A heterogeneous multi-source distributed collaborative secondary frequency modulation control method and system

Abstract

The application provides a heterogeneous multi-source distributed cooperative secondary frequency modulation control method and system, wherein the method comprises the following steps: 1) establishing an ACE state distributed estimator to obtain an ACE state signal; 2) establishing an ACE regulator, taking the ACE state signal as input, and outputting a first part component of a secondary frequency modulation reference instruction of a frequency modulation unit; and 3) establishing a heterogeneous frequency modulation unit frequency modulation instruction proportional distribution controller, and outputting a second part component of the secondary frequency modulation reference instruction of the frequency modulation unit. The application can improve the automatic generation control performance of a new energy high-penetration new-type power system, improve the frequency stability and safety of the system, and has the advantages of high scalability, good flexibility and high information security in the distributed implementation of the algorithm.

Description

Technical Field

[0001] This invention belongs to the field of new power system technology, specifically, it relates to a heterogeneous multi-source distributed cooperative secondary frequency regulation control method and system for multi-regional power systems. Background Technology

[0002] In new power systems, the proportion of new energy sources connected to power electronics is continuously increasing, while the rotational inertia of the system and the frequency regulation capacity of traditional units are becoming increasingly insufficient. Therefore, it is necessary to develop new frequency regulation resources, especially power electronic frequency regulation resources with fast response capabilities, such as energy storage, wind power, and photovoltaic power generation. However, traditional hydropower and thermal power, along with heterogeneous frequency regulation resources such as energy storage, wind power, and photovoltaic power generation, have different system models, capacities, and response speeds, which poses challenges to the automatic generation control of new power systems. Figure 1 As shown, heterogeneous frequency regulation units include thermal power units, hydropower units, gas turbines, wind power units, photovoltaic power generation, and energy storage systems. Traditional automatic generation control frequency control includes primary frequency regulation (using a droop control strategy) and secondary frequency regulation (using a PI control strategy). When performing secondary frequency regulation, the impact of computing power and communication delays between heterogeneous frequency regulation units on the control model is not fully considered, making it susceptible to single-point failures. Furthermore, frequency regulation requires global information about the power system, resulting in low information privacy and security. Summary of the Invention

[0003] To address the shortcomings of the prior art, this invention provides a heterogeneous multi-source distributed collaborative secondary frequency regulation control method for multi-regional power systems.

[0004] The technical solution adopted by the present invention to achieve the above objectives is as follows:

[0005] The first aspect of this invention provides a heterogeneous multi-source distributed cooperative secondary frequency regulation control method for multi-regional power systems, comprising the following steps;

[0006] 1) Establish an ACE state distributed estimator to discover the obtained ACE state signals;

[0007] 2) Establish an ACE regulator, with the ACE status signal as input, and output the first part of the secondary frequency regulation reference command of the frequency regulation unit;

[0008] 3) Establish a proportional distribution controller for the frequency modulation command of the heterogeneous frequency modulation unit, and output the second part of the secondary frequency modulation reference command of the frequency modulation unit.

[0009] Based on the above, an ACE state distributed estimator is established, including the following steps:

[0010] Each frequency regulation unit is assigned an intelligent agent with communication and computing capabilities, and the distributed ACE state estimation is achieved according to the following formula:

[0011]

[0012]

[0013] in, For the current moment, For time delay, subscripts i and j are the agent numbers, respectively. Collected for the upper-level dispatch center ACE signal value at time t. and Let be the ACE estimates obtained by the i-th and j-th agents, respectively. Adjustment amount for algorithm convergence speed As an intermediate variable, and They are defined as follows:

[0014]

[0015]

[0016] in, and These are the number of neighbor nodes of the i-th and j-th agents, respectively. It is a constant.

[0017] Based on the above, the following steps are also included when establishing the ACE state distributed estimator:

[0018] Define a diagonal matrix Define matrix Its elements are defined as:

[0019]

[0020] matrix The eigenvalues ​​are represented as n is the number of frequency regulation units;

[0021] Adjust parameters , And the communication topology makes the ACE state distributed estimator optimal in terms of convergence speed and robustness to communication delays.

