Method and device for encouraging energy storage clusters to participate in emergency frequency control of a power system

Abstract

The application discloses a method and device for stimulating cluster energy storage to participate in emergency frequency control of a power system. The application determines the total economic returns of all cluster energy storages and the droop coefficients of each cluster energy storage under each emergency fault in an emergency fault set according to the power shortage of each emergency fault based on a game model. Each emergency fault is taken as a target emergency fault, and the target power shortage of the target emergency fault is obtained according to the power shortage and the expected power shortage of the target emergency fault, and then the total economic returns of all cluster energy storages and the droop coefficients of each cluster energy storage under the target emergency fault are determined. When the target emergency fault occurs in the power system, the total economic returns of all cluster energy storages under the target emergency fault are distributed to each cluster energy storage according to the droop coefficients of each cluster energy storage under the target emergency fault, so that each cluster energy storage participates in the emergency frequency control, and the cluster energy storage can be reasonably stimulated to participate in the emergency frequency control for various emergency faults.

Description

Technical Field

[0001] This invention relates to the field of power system control technology, and in particular to a method and apparatus for incentivizing clustered energy storage to participate in emergency frequency control of a power system. Background Technology

[0002] In recent years, with the integration of a high proportion of new energy sources and the clustered application of various energy storage systems, the power system has shown a trend towards power electronics, making its dynamics more complex and posing severe challenges to its safe and stable operation. Frequency stability is crucial for the safe and stable operation of the power system. In scenarios with a large influx of new energy sources, insufficient power system inertia or inadequate frequency regulation reserves may render conventional frequency control methods insufficient to meet frequency regulation demands, thus necessitating emergency frequency control. In power systems incorporating clustered energy storage, the power of the clustered energy storage can be rapidly adjusted; therefore, existing research largely focuses on designing emergency frequency control strategies that consider the participation of clustered energy storage to meet diverse control objectives. However, in a market-driven power system environment, clustered energy storage operators and the main power system entity may belong to different decision-making bodies, and clustered energy storage may incur power regulation costs and energy consumption costs when participating in emergency frequency control. Therefore, the power system needs to provide economic incentives to clustered energy storage to encourage its participation in emergency frequency control.

[0003] Currently, the primary incentive mechanism adopted is a frequency regulation reserve market mechanism that considers the participation of clustered energy storage. This involves the power system determining its reserve capacity demand based on its own safe and stable operation requirements, and then clearing out the reserve market based on this demand. This mechanism requires clearing out a specific, defined reserve capacity demand. While it considers the randomness of emergency faults and typically selects the power deficit of the most severe fault as the clearing value, this conservative approach leads to economic losses. Furthermore, it only considers the power capacity of clustered energy storage, neglecting its energy storage capacity and ignoring the fact that clustered energy storage experiences changes in its state of charge (SOC) alongside power regulation. This makes it difficult to reasonably incentivize clustered energy storage to participate in emergency frequency control for various emergency faults. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a method and apparatus for incentivizing clustered energy storage to participate in emergency frequency control of the power system, which can reasonably incentivize clustered energy storage to participate in emergency frequency control for various emergency faults.

[0005] To address the aforementioned technical problems, in a first aspect, an embodiment of the present invention provides a method for incentivizing clustered energy storage to participate in emergency frequency control of a power system, comprising:

[0006] An emergency fault set is obtained from the historical fault data of the power system, and the power deficit and fault percentage of each emergency fault in the emergency fault set are determined to obtain the power deficit and fault percentage of all the emergency faults.

[0007] Based on the pre-established game theory model, the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault are determined according to the power deficit of each emergency fault.

[0008] By combining the power deficit and failure ratio of all the aforementioned emergency faults, the expected power deficit is determined, and each of the aforementioned emergency faults is taken as a target emergency fault. Based on the power deficit of the target emergency fault and the expected power deficit, the target power deficit of the target emergency fault is obtained. Based on the target power deficit of the target emergency fault, the total economic reward of all the cluster energy storage under the target emergency fault and the droop coefficient of each of the cluster energy storage under the target emergency fault are determined.

[0009] When the target emergency fault occurs in the power system, the total economic reward of all the cluster energy storage under the target emergency fault is allocated to each cluster energy storage according to the droop coefficient of each cluster energy storage under the target emergency fault, so that each cluster energy storage participates in emergency frequency control.

[0010] Furthermore, when the target emergency fault occurs in the power system, after allocating the total economic reward of all the clustered energy storage under the target emergency fault to each clustered energy storage according to the droop coefficient of each clustered energy storage under the target emergency fault, and enabling each clustered energy storage to participate in emergency frequency control, the method further includes:

[0011] When an actual emergency fault occurs in the power system, if the power deficit of the actual emergency fault is greater than the target power deficit of the target emergency fault, then the droop coefficient of each of the energy storage clusters under the target emergency fault is corrected to the droop coefficient of each of the energy storage clusters under the actual emergency fault.

