Optimal Cooperative Secondary Control for Islanded DC Microgrids via a Fully Actuated Approach

DC-DC converter-based multi-bus DC microgrids(MGs) in series have received much attention, where the conflict between voltage recovery and current balancing has been a hot topic. The lack of models that accurately portray the electrical characteristics of actual MGs while is controller design-friendly has kept the issue active. To this end, this paper establishes a large-signal model containing the comprehensive dynamical behavior of the DC MGs based on the theory of high-order fully actuated systems, and proposes distributed optimal control based on this. The proposed secondary control method can achieve the two goals of voltage recovery and current sharing for multi-bus DC MGs. Additionally, the simple structure of the proposed approach is similar to one based on droop control, which allows this control technique to be easily implemented in a variety of modern microgrids with different configurations. In contrast to existing studies, the process of controller design in this paper is closely tied to the actual dynamics of the MGs. It is a prominent feature that enables engineers to customize the performance metrics of the system. In addition, the analysis of the stability of the closed-loop DC microgrid system, as well as the optimality and consensus of current sharing are given. Finally, a scaled-down solar and battery-based microgrid prototype with maximum power point tracking controller is developed in the laboratory to experimentally test the efficacy of the proposed control method.

Distributed Secondary Control of AC Microgrids With External Disturbances and Directed Communication Topologies:A Full-Order Sliding-Mode Approach

This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are achieved in finite time.For voltage regulation,a distributed observer is proposed for each distributed generator(DG)to estimate a reference voltage level.Different from some conventional observers,the reference voltage level in this paper is accurately estimated under directed communication topologies.Based on the observer,a new nonlinear controller is designed in a backstepping manner such that an FOSM surface is reached in finite time.On the surface,the voltages of DGs are regulated to the reference level in finite time.For frequency restoration,a distributed controller is further proposed such that a constructed FOSM surface is reached in finite time,on which the frequencies of DGs are restored to a reference level in finite time under directed communication topologies.Finally,case studies on a modified IEEE 37-bus test system are conducted to demonstrate the effectiveness,the robustness against load changes,and the plug-and-play capability of the proposed controllers.

Variants of Secondary Control with Power Recovery for Loading Hydraulic Driving Device

Current high power load simulators are generally incapable of obtaining both high loading performance and high energy efficiency. Simulators with high energy efficiency are used to simulate static-state load, and those with high dynamic performance typically have low energy efficiency. In this paper, the variants of secondary control（VSC） with power recovery are developed to solve this problem for loading hydraulic driving devices that operate under variable pressure, unlike classical secondary control（CSC） that operates in constant pressure network. Hydrostatic secondary control units are used as the loading components, by which the absorbed mechanical power from the tested device is converted into hydraulic power and then fed back into the tested system through 4 types of feedback passages（FPs）. The loading subsystem can operate in constant pressure network, controlled variable pressure network, or the same variable pressure network as that of the tested device by using different FPs. The 4 types of systems are defined, and their key techniques are analyzed, including work principle, simulating the work state of original tested device, static operation points, loading performance, energy efficiency, and control strategy, etc. The important technical merits of the 4 schemes are compared, and 3 of the schemes are selected, designed, simulated using AMESim and evaluated. The researching results show that the investigated systems can simulate the given loads effectively, realize the work conditions of the tested device, and furthermore attain a high power recovery efficiency that ranges from 0.54 to 0.85, even though the 3 schemes have different loading performances and energy efficiencies. This paper proposes several loading schemes that can achieve both high dynamic performance and high power recovery efficiency.

Design of an aircraft autonomous traction taxiing system based on hydraulic secondary control

At present,aircraft taxiing at ground airports needs to be provided with a thrust by the main engine.The taxiing process is inefficient,has high fuel consumption and serious pollution,and is prone to safety risks.In this paper,a new configuration of aircraft autonomous traction taxiing system is proposed based on the principle of hydraulic secondary control,in which a hydraulic motor drive device is installed at the front wheels of the aircraft to drive the wheels to rotate forward or backward.Based on this,autonomous taxiing can be realized without relying on the main engines,thus greatly improving airport operation efficiency.Meanwhile,this paper analyzes the influencing factors of the autonomous traction taxiing process,and investigates the parameter matching design of the new configuration system.Besides,this paper develops the ground principle prototype,designs the aircraft longitudinal bonding force observer and the aircraft wheel disturbance moment observer,and proposes the speed control method of the aircraft front wheel autonomous traction taxiing by considering the ground bonding force saturation characteristics.Finally,the ground taxiing test is conducted,and the results show that the new configuration proposed in this paper presents a new solution for aircraft autonomous traction taxiing.

