# Hierarchical Coordinated Control Method for Multiload DC Microgrid Units

Authors: Zhigang Zhang; Jinping Mo
Journal: Wireless Communications and Mobile Computing
 (2021)

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## Abstract

Electricity has become not merely a source of power but also a vital component of our lives in a rapidly changing world. However, according to a World Bank report, 17% of the globe’s population live without power. The key cause for such a huge population not being electrified is the proximity of the central electrical grid system or the high expenditure of installing the grid lines to such remote areas. The notion of a microgrid was first proposed more than a decade ago, but the numerous obstacles it entails have hampered its broad adoption and made it a research focus in recent years. A hierarchical control structure of the microgrid is designed, which is divided into layers according to the control objectives and control time scales of the microgrid, and the hierarchical control structure is realized by using multiagent technology. In the framework of hierarchical control, aiming at the demand of energy coordination and optimization of the microgrid, the operation strategy of the microgrid is proposed in grid-connected and/or off-grid mode. In the grid-connected mode, the large power grid is used for power supply and in the off-grid mode, the load bidding mechanism is introduced to ensure the power supply of important loads. Experiment results reveal the power quality and stability of the system.


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## Body

## 1. Introduction

Due to the increasingly serious problems of power crisis and environmental issues, grid-connected power generation method by using renewable energy has become one of the imperative methods for generation of electricity [1]. The output power and the single access to distributed generation (DG) units have the limitations of high cost, small capacity, flexibility, and controllability. Therefore, in order to use multiload DC microgrids and to realize the benefits of DG units, it is important to assimilate the microgrid into the main network [2]. At present, microgrid structure mainly includes AC microgrid, DC microgrid, and hybrid microgrid. Previous research mainly focused on AC microgrid. However, with the continuous increase of DC load, DC microgrid has the benefits of less energy conversion times, cheap cost, great efficiency, and modest control structure which promotes the rapid development of DC microgrid [3–5].DC microgrid comprises distributed generation, energy storage units, load units, and grid-connected interface converters [6]. In order to manage energy flow and coordinate the controls among the diverse units, the development of DC microgrid requires immense caution while designing the DC microgrid. To solve this problem, the researchers have proposed effective control strategies and made a lot of contributions. Meng et al. [7] proposed an energy management approach for isolated operation of DC microgrid based on wind turbine and super capacitor energy storage. The four PI controllers of energy storage system can effectively control the situation of excess energy, insufficient energy, excessive discharge of battery, and charging, respectively. Most of the traditional control methods are based on the hierarchical control strategy of DBS.


### 1.1. Related Work

Due to the considerable benefits of DC microgrids over AC microgrids and their versatile uses, researchers and academicians are attempting to research upon DC microgrids to cut down production costs and for optimizing the usage of renewable energy.Prajof et al. [1] have introduced three innovative nonlinear smart grid-control techniques to enhance the accuracy of load sharing between connected voltage sources, as well as to improve the regulation of DC bus voltage. The experimental data proves the efficacy of the proposed control mechanisms. Performance analysis is presented under various operating situations, of the three droop control strategies along with their advantages over conventional methods. Hamed et al. [2] have presented the optimum fuel cell (FC) and combined heat power- (CHP-) based microgrid (MG) transmission in a grid-connected mode with the inclusion of a demand response program (DRP). The proposed technique reduces the number of effective solutions to a more manageable amount compared to the ways that are currently utilized without requiring any information on the policy criteria. Keshta et al. [3] have proposed a multiagent system (MAS) to accomplish optimal energy management for voltage control and to improve system stability under various weather conditions and load disturbances for two connected microgrids. The simulation results demonstrate a high degree of efficiency in the proposed energy management system.Martin-Ramos et al. [6] have proposed a hardware-in-the-loop (HIL) simulation system, a new mechanism for developing and testing control algorithms for DC microgrids. The platform is built on the basis of universal acceptance and adaptability. Meng et al. [7] have demonstrated how to configure and communicate with the HIL simulation system. Finally, simulation tests are performed to demonstrate that the suggested HIL simulation platform is valid. Kou et al. [8] have introduced a novel distributed load share control technique in a stable and optimum DC microgrid among many permanent magnet synchronous generators (PMSGs). The primary feature of this technique is that the rotor kinetic energy and generation ranges in the controller design are not only efficient for load sharing but also capable to maintain the steady functioning of all PMSGs. Dam and Lee [9] have proposed a new power distribution control mechanism for a DC microgrid. This technique restores the DC bus voltage when the load changes and spreads the load power proportionately to the distributed power source ratings. To do this efficiently, a shifted voltage method is developed based on the power rating and instantaneous power of dispersed generators. To validate the method’s efficacy, simulations and experiments have been carried out utilizing a 2.8 kW DC microgrid prototype.Yousefizadeh et al. [10] have created an adaptive backstepping controller for a DC MG feeding nonideal CPLs, which is coupled to a 3rd-degree cubature Kalman filter (CKF). The results of the experiments reveal that the proposed adaptive controller is successful and stable. Islam et al. [11] have shown a coordinated control structure, centralized as well as distributed, which allows more flexibility in system design and better supervisory control. There are various control choices in a hierarchical approach for each level, including DC signals, droop control, and fuzzy control, for primary and secondary control such as centralized, decentralized, and distributed control. For tertiary control, genetic algorithm (GA), particle swarm algorithms, and consensus algorithms are used. Each of these control systems has its own set of advantages and disadvantages.There is still a scope for further improvements in the methods for DC microgrids on the basis of renewable energy and hence, we are proposing a new framework in this paper.


### 1.2. Contributions of the Paper

This paper presents a hierarchical coordinated control method for multiload DC microgrid units. Compared with the existing research methods, the main contributions and characteristics of the proposed method are as shown:(A)
The control switching conditions of each unit are determined by DC bus voltage variation, grid-connected converter current, battery SOC, and current. The above variables are local control information and do not need communication technology(B)
In grid-oriented operation, converter current limiting, and islanding process modes, the converters controlling DC bus voltage adopt PI control to ensure zero steady-state error regulation of DC bus voltage, which effectively avoids the instability of constant power load when DC bus voltage deviates from the ideal reference value(C)
When the system functions in island mode and the load power is less than the DG output power, an open-loop pitch angle control method is suggested to participate in DC voltage coordinated control, which cannot achieve constant power operation above rated power but also can realize constant voltage control of fan under rated power to eliminate the fluctuation of DC bus voltage(D)
The control configuration of the suggested method in this paper is simple, is convenient to device, and can improve the power quality and stability of the systemThe paper is arranged into five sections:(a)
Introduction with background study, literature review, and contributions of the suggested work in this paper(b)
The proposed method is elaborated in the second section of this paper(c)
Energy coordination model of the microgrid is discussed in the third section(d)
Results are discussed in the fourth section(e)
Conclusion is given in the last section


## 1.1. Related Work

Due to the considerable benefits of DC microgrids over AC microgrids and their versatile uses, researchers and academicians are attempting to research upon DC microgrids to cut down production costs and for optimizing the usage of renewable energy.Prajof et al. [1] have introduced three innovative nonlinear smart grid-control techniques to enhance the accuracy of load sharing between connected voltage sources, as well as to improve the regulation of DC bus voltage. The experimental data proves the efficacy of the proposed control mechanisms. Performance analysis is presented under various operating situations, of the three droop control strategies along with their advantages over conventional methods. Hamed et al. [2] have presented the optimum fuel cell (FC) and combined heat power- (CHP-) based microgrid (MG) transmission in a grid-connected mode with the inclusion of a demand response program (DRP). The proposed technique reduces the number of effective solutions to a more manageable amount compared to the ways that are currently utilized without requiring any information on the policy criteria. Keshta et al. [3] have proposed a multiagent system (MAS) to accomplish optimal energy management for voltage control and to improve system stability under various weather conditions and load disturbances for two connected microgrids. The simulation results demonstrate a high degree of efficiency in the proposed energy management system.Martin-Ramos et al. [6] have proposed a hardware-in-the-loop (HIL) simulation system, a new mechanism for developing and testing control algorithms for DC microgrids. The platform is built on the basis of universal acceptance and adaptability. Meng et al. [7] have demonstrated how to configure and communicate with the HIL simulation system. Finally, simulation tests are performed to demonstrate that the suggested HIL simulation platform is valid. Kou et al. [8] have introduced a novel distributed load share control technique in a stable and optimum DC microgrid among many permanent magnet synchronous generators (PMSGs). The primary feature of this technique is that the rotor kinetic energy and generation ranges in the controller design are not only efficient for load sharing but also capable to maintain the steady functioning of all PMSGs. Dam and Lee [9] have proposed a new power distribution control mechanism for a DC microgrid. This technique restores the DC bus voltage when the load changes and spreads the load power proportionately to the distributed power source ratings. To do this efficiently, a shifted voltage method is developed based on the power rating and instantaneous power of dispersed generators. To validate the method’s efficacy, simulations and experiments have been carried out utilizing a 2.8 kW DC microgrid prototype.Yousefizadeh et al. [10] have created an adaptive backstepping controller for a DC MG feeding nonideal CPLs, which is coupled to a 3rd-degree cubature Kalman filter (CKF). The results of the experiments reveal that the proposed adaptive controller is successful and stable. Islam et al. [11] have shown a coordinated control structure, centralized as well as distributed, which allows more flexibility in system design and better supervisory control. There are various control choices in a hierarchical approach for each level, including DC signals, droop control, and fuzzy control, for primary and secondary control such as centralized, decentralized, and distributed control. For tertiary control, genetic algorithm (GA), particle swarm algorithms, and consensus algorithms are used. Each of these control systems has its own set of advantages and disadvantages.There is still a scope for further improvements in the methods for DC microgrids on the basis of renewable energy and hence, we are proposing a new framework in this paper.


