A method and device for frequency modulation control of a hybrid pumped storage system and electronic equipment

Abstract

The application belongs to the technical field of pumped storage control, and specifically discloses a frequency modulation control method and device for a hybrid pumped storage system and electronic equipment. The method is applied to a hybrid pumped storage system, the hybrid pumped storage system comprising a constant-speed pumped storage unit, a variable-speed pumped storage unit and a frequency modulation system, and the method comprises the following steps: when frequency fluctuation occurs in the hybrid pumped storage system, a frequency adjustment range output by the frequency modulation system is obtained; the frequency adjustment range is obtained by frequency modulation on the constant-speed pumped storage unit and the variable-speed pumped storage unit; the frequency adjustment range is frequency-division processed based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit, and a frequency-division result is determined; and frequency modulation is performed on the constant-speed pumped storage unit and the variable-speed pumped storage unit based on the frequency-division result until the frequency fluctuation occurring in the hybrid pumped storage system is eliminated. The application can greatly improve the comprehensive adjustment capability and operation stability of the hybrid pumped storage system.

Description

Technical Field

[0001] This application belongs to the field of pumped storage control technology, and more specifically, relates to a frequency modulation control method, device and electronic equipment for a hybrid pumped storage system. Background Technology

[0002] With the continuous increase in the total installed capacity of distributed energy sources such as wind power and solar energy, the intermittency and volatility of their output pose significant challenges to the safe and stable operation of the power grid. These distributed energy sources are generally connected to the grid through power electronic converters, lacking the damping and inertia of traditional generator grid connection, thus limiting the penetration rate of new energy sources in the power grid. To solve these problems, it is necessary to configure a certain capacity of energy storage in the power grid to participate in grid frequency regulation, provide power and energy auxiliary services to the grid, and increase the grid's inertia and damping.

[0003] Pumped storage, as a widely adopted large-scale energy storage technology, plays a crucial role in balancing power fluctuations in the power grid and ensuring energy security. Currently, hybrid pumped storage systems, comprising both constant-speed and variable-speed pumped storage units, are commonly used for grid energy storage. However, the frequency regulation method for variable-speed pumped storage units mostly employs virtual inertial control, directly tracking load fluctuations and independently regulating themselves compared to constant-speed pumped storage units. This method fails to consider the frequency regulation response characteristics and coordination issues of the two types of pumped storage units during the frequency regulation process, resulting in less than ideal frequency regulation control performance for hybrid pumped storage systems, and the overall system regulation capability urgently needs improvement.

[0004] Therefore, how to better achieve frequency regulation control of hybrid pumped storage systems has become a technical problem that the industry urgently needs to solve. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this application is to better realize the frequency regulation control of the hybrid pumped storage system, and to solve the problem that the frequency regulation control effect of the existing hybrid pumped storage system is not ideal and the overall regulation capability of the system needs to be improved.

[0006] To achieve the above objectives, in a first aspect, this application provides a frequency regulation control method for a hybrid pumped storage system, applied to a hybrid pumped storage system, wherein the hybrid pumped storage system includes a constant-speed pumped storage unit, a variable-speed pumped storage unit, and a frequency regulation system, comprising:

[0007] When frequency fluctuations occur in the hybrid pumped storage system, the frequency adjustment range output by the frequency modulation system is obtained;

[0008] The frequency adjustment range is divided based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit to determine the frequency division result;

[0009] Based on the frequency division results, the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit is adjusted until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0010] Optionally, the step of performing frequency division processing on the frequency adjustment range based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit, and determining the frequency division result, includes:

[0011] The amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit are analyzed to determine the target operating frequency of the variable-speed pumped storage unit at the resonant peak.

[0012] Based on the target operating frequency of the variable-speed pumped storage unit at the resonant peak, the frequency adjustment range is divided into a first frequency range component that is greater than the target operating frequency and a second frequency range component that is not greater than the target operating frequency; the frequency division result includes the first frequency range component and the second frequency range component.

[0013] Optionally, the step of adjusting the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit based on the frequency division result until the frequency fluctuations in the hybrid pumped storage system are eliminated includes:

[0014] Step S1: Using the first frequency range component and the second frequency range component, the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit is adjusted to determine the updated frequency adjustment range output by the frequency adjustment system.

