A method and device for dispatching a power system in coordination with multiple frequency modulation resources

Abstract

The present invention proposes a method and device for dispatching a power system that coordinates multiple types of frequency regulation resources, and belongs to the field of power system operation control. The method includes: constructing an objective function of a power system dispatching model, wherein the objective function minimizes the sum of the cost of thermal power units, the frequency regulation standby cost of new energy stations, and the operating cost of energy storage devices; constructing constraints of the power system dispatching model, wherein the constraints include frequency safety constraints, and the frequency safety constraints are used to ensure the dynamic frequency safety of the power system under a set power disturbance; solving the power system model to obtain a dispatching plan for the thermal power units, the new energy stations, and the energy storage device. The present invention realizes the coordination of multiple types of frequency regulation resources while ensuring the dynamic frequency safety of the power system, and calculates and gives a start-stop plan for the thermal power units and a charge-discharge plan for the energy storage device to ensure the safe and economical operation of the power system.

Description

Technical Field

[0001] The present invention belongs to the technical field of operation control of power systems, and specifically relates to a method and device for dispatching a power system in coordination with multiple types of frequency modulation resources. Background Art

[0002] The grid connection of new energy units leads to a gradual decrease in the inertia of the power system, and the primary frequency regulation reserve of the system is insufficient. Under the influence of N-1 working conditions or power fluctuations, the frequency of the power system will drop rapidly until it exceeds the threshold, threatening the safe operation of the power system. In order to ensure the dynamic frequency safety of the power system, it is necessary to fully tap and utilize the primary frequency regulation resources of the entire network, realize the coordination and cooperation of multiple types of resources such as source, load and storage, and improve the safety and economic level of system operation. The traditional power system dispatching model does not consider the frequency safety of the power system under special working conditions. Therefore, it is necessary to improve the original model and add frequency safety constraints to ensure the dynamic frequency safety of the power system under special working conditions; at the same time, due to the wide variety of frequency regulation resources in the power system and their different characteristics, it is necessary to consider the coordination and cooperation of various frequency regulation resources in the dispatching model, otherwise, redundant frequency regulation resources will cause resource waste, and insufficient frequency regulation resources will threaten the safe operation of the power system. Summary of the invention

[0003] The purpose of the present invention is to fill the gaps in the existing technology and propose a method and device for dispatching a power system that coordinates multiple types of frequency regulation resources. The present invention is aimed at the dispatching control of a high-proportion new energy power system, and realizes the coordination of multiple types of frequency regulation resources while ensuring the dynamic safety of the power system frequency. The calculation results obtain the start-stop plan of the thermal power unit and the charge-discharge plan of the energy storage device, guiding the dispatcher to make dispatching decisions.

[0004] The first embodiment of the present invention provides a method for dispatching a power system in coordination with multiple types of frequency modulation resources, including:

[0005] Constructing an objective function of the power system dispatching model, wherein the objective function minimizes the sum of the cost of thermal power units, the frequency regulation and standby cost of new energy stations, and the operating cost of energy storage devices;

[0006] Constructing constraints of the power system dispatch model, wherein the constraints include frequency security constraints, and the frequency security constraints are used to ensure the dynamic frequency security of the power system under a set power disturbance;

[0007] Solve the power system model to obtain a dispatch plan for the thermal power unit, the new energy station and the energy storage device.

[0008] In a specific embodiment of the present invention, the thermal power unit costs include: the start-up and shutdown costs of the thermal power unit, the fuel costs of the thermal power unit and the frequency regulation standby costs of the thermal power unit.

[0009] In a specific embodiment of the present invention, the objective function expression is as follows:

[0010]

[0011] In the formula, is the start-up and shutdown cost of thermal power unit i at time t; is the fuel cost of thermal power unit i at time t; is the frequency regulation reserve cost of thermal power unit i at time t; is the frequency regulation reserve cost of the new energy station j at time t; is the operating cost of energy storage device k at time t; the subscripts i, j, k represent the numbers of thermal power units, new energy stations and energy storage devices respectively, the superscript t represents the time, Ng, Nw, Ne are the total number of thermal power units, the total number of new energy stations, and the total number of energy storage devices respectively, and T represents the total number of scheduling times.

[0012] In a specific embodiment of the present invention, the frequency safety constraint includes:

[0013] Frequency change rate constraint:

[0014]

[0015]

[0016] In the formula, represents the aggregate inertia at time t, represents the maximum output power of thermal power unit i, represents the capacity of the new energy station j, Indicates the maximum charging or discharging power allowed by the energy storage device k, H i Represents the inertia of thermal power unit i, H j represents the virtual inertia provided by the new energy station j, represents the start and stop variables of thermal power unit i at time t, Indicates that thermal power unit i is shut down at time t, It indicates that thermal power unit i is put into operation at time t; f0 indicates the reference frequency, ΔP indicates the power disturbance, Indicates the frequency change rate threshold;

[0017] Frequency minimum point constraint;

[0018] ωu t +b≥0

[0019] ω=(ω1 ω2 ω3 … ω i …)

[0020]

[0021] Where ω is the weight coefficient vector of thermal power units, the dimension of ω is the total number of thermal power units, i represents the weight coefficient corresponding to thermal power unit i, b represents the offset coefficient; u t Represents the start and stop vector of the thermal power unit at time t;

[0022] Quasi-steady-state frequency constraints;

[0023]

[0024]

[0025] In the formula, represents the aggregate droop coefficient at time t, R i is the droop coefficient of thermal power unit i, R j is the droop coefficient of the new energy station j, R k is the droop coefficient of the energy storage device k, D is the damping coefficient of the load, Indicates the quasi-steady-state frequency deviation threshold;

[0026] Frequency regulation and standby constraints of thermal power units;

[0027]

[0028] In the formula, is the frequency regulation reserve size of thermal power unit i at time t;

[0029] Frequency regulation and standby constraints of energy storage devices;

[0030]

[0031] In the formula, and They represent the charging power and discharging power of the energy storage device k at time t respectively;

[0032] Frequency regulation and standby constraints for new energy stations;

[0033]

[0034] In a specific embodiment of the present invention, the method further comprises:

[0035] The calculation expression of the start-up and shutdown cost of the thermal power unit is as follows:

[0036]

[0037]

[0038]

[0039] In the formula, are the startup cost and shutdown cost of thermal power unit i at time t, respectively; is the start and stop variable of thermal power unit i at time t, Indicates that thermal power unit i is shut down at time t, Indicates that thermal power unit i is put into operation at time t; su i 、sd i are the startup cost coefficient and shutdown cost coefficient of thermal power unit i respectively;

[0040] The calculation expression of the fuel cost of the thermal power unit is as follows:

[0041]

[0042] In the formula, a i 、b i 、c i are the coefficients of the quadratic term, linear term and constant term of the fuel cost function of thermal power unit i with respect to the unit output; is the output of thermal power unit i at time t;

[0043] The calculation expression of the frequency regulation standby cost of thermal power units is as follows:

[0044]

[0045] Among them, rgc i is the frequency regulation reserve cost coefficient of thermal power unit i, is the frequency regulation reserve size of thermal power unit i at time t;

[0046] The calculation expression of the frequency regulation standby fee of the new energy station is as follows:

[0047]

[0048] In the formula, rwc j is the frequency regulation reserve cost coefficient of new energy station j, is the frequency regulation reserve size of the new energy station j at time t;

[0049] The operating cost calculation expression of the energy storage device is as follows:

[0050]

[0051] In the formula, and They represent the charging power and discharging power of the energy storage device k at time t respectively; ec k0 is the fixed cost coefficient of the energy storage device, ec k1The operating cost factor for charging or discharging the energy storage device.