## 1.2. Contributions of the Paper

This paper presents a hierarchical coordinated control method for multiload DC microgrid units. Compared with the existing research methods, the main contributions and characteristics of the proposed method are as shown:(A)
The control switching conditions of each unit are determined by DC bus voltage variation, grid-connected converter current, battery SOC, and current. The above variables are local control information and do not need communication technology(B)
In grid-oriented operation, converter current limiting, and islanding process modes, the converters controlling DC bus voltage adopt PI control to ensure zero steady-state error regulation of DC bus voltage, which effectively avoids the instability of constant power load when DC bus voltage deviates from the ideal reference value(C)
When the system functions in island mode and the load power is less than the DG output power, an open-loop pitch angle control method is suggested to participate in DC voltage coordinated control, which cannot achieve constant power operation above rated power but also can realize constant voltage control of fan under rated power to eliminate the fluctuation of DC bus voltage(D)
The control configuration of the suggested method in this paper is simple, is convenient to device, and can improve the power quality and stability of the systemThe paper is arranged into five sections:(a)
Introduction with background study, literature review, and contributions of the suggested work in this paper(b)
The proposed method is elaborated in the second section of this paper(c)
Energy coordination model of the microgrid is discussed in the third section(d)
Results are discussed in the fourth section(e)
Conclusion is given in the last section


## 2. Proposed Method

### 2.1. Hierarchical Control Structure of Microgrid Energy Management

In order to coordinate the micropower generation, arrange the charging and discharging of energy storage, manage the controllable load, and maintain the system stability, it is often necessary to introduce the microgrid energy management system [12]. In this paper, the hierarchical control method is used to stratify the microgrid system from the functional level. Each layer of control system independently completes the control objectives, and each layer of information sharing jointly achieves the control and optimization objectives of the microgrid energy management system.As shown in Figure1, the first layer is the local control layer, which is the primary control layer of the microgrid which comprises local devices. The local layer is responsible for the real-time control of each micropower source to ensure the power balance in the microgrid structure and the voltage and frequency stability on the bus. The voltage instability of DC bus in islanded operation mode can be intervened and controlled by this layer to reduce the interference of circulating current and maintain the power balance of DC microgrid as far as possible. In each distributed unit, the converter is configured to control the DC bus voltage stability and provide high-quality power for users.Figure 1
System hierarchical structure diagram.The second layer is the central control layer. As per the current functionality of the microgrid, such as the frequency and voltage on the bus, the ultra-short-term prediction results of natural resources and loads, and the operation plan from the system layer [13], the active as well as reactive power output of the local distributed generation is adjusted in real time to ensure the stability in the operation of the microgrid. All at once, when the large grid or microgrid itself fails, it can quickly switch the system operation mode and achieve a stable transition process.The third layer is based on the top layer of hierarchical control, that is, the system layer of energy management. Its function is to control the whole microgrid from the perspective of the overall operation of the distribution system. The energy management system can forecast the changes of natural resources and user load in the next 24 hours and submit an operation plan of each microelectricity supply in microgrid according to the demand change of power market, so that users can participate in the market competition of the microgrid at the lowest cost and benefit from it.


### 2.2. Multiagent Implementation of Hierarchical Control

The local control layer may contain multiple generation agents, energy storage agents, and load agents; the central control layer contains energy ultra-short-term forecasting agent and real-time control agent; and the system control layer contains energy short-term prediction agent and economic dispatch agent. In addition, there are also SCDA agents (service control and data acquisition agent) which are used to monitor the real-time operation status information of the microgrid micropower supply and ensure the communication function between agents at all levels. The functional principles of each agent are as shown in Figure2.Figure 2
Multiagent hierarchical control structure.


## 2.1. Hierarchical Control Structure of Microgrid Energy Management

In order to coordinate the micropower generation, arrange the charging and discharging of energy storage, manage the controllable load, and maintain the system stability, it is often necessary to introduce the microgrid energy management system [12]. In this paper, the hierarchical control method is used to stratify the microgrid system from the functional level. Each layer of control system independently completes the control objectives, and each layer of information sharing jointly achieves the control and optimization objectives of the microgrid energy management system.As shown in Figure1, the first layer is the local control layer, which is the primary control layer of the microgrid which comprises local devices. The local layer is responsible for the real-time control of each micropower source to ensure the power balance in the microgrid structure and the voltage and frequency stability on the bus. The voltage instability of DC bus in islanded operation mode can be intervened and controlled by this layer to reduce the interference of circulating current and maintain the power balance of DC microgrid as far as possible. In each distributed unit, the converter is configured to control the DC bus voltage stability and provide high-quality power for users.Figure 1
System hierarchical structure diagram.The second layer is the central control layer. As per the current functionality of the microgrid, such as the frequency and voltage on the bus, the ultra-short-term prediction results of natural resources and loads, and the operation plan from the system layer [13], the active as well as reactive power output of the local distributed generation is adjusted in real time to ensure the stability in the operation of the microgrid. All at once, when the large grid or microgrid itself fails, it can quickly switch the system operation mode and achieve a stable transition process.The third layer is based on the top layer of hierarchical control, that is, the system layer of energy management. Its function is to control the whole microgrid from the perspective of the overall operation of the distribution system. The energy management system can forecast the changes of natural resources and user load in the next 24 hours and submit an operation plan of each microelectricity supply in microgrid according to the demand change of power market, so that users can participate in the market competition of the microgrid at the lowest cost and benefit from it.


## 2.2. Multiagent Implementation of Hierarchical Control

The local control layer may contain multiple generation agents, energy storage agents, and load agents; the central control layer contains energy ultra-short-term forecasting agent and real-time control agent; and the system control layer contains energy short-term prediction agent and economic dispatch agent. In addition, there are also SCDA agents (service control and data acquisition agent) which are used to monitor the real-time operation status information of the microgrid micropower supply and ensure the communication function between agents at all levels. The functional principles of each agent are as shown in Figure2.Figure 2
Multiagent hierarchical control structure.


## 3. Energy Coordination Model of the Microgrid

The energy optimization of the second and third scheduling layers is modeled and analyzed. In order to achieve this, the particle swarm optimization (PSO) is deployed in our model.


### 3.1. Secondary Scheduling Optimization Model

In this paper, the secondary dispatch of the microgrid is aimed at coordinating the output power of each micropower source in the microgrid system based on the radical short-term prediction of wind energy, light energy, and load, so as to achieve the control objective of peak load shifting and valley filling [14]. Figure 3 is the information flow diagram of real-time dispatching agent. The real-time operation status of the microgrid is obtained from SCADA; the prediction results of next time are obtained from radical short-term forecasting agent of wind power, photoelectric, and load; and the operation plan is obtained from economic dispatch agent. According to the current operation mode of the microgrid, the corresponding operation strategy is selected to optimize the operation state of the microgrid.Figure 3
Information flow of real-time scheduling agent.


