Method for dispatching and controlling a battery swapping station participating in collaborative voltage regulation application

Abstract

The present invention discloses a dispatching control method for a battery swapping station participating in collaborative voltage regulation applications, including the following steps: S1. According to the real-time battery swapping demand curve of the battery swapping station and other information data of the previous day, obtain the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station on the current day through a prediction algorithm; S2. Complete the time positioning of the battery swapping power flow according to the curve feature information including the slope, duration, maximum power demand, and minimum power demand of the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station, and define the previous period of the battery swapping power flow time period as the battery swapping power holding time; S3. Determine the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station within the battery swapping power holding time according to the positioned battery swapping power flow time and the battery swapping power holding time; S4. The battery swapping station issues a charge and discharge instruction for grid connection of the battery swapping station according to the currently obtained power of the battery swapping station and the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station.

Description

Technical Field

[0001] The present invention belongs to the technical field of application of battery swapping stations, and particularly relates to a dispatching control method for a battery swapping station participating in collaborative voltage regulation application. Background Art

[0002] Different from the charging mode of new energy vehicles, the battery swapping mode uses the means of "separation of vehicle and battery" to store a large number of swapping batteries in the battery swapping station, and charges the batteries throughout the day. After the vehicle enters the station, the battery is directly replaced, greatly shortening the waiting time. At present, the control means of the battery swapping station only includes the charge and discharge control within each independent battery swapping station. In fact, reasonably using the available capacity of the battery swapping station to access the power grid and respond to the power grid demand services, such as providing peak shaving and valley filling, suppressing the fluctuation of new energy, voltage regulation, frequency modulation, etc., can not only improve the overall income of the battery swapping station and make full use of the battery capacity of the battery swapping station, but also reduce the investment of the power grid in distributed energy storage while improving the stability of new energy access to the power grid. At the same time, although the new energy vehicle mode of simply charging and swapping uses clean energy and does not emit exhaust gas compared with traditional fuel vehicles and does not cause relevant pollution to the environment, if the source of its electric energy is still generated by traditional energy, it is not a real new energy vehicle. If the energy storage of the battery swapping station participates in applications such as suppressing the fluctuation of new energy, which has practical significance for new energy access, then the new energy vehicles in the battery swapping station system are real new energy vehicles.

[0003] To effectively allocate the battery swapping stations in a region, it is necessary to form a smooth communication overall dispatching control system with new energy power stations, the power grid, and battery swapping stations as the objects to complete data collection, data mapping, data analysis, and data execution, and then complete the multi-scenario application of the battery swapping station. Summary of the Invention

[0004] In view of the above problems, the present invention provides a dispatching control method for a battery swapping station participating in collaborative voltage regulation application.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A dispatching control method for a battery swapping station participating in collaborative voltage regulation application includes the following steps:

[0007] S1. According to the real-time battery swapping demand curve of the battery swapping station and other information data of the previous day, obtain the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power consumption trend of the battery swapping station on the current day through a prediction algorithm;

[0008] S2. Complete the time positioning of the battery swapping power flow according to the curve characteristic information including the slope, duration, maximum power demand, and minimum power demand of the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power consumption trend of the battery swapping station, and define the previous period of the battery swapping power flow time period as the battery swapping power holding time;

[0009] S3. Determine the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station within the battery swapping power holding time according to the located battery swapping power flow time and the battery swapping power holding time;

[0010] S4. The battery swapping station issues a charge and discharge command for grid connection of the battery swapping station according to the currently obtained power of the battery swapping station and the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station.

