the storage battery is controlled according to the preset working mode 4. The invention is used for realizing the coordination control of the energy of the storage battery.

Description

Storage battery energy coordination control method suitable for light storage integrated system
Technical Field
The invention relates to a storage battery energy coordination control method suitable for an optical storage integrated system, and belongs to the technical field of storage battery energy control.
Background
In the practical application of the optical storage integrated system, the storage battery has nonlinear characteristics, and can have the phenomenon of excessive charge and discharge under severe working conditions, so that the service life of the storage battery can be greatly reduced; especially when internal parameters and external disturbance change drastically, fluctuation of bus voltage can be caused, and normal operation of the whole system can be destroyed when serious. Therefore, how to realize the self-interference rejection of the storage battery and realize the smooth and coordinated control among multiple working modes based on energy conservation is the focus of attention and research in the industry at present.
The existing optical storage integrated system mainly has the following problems:
1) In engineering application of the light storage integrated system, the valve-controlled lead-acid storage battery is mainly used, the model is mainly used as an electrochemical model, the parameters are solved by depending on electrochemical reaction test data, the process is complex, and the energy management and control of the storage battery are not facilitated. When modeling the storage battery of the photovoltaic energy storage system, the influence of internal complex parameters on the battery state is not considered, so that the performance state of the storage battery cannot be accurately represented; further, the modeling result of the storage battery is inaccurate, so that an appropriate energy management and control method cannot be formulated for the storage battery.
2) In the optical storage integrated system, a bidirectional DC/DC converter is a key device for connecting a storage battery and a direct current micro-grid. However, the DC/DC converter has a nonlinear characteristic, and the DC/DC converter is often separated from the DC micro-grid in the prior art, which severely restricts the control performance of the system.
On one hand, the bidirectional DC/DC converter has nonlinear characteristics, the ideal control effect is difficult to obtain by adopting a traditional linear error feedback controller, the dynamic response speed is low, and even when circuit parameters change, nonlinear phenomena such as chaos or bifurcation and the like can occur; on the other hand, the direct current micro-grid has the characteristics of large voltage variation range, nonlinear load and the like, so that nonlinear control strategies are designed aiming at the bidirectional DC/DC converter to improve the dynamic performance of the whole system.
In an actual optical storage integrated system, a bidirectional DC/DC converter is generally separated from a storage battery and a direct current micro-grid, and a controller is independently modeled and designed; the common practice of nonlinear control is: the PI controller is designed after linear approximation of the differential geometry principle and algebraic transformation. However, when the bidirectional DC/DC converter circuit topology is complex, the model linearization process is cumbersome. Although the PI controller is modified by using a nonlinear function, the PI controller only improves the dynamic performance of the unidirectional DC/DC converter, and cannot be applied to bidirectional energy management of an actual optical storage integrated system, so that the switching of the bidirectional DC/DC converter in a multi-working mode and the energy coordination control requirement cannot be realized.
Disclosure of Invention
Aiming at the problem that the existing nonlinear control method for the bidirectional DC/DC converter can not realize bidirectional energy coordination control of the light storage integrated system, the invention provides a storage battery energy coordination control method suitable for the light storage integrated system.
The invention relates to a storage battery energy coordination control method suitable for an optical storage integrated system, wherein the optical storage integrated system adopts a photovoltaic panel and a storage battery to supply power for a load, and the storage battery performs energy control through a bidirectional direct current converter; comprising the steps of (a) a step of,
collecting output voltage U of photovoltaic panel pv Output current I pv DC bus voltage U dc And load current I dc Calculating the output power P of the photovoltaic panel pv And load side demanded power P dc ：
If the power difference Δp=p pv -P dc More than or equal to 0, the DC bus voltage U is further controlled dc Critical value U for charging with DC bus voltage dc_H Judging if U dc ≥U dc_H The state of the storage battery is subjected to charging control according to a preset working mode 1; if U is dc_L <U dc <U dc_H And battery power SOC>90%, the state of the storage battery is controlled according to a preset working mode 2; u (U) dc_L Discharging a critical value for the voltage of the direct current bus;
if the power difference Δp=p pv -P dc <0, then further to the DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L Judging if U dc ≤U dc_L Then the state of the storage battery is carried out according to the preset working mode 3Discharge control; if U is dc_L <U dc <U dc_H And battery power SOC<15%, the state of the storage battery is controlled according to a preset working mode 4;
the control method of the working mode 1 comprises the following steps: the photovoltaic panel is positioned at the maximum power point and is based on the collected battery terminal voltage U b DC bus voltage U dc And inductor current I L The switching tube of the bidirectional direct current converter is controlled, so that the bidirectional direct current converter works in a Buck mode, and the storage battery is in a charging state;
the control method of the working mode 2 comprises the following steps: the photovoltaic panel is in a constant voltage mode, the bidirectional direct current converter is in a stop state, and the storage battery is in an idle state;
the control method of the working mode 3 comprises the following steps: the photovoltaic panel is positioned at the maximum power point and is based on the collected battery terminal voltage U b DC bus voltage U dc And inductor current I L The switching tube of the bidirectional direct current converter is controlled, so that the bidirectional direct current converter works in a Boost mode, and the storage battery is in a discharge state;
the control method of the working mode 4 comprises the following steps: the photovoltaic panel is at the maximum power point, the bidirectional direct current converter is in a stop state, and the storage battery is in an idle state.