#### 3.1.1. Energy Optimization Model for Connected Grid Mode

While the microgrid is under the grid-connected mode, the mathematical model is established according to the operation strategy of peak shaving and valley filling. According to the peak and valley period and battery SOC state, different battery charging and discharging penalty numbers are determined as the operation cost of the battery. At the same time, the economic benefit, environmental treatment cost, plus reactive power production cost of the microgrid are comprehensively considered, and the energy optimization is carried out under the operation constraints of each micropower source in the microgrid.(1) Objective Function. The objective function under grid-connected mode includes the cost of power generation and operation, the cost of environmental governance, the cost of exchanging power with power grid, and the cost of reactive power production which is mentioned in the following equation:
(1)F=λ1Co+λ2Ce+λ3Cg+λ4Cr,where Co is the functional plus maintenance cost of the microgrid system; that is, the fuel consumption, equipment maintenance, active and reactive power grid loss, and battery charging and discharging penalty costs may be included in the operation of the microgrid system; Ce is the cost of pollutant emission treatment of the microgrid, that is, the treatment cost of carbon dioxide or other toxic gases generated due to fuel consumption during the operation of the microgrid; and Cg is when the microgrid is coupled with the grid, the cost of power conversation with the grid should be negative when the microgrid delivers more power to the grid, otherwise it is positive; Cr is the cost of reactive power production. λ1, λ2, λ3, and λ4 are the weight proportion of the above four costs in the objective function. For attaining the purpose of economic operation of the microgrid, the value of objective function should be minimised. The different weight proportion settings will affect the optimization of objective function. Therefore, it is necessary to set the weight proportion reasonably and balance the proportion of each item.The expression of each component of the objective function is as shown:(A)
System operation and maintenance costCoIn this paper, the functional plus maintenance cost of the microgrid system is defined as fuel cost, equipment maintenance cost, active and reactive power loss cost, and battery charging and discharging penalty cost as shown in the following equation:(2)Co=∑k=1nCfirel,k+Com,k+Closs+Cbat,where n represents the number of distributed generation units in the microgrid system; Cfirel,k is the fuel cost of the kth distributed unit. The renewable energy generation unit has no fuel cost; only the microfuel turbine and fuel cell are considered. The characteristics of fuel cost and output power have been analyzed in chapter 2; k is the equipment maintenance cost of the kth distributed unit, which mainly includes the start-up and shutdown cost of equipment and the labor cost of equipment maintenance. It is generally considered that the equipment maintenance cost of distributed generation unit has a linear relationship with its operation time; closure is the cost of active as well as reactive power loss in the microgrid system and the network loss caused by impedance of transmission lines and operating equipment of the microgrid. Cbat is the penalty cost of battery charge and discharge. When the battery is in peak or valley, the battery operates according to the control strategy, and its output power is constrained by constraints; when in the valley, the battery sets corresponding charge and discharge penalty according to the SOC interval and controls the battery SOC level in interval 3 as much as possible.
(B)
Ce for trade in Xingduo gas stoneIn the operation of the microgrid, the units that generate electricity by fuel combustion, such as microgas turbine and fuel cell, will produce polluting gas or greenhouse gas, which will affect the environment. These gases that will affect the environment mainly include carbides, sulfides, and nitrides; appropriate gas emission treatment costs shall be formulated according to various gas emissions, so as to restrict the environmental problems caused by excessive output of the above units [15]. The calculation of the cost is based on the output of the relevant units to obtain the emissions of various gases and then calculate the corresponding treatment costs as given in the following equation:
(3)Ce=∑k=1n∑j=1mαkjPDG,k+βkjPDG,k2.In the formula, the treatment cost ofm gases emitted by n units in total during the operation time of the system is counted. Among them, αkj and βkj are the jth gas emission coefficient of the kth distributed generation unit. It is considered that the gas emission has a quadratic relationship with the output power of the DG, and fj is the governance cost coefficient of the J-type gas.
(C)
Exchange power costCg with large power gridWhen the output of micropower source in microgrid (MG) meets the load of MG, surplus power can be sold to huge power grid; when the output of micropower source in the microgrid is insufficient to meet the load of the microgrid, power can be purchased from a large grid in normal and valley. The cost expression is as shown in the following equation:(4)Cg=CbuyPgrid−b,CsellPgrid−s,where Cbuy and Csell are the costs of the purchased power and sold off by the MG from the grid and Pgrid−b and Pgrid−s represent the powers of the microgrid to buy and sell electricity from the large grid, respectively.
(D)
Reactive power production costCrBecause reactive power itself does not produce economic benefits, the charge for reactive power is defined as the cost corresponding to the reduction of micropower generation capacity due to reactive power output. That is to say, if the micropower supply wants to generate reactive power, the limit value of its active power output will be reduced, and the active power capacity as a spinning reserve will also be reduced accordingly. Therefore, this part of the loss is defined as the cost of generating reactive power as given in the following equation:(5)Cr=∑i=1nCSDG,i−CSDG,i2−Qi2k.Among them,SDG;i is the rated apparent power of the micropower supply, CSDG;i is the cost of the supply when it outputs at the maximum capacity of the equipment; Qi is the reactive power output of the ith micropower supply. k is the profit rate of active power generation of micropower source, which is generally taken as 0.05~0.1.(2) Constraints. During the operation of the microgrid, for maintaining the stable functionality of the microgrid, there are many constraints, such as equipment capacity, control strategy, and other factors.
(A)
Equality constraints(a)
Active and reactive power balance constraints in microgrid are represented in Equations (6) and (7).(6)∑PG,i=PD+PL+Pg,(7)∑QG,i=QD+QL+Qg,where PG;i and QG,i are the output active and reactive power of the i distributed generation in the microgrid; PD, QD are the load active as well as reactive power demand of the microgrid; PL and QL are the active as well as reactive network losses during the operation of the microgrid; Pg and Qg are the active versus reactive power exchanged between the microgrid system and the large grid.
(b)
Power flow constraint is given in the following equation:(8)ΔPi=Pis−∑j∈inViVjGijcoscosθij+Bijsinsinθij=0,ΔQi=Qis−∑j∈inViVjGijcoscosθij+Bijsinsinθij=0,where Gij, Bij, and θij are the admittance and phase angle differences between node i and node j; n is the number of microgrid system nodes; i is the node number of the microgrid system; and j is the node connected with node i.


#### 3.1.2. Energy Optimization Model in Off-Grid Mode

When the microgrid is in the off-grid mode, when the power supply is surplus, the distributed generation output is reduced according to the economic principle; when the power supply is inadequate, the load is cut off according to the load bidding strategy, and the compensation cost of the interrupted load is included [16]. The energy optimization model is as shown:
(B)
Objective functionCompared with the energy optimization model under grid-connected mode, the objective function under off-grid mode does not include the exchange cost with the grid, and the expression is as shown in the following equation:(9)F=λ1Co+λ2Ce+λ3Cr+λ4Ci,where Co is the functional and maintenance cost of the microgrid system, Ce is the pollutant emission treatment cost of the microgrid, Cr is the reactive power cost of production, and C1 is the compensation cost of the interrupted load. λ1, λ2, λ3, and λ4 are the weight proportion of the above four costs in the objective function. Except Ci, the other expressions are the same as those in grid-connected mode. Cl is calculated as shown in the following equation:
(10)Cl=∑inδiPd,i,where Pd,i is the energy demand of the ith generator cut-off load and δi is the cost compensation coefficient of the ith cut-off load.
(C)
ConstraintsThe difference between the constraint conditions and the grid-connected mode is that the ninth point of the grid connection mode is the transmission power constraint interacting with the large grid, which is not considered here but needs to be added with the rotating reserve constraint of the microgrid as shown in the following equation:(11)∑i=1NPDG,imax≥Pload+Ploss+PR.Generally, the spinning reserve capacity of the microgrid system is a fixed value, which can be taken as 5% of the maximum load demand. The higher the spinning reserve capacity is, the more reliable the system is, but the investment and operation cost of the system will increase.


### 3.2. Three-Time Scheduling Optimization Model

The three dispatches of the microgrid system give the daily scheduling plan of the microgrid. For the preestablished scheduling strategy, based on the short-term projection of wind energy, light energy, and load, the micropower system is optimized. The start and stop state and power output of the micropower supply and the switching of reactive power compensator have to be optimized [17]. Compared with the secondary scheduling, the difference lies in the different time scales of optimization. For the third scheduling, an all-day economic optimal scheduling scheme based on microgrid is needed, and the power optimization problem in the next period is only considered in the secondary scheduling [18].


#### 3.2.1. Energy Optimization Model under Grid-Connected Mode

(1) Objective Function (ObjF). The ObjF of the third dispatching of the microgrid system is as shown in the following equation:
(12)F=λ1Co+λ2Ce+λ3Cg+λ4Cr.Its expression is the same as that of the secondary dispatching grid connection mode, but the calculation method of each component is different, as shown above.(A)
System operation and maintenance costCo.The unit fuel consumption cost, pollution control cost, maintenance cost, active and reactive power network loss cost, and battery charging and discharging penalty cost of the microgrid are accumulated in the following equation:(13)Co=∑tT∑k=1nCfirel,k+Com,k+Closs+Cbat.(B)
Pollution gas treatment costCeIn the same way, the total cost of pollution control is calculated:(14)Ce=∑tT∑k=1n∑j=1mαkjPDG,k+βkjPDG,k2.(C)
Exchange power costCg with large power gridWhen exchanging power with large power grid, purchase power from the power grid, pay the cost, sell power to the power grid, obtain income, and calculate the total exchange cost of the whole day as depicted in the following equation:(15)Cg=∑tTCbuyPgrid−b−CsellPgrid−s.(D)
Reactive power production costCrThe calculation method of reactive power production cost is the same as shown in the following equation:(16)Cr=k∑tT∑i=1nCSDG,i−CSDG,i2−Qi2.(E)
ConstraintsThe constraint conditions of the third dispatching mode are the same as those of the second dispatching mode.


