Emergency frequency control method and device of cluster energy storage system, equipment and medium

Abstract

The application discloses an emergency frequency control method and device of a cluster energy storage system, and a medium. The method comprises the following steps: constructing a state model of the cluster energy storage power system, and determining a line transient stability constraint; constructing an objective function of an optimal emergency frequency control problem considering the line transient stability constraint; and solving the objective function to determine an emergency frequency control strategy of the cluster energy storage system. The emergency frequency control method of the cluster energy storage system provided by the application considers the line transient stability constraint, so that the designed distributed emergency frequency control strategy of the cluster energy storage power system can ensure that the line transmission power does not exceed the transient stability limit, and the probability of the system appearing transient instability is reduced. Meanwhile, the provided distributed emergency frequency control strategy can make the frequency quickly recover to the rated value after the system failure, reduces the loss of equipment, and is beneficial to the stable operation of the power system.

Description

Technical Field

[0001] This application relates to the field of emergency frequency control technology for power systems, and in particular to an emergency frequency control method, device, equipment and medium including a clustered energy storage system. Background Technology

[0002] Power systems are prone to insufficient inertia or inadequate frequency regulation reserves, making conventional frequency regulation measures insufficient to meet the system's frequency stability requirements. Therefore, researching emergency frequency control strategies is of great significance in response to potential emergency faults that could cause significant power imbalances.

[0003] Because clustered energy storage offers rapid power adjustment, existing technologies have proposed emergency frequency control strategies incorporating clustered energy storage, such as a droop-based emergency frequency control strategy for power systems with clustered energy storage, which can quickly stabilize the system frequency during emergency faults. However, this approach often has its drawbacks: First, since this strategy operates on a primary frequency regulation timescale, it can cause steady-state frequency deviations. Second, due to the significant power imbalance caused by emergency faults, and the lack of consideration for transient stability constraints, the steady-state transmission power may exceed the transient stability limit after a fault in some critical lines, potentially leading to further system transient instability. Third, system recovery after an emergency fault requires a considerable amount of time, during which the system frequency remains in a non-power frequency state, resulting in significant equipment wear and severely impacting the stability of the power system operation. Summary of the Invention

[0004] The purpose of this application is to provide an emergency frequency control method, device, equipment and medium for a power system with clustered energy storage, which at least solves one of the problems in the existing emergency frequency control strategies for power systems with clustered energy storage, which are prone to transient instability, steady-state frequency deviation, long time to restore power frequency after emergency failure, and large equipment wear due to the lack of consideration of transient stability constraints.

[0005] To achieve the above objectives, this application provides an emergency frequency control method for a clustered energy storage system, comprising:

[0006] Construct a state model of a power system with clustered energy storage and determine the transient stability constraints of the lines;

[0007] Construct an objective function for the optimal emergency frequency control problem that considers the transient stability constraints of the line;

[0008] The objective function is solved to determine the emergency frequency control strategy for the clustered energy storage system.

[0009] Furthermore, preferably, the construction of the state model of the power system including clustered energy storage includes:

[0010]

[0011]

[0012]

[0013]

[0014]

[0015]

[0016] Where, ω i M represents the frequency deviation at bus i. i >0 is the inertial constant of synchronous machine i, D i P is the damping coefficient of synchronous machine i. i in This refers to the total power injection or power consumption at node i, excluding the control unit. Let i be the active power of the synchronous machine. Let P be the active power of clustered energy storage system i. i G With P i E p i G With p i E The rated value, and T represents the control inputs for synchronous machine i and clustered energy storage system i, respectively. i G With T i E These are the inertial time constants for the power regulation of the synchronous machine i and the power regulation of the cluster energy storage system i, respectively. This is a collection of synchronous machine buses, cluster energy storage buses, and passive load buses; n G n E n P The quantities of synchronous machine buses, cluster energy storage buses, and passive load buses are respectively specified; and there are... n = n G +n E +n P ;for Under the assumption of DC power flow, P e =P ij =B ij (θ i -θ j Let θ be the active power transmitted by line ij. i Let i be the phase angle relative to the synchronously rotating coordinate system at the busbar i. The effective susceptance of line ij is given by the given information. V represents the actual susceptance of the line. i and V j The node voltage magnitude is assumed to be constant; C i,e These are elements of the system correlation matrix C.