[0052] In a specific embodiment of the present invention, the constraints of the power system dispatch model also include:

[0053] Power balance constraints;

[0054]

[0055] In the formula, is the output of thermal power unit i at time t, is the planned output power of the new energy station j at time t, is the predicted load size of node d at time t, Nd represents the total number of nodes in the power system;

[0056] Power constraints of thermal power units;

[0057]

[0058]

[0059]

[0060]

[0061] In the formula, is the frequency regulation reserve size of thermal power unit i at time t, Rup i Represents the maximum ramp rate of thermal power unit i; Rdown i represents the maximum landslide amount of thermal power unit i; is the minimum output power of thermal power unit i;

[0062] Power constraints of new energy stations;

[0063]

[0064]

[0065]

[0066] In the formula, is the predicted output power of the new energy station j at time t;

[0067] Minimum start and stop time constraints for thermal power units;

[0068]

[0069]

[0070]

[0071]

[0072] Where UT i and DT i Respectively represent the minimum start time and stop time of thermal power unit i;

[0073] Energy storage device constraints;

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080]

[0081] In the formula, represents the amount of energy stored in the energy storage device k at time t, and They represent the charging power coefficient and discharging power coefficient of the energy storage device k respectively, are the maximum and minimum energy storage values ​​allowed by energy storage device k, is the maximum charging or discharging power allowed for the energy storage device k; and are 0-1 variables, representing the charging state and discharging state of the energy storage device k at time t, respectively;

[0082] Line capacity constraints;

[0083]

[0084]

[0085] In the formula, is the maximum power capacity allowed by the transmission line L; They are transmission line L pairs and The transmission distribution coefficient.

[0086] In a specific embodiment of the present invention, solving the power system model to obtain a scheduling plan for the thermal power unit, the new energy station and the energy storage device includes:

[0087]

[0088] Where Ω is the set of decision variables obtained by solving the scheduling model.

[0089] A second aspect of the present invention provides a method for dispatching a power system in coordination with multiple types of frequency modulation resources, including:

[0090] Obtain operating parameters of thermal power units, new energy stations and energy storage devices in the power system;

[0091] The operating parameters are input into a preset power system dispatching model, and the dispatching model outputs a dispatching plan for the thermal power unit, the new energy station and the energy storage device; the objective function of the dispatching model minimizes the sum of the cost of the thermal power unit, the frequency regulation and standby cost of the new energy station and the operating cost of the energy storage device; the constraints of the dispatching model include frequency safety constraints, and the frequency safety constraints are used to ensure the dynamic frequency safety of the power system under a set power disturbance.

[0092] The third aspect of the present invention provides a power system dispatching device for coordinating multiple types of frequency modulation resources, including:

[0093] An objective function construction module is used to construct an objective function of the power system dispatching model, wherein the objective function minimizes the sum of the cost of thermal power units, the frequency regulation and standby cost of new energy stations, and the operating cost of energy storage devices;

[0094] A constraint condition construction module, used to construct the constraint conditions of the power system dispatch model, wherein the constraint conditions include frequency security constraints, and the frequency security constraints are used to ensure the frequency dynamic security of the power system under a set power disturbance;

[0095] The scheduling plan generation module is used to solve the power system model and obtain the scheduling plan of the thermal power unit, the new energy station and the energy storage device.

[0096] A fourth aspect of the present invention provides a power system dispatching device for coordinating multiple types of frequency modulation resources, including:

[0097] An operating parameter acquisition module is used to obtain operating parameters of thermal power units, new energy stations and energy storage devices in the power system;

[0098] A scheduling model solving module is used to input the operating parameters into a preset power system scheduling model, and the scheduling model outputs a scheduling plan for the thermal power unit, the new energy station and the energy storage device; the objective function of the scheduling model minimizes the sum of the cost of the thermal power unit, the frequency regulation and standby cost of the new energy station and the operating cost of the energy storage device; the constraint conditions of the scheduling model include frequency safety constraints, and the frequency safety constraints are used to ensure the dynamic frequency safety of the power system under a set power disturbance.

[0099] A fifth aspect of the present invention provides an electronic device, including:

[0100] at least one processor; and a memory communicatively coupled to the at least one processor;

[0101] Among them, the memory stores instructions that can be executed by the at least one processor, and the instructions are configured to execute the above-mentioned power system scheduling method for coordinating multiple types of frequency regulation resources.

[0102] A sixth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned power system dispatching method for coordinating multiple types of frequency regulation resources.

[0103] The characteristics and beneficial effects of the present invention are:

[0104] (1) The objective function and constraint conditions of the dispatching model constructed by the present invention include thermal power units, new energy stations and energy storage equipment, etc., which realizes the coordination and cooperation of multiple types of frequency regulation resources and improves the economy of power system operation.

[0105] (2) The constraints of the dispatching model of the present invention newly introduce frequency change rate constraints, frequency minimum point constraints, quasi-steady-state frequency constraints and frequency regulation and standby constraints of different types of resources, which can ensure the dynamic frequency safety of the power system under certain power fluctuations.

[0106] (3) The present invention realizes the coordination of multiple types of frequency regulation resources while ensuring the dynamic safety of the power system frequency. It can quickly solve by calling a commercial solver to provide a start-stop plan for thermal power units and a charge-discharge plan for energy storage devices, thereby ensuring the safe and economical operation of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] Figure 1 This is an overall flow chart of a method for dispatching a power system that coordinates multiple types of frequency modulation resources according to an embodiment of the present invention. DETAILED DESCRIPTION

[0108] The embodiment of the present invention proposes a method and device for dispatching a power system in coordination with multiple types of frequency modulation resources, which is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0109] The first embodiment of the present invention proposes a method for dispatching a power system in coordination with multiple types of frequency modulation resources. The overall process is as follows: Figure 1 As shown, including:

[0110] 1) constructing an objective function of the power system dispatching model, wherein the objective function minimizes the sum of the cost of thermal power units, the frequency regulation and standby cost of new energy stations, and the operating cost of energy storage devices;

[0111] 2) constructing constraint conditions of the power system dispatch model, wherein the constraint conditions include frequency security constraints, and the frequency security constraints are used to ensure the frequency dynamic security of the power system under a set power disturbance;

[0112] 3) Solving the power system dispatch model to obtain a dispatch plan for the thermal power unit, the new energy station and the energy storage device.