#### 3.2.2. Energy Optimization Model in Off-Grid Mode

(A)
Objective function (ObjF)The expression of the ObjF is the same as that of the secondary dispatching off-grid mode. Except for the compensation cost of the load to be cut, the other calculation expressions are the same as those of the third dispatching mode. The calculation method of compensation cost of interruptible load is given in the following equation:(17)Cl=∑tT∑inδiPd,i.The compensation cost of the cut load is mainly related to the capacity of load shedding, the duration of load interruption, and the price of interruption compensation. The whole-day operation cost should be optimized in the third dispatching, so the duration of load interruption should be considered.(B)
Constraints: the constraints are the same as those of the secondary scheduling off-grid mode


### 3.3. Model Solving

In this paper, the PSO is used to simulate the predatory behavior of birds, which has the characteristics of fast convergence speed and strong global optimization ability. In the process of particle swarm optimization, a certain number of feasible solutions are generated randomly in the feasible region of the model, and any group of feasible solutions are defined as particles. The optimal solutions of particles themselves and the global optimal solutions recorded in the iterative process are updated iteratively according to formula (19), and then, they are forced to approach or even converge to the optimal solution of the model.In PSO, the position of particle is defined as the feasible solution of the current model, and the particle velocity is defined to represent the moving direction and speed of particles in the feasible region. The renewal equation of particle iteration is depicted in the following equation:(18)viDk+1=ω⋅viDk+c1ζPbest,iDk−xiDk+c2ηGbestk−xiDk+Rrand,(19)xiDk+1=xiDk+viDk+1,where viDk is the speed of the ith particle at the kth iteration, xiDk is the position of the ith particle after the kth iteration, Pbest,iDk is the optimal solution of the ith particle itself, Gbestk is the ideal solution of the swarm, c1 and c2 are the learning parameters, ω is the intertia weight coefficient, and ξ and η are random numbers, with the value range between 0 and 1. Rrand is a random number; its value range depends on the speed range. Adding random number can increase the diversity of particle population, but if the random value is too large, the stability of the algorithm may be destroyed.The flow chart of the PSO is shown in Figure4, and the process steps are described as shown:
(A)
Initialization: the position of the particle is the value of all the optimization variables in the model. In the initialization process, a group of solutions is generated randomly in the range of each optimization variable, and the speed is the same(B)
Calculation of fitness: according to the modeling method, the objective function is calculated, and part of the constraint conditions is transformed into objective terms by penalty function method and added into the fitness value together with the objective function(C)
Find individual best value and global best value: compare the fitness value of the current particle, and record the individual best value and global best value(D)
Update the position of the particle and velocity of all particles: update according to formula (18)(E)
Judging whether the end condition is satisfied: in the standard PSO, the common method is to set the maximum iteration algebra. Once the algorithm reaches the maximum iteration, the iteration will be stopped. However, due to the randomness of PSO in the process of optimization, the amount of calculation needed to obtain the optimal solution is not consistent when facing some complex problems, The end condition can be modified as follows: when the global optimal value does not change after a certain number of iterations, the algorithm is considered to be convergent and meets the end condition(F)
If the stopping criterion is not satisfied, return to the second step, calculate the fitness value according to the updated particles, and iterate repeatedlyFigure 4
Flow chart of the PSO.


## 3.1. Secondary Scheduling Optimization Model

In this paper, the secondary dispatch of the microgrid is aimed at coordinating the output power of each micropower source in the microgrid system based on the radical short-term prediction of wind energy, light energy, and load, so as to achieve the control objective of peak load shifting and valley filling [14]. Figure 3 is the information flow diagram of real-time dispatching agent. The real-time operation status of the microgrid is obtained from SCADA; the prediction results of next time are obtained from radical short-term forecasting agent of wind power, photoelectric, and load; and the operation plan is obtained from economic dispatch agent. According to the current operation mode of the microgrid, the corresponding operation strategy is selected to optimize the operation state of the microgrid.Figure 3
Information flow of real-time scheduling agent.


### 3.1.1. Energy Optimization Model for Connected Grid Mode

While the microgrid is under the grid-connected mode, the mathematical model is established according to the operation strategy of peak shaving and valley filling. According to the peak and valley period and battery SOC state, different battery charging and discharging penalty numbers are determined as the operation cost of the battery. At the same time, the economic benefit, environmental treatment cost, plus reactive power production cost of the microgrid are comprehensively considered, and the energy optimization is carried out under the operation constraints of each micropower source in the microgrid.(1) Objective Function. The objective function under grid-connected mode includes the cost of power generation and operation, the cost of environmental governance, the cost of exchanging power with power grid, and the cost of reactive power production which is mentioned in the following equation:
(1)F=λ1Co+λ2Ce+λ3Cg+λ4Cr,where Co is the functional plus maintenance cost of the microgrid system; that is, the fuel consumption, equipment maintenance, active and reactive power grid loss, and battery charging and discharging penalty costs may be included in the operation of the microgrid system; Ce is the cost of pollutant emission treatment of the microgrid, that is, the treatment cost of carbon dioxide or other toxic gases generated due to fuel consumption during the operation of the microgrid; and Cg is when the microgrid is coupled with the grid, the cost of power conversation with the grid should be negative when the microgrid delivers more power to the grid, otherwise it is positive; Cr is the cost of reactive power production. λ1, λ2, λ3, and λ4 are the weight proportion of the above four costs in the objective function. For attaining the purpose of economic operation of the microgrid, the value of objective function should be minimised. The different weight proportion settings will affect the optimization of objective function. Therefore, it is necessary to set the weight proportion reasonably and balance the proportion of each item.The expression of each component of the objective function is as shown:(A)
System operation and maintenance costCoIn this paper, the functional plus maintenance cost of the microgrid system is defined as fuel cost, equipment maintenance cost, active and reactive power loss cost, and battery charging and discharging penalty cost as shown in the following equation:(2)Co=∑k=1nCfirel,k+Com,k+Closs+Cbat,where n represents the number of distributed generation units in the microgrid system; Cfirel,k is the fuel cost of the kth distributed unit. The renewable energy generation unit has no fuel cost; only the microfuel turbine and fuel cell are considered. The characteristics of fuel cost and output power have been analyzed in chapter 2; k is the equipment maintenance cost of the kth distributed unit, which mainly includes the start-up and shutdown cost of equipment and the labor cost of equipment maintenance. It is generally considered that the equipment maintenance cost of distributed generation unit has a linear relationship with its operation time; closure is the cost of active as well as reactive power loss in the microgrid system and the network loss caused by impedance of transmission lines and operating equipment of the microgrid. Cbat is the penalty cost of battery charge and discharge. When the battery is in peak or valley, the battery operates according to the control strategy, and its output power is constrained by constraints; when in the valley, the battery sets corresponding charge and discharge penalty according to the SOC interval and controls the battery SOC level in interval 3 as much as possible.
(B)
Ce for trade in Xingduo gas stoneIn the operation of the microgrid, the units that generate electricity by fuel combustion, such as microgas turbine and fuel cell, will produce polluting gas or greenhouse gas, which will affect the environment. These gases that will affect the environment mainly include carbides, sulfides, and nitrides; appropriate gas emission treatment costs shall be formulated according to various gas emissions, so as to restrict the environmental problems caused by excessive output of the above units [15]. The calculation of the cost is based on the output of the relevant units to obtain the emissions of various gases and then calculate the corresponding treatment costs as given in the following equation:
(3)Ce=∑k=1n∑j=1mαkjPDG,k+βkjPDG,k2.In the formula, the treatment cost ofm gases emitted by n units in total during the operation time of the system is counted. Among them, αkj and βkj are the jth gas emission coefficient of the kth distributed generation unit. It is considered that the gas emission has a quadratic relationship with the output power of the DG, and fj is the governance cost coefficient of the J-type gas.
(C)
Exchange power costCg with large power gridWhen the output of micropower source in microgrid (MG) meets the load of MG, surplus power can be sold to huge power grid; when the output of micropower source in the microgrid is insufficient to meet the load of the microgrid, power can be purchased from a large grid in normal and valley. The cost expression is as shown in the following equation:(4)Cg=CbuyPgrid−b,CsellPgrid−s,where Cbuy and Csell are the costs of the purchased power and sold off by the MG from the grid and Pgrid−b and Pgrid−s represent the powers of the microgrid to buy and sell electricity from the large grid, respectively.
(D)
Reactive power production costCrBecause reactive power itself does not produce economic benefits, the charge for reactive power is defined as the cost corresponding to the reduction of micropower generation capacity due to reactive power output. That is to say, if the micropower supply wants to generate reactive power, the limit value of its active power output will be reduced, and the active power capacity as a spinning reserve will also be reduced accordingly. Therefore, this part of the loss is defined as the cost of generating reactive power as given in the following equation:(5)Cr=∑i=1nCSDG,i−CSDG,i2−Qi2k.Among them,SDG;i is the rated apparent power of the micropower supply, CSDG;i is the cost of the supply when it outputs at the maximum capacity of the equipment; Qi is the reactive power output of the ith micropower supply. k is the profit rate of active power generation of micropower source, which is generally taken as 0.05~0.1.(2) Constraints. During the operation of the microgrid, for maintaining the stable functionality of the microgrid, there are many constraints, such as equipment capacity, control strategy, and other factors.
(A)
Equality constraints(a)
Active and reactive power balance constraints in microgrid are represented in Equations (6) and (7).(6)∑PG,i=PD+PL+Pg,(7)∑QG,i=QD+QL+Qg,where PG;i and QG,i are the output active and reactive power of the i distributed generation in the microgrid; PD, QD are the load active as well as reactive power demand of the microgrid; PL and QL are the active as well as reactive network losses during the operation of the microgrid; Pg and Qg are the active versus reactive power exchanged between the microgrid system and the large grid.
(b)
Power flow constraint is given in the following equation:(8)ΔPi=Pis−∑j∈inViVjGijcoscosθij+Bijsinsinθij=0,ΔQi=Qis−∑j∈inViVjGijcoscosθij+Bijsinsinθij=0,where Gij, Bij, and θij are the admittance and phase angle differences between node i and node j; n is the number of microgrid system nodes; i is the node number of the microgrid system; and j is the node connected with node i.


