Coordinated Control Method and Related Device for Combined Frequency Regulation of Pumped Storage and Battery Energy Storage

Abstract

The present application discloses a coordinated control method and related device for combined frequency regulation of pumped storage and battery energy storage, including: setting a frequency regulation coordination coefficient for the battery energy storage system; obtaining in real time the frequency fluctuations processed by the dead zone link of the battery energy storage system; obtaining the actual output active power and primary frequency regulation command of the pumped storage unit, and calculating the actual AGC power of the pumped storage unit; calculating the primary frequency regulation command of the battery energy storage system according to the primary frequency regulation command of the pumped storage unit, the frequency fluctuations of the battery energy storage system, and the frequency regulation coordination coefficient; calculating the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped storage unit, and the actual AGC power; calculating the active power command of the battery energy storage system according to the primary frequency regulation command and the AGC power command of the battery energy storage system, and sending it to the power controller of the battery energy storage system for response, thereby improving the operation reliability, stability and economy of the pumped storage unit.

Description

Technical Field

[0001] The present application relates to the technical field of power frequency modulation, and in particular to a coordinated control method and related device for combined frequency modulation of pumped-storage and battery energy storage. Background Art

[0002] Pumped-storage power stations have functions such as peak shaving and valley filling, frequency modulation and phase modulation, and emergency standby, and play an important role in enhancing the operation stability of the system, improving the safety and economy of the power grid. At present, most domestic pumped-storage power stations adopt the starting method of static frequency conversion, and the static frequency converter is an essential key device and has been widely used in engineering.

[0003] Different from long-term energy storage technologies such as pumped-storage, electrochemical energy storage belongs to short-term energy storage technology. According to the development needs of existing technologies, it is necessary to mix and match two or more energy storage technology routes to achieve complementary advantages and form a composite energy storage system with more excellent comprehensive performance, so as to meet the technical requirements of energy storage for future new power systems.

[0004] At present, there are few reports on the frequency modulation scheme for the combined operation system of pumped-storage and battery energy storage. If the frequency modulation strategy of the existing combined operation system of multiple types of power sources is adopted, it is necessary to make major modifications to the frequency modulation controller of the pumped-storage unit, and the actual feasibility and reliability are relatively low. At the same time, an upper-layer controller needs to be added to the combined system, which increases the investment cost and the economy is poor. Summary of the Invention

[0005] The present application provides a coordinated control method and related device for combined frequency modulation of pumped-storage and battery energy storage, which are used to improve the operation reliability, stability and economy of pumped-storage units.

[0006] In view of this, in the first aspect of the present application, a coordinated control method for combined frequency modulation of pumped-storage and battery energy storage is provided, and the method includes:

[0007] S1. Set the frequency modulation coordination coefficient of the battery energy storage system;

[0008] S2. Process the measured frequency fluctuation of the battery energy storage system through a dead zone link, and obtain in real time the frequency fluctuation processed by the dead zone link of the battery energy storage system;

[0009] S3. Obtain the actual output active power of the pumped-storage unit and the primary frequency modulation command of the pumped-storage unit, and calculate the actual AGC power of the pumped-storage unit;

[0010] S4. Calculate the primary frequency modulation command of the battery energy storage system according to the primary frequency modulation command of the pumped-storage unit, the frequency fluctuation of the battery energy storage system and the frequency modulation coordination coefficient of the battery energy storage system;

[0011] S5. Obtain the AGC power command received by the pumped-storage unit from the dispatching center, and calculate the AGC power command of the battery energy storage system according to the frequency modulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit;

[0012] S6. Calculate the active power command of the battery energy storage system according to the primary frequency modulation command of the battery energy storage system and the AGC power command of the battery energy storage system, so as to send it to the power controller of the battery energy storage system for response, and repeat steps S2 to S6 at a preset time interval.