[0113] In a specific embodiment of the present invention, the thermal power unit costs include: the start-up and shutdown costs of the thermal power unit, the fuel costs of the thermal power unit and the frequency regulation standby costs of the thermal power unit.

[0114] 1) In a specific embodiment of the present invention, the objective function of the power system dispatching model is expressed as follows:

[0115]

[0116] In the formula, is the start-up and shutdown cost of thermal power unit i at time t; is the fuel cost of thermal power unit i at time t; is the frequency regulation reserve cost of thermal power unit i at time t; is the frequency regulation reserve cost of the new energy station j at time t; is the operating cost of energy storage device k at time t. The subscripts i, j, k represent the numbers of thermal power units, new energy stations and energy storage devices respectively, the superscript t represents the time, Ng, Nw, Ne represent the total number of thermal power units, the total number of new energy stations, and the total number of energy storage devices respectively, and T represents the total number of scheduling times.

[0117] Furthermore, in a specific embodiment of the present invention, the start-up and shutdown costs of a thermal power unit are composed of two parts: a start-up cost and a shutdown cost, and the value thereof is determined by the switch variables of adjacent units:

[0118]

[0119]

[0120]

[0121] In the formula, are the startup cost and shutdown cost of thermal power unit i at time t, respectively; is the start and stop variable of thermal power unit i at time t, Indicates that the unit is shut down. Indicates that it is put into operation. i 、sd i They are the startup and shutdown cost coefficients of thermal power unit i, which need to be uploaded to the dispatching center by each thermal power plant.

[0122] Furthermore, in a specific embodiment of the present invention, the fuel cost of the thermal power unit is is a quadratic function of the unit output:

[0123]

[0124] In the formula, is the fuel cost of thermal power unit i at time t, a i 、b i 、c i They are the coefficients of the quadratic term, linear term and constant term of the fuel cost function of thermal power unit i with respect to the unit output, which need to be uploaded to the dispatching center by each thermal power plant. is the output of thermal power unit i at time t, is the start and stop variable of thermal power unit i at time t.

[0125] Furthermore, in a specific embodiment of the present invention, the frequency regulation standby cost of the thermal power unit is Proportional to the spare capacity of the unit:

[0126]

[0127] in, is the frequency regulation reserve cost of thermal power unit i at time t, rgc i is the frequency regulation reserve cost coefficient of thermal power unit i, which needs to be uploaded to the dispatching center by each thermal power plant. is the frequency regulation reserve size of thermal power unit i at time t.

[0128] Furthermore, in a specific embodiment of the present invention, the frequency regulation standby fee calculation method of the new energy station is as follows:

[0129] The operation of the new energy station is set to de-loading mode, that is, by abandoning wind / solar operation to reserve frequency regulation, the frequency regulation reserve fee Proportional to the square of the spare:

[0130]

[0131] In the formula, is the frequency regulation reserve cost of the new energy station j at time t, rwc j is the frequency regulation reserve cost coefficient of renewable energy station j, which needs to be uploaded to the dispatching center by each renewable energy station. is the frequency regulation reserve size of the new energy station j at time t.

[0132] Furthermore, in a specific embodiment of the present invention, the operating cost of the energy storage device is related to its charging and discharging power, which can be expressed as:

[0133]

[0134] In the formula, is the operating cost of energy storage device k at time t, and Respectively represent the charging and discharging power of energy storage device k at time t. k0 ,ec k1 Respectively represent the operating cost coefficient of the energy storage device. k0 is the fixed cost coefficient of the energy storage device, and eck1 is the operating cost coefficient generated by the charging and discharging of the energy storage device. The two coefficients need to be uploaded to the dispatching center by each energy storage device.

[0135] 2) In a specific embodiment of the present invention, the constraints of the power system dispatch model include:

[0136] 2-1) Power balance constraints;

[0137]

[0138] In the formula, is the output of thermal power unit i at time t, is the planned output power of the new energy station j at time y, and They represent the charging and discharging power of the energy storage device k at time y, is the predicted load size of node d at time t, and Nd represents the total number of nodes in the power system. Formula (9) ensures that the sum of the output of thermal power units, the planned output of new energy stations, and the net injected power of energy storage devices is equal to the predicted load size of the current system.

[0139] 2-2) Power constraints of thermal power units;

[0140]

[0141]

[0142]

[0143]

[0144] In the formula, is the start and stop variable of thermal power unit i at time t, is the output of thermal power unit i at time t, is the frequency regulation reserve size of thermal power unit i at time t, Rup i Represents the maximum ramp rate of thermal power unit i; Rdown i represents the maximum landslide amount of thermal power unit i; is the maximum output power of thermal power unit i; is the minimum output power of thermal power unit i. i 、Rdown i , The four parameters need to be uploaded to the dispatching center by each thermal power plant.

[0145] Formulas (10) and (11) require that the output power of the thermal power unit is within the minimum output power and maximum output power Equations (12) and (13) are the climbing constraint and landslide constraint of the unit respectively.

[0146] 2-3) Power constraints of new energy stations;

[0147]

[0148]

[0149]

[0150] In the formula, is the predicted output power of the new energy station j at time t, which is the planned output power and FM standby The sum of . Equations (15) and (16) restrict The value range of .

[0151] 2-4) Minimum start and stop time constraints for thermal power units;

[0152]

[0153]

[0154]

[0155]

[0156] In the formula, is the start and stop variable of thermal power unit i at time t, UT i and DT i Respectively represent the minimum start time and stop time of thermal power unit i, and this coefficient needs to be uploaded to the dispatch center by each thermal power plant. Constraints (17)-(20) are all linear constraints on the start and stop variables of the unit, and no additional auxiliary variables need to be introduced.

[0157] 2-5) Energy storage device constraints;

[0158]

[0159]

[0160]

[0161]

[0162]

[0163]

[0164]

[0165] In the formula, It indicates the amount of energy stored in the energy storage device k at time t, which is related to the energy storage value at the previous moment and the charge and discharge power in the current period. and They represent the charging power coefficient and discharging power coefficient of the energy storage device k respectively, and They respectively represent the charging power and discharging power of the energy storage device k at time t. are the maximum and minimum energy storage values ​​allowed by energy storage device k, is the maximum charge / discharge power allowed by the energy storage device k. and Both are 0-1 variables, representing the charge and discharge states of the energy storage device k at time t. At most one of the two variables can be 1 at the same time. Formula (22) indicates that the energy storage size of the energy storage device must be equal to its initial storage energy after a scheduling cycle. (23) and (24) give the upper and lower limits of the energy storage device. (25) and (26) limit the charge and discharge power. (27) indicates that the energy storage device cannot operate in the charge and discharge modes at the same time.