### 3.1.2. Energy Optimization Model in Off-Grid Mode

When the microgrid is in the off-grid mode, when the power supply is surplus, the distributed generation output is reduced according to the economic principle; when the power supply is inadequate, the load is cut off according to the load bidding strategy, and the compensation cost of the interrupted load is included [16]. The energy optimization model is as shown:
(B)
Objective functionCompared with the energy optimization model under grid-connected mode, the objective function under off-grid mode does not include the exchange cost with the grid, and the expression is as shown in the following equation:(9)F=λ1Co+λ2Ce+λ3Cr+λ4Ci,where Co is the functional and maintenance cost of the microgrid system, Ce is the pollutant emission treatment cost of the microgrid, Cr is the reactive power cost of production, and C1 is the compensation cost of the interrupted load. λ1, λ2, λ3, and λ4 are the weight proportion of the above four costs in the objective function. Except Ci, the other expressions are the same as those in grid-connected mode. Cl is calculated as shown in the following equation:
(10)Cl=∑inδiPd,i,where Pd,i is the energy demand of the ith generator cut-off load and δi is the cost compensation coefficient of the ith cut-off load.
(C)
ConstraintsThe difference between the constraint conditions and the grid-connected mode is that the ninth point of the grid connection mode is the transmission power constraint interacting with the large grid, which is not considered here but needs to be added with the rotating reserve constraint of the microgrid as shown in the following equation:(11)∑i=1NPDG,imax≥Pload+Ploss+PR.Generally, the spinning reserve capacity of the microgrid system is a fixed value, which can be taken as 5% of the maximum load demand. The higher the spinning reserve capacity is, the more reliable the system is, but the investment and operation cost of the system will increase.


## 3.1.1. Energy Optimization Model for Connected Grid Mode

While the microgrid is under the grid-connected mode, the mathematical model is established according to the operation strategy of peak shaving and valley filling. According to the peak and valley period and battery SOC state, different battery charging and discharging penalty numbers are determined as the operation cost of the battery. At the same time, the economic benefit, environmental treatment cost, plus reactive power production cost of the microgrid are comprehensively considered, and the energy optimization is carried out under the operation constraints of each micropower source in the microgrid.(1) Objective Function. The objective function under grid-connected mode includes the cost of power generation and operation, the cost of environmental governance, the cost of exchanging power with power grid, and the cost of reactive power production which is mentioned in the following equation:
(1)F=λ1Co+λ2Ce+λ3Cg+λ4Cr,where Co is the functional plus maintenance cost of the microgrid system; that is, the fuel consumption, equipment maintenance, active and reactive power grid loss, and battery charging and discharging penalty costs may be included in the operation of the microgrid system; Ce is the cost of pollutant emission treatment of the microgrid, that is, the treatment cost of carbon dioxide or other toxic gases generated due to fuel consumption during the operation of the microgrid; and Cg is when the microgrid is coupled with the grid, the cost of power conversation with the grid should be negative when the microgrid delivers more power to the grid, otherwise it is positive; Cr is the cost of reactive power production. λ1, λ2, λ3, and λ4 are the weight proportion of the above four costs in the objective function. For attaining the purpose of economic operation of the microgrid, the value of objective function should be minimised. The different weight proportion settings will affect the optimization of objective function. Therefore, it is necessary to set the weight proportion reasonably and balance the proportion of each item.The expression of each component of the objective function is as shown:(A)
System operation and maintenance costCoIn this paper, the functional plus maintenance cost of the microgrid system is defined as fuel cost, equipment maintenance cost, active and reactive power loss cost, and battery charging and discharging penalty cost as shown in the following equation:(2)Co=∑k=1nCfirel,k+Com,k+Closs+Cbat,where n represents the number of distributed generation units in the microgrid system; Cfirel,k is the fuel cost of the kth distributed unit. The renewable energy generation unit has no fuel cost; only the microfuel turbine and fuel cell are considered. The characteristics of fuel cost and output power have been analyzed in chapter 2; k is the equipment maintenance cost of the kth distributed unit, which mainly includes the start-up and shutdown cost of equipment and the labor cost of equipment maintenance. It is generally considered that the equipment maintenance cost of distributed generation unit has a linear relationship with its operation time; closure is the cost of active as well as reactive power loss in the microgrid system and the network loss caused by impedance of transmission lines and operating equipment of the microgrid. Cbat is the penalty cost of battery charge and discharge. When the battery is in peak or valley, the battery operates according to the control strategy, and its output power is constrained by constraints; when in the valley, the battery sets corresponding charge and discharge penalty according to the SOC interval and controls the battery SOC level in interval 3 as much as possible.
(B)
Ce for trade in Xingduo gas stoneIn the operation of the microgrid, the units that generate electricity by fuel combustion, such as microgas turbine and fuel cell, will produce polluting gas or greenhouse gas, which will affect the environment. These gases that will affect the environment mainly include carbides, sulfides, and nitrides; appropriate gas emission treatment costs shall be formulated according to various gas emissions, so as to restrict the environmental problems caused by excessive output of the above units [15]. The calculation of the cost is based on the output of the relevant units to obtain the emissions of various gases and then calculate the corresponding treatment costs as given in the following equation:
(3)Ce=∑k=1n∑j=1mαkjPDG,k+βkjPDG,k2.In the formula, the treatment cost ofm gases emitted by n units in total during the operation time of the system is counted. Among them, αkj and βkj are the jth gas emission coefficient of the kth distributed generation unit. It is considered that the gas emission has a quadratic relationship with the output power of the DG, and fj is the governance cost coefficient of the J-type gas.
(C)
Exchange power costCg with large power gridWhen the output of micropower source in microgrid (MG) meets the load of MG, surplus power can be sold to huge power grid; when the output of micropower source in the microgrid is insufficient to meet the load of the microgrid, power can be purchased from a large grid in normal and valley. The cost expression is as shown in the following equation:(4)Cg=CbuyPgrid−b,CsellPgrid−s,where Cbuy and Csell are the costs of the purchased power and sold off by the MG from the grid and Pgrid−b and Pgrid−s represent the powers of the microgrid to buy and sell electricity from the large grid, respectively.
(D)
Reactive power production costCrBecause reactive power itself does not produce economic benefits, the charge for reactive power is defined as the cost corresponding to the reduction of micropower generation capacity due to reactive power output. That is to say, if the micropower supply wants to generate reactive power, the limit value of its active power output will be reduced, and the active power capacity as a spinning reserve will also be reduced accordingly. Therefore, this part of the loss is defined as the cost of generating reactive power as given in the following equation:(5)Cr=∑i=1nCSDG,i−CSDG,i2−Qi2k.Among them,SDG;i is the rated apparent power of the micropower supply, CSDG;i is the cost of the supply when it outputs at the maximum capacity of the equipment; Qi is the reactive power output of the ith micropower supply. k is the profit rate of active power generation of micropower source, which is generally taken as 0.05~0.1.(2) Constraints. During the operation of the microgrid, for maintaining the stable functionality of the microgrid, there are many constraints, such as equipment capacity, control strategy, and other factors.
(A)
Equality constraints(a)
Active and reactive power balance constraints in microgrid are represented in Equations (6) and (7).(6)∑PG,i=PD+PL+Pg,(7)∑QG,i=QD+QL+Qg,where PG;i and QG,i are the output active and reactive power of the i distributed generation in the microgrid; PD, QD are the load active as well as reactive power demand of the microgrid; PL and QL are the active as well as reactive network losses during the operation of the microgrid; Pg and Qg are the active versus reactive power exchanged between the microgrid system and the large grid.
(b)
Power flow constraint is given in the following equation:(8)ΔPi=Pis−∑j∈inViVjGijcoscosθij+Bijsinsinθij=0,ΔQi=Qis−∑j∈inViVjGijcoscosθij+Bijsinsinθij=0,where Gij, Bij, and θij are the admittance and phase angle differences between node i and node j; n is the number of microgrid system nodes; i is the node number of the microgrid system; and j is the node connected with node i.


## 3.1.2. Energy Optimization Model in Off-Grid Mode

When the microgrid is in the off-grid mode, when the power supply is surplus, the distributed generation output is reduced according to the economic principle; when the power supply is inadequate, the load is cut off according to the load bidding strategy, and the compensation cost of the interrupted load is included [16]. The energy optimization model is as shown:
(B)
Objective functionCompared with the energy optimization model under grid-connected mode, the objective function under off-grid mode does not include the exchange cost with the grid, and the expression is as shown in the following equation:(9)F=λ1Co+λ2Ce+λ3Cr+λ4Ci,where Co is the functional and maintenance cost of the microgrid system, Ce is the pollutant emission treatment cost of the microgrid, Cr is the reactive power cost of production, and C1 is the compensation cost of the interrupted load. λ1, λ2, λ3, and λ4 are the weight proportion of the above four costs in the objective function. Except Ci, the other expressions are the same as those in grid-connected mode. Cl is calculated as shown in the following equation:
(10)Cl=∑inδiPd,i,where Pd,i is the energy demand of the ith generator cut-off load and δi is the cost compensation coefficient of the ith cut-off load.
(C)
ConstraintsThe difference between the constraint conditions and the grid-connected mode is that the ninth point of the grid connection mode is the transmission power constraint interacting with the large grid, which is not considered here but needs to be added with the rotating reserve constraint of the microgrid as shown in the following equation:(11)∑i=1NPDG,imax≥Pload+Ploss+PR.Generally, the spinning reserve capacity of the microgrid system is a fixed value, which can be taken as 5% of the maximum load demand. The higher the spinning reserve capacity is, the more reliable the system is, but the investment and operation cost of the system will increase.