[0022] Among them, when the communication delay satisfies Therefore, the ACE state distributed estimator satisfies asymptotic stability, and The larger the value, the faster the algorithm converges.

[0023] Based on the above, the ACE regulator is established, including the following steps:

[0024] ACE regulation should be performed using the following formula:

[0025]

[0026] in, and These are the proportional and integral term coefficients of the PI controller, respectively. This is the first part of the secondary control command for the i-th frequency regulation unit.

[0027] Based on the above, a proportional distribution controller for frequency regulation commands of heterogeneous frequency regulation units is established, including the following steps:

[0028] The frequency modulation command ratio shall be allocated according to the following formula:

[0029]

[0030] in, For the current moment, For time delay, the subscript i represents the agent number. This is the second component of the secondary frequency regulation reference command for frequency regulation units. Adjustment amount for algorithm convergence speed As an intermediate variable, Let i be the set of neighbor nodes of the i-th agent. The definition is as follows:

[0031]

[0032] in and These are the upper and lower limits of the frequency regulation capacity of the i-th frequency regulation unit, respectively. This represents the actual frequency regulation power output of the i-th frequency regulation unit;

[0033] Define a diagonal matrix ,in The definition is as follows:

[0034]

[0035] matrix The eigenvalues ​​are defined as n is the number of frequency regulation units;

[0036] Adjust parameters This makes the frequency modulation command proportional allocation controller of the heterogeneous frequency modulation unit optimal in terms of convergence speed and robustness to communication delay.

[0037] Among them, when the communication delay satisfies The proportional distribution controller for frequency modulation commands in heterogeneous frequency modulation units satisfies asymptotic convergence, and The larger the value, the faster its convergence speed.

[0038] A second aspect of the present invention provides a heterogeneous multi-source distributed cooperative secondary frequency regulation control system for multi-regional power systems, comprising:

[0039] A distributed ACE state estimator is used to discover the obtained ACE state signals.

[0040] The ACE regulator, connected to the ACE state distributed estimator, takes the ACE state signal as input and outputs the first part of the secondary frequency regulation reference command of the frequency regulation unit.

[0041] The frequency modulation command proportional distribution controller for heterogeneous frequency modulation units is used to output the second part of the secondary frequency modulation reference command for the frequency modulation unit.

[0042] A third aspect of the present invention provides a heterogeneous multi-source distributed cooperative secondary frequency modulation control device, comprising:

[0043] Memory; and

[0044] A processor coupled to the memory is configured to execute the heterogeneous multi-source distributed cooperative secondary frequency modulation control method based on instructions stored in the memory.

[0045] A fourth aspect of the present invention provides a non-transient computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the heterogeneous multi-source distributed cooperative secondary frequency modulation control method described above.

[0046] This invention has outstanding substantive features and significant progress compared to the prior art. Specifically, this invention has the following beneficial effects and advantages:

[0047] 1. The distributed implementation of the control strategy of the present invention can allocate computing and communication tasks among distributed intelligent agents, which has high scalability and flexibility, and is not easily affected by single point of failure.

[0048] 2. Each distributed frequency regulation unit only needs to obtain information from local and neighboring units, and does not need global power system information, thus ensuring high information privacy and security.

[0049] 3. All heterogeneous frequency regulation units are designed with independent local AGC controllers, which can fully utilize the rapid frequency regulation capabilities of the power electronic units.

[0050] 4. In the final stage of ACE adjustment, the frequency regulation power output of each unit can be redistributed proportionally according to capacity, releasing the frequency regulation potential of fast response units and preparing for the next round of frequency adjustment.

[0051] 5. This invention can improve the automatic power generation control performance of new power systems with high penetration of new energy sources, and improve the frequency stability and security of the system. Attached Figure Description

[0052] Figure 1 This is a comparison diagram between the distributed automatic generation control strategy of this invention and the traditional automatic generation control strategy.

[0053] Figure 2 This is a schematic diagram of the heterogeneous multi-source distributed collaborative secondary frequency modulation control principle of the present invention. Detailed Implementation

[0054] The present invention will now be described in further detail with reference to the accompanying drawings.