[0013] Optionally, setting the frequency modulation coordination coefficient of the battery energy storage system specifically includes:

[0014] When the priority relationship between primary frequency modulation and AGC frequency modulation is clear, confirm the priority relationship between primary frequency modulation and AGC frequency modulation according to the grid operation specifications or other technical requirements, and thus set the frequency modulation coordination coefficient of the battery energy storage system according to the priority relationship;

[0015] When the priority relationship between primary frequency modulation and AGC frequency modulation is not clear, set the frequency modulation coordination coefficient of the battery energy storage system according to actual needs.

[0016] Optionally, step S3 specifically includes:

[0017] Based on the actual AGC power calculation formula of the pumped-storage unit, calculate the actual AGC power of the pumped-storage unit according to the actual output active power of the pumped-storage unit and the primary frequency modulation command of the pumped-storage unit;

[0018] Among them, the actual AGC power calculation formula of the pumped-storage unit is:

[0019] ;

[0020] In the formula, is the actual AGC power of the pumped-storage unit, is the actual output active power of the pumped-storage unit, is the primary frequency modulation command of the pumped-storage unit.

[0021] Optionally, step S4 specifically includes:

[0022] Based on the primary frequency modulation command calculation formula of the battery energy storage system, calculate the primary frequency modulation command of the battery energy storage system according to the primary frequency modulation command of the pumped-storage unit, the frequency fluctuation of the battery energy storage system, and the frequency modulation coordination coefficient of the battery energy storage system;

[0023] Among them, the primary frequency modulation command calculation formula of the battery energy storage system is:

[0024] ;

[0025] Wherein, is the primary frequency regulation command of the battery energy storage system, is the frequency regulation coordination coefficient of the battery energy storage system, is the primary frequency regulation ratio coefficient of the battery energy storage system, is the frequency fluctuation of the battery energy storage system, is the primary frequency regulation command of the pumped-storage unit.

[0026] Optionally, calculating the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit specifically includes:

[0027] Based on the AGC power command calculation formula of the battery energy storage system, calculate the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit;

[0028] Wherein, the AGC power command calculation formula of the battery energy storage system is:

[0029] ;

[0030] Wherein, is the AGC power command of the battery energy storage system, is the frequency regulation coordination coefficient of the battery energy storage system, is the AGC power command of the pumped-storage unit, is the actual AGC power of the pumped-storage unit.

[0031] The second aspect of the present application provides a combined frequency regulation coordination control system for pumped-storage and battery energy storage, and the system includes:

[0032] A setting unit for setting the frequency regulation coordination coefficient of the battery energy storage system;

[0033] A testing unit for processing the measured frequency fluctuation of the battery energy storage system through a dead zone link and obtaining in real time the frequency fluctuation after being processed by the dead zone link of the battery energy storage system;

[0034] A first calculation unit for obtaining the actual output active power of the pumped-storage unit and the primary frequency regulation command of the pumped-storage unit, and calculating the actual AGC power of the pumped-storage unit;

[0035] A second calculation unit, configured to calculate a primary frequency regulation command of the battery energy storage system according to the primary frequency regulation command of the pumped-storage unit, the frequency fluctuation of the battery energy storage system, and the frequency regulation coordination coefficient of the battery energy storage system;

[0036] A third calculation unit, configured to obtain the AGC power command received by the pumped-storage unit from the dispatching center, and calculate the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit;

[0037] A control unit, configured to calculate the active power command of the battery energy storage system according to the primary frequency regulation command and the AGC power command of the battery energy storage system, so as to send it to the power controller of the battery energy storage system for response, and trigger the test unit at a preset time interval.

[0038] Optionally, the setting unit is specifically configured to:

[0039] When the priority relationship between primary frequency regulation and AGC frequency regulation is clear, confirm the priority relationship between primary frequency regulation and AGC frequency regulation according to the grid operation specifications or other technical requirements, and thus set the frequency regulation coordination coefficient of the battery energy storage system according to the priority relationship;

[0040] When the priority relationship between primary frequency regulation and AGC frequency regulation is not clear, set the frequency regulation coordination coefficient of the battery energy storage system according to actual needs.