According to the storage battery energy coordination control method suitable for the light storage integrated system, the implementation process of the working mode 1 comprises the following steps: when the end voltage U of the storage battery b Lower than constant voltage charging voltage U cv Charging voltage U at constant voltage cv With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 2 Regulating to obtain constant current charging current I through upper limit value cg Limiter K of (2) 2 After clipping, first output I cg Will I cg As a variable limiter K 1 The upper limit of (2) realizes the rapid constant-current charging of the storage battery, and the voltage U at the end of the storage battery b Rise, limiter K 2 The output value is reduced, and the charging of the storage battery is slowed down;
when the end voltage U of the storage battery b Higher than constant voltage charging voltage U cv Charging voltage U at constant voltage cv With battery endsVoltage U b The difference value of (2) is passed through proportional integrator PI 2 Adjusting, and passing the adjusting result through limiter K 2 The output result after clipping is 0, and 0 is used as a variable clipper K 1 Upper limit of (2); DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L The difference value of (2) is passed through proportional integrator PI 1 Adjusting, and the adjusting result passes through a variable limiter K 1 Limiting with 0 as upper limit, thereby setting value I of inductance current L_set <And 0, preventing the storage battery from being overcharged.
According to the storage battery energy coordination control method suitable for the light storage integrated system, the implementation process of the working mode 3 comprises the following steps: when the end voltage U of the storage battery b Above the discharge cut-off voltage U cg Cut-off voltage U of discharge cg With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 3 Regulating to obtain maximum discharge current I cut Limiter K of (2) 3 After clipping, first output I cut Will I cut As a variable limiter K 3 Realizing maximum current discharge of the storage battery along with the terminal voltage U of the storage battery b Reducing, limiter K 3 The output is increased, and the discharge of the storage battery is slowed down;
when the end voltage U of the storage battery b Below the discharge cut-off voltage U cg Cut-off voltage U of discharge cg With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 3 Adjusting, and passing the adjusting result through limiter K 3 The output result after clipping is 0, and 0 is used as a variable clipper K 1 Lower limit of (2); DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L The difference value of (2) is passed through proportional integrator PI 1 Adjusting, and the adjusting result passes through a variable limiter K 1 Limiting with 0 as lower limit, thereby setting value I of inductance current L_set >And 0, preventing the accumulator from overdischarging.
According to the storage battery energy coordination control method applicable to the light storage integrated system, provided by the invention, the storage battery energy coordination control method is based on the inductance current set value I L_set The control of the switching tube of the bidirectional DC converter comprises the following steps:
the differential tracker TD is adopted to set the value I of the inductive current L_set Tracking with a tracking value of x 1 ；
Will induce current I L And tracking value x 1 Making a difference to obtain a current feedback error e; the current feedback error e is used as the input of a nonlinear PI controller constructed by a fal function:
if |e| > delta, the nonlinear PI controller constructed by the fal function enables the current feedback error e to quickly approach to 0 through control;
the I e I is less than or equal to delta, and the nonlinear PI controller constructed by the fal function processes the current feedback error e through the low-pass filtering characteristic;
after PWM modulation, the output of the nonlinear PI controller constructed by the fal function outputs a switching tube control signal for the bidirectional DC converter;
where δ is a filter factor.
According to the storage battery energy coordination control method suitable for the light storage integrated system, the data processing process of the nonlinear PI controller constructed by the fal function comprises the following steps:
Figure BDA0003779356950000031
wherein a is a nonlinear factor.
According to the storage battery energy coordination control method suitable for the light storage integrated system, the storage battery is a valve-regulated lead-acid storage battery.
The invention has the beneficial effects that:
the invention provides a voltage-current double closed-loop control strategy, namely an outer loop is a direct current bus voltage control loop, an inner loop is a current loop, a storage battery is divided into three states of charge, discharge and idle, and the working state of the storage battery is controlled through the voltage outer loop, so that the active disturbance rejection function of the storage battery is realized.