[0055] like Figure 1 As shown, the frequency control of this application includes primary frequency modulation (using a droop control strategy) and secondary frequency modulation (using a heterogeneous multi-source distributed cooperative secondary frequency modulation control strategy).

[0056] Example 1

[0057] like Figure 2 As shown, this embodiment provides a heterogeneous, multi-source, distributed, cooperative secondary frequency regulation control method for multi-regional power systems. First, a distributed Area Control Error (ACE) discovery algorithm is designed. Then, each frequency regulation unit can implement ACE regulation based on the discovered ACE signal by designing an independent PI controller adapted to its own response speed. Finally, a distributed proportional allocation control algorithm is used to allocate and adjust power to each frequency regulation unit according to its capacity ratio. This allows for increased output from slower-responding units after frequency recovery, replacing some of the output from faster-responding units, thus preparing for the next round of rapid ACE regulation. Furthermore, the impact of communication delay on convergence is fully considered in the algorithm design process, and parameter design criteria are provided.

[0058] The specific heterogeneous multi-source distributed collaborative secondary frequency modulation control method includes the following steps;

[0059] 1) Establish an ACE state distributed estimator to discover the obtained ACE state signals;

[0060] 1-1) Assign an intelligent agent with communication and computing capabilities to each frequency regulation unit, and realize the distributed ACE state estimation according to the following formula:

[0061]

[0062]

[0063] in, For the current moment, For time delay, subscripts i and j are the agent numbers, respectively. Collected for the upper-level dispatch center ACE signal value at time t. and Let be the ACE estimates obtained by the i-th and j-th agents, respectively. Adjustment amount for algorithm convergence speed As an intermediate variable, and They are defined as follows:

[0064]

[0065]

[0066] in, and These are the number of neighbor nodes of the i-th and j-th agents, respectively. It is a constant;

[0067] 1-2) Define a diagonal matrix Define matrix Its elements are defined as:

[0068]

[0069] matrix The eigenvalues ​​are represented as n is the number of frequency regulation units;

[0070] 1-3) Adjust parameters , And the communication topology makes the ACE state distributed estimator optimal in terms of convergence speed and robustness to communication delays.

[0071] Among them, when the communication delay satisfies Therefore, the ACE state distributed estimator satisfies asymptotic stability, and The larger the value, the faster the algorithm converges.

[0072] 2) Establish an ACE regulator, with the ACE status signal as input, and output the first part of the secondary frequency regulation reference command of the frequency regulation unit;

[0073] 2-1) Establishing an ACE regulator includes the following steps:

[0074] ACE regulation should be performed using the following formula:

[0075]

[0076] in, and These are the proportional and integral term coefficients of the PI controller, respectively. This is the first part of the secondary control command for the i-th frequency regulation unit.

[0077] 3) Establish a frequency modulation command proportional distribution controller for heterogeneous frequency modulation units, and output the second part of the secondary frequency modulation reference command for the frequency modulation units;

[0078] Establishing a frequency regulation command proportional distribution controller for heterogeneous frequency regulation units includes the following steps:

[0079] 3-1) Distribute frequency modulation commands proportionally according to the following formula:

[0080]

[0081] in, For the current moment, For time delay, the subscript i represents the agent number. This is the second component of the secondary frequency regulation reference command for frequency regulation units. Adjustment amount for algorithm convergence speed As an intermediate variable, Let i be the set of neighbor nodes of the i-th agent. The definition is as follows:

[0082]

[0083] in and These are the upper and lower limits of the frequency regulation capacity of the i-th frequency regulation unit, respectively. This represents the actual frequency regulation power output of the i-th frequency regulation unit;

[0084] 3-2) Define a diagonal matrix ,in The definition is as follows:

[0085]

[0086] matrix The eigenvalues ​​are defined as n is the number of frequency regulation units;

[0087] 3-3) Adjust parameters This makes the frequency modulation command proportional allocation controller of the heterogeneous frequency modulation unit optimal in terms of convergence speed and robustness to communication delay.

