Power grid frequency modulation control method and device, terminal equipment and storage medium

Abstract

The invention belongs to the technical field of power grids, and particularly relates to a power grid frequency modulation control method and device, terminal equipment and a storage medium. Under the condition that a frequency deviation occurs in a power grid, the following steps are executed: if the frequency deviation is a low-frequency deviation and a frequency change rate is less than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is greater than 0, the power grid frequency modulation control method is executed; if yes, when the frequency change rate exceeds a frequency change rate dead zone of inertia support control response, inertia support control is carried out; if the frequency deviation exceeds the primary frequency modulation dead zone, performing primary frequency modulation control; and if the frequency deviation is low-frequency deviation and the frequency change rate is greater than 0, or the frequency deviation is high-frequency deviation and the frequency change rate is less than 0, performing negative inertia control when the frequency change rate exceeds a frequency change rate dead zone of negative inertia control response. The inertia support control, the primary frequency modulation control and the negative inertia control are performed through the change of the power grid frequency deviation and the frequency deviation rate, and the power grid frequency control effect is good.

Description

Technical Field

[0001] The present application belongs to the field of power grid technology, and in particular, relates to a power grid frequency modulation control method, device, terminal equipment and storage medium. Background Art

[0002] With the transformation of the global energy structure, the proportion of renewable energy power generation, especially wind and solar power generation, in the power system has increased significantly. These renewable energy power generation methods, with their clean and renewable characteristics, provide effective solutions to address climate change and reduce greenhouse gas emissions. However, the volatility and instability of renewable energy power generation also bring unprecedented challenges to the frequency stability of the power grid. The stability of the power grid frequency is crucial to ensure the safe and reliable operation of the power system. Frequency fluctuations not only affect the economic operation of the power system, but may also trigger a chain reaction and lead to large-scale power outages. Therefore, maintaining the stability of the power grid frequency is a basic task in power system management.

[0003] Primary frequency regulation and inertia support are two important means to maintain grid frequency stability. Primary frequency regulation refers to the process of reducing frequency deviation by controlling the active power output of generator sets or energy storage systems when the grid frequency deviates from the rated value. Inertia support refers to providing additional frequency stability capabilities for the grid by simulating the inertia characteristics of traditional generators when the grid frequency changes. Primary frequency regulation can effectively reduce the steady-state deviation of grid frequency, while inertia support can effectively suppress the maximum frequency deviation rate, reduce the frequency deviation speed, and curb the continuous deterioration of frequency deviation.

[0004] In the prior art, primary frequency regulation and inertia support control are only simply combined, which cannot adapt to the characteristics of frequency changes in the power grid frequency regulation characteristic curve, resulting in unsatisfactory power grid frequency control effect. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a power grid frequency modulation control method, apparatus, terminal device and storage medium to solve the technical problem of unsatisfactory power grid frequency control effect.

[0006] A first aspect of an embodiment of the present application provides a power grid frequency regulation control method, comprising the following steps performed when a frequency deviation occurs in the power grid:

[0007] If the frequency deviation is a low-frequency deviation and the frequency change rate is less than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is greater than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the inertia support control response, inertia support control is performed on the power grid;

[0008] If the frequency deviation exceeds the primary frequency regulation dead zone, performing primary frequency regulation control on the power grid;

[0009] If the frequency deviation is a low frequency deviation and the frequency change rate is greater than 0, or the frequency deviation is a high frequency deviation and the frequency change rate is less than 0, negative inertia control is performed on the power grid when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response.

[0010] A second aspect of an embodiment of the present application provides a power grid frequency regulation control device, including:

[0011] an inertia support control module, configured to, if the frequency deviation is a low frequency deviation and the frequency change rate is less than 0, or if the frequency deviation is a high frequency deviation and the frequency change rate is greater than 0, perform inertia support control on the power grid when the frequency change rate exceeds a frequency change rate dead zone of an inertia support control response;

[0012] A primary frequency regulation control module, configured to perform primary frequency regulation control on the power grid if the frequency deviation exceeds the primary frequency regulation dead zone;

[0013] The negative inertia control module is used to perform negative inertia control on the power grid if the frequency deviation is a low-frequency deviation and the frequency change rate is greater than 0, or if the frequency deviation is a high-frequency deviation and the frequency change rate is less than 0, and when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response.