[0011] Preferably, the battery swapping power flow time positioning in S2 includes:

[0012] S21. Set a power demand dividing line, and count the curve characteristics of the battery swapping demand prediction curve of the battery swapping station on the power demand dividing line to obtain the peak amplitudes Δp1, Δp2, Δp3 relative to the power demand dividing line, and the durations Δt1, Δt2, Δt3 of the peaks on the power demand dividing line. The unit amplitude index calculation formula is Then

[0013] S22. Determine whether the unit amplitude index is greater than the set threshold τ0, that is, whether τ1, τ2, τ3 are greater than τ0. If the unit amplitude index is greater than the set threshold, then determine that the peak is a battery swapping power flow. If the unit amplitude index is less than or equal to the set threshold, then do not determine that the peak is a battery swapping power flow;

[0014] S23. Locate the battery swapping power flow time according to the determined battery swapping power flow, and use the initial moment when the peak recognized as the battery swapping power flow exceeds the power demand dividing line as the start moment of the battery swapping power flow, respectively t 11 、t 21 、t 31 , and use the final moment when the peak recognized as the battery swapping power flow exceeds the power demand dividing line as the end moment of the battery swapping power flow, which are t 12 、t 22 、t 32 . The battery swapping power flow time is t 11 ~t 12 、t 21 ~t 22 、t 31 ~t 32 . Set the fixed value Δt p of the battery swapping power holding time. Then the battery swapping power holding time is (t 11 -Δt p )~t 11 、(t 21 -Δt p )~t 21 、(t 31 -Δt p )~t 31 .

[0015] Preferably, it further includes correcting the power exchange current time, including:

[0016] S24. Integrate the curve part where the peak of the recognized power exchange current exceeds the power demand division line to obtain the total power demand for each time period, that is The power demand rate calculation formula is The larger the value, the more power shortage in the power exchange station, where Ω is the power exchange demand of the power exchange station, is the power of the power exchange station;

[0017] S25. Correct the power exchange current time according to the degree of power shortage. The correction calculation formula is Δt * = Δt·a, where a is the correction coefficient. If the power demand rate is less than or equal to the set threshold, the correction coefficient is 1. If the power demand rate is greater than the set threshold, the correction coefficient is (1 + ε);

[0018] S26. At this time, Let ε1 < ε0, ε2 < ε0, ε3 > ε0. Then, take the initial moment when the peak of the recognized power exchange current exceeds the power demand division line as the start moment of the power exchange current, which are t 11 、t 21 、t 31 , and the end moments of the power exchange current are t 11 +Δt1、t 21 +Δt2、 The power exchange current time is t 11 ~t 11 +Δt1、t 21 ~t 21 +Δt2、 Correct the power exchange power holding time, then the power exchange power holding time is (t 11 -Δt p )~t 11 、(t 21 -Δt p )~t 21 、

[0019] Preferably, determining the upper and lower limits of the allowable fluctuation of the target power of the power exchange station within the power exchange power holding time includes: statistically obtaining the power value at the lowest point of the power trend prediction curve of the power exchange station as Then the standby power of the power exchange station on that day is The calculation formula for the lower limit of the allowable fluctuation of the target power of the power exchange station is The upper limit of the allowable fluctuation of the target power of the power exchange station is the saturated power when all the batteries in the power exchange station are fully charged Then the upper and lower limits of the allowable fluctuation of the target power of the power exchange station are

[0020] Preferably, further, the calculation formula for the standby power of the battery swapping station on the same day is That is, the initial value of the standby power of the battery swapping station is According to the real-time usage of the standby power Adjustment is carried out. If the standby power is used, the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station after that moment are updated.

[0021] Preferably, the charge and discharge commands for the grid connection of the battery swapping station described in S4 include:

[0022] S41. During the battery swapping power holding time, obtain the real-time power of the battery swapping station at present If the real-time power of the battery swapping station is less than then issue a command for the battery swapping station to charge at the rated power for grid connection until is greater than or equal to and then stop the charging command;

[0023] S42. At the same time, taking one day as a complete charge and discharge cycle period of the battery swapping station, and taking the power balance of the battery swapping station system as the criterion, select a certain moment in a day as the start moment of the charging recovery time, and issue a command for the battery swapping station to charge at the rated power for grid connection until it recovers to the saturated power for battery swapping applications in the next cycle period.