[0012] Furthermore, the step of obtaining the emergency fault set from the historical fault data of the power system specifically involves:

[0013] According to the control cycle, the set of emergency faults is periodically obtained from the historical fault data.

[0014] Further, the step of determining the fault percentage of each emergency fault in the emergency fault set to obtain the fault percentage of all emergency faults specifically involves:

[0015] Based on the historical fault data, the number of occurrences of each emergency fault is counted, and the ratio of the number of occurrences of each emergency fault to the total number of occurrences of all emergency faults is taken as the fault percentage of each emergency fault, thus obtaining the fault percentage of all emergency faults.

[0016] Furthermore, based on the pre-established game theory model, the total economic reward of all energy storage clusters under each emergency fault and the droop coefficient of each energy storage cluster under each emergency fault are determined according to the power deficit of each emergency fault, specifically as follows:

[0017] The objective function of the power system is constructed with the goal of minimizing the total economic reward paid by the power system to all the clustered energy storage and minimizing the total generation regulation cost of all synchronous machines in the power system.

[0018] Each energy storage cluster is constructed with the objectives of maximizing economic reward allocation, minimizing power regulation cost, and maximizing energy trading revenue as the respective goals.

[0019] Based on the non-cooperative game architecture between the power system and each of the energy storage clusters, the game model is established according to the objective function of the power system and the objective function of each of the energy storage clusters.

[0020] Solve for the equilibrium solution of the game model to determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault, based on the power deficit of each emergency fault.

[0021] Furthermore, the process of finding the equilibrium solution of the game model specifically involves:

[0022] The equilibrium solution of the game model is obtained by using the fixed-point iteration method.

[0023] Furthermore, the expected power deficit is:

[0024]

[0025] Where F is the set of emergency faults, P j Let ΔP be the percentage of the j-th emergency fault. Fj This represents the power deficit for the j-th emergency fault.

[0026] Furthermore, the target power deficit of the target emergency fault is the solution to a predefined optimization problem; wherein the optimization problem is:

[0027]

[0028] Where F is the set of emergency faults, ΔP Fj For the power deficit of the j-th emergency fault, This refers to the expected power deficit.

[0029] Secondly, an embodiment of the present invention provides a device for incentivizing clustered energy storage to participate in emergency frequency control of a power system, comprising:

[0030] The emergency fault processing module is used to periodically obtain an emergency fault set from the historical fault data of the power system according to the control cycle, and determine the power deficit and fault ratio of each emergency fault in the emergency fault set, so as to obtain the power deficit and fault ratio of all the emergency faults.

[0031] The incentive game decision-making module is used to determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault based on a pre-established game model and according to the power deficit of each emergency fault.

[0032] An economic reward optimization module is used to combine the power deficit and failure ratio of all the emergency faults to determine the expected power deficit, and take each of the emergency faults as a target emergency fault. Based on the power deficit of the target emergency fault and the expected power deficit, the target power deficit of the target emergency fault is obtained. Based on the target power deficit of the target emergency fault, the total economic reward of all the cluster energy storage under the target emergency fault and the droop coefficient of each of the cluster energy storage under the target emergency fault are determined.

[0033] An economic reward incentive module is used to allocate the total economic reward of all the energy storage clusters under the target emergency fault to each of the energy storage clusters according to the droop coefficient of each of the energy storage clusters under the target emergency fault when the power system experiences the target emergency fault, so that each of the energy storage clusters participates in emergency frequency control.

[0034] Furthermore, the device for incentivizing clustered energy storage to participate in emergency frequency control of the power system also includes:

[0035] The droop coefficient correction module is used to, when the target emergency fault occurs in the power system, allocate the total economic reward of all the cluster energy storage under the target emergency fault to each cluster energy storage according to the droop coefficient of each cluster energy storage under the target emergency fault, so that after each cluster energy storage participates in emergency frequency control, when the actual emergency fault occurs in the power system, if the power deficit of the actual emergency fault is greater than the target power deficit of the target emergency fault, then the droop coefficient of each cluster energy storage under the target emergency fault is corrected to the droop coefficient of each cluster energy storage under the actual emergency fault.