[0014] A third aspect of an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the power grid frequency control method provided in the first aspect of the embodiment of the present application are implemented.

[0015] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the power grid frequency control method provided in the first aspect of the embodiment of the present application.

[0016] The first aspect of the embodiment of the present application provides a grid frequency modulation control method, by if the frequency deviation is a low-frequency deviation and the frequency change rate is less than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is greater than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the inertia support control response, inertia support control is performed; at the same time, if the frequency deviation exceeds the primary frequency modulation dead zone, primary frequency modulation control is performed; if the frequency deviation is a low-frequency deviation and the frequency change rate is greater than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is less than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response, negative inertia control is performed. The embodiment of the present application performs inertia support control, primary frequency modulation control and negative inertia control through the change of grid frequency deviation and frequency deviation rate, combining their respective advantages, can effectively suppress the maximum frequency deviation change rate, alleviate the speed of frequency drop, and can also effectively reduce the steady-state frequency deviation, accelerate frequency recovery, and have a good grid frequency control effect.

[0017] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a flow chart of a power grid frequency modulation control method provided by an embodiment of the present application;

[0020] Figure 2 Two flow charts of a power grid frequency modulation control method provided in another embodiment of the present application;

[0021] Figure 3 This is a structural schematic diagram of a power grid frequency modulation control device provided in one embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0024] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0027] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0029] The power grid frequency modulation control method provided by the embodiment of the present application can be executed by the processor of the terminal device when running a computer program with corresponding functions, by monitoring the frequency deviation of the power grid; if the frequency deviation is a low-frequency deviation and the frequency change rate is less than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is greater than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the inertia support control response, inertia support control is performed; at the same time, if the frequency deviation exceeds the primary frequency modulation dead zone, primary frequency modulation control is performed; if the frequency deviation is a low-frequency deviation and the frequency change rate is greater than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is less than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response, negative inertia control is performed. The embodiment of the present application performs inertia support control, primary frequency modulation control and negative inertia control through the change of power grid frequency deviation and frequency deviation rate, combining their respective advantages, can effectively suppress the maximum frequency deviation change rate, alleviate the speed of frequency decline, and can also effectively reduce the steady-state frequency deviation, accelerate frequency recovery, and have a good power grid frequency control effect.

[0030] In the application, the terminal device can be an energy storage converter, energy management system, microgrid controller, smart inverter, distributed energy resource manager, battery management system, power grid dispatching automation system, distribution automation system, etc. in the energy storage system. The embodiments of the present application do not impose any restrictions on the specific type of the terminal device.

[0031] like Figure 1 As shown, the power grid frequency control method provided in the embodiment of the present application includes the following steps S101, S102 and S103 executed when a frequency deviation occurs in the power grid:

[0032] In applications, frequency deviation may occur due to sudden load increase, reduced power generation or other disturbances in the power grid. To identify such disturbances, various sensors and monitoring devices installed in the power grid can be used to collect grid frequency data in real time and compare it with the rated frequency (usually 50Hz or 60Hz). When the actual frequency monitored differs from the rated frequency, it is judged that a frequency deviation has occurred, that is, a grid frequency disturbance.

[0033] Step S101: If the frequency deviation is a low-frequency deviation and the frequency change rate is less than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is greater than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the inertia support control response, inertia support control is performed on the power grid.

[0034] In applications, low-frequency deviation means that the grid frequency is lower than the rated value, usually indicating insufficient power supply; while high-frequency deviation means that the grid frequency is higher than the rated value, which may be due to a sudden decrease in power demand or excessive power generation. The frequency change rate is the speed at which the frequency changes over time, and its positive and negative values ​​reflect the direction of the frequency change. When the frequency change rate exceeds the preset dead zone (i.e., the frequency change rate dead zone of the inertial support control response), and the direction of change is consistent with the direction of the frequency deviation, the inertial support control is triggered, otherwise the inertial support control is locked. In this way, the kinetic energy or electrical energy of the energy storage system or other equipment can be used to buffer the frequency change in the early stage when the frequency begins to change significantly.

[0035] Step S102: If the frequency deviation exceeds a primary frequency regulation dead zone, a primary frequency regulation control is performed on the power grid.

