A distributed energy storage coordinated control method and system considering multiple frequency modulation requirements

Abstract

The present invention discloses a distributed energy storage collaborative control method and system that considers multiple frequency regulation requirements. The method of the present invention includes determining whether the power grid frequency change Δf exceeds the frequency response dead zone. If it does not exceed the frequency response dead zone, the distributed energy storage unit is controlled to participate only in the secondary frequency regulation and the tertiary frequency regulation according to a given reference power; otherwise, on the basis of controlling the distributed energy storage unit to participate only in the secondary frequency regulation and the tertiary frequency regulation according to a given reference power, the distributed energy storage unit is controlled to participate in the primary frequency regulation, and the output reference power of the primary frequency regulation is obtained by multiplying the droop coefficient and the adjustment parameter based on mean consistency with the power grid frequency change Δf. The present invention aims to achieve reasonable power allocation between each energy storage unit and improve the effect of energy storage frequency regulation in response to the needs of distributed energy storage participating in multiple frequency regulation controls at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid frequency regulation, and in particular to a distributed energy storage collaborative control method and system that takes into account multiple frequency regulation requirements. Background Art

[0002] With the continuous popularization of renewable energy, the power system presents low inertia characteristics. Due to the uncertainty and intermittency of renewable energy generation, the power system is more prone to power fluctuations, resulting in unstable frequency. Therefore, frequency regulation has become an urgent problem to be solved in the construction of low-carbon power grids in the future. Compared with traditional synchronous generators, energy storage devices respond faster to power demand, are suitable for active frequency and active power support scenarios, and are high-quality resources for participating in power grid frequency control and regulation. In recent years, with the continuous improvement of grid ancillary service market policies and energy storage system grid connection requirements, the total installed capacity of distributed energy storage systems has continued to increase, and has obtained the same power regulation capability as centralized large-capacity energy storage. Distributed energy storage is characterized by geographical dispersion and relatively small capacity of individual units, but we can aggregate their power as a whole to participate in grid frequency regulation. Grid frequency regulation is divided into primary frequency regulation, secondary frequency regulation and tertiary frequency regulation according to different time scales and power requirements. Due to different operators, the frequency regulation capacity available for distributed energy storage is constantly changing. How to coordinate the control of distributed energy storage power sources to participate in frequency regulation to meet different frequency regulation requirements and the safe operation requirements of energy storage itself is of great significance for making full use of energy storage resources and ensuring safe and stable operation of the power grid. Summary of the invention

[0003] Technical problem to be solved by the present invention: In view of the above-mentioned problems in the prior art, a distributed energy storage collaborative control method and system that takes into account multiple frequency regulation requirements are provided. The present invention aims to meet the needs of distributed energy storage to participate in multiple frequency regulation controls at the same time, realize reasonable power distribution among various energy storage units, and improve the effect of energy storage frequency regulation.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A distributed energy storage coordinated control method considering multiple frequency regulation requirements includes:

[0006] S101, obtaining a power grid frequency change Δf;

[0007] S102, judging whether the grid frequency change Δf exceeds the frequency response dead zone. If the grid frequency change Δf does not exceed the frequency response dead zone, the distributed energy storage unit is controlled to only participate in the secondary frequency regulation and the tertiary frequency regulation according to the given reference power. If the grid frequency change Δf exceeds the frequency response dead zone, the distributed energy storage unit is controlled to participate in the primary frequency regulation on the basis of controlling the distributed energy storage unit to only participate in the secondary frequency regulation and the tertiary frequency regulation according to the given reference power. The output reference power of the primary frequency regulation is obtained by multiplying the grid frequency change Δf by the droop coefficient and the adjustment parameter based on mean consistency.

[0008] Optionally, the calculation function expression of the output reference power of the primary frequency modulation in step S102 is:

[0009]

[0010] In the above formula, is the output reference power of the i-th distributed energy storage unit participating in primary frequency regulation, K Bi is the droop coefficient of the i-th distributed energy storage unit, u bi is the adjustment parameter of the i-th distributed energy storage unit based on mean consistency, and Δf is the change in grid frequency.

[0011] Optionally, the calculation function expression of the adjustment parameter based on mean consistency of the i-th distributed energy storage unit is:

[0012]

[0013] In the above formula, is the primary frequency regulation reserve capacity ratio, C i is the capacity of the i-th distributed energy storage unit, N is the number of distributed energy storage units, K B,mean is the mean value of the droop coefficient of the distributed energy storage unit, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit in the charging state, It is the average value of primary frequency regulation reserve power utilization of distributed energy storage units.