[0017] Furthermore, preferably, determining the transient stability constraints of the line includes:

[0018]

[0019] in, P ij and Let be the lower and upper bounds of the given transient stability constraints.

[0020] Furthermore, preferably, the objective function for constructing the optimal emergency frequency control problem considering the transient stability constraints of the line includes:

[0021] Determine the control costs of synchronous machines and cluster energy storage:

[0022]

[0023]

[0024] Where, α i β is the control cost coefficient for synchronous machine i. i The control cost coefficient for cluster energy storage i; and These are the control quantities for synchronous machine i and clustered energy storage system i, respectively;

[0025] Construct the objective function for the optimal emergency frequency control problem considering line transient stability constraints:

[0026]

[0027]

[0028]

[0029]

[0030]

[0031]

[0032]

[0033]

[0034]

[0035] in, This refers to the virtual current flow of the line. All of these are optimization variables.

[0036] Furthermore, preferably, solving the objective function includes:

[0037] The objective function of the optimal emergency frequency control problem considering the transient stability constraints of the line is transformed into a Lagrangian function;

[0038] The Lagrangian function is solved using the primal-dual algorithm.

[0039] Furthermore, preferably, the transformation of the objective function of the optimal emergency frequency control problem considering line transient stability constraints into a Lagrangian function includes:

[0040]

[0041] Based on the original variable ω G minimize have:

[0042]

[0043] make Equal to 0, thus obtaining ω i =τ i ,

[0044] ω i =τ i , Substituting the Lagrange function back, we get:

[0045]

[0046] Furthermore, preferably, determining the emergency frequency control strategy for the clustered energy storage system includes:

[0047]

[0048]

[0049]

[0050]

[0051]

[0052]

[0053]

[0054] Among them, the variables that need to be exchanged through distributed communication between the nodes are:

[0055] This application also provides an emergency frequency control device including a clustered energy storage system, comprising:

[0056] Transient stability constraint construction unit, used to construct the state model of a power system with clustered energy storage and determine the transient stability constraints of the lines;

[0057] The objective function construction unit is used to construct the objective function for the optimal emergency frequency control problem that considers the transient stability constraints of the line.

[0058] The control strategy determination unit is used to solve the objective function and determine the emergency frequency control strategy for the clustered energy storage system.

[0059] This application also provides a terminal device, including:

[0060] One or more processors;

[0061] A memory, coupled to the processor, for storing one or more programs;

[0062] When the one or more programs are executed by the one or more processors, the one or more processors implement the emergency frequency control method for a clustered energy storage system as described in any of the preceding claims.

[0063] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the emergency frequency control method for a clustered energy storage system as described in any of the preceding claims.

[0064] Compared to existing technologies, the advantages of this application are as follows:

[0065] This application discloses an emergency frequency control method, apparatus, equipment, and medium for a power system with clustered energy storage. The method includes: constructing a state model of the power system with clustered energy storage and determining the transient stability constraints of the lines; constructing an objective function for the optimal emergency frequency control problem considering the transient stability constraints of the lines; and solving the objective function to determine the emergency frequency control strategy for the power system with clustered energy storage.

[0066] The emergency frequency control method for a clustered energy storage system provided in this application, by considering the transient stability constraints of the line, ensures that the designed distributed emergency frequency control strategy for the power system with clustered energy storage can ensure that the line transmission power does not exceed the transient stability limit, thereby reducing the probability of transient instability in the system. At the same time, the provided distributed emergency frequency control strategy enables the frequency to quickly recover to the rated value after a system fault, reducing the wear and tear on the equipment and contributing to the stable operation of the power system. Attached Figure Description

[0067] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0068] Figure 1 This is a flowchart illustrating an emergency frequency control method for a clustered energy storage system provided in a certain embodiment of this application;

[0069] Figure 2 This is a schematic diagram of the structure of an emergency frequency control device containing a clustered energy storage system provided in a certain embodiment of this application;

[0070] Figure 3 This is a schematic diagram of the structure of a terminal device provided in a certain embodiment of this application. Detailed Implementation

[0071] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0072] It should be understood that the step numbers used in the text are for ease of description only and are not intended to limit the order in which the steps are performed.