Distributed Secondary Control Based on Dynamic Diffusion Algorithm for Current Sharing and Average Voltage Regulation in DC Microgrids

This paper introduces a distributed secondary control scheme for achieving current sharing and average voltage regulation objectives in a DC microgrid.The proposed scheme employs a dynamic diffusion algorithm(DDA)instead of the consensus algorithm to enable distributed communication among converters.To help understand DDA,the relation of DDA and other diffusion algorithms is discussed in detail and its superiority is shown by comparison with diffusion and consensus algorithms.Furthermore,considering the discrete nature and different sampling time of the digital controller and communication network,a z-domain model of the entire DC microgrid is established.The influence of communication and secondary control parameters on the system stability is investigated.Based on the established model,the tolerable communication rates are obtained.Real-time simulations conducted on the OPAL-RT platform validate the effectiveness of the proposed scheme,showcasing its advantages in terms of convergence speed and stability.

Distributed Hybrid Model Predictive Secondary Control of DC Microgrids with Random Communication Disorders

A reliable and robust communication network is essential to exchange information between distributed generators(DGs)and accurately calculate their control actions in microgrids(MGs).However,the integration of the communication network and MGs poses challenges related to the flexibility,availability,and reliability of the system.Furthermore,random communication disorders such as time delays and packet loss can negatively impact the system performance.Therefore,it is essential to design a suitable secondary controller(SC)with a fast dynamic response to restore voltage and appropriate powersharing,while ensuring that the effects of random communication disorders are eliminated.In this regard,an optimal distributed hybrid model predictive secondary control method is presented in this paper.Realistic simulations are carried out in a mixed simulation environment based on MATLAB and OMNET++,by considering IEEE 802.11(Wi Fi)using the recently developed Internet networking(INET)framework.In the implemented application layer,the recovery Unit is responsible for reducing the impact of random communication disorders.The effectiveness and performance of the proposed method in comparison with a conventional model predictive control are verified by simulation results.

Optimal Secondary Control of Islanded AC Microgrids with Communication Time-delay Based on Multi-agent Deep Reinforcement Learning

In this paper,an optimal secondary control strategy is proposed for islanded AC microgrids considering communi-cation time-delays.The proposed method is designed based on the data-driven principle,which consists of an offine training phase and online application phase.For offline training,each control agent is formulated by a deep neural network(DNN)and trained based on a multi-agent deep reinforcement learning(MA-DRL)framework.A deep deterministic policy gradient(DDPG)algorithm is improved and applied to search for an optimal policy of the secondary control,where a global cost function is developed to evaluate the overall control performance.In addition,the communication time-delay is introduced in the system to enrich training scenarios,which aims to solve the time-delay problem in the secondary control.For the online stage,each controller is deployed in a distributed way which only requires local and neighboring information for each DG.Based on this,the well-trained controllers can provide optimal solutions under load variations,and communication time-delays for online applications.Several case studies are conducted to validate the feasibility and stability of the proposed secondary control.Index Terms-Communication time-delay,global cost function,islanded AC microgrid,multi-agent deep reinforcement learning(MA-DRL),secondary control.

Model Reference Adaptive Controller for Simultaneous Voltage and Frequency Restoration of Autonomous AC Microgrids

In an autonomous droop-based microgrid,the sys-tem voltage and frequency(VaF)are subject to deviations as load changes.Despite the existence of various control methods aimed at correcting system frequency deviations at the second-ary control level without any communication network,the chal-lenges associated with these methods and their abilities to simul-taneously restore microgrid VaF have not been fully investigat-ed.In this paper,a multi-input multi-output(MIMO)model ref-erence adaptive controller(MRAC)is proposed to achieve VaF restoration while accurate power sharing among distributed generators(DGs)is maintained.The proposed MRAC,without any communication network,is designed based on two meth-ods:droop-based and inertia-based methods.For the microgrid,the suggested design procedure is started by defining a model reference in which the control objectives,such as the desired settling time,the maximum tolerable overshoot,and steady-state error,are considered.Then,a feedback-feedforward con-troller is established,of which the gains are adaptively tuned by some rules derived from the Lyapunov stability theory.Through some simulations in MATLAB/SimPowerSystem Tool-box,the proposed MRAC demonstrates satisfactory perfor-mance.