[0036] In applications, the primary frequency regulation dead zone is a threshold range set by the system. Within this range, the system will not respond to frequency changes immediately to avoid unnecessary control actions. The system will start to perform frequency regulation control after exceeding the dead zone. When the frequency deviation persists and the frequency change rate exceeds the primary frequency regulation dead zone, the primary frequency regulation control will be triggered. Primary frequency regulation control refers to adjusting the output of the generator or the charge and discharge power of the energy storage system to restore the frequency to near the rated value more quickly.

[0037] In application, the embodiment of the present application uses inertia support control to provide a quick response to mitigate the initial frequency changes, and performs more persistent power adjustment through primary frequency modulation control to achieve long-term frequency stability. Combining the respective advantages of primary frequency modulation and inertia support, the maximum frequency deviation change rate can be effectively suppressed, the speed of frequency drop can be mitigated, and the steady-state frequency deviation can also be effectively reduced. This mechanism ensures that the power grid can quickly and orderly restore stability in the face of sudden frequency changes.

[0038] In one embodiment, when performing inertia support control, the calculation formula of the inertia support output is:

[0039]

[0040] Among them, ΔP GL To support the inertia, is the frequency change rate, R d is the frequency change rate dead zone of the inertia support control response (that is, the inertia support control will only be activated when the absolute value of the frequency change rate exceeds this dead zone), T J is the inertia support time constant, f N is the rated frequency of the power grid, P N is the rated capacity of the energy storage station.

[0041] In one embodiment, when performing primary frequency modulation control, the calculation formula for the primary frequency modulation output is:

[0042]

[0043] Among them, ΔP B is the primary frequency modulation output, Δf is the frequency deviation, f d is the primary frequency modulation dead zone, K B is the primary frequency modulation coefficient, P N is the rated capacity of the energy storage station, f N is the rated frequency of the power grid, ξ is the primary frequency regulation rate, K d is the discharge regulation coefficient, K c is the charging regulation factor.

[0044] In applications, ΔP B The calculation of It can be ensured that even if the frequency deviation is exactly equal to f d When the frequency is changed, the energy storage system can also provide a certain output, avoiding the situation where the output is zero at the edge of the dead zone, and ensuring the continuous response of the energy storage system to frequency changes.

[0045] In one embodiment, the calculation method of the discharge regulation coefficient and the charge regulation coefficient includes:

[0046] During the energy storage discharge phase:

[0047] When S soc ∈[S min , S d-bound ]hour,

[0048] When S soc ∈[S d-bound , S max ], K d =K Bmax ,

[0049] During the energy storage charging stage:

[0050] When S soc ∈[S min , S c-bound ], K c =K Bmax ;

[0051] When S soc ∈[S c-bound , S max ]hour,

[0052] Among them, S soc is the state of charge of the energy storage unit, S min is the lower limit of the charge state of the energy storage unit, Smax is the upper limit of the state of charge of the energy storage unit, S d-bound is the discharge threshold value of the energy storage unit, S d-mid is the discharge intermediate value of the energy storage unit, S c-bound is the charging threshold value of the energy storage unit, S c-mid is the intermediate charge value of the energy storage unit, K Bmax It is the maximum value of the primary frequency modulation coefficient.

[0053] In the application, the energy storage discharge stage:

[0054] When S soc ∈[S min , S d-bound ]hour, In this way, the energy storage system will reduce the discharge output to protect the battery and avoid over-discharge; soc As the frequency increases, the energy storage system will increase the discharge output to fully utilize the battery capacity to participate in frequency regulation.

[0055] When S soc ∈[S d-bound , S max ], K d Set to the maximum value of the primary frequency modulation coefficient K Bmax , so that in S soc When it is higher, discharge at maximum capacity, giving priority to frequency modulation effect.

[0056] In the application, the energy storage charging stage:

[0057] When S soc ∈[S min , S c-bound ], K c =K Bmax , so that in S soc When it is lower, the energy storage system will charge at maximum capacity to avoid over-discharge of the battery.

[0058] When S soc ∈[S c-bound , S max ]hour, In this way, as S soc As the temperature rises, the charging output gradually decreases to avoid overcharging the battery.