[0015] Step S2: Perform frequency division processing on the updated frequency adjustment range to determine the updated first frequency range component and the updated second frequency range component;

[0016] Step S3: Use the updated first frequency range component and the updated second frequency range component to adjust the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit.

[0017] If it is determined that frequency fluctuations still exist in the hybrid pumped storage system, an updated frequency adjustment range is determined, and steps S2 to S3 are repeated until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0018] Optionally, the step of frequency regulation of the variable-speed pumped storage unit and the constant-speed pumped storage unit using the first frequency range component and the second frequency range component includes:

[0019] Determine the first power deviation corresponding to the first frequency range component and the second power deviation corresponding to the second frequency range component;

[0020] The second power deviation is subjected to power output limitation processing to determine the second power adjustment amount and the corresponding second power adjustment margin of the constant speed pumped storage unit.

[0021] Based on the first power deviation and the second power adjustment margin, power output limiting processing is performed to determine the first power adjustment amount and the corresponding first power adjustment margin of the variable speed pumped storage unit; the first power adjustment margin is used to iteratively update the frequency adjustment range.

[0022] The frequency of the variable-speed pumped storage unit is adjusted using the first power adjustment amount, and the frequency of the constant-speed pumped storage unit is adjusted using the second power adjustment amount.

[0023] Optionally, after adjusting the frequency of the variable-speed pumped-storage unit using the first power adjustment amount and adjusting the frequency of the constant-speed pumped-storage unit using the second power adjustment amount, the method further includes:

[0024] The first operating power of the variable speed pumped storage unit after frequency regulation and the second operating power of the constant speed pumped storage unit after frequency regulation are obtained.

[0025] Based on the current power fluctuation deviation of the external wind turbine, the first operating power and the second operating power, a first frequency regulation calculation and a second frequency regulation calculation are performed respectively to determine the first frequency adjustment range after the first frequency regulation calculation and the second frequency adjustment range after the second frequency regulation calculation.

[0026] Determine the frequency adjustment amount corresponding to the first power adjustment margin;

[0027] The first frequency adjustment range, the second frequency adjustment range, and the frequency adjustment amount are superimposed to determine the updated frequency adjustment range output by the frequency modulation system.

[0028] Optionally, the step of analyzing the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit to determine the target operating frequency of the variable-speed pumped storage unit at the resonant peak includes:

[0029] Power spectral density analysis was performed on historical power fluctuation time-series data of external wind turbines to determine the target power fluctuation frequency range.

[0030] A difference analysis of amplitude-frequency response characteristics was performed on the constant-speed pumped storage unit and the variable-speed pumped storage unit within the target power fluctuation frequency range, and the target operating frequency of the variable-speed pumped storage unit at the resonance peak was determined based on the analysis results.

[0031] Optionally, the step of performing power spectral density analysis on the historical power fluctuation time-series data of external wind turbines to determine the target power fluctuation frequency range includes:

[0032] Multiple types of wind power fluctuation time series data are obtained from the historical power fluctuation time series data of the external wind turbine;

[0033] Power spectral density analysis is performed on the time series data of wind power fluctuations of various types to determine the statistical average value of wind power spectral density corresponding to the time series data of wind power fluctuations of various types.

[0034] The target power fluctuation frequency range is determined based on the frequency distribution of the statistical average values ​​of various wind power power spectral densities.

[0035] Secondly, this application provides a frequency regulation control device for a hybrid pumped storage system, applied to a hybrid pumped storage system, wherein the hybrid pumped storage system includes a constant-speed pumped storage unit, a variable-speed pumped storage unit, and a frequency regulation system, comprising:

[0036] The acquisition module is used to acquire the frequency adjustment range output by the frequency regulation system when frequency fluctuations occur in the hybrid pumped storage system.

[0037] The frequency division module is used to perform frequency division processing on the frequency adjustment range based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit, and to determine the frequency division result.

[0038] The frequency modulation module is used to adjust the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit based on the frequency division result until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0039] Thirdly, this application provides an electronic device, comprising: at least one memory for storing a program; and at least one processor for executing the program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to execute the method described in the first aspect or any possible implementation thereof.