[0073] It should be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0074] The terms “comprising” and “including” indicate the presence of the described feature, whole, step, operation, element and / or component, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0075] The term “and / or” refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes these combinations.

[0076] To facilitate understanding, we will first explain the constant power control characteristics and line transient stability constraints of clustered energy storage. Considering the control characteristics of clustered energy storage, the power control of the energy storage system is mainly achieved through the power conversion system (PCS). Taking a battery energy storage system as an example, its PCS mainly consists of a DC-AC bidirectional converter and a control system. The PCS is connected between the battery system and the grid, realizing and controlling the bidirectional conversion and transmission of electrical energy. The PCS enables the energy storage system to have control modes such as constant power control, constant power factor control, and constant current control. In addition, the national standard "GB / T 36547-2018 Technical Specifications for Electrochemical Energy Storage Systems Connected to the Grid" states that when the frequency of the energy storage grid connection point is less than 49.5Hz, the energy storage should not be in a charging state; when the frequency is greater than 50.2Hz, the energy storage should not be in a discharging state. Therefore, when the clustered energy storage system is in constant power control mode, the power can be easily and quickly adjusted to provide power support to the grid. However, in actual grid operation, line transient stability constraints are usually calculated offline in advance by dispatchers. Therefore, given the upper and lower limits of the transient stability constraint, the line transient stability constraint can be regarded as the line transmission power constraint.

[0077] Currently, existing technologies have proposed emergency frequency control considering the participation of clustered energy storage, which can quickly stabilize the system frequency during emergency faults. However, due to the large power imbalance caused by emergency faults, the steady-state transmission power of some critical lines may exceed the transient stability limit after a fault, potentially leading to further system transient instability. Furthermore, system recovery after an emergency fault requires a considerable amount of time, during which the system frequency remains in a non-power frequency state, which is unsuitable. Therefore, there is a need for rapid frequency recovery. To address these issues, considering the difficulty of centralized management and control when a large amount of clustered energy storage is involved, and the advantages of distributed control strategies, this application aims to propose a distributed emergency frequency control strategy for power systems with clustered energy storage that considers line transient stability constraints. This control strategy can ensure that line transient stability does not exceed limits during emergency faults, restore the frequency, and achieve the designed optimized control objectives.

[0078] Please see Figure 1This application provides an emergency frequency control method for a clustered energy storage system in one embodiment. For example... Figure 1 As shown, the emergency frequency control method for the clustered energy storage system includes steps S10 to S30. The specific steps are as follows:

[0079] S10. Construct a state model of a power system containing clustered energy storage and determine the transient stability constraints of the lines.

[0080] Assume the power system contains n G Taiwan Synchronous Machine and n E From a graph theory perspective, a power system containing clustered energy storage can be represented by a directed connected graph. It means that among them Represents the busbar. This represents a transmission line. Buses can be divided into three categories: synchronous machine buses, clustered energy storage buses, and passive load buses. The sets of these three types of buses are represented as follows: The number of the three types of busbars are n respectively. G n E n P And there are n = n G +n E +n P Transmission lines can be used or To indicate, due to the defined graph It is a directed graph, therefore if but Considering the second-order dynamic model of the synchronous machine, and the first-order inertial model of the power regulation of the synchronous machine and the clustered energy storage system, the state model of the power system containing clustered energy storage can be expressed as the following system of differential-algebraic equations:

[0081]