[0024] Preferably, due to the deviation between the predicted curve of the battery swapping demand of the battery swapping station, the predicted curve of the power trend of the battery swapping station and the actual curve of the battery swapping demand of the battery swapping station, the actual curve of the power trend of the battery swapping station, correction is carried out according to the deviation, including:

[0025] S5. Obtain the actual curve of the battery swapping demand of the battery swapping station and the actual curve of the power trend of the battery swapping station from the start moment of the statistical period to the present, compare them with the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station, calculate the deviation, and correct the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station from the present to the end moment of the statistical period according to the prediction algorithm;

[0026] S6. Complete the time update positioning of the battery swapping power flow according to the curve characteristic information such as the slope, duration, maximum power demand, and minimum power demand of the corrected predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station, and define the previous period of the battery swapping power flow time period as the battery swapping power holding time;

[0027] S7. Update the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station during the battery swapping power holding time according to the updated positioned battery swapping power flow time and the battery swapping power holding time;

[0028] S8. The swapping station issues charging and discharging commands for grid connection of the swapping station according to the current power of the swapping station obtained in real time and the upper and lower limits of the allowable fluctuation of the corrected target power of the swapping station.

[0029] Preferably, it further includes the application of the reactive power response voltage regulation scenario. Considering the large amount of instantaneous reactive power balance requirements at the node, the reactive power compensation is realized by using the bidirectional reactive power operation characteristic of the swapping station converter, including:

[0030] S17. Through communication interaction based on node sensors, obtain the power information of all nodes within a certain area around the swapping station. At the same time, detect the voltage of all nodes within a certain area around the swapping station. If it exceeds the threshold, send a command to notify the swapping station nodes around to start reactive power response;

[0031] S18. Sample the voltage v and line current i of the node that sends the command, and read the active power, reactive power, and voltage information of other nodes from the database; establish a prediction model of node current-voltage for prediction calculation to determine the target output voltage v of the swapping station converter s , and at the same time adopt a rolling optimization and feedback correction mechanism to reduce the prediction error;

[0032] S19. Through the neighborhood end-to-end communication strategy based on asynchronous replacement of timestamps, receive information in real time and update the database, and at the same time send information to neighborhood nodes, finally realizing the overall optimal collaborative response of all nodes. After the overall voltage deviation returns to normal, each swapping station node exits the reactive power response and re-enters the idle period.

[0033] Preferably, the overall optimal collaborative response described in S19 includes:

[0034] S191. Calculate the reactive power margin curve of all swapping stations according to the predicted active power curve of all swapping stations for grid connection, set the reactive power response trigger threshold and end threshold of all swapping stations according to the reactive power margin curve of all swapping stations. When the voltage of a certain node in the area is out of limit, notify the swapping station to start reactive power response through wireless communication;

[0035] S192. At the system level, through power flow calculation, obtain the reactive power amount that each swapping station node in the area needs to participate in the response with the lowest energy loss and the fastest response speed as the index. Compare the reactive power margin of each swapping station at this moment. If the reactive power amount of a swapping station is greater than its reactive power margin, adjust the reactive power amount that the swapping station node needs to participate in the response locally, and finally obtain the reactive power distribution result that meets the reactive power margin of all swapping stations.

[0036] S193. When the voltage deviation is lower than the end threshold, the reactive power response ends, and each node updates the sensitivity matrix regularly and detects whether the voltage is out of limit.

[0037] The present invention has the following beneficial effects:

[0038] By applying the reactive power response voltage regulation scenario in the reactive power response voltage regulation scenario: the instantaneous reactive power output at the ms level can improve the voltage stability of the power grid and realize voltage regulation scenarios such as voltage emergency transient support and reactive power response. Description of the Drawings

[0039] Figure 1 Schematic diagram of the predicted and actual battery swapping intervals in the battery swapping station dispatching control method for participating in collaborative applications in the embodiments of the present invention;

[0040] Figure 2 Schematic diagram of the predicted and actual battery swapping curves in the battery swapping station dispatching control method for participating in collaborative applications in the embodiments of the present invention. Detailed Embodiments