[0166] 2-6) Frequency change rate constraint:

[0167]

[0168]

[0169] In the formula, represents the aggregate inertia at time t, with the total installed capacity of the entire network as the reference power; is the maximum output power of thermal power unit i, represents the capacity of the new energy station j, Indicates the maximum charge / discharge power allowed by the energy storage device k, H i Represents the inertia of thermal power unit i, H j represents the virtual inertia provided by the new energy station j, represents the start-stop variable of thermal power unit i at time t, f0 represents the reference frequency, ΔP represents the power disturbance set in advance by the dispatcher, represents the frequency change rate threshold, which is also set in advance by the dispatcher. Equation (29) shows that the maximum frequency change rate constraint can be transformed into a linear constraint on the total inertia of the system, which is equivalent to a linear constraint on the start-stop variable of the unit.

[0170] 2-7) Frequency minimum point constraint;

[0171] ωu t +b≥0 (30)

[0172] ω=(ω1 ω2 ω3 … ω i …) (31)

[0173]

[0174] Where ω is the weight coefficient vector of thermal power units, and its dimension is the same as the number of thermal power units. i represents the weight coefficient corresponding to thermal power unit i, and b represents the offset coefficient. Among them, the coefficient vector ω and the offset coefficient b can be obtained by machine learning based on historical operation data or simulation data. t is the start and stop vector of the thermal power unit at time t, is the start and stop variable of thermal power unit i at time t.

[0175] 2-8) Quasi-steady-state frequency constraints;

[0176]

[0177]

[0178] In the formula, represents the aggregate droop coefficient at time t, with the total installed capacity of the entire network as the reference power; represents the maximum output power of thermal power unit i, represents the capacity of the new energy station j, is the maximum charge / discharge power allowed by the energy storage device k, R i is the droop coefficient of thermal power unit i, R j is the droop coefficient of the new energy station j, R k is the droop coefficient of the energy storage device k, is the start-stop variable of thermal power unit i at time t, D is the damping coefficient of the load, ΔP is the power disturbance set in advance by the dispatcher, f0 is the reference frequency, represents the quasi-steady-state frequency deviation threshold, which is also set in advance by the dispatcher. Equation (34) shows that the quasi-steady-state frequency constraint can be transformed into a linear constraint on the system aggregate droop coefficient, which is equivalent to a linear constraint on the unit start-stop variable.

[0179] 2-9) Frequency regulation and standby constraints of thermal power units;

[0180]

[0181] In the formula, is the frequency regulation reserve size of thermal power unit i at time t, is the maximum output power of thermal power unit i, is the start and stop variable of thermal power unit i at time t, Ri 为 The droop coefficient of thermal power unit i, represents the quasi-steady-state frequency deviation threshold, and f0 is the reference frequency. Formula (35) ensures that each online thermal power unit can provide sufficient frequency regulation reserve.

[0182] 2-10) Frequency regulation and standby constraints of energy storage devices;

[0183]

[0184] In the formula, is the maximum charge / discharge power allowed by the energy storage device k, and Respectively represent the charging and discharging power of energy storage, R k The droop coefficient provided by the energy storage device k, It represents the quasi-steady-state frequency deviation threshold, and f0 is the reference frequency.

[0185] 2-11) Frequency regulation and standby constraints for new energy stations;

[0186]

[0187] In the formula, is the frequency regulation reserve size of the new energy station j at time t, represents the capacity of the new energy station j, R j is the droop coefficient of the new energy station j, It represents the quasi-steady-state frequency deviation threshold, and f0 is the reference frequency.

[0188] 2-12) Line capacity constraints;

[0189]

[0190]

[0191] In the formula, is the maximum power capacity allowed by the transmission line L. The transmission line L is the output of the thermal power unit. New energy station output Net injection power of energy storage device and load forecast power The transmission allocation coefficient is calculated using the DC power flow method. Equations (38) and (39) ensure that the bidirectional power flow of the transmission line L will not exceed its maximum power capacity.

[0192] In a specific embodiment of the present invention, solving the power system dispatch model to obtain the dispatch plan of the thermal power unit, the new energy station and the energy storage device includes:

[0193] The power system dispatch model for coordinating multiple types of frequency regulation resources established in step 1) and step 2) is a mixed integer quadratic programming model, which can be quickly solved by calling commercial solvers (such as Gurobi, Cplex, etc.). By adding frequency dynamic safety constraints, that is, step 2-6) to step 2-11), it can be ensured that the three important frequency dynamic indicators (maximum frequency change rate, maximum frequency deviation, quasi-steady-state frequency deviation) do not exceed the limit, thereby ensuring the frequency dynamic safety of the power system.

[0194] By solving the established dispatch model, we can obtain the start-stop plan of thermal power units and the charging and discharging plan of energy storage devices considering frequency safety:

[0195]

[0196] In the formula, Ω is the set of decision variables obtained by solving, is the start and stop variable of thermal power unit i at time t, is the output of thermal power unit i at time t, is the frequency regulation reserve of thermal power unit i at time t, is the planned output power of the new energy station j at time t, is the frequency regulation reserve of the new energy station j at time t, and is the charging and discharging state of the energy storage device k at time t, and They represent the charging power and discharging power of the energy storage device k at time t, respectively. Represents the amount of energy stored in energy storage device k at time t.

[0197] To implement the above embodiment, a second aspect of the present invention provides a method for dispatching a power system in coordination with multiple types of frequency modulation resources, including:

[0198] Obtain operating parameters of thermal power units, new energy stations and energy storage devices in the power system;

[0199] The operating parameters are input into a preset power system dispatching model, and the dispatching model outputs a dispatching plan for the thermal power unit, the new energy station and the energy storage device; the objective function of the dispatching model minimizes the sum of the cost of the thermal power unit, the frequency regulation and standby cost of the new energy station and the operating cost of the energy storage device; the constraints of the dispatching model include frequency safety constraints, and the frequency safety constraints are used to ensure the dynamic frequency safety of the power system under a set power disturbance.

[0200] It should be noted that the aforementioned explanation of the embodiment of a power system dispatching method for coordinating multiple types of frequency regulation resources in the first aspect embodiment is also applicable to an attack risk assessment method for a load frequency control system in this embodiment, and will not be repeated here.

[0201] To implement the above embodiment, a third aspect of the present invention provides a power system dispatching device for coordinating multiple types of frequency modulation resources, including:

[0202] An objective function construction module is used to construct an objective function of the power system dispatching model, wherein the objective function minimizes the sum of the cost of thermal power units, the frequency regulation and standby cost of new energy stations, and the operating cost of energy storage devices;

[0203] A constraint condition construction module, used to construct the constraint conditions of the power system dispatch model, wherein the constraint conditions include frequency security constraints, and the frequency security constraints are used to ensure the frequency dynamic security of the power system under a set power disturbance;

[0204] The scheduling plan generation module is used to solve the power system model and obtain the scheduling plan of the thermal power unit, the new energy station and the energy storage device.