[0041] A third aspect of the present application provides a combined frequency regulation and coordination control device for pumped-storage and battery energy storage, where the device includes a processor and a memory:

[0042] The memory is used to store program codes and transmit the program codes to the processor;

[0043] The processor is configured to execute the steps of the combined frequency regulation and coordination control method for pumped-storage and battery energy storage as described in the first aspect above according to the instructions in the program codes.

[0044] A fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium is used to store program codes, and the program codes are used to execute the combined frequency regulation and coordination control method for pumped-storage and battery energy storage as described in the first aspect above.

[0045] It can be seen from the above technical solutions that the present application has the following advantages:

[0046] The present application provides a coordinated control method for combined frequency regulation of pumped - storage energy storage and battery energy storage, including: S1. Set the frequency - regulation coordination coefficient of the battery energy storage system; S2. Process the measured frequency fluctuation of the battery energy storage system through a dead - zone link, and obtain in real - time the frequency fluctuation processed by the dead - zone link of the battery energy storage system; S3. Obtain the actual output active power of the pumped - storage unit and the primary frequency - regulation command of the pumped - storage unit, and calculate the actual AGC power of the pumped - storage unit; S4. Calculate the primary frequency - regulation command of the battery energy storage system according to the primary frequency - regulation command of the pumped - storage unit, the frequency fluctuation of the battery energy storage system, and the frequency - regulation coordination coefficient of the battery energy storage system; S5. Obtain the AGC power command received by the pumped - storage unit from the dispatching center, and calculate the AGC power command of the battery energy storage system according to the frequency - regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped - storage unit, and the actual AGC power of the pumped - storage unit; S6. Calculate the active - power command of the battery energy storage system according to the primary frequency - regulation command and the AGC power command of the battery energy storage system, and then send it to the power controller of the battery energy storage system for response, and repeat steps S2 to S6 at a preset time interval.

[0047] Compared with the prior art:

[0048] 1. The frequency - regulation coordinated control method of the present application does not change the original control strategy of the pumped - storage unit. In this way, the input and output of the battery energy storage system will not affect the control and operation of the pumped - storage unit itself, ensuring the reliability and stability of the operation of the pumped - storage unit.

[0049] 2. The frequency - regulation coordinated control method of the present application generates the frequency - regulation power command of the battery energy storage system according to the current frequency - regulation response of the pumped - storage unit. In this way, the battery energy storage can assist the pumped - storage unit in primary frequency regulation and AGC frequency regulation according to the frequency - regulation performance of the pumped - storage unit. It can not only reduce the depth of the frequency - regulation action of the pumped - storage unit, reduce its mechanical wear, but also improve the AGC frequency - regulation performance of the pumped - storage unit, thereby improving the operating economy of the system. Description of the Drawings

[0050] Figure 1 It is a coordinated control method for combined frequency regulation of pumped - storage energy storage and battery energy storage provided in an embodiment of the present application;

[0051] Figure 2 It is a schematic diagram of a system for combined operation of pumped - storage energy storage and battery energy storage provided in an embodiment of the present application;

[0052] Figure 3 It is a block diagram of coordinated control for combined frequency regulation of pumped - storage energy storage and battery energy storage provided in an embodiment of the present application;

[0053] Figure 4 It is a coordinated control system for combined frequency regulation of pumped - storage energy storage and battery energy storage provided in an embodiment of the present application. Detailed implementation manners

[0054] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part rather than all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0055] It should be noted that the system of combined operation of pumped-storage energy storage and battery energy storage is as Figure 2 shown. The frequency modulation coordination control block diagram of the combined operation system is as Figure 3 shown.