[0040] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to perform the method described in the first aspect or any possible implementation thereof.

[0041] Fifthly, this application provides a computer program product that, when run on a processor, causes the processor to perform the method described in the first aspect or any possible implementation thereof.

[0042] Overall, the technical solutions conceived in this application have the following beneficial effects compared with the prior art:

[0043] This application provides a frequency regulation control method, device, and electronic equipment for a hybrid pumped storage system. By considering the difference in amplitude-frequency response characteristics between constant-speed and variable-speed pumped storage units during the regulation process, the method obtains the initial output frequency regulation range of the frequency regulation system when frequency fluctuations occur in the hybrid pumped storage system. Then, it performs targeted frequency division processing on this frequency regulation range to divide the load fluctuation response frequency band. Using the divided frequency results, it allocates targeted regulation commands and performs frequency regulation control for the constant-speed and variable-speed pumped storage units until the frequency fluctuations of the hybrid pumped storage system are eliminated. This achieves joint frequency regulation control that takes into account the respective regulation advantages of the two types of units, greatly improving the comprehensive regulation capability and operational stability of the hybrid pumped storage system. Attached Figure Description

[0044] Figure 1 This is one of the flowcharts illustrating the frequency regulation control method for a hybrid pumped storage system provided in this application embodiment;

[0045] Figure 2 (a) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under single-mode wind power fluctuation provided in an embodiment of this application; (b) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under positively skewed wind power fluctuation provided in an embodiment of this application; (c) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under negatively skewed wind power fluctuation provided in an embodiment of this application; and (d) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under bimodal wind power fluctuation provided in an embodiment of this application.

[0046] Figure 3 This is one of the schematic diagrams of the frequency regulation system control flow of the hybrid pumped storage system provided in the embodiments of this application;

[0047] Figure 4 (a) is a schematic diagram of the frequency response amplitude-frequency characteristics of the constant-speed / variable-speed pumped storage unit provided in the embodiment of this application, and (b) is a schematic diagram of the power response amplitude-frequency characteristics of the constant-speed / variable-speed pumped storage unit provided in the embodiment of this application.

[0048] Figure 5 This is the second schematic diagram of the frequency regulation system control flow of the hybrid pumped storage system provided in the embodiments of this application;

[0049] Figure 6 (a) is a schematic diagram of the global root locus curve of a traditional hybrid pumped storage system as the governor control parameters change, and (b) is a schematic diagram of the global root locus curve of a hybrid pumped storage system as the governor control parameters change, provided in the embodiments of this application.

[0050] Figure 7 This is a schematic diagram of the spectral density distribution curve of the frequency fluctuation of the hybrid pumped storage system provided in the embodiments of this application;

[0051] Figure 8 (a) is a schematic diagram of the time-domain frequency response curve of a traditional hybrid pumped storage system under frequency fluctuations, and (b) is a schematic diagram of the time-domain frequency response curve of a hybrid pumped storage system provided in the embodiments of this application under frequency fluctuations.

[0052] Figure 9 This is a schematic diagram of the structure of the frequency regulation control device for the hybrid pumped storage system provided in this application.

[0053] Figure 10 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] The terms "first" and "second," etc., used in the description and claims herein are used to distinguish different objects, not to describe a specific order of the objects. For example, "first frequency range component" and "second frequency range component" are used to distinguish frequency range components with different functions, not to describe a specific order of frequency range components; "first power deviation" and "second power deviation" are used to distinguish power deviations corresponding to different objects, not to describe a specific order of power deviations.

[0056] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0057] In the description of the embodiments of this application, unless otherwise stated, "multiple types" means two or more types. For example, multiple types of wind power fluctuation time series data means two or more types of wind power fluctuation time series data.

[0058] The embodiments of this application are described below with reference to the accompanying drawings.

[0059] Figure 1This is one of the flowcharts illustrating the frequency regulation control method for a hybrid pumped storage system provided in this application. This method can be applied to a hybrid pumped storage system, which includes a constant-speed pumped storage unit, a variable-speed pumped storage unit, and a frequency regulation system. Figure 1 As shown, the method includes:

[0060] Step S10: When frequency fluctuations occur in the hybrid pumped storage system, obtain the frequency adjustment range of the frequency regulation system output.