Coordinated Secondary Control for Autonomous Hybrid Three-port AC/DC/DS Microgrid

This paper presents a coordinated secondary control(CSC)strategy for distributed power management for an autonomous hybrid three-port AC/DC/DS microgrid.The proposed CSC is on top of a generalized primary control(GPC),which consists of local power sharing(LPS)control within an individual AC or DC subgrid,global power sharing(GPS)control throughout the AC/DC subgrids,and storage power sharing(SPS)control in a distributed storage(DS)network.The CSC along with the GPC uses the local frequency/voltage deviations and offers decentralized power management with enhanced overall reliability.To eliminate the inherent frequency/voltage deviations in GPC and restore to their nominal values,a secondary control is normally applied to all distributed generators(DGs),which would degrade the performance of decentralized power management.To overcome this concern,a CSC strategy is proposed to concurrently restore frequency/voltage and re-establish a distributed power management by means of limited information exchange through the low-bandwidth communication links.The proposed control scheme has been verified by both simulations and controller hardware-in-the-loop(CHIL)experiments in an OPAL-RT digital simulator system.

Distributed Event-triggered Secondary Control for Average Bus Voltage Regulation and Proportional Load Sharing of DC Microgrid

This paper proposes a novel distributed event-triggered secondary control method to overcome the drawbacks of primary control for direct current(DC)microgrids.With eventtriggered distributed communication,the proposed control method can achieve system-wide control of parallel distrubted generators(DGs)with two main control objectives:①estimate the average bus voltage and regulate it at the nominal value;②achieve accurate current sharing among the DGs in proportion to their power output ratings.Furthermore,the proposed control strategy can be implemented in a distributed way that shares the required tasks among the DGs.Thus,it shows the advantages of being flexible and scalable.Furthermore,this paper proposes a simple event-triggered condition that does not need extra state estimator.Thus,limited communication among neighbors is required only when the event-triggered condition is satisfied,which significantly reduces the communication burden at the cyber layer.

Distributed Secondary Control Strategy Based on Q-learning and Pinning Control for Droop-controlled Microgrids

A distributed secondary control(DSC) strategy that combines Q-learning and pinning control is originally proposed to achieve a fully optimal DSC for droop-controlled microgrids(MGs). It takes advantages of cross-fusion of the two algorithms to realize the high efficiency and self-adaptive control in MGs. It has the following advantages. Firstly, it adopts the advantages of reinforcement learning in autonomous learning control and intelligent decision-making, driving the action value of pinning control for feedback adaptive correction. Secondly, only a small part of points selected as pinned points needs to be controlled and pre-learned, hence the actual control problem is transformed into a synchronous tracking problem and the installation number of controllers is further reduced.Thirdly, the pinning matrix can be modified to adapt to plugand-play operation under the distributed control architecture.Finally, the effectiveness and versatility of the proposed strategy are demonstrated with a typical droop-controlled MG model.

Effect of EM Bokashi application on control of secondary soil salinization

In order to ameliorate saline-alkaline soil, EM Bokashi has been applied to rice production in conjunction with subdrainage in Ningxia Autonomous Region and Zhejiang Province. The preliminary results can be summarized as follows： EM Bokashi can increase soil organic matter content, improve soil porosity and permeability, and raise the soil＇s levels of available nutrients; and EM Bokashi combined with subdrainage treatment is more effective in controlling secondary soil salinization and raising the grain yield and quality than other treatments. The results suggest that EM Bokashi can reduce the necessary amount of chemical fertilizer application, thereby improving the agricultural environment, and that the introduction of EM Bokashi into systems of secondary soil salinization control systems has resulted in significant benefits.

Automatic SOC Equalization Strategy of Energy Storage Units with DC Microgrid Bus Voltage Support

In this paper,an improved sag control strategy based on automatic SOC equalization is proposed to solve the problems of slow SOC equalization and excessive bus voltage fluctuation amplitude and offset caused by load and PV power variations in a stand-alone DC microgrid.The strategy includes primary and secondary control.Among them,the primary control suppresses the DC microgrid voltage fluctuation through the I and II section control,and the secondary control aims to correct the P-U curve of the energy storage system and the PV system,thus reducing the steady-state bus voltage excursion.The simulation results demonstrate that the proposed control strategy effectively achieves SOC balancing and enhances the immunity of bus voltage.The proposed strategy improves the voltage fluctuation suppression ability by approximately 39.4%and 43.1%under the PV power and load power fluctuation conditions,respectively.Furthermore,the steady-state deviation of the bus voltage,△U_(dc) is only 0.01–0.1 V,ensuring stable operation of the DC microgrid in fluctuating power environments.