[0205] In a specific embodiment of the present invention, in the objective function construction module, the thermal power unit costs include: the start-up and shutdown costs of the thermal power unit, the fuel costs of the thermal power unit and the frequency regulation standby costs of the thermal power unit.

[0206] In a specific embodiment of the present invention, the objective function construction module is specifically used to construct the objective function as follows:

[0207]

[0208] In the formula, is the start-up and shutdown cost of thermal power unit i at time t; is the fuel cost of thermal power unit i at time t; is the frequency regulation reserve cost of thermal power unit i at time t; is the frequency regulation reserve cost of the new energy station j at time t; is the operating cost of energy storage device k at time t. The subscripts i, j, k represent the numbers of thermal power units, new energy stations and energy storage devices respectively, the superscript t represents the time, Ng, Nw, Ne represent the total number of thermal power units, the total number of new energy stations, and the total number of energy storage devices respectively, and T represents the total number of scheduling times.

[0209] Furthermore, in a specific embodiment of the present invention, the start-up and shutdown costs of a thermal power unit are composed of two parts: a start-up cost and a shutdown cost, and the value thereof is determined by the switch variables of adjacent units:

[0210]

[0211]

[0212]

[0213] In the formula, are the startup cost and shutdown cost of thermal power unit i at time t, respectively; is the start and stop variable of thermal power unit i at time t, Indicates that the unit is shut down. Indicates that it is put into operation. i 、sd i They are the startup and shutdown cost coefficients of thermal power unit i, which need to be uploaded to the dispatching center by each thermal power plant.

[0214] Furthermore, in a specific embodiment of the present invention, the fuel cost of the thermal power unit is is a quadratic function of the unit output:

[0215]

[0216] In the formula, is the fuel cost of thermal power unit i at time t, a i 、b i and i are the coefficients of the quadratic term, linear term and constant term of the fuel cost function of thermal power unit i with respect to the unit output, which need to be uploaded to the dispatching center by each thermal power plant. is the output of thermal power unit i at time t, is the start and stop variable of thermal power unit i at time t.

[0217] Furthermore, in a specific embodiment of the present invention, the frequency regulation standby cost of the thermal power unit is Proportional to the spare capacity of the unit:

[0218]

[0219] in, is the frequency regulation reserve cost of thermal power unit i at time t, rgc i is the frequency regulation reserve cost coefficient of thermal power unit i, which needs to be uploaded to the dispatching center by each thermal power plant. is the frequency regulation reserve size of thermal power unit i at time t.

[0220] Furthermore, in a specific embodiment of the present invention, the frequency regulation standby fee calculation method of the new energy station is as follows:

[0221] The operation of the new energy station is set to de-loading mode, that is, by abandoning wind / solar operation to reserve frequency regulation, the frequency regulation reserve fee Proportional to the square of the spare:

[0222]

[0223] In the formula, is the frequency regulation reserve cost of the new energy station j at time t, rwc j is the frequency regulation reserve cost coefficient of renewable energy station j, which needs to be uploaded to the dispatching center by each renewable energy station. is the frequency regulation reserve size of the new energy station j at time t.

[0224] Furthermore, in a specific embodiment of the present invention, the operating cost of the energy storage device is related to its charging and discharging power, which can be expressed as:

[0225]

[0226] In the formula, is the operating cost of energy storage device k at time t, and Respectively represent the charging and discharging power of energy storage device k at time t. k0 ,ec k1 Respectively represent the operating cost coefficient of the energy storage device. k0 is the fixed cost coefficient of the energy storage device, ec k1 These are the operating cost coefficients generated by charging and discharging the energy storage device. These two coefficients need to be uploaded to the dispatching center by each energy storage device.

[0227] In a specific embodiment of the present invention, the constraint condition building module is specifically used to build the constraint conditions as follows:

[0228] 2-1) Power balance constraints;

[0229]

[0230] In the formula, is the output of thermal power unit i at time t, is the planned output power of the new energy station j at time t, and They represent the charging and discharging power of the energy storage device k at time t, is the predicted load size of node d at time t, and Nd represents the total number of nodes in the power system. Formula (9) ensures that the sum of the output of thermal power units, the planned output of new energy stations, and the net injected power of energy storage devices is equal to the predicted load size of the current system.

[0231] 2-2) Power constraints of thermal power units;

[0232]

[0233]

[0234]

[0235]

[0236] In the formula, is the start and stop variable of thermal power unit i at time t, is the output of thermal power unit i at time t, is the frequency regulation reserve size of thermal power unit i at time t, Rup i Represents the maximum ramp rate of thermal power unit i; Rdown i represents the maximum landslide amount of thermal power unit i; is the maximum output power of thermal power unit i; is the minimum output power of thermal power unit i. i ,Rdownx, The four parameters need to be uploaded to the dispatching center by each thermal power plant.

[0237] Formulas (10) and (11) require that the output power of the thermal power unit is within the minimum output power and maximum output power Equations (12) and (13) are the climbing constraint and landslide constraint of the unit respectively.

[0238] 2-3) Power constraints of new energy stations;

[0239]

[0240]

[0241]

[0242] In the formula, is the predicted output power of the new energy station j at time t, which is the planned output power and FM standby The sum of . Equations (15) and (16) restrict The value range of .

[0243] 2-4) Minimum start and stop time constraints for thermal power units;

[0244]

[0245]

[0246]

[0247]

[0248] In the formula, is the start and stop variable of thermal power unit i at time t, UT i and DT i Respectively represent the minimum start time and stop time of thermal power unit i, and this coefficient needs to be uploaded to the dispatch center by each thermal power plant. Constraints (17)-(20) are all linear constraints on the start and stop variables of the unit, and no additional auxiliary variables need to be introduced.

[0249] 2-5) Energy storage device constraints;

[0250]

[0251]

[0252]

[0253]

[0254]

[0255]

[0256]

[0257] In the formula, It indicates the amount of energy stored in the energy storage device k at time t, which is related to the energy storage value at the previous moment and the charge and discharge power in the current period. and They represent the charging power coefficient and discharging power coefficient of the energy storage device k respectively, and They respectively represent the charging power and discharging power of the energy storage device k at time t. are the maximum and minimum energy storage values ​​allowed by energy storage device k, is the maximum charge / discharge power allowed by the energy storage device k. and Both are 0-1 variables, representing the charge and discharge states of the energy storage device k at time t. At most one of the two variables can be 1 at the same time. Formula (22) indicates that the energy storage size of the energy storage device must be equal to its initial storage energy after a scheduling cycle. (23) and (24) give the upper and lower limits of the energy storage device. (25) and (26) limit the charge and discharge power. (27) indicates that the energy storage device cannot operate in the charge and discharge modes at the same time.