[0036] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0037] Based on a game theory model, the total economic reward of all energy storage clusters and the droop coefficient of each energy storage cluster are determined according to the power deficit of each emergency fault in the emergency fault set. Taking each emergency fault as the target emergency fault, the target power deficit of the target emergency fault is obtained based on the power deficit of the target emergency fault, the power deficit of all emergency faults, and the expected power deficit determined by the fault ratio. Then, the total economic reward of all energy storage clusters and the droop coefficient of each energy storage cluster under the target emergency fault are determined. When the target emergency fault occurs in the power system, the total economic reward of all energy storage clusters under the target emergency fault is allocated to each energy storage cluster according to the droop coefficient of each energy storage cluster under the target emergency fault. This enables each energy storage cluster to participate in emergency frequency control. The total economic reward of all energy storage clusters and the droop coefficient of each energy storage cluster under different emergency faults can be quickly and in real time adjusted. Each energy storage cluster can set emergency frequency control strategies and control parameters according to its own droop coefficient and the allocated economic reward, thereby reasonably incentivizing energy storage clusters to participate in emergency frequency control for various emergency faults. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating a method for incentivizing clustered energy storage to participate in emergency frequency control of a power system, as described in the first embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the structure of a power system with clustered energy storage as exemplified in the first embodiment of the present invention;

[0040] Figure 3 ΔP is an example in the first embodiment of the present invention. F A schematic diagram of the -R curve;

[0041] Figure 4 This is a schematic diagram of a device for incentivizing clustered energy storage to participate in emergency frequency control of a power system, according to a second embodiment of the present invention. Detailed Implementation

[0042] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] It should be noted that the step numbers in this document are only for the convenience of explaining the specific embodiments and are not intended to limit the order in which the steps are executed. The method provided in this embodiment can be executed by relevant terminal devices, and the following description uses a processor as the execution subject.

[0044] like Figure 1 As shown, the first embodiment provides a method for incentivizing clustered energy storage to participate in emergency frequency control of the power system, including steps S1 to S5:

[0045] S1. Obtain the set of emergency faults from the historical fault data of the power system, and determine the power deficit and fault ratio of each emergency fault in the set of emergency faults to obtain the power deficit and fault ratio of all emergency faults.

[0046] S2. Based on the pre-established game model, determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault according to the power deficit of each emergency fault.

[0047] S3. Combine the power deficit and fault ratio of all emergency faults to determine the expected power deficit, and take each emergency fault as the target emergency fault. Based on the power deficit and expected power deficit of the target emergency fault, obtain the target power deficit of the target emergency fault. Based on the target power deficit of the target emergency fault, determine the total economic reward of all cluster energy storage under the target emergency fault and the droop coefficient of each cluster energy storage under the target emergency fault.

[0048] S4. When a target emergency fault occurs in the power system, the total economic reward of all cluster energy storage under the target emergency fault is allocated to each cluster energy storage according to the droop coefficient of each cluster energy storage under the target emergency fault, so that each cluster energy storage can participate in emergency frequency control.

[0049] As an example, an emergency frequency control strategy for a power system with clustered energy storage based on cooperative droop is selected. First, based on the constant power control of the power conversion system (PCS) of the clustered energy storage, the Pf droop control of the clustered energy storage is designed. The main steps are: measuring the frequency deviation at the grid connection point, inputting the Pf droop control loop, outputting the active power command value to the power control unit of the clustered energy storage, and adjusting the active power of the clustered energy storage. Second, a cooperative droop mechanism is proposed to ensure that the droop control of the clustered energy storage only works when an emergency fault occurs in the power system, and can serve as a backup support for conventional primary frequency regulation.

[0050] The Pf droop control equation for the i-th energy storage cluster can be expressed as:

[0051]

[0052] In equation (1), Let P be the active power command value for the i-th energy storage cluster. i E Let i be the rated operating power of the i-th energy storage cluster. Let ω be the droop coefficient of the i-th energy storage cluster. ac This refers to the frequency deviation of the AC system.

[0053] In ω ac When the AC system specifies the active power support amount for emergency frequency control for the i-th energy storage cluster, based on its own operational requirements, the amount is as follows: Its droop coefficient with respect to the i-th cluster energy storage Proportional, therefore the droop coefficient of the i-th cluster energy storage This can be used to measure the contribution of the i-th energy storage cluster to the frequency stability of the power system. Based on this emergency frequency control strategy, this embodiment proposes a method to incentivize energy storage clusters to participate in emergency frequency control of the power system.

[0054] The topology of a power system with clustered energy storage, such as Figure 2 As shown, this power system has one AC main system and n E Cluster Energy Storage (CES) and n G Let E be the set of energy storage clusters, and G be the set of synchronous machines. It can be understood that energy storage clusters are systems obtained by clustering multiple energy storage systems.

[0055] In step S1, historical fault data of the power system is acquired. From this data, an emergency fault set F for the AC main system is obtained. This set F contains various emergency faults that occurred in the AC main system within a preset time period, such as the most recent month, including DC blocking faults and synchronous machine interruption faults. The power deficit and fault percentage of each emergency fault are determined to obtain the power deficit for all emergency faults. and failure rate

[0056] In step S2, for each emergency fault in the emergency fault set F, the power deficit is calculated, for example, the power deficit ΔP of the j-th emergency fault. Fj The main AC system and multiple energy storage clusters determine the total economic reward R of all energy storage clusters under the j-th emergency fault through game theory decision-making. j And the droop coefficient of each cluster energy storage under the j-th emergency failure. The game-theoretic decision-making process is modeled as a game model. Based on this model, the total economic reward of all energy storage clusters under each emergency fault and the droop coefficient of each energy storage cluster under each emergency fault are determined according to the power deficit of each emergency fault. This leads to the following... Figure 3 The ΔP shown F The -R curve is composed of a series of scattered points.