[0061] Step S20: Based on the amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units, the frequency adjustment range is divided into frequencies to determine the frequency division result.

[0062] Step S30: Based on the frequency division results, adjust the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0063] Specifically, the frequency modulation system described in the embodiments of this application may include a primary frequency modulation system and a secondary frequency modulation system. The primary frequency modulation system is suitable for system frequency deviations caused by load changes with small fluctuation amplitudes and short fluctuation periods; the secondary frequency modulation system is suitable for system frequency deviations caused by load changes with large fluctuation amplitudes and long fluctuation periods.

[0064] It should be noted that, in the embodiments of this application, the fluctuation of wind power generation can be taken into account, and the frequency fluctuation of the hybrid pumped storage system is caused by the frequency / power fluctuation of the wind turbine.

[0065] The frequency adjustment range described in this application refers to the initial frequency adjustment result obtained by the frequency regulation system based on the operating frequencies of the constant-speed pumped storage unit and the variable-speed pumped storage unit, as well as the fluctuation frequency of the external wind turbine unit, when frequency fluctuations occur in the hybrid pumped storage system. This result is used to further regulate the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit.

[0066] The amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units described in the embodiments of this application refer to the power response amplitude-frequency characteristics and frequency response amplitude-frequency characteristics exhibited by constant-speed pumped storage units and variable-speed pumped storage units during the historical frequency regulation control process of the hybrid pumped storage system.

[0067] In the embodiments of this application, in step S10, when frequency fluctuations occur in the hybrid pumped storage system, the fluctuation frequency of the external wind turbine is obtained. Then, the frequency regulation system performs frequency regulation calculations based on the fluctuation frequency, the current operating frequency of the constant-speed pumped storage unit, and the current operating frequency of the variable-speed pumped storage unit to obtain the initial frequency adjustment range for frequency regulation control of the pumped storage unit. Thus, the frequency adjustment range output by the frequency regulation system can be obtained.

[0068] In the embodiments of this application, in step S20, by acquiring historical frequency regulation data of the hybrid pumped storage system, the amplitude-frequency response differences exhibited by constant-speed pumped storage units and variable-speed pumped storage units in different frequency bands are analyzed under the condition that the frequency of external wind turbines generates frequency fluctuations, and the adjustment characteristics of constant-speed pumped storage units and variable-speed pumped storage units for multi-frequency signals are determined.

[0069] Analysis revealed that variable-speed pumped storage units significantly suppress frequency fluctuations in the mid-to-high frequency range. This established the rapid multi-frequency regulation of variable-speed pumped storage units and the stable regulation characteristics of constant-speed pumped storage units with large inertia. This provides a scientific basis for the coordinated control of the subsequent hybrid control system and helps to rationally allocate the regulation tasks of the hybrid pumped storage system.

[0070] Furthermore, in this step, based on the amplitude-frequency response characteristic analysis results of the constant-speed pumped storage unit and the variable-speed pumped storage unit, the frequency regulation range obtained from the initial frequency regulation is divided into frequencies to obtain the frequency division results. This determines the corresponding frequency regulation ranges for the constant-speed pumped storage unit and the variable-speed pumped storage unit, and takes into account the respective regulation advantages of the two types of units to carry out joint frequency regulation control.

[0071] Furthermore, in the embodiments of this application, in step S30, using the above-mentioned frequency division results, frequency control is performed on the constant-speed pumped storage unit and the variable-speed pumped storage unit according to their respective frequency regulation ranges. If the frequency fluctuations in the hybrid pumped storage system are still not eliminated after frequency regulation, iterative frequency division processing needs to be performed according to the frequency adjustment range output by the frequency regulation system, and the constant-speed pumped storage unit and the variable-speed pumped storage unit are repeatedly regulated until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0072] The frequency regulation control method for a hybrid pumped storage system in this application takes into account the difference in amplitude-frequency response characteristics between constant-speed and variable-speed pumped storage units during the regulation process. When frequency fluctuations occur in the hybrid pumped storage system, the method obtains the initial output frequency regulation range of the frequency regulation system, and then performs targeted frequency division processing on this frequency regulation range to divide the load fluctuation response frequency band. Using the divided frequency results, the method allocates targeted regulation commands and performs frequency regulation control on the constant-speed and variable-speed pumped storage units until the frequency fluctuations of the hybrid pumped storage system are eliminated. This achieves joint frequency regulation control that takes into account the respective regulation advantages of the two types of units, greatly improving the comprehensive regulation capability and operational stability of the hybrid pumped storage system.