[0258] 2-6) Frequency change rate constraint:

[0259]

[0260]

[0261] In the formula, represents the aggregate inertia at time t, with the total installed capacity of the entire network as the reference power; is the maximum output power of thermal power unit i, represents the capacity of the new energy station j, Indicates the maximum charge / discharge power allowed by the energy storage device k, H i Represents the inertia of thermal power unit i, H j represents the virtual inertia provided by the new energy station j, represents the start-stop variable of thermal power unit i at time t, f0 represents the reference frequency, ΔP represents the power disturbance set in advance by the dispatcher, represents the frequency change rate threshold, which is also set in advance by the dispatcher. Equation (29) shows that the maximum frequency change rate constraint can be transformed into a linear constraint on the total inertia of the system, which is equivalent to a linear constraint on the start-stop variable of the unit.

[0262] 2-7) Frequency minimum point constraint;

[0263] ωu t +b≥0 (30)

[0264] ω=(ω1 ω2 ω3 … ωi …) (31)

[0265]

[0266] Where ω is the weight coefficient vector of thermal power units, and its dimension is the same as the number of thermal power units. i represents the weight coefficient corresponding to thermal power unit i, and b represents the offset coefficient. Among them, the coefficient vector ω and the offset coefficient b can be obtained by machine learning based on historical operation data or simulation data. t is the start and stop vector of the thermal power unit at time t, is the start and stop variable of thermal power unit i at time t.

[0267] 2-8) Quasi-steady-state frequency constraints;

[0268]

[0269]

[0270] In the formula, represents the aggregate droop coefficient at time t, with the total installed capacity of the entire network as the reference power; represents the maximum output power of thermal power unit i, represents the capacity of the new energy station j, is the maximum charge / discharge power allowed by the energy storage device k, R i is the droop coefficient of thermal power unit i, R j is the droop coefficient of the new energy station j, R k is the droop coefficient of the energy storage device k, is the start-stop variable of thermal power unit i at time t, D is the damping coefficient of the load, ΔP is the power disturbance set in advance by the dispatcher, f0 is the reference frequency, represents the quasi-steady-state frequency deviation threshold, which is also set in advance by the dispatcher. Equation (34) shows that the quasi-steady-state frequency constraint can be transformed into a linear constraint on the system aggregate droop coefficient, which is equivalent to a linear constraint on the unit start-stop variable.

[0271] 2-9) Frequency regulation and standby constraints of thermal power units;

[0272]

[0273] In the formula, is the frequency regulation reserve size of thermal power unit i at time t, is the maximum output power of thermal power unit i, is the start and stop variable of thermal power unit i at time t, R i is the droop coefficient of thermal power unit i, represents the quasi-steady-state frequency deviation threshold, and f0 is the reference frequency. Formula (35) ensures that each online thermal power unit can provide sufficient frequency regulation reserve.

[0274] 2-10) Frequency regulation and standby constraints of energy storage devices;

[0275]

[0276] In the formula, is the maximum charge / discharge power allowed by the energy storage device k, and Respectively represent the charging and discharging power of energy storage, R k The droop coefficient provided by the energy storage device k, It represents the quasi-steady-state frequency deviation threshold, and f0 is the reference frequency.

[0277] 2-11) Frequency regulation and standby constraints for new energy stations;

[0278]

[0279] In the formula, is the frequency regulation reserve size of the new energy station j at time t, represents the capacity of the new energy station j, R j is the droop coefficient of the new energy station j, It represents the quasi-steady-state frequency deviation threshold, and f0 is the reference frequency.

[0280] 2-12) Line capacity constraints;

[0281]

[0282]

[0283] In the formula, is the maximum power capacity allowed by the transmission line L. The transmission line L is the output of the thermal power unit. New energy station output Net injection power of energy storage device and load forecast power The transmission allocation coefficient is calculated using the DC power flow method. Equations (38) and (39) ensure that the bidirectional power flow of the transmission line L will not exceed its maximum power capacity.

[0284] In a specific embodiment of the present invention, the scheduling plan generation module is specifically used to:

[0285] The power system dispatch model for coordinating multiple types of frequency regulation resources is a mixed integer quadratic programming model, which can be quickly solved by calling commercial solvers (such as Gurobi, Cplex, etc.). By adding frequency dynamic safety constraints, that is, steps 2-6) to 2-11), it can be ensured that the three important frequency dynamic indicators (maximum frequency change rate, maximum frequency deviation, quasi-steady-state frequency deviation) do not exceed the limit, thereby ensuring the frequency dynamic safety of the power system.

[0286] By solving the established dispatch model, we can obtain the start-stop plan of thermal power units and the charging and discharging plan of energy storage devices considering frequency safety:

[0287]

[0288] In the formula, Ω is the set of decision variables obtained by solving, is the start and stop variable of thermal power unit i at time t, is the output of thermal power unit i at time t, is the frequency regulation reserve of thermal power unit i at time t, is the planned output power of the new energy station j at time t, is the frequency regulation reserve of the new energy station j at time t, and is the charging and discharging state of the energy storage device k at time t, and They represent the charging power and discharging power of the energy storage device k at time t, respectively. Represents the amount of energy stored in energy storage device k at time t.

[0289] According to an embodiment of the present invention, a power system dispatching device for coordinating multiple types of frequency regulation resources is proposed. By constructing an objective function of the power system dispatching model, the objective function minimizes the sum of the cost of thermal power units, the frequency regulation standby cost of new energy stations, and the operating cost of energy storage devices; constructing constraints of the power system dispatching model, the constraints include frequency safety constraints, and the frequency safety constraints are used to ensure the dynamic frequency safety of the power system under a set power disturbance; solving the power system dispatching model to obtain a dispatching plan for the thermal power units, the new energy stations, and the energy storage devices. In this way, the coordination of multiple types of frequency regulation resources is achieved while ensuring the dynamic frequency safety of the power system. A commercial solver can be called for a quick solution, and a start-stop plan for the thermal power units and a charge-discharge plan for the energy storage device can be given to ensure the safe and economical operation of the power system.

[0290] To implement the above embodiment, a fourth aspect of the present invention provides a power system dispatching device for coordinating multiple types of frequency modulation resources, including:

[0291] An operating parameter acquisition module is used to obtain operating parameters of thermal power units, new energy stations and energy storage devices in the power system;

[0292] A scheduling model solving module is used to input the operating parameters into a preset power system scheduling model, and the scheduling model outputs a scheduling plan for the thermal power unit, the new energy station and the energy storage device; the objective function of the scheduling model minimizes the sum of the cost of the thermal power unit, the frequency regulation and standby cost of the new energy station and the operating cost of the energy storage device; the constraint conditions of the scheduling model include frequency safety constraints, and the frequency safety constraints are used to ensure the dynamic frequency safety of the power system under a set power disturbance.

[0293] It should be noted that the aforementioned explanation of the embodiment of a power system dispatching method for coordinating multiple types of frequency regulation resources in the first aspect embodiment is also applicable to an attack risk assessment device for a load frequency control system in this embodiment, and will not be repeated here.