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] The embodiments of the present invention provide a battery swapping station dispatching control method for participating in collaborative voltage regulation applications, including the following steps:

[0043] S1. According to the real-time battery swapping demand curve of the battery swapping station and other information data of the previous day, the predicted battery swapping demand curve of the battery swapping station and the predicted curve of the battery swapping station's power trend for the current day are obtained through a prediction algorithm, as shown in segments (a) and (b) in; other information data can be, for example, the new energy vehicle traffic information of the previous day, the historical traffic curve of the battery swapping station of the previous day, etc. Figure 1 As shown in segments (a) and (b); other information data can be, for example, the new energy vehicle traffic information of the previous day, the historical traffic curve of the battery swapping station of the previous day, etc.

[0044] S2. Complete the time positioning of the battery swapping power flow according to the curve characteristic information including the slope, duration, maximum power demand, and minimum power demand of the predicted battery swapping demand curve and the predicted curve of the battery swapping station's power trend of the battery swapping station, and define the previous period of the battery swapping power flow time period as the battery swapping power holding time;

[0045] S3. Determine the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station within the battery swapping power holding time according to the located battery swapping power flow time and the battery swapping power holding time, as shown in segment (b) in; Figure 1 As shown in segment (b);

[0046] S4. The battery swapping station issues the charging and discharging instructions for grid connection of the battery swapping station according to the currently obtained real-time power of the battery swapping station and the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station, as shown in; Figure 1As shown in paragraph (c).

[0047] Furthermore, in an embodiment of the present invention, the power replacement current time positioning in S2 includes:

[0048] S21. Set the power demand dividing line, and count the curve characteristics of the power replacement demand prediction curve of the power replacement station on the power demand dividing line to obtain the peak amplitudes Δp1, Δp2, Δp3 relative to the power demand dividing line, and the durations Δt1, Δt2, Δ t 3, as Figure 2 shown in paragraph (a), and the unit amplitude index calculation formula is Then

[0049] S22. Determine whether the unit amplitude index is greater than the set threshold τ0, that is, whether τ1, τ2, τ3 are greater than τ0. If the unit amplitude index is greater than the set threshold, it is determined that the peak is a power replacement current; if the unit amplitude index is less than or equal to the set threshold, it is not determined that the peak is a power replacement current;

[0050] S23. Locate the power replacement current time according to the determined power replacement current. Take the initial moment when the peak determined as the power replacement current exceeds the power demand dividing line as the start moment of the power replacement current, respectively t 11 、t 21 、t 31 , and take the final moment when the peak determined as the power replacement current exceeds the power demand dividing line as the end moment of the power replacement current, respectively t 12 、t 22 、t 32 , as Figure 2 shown in paragraph (a). The power replacement current time is t 11 ~t 12 、t 21 ~t 22 、t 31 ~t 32 . Set the fixed value Δt p of the power replacement power holding time, then the power replacement power holding time is (t 11 -Δt p )~t 11 、(t 21 -Δt p )~t 21 、(t 31 *Δt p )~t 31 .

[0051] Furthermore, the correction of the power replacement current time includes:

[0052] S24. Integrate the curve part where the peak of the identified power swapping current exceeds the power demand division line to obtain the total power demand for each time period, that is The calculation formula for the power demand rate is The larger the value, the more power - scarce the power swapping station is. Among them, Ω is the power swapping demand of the power swapping station, is the power of the power swapping station;

[0053] S25. Correct the power swapping current time according to the power scarcity degree. The correction calculation formula is Δt * = Δt·a, where a is the correction coefficient. If the power demand rate is less than or equal to the set threshold, the correction coefficient is 1. If the power demand rate is greater than the set threshold, the correction coefficient is (1 + ε);

