本文为直流微电网中的多个dc-ES建立了分布式协同控制框架，并给出了系统的小信号稳定性分析。 主要级别实现下垂控制以协调多个dc-ES的操作。 次级控制基于一致性算法来调节直流母线电压基准，并结合dc-ES之间的充电状态（SOC）平衡。 通过该设计，协同控制可以实现平均直流总线电压一致，并且仅使用邻居到邻居信息来维持不同dc-ES之间的SOC平衡。 此外，开发了具有主控制器和辅助控制器的四个dc-ES系统的小信号模型。 提出了特征值分析，以显示通信权重对系统稳定性的影响。(This paper establishes a distributed cooperative control framework for multiple dc-ESs in a dc microgrid and presents the small-signal stability analysis of the system. The primary level implements a droop control to coordinate the operations of multiple dc-ESs. The secondary control is based on a consensus algorithm to regulate the dc-bus voltage reference, incorporating the state-of-charge (SOC) balance among dc-ESs. With the design, the cooperative control can achieve average dc-bus voltage consensus and maintain SOC balance among different dc-ESs using only neighbor-to-neighbor information. Furthermore, a small-signal model of a four dc-ESs system with the primary and secondary controllers is developed. The eigenvalue analysis is presented to show the effect of the communication weight on system stability.)