[0294] To implement the above embodiment, a fifth aspect of the present invention provides an electronic device, including:

[0295] at least one processor; and a memory communicatively coupled to the at least one processor;

[0296] Among them, the memory stores instructions that can be executed by the at least one processor, and the instructions are configured to execute the above-mentioned power system scheduling method for coordinating multiple types of frequency regulation resources.

[0297] To implement the above-mentioned embodiments, the sixth aspect of the present invention proposes a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned power system dispatching method for coordinating multiple types of frequency regulation resources.

[0298] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0299] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device executes a method for dispatching a power system in coordination with multiple types of frequency modulation resources in the above embodiment.

[0300] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0301] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0302] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0303] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0304] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0305] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0306] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0307] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0308] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for dispatching a power system in coordination with multiple types of frequency modulation resources, characterized in that: include: Constructing an objective function of the power system dispatching model, wherein the objective function minimizes the sum of the cost of thermal power units, the frequency regulation and standby cost of new energy stations, and the operating cost of energy storage devices; Constructing constraints of the power system dispatch model, wherein the constraints include frequency security constraints, and the frequency security constraints are used to ensure the dynamic frequency security of the power system under a set power disturbance; Solving the power system dispatch model to obtain a dispatch plan for the thermal power unit, the new energy station and the energy storage device; The frequency safety constraints include: Frequency change rate constraint: In the formula, represents the aggregate inertia at time t, represents the maximum output power of thermal power unit i, represents the capacity of the new energy station j, Indicates the maximum charging or discharging power allowed by the energy storage device k, H i Represents the inertia of thermal power unit i, H j represents the virtual inertia provided by the new energy station j, represents the start and stop variables of thermal power unit i at time t, Indicates that thermal power unit i is shut down at time t, It indicates that thermal power unit i is put into operation at time t; f0 indicates the reference frequency, ΔP indicates the power disturbance, Indicates the frequency change rate threshold; Ng, Nw, Ne are the total number of thermal power units, the total number of new energy stations, and the total number of energy storage devices respectively; Frequency minimum point constraint; oh t +b≥0 ω=(ω1 ω2 ω3 … ω i …) Where ω is the weight coefficient vector of thermal power units, the dimension of ω is the total number of thermal power units, i represents the weight coefficient corresponding to thermal power unit i, b represents the offset coefficient; u t Represents the start and stop vector of the thermal power unit at time t; Quasi-steady-state frequency constraints; In the formula, represents the aggregate droop coefficient at time t, R i is the droop coefficient of thermal power unit i, R j is the droop coefficient of the new energy station j, R k is the droop coefficient of the energy storage device k, D is the damping coefficient of the load, Indicates the quasi-steady-state frequency deviation threshold; Frequency regulation and standby constraints of thermal power units; In the formula, is the frequency regulation reserve size of thermal power unit i at time t; Frequency regulation and standby constraints of energy storage devices; In the formula, and They represent the charging power and discharging power of the energy storage device k at time t respectively; Frequency regulation and standby constraints for new energy stations; 2. The method according to claim 1, characterized in that The thermal power unit costs include: the start-up and shutdown costs of the thermal power unit, the fuel costs of the thermal power unit and the frequency regulation and standby costs of the thermal power unit.

3. The method according to claim 2, characterized in that The objective function expression is as follows: In the formula, is the start-up and shutdown cost of thermal power unit i at time t; is the fuel cost of thermal power unit i at time t; is the frequency regulation reserve cost of thermal power unit i at time t; is the frequency regulation reserve cost of the new energy station j at time t; is the operating cost of energy storage device k at time t; The subscripts i, j, k represent the numbers of thermal power units, new energy stations and energy storage devices respectively. The superscript t represents the time. Ng, Nw, Ne represent the total number of thermal power units, the total number of new energy stations and the total number of energy storage devices respectively. T represents the total number of scheduling times.

4. The method according to claim 3, characterized in that The method further comprises: The calculation expression of the start-up and shutdown cost of the thermal power unit is as follows: In the formula, are the startup cost and shutdown cost of thermal power unit i at time t, respectively; is the start and stop variable of thermal power unit i at time t, Indicates that thermal power unit i is shut down at time t, Indicates that thermal power unit i is put into operation at time t; su i 、sd i are the startup cost coefficient and shutdown cost coefficient of thermal power unit i respectively; The calculation expression of the fuel cost of the thermal power unit is as follows: In the formula, a i , b i 、c i are the coefficients of the quadratic term, linear term and constant term of the fuel cost function of thermal power unit i with respect to the unit output; is the output of thermal power unit i at time t; The calculation expression of the frequency regulation standby cost of thermal power units is as follows: Among them, rgc i is the frequency regulation reserve cost coefficient of thermal power unit i, is the frequency regulation reserve size of thermal power unit i at time t; The calculation expression of the frequency regulation standby fee of the new energy station is as follows: In the formula, rwc j is the frequency regulation reserve cost coefficient of new energy station j, is the frequency regulation reserve size of the new energy station j at time t; The operating cost calculation expression of the energy storage device is as follows: In the formula, and They represent the charging power and discharging power of the energy storage device k at time t respectively; ec k0 is the fixed cost coefficient of the energy storage device, ec k1 The operating cost factor for charging or discharging the energy storage device.

5. The method according to claim 4, characterized in that The constraints of the power system dispatch model also include: Power balance constraints; In the formula, is the output of thermal power unit i at time t, is the planned output power of the new energy station j at time t, is the predicted load size of node d at time t, Nd represents the total number of nodes in the power system; Power constraints of thermal power units; In the formula, is the frequency regulation reserve size of thermal power unit i at time t, Rup i Represents the maximum ramp rate of thermal power unit i; Rdown i represents the maximum landslide amount of thermal power unit i; is the minimum output power of thermal power unit i; Power constraints of new energy stations; In the formula, is the predicted output power of the new energy station j at time t; Minimum start and stop time constraints for thermal power units; Where UT i and DT i Respectively represent the minimum start time and stop time of thermal power unit i; Energy storage device constraints; In the formula, represents the amount of energy stored in the energy storage device k at time t, and They represent the charging power coefficient and discharging power coefficient of the energy storage device k respectively, are the minimum and maximum energy storage values ​​allowed by energy storage device k, is the maximum charging or discharging power allowed for the energy storage device k; and are 0-1 variables, representing the charging state and discharging state of the energy storage device k at time t, respectively; Line capacity constraints; In the formula, is the maximum power capacity allowed by the transmission line L; They are transmission line L pairs and The transmission distribution coefficient.

6. The method according to claim 5, characterized in that The step of solving the power system model to obtain a dispatch plan for the thermal power generating unit, the new energy station and the energy storage device includes: Where Ω is the set of decision variables obtained by solving the scheduling model.