## 3.2. Three-Time Scheduling Optimization Model

The three dispatches of the microgrid system give the daily scheduling plan of the microgrid. For the preestablished scheduling strategy, based on the short-term projection of wind energy, light energy, and load, the micropower system is optimized. The start and stop state and power output of the micropower supply and the switching of reactive power compensator have to be optimized [17]. Compared with the secondary scheduling, the difference lies in the different time scales of optimization. For the third scheduling, an all-day economic optimal scheduling scheme based on microgrid is needed, and the power optimization problem in the next period is only considered in the secondary scheduling [18].


### 3.2.1. Energy Optimization Model under Grid-Connected Mode

(1) Objective Function (ObjF). The ObjF of the third dispatching of the microgrid system is as shown in the following equation:
(12)F=λ1Co+λ2Ce+λ3Cg+λ4Cr.Its expression is the same as that of the secondary dispatching grid connection mode, but the calculation method of each component is different, as shown above.(A)
System operation and maintenance costCo.The unit fuel consumption cost, pollution control cost, maintenance cost, active and reactive power network loss cost, and battery charging and discharging penalty cost of the microgrid are accumulated in the following equation:(13)Co=∑tT∑k=1nCfirel,k+Com,k+Closs+Cbat.(B)
Pollution gas treatment costCeIn the same way, the total cost of pollution control is calculated:(14)Ce=∑tT∑k=1n∑j=1mαkjPDG,k+βkjPDG,k2.(C)
Exchange power costCg with large power gridWhen exchanging power with large power grid, purchase power from the power grid, pay the cost, sell power to the power grid, obtain income, and calculate the total exchange cost of the whole day as depicted in the following equation:(15)Cg=∑tTCbuyPgrid−b−CsellPgrid−s.(D)
Reactive power production costCrThe calculation method of reactive power production cost is the same as shown in the following equation:(16)Cr=k∑tT∑i=1nCSDG,i−CSDG,i2−Qi2.(E)
ConstraintsThe constraint conditions of the third dispatching mode are the same as those of the second dispatching mode.


### 3.2.2. Energy Optimization Model in Off-Grid Mode

(A)
Objective function (ObjF)The expression of the ObjF is the same as that of the secondary dispatching off-grid mode. Except for the compensation cost of the load to be cut, the other calculation expressions are the same as those of the third dispatching mode. The calculation method of compensation cost of interruptible load is given in the following equation:(17)Cl=∑tT∑inδiPd,i.The compensation cost of the cut load is mainly related to the capacity of load shedding, the duration of load interruption, and the price of interruption compensation. The whole-day operation cost should be optimized in the third dispatching, so the duration of load interruption should be considered.(B)
Constraints: the constraints are the same as those of the secondary scheduling off-grid mode


## 3.2.1. Energy Optimization Model under Grid-Connected Mode

(1) Objective Function (ObjF). The ObjF of the third dispatching of the microgrid system is as shown in the following equation:
(12)F=λ1Co+λ2Ce+λ3Cg+λ4Cr.Its expression is the same as that of the secondary dispatching grid connection mode, but the calculation method of each component is different, as shown above.(A)
System operation and maintenance costCo.The unit fuel consumption cost, pollution control cost, maintenance cost, active and reactive power network loss cost, and battery charging and discharging penalty cost of the microgrid are accumulated in the following equation:(13)Co=∑tT∑k=1nCfirel,k+Com,k+Closs+Cbat.(B)
Pollution gas treatment costCeIn the same way, the total cost of pollution control is calculated:(14)Ce=∑tT∑k=1n∑j=1mαkjPDG,k+βkjPDG,k2.(C)
Exchange power costCg with large power gridWhen exchanging power with large power grid, purchase power from the power grid, pay the cost, sell power to the power grid, obtain income, and calculate the total exchange cost of the whole day as depicted in the following equation:(15)Cg=∑tTCbuyPgrid−b−CsellPgrid−s.(D)
Reactive power production costCrThe calculation method of reactive power production cost is the same as shown in the following equation:(16)Cr=k∑tT∑i=1nCSDG,i−CSDG,i2−Qi2.(E)
ConstraintsThe constraint conditions of the third dispatching mode are the same as those of the second dispatching mode.


## 3.2.2. Energy Optimization Model in Off-Grid Mode

(A)
Objective function (ObjF)The expression of the ObjF is the same as that of the secondary dispatching off-grid mode. Except for the compensation cost of the load to be cut, the other calculation expressions are the same as those of the third dispatching mode. The calculation method of compensation cost of interruptible load is given in the following equation:(17)Cl=∑tT∑inδiPd,i.The compensation cost of the cut load is mainly related to the capacity of load shedding, the duration of load interruption, and the price of interruption compensation. The whole-day operation cost should be optimized in the third dispatching, so the duration of load interruption should be considered.(B)
Constraints: the constraints are the same as those of the secondary scheduling off-grid mode


## 3.3. Model Solving

In this paper, the PSO is used to simulate the predatory behavior of birds, which has the characteristics of fast convergence speed and strong global optimization ability. In the process of particle swarm optimization, a certain number of feasible solutions are generated randomly in the feasible region of the model, and any group of feasible solutions are defined as particles. The optimal solutions of particles themselves and the global optimal solutions recorded in the iterative process are updated iteratively according to formula (19), and then, they are forced to approach or even converge to the optimal solution of the model.In PSO, the position of particle is defined as the feasible solution of the current model, and the particle velocity is defined to represent the moving direction and speed of particles in the feasible region. The renewal equation of particle iteration is depicted in the following equation:(18)viDk+1=ω⋅viDk+c1ζPbest,iDk−xiDk+c2ηGbestk−xiDk+Rrand,(19)xiDk+1=xiDk+viDk+1,where viDk is the speed of the ith particle at the kth iteration, xiDk is the position of the ith particle after the kth iteration, Pbest,iDk is the optimal solution of the ith particle itself, Gbestk is the ideal solution of the swarm, c1 and c2 are the learning parameters, ω is the intertia weight coefficient, and ξ and η are random numbers, with the value range between 0 and 1. Rrand is a random number; its value range depends on the speed range. Adding random number can increase the diversity of particle population, but if the random value is too large, the stability of the algorithm may be destroyed.The flow chart of the PSO is shown in Figure4, and the process steps are described as shown:
(A)
Initialization: the position of the particle is the value of all the optimization variables in the model. In the initialization process, a group of solutions is generated randomly in the range of each optimization variable, and the speed is the same(B)
Calculation of fitness: according to the modeling method, the objective function is calculated, and part of the constraint conditions is transformed into objective terms by penalty function method and added into the fitness value together with the objective function(C)
Find individual best value and global best value: compare the fitness value of the current particle, and record the individual best value and global best value(D)
Update the position of the particle and velocity of all particles: update according to formula (18)(E)
Judging whether the end condition is satisfied: in the standard PSO, the common method is to set the maximum iteration algebra. Once the algorithm reaches the maximum iteration, the iteration will be stopped. However, due to the randomness of PSO in the process of optimization, the amount of calculation needed to obtain the optimal solution is not consistent when facing some complex problems, The end condition can be modified as follows: when the global optimal value does not change after a certain number of iterations, the algorithm is considered to be convergent and meets the end condition(F)
If the stopping criterion is not satisfied, return to the second step, calculate the fitness value according to the updated particles, and iterate repeatedlyFigure 4
Flow chart of the PSO.


## 4. Experiment

In order to verify the suggested DC microgrid control strategy in this paper, a simulation model of DC microgrid is built. In this paper, the DC bus voltage is 400 V of DC microgrid, the peak value of voltage is 160 V for grid phase, and the allowable DC side voltage variation isV±10V. A grid-connected converter with a capacity of 3 kW is used as the interface unit of grid side. The DC bus is connected to a small direct drive PMSG generation system for wind power with a capacity of 6.5 kW and a photovoltaic power generation system with a capacity of 2 kW. The energy storage system considers a battery with a rated power of 3 kW, its capacity is 96 V/12 Ah, the rated discharge current is 2.4 a, and the upper and lower limits of SOC of battery are 95% and 40%, respectively. DC microgrid contains various types of loads, including 1.5 kW AC constant power load, 2 1.8 kW DC constant power load, and 2 local loads. Buck converter and resistor constitute DC constant power load 1; boost converter and resistor constitute DC constant power load 2. Local load 1 and load 2 are 100 kW and 200 kW resistive load, respectively. The simulation of grid-connected, converter current limiting, islanding load shedding, and islanding operation modes are carried out.The overall structure of the DC microgrid is shown in Figure3. It is mainly composed of grid-connected converter (GCC), static transfer switch (STS), DG unit, battery energy storage (BES) unit, constant power load, and local load. The grid-connected converter in Figure 5 is a three-phase two-level voltage source converter topology, and the grid side is connected with a third-order LCL filter. The main control objectives of grid-connected converter are to maintain the DC bus voltage constant, reduce the harmonic of grid current, and realize the unit power factor operation and bidirectional energy flow at the grid side. DG includes wind turbine and photovoltaic power generation unit. The wind turbine adopts PMSG structure, and the V power generation system adopts double-stage single-tube boost grid-connected topology. The storage system is composed of battery and bidirectional buck/boost converter to realize the bidirectional flow of energy. The constant power load is simulated by DC/DC and DC/AC converters and resistive load, and the local load is resistive load.Figure 5
Low-voltage DC microgrid structure.