[0054] S26. At this time, Assume ε1 < ε0, ε2 < ε0, ε3 < ε0. Then, take the initial moment when the peak of the identified power swapping current exceeds the power demand division line as the start moment of the power swapping current, which are t 11 、t 21 、t 31 respectively. The end moments of the power swapping current are t 11 +Δt1, t 21 +Δt2, The power swapping current time is t 11 ~t 11 +Δt1, t 21 ~t 21 +Δt2, Correct the power - holding time of the swapped power. Then the power - holding time of the swapped power is (t 11 -Δt p )~t 11 、(t 21 -Δt p )~t 21 、 As Figure 2 shown in section (a) of

[0055] Furthermore, in an embodiment of the present invention, determining the upper and lower limits of the allowable fluctuation of the target power of the power swapping station within the power - holding time of the swapped power includes: statistically obtaining the power value at the lowest point of the predicted curve of the power swapping station's power trend as Then the standby power of the power swapping station on that day is The calculation formula for the lower limit of the allowable fluctuation of the target power of the power swapping station is The upper limit of the allowable fluctuation of the target power of the power swapping station is the saturated power when all the batteries of the power swapping station are fully charged Then the upper and lower limits of the allowable fluctuation of the target power of the power swapping station are

[0056] As Figure 2as shown in (a) of

[0057] Furthermore, the formula for the standby power of the battery swapping station on the current day is That is, the initial value of the standby power of the battery swapping station is According to the real-time usage of the standby power Make adjustments. If the standby power is used, the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station after that moment need to be updated.

[0058] In an embodiment of the present invention, the charging and discharging instructions for the grid connection of the battery swapping station in S4 include:

[0059] S41. During the battery swapping power holding time, obtain the real-time power of the current battery swapping station If the real-time power of the battery swapping station is less than then issue an instruction for the battery swapping station to charge at the rated power for grid connection until is greater than or equal to stop the charging instruction;

[0060] S42. At the same time, taking one day as a complete charge and discharge cycle period of the battery swapping station, and taking the power balance of the battery swapping station system as the criterion, select a certain moment in a day as the start moment of the charging recovery time, and issue an instruction for the battery swapping station to charge at the rated power for grid connection until it recovers to the saturated power for battery swapping application in the next cycle.

[0061] Furthermore, the selection criterion for selecting a certain moment in S42 can be: when the real-time power of the battery swapping station is less than a certain set threshold, select this moment as the start moment of the power recovery time, specifically, the ratio of the real-time power to the saturated power When, other criteria and other set thresholds can also be selected.

[0062] In the actual process, due to the deviation between the predicted curve of the battery swapping demand of the battery swapping station, the predicted curve of the power trend of the battery swapping station and the actual curve of the battery swapping demand of the battery swapping station, the actual curve of the power trend of the battery swapping station, corrections are made according to the deviation, including:

[0063] S5. Obtain the actual curve of the battery swapping demand of the battery swapping station and the actual curve of the power trend of the battery swapping station from the start moment of the statistical period to the current moment, compare them with the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station, calculate the deviation, and correct the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station from the current moment to the end of the statistical period according to the prediction algorithm;

[0064] S6. Complete the time update positioning of the power exchange current according to the curve characteristics information such as the slope, duration, maximum power demand, and minimum power demand of the corrected power exchange demand prediction curve and the power trend prediction curve of the power exchange station, and define the previous period of the power exchange current time period as the power exchange power holding time;

[0065] S7. Update the upper and lower limits of the allowable fluctuation of the target power of the power exchange station within the power exchange power holding time according to the updated positioning of the power exchange current time and the power exchange power holding time;

[0066] S8. The power exchange station issues a charge and discharge command for grid connection of the power exchange station according to the current power of the power exchange station obtained in real time and the upper and lower limits of the allowable fluctuation of the corrected target power of the power exchange station.