[0056] Among them, Figure 3 in the variables, the superscript "ref" represents the command signal, the superscript "act" represents the actual sampled signal, and the subscript "Pump" in the variables represents the pumped-storage unit signal, and the subscript "Bat" represents the battery energy storage system signal. Among them, for the pumped-storage unit, is the AGC power command received by the pumped-storage unit from the dispatching center, is the measured frequency fluctuation of the pumped-storage unit; is the actual output active power of the pumped-storage unit, is the primary frequency modulation command of the pumped-storage unit, is the actual AGC power of the pumped-storage unit; for the battery energy storage system, is the measured frequency fluctuation of the battery energy storage system, is the frequency fluctuation after being processed by the dead zone link of the battery energy storage system, is the primary frequency modulation command of the battery energy storage system, is the AGC power command of the battery energy storage system, is the active power command of the battery energy storage system, K Bat is the primary frequency modulation proportional coefficient of the battery energy storage system; λ is the frequency modulation coordination coefficient of the battery energy storage system.

[0057] The implementation principle of the frequency modulation coordination control of the combined system of this application: Without changing the original control of the pumped-storage unit, by obtaining the AGC power command sent by the grid dispatching end and the actual response signals of the primary frequency modulation and AGC frequency modulation of the pumped-storage unit, the frequency modulation command of the battery energy storage system is calculated and generated. The specific implementation process is as follows.

[0058] Please refer to Figure 1 , a method for combined frequency modulation coordination control of pumped-storage energy storage and battery energy storage provided in the embodiments of this application includes:

[0059] Step 101: Set the frequency modulation coordination coefficient of the battery energy storage system.

[0060] In one embodiment, step 101 specifically includes:

[0061] When the priority relationship between primary frequency modulation and AGC frequency modulation is clear, confirm the priority relationship between primary frequency modulation and AGC frequency modulation according to grid operation specifications or other technical requirements, and thus set the frequency modulation coordination coefficient of the battery energy storage system according to the priority relationship;

[0062] When the priority relationship between primary frequency modulation and AGC frequency modulation is not clear, set the frequency modulation coordination coefficient of the battery energy storage system according to actual needs.

[0063] It should be noted that before the battery energy storage system participates in frequency modulation, confirm the priority relationship between primary frequency modulation and AGC frequency modulation according to local operation specifications or other technical requirements. If the priority of primary frequency modulation is higher than that of AGC frequency modulation, set λ = 1; if the priority of AGC frequency modulation is higher than that of primary frequency modulation, set λ = 0; if the priority relationship between primary frequency modulation and AGC frequency modulation is not clear, λ can be set to a number within the range of 0 to 1 according to actual needs.

[0064] Step 102: Process the measured frequency fluctuation of the battery energy storage system through a dead zone link, and obtain in real time the frequency fluctuation processed by the dead zone link of the battery energy storage system.

[0065] It should be noted that the measured frequency fluctuation of the battery energy storage system is sent to the dead zone link to obtain the frequency fluctuation processed by the dead zone link of the battery energy storage system .

[0066] Step 103: Obtain the actual output active power of the pumped-storage unit and the primary frequency modulation command of the pumped-storage unit, and calculate the actual AGC power of the pumped-storage unit.

[0067] It should be noted that obtain the actual output active power of the pumped-storage unit and the primary frequency modulation command of the pumped-storage unit , and calculate the actual AGC power of the pumped-storage unit according to the following formula :

[0068] .

[0069] Step 104: Calculate the primary frequency modulation command of the battery energy storage system according to the primary frequency modulation command of the pumped-storage unit, the frequency fluctuation of the battery energy storage system, and the frequency modulation coordination coefficient of the battery energy storage system.

[0070] It should be noted that calculate the primary frequency modulation command of the battery energy storage system according to the following formula :

[0071] 。

[0072] Step 105: Obtain the AGC power command received by the pumped-storage unit from the dispatching center, and calculate the AGC power command of the battery energy storage system according to the frequency modulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit.