### 4.1. Grid-Connected Operation

Figure6 shows the simulation results of DC microgrid operating in grid-connected mode under normal grid conditions, which is running in energy management mode. Under the initial conditions, the light intensity is 1.2 kW/m2, the wind speed is 8 m/s, the DC bus voltage is controlled by the grid-connected converter, the wind turbine and photovoltaic power generation system operate in MPPT state, the battery operates in standby mode, AC constant power load and two DC constant power loads are connected to the system, and the output power of DG unit is less than the load power. In order to observe the phase relationship between the grid voltage and current, the grid current is amplified by 5 times. It can be seen from Figure 6(b) that the grid voltage and current are in the same frequency and phase, and the grid-connected converter is operating in the rectification state. At 0.3 s, the illumination intensity changes step by step from 1.2 kW/m2 to 1 kW/m2, the wind speed changes from 8 m/s to 11 m/s, and the DC side voltage remains unchanged at 400 V after a short period of adjustment. At this time, the output power of DG unit is greater than the power absorbed by the load. The grid voltage and current are in the same frequency phase, and the grid-connected converter operates in the inverter state. At 05 s, when DC constant power load 1 is switched out, the total load power decreases; at 0.9 s, local load 2 cuts into the system, and the total load power increases. In the case of load cut-out/cut in disturbance, the DC voltage can be quickly stabilized through closed-loop regulation.Figure 6
Simulation results of grid-connected operation.
(a)
Grid voltage(b)
Phase A grid voltage and current(c)
DC voltage measurement(d)
Photovoltaic power(e)
Fan power(f)
Battery current


### 4.2. Short-Time Fault of Power Grid and Current Limiting Operation of Converter

Figure7 shows the simulation results of DC microgrid under short-term fault and current limiting condition of converter. Under the initial conditions, the light intensity is 1 kW/m2, the wind speed is 9 m/s, and AC constant power load and two DC constant power loads are connected to the system. In 0.2 s, three-phase short-circuit fault occurs in the power grid, which causes PCC voltage to droop at the same time. Grid-connected converter works in current limiting mode and cannot maintain constant DC bus voltage. At this time, battery switches from droop control to constant voltage control. In 0.4 s, the grid fault is cleared, the grid voltage is recovered, the output of the grid-connected converter voltage outer loop regulator is desaturated, and the DC bus voltage is recontrolled. The battery is switched from constant voltage control to droop control and operates in standby mode. At 0.6 s, the local loads 1 and 2 are connected to the system at the same time. At this time, the grid needs to provide more active power to maintain the power balance. Due to the limitation of rated capacity, the grid-connected converter operates in current limiting mode again. At this time, the battery changes from droop control to constant voltage control to maintain DC bus constant voltage. At 0.8 s, two 1.8 kW DC constant power loads are cut off, the light intensity changes step by step from kW/m2 to 1.5kw/m2, and the load power is less than the output power of DG unit, which makes the grid-connected converter controls the DC bus voltage, and the battery switches to the standby working state.Figure 7
Simulation results of short-time fault and current limiting operation of converter.
(a)
Grid voltage(b)
Grid current(c)
DC voltage measurement(d)
Photovoltaic power(e)
Battery current(f)
Load power


### 4.3. Island Load Shedding Operation

Figure8 shows the simulation results of islanding and load shedding operation of DC microgrid. Under the initial conditions, the light intensity is 0.8 kW/m2, the wind speed is 9 m/s, and AC constant power load and two DC constant power loads and local load 2 are connected to the system. In 0.3 s, three-phase short-circuit fault occurs in the power grid, which leads to the disconnection of the converter and the grid current, and the grid current drops to zero. For guaranteeing the power balance, the battery switches from droop control to constant voltage control to maintain the constant DC bus voltage. Since the rated discharge current of the battery is small, in order to simulate the deep discharge state of the battery, the initial SOC value of the battery is set as 40.015%. At this time, the battery current is greater than 0, and it is in continuous discharge state. In 0.5 s, the illumination intensity changes from 0.8 kW/m2 to 1.2 kW/m2, and the wind speed fluctuations are from 9 m/s to 10 m/s At this time, the output power of DG unit is still less than the load power, so the battery remains in discharge state until the SOC of the battery reaches 40% of the lower limit and lasts for a period of time. To avoid excessive discharge, the DC constant power load 1 with the lowest load priority is removed. At this time, the load power is less than the output power of DG unit, and the battery changes from discharge to charging state and controls DC bus voltage; battery SOC increases gradually. At 0.8 s, the wind speed changes from 0 m/s to 1 m/s, and local load 1 is connected to the system. Since the output power of wind power generation system is cubic with wind speed, the load power is still less than the output power of DG unit, the battery is still working in charging state, and the DC bus voltage is controlled.Figure 8
Simulation results of islanded load shedding operation.
(a)
Grid current(b)
DC side voltage(c)
Photovoltaic power(d)
Fan power(e)
Battery current(f)
State of charge


### 4.4. Island Operation

Figure9 shows the simulation results of islanding operation of DC microgrid. Under the initial conditions, the light intensity is 1.2 kW/m2, the wind speed is 10.5 m/s, and AC constant power load and DC constant power load 1 and local load 2 are connected to the system. In 0.3 s, the three-phase short-circuit fault occurs in the power grid, which leads to the disconnection between the converter and the grid. At this time, the battery switches from droop control to constant voltage control to maintain the constant DC bus voltage. In order to simulate the deep charging state of the battery, the initial SOC value of the battery is set as 94.99%. At this time, the battery current is less than zero and it is in continuous charging state. The SOC reaches 95% due to the continuous charging of the battery. In order to avoid the deep charging of the battery, the given value of the battery current is zero. At this time, the battery is in the stop state, and the wind power generation system is switched from MPPT to constant voltage control. In order to eliminate the DC bus voltage fluctuation, the open-loop pitch angle control combined with the fan constant voltage control strategy is adopted in this paper. At 0.8 s, the local load 1 is connected to the system. Since the load power is greater than the output power of DG unit, the battery changes from stop working state to constant voltage control for discharge. At the same time, the fan is switched from constant voltage control to MPPT control. In order to improve the utilization rate of wind energy, the value of β is reduced from. 5° to 0°C. At 1 s, the wind speed changes step by step from 10.5 M/s to 9 m/s, and the light intensity changes from 1.2 kW/m2 to 0.8 kW/m2. At this time, the wind turbine and photovoltaic power generation system work in MPPT (max power point tracking) state, and the battery continues to discharge to control the constant DC bus voltage.Figure 9
Simulation results of island operation.
(a)
Grid current(b)
DC-link voltage(c)
Photovoltaic power(d)
Exhauster wattage(e)
Battery current(f)
State of charge(g)
Pitch angle


### 4.5. Discussion on Results

This paper has presented a hierarchical coordinated control method (HCCM) for multiload DC microgrid units. The proposed HCCM is divided into layers according to the control objectives and control time scales of the microgrid, and the hierarchical control structure is realized by using multiagent technology in this paper. The proposed HCCM framework is aiming at the demand of energy coordination and optimization of the microgrid. The operation strategy of the microgrid is proposed in the grid-connected and/or off-grid mode. In the grid-connected mode, the large power grid is used for power supply, and in the off-grid mode, the load bidding mechanism is introduced to guarantee the power supply of important loads. Figure6 shows the simulation results of DC microgrid functionality in the grid-connected mode under energy management mode. The results reveal that the proposed method saves energy and provides stable performance. Figure 7 shows the simulation results of DC microgrid under short-term fault and current limiting condition of converter. The battery changes from drop control to constant voltage control/standby working mode to maintain DC bus constant voltage. Figure 8 shows the simulation results of islanding and load shedding operation of DC microgrid. Since the output power of the wind power generation system is cubic with wind speed, the load power is still less than the output power of DG unit, the battery is still working in charging state, and the DC bus voltage is controlled. Figure 9 shows the simulation results of islanding operation of DC microgrid. At this time, the wind turbine and photovoltaic power generation system work in MPPT state, and the battery continues to discharge to control the constant DC bus voltage. The experiment results reveal the power quality and stability of the system in result section.