The method comprehensively considers the photovoltaic output power, the load side required power and the direct current bus side voltage, and realizes the multi-working mode switching of the storage battery based on energy conservation and coordination control.
Drawings
FIG. 1 is a logic diagram of a multi-operation mode switching control method for a storage battery energy coordination control method applicable to an optical storage integrated system according to the present invention;
FIG. 2 is a signal flow diagram for controlling the switching tubes of a bi-directional DC converter;
FIG. 3 is a schematic energy flow diagram of mode 1 of operation;
FIG. 4 is an energy flow schematic of mode 2 of operation;
FIG. 5 is an energy flow schematic of mode 3 of operation;
FIG. 6 is an energy flow schematic of mode 4 of operation;
fig. 7 is an equivalent circuit model diagram of a battery; in the figure, T represents a period;
FIG. 8 is a current inner loop control block diagram; in the figure K p Representing the proportion links, K i Representing an integration link;
FIG. 9 is a graph of illumination intensity over time for complex illumination in an embodiment;
FIG. 10 is a schematic diagram of a DC bus voltage U under complex illumination in an embodiment dc A graph over time;
FIG. 11 is a graph showing the output power P of a photovoltaic panel under complex illumination in an embodiment pv A graph over time;
FIG. 12 is a graph of battery current versus time for a complex illumination in an exemplary embodiment;
fig. 13 is a graph showing the change of the battery power with time under the complex illumination in the embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
The invention provides a storage battery energy coordination control method suitable for an optical storage integrated system, which is characterized in that a photovoltaic plate and a storage battery are adopted to supply power to a load, and the storage battery performs energy control through a bidirectional direct current converter; comprising the steps of (a) a step of,
collecting output voltage U of photovoltaic panel pv Output current I pv DC bus voltage U dc And load current I dc Calculating the output power P of the photovoltaic panel pv And load side demanded power P dc ：
If the power difference Δp=p pv -P dc More than or equal to 0, the DC bus voltage U is further controlled dc Critical value U for charging with DC bus voltage dc_H Judging if U dc ≥U dc_H The state of the storage battery is subjected to charging control according to a preset working mode 1; if U is dc_L <U dc <U dc_H And battery power SOC>90%, the state of the storage battery is controlled according to a preset working mode 2; u (U) dc_L Discharging a critical value for the voltage of the direct current bus;
if the power difference Δp=p pv -P dc <0, then further to the DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L Judging if U dc ≤U dc_L Discharging control is carried out on the state of the storage battery according to a preset working mode 3; if U is dc_L <U dc <U dc_H And battery power SOC<15%, the state of the storage battery is controlled according to a preset working mode 4;
energy coordination control for multi-working mode switching of storage batteries: in order to reasonably divide the working mode of the integrated system, the output power P of the photovoltaic panel needs to be comprehensively considered pv Load side demand power P dc And DC bus side voltage to further improve system operating efficiency. Specifically, according to the energy flow direction and the control strategy, the layered direct current bus photovoltaic energy storage system is firstly divided into two types of 4 different working modes, the energy flow conditions of the layered direct current bus photovoltaic energy storage system are shown in figures 3 to 6,
the control method of the working mode 1 comprises the following steps: the photovoltaic panel is positioned at the maximum power point and is based on the collected battery terminal voltage U b DC bus voltage U dc And inductor current I L The switching tube of the bidirectional direct current converter is controlled, so that the bidirectional direct current converter works in a Buck mode, and the storage battery is in a charging state;
the working mode 1 mostly occurs under the conditions of clear weather and sufficient illumination, and the photovoltaic array outputs power P pv Greater than the load-side demand power P dc At this time, the DC bus voltage U dc >U dc_H The bidirectional DC-DC converter works in a Buck mode to absorb surplus energy of photovoltaic power generation. In particular, when the battery voltage is low, the constant current charge is automatically switched.
The control method of the working mode 2 comprises the following steps: the photovoltaic panel is in a constant voltage mode, the bidirectional direct current converter is in a stop state, and the storage battery is in an idle state;
in working mode 2, P pv >P dc Is still true and the battery is full, i.e. SOC>90% and U dc_L <U dc <U dc_H At this time, the bidirectional DC-DC converter is in a shutdown state, and neither charging nor discharging is performed. Considering surplus power of the photovoltaic array, the storage battery is in a stop-charge state, and the photovoltaic power generation system is switched to be in a direct-current bus voltage reference value U ref Is a constant pressure operating state of the object.