[0073] It should be noted that the AGC power command received by the pumped-storage unit from the dispatching center is obtained from the pumped-storage unit controller , and the AGC power command of the battery energy storage system is calculated according to the following formula :

[0074] 。

[0075] Step 106: Calculate the active power command of the battery energy storage system according to the primary frequency modulation command and the AGC power command of the battery energy storage system, and then send it to the power controller of the battery energy storage system for response, and repeat steps 102 to 106 at a preset time interval.

[0076] It should be noted that the active power command of the battery energy storage system is calculated according to the following formula , and is sent to the power controller of the battery energy storage system for response.

[0077] 。

[0078] It should be further noted that without changing the original control of the pumped-storage unit, after the frequency modulation control of the battery energy storage system is started, steps 102-106 are executed at each moment, so as to realize the coordinated control of the combined frequency modulation of pumped-storage and battery energy storage.

[0079] The frequency modulation strategy of this application does not affect the original control and operation of the pumped-storage unit, coordinates the relationship between the primary frequency modulation and AGC frequency modulation of the battery energy storage system, improves the AGC frequency modulation performance of the pumped-storage by reasonably setting the frequency modulation command of the battery energy storage, and reduces the action depth of the primary frequency modulation of the pumped-storage, thereby improving the operation reliability, stability and economy of the pumped-storage unit.

[0080] The above is a method for coordinated control of combined frequency modulation of pumped-storage and battery energy storage provided in the embodiments of this application. The following is a coordinated control system for combined frequency modulation of pumped-storage and battery energy storage provided in the embodiments of this application.

[0081] Please refer to Figure 4, a coordinated control system for combined frequency regulation of pumped - storage and battery energy storage provided in an embodiment of the present application includes:

[0082] A setting unit 201 for setting the frequency - regulation coordination coefficient of the battery energy storage system.

[0083] A testing unit 202 for processing the actually measured frequency fluctuations of the battery energy storage system through a dead - zone link and obtaining in real time the frequency fluctuations after being processed by the dead - zone link of the battery energy storage system.

[0084] A first calculation unit 203 for obtaining the actual output active power of the pumped - storage unit and the primary frequency - regulation command of the pumped - storage unit, and calculating the actual AGC power of the pumped - storage unit.

[0085] A second calculation unit 204 for calculating the primary frequency - regulation command of the battery energy storage system according to the primary frequency - regulation command of the pumped - storage unit, the frequency fluctuations of the battery energy storage system, and the frequency - regulation coordination coefficient of the battery energy storage system.

[0086] A third calculation unit 205 for obtaining the AGC power command received by the pumped - storage unit from the dispatching center, and calculating the AGC power command of the battery energy storage system according to the frequency - regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped - storage unit, and the actual AGC power of the pumped - storage unit.

[0087] A control unit 206 for calculating the active - power command of the battery energy storage system according to the primary frequency - regulation command and the AGC power command of the battery energy storage system, thereby sending it to the power controller of the battery energy storage system for response, and triggering the testing unit at a preset time interval.

[0088] Furthermore, an apparatus for coordinated control of combined frequency regulation of pumped - storage and battery energy storage is provided in an embodiment of the present application. The apparatus includes a processor and a memory:

[0089] The memory is used for storing program codes and transmitting the program codes to the processor;

[0090] The processor is used for executing the steps of the method for coordinated control of combined frequency regulation of pumped - storage and battery energy storage as described in the above - mentioned method embodiment according to the instructions in the program codes.

[0091] Furthermore, a computer - readable storage medium is provided in an embodiment of the present application. The computer - readable storage medium is used for storing program codes, and the program codes are used for executing the method for coordinated control of combined frequency regulation of pumped - storage and battery energy storage as described in the above - mentioned method embodiment.

[0092] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0093] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of this application and the above-mentioned drawings are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0094] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression means any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0096] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, each functional unit in various embodiments of the present application may be integrated into a processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0098] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (English full name: Read-Only Memory, English abbreviation: ROM), random access memories (English full name: Random Access Memory, English abbreviation: RAM), magnetic disks or optical discs and other various media that can store program codes.