## 4.1. Grid-Connected Operation

Figure6 shows the simulation results of DC microgrid operating in grid-connected mode under normal grid conditions, which is running in energy management mode. Under the initial conditions, the light intensity is 1.2 kW/m2, the wind speed is 8 m/s, the DC bus voltage is controlled by the grid-connected converter, the wind turbine and photovoltaic power generation system operate in MPPT state, the battery operates in standby mode, AC constant power load and two DC constant power loads are connected to the system, and the output power of DG unit is less than the load power. In order to observe the phase relationship between the grid voltage and current, the grid current is amplified by 5 times. It can be seen from Figure 6(b) that the grid voltage and current are in the same frequency and phase, and the grid-connected converter is operating in the rectification state. At 0.3 s, the illumination intensity changes step by step from 1.2 kW/m2 to 1 kW/m2, the wind speed changes from 8 m/s to 11 m/s, and the DC side voltage remains unchanged at 400 V after a short period of adjustment. At this time, the output power of DG unit is greater than the power absorbed by the load. The grid voltage and current are in the same frequency phase, and the grid-connected converter operates in the inverter state. At 05 s, when DC constant power load 1 is switched out, the total load power decreases; at 0.9 s, local load 2 cuts into the system, and the total load power increases. In the case of load cut-out/cut in disturbance, the DC voltage can be quickly stabilized through closed-loop regulation.Figure 6
Simulation results of grid-connected operation.
(a)
Grid voltage(b)
Phase A grid voltage and current(c)
DC voltage measurement(d)
Photovoltaic power(e)
Fan power(f)
Battery current


## 4.2. Short-Time Fault of Power Grid and Current Limiting Operation of Converter

Figure7 shows the simulation results of DC microgrid under short-term fault and current limiting condition of converter. Under the initial conditions, the light intensity is 1 kW/m2, the wind speed is 9 m/s, and AC constant power load and two DC constant power loads are connected to the system. In 0.2 s, three-phase short-circuit fault occurs in the power grid, which causes PCC voltage to droop at the same time. Grid-connected converter works in current limiting mode and cannot maintain constant DC bus voltage. At this time, battery switches from droop control to constant voltage control. In 0.4 s, the grid fault is cleared, the grid voltage is recovered, the output of the grid-connected converter voltage outer loop regulator is desaturated, and the DC bus voltage is recontrolled. The battery is switched from constant voltage control to droop control and operates in standby mode. At 0.6 s, the local loads 1 and 2 are connected to the system at the same time. At this time, the grid needs to provide more active power to maintain the power balance. Due to the limitation of rated capacity, the grid-connected converter operates in current limiting mode again. At this time, the battery changes from droop control to constant voltage control to maintain DC bus constant voltage. At 0.8 s, two 1.8 kW DC constant power loads are cut off, the light intensity changes step by step from kW/m2 to 1.5kw/m2, and the load power is less than the output power of DG unit, which makes the grid-connected converter controls the DC bus voltage, and the battery switches to the standby working state.Figure 7
Simulation results of short-time fault and current limiting operation of converter.
(a)
Grid voltage(b)
Grid current(c)
DC voltage measurement(d)
Photovoltaic power(e)
Battery current(f)
Load power


## 4.3. Island Load Shedding Operation

Figure8 shows the simulation results of islanding and load shedding operation of DC microgrid. Under the initial conditions, the light intensity is 0.8 kW/m2, the wind speed is 9 m/s, and AC constant power load and two DC constant power loads and local load 2 are connected to the system. In 0.3 s, three-phase short-circuit fault occurs in the power grid, which leads to the disconnection of the converter and the grid current, and the grid current drops to zero. For guaranteeing the power balance, the battery switches from droop control to constant voltage control to maintain the constant DC bus voltage. Since the rated discharge current of the battery is small, in order to simulate the deep discharge state of the battery, the initial SOC value of the battery is set as 40.015%. At this time, the battery current is greater than 0, and it is in continuous discharge state. In 0.5 s, the illumination intensity changes from 0.8 kW/m2 to 1.2 kW/m2, and the wind speed fluctuations are from 9 m/s to 10 m/s At this time, the output power of DG unit is still less than the load power, so the battery remains in discharge state until the SOC of the battery reaches 40% of the lower limit and lasts for a period of time. To avoid excessive discharge, the DC constant power load 1 with the lowest load priority is removed. At this time, the load power is less than the output power of DG unit, and the battery changes from discharge to charging state and controls DC bus voltage; battery SOC increases gradually. At 0.8 s, the wind speed changes from 0 m/s to 1 m/s, and local load 1 is connected to the system. Since the output power of wind power generation system is cubic with wind speed, the load power is still less than the output power of DG unit, the battery is still working in charging state, and the DC bus voltage is controlled.Figure 8
Simulation results of islanded load shedding operation.
(a)
Grid current(b)
DC side voltage(c)
Photovoltaic power(d)
Fan power(e)
Battery current(f)
State of charge


## 4.4. Island Operation

Figure9 shows the simulation results of islanding operation of DC microgrid. Under the initial conditions, the light intensity is 1.2 kW/m2, the wind speed is 10.5 m/s, and AC constant power load and DC constant power load 1 and local load 2 are connected to the system. In 0.3 s, the three-phase short-circuit fault occurs in the power grid, which leads to the disconnection between the converter and the grid. At this time, the battery switches from droop control to constant voltage control to maintain the constant DC bus voltage. In order to simulate the deep charging state of the battery, the initial SOC value of the battery is set as 94.99%. At this time, the battery current is less than zero and it is in continuous charging state. The SOC reaches 95% due to the continuous charging of the battery. In order to avoid the deep charging of the battery, the given value of the battery current is zero. At this time, the battery is in the stop state, and the wind power generation system is switched from MPPT to constant voltage control. In order to eliminate the DC bus voltage fluctuation, the open-loop pitch angle control combined with the fan constant voltage control strategy is adopted in this paper. At 0.8 s, the local load 1 is connected to the system. Since the load power is greater than the output power of DG unit, the battery changes from stop working state to constant voltage control for discharge. At the same time, the fan is switched from constant voltage control to MPPT control. In order to improve the utilization rate of wind energy, the value of β is reduced from. 5° to 0°C. At 1 s, the wind speed changes step by step from 10.5 M/s to 9 m/s, and the light intensity changes from 1.2 kW/m2 to 0.8 kW/m2. At this time, the wind turbine and photovoltaic power generation system work in MPPT (max power point tracking) state, and the battery continues to discharge to control the constant DC bus voltage.Figure 9
Simulation results of island operation.
(a)
Grid current(b)
DC-link voltage(c)
Photovoltaic power(d)
Exhauster wattage(e)
Battery current(f)
State of charge(g)
Pitch angle


## 4.5. Discussion on Results

This paper has presented a hierarchical coordinated control method (HCCM) for multiload DC microgrid units. The proposed HCCM is divided into layers according to the control objectives and control time scales of the microgrid, and the hierarchical control structure is realized by using multiagent technology in this paper. The proposed HCCM framework is aiming at the demand of energy coordination and optimization of the microgrid. The operation strategy of the microgrid is proposed in the grid-connected and/or off-grid mode. In the grid-connected mode, the large power grid is used for power supply, and in the off-grid mode, the load bidding mechanism is introduced to guarantee the power supply of important loads. Figure6 shows the simulation results of DC microgrid functionality in the grid-connected mode under energy management mode. The results reveal that the proposed method saves energy and provides stable performance. Figure 7 shows the simulation results of DC microgrid under short-term fault and current limiting condition of converter. The battery changes from drop control to constant voltage control/standby working mode to maintain DC bus constant voltage. Figure 8 shows the simulation results of islanding and load shedding operation of DC microgrid. Since the output power of the wind power generation system is cubic with wind speed, the load power is still less than the output power of DG unit, the battery is still working in charging state, and the DC bus voltage is controlled. Figure 9 shows the simulation results of islanding operation of DC microgrid. At this time, the wind turbine and photovoltaic power generation system work in MPPT state, and the battery continues to discharge to control the constant DC bus voltage. The experiment results reveal the power quality and stability of the system in result section.


## 5. Conclusion

The hierarchical control structure of a microgrid is designed and developed in this paper, and it is comprehended using multiagent technology. The operating strategy of a microgrid in the grid-connected/off-grid mode is provided within the context of hierarchical control. The huge power grid is aided in the grid-connected mode to cut the peak and the load bidding mechanism is implemented in the off-grid mode to secure the power supply of key loads. When DC bus voltage deviates from the idyllic reference value, the converters controlling DC bus voltage use PI control to provide zero steady-state error regulation of DC bus voltage, thereby avoiding the instability of constant power load. To engage in DC voltage coordinated control, an open-loop pitch angle control approach is utilized, which can achieve constant voltage control of the fan underrated power and eliminate DC bus voltage fluctuation. According to the results of the performance study, the proposed solution is simple, is convenient to implement, and improves the system’s power quality and stability. The results are presented in simulated environment under three conditions such as DC microgrid under short-term fault and current limiting condition of converter, islanding and load shedding operation of DC microgrid, and islanding functionality of DC microgrid. The experiment results depict that the power quality remains unaltered and the system remains stable under different conditions.



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*Source: 4427750-2021-08-10.xml*