[0057] In step S3, the power deficit of all emergency faults is combined. and failure rate Determine the expected power deficit Each emergency fault is taken as a target emergency fault, and the power deficit ΔP of the target emergency fault is calculated. Fj and expected power deficit Target power deficit obtained from the target emergency fault Based on a game theory model, the target power deficit is determined according to the target emergency fault. Determine the total economic return R of all cluster energy storage under the target emergency failure scenario. n The droop coefficient of each cluster energy storage under the target emergency failure

[0058] Understandably, when incentivizing clustered energy storage to participate in emergency frequency control of the power system, the total economic reward of all clustered energy storage under the target emergency fault and the droop coefficient of each clustered energy storage under the target emergency fault are determined by combining the power deficit of the target emergency fault and the expected power deficit. This allows the clustered energy storage to be adapted to the expected power deficit of all emergency faults. Emergency frequency control strategies and control parameters are optimized for the target emergency fault, and the optimal active power command value is generated to quickly respond to subsequent random emergency faults.

[0059] In step S4, when a target emergency fault is detected in the power system, the droop coefficient of each energy storage cluster under the target emergency fault is calculated. The total economic return R of all cluster energy storage under the target emergency failure will be proportionally increased. n The energy is allocated to each cluster of energy storage, enabling each cluster of energy storage to participate in emergency frequency control.

[0060] This embodiment can quickly and in real time adjust the total economic reward of all energy storage clusters and the droop coefficient of each energy storage cluster under different emergency faults. This allows each energy storage cluster to set emergency frequency control strategies and control parameters according to its own droop coefficient and allocated economic reward, thereby enabling reasonable incentives for energy storage clusters to participate in emergency frequency control for various emergency faults.

[0061] In a preferred embodiment, after allocating the total economic reward of all energy storage clusters under the target emergency fault to each energy storage cluster based on the droop coefficient of each energy storage cluster under the target emergency fault, so that each energy storage cluster participates in emergency frequency control, the method further includes: when an actual emergency fault occurs in the power system, if the power deficit of the actual emergency fault is greater than the target power deficit of the target emergency fault, then the droop coefficient of each energy storage cluster under the target emergency fault is corrected to the droop coefficient of each energy storage cluster under the actual emergency fault.

[0062] As an example, when an actual emergency fault is detected in the power system, the power deficit of the actual emergency fault is determined. If there is a power deficit in an actual emergency fault The target power deficit is less than or equal to the target emergency fault that occurred previously in the power system. Then, the droop coefficient of each cluster energy storage under the target emergency failure. It can meet the frequency security constraints of the power system without needing to correct the droop coefficient of each energy storage cluster under the condition of an emergency fault. If there is a power deficit in an actual emergency fault The target power deficit exceeds the target emergency fault. Then, under the condition of an emergency failure of the target, the droop coefficient of each cluster energy storage is... If the frequency security constraints of the power system cannot be met, it is necessary to use measurement methods that directly sense power deficits or indirectly measure frequency changes to determine the droop coefficient of each energy storage cluster under target emergency fault conditions. The correction factor is adjusted to the droop coefficient of each cluster energy storage under actual emergency failure conditions.

[0063] When a measurement method that directly senses the power deficit is used, the actual power deficit in an emergency fault can be obtained. Further, by using a lookup table method, the droop coefficient of each energy storage cluster under actual emergency faults is obtained; when using indirect measurement methods to measure frequency changes, the droop coefficient of each energy storage cluster under steady-state frequency deviation and previous target emergency faults in the power system is obtained. The power deficit in an actual emergency fault can be calculated. Alternatively, the droop coefficient of each energy storage cluster under actual emergency failure can be obtained by looking up a table.

[0064] This embodiment corrects the droop coefficient of each energy storage cluster in real time based on the actual emergency faults currently occurring in the power system, enabling each energy storage cluster to effectively participate in emergency frequency control and handle various possible emergency faults.

[0065] In a preferred embodiment, obtaining the emergency fault set from the historical fault data of the power system specifically means: periodically obtaining the emergency fault set from the historical fault data according to the control cycle.

[0066] As an example, based on historical fault data of the power system, the duration of each emergency fault that occurred in the AC main system within a preset period, such as the last three months, is statistically analyzed. The average duration of a single emergency fault is calculated based on the duration of all emergency faults. The control cycle for incentivizing cluster energy storage to participate in the emergency frequency control of the power system is then set based on the average duration of a single emergency fault.