[0099] As described above, the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A coordinated control method for combined frequency regulation of pumped - storage and battery energy storage, characterized in that, Including: S1. Set the frequency regulation coordination coefficient of the battery energy storage system; S2. Process the measured frequency fluctuation of the battery energy storage system through a dead zone link, and obtain in real time the frequency fluctuation after being processed by the dead zone link of the battery energy storage system; S3. Obtain the actual output active power of the pumped-storage unit and the primary frequency regulation command of the pumped-storage unit, and calculate the actual AGC power of the pumped-storage unit; S4. Calculate the primary frequency regulation command of the battery energy storage system according to the primary frequency regulation command of the pumped-storage unit, the frequency fluctuation of the battery energy storage system, and the frequency regulation coordination coefficient of the battery energy storage system; S5. Obtain the AGC power command received by the pumped-storage unit from the dispatching center, and calculate the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit; S6. Calculate the active power command of the battery energy storage system according to the primary frequency regulation command and the AGC power command of the battery energy storage system, and then send it to the power controller of the battery energy storage system for response, and repeat steps S2 to S6 at a preset time interval; Wherein: Step S4 specifically includes: Based on the primary frequency regulation command calculation formula of the battery energy storage system, calculate the primary frequency regulation command of the battery energy storage system according to the primary frequency regulation command of the pumped-storage unit, the frequency fluctuation of the battery energy storage system, and the frequency regulation coordination coefficient of the battery energy storage system; Wherein, the primary frequency regulation command calculation formula of the battery energy storage system is: In the formula, is the primary frequency regulation command of the battery energy storage system, λ is the frequency regulation coordination coefficient of the battery energy storage system, and K Bat is the primary frequency regulation proportionality coefficient of the battery energy storage system, is the frequency fluctuation of the battery energy storage system, is the primary frequency regulation command of the pumped-storage unit; The calculation of the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit specifically includes: Based on the AGC power command calculation formula of the battery energy storage system, calculate the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped-storage unit, and the actual AGC power of the pumped-storage unit; Wherein, the AGC power command calculation formula of the battery energy storage system is: In the formula, is the AGC power command of the battery energy storage system, and λ is the frequency regulation coordination coefficient of the battery energy storage system. is the AGC power command of the pumped storage unit. is the actual AGC power of the pumped storage unit.

2. The coordinated control method for combined frequency regulation of pumped storage and battery energy storage according to claim 1, characterized in that, The setting of the frequency regulation coordination coefficient of the battery energy storage system specifically includes: When the priority relationship between primary frequency regulation and AGC frequency regulation is clear, confirm the priority relationship between primary frequency regulation and AGC frequency regulation according to the grid operation specifications or other technical requirements, and thus set the frequency regulation coordination coefficient of the battery energy storage system according to the priority relationship; When the priority relationship between primary frequency regulation and AGC frequency regulation is not clear, set the frequency regulation coordination coefficient of the battery energy storage system according to actual needs.

3. The combined frequency regulation and coordinated control method of pumped-storage and battery energy storage according to claim 1, characterized in that Step S3 specifically includes: Based on the actual AGC power calculation formula of the pumped-storage unit, calculate the actual AGC power of the pumped-storage unit according to the actual output active power of the pumped-storage unit and the primary frequency regulation command of the pumped-storage unit; Wherein, the actual AGC power calculation formula of the pumped-storage unit is: In the formula, is the actual AGC power of the pumped storage unit, is the actual active power output of the pumped storage unit, is the primary frequency regulation command of the pumped storage unit.

4. The coordinated control method for combined frequency regulation of pumped-storage and battery energy storage according to claim 1, wherein The calculation of the active power command of the battery energy storage system according to the primary frequency regulation command and the AGC power command of the battery energy storage system specifically includes: Based on the active power command calculation formula of the battery energy storage system, calculate the active power command of the battery energy storage system according to the primary frequency regulation command of the battery energy storage system and the AGC power command of the battery energy storage system; Among them, the active power command calculation formula of the battery energy storage system is: wherein, is the active power command of the battery energy storage system, is the primary frequency regulation command of the battery energy storage system, is the AGC power command of the battery energy storage system.