[0073] Based on the above embodiments, as an optional embodiment, the frequency adjustment range is divided based on the amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units to determine the frequency division result, including:

[0074] The amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units were analyzed to determine the target operating frequency of the variable-speed pumped storage unit at the resonant peak.

[0075] Based on the target operating frequency of the variable speed pumped storage unit at the resonant peak, the frequency adjustment range is divided into a first frequency range component that is greater than the target operating frequency and a second frequency range component that is not greater than the target operating frequency. The frequency division result includes the first frequency range component and the second frequency range component.

[0076] Specifically, in the embodiments of this application, the specific implementation method for frequency division processing based on the amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units is as follows:

[0077] First, by acquiring historical data on the frequency fluctuations of external wind turbines, the amplitude-frequency response characteristics of constant-speed and variable-speed pumped storage units are analyzed. Through this analysis, the target operating frequency of the variable-speed pumped storage unit at its resonant peak can be determined.

[0078] Based on the above embodiments, as an optional embodiment, the amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units are analyzed to determine the target operating frequency of the variable-speed pumped storage unit at the resonant peak, including:

[0079] Power spectral density analysis was performed on historical power fluctuation time-series data of external wind turbines to determine the target power fluctuation frequency range.

[0080] The amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units are analyzed in the target power fluctuation frequency range, and the target operating frequency of variable-speed pumped storage units at the resonance peak is determined based on the analysis results.

[0081] Specifically, the target power fluctuation frequency range described in the embodiments of this application refers to the distribution range of the power fluctuation spectral density of the external wind turbine.

[0082] In the embodiments of this application, multiple types of fluctuation data are extracted from the historical power fluctuation time series data of the external wind turbine, and power spectral density analysis is performed based on different fluctuation data to obtain the distribution range of the power fluctuation spectral density of the external wind turbine, i.e., the target power fluctuation frequency range.

[0083] Based on the above embodiments, as an optional embodiment, power spectral density analysis is performed on the historical power fluctuation time-series data of external wind turbines to determine the target power fluctuation frequency range, including:

[0084] Obtain various types of wind power fluctuation time series data from historical power fluctuation time series data of external wind turbine units;

[0085] Power spectral density analysis was performed on various types of wind power fluctuation time series data to determine the statistical average value of wind power spectral density corresponding to various types of wind power fluctuation time series data.

[0086] Based on the frequency distribution of the statistical average values ​​of various wind power power spectral densities, the target power fluctuation frequency range is determined.

[0087] Specifically, in the embodiments of this application, for the fluctuations in wind power generation, the wind power turbulence model provided by the National Renewable Energy Laboratory (NREL) through Turbsim, namely the IEC Kaimal model (IECKAI), is used. The wind power turbulence model satisfies:

[0088]

[0089] In the formula, f represents the cycle frequency, and L K U represents the integral scale parameter. hub σ represents the wind speed (m / s) at the hub. k This represents the turbulence standard deviation of the wind spectrum in the Normal Turbulence Model (NTM).

[0090] Based on the aforementioned wind power turbulence model, and utilizing historical power fluctuation time-series data from external wind turbines, four types of wind power fluctuation time series with typical time distributions were generated: single-peak, positively skewed, negatively skewed, and bimodal. The simulation duration was set to 1800 seconds, and the sampling frequency was 1 second. This yielded multiple types of wind power fluctuation time-series data.

[0091] Furthermore, power spectral density analysis was performed on various types of wind power fluctuation time-series data to determine the statistical average value of the wind power spectral density corresponding to each type of wind power fluctuation time-series data. The formula for calculating the statistical average value of the wind power spectral density is as follows:

[0092]

[0093] In the formula, E(*) is the expected value, and S x (f) represents the statistical mean of the power spectral density of the Fourier transform.