[0067] In a preferred embodiment, determining the fault percentage of each emergency fault in the emergency fault set to obtain the fault percentage of all emergency faults specifically involves: based on historical fault data, counting the occurrence times of each emergency fault, and using the ratio of the occurrence times of each emergency fault to the total occurrence times of all emergency faults as the fault percentage of each emergency fault, thus obtaining the fault percentage of all emergency faults.

[0068] As an example, when obtaining the emergency fault set F, assume that there are two emergency faults in the emergency fault set F: DC blocking fault and synchronous machine opening fault. Based on historical fault data, the number of occurrences of DC blocking fault and synchronous machine opening fault in the AC main system within a preset period, such as the most recent month, are counted respectively. The ratio of the number of occurrences of DC blocking fault to the total number of occurrences of all emergency faults, i.e., the number of occurrences of DC blocking fault / (the number of occurrences of DC blocking fault + the number of occurrences of synchronous machine opening fault), is taken as the fault proportion of DC blocking fault. The ratio of the number of occurrences of synchronous machine opening fault to the total number of occurrences of all emergency faults, i.e., the number of occurrences of synchronous machine opening fault / (the number of occurrences of DC blocking fault + the number of occurrences of synchronous machine opening fault), is taken as the fault proportion of synchronous machine opening fault.

[0069] In a preferred embodiment, based on a pre-established game theory model, the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault are determined according to the power deficit of each emergency fault. Specifically, the objective function of the power system is constructed with the goal of minimizing the total economic reward paid by the power system to all cluster energy storage and minimizing the total generation regulation cost of all synchronous machines in the power system; the objective function of each cluster energy storage is constructed with the goal of maximizing the economic reward allocation, minimizing the power regulation cost, and maximizing the energy trading revenue of each cluster energy storage; based on the non-cooperative game architecture between the power system and each cluster energy storage, a game theory model is established according to the objective function of the power system and the objective function of each cluster energy storage; the equilibrium solution of the game theory model is solved to determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault according to the power deficit of each emergency fault.

[0070] In a preferred embodiment, the process of finding the equilibrium solution of the game model specifically involves using a fixed-point iteration method to find the equilibrium solution of the game model.

[0071] As an example, the power deficit for the j-th emergency fault The total economic reward R of all cluster energy storage under the j-th emergency failure is determined by game modeling. j For ease of expression, the subscript j is omitted, and the following assumptions are made:

[0072] 1. Assume that the power and SOC of the cluster energy storage under normal operating conditions can be determined by historical fault data;

[0073] 2. Assume that the time period for emergency frequency control is a constant T, and that this time period is related to the operation time of the secondary frequency regulation of the power system;

[0074] 3. Assume that the power regulation speed of the energy storage cluster is very fast, that is, ignore the transient process of its power regulation.

[0075] The objective function of the power system, which is equivalent to the AC main system, mainly consists of two parts: minimizing the total economic reward R paid to all cluster energy storage and minimizing the total generation regulation cost of all synchronous machines. Its optimization problem is shown in equation (2):

[0076]

[0077] In equation (2), and These represent the rated active power and the change in active power of the h-th synchronous machine, respectively. and These are the upper and lower limits of the active power of the h-th synchronous machine, respectively, and α hLet ΔP be the cost coefficient of the h-th synchronizer. F Power deficit due to emergency faults. Let be the droop coefficient of the i-th energy storage cluster. Let be the droop coefficient of the h-th synchronizer. ω is the calculated frequency deviation of the AC main system. ac Let Y(·) be the expected frequency deviation of the AC main system, and let Y(·) be the economic excitation response function of the AC main system. and ω ac The upper and lower limits, R and R represent the upper and lower limits of total economic returns, respectively. The first constraint is the primary frequency regulation equation of the AC main system. Other constraints include upper and lower limits for each variable, frequency safety constraints, etc. The decision variable for the AC main system is R.

[0078] The objective function of the i-th energy storage cluster consists of three parts: maximizing the economic reward proportional to its droop coefficient, minimizing its own power regulation cost, and maximizing the energy trading revenue brought about by the change in SOC. Its optimization problem is shown in equation (3):

[0079]

[0080] In equation (3), P i E and ΔP i E Let be the rated power and the change in power of the i-th energy storage cluster, respectively. and P respectively i E The upper and lower limits, β i Let be the cost coefficient for the i-th cluster energy storage, and T be the time period for emergency frequency control. and Let SOC be the rated value and change of the i-th energy storage cluster, respectively. and They are respectively The upper and lower limits, ζ i Let be the energy price coefficient for the i-th energy storage cluster. The constraints are the upper and lower limits of the cluster's transmission power and SOC. The decision variables for the i-th energy storage cluster are...