[0082] Where, ω i M represents the frequency deviation at bus i. i >0 is the inertial constant of synchronous machine i, D i P is the damping coefficient of synchronous machine i. i in For node i, the total power injection (>0) or power consumption (<0) excluding the control unit (synchronous machine or cluster energy storage), Let i be the active power of the synchronous machine. Let P be the active power of clustered energy storage system i. i G With P i E They are respectively and The rated value, and T represents the control inputs for synchronous machine i and clustered energy storage system i, respectively. i G With T i E These are the inertial time constants for the synchronous machine's i-power regulation and the cluster energy storage system's i-power regulation, respectively. For Under the assumption of DC power flow, P e =P ij =B ij (θ i -θ j Let θ be the active power transmitted by line ij. i Let i be the phase angle relative to the synchronously rotating coordinate system at the busbar i. The effective susceptance of line ij is given by the given information. V represents the actual susceptance of the line. i and V j C represents the node voltage magnitude, which is assumed to be constant. i,e For the elements of the system correlation matrix C, when At that time, C i,e =1; when At that time, C i,e =-1; otherwise, C i,e =0.

[0083] In actual power grid operation, transient stability constraints are usually calculated offline in advance by dispatchers. Therefore, in control design, transient stability constraints can be expressed as:

[0084]

[0085] in, P ij and Let be the lower and upper bounds of the given transient stability constraints.

[0086] S20. Construct the objective function for the optimal emergency frequency control problem that considers the transient stability constraints of the line.

[0087] Based on the state model of formula (1), this step aims to determine the objective function of the optimal emergency frequency control problem.

[0088] Considering practical engineering applications, the control cost function of synchronous machines and cluster energy storage can often be defined as a quadratic form of the control quantity, i.e.:

[0089]

[0090]

[0091] Where, α iβ is the control cost coefficient for synchronous machine i. i The control cost coefficient for cluster energy storage i. When designing the control strategy, a new information variable is introduced: the virtual phase angle of node i. And define the virtual power flow of the line as In fact, when the closed-loop system reaches steady state, the virtual power flow equals the real line power flow. Furthermore, in steady state, due to… and By substitution of variables, the optimal emergency frequency control problem (TSC-OEFC problem) considering line transient stability constraints can be defined as follows, where the optimization variables are:

[0092]

[0093] In TSC-OEFC, the objective function includes an additional term related to the synchronizer frequency deviation ω. i The quadratic term can be used to prove that, under the constraints of this optimization problem, the optimal solution must satisfy ω. i =0 (i.e., the frequency returns to its rated value), therefore this quadratic term is actually a penalty term and does not affect the optimal solution. In this optimization problem, we indirectly guarantee the transient stability constraint of the line by imposing constraints on the virtual power flow of the line. Based on this TSC-OEFC problem, we further derive a distributed emergency frequency control strategy that considers the transient stability constraint of the line.

[0094] S30. Solve the objective function to determine the emergency frequency control strategy for the clustered energy storage system.

[0095] In this step, a distributed control strategy is designed so that the closed-loop system considering the designed control strategy is equivalent to a partial primal-dual algorithm that can solve the TSC-OEFC problem.

[0096] First, define the Lagrange multipliers of the first three rows of constraints in the TSC-OEFC problem as follows: The Lagrange multipliers constrained by the middle three rows are: The Lagrange multipliers for the last two inequality constraints are respectively and The Lagrangian function of the TSC-OEFC problem is:

[0097]

[0098] First, regarding the original variable ω G minimize have:

[0099]

[0100] Setting (7) to 0, we get:

[0101]

[0102] Substituting (8) into (6) yields:

[0103]

[0104] To solve the TSC-OEFC problem, a partial primal-dual algorithm is further employed, and the solution is obtained with respect to the dual variable τ. D and τ P Maximize L1. Therefore, the algorithm dynamics can be expressed as follows:

[0105]

[0106]

[0107]

[0108]

[0109]

[0110]

[0111]

[0112]

[0113]

[0114]

[0115]

[0116]

[0117] in, All are algorithm iteration step sizes greater than 0, operators Defined as:

[0118]

[0119] make At this time τ i With ω i If they have the same dynamics, then we can use ω i Replace τ i Furthermore, let Then (10a)-(10c) and (10e)-(10g) are equivalent to system dynamics (1).

[0120] Therefore, it is only necessary to design a distributed controller that dynamically satisfies (10d) and (10h)-(10l). Through simple derivation, the distributed emergency frequency control strategy for a power system with clustered energy storage, considering line transient stability constraints, designed in this embodiment is as follows:

[0121]

[0122] Based on the first two lines of equation (12), the power regulation control commands for the synchronous machine and the cluster energy storage system can be given. The variables that require distributed communication exchange between nodes are...