[0088] Among them, when the communication delay satisfies The proportional distribution controller for frequency modulation commands in heterogeneous frequency modulation units satisfies asymptotic convergence, and The larger the value, the faster its convergence speed.

[0089] Example 2

[0090] This embodiment provides a heterogeneous, multi-source, distributed, cooperative secondary frequency regulation control system for multi-regional power systems, including:

[0091] A distributed ACE state estimator is used to discover the obtained ACE state signals.

[0092] The ACE regulator, connected to the ACE state distributed estimator, takes the ACE state signal as input and outputs the first part of the secondary frequency regulation reference command of the frequency regulation unit.

[0093] The frequency modulation command proportional distribution controller for heterogeneous frequency modulation units is used to output the second part of the secondary frequency modulation reference command for frequency modulation units.

[0094] For the specific implementation method of the system in this embodiment, please refer to the method described in Embodiment 1, which will not be repeated here.

[0095] Example 3

[0096] This embodiment provides a heterogeneous multi-source distributed cooperative secondary frequency modulation control device, including:

[0097] Memory; and

[0098] A processor coupled to the memory is configured to execute the heterogeneous multi-source distributed cooperative secondary frequency modulation control method described in Embodiment 1 based on instructions stored in the memory.

[0099] The memory may include, for example, system memory, fixed non-volatile storage media, etc. System memory may store, for example, the operating system, application programs, boot loader, and other programs.

[0100] The device may also include input / output interfaces, network interfaces, and storage interfaces. These interfaces, as well as the memory and processor, can be connected via, for example, a bus. The input / output interfaces provide connection interfaces for input / output devices such as monitors, mice, keyboards, and touchscreens. The network interfaces provide connection interfaces for various networked devices. The storage interfaces provide connection interfaces for external storage devices such as SD cards and USB flash drives.

[0101] Example 4

[0102] This embodiment provides a non-transient computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the heterogeneous multi-source distributed cooperative secondary frequency modulation control method described in Embodiment 1.

[0103] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-non-transitory readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer program code.

[0104] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0105] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0107] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A heterogeneous multi-source distributed collaborative secondary frequency modulation control method for a multi-area power system, characterized in that, The method comprises the following steps of: 1) establishing an ACE state distributed estimator to mine the obtained ACE state signal; The ACE state distributed estimator is established by the following steps: An intelligent agent with communication and calculation functions is assigned to each frequency modulation unit, and the distributed ACE state estimation value is realized according to the following formula: wherein, is the current time, is the time delay, and the subscripts i and j are the agent numbers, is the ACE signal value collected by the upper layer scheduling center at time , and are the ACE estimation values obtained by the i-th and j-th agents, respectively, is the algorithm convergence speed adjustment amount, is an intermediate variable, and are defined as follows, respectively: wherein, and N i and N j are the number of neighbor nodes of the i-th and j-th agent, respectively, is a constant; When the ACE state distributed estimator is established, the following steps are further included: Definition of a diagonal matrix Definition of a matrix whose elements are defined as Matrix The eigenvalue of the matrix is expressed as n is the number of frequency modulation units. adjustment parameters , and communication topology, so that the ACE state distributed estimator is synthetically optimal in convergence speed and robustness to communication delay; where the communication delay satisfies Then the ACE state distributed estimator satisfies asymptotic stability, and The larger the, the faster the algorithm converges. 2) establishing an ACE regulator, which takes the ACE state signal as input and outputs the first part of the secondary frequency modulation reference instruction of the frequency modulation unit; The ACE regulator is established by the following steps: ACE adjustment is performed according to the following formula: wherein, and are the proportional and integral coefficients of the PI controller, respectively, is the first partial component of the secondary control instruction of the i-th frequency modulation unit. 3) establishing a heterogeneous frequency modulation unit frequency modulation instruction proportional distribution controller, which outputs the second part of the secondary frequency modulation reference instruction of the frequency modulation unit; The heterogeneous frequency modulation unit frequency modulation instruction proportional distribution controller is established by the following steps: The frequency modulation instruction proportional distribution is performed according to the following formula: wherein, is the current time, is the time delay, subscript i is the agent number, is the second part component of the frequency modulation unit secondary frequency modulation reference instruction, is the algorithm convergence speed adjustment amount, is an intermediate variable, is the neighbor node set of the i-th agent, is defined as follows: wherein and are the upper and lower limits of the frequency modulation capacity of the i-th frequency modulation unit, respectively, is the actual frequency modulation power output of the i-th frequency modulation unit. Definition of a diagonal matrix wherein is defined as follows: Matrix The eigenvalue of the matrix is defined as , n is the number of frequency modulation units. Adjustment parameter Make the heterogeneous frequency modulation unit frequency modulation instruction proportional distribution controller optimal in convergence speed and robustness to communication delay; When the communication delay satisfies The proportional distribution controller of the heterogeneous frequency modulation unit frequency modulation instruction satisfies gradual convergence, and The greater the convergence speed is.