[0081] Considering the non-cooperative scenario among multiple decision-making entities, this incentive game architecture is a non-cooperative game between multiple energy storage clusters and the main communication system. The three elements of the incentive game are as follows:

[0082] 1. Participants: Main communication system, energy storage in each cluster;

[0083] 2. Strategy sets: respectively The upper and lower limits of the droop coefficient can be indirectly obtained based on the upper and lower limit constraints of each variable in the optimization problem;

[0084] 3. Payment functions: respectively

[0085] To find the equilibrium solution of this game theory model, when applying the fixed-point method, there are coupling terms in the optimization objectives of each energy storage cluster. It depends not only on its own decision variables It is also related to other cluster energy storage decisions. Therefore, the choice of initial values ​​and the order of decisions during the iteration process may affect the solution of the equilibrium solution.

[0086] To solve this problem, a virtual price variable is defined, namely:

[0087]

[0088] By substituting variables, the above coupling can be eliminated, allowing the optimization problems of energy storage in each cluster to be solved independently.

[0089] Furthermore, based on the defined virtual price variable, assuming the response function of the AC main system is a linear function, we simulate the AC main system's response to the energy storage cluster's energy consumption. The response, namely:

[0090]

[0091] In equation (5), a is the marginal response coefficient, and γ t-1 t represents the value of the previous fixed-point iteration, and t represents the iteration number.

[0092] Assume that the AC main system can determine its expected frequency deviation ω based on its own safe and stable operation requirements. ac , i.e., ω ac It is a given constant. At this point, through the above variable substitutions and assumptions, the optimization problem of the main communication system can be simplified to:

[0093]

[0094] In equation (6), and γ These are the upper and lower limits of γ.

[0095] The optimization problem of clustered energy storage i can be simplified to:

[0096]

[0097] At this point, the equilibrium solution of the incentive game can be obtained by using the fixed-point iteration method.

[0098] This embodiment can comprehensively consider the power regulation constraints and SOC constraints of cluster energy storage, and reasonably incentivize cluster energy storage to participate in emergency frequency control.

[0099] In a preferred embodiment, the desired power deficit is:

[0100]

[0101] Where F is the set of emergency faults, P j Let ΔP be the percentage of the j-th emergency fault. Fj This represents the power deficit for the j-th emergency fault.

[0102] In a preferred embodiment, the target power deficit of the target emergency fault is the solution to a predefined optimization problem; wherein the optimization problem is: (9);

[0104] Where F is the set of emergency faults, ΔP Fj For the power deficit of the j-th emergency fault, This represents the expected power deficit.

[0105] Based on the same inventive concept as the first embodiment, the second embodiment provides as follows: Figure 4 The device shown is for incentivizing clustered energy storage to participate in emergency frequency control of a power system. It includes: an emergency fault processing module 21, used to periodically obtain an emergency fault set from historical fault data of the power system according to a control cycle, and determine the power deficit and fault percentage of each emergency fault in the set, thus obtaining the power deficit and fault percentage of all emergency faults; an incentive game decision-making module 22, used to determine, based on a pre-established game model, the total economic reward of all clustered energy storage under each emergency fault and the droop coefficient of each clustered energy storage under each emergency fault, according to the power deficit of each emergency fault; and an economic reward optimization module 23, used to combine the power deficit of all emergency faults... The expected power deficit is determined by considering the power deficit and fault ratio. Each emergency fault is taken as a target emergency fault. Based on the power deficit of the target emergency fault and the expected power deficit, the target power deficit of the target emergency fault is obtained. Based on the target power deficit of the target emergency fault, the total economic reward of all energy storage clusters under the target emergency fault and the droop coefficient of each energy storage cluster under the target emergency fault are determined. The economic reward incentive module 24 is used to allocate the total economic reward of all energy storage clusters under the target emergency fault to each energy storage cluster according to the droop coefficient of each energy storage cluster under the target emergency fault when the power system experiences a target emergency fault, so that each energy storage cluster participates in emergency frequency control.

[0106] In a preferred embodiment, the device for incentivizing clustered energy storage to participate in emergency frequency control of the power system further includes: a droop coefficient correction module, used to allocate the total economic reward of all clustered energy storage under the target emergency fault to each clustered energy storage according to the droop coefficient of each clustered energy storage under the target emergency fault when the power system experiences a target emergency fault, so that after each clustered energy storage participates in emergency frequency control, if the power deficit of the actual emergency fault is greater than the target power deficit of the target emergency fault when the power system experiences an actual emergency fault, the droop coefficient of each clustered energy storage under the target emergency fault is corrected to the droop coefficient of each clustered energy storage under the actual emergency fault.

[0107] In a preferred embodiment, the emergency fault processing module 21 includes an emergency fault set acquisition unit; the emergency fault set acquisition unit is used to periodically acquire an emergency fault set from historical fault data according to a control cycle.

[0108] In a preferred embodiment, the emergency fault processing module 21 includes a fault percentage determination unit. The fault percentage determination unit is used to count the number of occurrences of each emergency fault according to historical fault data, and to take the ratio of the number of occurrences of each emergency fault to the total number of occurrences of all emergency faults as the fault percentage of each emergency fault, so as to obtain the fault percentage of all emergency faults.