[0123] In summary, the emergency frequency control method for a power system with clustered energy storage provided in this embodiment, by considering the transient stability constraints of the lines, ensures that the designed distributed emergency frequency control strategy for the power system with clustered energy storage can ensure that the transmission power of the lines does not exceed the transient stability limit, thereby reducing the probability of transient instability in the system. At the same time, the provided distributed emergency frequency control strategy enables the frequency to quickly recover to the rated value after a system failure, reducing the wear and tear on the equipment and contributing to the stable operation of the power system.

[0124] Please see Figure 2 One embodiment of this application also provides an emergency frequency control device including a clustered energy storage system, comprising:

[0125] Transient stability constraint construction unit 01 is used to construct the state model of a power system containing clustered energy storage and to determine the transient stability constraints of the lines;

[0126] Objective function construction unit 02 is used to construct the objective function for the optimal emergency frequency control problem considering the transient stability constraints of the line;

[0127] The control strategy determination unit 03 is used to solve the objective function and determine the emergency frequency control strategy for the clustered energy storage system.

[0128] The aforementioned emergency frequency control device for a clustered energy storage system can implement the emergency frequency control method for a clustered energy storage system described in the above method embodiments. The options described in the above method embodiments are also applicable to this embodiment and will not be detailed here. The remaining content of this application's embodiments can be referred to the content of the above method embodiments, and will not be repeated in this embodiment.

[0129] Please see Figure 3 In one embodiment of this application, a terminal device is also provided, including:

[0130] One or more processors;

[0131] A memory, coupled to the processor, for storing one or more programs;

[0132] When the one or more programs are executed by the one or more processors, the one or more processors implement the emergency frequency control method for a clustered energy storage system as described above.

[0133] The processor controls the overall operation of the terminal device to complete all or part of the steps of the emergency frequency control method for the aforementioned clustered energy storage system. The memory stores various types of data to support the operation of the terminal device. This data may include, for example, instructions for any application or method operating on the terminal device, as well as application-related data. The memory can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0134] In an exemplary embodiment, the terminal device may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to execute the emergency frequency control method for a clustered energy storage system as described in any of the foregoing embodiments, and to achieve the same technical effects as the methods described above.

[0135] In another exemplary embodiment, a computer-readable storage medium including a computer program is also provided. When executed by a processor, the computer program implements the steps of the emergency frequency control method for a clustered energy storage system as described in any of the foregoing embodiments. For example, the computer-readable storage medium may be the aforementioned memory including the computer program, which may be executed by a processor of a terminal device to complete the emergency frequency control method for a clustered energy storage system as described in any of the foregoing embodiments, and achieve the same technical effects as the aforementioned method.

[0136] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. An emergency frequency control method incorporating a clustered energy storage system, characterized in that, include: Constructing a state model of a power system including clustered energy storage and determining line transient stability constraints; wherein, constructing the state model of the power system including clustered energy storage includes: in, Let i be the frequency deviation at bus i. >0 represents the inertial constant of synchronous machine i. Let be the damping coefficient of synchronous machine i. This refers to the total power injection or power consumption at node i, excluding the control unit. Let i be the active power of the synchronous machine. For the active power of cluster energy storage system i, and They are respectively and The rated value, and These are the control variables for synchronous machine i and clustered energy storage system i, respectively. and These are the inertial time constants for the power regulation of the synchronous machine i and the power regulation of the cluster energy storage system i, respectively. , , These are collections of synchronous machine bus, cluster energy storage bus, and passive load bus, respectively. , , The quantities of synchronous machine buses, cluster energy storage buses, and passive load buses are respectively specified; and there are... , ;for Under the assumption of DC power flow, Let be the active power transmitted by line ij. Let i be the phase angle relative to the synchronously rotating coordinate system at the generatrix i. The effective susceptance of line ij is given by the given information. This represents the actual susceptance of the line. and The node voltage magnitude is assumed to be constant. These are the elements of the system correlation matrix C; Construct an objective function for the optimal emergency frequency control problem considering the transient stability constraints of the line; wherein, determining the transient stability constraints of the line includes: in, and Given the lower and upper bounds of the transient stability constraints; The objective function for constructing the optimal emergency frequency control problem considering the transient stability constraints of the line includes: Determine the control costs of synchronous machines and cluster energy storage: in, Let i be the control cost coefficient for synchronous machine i. The control cost coefficient for cluster energy storage i; and These are the control quantities for synchronous machine i and clustered energy storage system i, respectively; Construct the objective function for the optimal emergency frequency control problem considering line transient stability constraints: in, in, , This refers to the virtual current flow of the line. , , , All are optimization variables; Solving the objective function determines the emergency frequency control strategy for the energy storage system with clusters; wherein solving the objective function includes: transforming the objective function of the optimal emergency frequency control problem considering line transient stability constraints into a Lagrangian function; and solving the Lagrangian function using the primal-dual algorithm.