[0094] Furthermore, combining the Wiener-Khinchin theorem, and by mapping the time-domain and frequency-domain fluctuation characteristics of wind power to the windowed Fourier transform, the transformation equation can be expressed as follows:

[0095]

[0096] Furthermore, the power spectral density is discretized, where T is the sampling duration, T s f is the sampling interval. s =1 / T s The sampling frequency is defined as follows: The first sampling point of load fluctuation within a certain time period is defined as:

[0097] x T [i] = ΔP(t) i )

[0098] The length of the sampled data at each sampling point is recorded as N, where N = T / T s Therefore, the k-th wind power fluctuation point can be expressed as:

[0099]

[0100] Furthermore, the statistical average value of the discretized wind power spectral density can be derived as follows:

[0101]

[0102] Furthermore, by sampling data using the statistically averaged value of the discretized wind power spectral density, the distribution characteristics of the four types of wind power fluctuations are obtained. Then, power spectral density analysis is performed, yielding results as follows: Figure 2 As shown. Figure 2 In the diagram, (a) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under single-mode wind power fluctuation, (b) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under positively skewed wind power fluctuation, (c) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under negatively skewed wind power fluctuation, and (d) is a schematic diagram of the frequency distribution of the statistical average value of wind power spectral density under bimodal wind power fluctuation.

[0103] from Figure 2 As can be seen, the multi-scale frequency response range of the four types of wind power fluctuations is 0.005Hz to 0.5Hz, and they have different energy distributions in different frequency bands. Thus, the target power fluctuation frequency range can be obtained.

[0104] It should be noted that the single-mode, positively skewed, negatively skewed, and bimodal distribution characteristics of wind power fluctuations are important indicators for describing the characteristics of wind power fluctuations. A single-mode distribution refers to wind power fluctuations mainly concentrated around a single peak, meaning the fluctuation characteristics are relatively simple, without obvious multi-peak or dispersion phenomena. A positively skewed (or right-skewed) distribution means that in the wind power fluctuation distribution, larger values ​​(i.e., positive values ​​that deviate significantly from the average) occur more frequently, while smaller values ​​(i.e., negative values ​​that deviate significantly from the average) occur less frequently. A negatively skewed (or left-skewed) distribution, the opposite of a positively skewed distribution, means that in the wind power fluctuation distribution, smaller values ​​(i.e., negative values ​​that deviate significantly from the average) occur more frequently, while larger values ​​(i.e., positive values ​​that deviate significantly from the average) occur less frequently. A bimodal distribution means that the wind power fluctuation distribution has two distinct peaks, meaning the fluctuation characteristics exhibit a bimodal pattern.

[0105] in, Figure 2 Specifically, this manifests as a gradual decrease in power spectral density from low to high frequencies. The low-frequency region exhibits higher energy density, while the energy distribution in the mid- and high-frequency regions is more dispersed. This is due to the low-pass filtering effect caused by the physical and electrical inertia of wind turbines in the high-frequency region, resulting in a decreasing trend in the amplitude of the wind power spectrum. Furthermore, the maximum power output constraint of the wind turbine also limits the growth of the power spectrum amplitude in the low-frequency region. Based on the distribution range and characteristics of the wind power fluctuation power spectral density, it can be divided into three frequency bands from left to right in the frequency domain: low frequency (0.005Hz–0.01Hz), mid-frequency (0.01Hz–0.1Hz), and high frequency (0.1Hz–0.5Hz).

[0106] The method in this application embodiment, by using historical power fluctuation time-series data of external wind turbines to perform power spectral density analysis of various types of wind power fluctuations, can effectively determine the distribution range of power fluctuation spectral density. This provides a reliable analysis range for the differences in amplitude-frequency response characteristics between constant-speed pumped storage units and variable-speed pumped storage units, and helps to improve the accuracy of frequency division processing of frequency adjustment range.

[0107] Furthermore, in the embodiments of this application, by establishing a frequency response model of a hybrid pumped storage system with a variable-speed pumped storage unit, the difference in amplitude-frequency response characteristics between a constant-speed pumped storage unit and a variable-speed pumped storage unit in the target power fluctuation frequency range is analyzed.

[0108] It should be noted that constant-speed pumped storage units and variable-speed pumped storage units have the same hydraulic mechanical regulation system structure and parameter attributes. The only difference is their respective electrical structure and the way they participate in frequency regulation.