[0014] Optionally, when the distributed energy storage unit is controlled to participate in only the secondary frequency modulation and the tertiary frequency modulation according to the given reference power in step S102, the sum of the power of the i-th distributed energy storage unit participating in the secondary frequency modulation and the tertiary frequency modulation is recorded as And the sum of the power of all distributed energy storage units participating in secondary frequency regulation and tertiary frequency regulation The sum of is equal to the given reference power.

[0015] Optionally, before step S102, the following steps are also included:

[0016] S201, calculating the primary frequency regulation reserve power utilization rate of the distributed energy storage unit according to the following formula:

[0017]

[0018] In the above formula, η i is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit in the charging state, S i (0) is the charge state of the i-th distributed energy storage unit before participating in a frequency modulation, is the sum of the power of the i-th distributed energy storage unit participating in the secondary frequency regulation and the tertiary frequency regulation, t is the time, S i (t) is the charge state of the i-th distributed energy storage unit at time t;

[0019] S202, calculating the average value of the primary frequency regulation reserve power utilization rate of the distributed energy storage unit according to the following formula:

[0020]

[0021] In the above formula, is the mean value of the primary frequency regulation reserve power utilization rate of the distributed energy storage unit, N is the number of distributed energy storage units, η i is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit.

[0022] Optionally, the mean value calculation function expression of the droop coefficient of the distributed energy storage unit is:

[0023]

[0024] In the above formula, K B,mean is the mean of the droop coefficient of the distributed energy storage unit, N is the number of distributed energy storage units, K Bi is the droop coefficient of the i-th distributed energy storage unit.

[0025] Optionally, in step S101, obtaining the power grid frequency change Δf includes obtaining the real-time frequency f of the power grid, and calculating the power grid frequency according to Δf=ff ref Calculate the grid frequency change Δf, where f ref is the reference frequency of the power grid.

[0026] Optionally, in step S102, on the basis of controlling the distributed energy storage unit to participate in only the secondary frequency modulation and the tertiary frequency modulation according to the given reference power, when controlling the distributed energy storage unit to participate in the primary frequency modulation, the total output power of any i-th distributed energy storage unit is recorded as ΔP Bi , the total output power of all distributed energy storage units ΔP BiThey are connected in parallel to the output end of the synchronous generator to participate in grid frequency regulation.

[0027] In addition, the present invention also provides a distributed energy storage collaborative control system that takes into account multiple frequency regulation requirements, including an interconnected microprocessor and a memory, wherein the microprocessor is programmed or configured to execute the distributed energy storage collaborative control method that takes into account multiple frequency regulation requirements.

[0028] In addition, the present invention also provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be programmed or configured by a microprocessor to execute the distributed energy storage collaborative control method that considers multiple frequency modulation requirements.

[0029] Compared with the prior art, the present invention mainly has the following advantages:

[0030] 1. The present invention includes controlling whether the distributed energy storage unit participates in the primary frequency regulation by whether the grid frequency change Δf exceeds the frequency response dead zone, and the output reference power of the primary frequency regulation is obtained by multiplying the droop coefficient and the adjustment parameter based on mean consistency with the grid frequency change Δf. In view of the need for distributed energy storage to participate in multiple frequency regulation controls at the same time, reasonable power allocation between each distributed energy storage unit can be achieved, thereby improving the effect of energy storage frequency regulation.

[0031] 2. The present invention can be applied to various types of distributed energy storage units, including energy storage batteries, supercapacitors, electrochemical energy storage other than batteries, physical energy storage and other types, and has the advantage of a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the basic flow of the method of the embodiment of the present invention.

[0033] Figure 2 A regional power grid frequency regulation dynamic model according to an embodiment of the present invention.

[0034] Figure 3 Schematic diagram of frequency deviation of a typical regional power grid in an embodiment of the present invention.

[0035] Figure 4 It is a comparison chart of the primary frequency regulation reserve capacity utilization rate of the energy storage power station under the embodiment method of the present invention and the traditional method.

[0036] Figure 5 This is a comparison chart of the primary frequency regulation power of the energy storage power station under the embodiment method of the present invention and the traditional method. DETAILED DESCRIPTION

[0037] like Figure 1 As shown, the distributed energy storage coordinated control method considering various frequency modulation requirements in this embodiment includes:

[0038] S101, obtaining a power grid frequency change Δf;

[0039] S102, judging whether the grid frequency change Δf exceeds the frequency response dead zone. If the grid frequency change Δf does not exceed the frequency response dead zone, the distributed energy storage unit is controlled to only participate in the secondary frequency regulation and the tertiary frequency regulation according to the given reference power. If the grid frequency change Δf exceeds the frequency response dead zone, the distributed energy storage unit is controlled to participate in the primary frequency regulation on the basis of controlling the distributed energy storage unit to only participate in the secondary frequency regulation and the tertiary frequency regulation according to the given reference power. The output reference power of the primary frequency regulation is obtained by multiplying the grid frequency change Δf by the droop coefficient and the adjustment parameter based on mean consistency.