2. The emergency frequency control method for a clustered energy storage system according to claim 1, characterized in that, The process of transforming the objective function of the optimal emergency frequency control problem, which considers the transient stability constraints of the line, into a Lagrangian function includes: Based on the original variables minimize ,have: make Equals 0, thus obtaining ; Will Substituting the Lagrange function back, we get: 。 3. The emergency frequency control method for a clustered energy storage system according to claim 2, characterized in that, The determination of the emergency frequency control strategy for the clustered energy storage system includes: Among them, the variables that need to be exchanged through distributed communication between the nodes are: .

4. An emergency frequency control device incorporating a clustered energy storage system, characterized in that, include: A transient stability constraint construction unit is used to construct a state model of a power system including clustered energy storage and to determine the transient stability constraints of the lines; wherein, constructing the state model of the power system including clustered energy storage includes: in, Let i be the frequency deviation at bus i. Let be the inertial constant of synchronous machine i. Let be the damping coefficient of synchronous machine i. This refers to the total power injection or power consumption at node i, excluding the control unit. Let i be the active power of the synchronous machine. For the active power of cluster energy storage system i, and They are respectively and The rated value, and These are the control variables for synchronous machine i and clustered energy storage system i, respectively. and These are the inertial time constants for the power regulation of the synchronous machine i and the power regulation of the cluster energy storage system i, respectively. , , These are collections of synchronous machine bus, cluster energy storage bus, and passive load bus, respectively. , , The quantities of synchronous machine buses, cluster energy storage buses, and passive load buses are respectively specified; and there are... , ;for Under the assumption of DC power flow, Let be the active power transmitted by line ij. Let i be the phase angle relative to the synchronously rotating coordinate system at the generatrix i. The effective susceptance of line ij is given by the given information. This represents the actual susceptance of the line. and The node voltage magnitude is assumed to be constant. System correlation matrix Element; The objective function construction unit is used to construct the objective function for the optimal emergency frequency control problem considering the transient stability constraints of the line; wherein, determining the transient stability constraints of the line includes: in, and Given the lower and upper bounds of the transient stability constraints; The objective function for constructing the optimal emergency frequency control problem considering the transient stability constraints of the line includes: Determine the control costs of synchronous machines and cluster energy storage: in, Let i be the control cost coefficient for synchronous machine i. The control cost coefficient for cluster energy storage i; and These are the control quantities for synchronous machine i and clustered energy storage system i, respectively; Construct the objective function for the optimal emergency frequency control problem considering line transient stability constraints: in, ,in, , This refers to the virtual current flow of the line. , , , All are optimization variables; A control strategy determination unit is used to solve the objective function to determine the emergency frequency control strategy for the clustered energy storage system; wherein, solving the objective function includes: transforming the objective function of the optimal emergency frequency control problem considering line transient stability constraints into a Lagrangian function; and solving the Lagrangian function using a primal-dual algorithm.

5. A terminal device, characterized in that, include: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the emergency frequency control method for a clustered energy storage system as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the emergency frequency control method for a clustered energy storage system as described in any one of claims 1-3.

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