[0109] Figure 3 This is one of the schematic diagrams of the frequency regulation system control flow of the hybrid pumped storage system provided in the embodiments of this application, such as... Figure 3 As shown, the hybrid pumped storage system includes a primary frequency regulation system and a secondary frequency regulation system. The linearized model of the hydraulic mechanical regulation system within the hybrid pumped storage system can be represented as follows:

[0110]

[0111] In the formula, G g1 (s) and G g2 Let G(s) represent the transfer functions of the primary and secondary frequency modulation systems, respectively, and let G′(s) represent the transfer function of the servo system. p K i These represent the governor controller parameters of the hybrid pumped storage system, T. tg T g R and R' represent the response constant and reset time constant of the servo system, respectively. T B represents the droop and transient regulation coefficients of the speed governor, respectively. i T represents the system frequency deviation coefficient. w This represents the time constant of water flow inertia.

[0112] Furthermore, the amplitude-frequency response characteristics of constant-speed and variable-speed pumped storage units during the regulation process are analyzed. Based on classical control theory and frequency domain stability analysis methods, Bode plots of the frequency response of constant-speed / variable-speed pumped storage units are drawn, as shown below. Figure 4 As shown, Figure 4 (a) is a schematic diagram of the frequency response amplitude-frequency characteristics of a constant-speed / variable-speed pumped storage unit, where f F / pw、f V / pw represent the frequency response curves of the constant-speed pumped storage unit and the variable-speed pumped storage unit in the frequency domain, respectively; (b) is a schematic diagram of the power response amplitude-frequency characteristics of the constant-speed / variable-speed pumped storage unit, where P F / pw、P V / pw represent the power response curves of constant-speed pumped storage units and variable-speed pumped storage units in the frequency domain, respectively.

[0113] Continue to refer to Figure 4In terms of frequency response, compared with constant-speed pumped storage units, variable-speed pumped storage units have a strong suppression effect on power fluctuations in the mid-frequency and some high-frequency ranges, with the frequency response amplitude at the resonant peak reduced by 61.3%. However, the difference in response between the two types of units in the low-frequency range is not significant, indicating that the regulation advantage of variable-speed pumped storage units is not prominent on a long-term scale.

[0114] Similarly, in terms of power response, the power response amplitude of constant-speed pumped storage units first increases and then decreases, while the power response amplitude of variable-speed pumped storage units shows an overall downward trend.

[0115] It is worth noting that, in Figure 4 The amplitude-frequency characteristics of the two types of units exhibited show a clear inflection point near 0.077Hz. This crucial transition effectively eliminates the resonant peak of the power response of the constant-speed pumped storage unit. This indicates that the two types of units have their own regulation characteristics for multi-frequency signals, especially the variable-speed pumped storage unit, which exhibits a significant suppression effect in the mid-to-high frequency range. Therefore, based on the above analysis results, the target operating frequency for the variable-speed pumped storage unit at the resonant peak can be determined to be 0.077Hz.

[0116] The method in this application embodiment obtains the target power fluctuation frequency range by performing power spectral density analysis on the historical power fluctuation time series data of external wind turbines. Then, it analyzes the difference in amplitude-frequency response characteristics between constant-speed pumped storage units and variable-speed pumped storage units in this frequency range, which can effectively determine the resonant frequency of variable-speed pumped storage units. This provides a scientific basis for the coordinated frequency division control of the subsequent hybrid pumped storage system and helps to rationally allocate system adjustment tasks.

[0117] Furthermore, in the embodiments of this application, based on the resonant frequency of the variable speed pumped storage unit obtained from the above analysis, i.e. the target operating frequency, the frequency adjustment range output by the frequency modulation system is divided into frequency bands to obtain a first frequency range component greater than the target operating frequency and a second frequency range component not greater than the target operating frequency, thereby obtaining the frequency division result used for setting the frequency modulation command.