The control method of the working mode 3 comprises the following steps: placing the photovoltaic panel in a maximum power point tracking (Maximum Power Point Tracking, MPPT) mode and based on the collected battery terminal voltage U b DC bus voltage U dc And inductor current I L The switching tube of the bidirectional direct current converter is controlled, so that the bidirectional direct current converter works in a Boost mode, and the storage battery is in a discharge state;
the working mode 3 mostly occurs in overcast and rainy days with insufficient illumination, and the photovoltaic array outputs the maximum power P pv Insufficient to provide load side demanded power P dc I.e. P pv <P dc DC bus voltage U dc ＜U dc_L At this time, the battery is Boost-discharged by Boost mode. It can be seen that in this mode the load is supplied with power by the photovoltaic array and the battery together.
The control method of the working mode 4 comprises the following steps: the photovoltaic panel is at the maximum power point, the bidirectional direct current converter is in a stop state, and the storage battery is in an idle state.
The working mode 4 mostly occurs under the condition of insufficient illumination or increased load, and the photovoltaic power generation power is still lower than the load requirement, namely P pv <P dc . Considering that the SOC of the battery is lower than 15% at this time, in order to avoid overdischarge of the battery, the Buck/Boost converter should be in a shutdown state, and the Boost converter maintains an operation state of a maximum power point. In particular, given the continuous lack of photovoltaic output power supply, a portion of the load may be selectively cut off by the user. The four working modes are based on a storage battery voltage-current double-closed-loop active-disturbance-rejection controller, the switching of the storage battery multi-working mode depends on the working states of the storage battery and the photovoltaic array due to the active-disturbance-rejection function based on a differential controller, and the switching logic of the storage battery multi-working mode is shown in the figure 1.
In fig. 1, first, voltage and current U on the photovoltaic side, the load side, and the battery side pv 、I pv 、U dc 、I dc 、U b 、I b Sampling is carried out, and then the output power P is outputted according to the photovoltaic pv With load side power P dc The relation judges the working state of the storage battery, and further considers the charging and discharging states of the storage battery to determine a specific working mode.
Taking the current working mode 2 of the system as an example, the illumination intensity is higher at the moment, the photovoltaic power generation power flows to a load, and the rest part charges a storage battery. When the charge of the storage battery reaches the upper limit, U dc >U dc_H Then the operation mode 1 is automatically switched. If the illumination suddenly weakens at the moment, the photovoltaic power generation is insufficient to provide the side power of the direct current busAnd (3) entering an operation mode, wherein the load side required power is provided by the storage battery and the photovoltaic array together. If the illumination intensity is continuously lower at this time, the charge state of the storage battery reaches a critical value, the system is switched to the working mode 4, and the user actively cuts off part of the adjustable load, so that the system is rapidly switched from the working mode 3 to the working mode 4. When the illumination intensity is restored to a strong level, the system is then switched directly from mode 4 or mode 3 to mode 2.
Further, as shown in fig. 1 and 2, the implementation process of the operation mode 1 includes: when the end voltage U of the storage battery b Lower than constant voltage charging voltage U cv Charging voltage U at constant voltage cv With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 2 Regulating to obtain constant current charging current I through upper limit value cg Limiter K of (2) 2 After clipping, first output I cg Will I cg As a variable limiter K 1 The upper limit of (2) realizes the rapid constant current charging under the condition of low voltage of the storage battery, and the voltage U of the end of the storage battery b Rise, limiter K 2 The output value is reduced, and the charging of the storage battery is slowed down;
when the end voltage U of the storage battery b Higher than constant voltage charging voltage U cv Charging voltage U at constant voltage cv With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 2 Adjusting, and passing the adjusting result through limiter K 2 The output result after clipping is 0, and 0 is used as a variable clipper K 1 Upper limit of (2); DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L The difference value of (2) is passed through proportional integrator PI 1 Adjusting, and the adjusting result passes through a variable limiter K 1 Limiting with 0 as upper limit, thereby setting value I of inductance current L_set <And 0, preventing the storage battery from being overcharged.
The implementation process of the working mode 3 comprises the following steps: when the end voltage U of the storage battery b Above the discharge cut-off voltage U cg Cut-off voltage U of discharge cg With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 3 Regulating to obtain maximum discharge current I cut Limiter K of (2) 3 After clipping, first output I cut Will I cut As a variable limiter K 3 Realizing maximum current discharge under the condition of higher voltage of the storage battery along with the voltage U of the storage battery b Reducing, limiter K 3 The output is increased, and the discharge of the storage battery is slowed down;
when the end voltage U of the storage battery b Below the discharge cut-off voltage U cg Cut-off voltage U of discharge cg With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 3 Adjusting, and passing the adjusting result through limiter K 3 The output result after clipping is 0, and 0 is used as a variable clipper K 1 Lower limit of (2); DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L The difference value of (2) is passed through proportional integrator PI 1 Adjusting, and the adjusting result passes through a variable limiter K 1 Limiting with 0 as lower limit, thereby setting value I of inductance current L_set >And 0, preventing the accumulator from overdischarging.