[0059] In the application, the monotonicity and concavity of the hyperbolic tangent function are consistent with the K value increasing with S. soc The adaptability of the change, that is, in S soc When the K value is higher, the S socWhen the K value is low, the K value is small, so the frequency modulation control based on the hyperbolic tangent function can take into account both the frequency modulation effect and the charge state maintenance effect, avoiding overcharging and overdischarging of the battery and affecting the battery life. In addition, the hyperbolic tangent function is symmetrical about the point S. soc There is no need to use a segmented form near the median, and only a single function needs to be used in the adaptive range. This not only simplifies the steps of coordinate transformation and parameter setting, but also can effectively and comprehensively consider the balance between frequency modulation requirements and battery life based on the adaptability of the hyperbolic tangent function.

[0060] In the application, the discharge threshold value S of the energy storage unit d-bound Usually set in a range where the state of charge is low but not over-discharged, the discharge intermediate value S of the energy storage unit d-mid Located in S d-bound and S max After fully considering the battery health and frequency modulation requirements, it can be set to S min <S d-bound <S d-mid <S max .

[0061] In the application, the charging threshold value S of the energy storage unit c-bound The charge threshold value S of the energy storage unit is usually set at a high state of charge but not reaching the range of overcharge risk. c-bound Located in S c-mid and S max After fully considering the battery health and frequency modulation requirements, it can be set to S min <S c-mid <S c-bound <S max .

[0062] In one embodiment, when S min is 0, S max When it is 1, S can be selected between 0 and 0.5 d-bound and S c-mid , S d-bound and S c-mid Can be equal or unequal. S can be selected between 0.5 and 1 d-mid and S c-bound , S d-mid and S c-bound Each parameter can be flexibly set according to the type of energy storage unit, frequency regulation requirements and grid characteristics. This embodiment does not strictly limit the specific values ​​of these parameters to adapt to the optimal performance in different application scenarios.

[0063] In one embodiment, when the inertia support control and the primary frequency modulation control are performed simultaneously, the inertia support control and the primary frequency modulation control are proportionally allocated according to the following formula:

[0064]

[0065] Among them, a1 is the allocation ratio coefficient of inertia support control, a2 is the allocation ratio coefficient of primary frequency modulation control, and Δf is the frequency deviation.

[0066] In application, during the stage when the frequency deviation gradually increases, based on the frequency change characteristics of this process and the expected frequency regulation requirements, the energy storage power supply output control mode should be based on inertia support and supplemented by primary frequency regulation before the frequency deviation speed decreases, and should be based on primary frequency regulation and supplemented by inertia support after the frequency deviation speed slows down.

[0067] In the application, in the early stage of inertia response, the absolute value of the frequency deviation change rate is large, and the absolute value of the frequency deviation is small. a1 gradually decreases from 1 and the speed of decrease is slow, and a2 gradually increases from 0 and the speed of increase is slow. In this way, the advantages of inertia support can be fully utilized, the maximum value of the frequency deviation change rate can be effectively suppressed, and the speed of frequency deviation decrease can be alleviated. In the late stage of inertia response, the absolute value of the frequency deviation change rate becomes smaller and smaller, but the absolute value of the frequency deviation will still increase. a1 gradually decreases and the speed of decrease is fast, and a2 gradually increases and the speed of increase is fast. In this way, the advantages of primary frequency modulation control can be fully utilized to significantly reduce the maximum value of frequency deviation. During the entire inertia response period, a1≥a2 and a1+a2=1, and the change trend of the two distribution coefficients is consistent with the characteristics of grid frequency change in the inertia response stage.

[0068] Step S103: If the frequency deviation is a low-frequency deviation and the frequency change rate is greater than 0, or if the frequency deviation is a high-frequency deviation and the frequency change rate is less than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response, negative inertia control is performed on the power grid.

[0069] In one embodiment, the calculation formula of negative inertia control output is:

[0070]

[0071] Among them, R N The frequency change rate dead zone of negative inertia control response, is the frequency change rate, M BN is the negative inertia response coefficient.

[0072] In the application, during the period of grid frequency recovery, the active output of the energy storage station is adjusted by increasing negative inertia control to achieve rapid recovery of the grid frequency. When the frequency deviation is a low frequency deviation, if the frequency regulation device of the energy storage station collects the grid frequency change rate greater than 0 and exceeds the frequency change rate dead zone R of the negative inertia control response, N, then the negative inertia control is started to participate in the grid frequency regulation, otherwise the negative inertia control is locked; when the frequency deviation is a high-frequency deviation, if the frequency regulation device of the energy storage station collects the grid frequency change rate less than 0 and exceeds the frequency change rate dead zone R of the negative inertia control response, N , then the negative inertia control is started to participate in the grid frequency regulation, otherwise the negative inertia control is locked.