[0040] In this embodiment, before the distributed energy storage unit is controlled to participate in the secondary frequency regulation and the tertiary frequency regulation according to the given reference power, the reference power ΔP of the secondary frequency regulation and the tertiary frequency regulation in the next frequency regulation cycle is obtained from the grid dispatching department. CFC , and according to the output reference power ΔP CFC Control the output power of the distributed energy storage unit participating in the secondary frequency modulation and the tertiary frequency modulation. As an optional implementation, this embodiment also includes updating the primary frequency modulation droop coefficient.

[0041] In order to study the control problem of multiple energy storage units participating in grid frequency regulation, it is necessary to construct a typical power system frequency response model. The regional power system frequency regulation response model constructed by the equivalent method is as follows: Figure 2 As shown. Figure 2 As shown, the calculation function expression of the output reference power of the primary frequency modulation in step S102 of this embodiment is:

[0042]

[0043] In the above formula, is the output reference power of the i-th distributed energy storage unit participating in primary frequency regulation, K Bi is the droop coefficient of the i-th distributed energy storage unit, u Bi is the adjustment parameter of the i-th distributed energy storage unit based on mean consistency, and Δf is the change in grid frequency. And the output reference power ΔP of secondary frequency modulation and tertiary frequency modulation CFC The sum of them is taken as the total output reference power of the i-th distributed energy storage unit. Figure 2 DDES1~DDEN N represents N distributed energy storage units, and their respective primary frequency regulation output reference powers are different. Figure 2 The meanings of the letter variables are: K Bi is the primary frequency regulation droop coefficient of the i-th distributed energy storage unit; u Biis the consistency adjustment factor of the i-th distributed energy storage unit; Δf is the frequency deviation; K P and K I are proportional and integral coefficients respectively; α is the participation factor of secondary frequency modulation, β is the frequency deviation factor, ΔP tie is the interconnection line exchange power. ΔP Bi is the total power of the ith distributed energy storage unit participating in various types of frequency regulation, ΔP G is the frequency modulation power of the generator set, ΔP L is the load change power, H and D are the system inertia coefficient and damping coefficient respectively, and s is the Laplace operator. Figure 2 As shown, in step S102 of this embodiment, on the basis of controlling the distributed energy storage unit to participate in the secondary frequency modulation and the tertiary frequency modulation according to the given reference power, when the distributed energy storage unit is controlled to participate in the primary frequency modulation, the total output power of any i-th distributed energy storage unit is recorded as ΔP Bi , the total output power of all distributed energy storage units ΔP Bi They are connected in parallel to the output end of the synchronous generator to participate in grid frequency regulation.

[0044] In this embodiment, the calculation function expression of the adjustment parameter based on mean consistency of the i-th distributed energy storage unit is:

[0045]

[0046] In the above formula, is the primary frequency regulation reserve capacity ratio, C i is the capacity of the i-th distributed energy storage unit, N is the number of distributed energy storage units, K B,mean is the mean value of the droop coefficient of the distributed energy storage unit, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit in the charging state, It is the average value of primary frequency regulation reserve power utilization of distributed energy storage units.

[0047] In this embodiment, when the distributed energy storage unit is controlled to participate in only the secondary frequency modulation and the tertiary frequency modulation according to the given reference power in step S102, the sum of the power of the i-th distributed energy storage unit participating in the secondary frequency modulation and the tertiary frequency modulation is recorded as And the sum of the power of all distributed energy storage units participating in secondary frequency regulation and tertiary frequency regulation The sum of is equal to the given reference power.

[0048] In this embodiment, before step S102, the following steps are also included:

[0049] S201, calculating the primary frequency regulation reserve power utilization rate of the distributed energy storage unit according to the following formula:

[0050]

[0051] In the above formula, η i is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit in the charging state, S i (0) is the charge state of the i-th distributed energy storage unit before participating in a frequency modulation, is the sum of the power of the i-th distributed energy storage unit participating in the secondary frequency regulation and the tertiary frequency regulation, t is the time, S i (t) is the charge state of the i-th distributed energy storage unit at time t;

[0052] S202, calculating the average value of the primary frequency regulation reserve power utilization rate of the distributed energy storage unit according to the following formula:

[0053]

[0054] In the above formula, is the mean value of the primary frequency regulation reserve power utilization rate of the distributed energy storage unit, N is the number of distributed energy storage units, η i is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit.