Steady-state voltage-control method considering large-scale wind-power transmission using half-wavelength transmission lines

Half-wavelength transmission can transmit large-scale renewable energy over very long distances.This paper proposes an improved steady-state voltage-control method for half-wavelength transmission systems considering largescale wind-power transmission.First,the unique voltage characteristics of half-wavelength lines are deduced based on the distributed parameter model.In the secondary voltage-control level,reactive power-transmission limits of half-wavelength lines are introduced as another control objective except for tracing the pilot bus voltage reference.Considering the uncertainty and fluctuation of wind power,the overvoltage risk-assessment method of half-wavelength lines is presented to determine specific voltage-control strategies.Simulation results demonstrate that the proposed voltage-control method delivers superior tracking performance according to a voltage reference value and prevents the overvoltage risk of halfwavelength lines effectively in different wind-power penetrations.

Research on Distributed Coordination Control Method for Microgrid System Based on Finite-time Event-triggered Consensus Algorithm

Microgrids are networked control systems with multiple distributed generators(DGs).Microgrids are associated with many problems,such as communication delays,high sampling rates,and frequent controller updates,which make it challenging to realize coordination control among the DGs.Therefore,finite-time consensus algorithms and event-triggered control methods are combined to propose a distributed coordination control method for microgrid systems.The DG in the microgrid system serves as an agent node in the control network,and a distributed secondary controller is designed using finite-time consensus algorithm,such that the frequency and voltage restoration control has a faster convergence time and better anti-interference performance.The event-triggered function was designed based on the state information of the agents.The controller exchanges the state information at the trigger instants.System stability is analyzed using the Lyapunov stability theory,and it is verified that the controller cannot exhibit the Zeno phenomenon in the event-triggered process.A simulation platform was developed in Matlab/Simulink to verify that the proposed control method can effectively reduce the frequency of controller updates during communication delays and the burden on the communication network.

Secondary Frequency Control Considering Optimized Power Support From Virtual Power Plant Containing Aluminum Smelter Loads Through VSC-HVDC Link

The growing number of renewable energy replacing conventional generators results in a loss of the reserve for frequency control in power systems,while many industrial power grids often have excess energy supply due to abundant wind and solar energy resources.This paper proposes a secondary frequency control(SFC)strategy that allows industrial power grids to provide emergency high-voltage direct current(HVDC)power support(EDCPS)for emergency to a system requiring power support through a voltage source converter(VSC)HVDC link.An architecture including multiple model predictive control(MPC)controllers with periodic communication is designed to simultaneously obtain optimized EDCPS capacity and minimize adverse effects on the providing power support(PPS)system.Moreover,a model of a virtual power plant(VPP)containing aluminum smelter loads(ASLs)and a high penetration of wind power is established for the PPS system.The flexibility and controllability of the VPP are improved by the demand response of the ASLs.The uncertainty associated with wind power is considered by chance constraints.The effectiveness of the proposed strategy is verified by simulation results using the data of an actual industrial power grid in Inner Mongolia,China.The DC voltage of the VSCs and the DC in the potlines of the ASLs are also investigated in the simulation.

Distributed Event-triggered Control for Frequency Restoration in Islanded Microgrids with Reduced Trigger Condition Checking

For islanded microgrids(MGs),distributed control is regarded as a preferred alternative to centralized control for the frequency restoration of MGs.However,distributed control with successive communication restricts the efficiency and resilience of the control system.To address this issue,this paper proposes a distributed event-triggered control strategy for the frequency secondary control in islanded MGs.The proposed event-triggered control is Zeno behavior free and enables each DG to update and propagate its state to neighboring DGs only when a specific“event”occurs,which significantly reduces the communication burden.Compared with the existing event-triggered control,a trigger condition checking period of the proposed event-triggered control is provided to reduce the computation burden when checking the trigger condition.Furthermore,using the aperiodicity and intermittent properties of the communication,a simple detection principle is proposed to detect and isolate the compromised communication links in a timely and economic fashion,which improves the resilience of the system against FDI attacks.Finally,the control effectiveness of the proposed control scheme is validated by the simulation results of the tests on an MG with 4 DGs.

Fixed-time Distributed Voltage and Reactive Power Compensation of Islanded Microgrids Using Sliding-mode and Multi-agent Consensus Design

This paper investigates a fixed-time distributed voltage and reactive power compensation of islanded microgrids using sliding-mode and multi-agent consensus design.A distributed sliding-mode control protocol is proposed to ensure voltage regulation and reference tracking before the desired preset fixed-time despite the unknown disturbances.Accurate reactive power sharings among distributed generators are maintained.The secondary controller is synthesized without the knowledge of any parameter of the microgrid.It is implemented using a sparse one-way communication network modeled as a directed graph.A comparative simulation study is conducted to highlight the performance of the proposed control strategy in comparison with finite-time and asymptotic control systems with load power variations.