5. A combined frequency regulation and coordination control system for pumped storage and battery energy storage, characterized in that, Including: A setting unit for setting the frequency regulation coordination coefficient of the battery energy storage system; A testing unit for processing the measured frequency fluctuation of the battery energy storage system through a dead zone link and obtaining in real time the frequency fluctuation processed by the dead zone link of the battery energy storage system; A first calculation unit for obtaining the actual output active power of the pumped storage unit and the primary frequency regulation command of the pumped storage unit, and calculating the actual AGC power of the pumped storage unit; A second calculation unit for calculating the primary frequency regulation command of the battery energy storage system according to the primary frequency regulation command of the pumped storage unit, the frequency fluctuation of the battery energy storage system, and the frequency regulation coordination coefficient of the battery energy storage system; A third calculation unit for obtaining the AGC power command received by the pumped storage unit from the dispatching center, and calculating the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped storage unit, and the actual AGC power of the pumped storage unit; A control unit for calculating the active power command of the battery energy storage system according to the primary frequency regulation command of the battery energy storage system and the AGC power command of the battery energy storage system, so as to send it to the power controller of the battery energy storage system for response, and trigger the testing unit at a preset time interval; Among them: The second calculation unit is specifically used for: based on the primary frequency regulation command calculation formula of the battery energy storage system, calculating the primary frequency regulation command of the battery energy storage system according to the primary frequency regulation command of the pumped storage unit, the frequency fluctuation of the battery energy storage system, and the frequency regulation coordination coefficient of the battery energy storage system; Among them, the primary frequency regulation command calculation formula of the battery energy storage system is: In the formula, is the primary frequency regulation command of the battery energy storage system, λ is the frequency regulation coordination coefficient of the battery energy storage system, and K Bat is the primary frequency regulation proportionality coefficient of the battery energy storage system, is the frequency fluctuation of the battery energy storage system, is the primary frequency regulation command of the pumped storage unit; The calculating the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped storage unit, and the actual AGC power of the pumped storage unit specifically includes: Based on the AGC power command calculation formula of the battery energy storage system, calculating the AGC power command of the battery energy storage system according to the frequency regulation coordination coefficient of the battery energy storage system, the AGC power command of the pumped storage unit, and the actual AGC power of the pumped storage unit; Among them, the AGC power command calculation formula of the battery energy storage system is: In the formula, is the AGC power command of the battery energy storage system, λ is the frequency modulation coordination coefficient of the battery energy storage system, is the AGC power command of the pumped storage unit, is the actual AGC power of the pumped storage unit.

6. The combined frequency regulation and coordination control system for pumped storage and battery energy storage according to claim 5, characterized in that, The setting unit is specifically used for: When the priority relationship between primary frequency regulation and AGC frequency regulation is clear, confirm the priority relationship between primary frequency regulation and AGC frequency regulation according to the grid operation specifications or other technical requirements, and thus set the frequency regulation coordination coefficient of the battery energy storage system according to the priority relationship; When the priority relationship between primary frequency regulation and AGC frequency regulation is not clear, set the frequency regulation coordination coefficient of the battery energy storage system according to actual needs.

7. A combined frequency regulation and coordinated control device for pumped storage and battery energy storage, characterized in that, The device includes a processor and a memory: The memory is used for storing program codes and transmitting the program codes to the processor; The processor is configured to execute the coordinated control method for combined frequency regulation of pumped-storage and battery energy storage according to any one of claims 1-4 based on the instructions in the program code.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium is configured to store program code for executing the coordinated control method for combined frequency regulation of pumped-storage and battery energy storage according to any one of claims 1-4.

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