[0055] In this embodiment, the mean value calculation function expression of the droop coefficient of the distributed energy storage unit is:

[0056]

[0057] In the above formula, K B,mean is the mean of the droop coefficient of the distributed energy storage unit, N is the number of distributed energy storage units, K Bi is the droop coefficient of the i-th distributed energy storage unit.

[0058] In this embodiment, obtaining the power grid frequency change Δf in step S101 includes obtaining the real-time frequency f of the power grid, and according to Δf=ff ref Calculate the grid frequency change Δf, where f ref is the reference frequency of the power grid.

[0059] The following example simulation further illustrates the distributed energy storage collaborative control method that takes into account multiple frequency regulation requirements of this embodiment. This example is based on the MATLAB simulation platform to build a regional network model for simulation verification. The performance of this control strategy is compared with that of the traditional frequency regulation strategy in the simulation. Under both strategies, the distributed energy storage units participate in three frequency regulation responses at the same time. The secondary and tertiary frequency regulation powers are determined by the power allocation signal preset by the power grid dispatching department. When the traditional method is used, the primary frequency regulation is achieved through classic droop control. The main parameters of each distributed energy storage unit are shown in Table 1, and the main parameters of the simulation system are shown in Table 2.

[0060] Table 1 Parameters of each distributed energy storage unit.

[0061]

[0062]

[0063] Table 2 Main parameters of the simulation system.

[0064] <![CDATA[2H / f 0 (s)]]> D(pu MW / Hz) <![CDATA[K D (pu MW / Hz)]]> β(pu MW / Hz) 0.2 1.0 -10.5 0.35

[0065] When running the simulation model with step load fluctuations, the frequency deviation results are as follows Figure 3 As shown in Figure 2, the capacity utilization of each distributed energy storage unit Figure 4 As shown, the output power of each distributed energy storage unit is as follows Figure 5 As shown, 1 to 8 are the numbers of the distributed energy storage units (see Table 1). It can be seen that compared with the traditional method, the method of the embodiment of the present invention (the method of this article) not only reduces the maximum change in the system frequency deviation, but also the primary frequency regulation capacity utilization of the distributed energy storage unit shows a consistent change trend, avoiding the situation where some distributed energy storage units are over-discharged and thus exit the frequency regulation. The traditional method is because some distributed energy storage units are over-discharged and thus exit the frequency regulation one by one, resulting in multiple frequency drops.

[0066] In summary, the distributed energy storage coordinated control method considering multiple frequency regulation requirements in this embodiment includes the following steps: each energy storage unit collects the grid frequency change Δf. Obtain the output reference power of the secondary frequency regulation and the tertiary frequency regulation in the next frequency regulation cycle from the grid dispatching department. Update the frequency modulation droop coefficient K B; Define the energy storage primary frequency regulation standby power utilization rate and consistency control factor; if Δf does not exceed the frequency response dead zone, the energy storage only participates in the secondary and tertiary frequency regulation according to the reference power of the dispatching department; if Δf exceeds the frequency response dead zone, the primary frequency regulation function is started on the basis of the secondary and tertiary frequency regulation, and the primary frequency regulation reference power is obtained by multiplying the droop coefficient and the adjustment parameter based on mean consistency with the frequency difference. In this embodiment, the distributed energy storage collaborative control method considering multiple frequency regulation requirements first detects the grid frequency to obtain the deviation value of the current frequency from the reference frequency. Define the capacity utilization rate of the energy storage unit participating in the primary frequency regulation, and design the consistency adjustment factor, so that the energy storage can respond to the frequency regulation requirements and improve the frequency regulation effect in the process of participating in multiple frequency regulation, and can also realize the reasonable distribution of power among multiple distributed energy storage units to avoid excessive use of distributed energy storage units.

[0067] In addition, this embodiment also provides a distributed energy storage collaborative control system that considers multiple frequency modulation requirements, including a microprocessor and a memory that are interconnected, and the microprocessor is programmed or configured to execute the distributed energy storage collaborative control method that considers multiple frequency modulation requirements. In addition, this embodiment also provides a computer-readable storage medium, in which a computer program is stored, and the computer program is used to be programmed or configured by the microprocessor to execute the distributed energy storage collaborative control method that considers multiple frequency modulation requirements.