In the embodiment, based on a combined model of a storage battery, a bidirectional DC/DC converter and a direct current bus, a voltage-current double-closed-loop control strategy is adopted according to power fluctuation of the storage battery and the direct current bus, namely, an outer loop is a direct current bus voltage control loop, an inner loop is a current loop, the storage battery is divided into three states of charging, discharging and idle, the working state of the storage battery is controlled through the voltage outer loop, and the active disturbance rejection function of the storage battery is realized. Referring to fig. 2, in this embodiment, taking power fluctuation of a dc bus into consideration, taking a PI control method commonly used in practical engineering as an example, the upper half section in fig. 2 is a voltage-current dual closed-loop control block diagram, which includes a dc bus voltage control outer ring and a current inner ring, and corresponds to the voltage outer ring, and discharges a critical value U according to the dc bus voltage dc_L And a DC bus voltage charging threshold U dc_H Dividing the storage battery into three states of charge, discharge and idle; corresponding to the inner current loop, I cut And I cg The maximum discharging current and the constant current charging current of the storage battery are respectively U cv And U cg And constant voltage charge voltage and discharge cutoff voltage values, respectively.
Assuming that the battery is being charged, the direct currentBus voltage U dc >U dc_H When the battery voltage U b Higher than constant voltage charge value U cv When the limiter K 2 The output result is 0 and is used as a variable limiter K 1 Thereby limiting the inductor current set point I L_set <And 0, the overcharge of the storage battery is prevented. During discharge, U dc <U dc_L When the battery voltage U b Below the discharge cut-off voltage U cg Limiter K at this time 3 The lower limit value becomes 0, i.e. the inductor current set point I L_set >0 limits its discharge. PI (proportional integral) 1 、PI 2 And PI (proportional integral) 3 And respectively correspond to proportional terms when PI control is applied in respective control modes.
Still further, based on inductor current set point I L_set The control of the switching tube of the bidirectional DC converter comprises the following steps:
the differential tracker TD is adopted to set the value I of the inductive current L_set Tracking with a tracking value of x 1 ；
Will induce current I L And tracking value x 1 Making a difference to obtain a current feedback error e; the current feedback error e is used as the input of a nonlinear PI controller constructed by a fal function:
if |e| > delta, the nonlinear PI controller constructed by the fal function enables the current feedback error e to quickly approach to 0 through control;
the I e I is less than or equal to delta, and the nonlinear PI controller constructed by the fal function processes the current feedback error e through the low-pass filtering characteristic;
after PWM modulation, the output of the nonlinear PI controller constructed by the fal function outputs a switching tube control signal for the bidirectional DC converter;
where δ is a filter factor.
The addition of the limiting ring in the charging and discharging process of the storage battery can avoid the phenomena of overcharging and overdischarging, and the introduction of the differential tracker ensures the signal smoothness in the working mode switching process of the storage battery, so that the problem of overshoot caused by signal mutation in the traditional method is avoided. The current inner loop first uses TD differential tracker to set the current value I L_set Tracking and then using pulse width modulation(Pulse width modulation, PWM) methods drive a bi-directional dc converter.
The battery-bi-directional DC/DC converter-DC bus combination is modeled as shown in connection with fig. 2. In modeling aspect, the connection relation of the storage battery, the bidirectional DC/DC converter and the direct current bus is truly considered, the bidirectional DC converter is emphasized, a voltage-current double closed-loop control strategy is designed, and the energy coordination control of the active disturbance rejection and the multi-working mode switching of the storage battery is realized.
Combined modeling of battery-bi-directional DC/DC converter-DC bus:
and (3) building a storage battery model:
for the storage battery of fig. 2, taking a valve-regulated lead-acid storage battery commonly used in an actual system as an example, unlike a traditional electrochemical model, an equivalent circuit model is adopted, as shown in fig. 7, wherein E is a voltage source, R 1 、R 2 And C is the internal resistance, polarization resistance and capacitance of the battery respectively, and the following circuit relationship exists,
E＝E 0 -K E (273+θ)(1-SOC)，
wherein E is 0 Is the open-circuit voltage in the full state of the battery, K E The voltage temperature coefficient is usually provided by a manufacturer, the SOC is the battery electricity quantity, and the theta is the electrolyte temperature.