2. A heterogeneous multi-source distributed collaborative secondary frequency modulation control system for a multi-area power system, characterized in that, The method comprises the following steps of: The ACE state distributed estimator is used to mine the obtained ACE state signal; The ACE regulator is connected with the ACE state distributed estimator, takes the ACE state signal as input, and outputs the first part of the secondary frequency modulation reference instruction of the frequency modulation unit; The heterogeneous frequency modulation unit frequency modulation instruction proportional distribution controller is used to output the second part of the secondary frequency modulation reference instruction of the frequency modulation unit; The ACE state distributed estimator is established by the following steps: An intelligent agent with communication and calculation functions is assigned to each frequency modulation unit, and the distributed ACE state estimation value is realized according to the following formula: wherein, is the current time, is the time delay, and the subscripts i and j are the agent numbers, is the ACE signal value collected by the upper layer scheduling center at the time, is the ACE signal value collected by the upper layer scheduling center at the time, and are the ACE estimation values obtained by the i-th and j-th agents, respectively, is the algorithm convergence speed adjustment amount, is an intermediate variable, and are defined as follows: wherein, and N i and N j are the number of neighbor nodes of the i-th and j-th agent, respectively, is a constant; Definition of a diagonal matrix , definition of a matrix whose elements are defined as: Matrix The eigenvalue of the matrix is expressed as n is the number of frequency modulation units. adjustment parameters , and communication topology, so that the ACE state distributed estimator is synthetically optimal in convergence speed and robustness to communication delay; where the communication delay satisfies Then the ACE state distributed estimator satisfies asymptotic stability, and The larger the, the faster the algorithm converges. The ACE regulator is established by the following steps: ACE adjustment is performed according to the following formula: wherein, and are the proportional and integral coefficients of the PI controller, respectively, is the first partial component of the secondary control instruction of the i-th frequency regulation unit. The heterogeneous frequency modulation unit frequency modulation instruction proportional distribution controller is established by the following steps: The frequency modulation instruction proportional distribution is performed according to the following formula: wherein, is the current time, is the time delay, subscript i is the agent number, is the second part component of the frequency modulation unit secondary frequency modulation reference instruction, is the algorithm convergence speed adjustment amount, is an intermediate variable, is the neighbor node set of the i-th agent, is defined as follows: wherein and are the upper and lower limits of the frequency modulation capacity of the i-th frequency modulation unit, respectively, is the actual frequency modulation power output of the i-th frequency modulation unit. Definition of a diagonal matrix wherein is defined as follows: Matrix The eigenvalue of the matrix is defined as n is the number of frequency modulation units. Adjustment parameter Make the heterogeneous frequency modulation unit frequency modulation instruction proportional distribution controller optimal in convergence speed and robustness to communication delay; When the communication delay satisfies The proportional distribution controller of the heterogeneous frequency modulation unit frequency modulation instruction satisfies the gradual convergence, and The greater the convergence speed is.

3. A heterogeneous multi-source distributed collaborative secondary frequency modulation control device, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the heterogeneous multi-source distributed collaborative secondary frequency modulation control method according to claim 1 based on instructions stored in the memory.

4. A non-transitory computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the heterogeneous multi-source distributed collaborative secondary frequency modulation control method according to claim 1.

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