[0073] In applications, the grid frequency recovery period refers to the stage when the grid frequency begins to recover from a state of deviation from the normal value (usually 50Hz or 60Hz, depending on the region) to its rated frequency after the grid experiences a disturbance. The judgment of this stage is mainly based on two key parameters: grid frequency deviation and frequency change rate. When the grid frequency deviation reaches a certain threshold, or the frequency change rate exceeds the preset warning value, the grid is considered to have suffered a disturbance. After the disturbance occurs, the frequency will change rapidly until it reaches the maximum deviation point. Once the frequency deviation begins to decrease, it means that the system has begun to take measures to restore the frequency. As the frequency deviation decreases and continues to approach zero, it can be considered that the grid has entered the frequency recovery stage.

[0074] In one embodiment, the negative inertia response coefficient is calculated as follows:

[0075] M BN =M B0 M B1 M B2

[0076]

[0077] M B2 =1+|Δf m |-f d

[0078] Among them, M B0 is the initial coefficient of negative inertia response, M B1 It's about S soc The regulatory factor, M B2 is about Δf m The regulating factor, S soc is the state of charge of the energy storage unit, S min is the lower limit of the charge state of the energy storage unit, S max is the upper limit of the state of charge of the energy storage unit, f d is the primary frequency modulation dead zone, Δf m is the maximum frequency deviation amplitude.

[0079] In the application, the negative inertia control action time is longer than the positive inertia support action time. The impact of the charge state of the energy storage unit on its output should be considered. When the frequency deviation is large, the output should be appropriately increased to improve the frequency recovery speed. BNAnd carry out corresponding negative inertia control, which can be soc When it is higher, increase the negative inertia control output. soc When it is lower, reduce the negative inertia control output; at Δf m When it is larger, the negative inertia control output increases, improving the ability to resist large load disturbances. The embodiment of the present application adds negative inertia control logic on the basis of conventional inertia support control, considers the state of charge and frequency deterioration of the energy storage unit, dynamically adjusts the control output according to the state of charge and the size of the maximum frequency deviation, assists the rapid recovery of the grid frequency, maintains the stability of the grid frequency, and also ensures the battery life of the energy storage station.

[0080] In one embodiment, Figure 2 As shown, a power grid frequency regulation control method includes the following steps:

[0081] Step S201: Grid frequency disturbance.

[0082] In the application, various sensors and monitoring devices installed in the power grid can collect grid frequency data in real time and compare it with the rated frequency. When the actual frequency monitored is different from the rated frequency, it is judged that a frequency deviation has occurred, that is, a grid frequency disturbance.

[0083] Step S202, determine whether Δf<0 is satisfied, if so, execute step S203, if not, execute step S204.

[0084] Step S203: Determine whether If yes, execute step S205, if no, execute step S206.

[0085] Step S204: Determine whether If yes, execute step S205, if no, execute step S206.

[0086] Step S205: Determine whether If yes, execute step S207.

[0087] Step S206: Determine whether If yes, execute step S208.

[0088] Step S207: Inertia support control.

[0089] Step S208: negative inertia control.

[0090] Step S209: Determine whether |Δf|≥f is satisfied d , if so, execute step S210.

[0091] Step S210: primary frequency modulation control.

[0092] Step S211, outputting the total energy storage output.

[0093] In the application, the total energy storage output model is ΔP = a1ΔP GL +a2ΔP B +ΔP BN , where ΔP GL is the inertia support force, ΔP B is the primary frequency modulation output, ΔP BN is the negative inertia output, a1 is the distribution ratio coefficient of inertia support control, and a2 is the distribution ratio coefficient of primary frequency modulation control. The total energy storage output ΔP can be calculated by the above formula.

[0094] In the application, after calculating the total energy storage output ΔP, if the total energy storage output ΔP exceeds the preset limit, the energy storage system operates at rated power. The preset limit can be set as the maximum allowable output of the energy storage system under safety and performance constraints.