The equivalent circuit parameters of the valve-regulated lead-acid storage battery in fig. 7 can be obtained by truly considering the change of the internal resistance of the battery to be used for detecting the degradation degree of the battery and further considering the influence of the polarization resistance and the capacitance on the dynamic performance of the battery, wherein the equivalent circuit parameters are expressed as follows:
Figure BDA0003779356950000091
wherein R is 0 Is the ohmic internal resistance of the battery in a full state, I 0 And I m A is the nominal current and the actual flowing current of the battery respectively 1 、A 2 Is constant, SOC and DOC are battery electric quantity and health state characterization, tau is time constant, R' 0 Is a constant resistance.
From the above, it can be seen that the battery is operatedThe polarization phenomenon in the process has a larger influence on the system output. The battery discharge charge amount is defined herein as Q c An initial charge amount of Q 0 The charge change of the battery during charge and discharge can be expressed as:
Figure BDA0003779356950000092
taking into consideration the influence of different temperatures and different working currents of the electrolyte on the capacity of the battery, let C 0 The electrolyte is the battery capacity at 0 ℃, and I is the battery discharge current, and the following are:
Figure BDA0003779356950000093
K C 、K T and delta are battery related constants, and can be calculated by test data of the battery at different temperatures, so that the battery electric quantity SOC and the battery health state DOC can be obtained by the following expressions:
Figure BDA0003779356950000094
wherein I is av ＝I m /(τs+1)。
Based on the analysis, the parameters of the circuit element, the battery capacity, the health state and the like of the equivalent model of the storage battery are all required to be corrected by considering the battery temperature, and the battery temperature can be approximately solved by combining with actual engineering experience:
Figure BDA0003779356950000095
wherein θ 0 For the initial operating temperature of the battery, θ a R is the ambient temperature of the battery θ And C θ Respectively the thermal resistance and the specific heat capacity of the battery; and then an equivalent model of the valve-regulated lead-acid storage battery can be obtained.
Bidirectional DC/DC converter model:
the bidirectional DC/DC converter in FIG. 2 is a key device for connecting a storage battery and a direct current bus, and plays roles of bidirectional energy flow and power balance. Considering that the energy storage system has no hard requirement on isolation and insulation, and considering the equipment size and the cost performance, the embodiment selects a non-isolated bidirectional Buck/Boost converter, wherein U is as follows b For the voltage of the accumulator, S 1 And S is 2 Is a switching tube, L is an inductor, C b And C dc The filter capacitors are on the battery side and the load side, respectively.
Specifically, according to the switching tube S 1 And S is 2 The system can be divided into Boost and Buck modes. When the storage battery needs to be charged, the switch tube S 2 Turn off, S 1 Driven by a pulse signal. Specifically, when S 1 When conducting, the inductor absorbs energy from the DC bus, S 1 After the power supply is turned off, the inductor current can not be suddenly changed, and energy is continuously released to the side of the storage battery. The principle based on conservation of the charge and discharge energy of the inductor is as follows:
Figure BDA0003779356950000101
t is in on Indicating the on-time;
when the storage battery is discharged, the switch tube S 1 Turn off, corresponding diode is locked, corresponding switch tube T 1 The inductor releases and absorbs energy respectively, and the energy of the storage battery is conserved in one period, and the energy of the storage battery flows to the load on the side of the direct current bus, and the voltage relationship is as follows:
Figure BDA0003779356950000102
the design of the storage battery voltage-current double-closed loop active disturbance rejection controller is as follows:
for the combined modeling and control block diagram of the battery-bi-directional DC/DC converter-DC bus of FIG. 2, the current inner loop first sets the current set point I through the differential tracker L_set The tracking is performed such that the tracking is performed,wherein x is 1 To track the value, x 2 Is x 1 And (2) derivative of
Figure BDA0003779356950000106
Bounded, its mathematical expression is:
Figure BDA0003779356950000103
where h is a filter factor and r is a fast and slow factor. Specifically, in the implementation process, each signal is discretized first, and the obtained discrete post-differential tracker is:
Figure BDA0003779356950000104
h in 0 For the initial value of the filter factor h,
Figure BDA0003779356950000105
v (k) is I for a defined intermediate variable L_set Is a discrete value of (a).
