A power controller has problems of time delay, low control accuracy, and poor anti-interference ability in the actual operation of a vanadium redox flow battery (VRB) energy storage system in the ground layer of a DC microgrid. Thus a power cooperative control strategy based on the depth deterministic policy gradient and fuzzy PID is proposed. First, the equivalent circuit model of the VRB is established to describe the power transmission characteristics, and a composite controller composed of a fuzzy PID and a deep deterministic policy gradient (DDPG) algorithm is designed. In addition, the fuzzy PID is used as the main controller to control the power loop, and the DDPG is used as the auxiliary controller to compensate for the power tracking error. Then, the power tracking controller of the VRB energy storage system in the ground layer is designed, the PID parameters and fuzzy rules are optimized by the sparrow search algorithm (SSA) algorithm, and the output response of the optimized system is further tested by step signal. At the same time, the deviation between the command power of the distribution layer and the given power of the energy storage unit is used as a data set for training in the DDPG to improve the response speed anti-interference capability of the main controller. Finally, the effectiveness and stability of the control strategy are verified by simulation in three different scenarios. The results show that the proposed control strategy can quickly track the power command value during battery charging and discharging. The deviation between tracking power value and dispatching instruction value is less than ±2% during real-time tracking; the power deviation can be corrected accurately to meet the actual requirements when the power controller is disturbed. This is in line with the actual requirements.