[0095] In the application, when the collected grid frequency returns to the preset frequency range, the grid frequency control method of the embodiment of the present application is exited. The preset frequency range is a frequency fluctuation range predefined according to the normal operating range of the grid frequency. Within this range, it is considered that the grid frequency has returned to the normal operating range and no additional frequency control measures are required. The energy storage system or other frequency control resources can exit the emergency response state and return to the normal operation mode.

[0096] The present application also provides a power grid frequency regulation control device for executing the steps in the power grid frequency regulation control method embodiment. The power grid frequency regulation control device can be a virtual appliance in a terminal device, which is run by a processor of the terminal device, or it can be the terminal device itself.

[0097] like Figure 3 As shown, the power grid frequency regulation control device 100 provided in the embodiment of the present application includes:

[0098] An inertia support control module 101, configured to perform inertia support control when the frequency deviation is a low frequency deviation and the frequency change rate is less than 0, or when the frequency deviation is a high frequency deviation and the frequency change rate is greater than 0, and when the frequency change rate exceeds a frequency change rate dead zone of an inertia support control response;

[0099] The primary frequency modulation control module 102 is configured to perform primary frequency modulation control if the frequency deviation exceeds the primary frequency modulation dead zone.

[0100] The negative inertia control module 103 is used to perform negative inertia control when the frequency deviation is a low-frequency deviation and the frequency change rate is greater than 0, or when the frequency deviation is a high-frequency deviation and the frequency change rate is less than 0, and when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response.

[0101] In one embodiment, the inertia support control module 101 is further used to calculate the inertia support output according to the following formula:

[0102]

[0103] In one embodiment, the primary frequency modulation control module 102 is further configured to calculate the primary frequency modulation output according to the following formula:

[0104]

[0105] In one embodiment, the primary frequency modulation control module 102 is further configured to calculate the discharge regulation coefficient and the charge regulation coefficient according to the following formula:

[0106] During the energy storage discharge phase:

[0107] When S soc ∈[S min , S d-bound ]hour,

[0108] When S soc ∈[S d-bound , S max ], K d =K Bmax ,

[0109] During the energy storage charging stage:

[0110] When S soc ∈[S min , S c-bound ], K c =K Bmax ;

[0111] When S soc ∈[S c-bound , S max ]hour,

[0112] In one embodiment, the negative inertia control module 103 is further configured to calculate the negative inertia output according to the following formula:

[0113]

[0114] In one embodiment, the negative inertia control module 103 is further used to calculate the negative inertia response coefficient according to the following formula:

[0115] M BN =M B0 M B1 M B2

[0116]

[0117] M B2 =1+|Δf m |-f d .

[0118] In one embodiment, the power grid frequency control device 100 further includes an adaptive adjustment module for:

[0119] When inertia support control and primary frequency modulation control are performed simultaneously, the inertia support control and primary frequency modulation control are proportionally distributed according to the following formula:

[0120]

[0121] In application, each module in the power grid frequency regulation control device may be a software program module, or may be implemented by different logic circuits integrated in a processor, or may be implemented by multiple distributed processors.

[0122] like Figure 4 As shown, the embodiment of the present application further provides a terminal device 200, including: at least one processor 201 ( Figure 4 Only one processor is shown in the figure), a memory 202, and a computer program 203 stored in the memory 202 and executable on at least one processor 201, wherein the processor 201 implements the steps in the above-mentioned various method embodiments when executing the computer program 203.

[0123] In the application, the terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that Figure 4 It is only an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0124] In applications, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0125] In applications, the memory may be an internal storage unit of a terminal device in some embodiments, such as a hard disk or memory of the terminal device. In other embodiments, the memory may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device. Further, the memory may also include both an internal storage unit of the terminal device and an external storage device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as program codes of a computer program. The memory may also be used to temporarily store data that has been output or is to be output.

[0126] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0127] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0128] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0129] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0130] If the 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 this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0131] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0133] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0134] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A power grid frequency modulation control method, characterized in that: The method comprises the following steps when a frequency deviation occurs in the power grid: If the frequency deviation is a low-frequency deviation and the frequency change rate is less than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is greater than 0, then when the frequency change rate exceeds the frequency change rate dead zone of the inertia support control response, inertia support control is performed on the power grid; If the frequency deviation exceeds the primary frequency regulation dead zone, performing primary frequency regulation control on the power grid; If the frequency deviation is a low frequency deviation and the frequency change rate is greater than 0, or the frequency deviation is a high frequency deviation and the frequency change rate is less than 0, negative inertia control is performed on the power grid when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response.