Let X (0) = [ X ] 1 (0),x 2 (0)]In order to ensure that the system does not overshoot to reach the control target in the shortest time, assuming that the system reaches a steady state in k steps, solving the above equation, and respectively discussing three different conditions of 1) k=1, 2) k=2 and 3) k is larger than or equal to 3 to obtain the fastest control integral function fhan (x) 1 ,x 2 R, h) is:
Figure BDA0003779356950000111
in which d, a 0 、y、a 1 、a 2 、s y A and s a Are all intermediate variables in the calculation process, and the substitution relationship is shown as above.
Still further, the current is sampled to value I L And tracking quantity x 1 Difference is made, let the current feedback error e=i L -x 1 A nonlinear PI controller input constructed as a fal function,the control block diagram is shown in fig. 8:
the data processing process of the nonlinear PI controller constructed by the fal function comprises the following steps:
Figure BDA0003779356950000112
wherein a is a nonlinear factor.
I.e. when the current feedback error is |e|>When delta, nonlinear feedback enables the system state to quickly converge to a tracking signal, namely, the error e quickly approaches 0; conversely let k 1 ＝1/δ 1-a The output of the integration link is y, and then y/x is present 1 ＝k i /(s/k 1 +1) has a certain low-pass filter characteristic.
It can be seen that when the current set point is abrupt, the tracking signal x benefits from the control of the differential tracker 1 The transition can be smooth, and the overshoot problem caused by the abrupt signal change of the traditional PID is avoided.
By way of example, the battery may be, but is not limited to, a valve-regulated lead acid battery.
Specific examples:
the method of the invention is verified by a simulation performance experiment, wherein the circuit parameters in FIG. 2 are shown in Table 1, and the proportional term k of the PI controller parameters p =0.24, integral term k i Inductance l=1mh, c in bi-directional Buck/Boost converter=340.5 b =440 μf, k in a nonlinear PI controller based on a fal function p ＝2.4，k i ＝41.6。
TABLE 1 System Circuit parameters
Figure BDA0003779356950000113
/>
Figure BDA0003779356950000121
Considering that the real illumination is complex, the following changes with several typical illumination intensitiesFor example, simulation is performed, the simulation results are shown in fig. 9 to 13, wherein fig. 9 is a simulated illumination intensity change condition which is generated in sunny cloudy weather, cloud cover and movement are considered, and the illumination intensity is 1000W/m at 1.5s 2 Step up to 1500W/m 2 At 4s the dip was 500W/m 2 . FIG. 10 is a bus voltage U dc In the start-up phase, it can be seen that the bus voltage is lower than U dc_L The system works in a mode 3, namely the storage battery works in a discharging state, and the auxiliary photovoltaic panels jointly supplement energy required by the load. Particularly, when the voltage of the load side is lower, the storage battery discharges with the maximum discharge current due to the variable amplitude limiting link in the control strategy of the bidirectional direct current converter, then the storage battery enters a normal discharge mode, the voltage of the load side is stabilized at 396V-405V, the fluctuation rate is about 1.25%, and the steady-state performance index of +/-10% of the voltage of the direct current bus is met. FIG. 11 shows the photovoltaic output power P pv When the illumination intensity suddenly increases, the photovoltaic panel tracks the maximum power point in real time, the output power suddenly increases from 100W to 172W, the storage battery is switched to the charging state because the power generation power at the photovoltaic side is greater than the load power demand, and the current i of the storage battery is shown in fig. 12 b At this time, the system is switched to mode 1, and the battery SOC is linearly increased in fig. 13; when the illumination intensity suddenly drops, the output power of the visible light voltage is stabilized at about 32.8W, so that the load requirement is difficult to meet, the system is switched to a mode 3, the storage battery discharges through the direct current converter, and the bus voltage is stabilized at 400.6V without overshoot.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.