[0109] In a preferred embodiment, the incentive game decision module 22 includes:

[0110] The first objective function construction unit is used to construct the objective function of the power system with the objectives of minimizing the total economic reward paid by the power system to all cluster energy storage and minimizing the total generation regulation cost of all synchronous machines in the power system.

[0111] The second objective function construction unit is used to construct the objective function for each energy storage cluster with the objectives of maximizing the economic reward allocation, minimizing the power regulation cost, and maximizing the energy trading revenue of each energy storage cluster.

[0112] The game model building unit is used to build a game model based on the non-cooperative game architecture between the power system and each energy storage cluster, according to the objective function of the power system and the objective function of each energy storage cluster.

[0113] The game model solving unit is used to solve the equilibrium solution of the game model, so as to determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault according to the power deficit of each emergency fault.

[0114] In a preferred embodiment, the game model solving unit is specifically used to solve the equilibrium solution of the game model using the fixed-point iteration method.

[0115] In a preferred embodiment, the desired power deficit is:

[0116]

[0117] Where F is the set of emergency faults, P j Let ΔP be the percentage of the j-th emergency fault. Fj This represents the power deficit for the j-th emergency fault.

[0118] In a preferred embodiment, the target power deficit of the target emergency fault is the solution to a predefined optimization problem; wherein the optimization problem is: (11);

[0120] Where F is the set of emergency faults, ΔP Fj For the power deficit of the j-th emergency fault, This represents the expected power deficit.

[0121] In summary, implementing the embodiments of the present invention has the following beneficial effects:

[0122] Based on a game theory model, the total economic reward of all energy storage clusters and the droop coefficient of each energy storage cluster are determined according to the power deficit of each emergency fault in the emergency fault set. Taking each emergency fault as the target emergency fault, the target power deficit of the target emergency fault is obtained based on the power deficit of the target emergency fault, the power deficit of all emergency faults, and the expected power deficit determined by the fault ratio. Then, the total economic reward of all energy storage clusters and the droop coefficient of each energy storage cluster under the target emergency fault are determined. When the target emergency fault occurs in the power system, the total economic reward of all energy storage clusters under the target emergency fault is allocated to each energy storage cluster according to the droop coefficient of each energy storage cluster under the target emergency fault. This enables each energy storage cluster to participate in emergency frequency control. The total economic reward of all energy storage clusters and the droop coefficient of each energy storage cluster under different emergency faults can be quickly and in real time adjusted. Each energy storage cluster can set emergency frequency control strategies and control parameters according to its own droop coefficient and the allocated economic reward, thereby reasonably incentivizing energy storage clusters to participate in emergency frequency control for various emergency faults.

[0123] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

[0124] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

Claims

1. A method for incentivizing clustered energy storage to participate in emergency frequency control of a power system, characterized in that, include: An emergency fault set is obtained from the historical fault data of the power system, and the power deficit and fault percentage of each emergency fault in the emergency fault set are determined to obtain the power deficit and fault percentage of all the emergency faults. Based on the pre-established game theory model, the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault are determined according to the power deficit of each emergency fault. By combining the power deficit and failure ratio of all the aforementioned emergency faults, the expected power deficit is determined, and each of the aforementioned emergency faults is taken as a target emergency fault. Based on the power deficit of the target emergency fault and the expected power deficit, the target power deficit of the target emergency fault is obtained. Based on the target power deficit of the target emergency fault, the total economic reward of all the cluster energy storage under the target emergency fault and the droop coefficient of each of the cluster energy storage under the target emergency fault are determined. When the target emergency fault occurs in the power system, the total economic reward of all the cluster energy storage under the target emergency fault is allocated to each cluster energy storage according to the droop coefficient of each cluster energy storage under the target emergency fault, so that each cluster energy storage participates in emergency frequency control. Specifically, based on the pre-established game theory model, the total economic reward of all energy storage clusters under each emergency fault and the droop coefficient of each energy storage cluster under each emergency fault are determined according to the power deficit of each emergency fault. The objective function of the power system is constructed with the goal of minimizing the total economic reward paid by the power system to all the clustered energy storage and minimizing the total generation regulation cost of all synchronous machines in the power system. Each energy storage cluster is constructed with the objectives of maximizing economic reward allocation, minimizing power regulation cost, and maximizing energy trading revenue as the respective goals. Based on the non-cooperative game architecture between the power system and each of the energy storage clusters, the game model is established according to the objective function of the power system and the objective function of each of the energy storage clusters. Solve for the equilibrium solution of the game model to determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault, based on the power deficit of each emergency fault.