2. The power grid frequency modulation control method according to claim 1, characterized in that: When the inertia support control is performed on the power grid, the calculation formula of the inertia support output is: Among them, ΔP GL To support the inertia, is the frequency change rate, R d is the frequency change rate dead zone of the inertial support control response, T J is the inertia support time constant, f N is the rated frequency of the power grid, P N is the rated capacity of the energy storage station.

3. The power grid frequency modulation control method according to claim 1, characterized in that: When the power grid is subjected to primary frequency modulation control, the calculation formula for the primary frequency modulation output is: Among them, ΔP B is the primary frequency modulation output, Δf is the frequency deviation, f d is the primary frequency modulation dead zone, K B is the primary frequency modulation coefficient, P N is the rated capacity of the energy storage station, f N is the rated frequency of the power grid, ξ is the primary frequency regulation rate, K d is the discharge regulation coefficient, K c is the charging regulation factor.

4. The power grid frequency modulation control method according to claim 3, characterized in that: The calculation method of the discharge regulation coefficient and the charge regulation coefficient includes: During the energy storage discharge phase: When S soc ∈[S min ,S d-bound ]hour, When S soc ∈[S d-bound ,S max ], K d =K Bmax , During the energy storage charging stage: When S soc ∈[S min ,S c-bound ], K c =K Bmax ; When S soc ∈[S c-bound ,S max ]hour, Among them, S soc is the state of charge of the energy storage unit, S min is the lower limit of the charge state of the energy storage unit, S max is the upper limit of the state of charge of the energy storage unit, S d-bound is the discharge threshold value of the energy storage unit, S d-mid is the discharge intermediate value of the energy storage unit, S c-bound is the charging threshold value of the energy storage unit, S c-mid is the intermediate charge value of the energy storage unit, K Bmax It is the maximum value of the primary frequency modulation coefficient.

5. The power grid frequency control method according to claim 4, characterized in that: The S min <S d-bound <S d-mid <S max And S nin <S c-mid <S c-bound <S max .

6. The power grid frequency modulation control method according to claim 1, characterized in that: Also includes: When inertia support control and primary frequency modulation control are performed simultaneously, the inertia support control and primary frequency modulation control are proportionally distributed according to the following formula: Among them, a1 is the allocation ratio coefficient of inertia support control, a2 is the allocation ratio coefficient of primary frequency modulation control, and Δf is the frequency deviation.

7. The power grid frequency modulation control method according to claim 1, characterized in that: When negative inertia control is performed on the power grid, the calculation formula for negative inertia output is: < BN =M B0 M B1 M B2 M B2 =1+|Δf m |-f d Among them, R N The frequency change rate dead zone of negative inertia control response, is the frequency change rate, M BN is the negative inertia response coefficient, ΔP BN is the negative inertia output, M B0 is the initial coefficient of negative inertia response, M B1 It's about S soc The regulatory factor, M B2 is about Δf m The regulating factor, S soc is the state of charge of the energy storage unit, S min is the lower limit of the charge state of the energy storage unit, S max is the upper limit of the state of charge of the energy storage unit, f d is the primary frequency modulation dead zone, Δf m is the maximum frequency deviation amplitude.

8. A power grid frequency control device, characterized in that: include: an inertia support control module, configured to, if the frequency deviation is a low frequency deviation and the frequency change rate is less than 0, or if the frequency deviation is a high frequency deviation and the frequency change rate is greater than 0, perform inertia support control on the power grid when the frequency change rate exceeds a frequency change rate dead zone of an inertia support control response; A primary frequency regulation control module is used to perform primary frequency regulation control on the power grid if the frequency deviation exceeds the primary frequency regulation dead zone; The negative inertia control module performs negative inertia control on the power grid if the frequency deviation is a low-frequency deviation and the frequency change rate is greater than 0, or the frequency deviation is a high-frequency deviation and the frequency change rate is less than 0, when the frequency change rate exceeds the frequency change rate dead zone of the negative inertia control response.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the power grid frequency regulation control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the power grid frequency regulation control method as claimed in any one of claims 1 to 7 are implemented.

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