Claims (2)

1. The storage battery energy coordination control method is suitable for an optical storage integrated system, the optical storage integrated system adopts a photovoltaic panel and a storage battery to supply power for a load, and the storage battery performs energy control through a bidirectional direct current converter; it is characterized in that the method comprises the steps of,
collecting output voltage U of photovoltaic panel pv Output current I pv DC bus voltage U dc And load current I dc Calculating the output power P of the photovoltaic panel pv And load side demanded power P dc ：
If the power difference Δp=p pv -P dc More than or equal to 0, the DC bus voltage U is further controlled dc Critical value U for charging with DC bus voltage dc_H Judging if U dc ≥U dc_H The state of the storage battery is subjected to charging control according to a preset working mode 1; if U is dc_L <U dc <U dc_H And battery power SOC>90%, the state of the storage battery is controlled according to a preset working mode 2; u (U) dc_L Discharging a critical value for the voltage of the direct current bus;
if the power difference Δp=p pv -P dc <0, then further to the DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L Judging if U dc ≤U dc_L Discharging control is carried out on the state of the storage battery according to a preset working mode 3; if U is dc_L <U dc <U dc_H And battery power SOC<15%, the state of the storage battery is controlled according to a preset working mode 4;
the control method of the working mode 1 comprises the following steps: the photovoltaic panel is positioned at the maximum power point and is based on the collected battery terminal voltage U b DC bus voltage U dc And inductor current I L The switching tube of the bidirectional direct current converter is controlled, so that the bidirectional direct current converter works in a Buck mode, and the storage battery is in a charging state;
the control method of the working mode 2 comprises the following steps: the photovoltaic panel is in a constant voltage mode, the bidirectional direct current converter is in a stop state, and the storage battery is in an idle state;
the control method of the working mode 3 comprises the following steps: the photovoltaic panel is positioned at the maximum power point and is based on the collected battery terminal voltage U b DC bus voltage U dc And inductor current I L The switching tube of the bidirectional direct current converter is controlled, so that the bidirectional direct current converter works in a Boost mode, and the storage battery is in a discharge state;
the control method of the working mode 4 comprises the following steps: the photovoltaic panel is positioned at a maximum power point, the bidirectional direct current converter is positioned in a stop state, and the storage battery is in an idle state;
the implementation process of the working mode 1 comprises the following steps: when the end voltage U of the storage battery b Lower than constant voltage charging voltage U cv Charging voltage U at constant voltage cv With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 2 Regulating to obtain constant current charging current I through upper limit value cg Limiter K of (2) 2 After clipping, first output I cg Will I cg As a variable limiter K 1 The upper limit of (2) realizes the rapid constant-current charging of the storage battery, and the voltage U at the end of the storage battery b Rise, limiter K 2 The output value is reduced, and the charging of the storage battery is slowed down;
when the end voltage U of the storage battery b Higher than constant voltage charging voltage U cv Charging voltage U at constant voltage cv With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 2 Adjusting, and passing the adjusting result through limiter K 2 The output result after clipping is 0, and 0 is used as a variable clipper K 1 Upper limit of (2); DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L The difference value of (2) is passed through proportional integrator PI 1 Adjusting, and the adjusting result passes through a variable limiter K 1 Limiting with 0 as upper limit, thereby setting value I of inductance current L_set <0, preventing the storage battery from being overcharged;
the implementation process of the working mode 3 comprises the following steps: when the end voltage U of the storage battery b Above the discharge cut-off voltage U cg Cut-off voltage U of discharge cg With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 3 Adjusting to maximum amplification via upper limit valueElectric current I cut Limiter K of (2) 3 After clipping, first output I cut Will I cut As a variable limiter K 3 Realizing maximum current discharge of the storage battery along with the terminal voltage U of the storage battery b Reducing, limiter K 3 The output is increased, and the discharge of the storage battery is slowed down;
when the end voltage U of the storage battery b Below the discharge cut-off voltage U cg Cut-off voltage U of discharge cg With battery terminal voltage U b The difference value of (2) is passed through proportional integrator PI 3 Adjusting, and passing the adjusting result through limiter K 3 The output result after clipping is 0, and 0 is used as a variable clipper K 1 Lower limit of (2); DC bus voltage U dc Discharge critical value U with DC bus voltage dc_L The difference value of (2) is passed through proportional integrator PI 1 Adjusting, and the adjusting result passes through a variable limiter K 1 Limiting with 0 as lower limit, thereby setting value I of inductance current L_set >0, preventing the accumulator from overdischarging;
based on inductor current set point I L_set The control of the switching tube of the bidirectional DC converter comprises the following steps:
the differential tracker TD is adopted to set the value I of the inductive current L_set Tracking with a tracking value of x 1 ；
Will induce current I L And tracking value x 1 Making a difference to obtain a current feedback error e; the current feedback error e is used as the input of a nonlinear PI controller constructed by a fal function:
if e > delta, the nonlinear PI controller constructed by the fal function enables the current feedback error e to quickly approach to 0 through control;
e is less than or equal to delta, the nonlinear PI controller constructed by the fal function processes the current feedback error e through the low-pass filter characteristic;
after PWM modulation, the output of the nonlinear PI controller constructed by the fal function outputs a switching tube control signal for the bidirectional DC converter;
wherein delta is a filter factor;
the data processing process of the nonlinear PI controller constructed by the fal function comprises the following steps:
Figure FDA0004178899020000021
wherein a is a nonlinear factor.
2. The method for coordinated control of battery energy suitable for use in an integrated light and storage system of claim 1, wherein the battery is a valve-regulated lead-acid battery.
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