7. A method for dispatching a power system in coordination with multiple types of frequency modulation resources, characterized in that: include: Obtain operating parameters of thermal power units, new energy stations and energy storage devices in the power system; Inputting the operating parameters into a preset power system dispatching model, the dispatching model outputting a dispatching plan for the thermal power unit, the new energy station and the energy storage device; The objective function of the dispatch model minimizes the sum of the cost of the thermal power unit, the frequency regulation and standby cost of the new energy station, and the operating cost of the energy storage device; the constraint conditions of the dispatch model include frequency security constraints, which are used to ensure the dynamic frequency security of the power system under a set power disturbance; The frequency safety constraints include: Frequency change rate constraint: In the formula, represents the aggregate inertia at time t, represents the maximum output power of thermal power unit i, represents the capacity of the new energy station j, Indicates the maximum charging or discharging power allowed by the energy storage device k, H i Represents the inertia of thermal power unit i, H j represents the virtual inertia provided by the new energy station j, represents the start and stop variables of thermal power unit i at time t, Indicates that thermal power unit i is shut down at time t, It indicates that thermal power unit i is put into operation at time t; f0 indicates the reference frequency, ΔP indicates the power disturbance, Indicates the frequency change rate threshold; Ng, Nw, Ne are the total number of thermal power units, the total number of new energy stations, and the total number of energy storage devices respectively; Frequency minimum point constraint; oh t +b≥0 ω=(ω1 ω2 ω3 … ω i …) Where ω is the weight coefficient vector of thermal power units, the dimension of ω is the total number of thermal power units, i represents the weight coefficient corresponding to thermal power unit i, b represents the offset coefficient; u t Represents the start and stop vector of the thermal power unit at time t; Quasi-steady-state frequency constraints; In the formula, represents the aggregate droop coefficient at time t, R i is the droop coefficient of thermal power unit i, R j is the droop coefficient of the new energy station j, R k is the droop coefficient of the energy storage device k, D is the damping coefficient of the load, Indicates the quasi-steady-state frequency deviation threshold; Frequency regulation and standby constraints of thermal power units; In the formula, is the frequency regulation reserve size of thermal power unit i at time t; Frequency regulation and standby constraints of energy storage devices; In the formula, and They represent the charging power and discharging power of the energy storage device k at time t respectively; Frequency regulation and standby constraints for new energy stations; 8. A power system dispatching device for coordinating multiple types of frequency modulation resources, characterized in that: include: An objective function construction module is used to construct an objective function of the power system dispatching model, wherein the objective function minimizes the sum of the cost of thermal power units, the frequency regulation and standby cost of new energy stations, and the operating cost of energy storage devices; A constraint condition construction module, used to construct the constraint conditions of the power system dispatch model, wherein the constraint conditions include frequency security constraints, and the frequency security constraints are used to ensure the frequency dynamic security of the power system under a set power disturbance; A scheduling plan generation module, used to solve the power system model and obtain a scheduling plan for the thermal power unit, the new energy station and the energy storage device; The frequency safety constraints include: Frequency change rate constraint: In the formula, represents the aggregate inertia at time t, represents the maximum output power of thermal power unit i, represents the capacity of the new energy station j, Indicates the maximum charging or discharging power allowed by the energy storage device k, H i Represents the inertia of thermal power unit i, H j represents the virtual inertia provided by the new energy station j, represents the start and stop variables of thermal power unit i at time t, Indicates that thermal power unit i is shut down at time t, It indicates that thermal power unit i is put into operation at time t; f0 indicates the reference frequency, ΔP indicates the power disturbance, Indicates the frequency change rate threshold; Ng, Nw, Ne are the total number of thermal power units, the total number of new energy stations, and the total number of energy storage devices respectively; Frequency minimum point constraint; oh t +b≥0 ω=(ω1 ω2 ω3 … ω i …) Where ω is the weight coefficient vector of thermal power units, the dimension of ω is the total number of thermal power units, i represents the weight coefficient corresponding to thermal power unit i, b represents the offset coefficient; u t Represents the start and stop vector of the thermal power unit at time t; Quasi-steady-state frequency constraints; In the formula, represents the aggregate droop coefficient at time t, R i is the droop coefficient of thermal power unit i, R j is the droop coefficient of the new energy station j, R k is the droop coefficient of the energy storage device k, D is the damping coefficient of the load, Indicates the quasi-steady-state frequency deviation threshold; Frequency regulation and standby constraints of thermal power units; In the formula, is the frequency regulation reserve size of thermal power unit i at time t; Frequency regulation and standby constraints of energy storage devices; In the formula, and They represent the charging power and discharging power of the energy storage device k at time t respectively; Frequency regulation and standby constraints for new energy stations; 9. A power system dispatching device for coordinating multiple types of frequency modulation resources, characterized in that: include: An operating parameter acquisition module is used to obtain operating parameters of thermal power units, new energy stations and energy storage devices in the power system; A scheduling model solving module, used for inputting the operating parameters into a preset power system scheduling model, and the scheduling model outputs a scheduling plan for the thermal power unit, the new energy station and the energy storage device; The objective function of the dispatch model minimizes the sum of the cost of the thermal power unit, the frequency regulation and standby cost of the new energy station, and the operating cost of the energy storage device; the constraint conditions of the dispatch model include frequency security constraints, which are used to ensure the dynamic frequency security of the power system under a set power disturbance; The frequency safety constraints include: Frequency change rate constraint: In the formula, represents the aggregate inertia at time t, represents the maximum output power of thermal power unit i, represents the capacity of the new energy station j, Indicates the maximum charging or discharging power allowed by the energy storage device k, H i Represents the inertia of thermal power unit i, H j represents the virtual inertia provided by the new energy station j, represents the start and stop variables of thermal power unit i at time t, Indicates that thermal power unit i is shut down at time t, It indicates that thermal power unit i is put into operation at time t; f0 indicates the reference frequency, ΔP indicates the power disturbance, Indicates the frequency change rate threshold; Ng, Nw, Ne are the total number of thermal power units, the total number of new energy stations, and the total number of energy storage devices respectively; Frequency minimum point constraint; oh t +b≥0 ω=(ω1 ω2 ω3 … ω i …) Where ω is the weight coefficient vector of thermal power units, the dimension of ω is the total number of thermal power units, i represents the weight coefficient corresponding to thermal power unit i, b represents the offset coefficient; u t Represents the start and stop vector of the thermal power unit at time t; Quasi-steady-state frequency constraints; In the formula, represents the aggregate droop coefficient at time t, R i is the droop coefficient of thermal power unit i, R j is the droop coefficient of the new energy station j, R k is the droop coefficient of the energy storage device k, D is the damping coefficient of the load, Indicates the quasi-steady-state frequency deviation threshold; Frequency regulation and standby constraints of thermal power units; In the formula, is the frequency regulation reserve size of thermal power unit i at time t; Frequency regulation and standby constraints of energy storage devices; In the formula, and They represent the charging power and discharging power of the energy storage device k at time t respectively; Frequency regulation and standby constraints for new energy stations;

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