[0067] In addition to obtaining the power exchange demand prediction curve and the power trend prediction curve of the power exchange station on the same day through a prediction algorithm based on the real-time power exchange demand curve and other information data of the power exchange station on the previous day, a power exchange station scheduling control method for participating in collaborative applications in an embodiment of the present invention further includes the application of a reactive power response voltage regulation scenario. The application of the reactive power response voltage regulation scenario takes into account a large number of instantaneous reactive power balance demands at the node, and uses the reactive power bidirectional operation characteristics of the power exchange station converter to achieve reactive power compensation, including:

[0068] S17. Obtain the power information of all nodes within a certain area around the power exchange station through communication interaction with the node sensor. At the same time, detect the voltage of all nodes within a certain area around the power exchange station. If it exceeds the threshold, send an instruction to notify the surrounding power exchange station nodes to start reactive power response;

[0069] S18. Sample the voltage v of the node that sends the instruction and the line current i, and read the active power, reactive power, and voltage information of other nodes from the database; establish a prediction model of node current-voltage for prediction calculation to determine the target output voltage v of the power exchange station converter s , and at the same time adopt a rolling optimization and feedback correction mechanism to reduce the prediction error;

[0070] S19. Through the neighborhood end-to-end communication strategy based on asynchronous replacement of timestamps, receive information in real time and update the database, and at the same time send information to neighborhood nodes, and finally achieve the overall optimal collaborative response of all nodes. After the overall voltage deviation returns to normal, each power exchange station node exits the reactive power response and re-enters the idle period.

[0071] Among them, the overall optimal collaborative response in S19 includes:

[0072] S191. Calculate the reactive power margin curves of all swapping stations based on the predicted active power curves of all swapping stations connected to the grid. Set the reactive power response trigger threshold and end threshold for all swapping stations according to the reactive power margin curves of all swapping stations. When the voltage of a certain node in the area exceeds the limit, notify the swapping stations to start reactive power response through wireless communication;

[0073] S192. At the system level, through power flow calculation, obtain the reactive power amount that each swapping station node in the area needs to participate in the response with the lowest energy loss and the fastest response speed as the indicators. Compare the reactive power margin of each swapping station at this moment. If the reactive power amount of a swapping station is greater than its reactive power margin, adjust the reactive power amount that the swapping station node needs to participate in the response locally, and finally obtain the reactive power distribution result that satisfies the reactive power margin of all swapping stations.

[0074] S193. When the voltage deviation is lower than the end threshold, the reactive power response ends. Each node updates the sensitivity matrix regularly and detects whether the voltage exceeds the limit.

[0075] Among them, other methods can be used for the method of defining the swapping power flow time. The swapping power holding time can overlap with the swapping power flow time, can be within the swapping power flow time, or can be after the swapping power flow time. The above embodiments only give a solution where the swapping power holding time is before the swapping power flow time, and should not be construed as a limitation to this application. As long as the swapping application within each swapping power flow time is satisfied, and at the same time, the charge-discharge strategy of all swapping stations connected to the grid that satisfies the daily power balance of the swapping stations is satisfied.

[0076] It should be understood that the exemplary embodiments described herein are illustrative rather than restrictive. Although one or more embodiments of the present invention have been described in conjunction with the accompanying drawings, those of ordinary skill in the art should understand that various changes in form and detail can be made without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims

1. A dispatching control method for a battery swapping station participating in collaborative voltage regulation applications, characterized in that, It includes the following steps: S1. According to the real-time battery swapping demand curve of the battery swapping station and other information data of the previous day, obtain the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station on the current day through a prediction algorithm; S2. Complete the time positioning of the battery swapping power flow based on the curve feature information including the slope, duration, maximum power demand, and minimum power demand of the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station, and define the previous period of the battery swapping power flow period as the battery swapping power holding time; S3. Determine the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station within the battery swapping power holding time according to the located battery swapping power flow time and the battery swapping power holding time; S4. The battery swapping station issues the charging and discharging instructions for grid connection of the battery swapping station according to the current power of the battery swapping station obtained in real time and the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station; The battery swapping power flow time positioning described in S2 includes: S21. Set the power demand dividing line, and count the curve characteristics of the predicted curve of the battery swapping demand at the battery swapping station on the power demand dividing line, so as to obtain the peak amplitudes Δp1, Δp2, Δp3 relative to the power demand dividing line, and the durations Δt1, Δt2, Δt3 of the peaks on the power demand dividing line. The calculation formula for the unit amplitude index is Then S22. Judge whether the unit amplitude index is greater than the set threshold τ0, that is, whether τ1, τ2, and τ3 are greater than τ0. If the unit amplitude index is greater than the set threshold, it is determined that the wave peak is the battery swapping power flow. If the unit amplitude index is less than or equal to the set threshold, it is not determined that the wave peak is the battery swapping power flow; S23. Locate the power exchange current time according to the determined power exchange current, and use the initial moment when the peak of the recognized power exchange current exceeds the power demand dividing line as the start time of the power exchange current, which are \(t\) 11 、 \(t\) 21 、 \(t\) 31 respectively. Use the final moment when the peak of the recognized power exchange current exceeds the power demand dividing line as the end time of the power exchange current, which are \(t\) 12 、 \(t\) 22 、 \(t\) 32 respectively. The power exchange current time is \(t\) 11 ~ \(t\) 12 、 \(t\) 21 ~ \(t\) 22 、 \(t\) 31 ~ \(t\) 32 . Set the fixed value of the power exchange power holding time as \(\Delta t\) p , then the power exchange power holding time is \((t\) 11 - \(\Delta t\) p )~ \(t\) 11 、 \((t\) 21 - \(\Delta t\) p )~ \(t\) 21 、 \((t\) 31 - \(\Delta t\) p )~ \(t\) 31 ; It further includes correcting the battery swapping power flow time, including: S24. Integrate the curve part where the peak of the identified power exchange current exceeds the power demand division line to obtain the total power demand for each time period, that is The calculation formula for the power demand rate is The larger the value, the more power shortage in the power exchange station. Among them, Ω is the power exchange demand of the power exchange station, is the power of the power exchange station; S25. Correct the swapping power flow time according to the shortage degree of power quantity, and the correction calculation formula is Δt * = Δt·a, where a is the correction coefficient. If the power quantity demand rate is less than or equal to the set threshold, the correction coefficient is 1; if the power quantity demand rate is greater than the set threshold, the correction coefficient is (1 + ε); S26. At this time, Let ε1 < ε0, ε2 < ε0, ε3 > ε0. Then, taking the initial moment when the peak of the battery swapping power flow exceeds the power demand division line as the starting moment of the battery swapping power flow, they are t 11 , t 21 , t 31 . The ending moments of the battery swapping power flow are t 11 + Δt1, t 21 + Δt2, The battery swapping power flow time is t 11 ~ t 11 + Δt1, t 21 ~ t 21 + Δt2, If the battery swapping power holding time is corrected, then the battery swapping power holding time is (t 11 - Δt p ) ~ t 11 , (t 21 - Δt p ) ~ t 21 , Determining the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station within the battery swapping power holding time includes: statistically, the power value at the lowest point of the predicted curve of the power trend of the battery swapping station is Then the standby power of the battery swapping station on that day is The calculation formula for the lower limit of the allowable fluctuation of the target power of the battery swapping station is The upper limit of the allowable fluctuation of the target power of the battery swapping station is the saturated power when all the batteries of the battery swapping station are fully charged Then the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station are Further, the calculation formula for the standby power of the battery swapping station on the same day is That is, the initial value of the standby power of the battery swapping station is According to the real-time usage of the standby power Adjustments are made. If the standby power is used, the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station after that moment are updated; The charging and discharging instructions for grid connection of the battery swapping station described in S4 include: S41. During the battery replacement power retention time, obtain the current real-time power of the battery replacement station If the real-time power of the battery replacement station is less than then issue an instruction for the battery replacement station to charge at the rated power until is greater than or equal to and then stop the charging instruction; S42. At the same time, taking one day as a complete charge-discharge cycle period of the battery swapping station, and taking the power balance of the battery swapping station system as the criterion, a certain moment of the day is selected as the start time of the charging recovery time, and an instruction is issued to the battery swapping station to charge at the rated power until it is restored to the saturated power for the battery swapping application in the next cycle period.