2. The method for incentivizing clustered energy storage to participate in emergency frequency control of the power system as described in claim 1, characterized in that, When the target emergency fault occurs in the power system, after allocating the total economic reward of all the clustered energy storage under the target emergency fault to each clustered energy storage according to the droop coefficient of each clustered energy storage under the target emergency fault, and enabling each clustered energy storage to participate in emergency frequency control, the method further includes: When an actual emergency fault occurs in the power system, if the power deficit of the actual emergency fault is greater than the target power deficit of the target emergency fault, then the droop coefficient of each of the energy storage clusters under the target emergency fault is corrected to the droop coefficient of each of the energy storage clusters under the actual emergency fault.

3. The method for incentivizing clustered energy storage to participate in emergency frequency control of the power system as described in claim 1, characterized in that, The process of obtaining the emergency fault set from historical fault data of the power system specifically involves: According to the control cycle, the set of emergency faults is periodically obtained from the historical fault data.

4. The method for incentivizing clustered energy storage to participate in emergency frequency control of the power system as described in claim 1, characterized in that, The step of determining the fault percentage of each emergency fault in the emergency fault set to obtain the fault percentage of all emergency faults is as follows: Based on the historical fault data, the number of occurrences of each emergency fault is counted, and the ratio of the number of occurrences of each emergency fault to the total number of occurrences of all emergency faults is taken as the fault percentage of each emergency fault, thus obtaining the fault percentage of all emergency faults.

5. The method for incentivizing clustered energy storage to participate in emergency frequency control of the power system as described in claim 4, characterized in that, The process of finding the equilibrium solution of the game model specifically involves: The equilibrium solution of the game model is obtained by using the fixed-point iteration method.

6. The method for incentivizing clustered energy storage to participate in emergency frequency control of the power system as described in claim 1, characterized in that, The expected power deficit is: ； Where F is the set of emergency faults, This represents the percentage of the j-th emergency fault. This represents the power deficit for the j-th emergency fault.

7. The method for incentivizing clustered energy storage to participate in emergency frequency control of the power system as described in claim 1, characterized in that, The target power deficit for the critical fault is the solution to a predefined optimization problem; wherein the optimization problem is: ； Where F is the set of emergency faults, For the power deficit of the j-th emergency fault, This refers to the expected power deficit.

8. A device for incentivizing clustered energy storage to participate in emergency frequency control of a power system, characterized in that, include: The emergency fault processing module is used to periodically obtain an emergency fault set from the historical fault data of the power system according to the control cycle, and determine the power deficit and fault ratio of each emergency fault in the emergency fault set, so as to obtain the power deficit and fault ratio of all the emergency faults. The incentive game decision-making module is used to determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault based on a pre-established game model and according to the power deficit of each emergency fault. An economic reward optimization module is used to combine the power deficit and failure ratio of all the emergency faults to determine the expected power deficit, and take each of the emergency faults as a target emergency fault. Based on the power deficit of the target emergency fault and the expected power deficit, the target power deficit of the target emergency fault is obtained. Based on the target power deficit of the target emergency fault, the total economic reward of all the cluster energy storage under the target emergency fault and the droop coefficient of each of the cluster energy storage under the target emergency fault are determined. An economic reward incentive module is used to allocate the total economic reward of all the cluster energy storage under the target emergency fault to each of the cluster energy storage according to the droop coefficient of each of the cluster energy storage under the target emergency fault when the target emergency fault occurs in the power system, so that each of the cluster energy storage participates in emergency frequency control. Specifically, based on the pre-established game theory model, the total economic reward of all energy storage clusters under each emergency fault and the droop coefficient of each energy storage cluster under each emergency fault are determined according to the power deficit of each emergency fault. The objective function of the power system is constructed with the goal of minimizing the total economic reward paid by the power system to all the clustered energy storage and minimizing the total generation regulation cost of all synchronous machines in the power system. Each energy storage cluster is constructed with the objectives of maximizing economic reward allocation, minimizing power regulation cost, and maximizing energy trading revenue as the respective goals. Based on the non-cooperative game architecture between the power system and each of the energy storage clusters, the game model is established according to the objective function of the power system and the objective function of each of the energy storage clusters. Solve for the equilibrium solution of the game model to determine the total economic reward of all cluster energy storage under each emergency fault and the droop coefficient of each cluster energy storage under each emergency fault, based on the power deficit of each emergency fault.

9. The device for incentivizing clustered energy storage to participate in emergency frequency control of the power system as described in claim 8, characterized in that, Also includes: The droop coefficient correction module is used to, when the target emergency fault occurs in the power system, allocate the total economic reward of all the cluster energy storage under the target emergency fault to each cluster energy storage according to the droop coefficient of each cluster energy storage under the target emergency fault, so that after each cluster energy storage participates in emergency frequency control, when the actual emergency fault occurs in the power system, if the power deficit of the actual emergency fault is greater than the target power deficit of the target emergency fault, then the droop coefficient of each cluster energy storage under the target emergency fault is corrected to the droop coefficient of each cluster energy storage under the actual emergency fault.

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