[0068] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions in the process. Figure 1 A process or multiple processes and / or boxes Figure 1These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0069] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A distributed energy storage coordinated control method considering multiple frequency modulation requirements, characterized in that: include: S101, obtain the change of power grid frequency ; S102, determining the change in power grid frequency Whether the frequency response dead zone is exceeded, if the grid frequency changes If the frequency response dead zone is not exceeded, the distributed energy storage unit is controlled to participate in only the secondary and tertiary frequency regulation according to the given reference power; If the grid frequency changes by Δ f If the frequency response dead zone is exceeded, the distributed energy storage unit is controlled to participate in the primary frequency regulation on the basis of controlling the distributed energy storage unit to participate in the secondary and tertiary frequency regulation according to the given reference power, and the output reference power of the primary frequency regulation is determined by the droop coefficient and the adjustment parameters based on mean consistency and the grid frequency change. Multiply them together to obtain the calculation function expression of the output reference power of the primary frequency modulation in step S102: ， In the above formula, is the output reference power of the i-th distributed energy storage unit participating in primary frequency regulation, is the droop coefficient of the i-th distributed energy storage unit, is the adjustment parameter based on mean consistency of the i-th distributed energy storage unit, is the frequency variation of the power grid; The calculation function expression of the adjustment parameter based on mean consistency of the i-th distributed energy storage unit is: ， In the above formula, is the primary frequency regulation reserve capacity ratio, is the capacity of the i-th distributed energy storage unit, is the number of distributed energy storage units, is the mean value of the droop coefficient of the distributed energy storage unit, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit in the charging state, is the average value of primary frequency regulation reserve power utilization of distributed energy storage units; When the distributed energy storage unit is controlled to participate in only the secondary frequency modulation and the tertiary frequency modulation according to the given reference power in step S102, the sum of the power of the i-th distributed energy storage unit participating in the secondary frequency modulation and the tertiary frequency modulation is recorded as , and the sum of the power of all distributed energy storage units participating in secondary and tertiary frequency regulation The sum of is equal to the given reference power; In step S102, on the basis of controlling the distributed energy storage unit to participate in the secondary frequency modulation and the tertiary frequency modulation according to the given reference power, when the distributed energy storage unit is controlled to participate in the primary frequency modulation, the total output power of any i-th distributed energy storage unit is recorded as , the total output power of all distributed energy storage units They are connected in parallel to the output end of the synchronous generator to participate in grid frequency regulation.

2. The distributed energy storage coordinated control method considering multiple frequency modulation requirements according to claim 1 is characterized in that: Before step S102, the following steps are also included: S201, calculating the primary frequency regulation reserve power utilization rate of the distributed energy storage unit according to the following formula: ， In the above formula, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit in the charging state, is the charge state of the i-th distributed energy storage unit before participating in a frequency regulation, is the sum of the power of the i-th distributed energy storage unit participating in secondary frequency regulation and tertiary frequency regulation, For time, is the charge state of the i-th distributed energy storage unit at time t; S202, calculating the average value of the primary frequency regulation reserve power utilization rate of the distributed energy storage unit according to the following formula: ， In the above formula, is the average value of primary frequency regulation reserve power utilization of distributed energy storage units, is the number of distributed energy storage units, is the primary frequency regulation reserve power utilization rate of the i-th distributed energy storage unit.

3. The distributed energy storage coordinated control method considering multiple frequency modulation requirements according to claim 1 is characterized in that: The mean value calculation function expression of the droop coefficient of the distributed energy storage unit is: ， In the above formula, is the mean value of the droop coefficient of the distributed energy storage unit, is the number of distributed energy storage units, is the droop coefficient of the i-th distributed energy storage unit.

4. The distributed energy storage coordinated control method considering multiple frequency modulation requirements according to claim 1 is characterized in that: In step S101, the power grid frequency change Δ is obtained. f Including obtaining the real-time frequency of the power grid f , and according to Calculate the frequency change of the power grid ,in is the reference frequency of the power grid.

5. A distributed energy storage cooperative control system considering multiple frequency modulation requirements, comprising interconnected microprocessors and memories, characterized in that: The microprocessor is programmed or configured to execute the distributed energy storage coordinated control method considering multiple frequency regulation requirements as described in any one of claims 1 to 4.

6. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, characterized in that: The computer program is used to be programmed or configured by a microprocessor to execute the distributed energy storage collaborative control method considering multiple frequency regulation requirements as described in any one of claims 1 to 4.

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