2. The dispatching control method of the swapping station participating in the collaborative voltage regulation application according to claim 1, characterized in that, Since there are deviations between the predicted curve of the battery swapping demand of the battery swapping station, the predicted curve of the power trend of the battery swapping station and the actual curve of the battery swapping demand of the battery swapping station, the actual curve of the power trend of the battery swapping station, corrections are made according to the deviations, including: S5. Obtain the actual curve of the battery swapping demand of the battery swapping station and the actual curve of the power trend of the battery swapping station from the start time of the statistical period to the present, compare them with the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station, calculate the deviation, and correct the predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station from the present to the end of the statistical period according to the prediction algorithm; S6. Complete the updated positioning of the battery swapping power flow time according to the curve feature information such as the slope, duration, maximum power demand, and minimum power demand of the corrected predicted curve of the battery swapping demand of the battery swapping station and the predicted curve of the power trend of the battery swapping station, and define the previous period of the battery swapping power flow period as the battery swapping power holding time; S7. Update the upper and lower limits of the allowable fluctuation of the target power of the battery swapping station within the battery swapping power holding time according to the updated positioned battery swapping power flow time and the battery swapping power holding time; S8. The battery swapping station issues the charging and discharging instructions for grid connection of the battery swapping station according to the current power of the battery swapping station obtained in real time and the corrected upper and lower limits of the allowable fluctuation of the target power of the battery swapping station.

3. The dispatching control method of the swapping station participating in the collaborative voltage regulation application according to claim 1, characterized in that, It further includes the application of the reactive power response voltage regulation scenario. The application of the reactive power response voltage regulation scenario takes into account a large number of instantaneous reactive power balance demands at the node and uses the reactive power bidirectional operation characteristics of the battery swapping station converter to achieve reactive power compensation, including: S17. Obtain the power information of all nodes within a certain area around the battery swapping station through communication interaction with the node sensors. At the same time, detect the voltage of all nodes within a certain area around the battery swapping station. If it exceeds the threshold, send an instruction to notify the surrounding battery swapping station nodes to start reactive power response; S18. Sample the node voltage v and line current i of the sending instruction, and read the active power, reactive power, and voltage information of other nodes from the database; establish a prediction model of node current-voltage for prediction calculation to determine the target output voltage v of the converter at the substation s , and at the same time adopt a rolling optimization and feedback correction mechanism to reduce the prediction error; S19. Through the neighborhood end-to-end communication strategy with asynchronous replacement based on timestamps, receive information in real time and update the database, while sending information to neighborhood nodes, and finally achieve the overall optimal collaborative response of all nodes. After the overall voltage deviation returns to normal, each substation node exits the reactive power response and re-enters the idle period.

4. The dispatching control method of the battery swapping station participating in collaborative voltage regulation application according to claim 3, wherein The overall optimal collaborative response described in S19 includes: S191. Calculate the reactive power margin curves of all substations based on the predicted active power curves of all substations connected to the grid. Set the reactive power response trigger threshold and end threshold for all substations according to the reactive power margin curves of all substations. When the voltage of a certain node in the area exceeds the limit, notify the substation to start the reactive power response through wireless communication; S192. At the system level, through power flow calculation, obtain the reactive power amount that each substation node in the area needs to participate in the response with the lowest energy loss and the fastest response speed as indicators. Compare the reactive power margin of each substation at this moment. If the reactive power amount of a substation is greater than its reactive power margin, adjust the reactive power amount that the substation node needs to participate in the response locally, and finally obtain the reactive power allocation result that meets the reactive power margin of all substations; S193. When the voltage deviation is lower than the end threshold, the reactive power response ends, each node updates the sensitivity matrix regularly, and detects whether the voltage exceeds the limit.

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