[0118] The method in this application embodiment, by considering the difference in amplitude-frequency response characteristics between constant-speed pumped storage units and variable-speed pumped storage units, derives the target operating frequency of the variable-speed pumped storage unit at the resonant peak. This fully leverages the high inertia regulation reliability of constant-speed pumped storage units and the rapid load support capability of variable-speed pumped storage units, providing a scientific basis for the targeted allocation of subsequent frequency regulation system control commands. This is beneficial for achieving joint frequency regulation control that takes into account the regulation advantages of both types of units.

[0119] Based on the above embodiments, as an optional embodiment, frequency regulation is performed on the constant-speed pumped storage unit and the variable-speed pumped storage unit based on the frequency division results until the frequency fluctuations in the hybrid pumped storage system are eliminated, including:

[0120] Step S1: Use the first frequency range component and the second frequency range component to adjust the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit to determine the updated frequency adjustment range of the frequency adjustment system output.

[0121] Step S2: Perform frequency division processing on the updated frequency adjustment range to determine the updated first frequency range component and the updated second frequency range component.

[0122] Step S3: Use the updated first frequency range component and the updated second frequency range component to adjust the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit.

[0123] If it is determined that frequency fluctuations still exist in the hybrid pumped storage system, the updated frequency adjustment range is determined, and steps S2 to S3 are repeated until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0124] Specifically, in the embodiments of this application, the frequency division results obtained above are used to adjust the frequency of constant-speed pumped storage units and variable-speed pumped storage units. By adopting an iterative frequency division control method, the frequency adjustment range of the frequency adjustment system output is continuously divided for each frequency adjustment, thereby adjusting the frequency of the two types of units until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0125] Figure 5 This is the second schematic diagram of the frequency regulation system control flow of the hybrid pumped storage system provided in the embodiments of this application, as shown below. Figure 5 As shown in the embodiments of this application, the cutoff frequency of the Butterworth filter in the frequency division control module is pre-set to the operating frequency at the resonant peak of the variable-speed pumped storage unit. Therefore, when frequency fluctuations occur in the hybrid pumped storage system, causing a frequency deviation, the internal inertial parametric system sends the frequency deviation to the frequency modulation system (including a primary frequency modulation system and a secondary frequency modulation system). The frequency modulation system performs corresponding frequency modulation control based on the frequency fluctuation characteristics, ultimately outputting the frequency adjustment range.

[0126] In a hybrid pumped storage system, the equivalent inertial constant of the inertial parametric system is determined by the capacity ratio of each system and its reference value. The transfer function of the inertial parametric system can be expressed as follows:

[0127]

[0128] in,

[0129]

[0130] In the formula, H ∑ H F H V Let p represent the inertial time constants of the constant-speed pumped storage unit, the variable-speed pumped storage unit, and the equivalent system, respectively. fs p vs α represents the reference value of the capacity ratio of constant-speed and variable-speed pumped storage units in a hybrid pumped storage system. ∑ D1 and D2 represent the equivalent value and reference value of the system load damping coefficient, respectively.

[0131] Then, after frequency division processing by the frequency division control module, the frequency adjustment range is divided into a first frequency range component and a second frequency range component.

[0132] Furthermore, in the embodiments of this application, in step S1, the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit is adjusted using the first frequency range component and the second frequency range component to determine the updated frequency adjustment range output by the frequency adjustment system.

[0133] Continue to refer to Figure 5 As an optional embodiment, the step of frequency regulation of variable-speed pumped storage units and constant-speed pumped storage units using a first frequency range component and a second frequency range component includes:

[0134] Determine the first power deviation corresponding to the first frequency range component and the second power deviation corresponding to the second frequency range component;

[0135] The second power deviation is subjected to power output limitation processing to determine the second power regulation amount and the corresponding second power regulation margin of the constant speed pumped storage unit.

[0136] Power output limiting is performed based on the first power deviation and the second power adjustment margin to determine the first power adjustment amount and the corresponding first power adjustment margin of the variable speed pumped storage unit; the first power adjustment margin is used to iteratively update the frequency adjustment range.

[0137] The frequency of the variable-speed pumped storage unit is adjusted using the first power regulation, and the frequency of the constant-speed pumped storage unit is adjusted using the second power regulation.

[0138] Specifically, the power output limiting processing described in the embodiments of this application refers to the power output limiting processing performed by the system's preset power regulation rate limiting module.

[0139] The process by which the power regulation rate limiting module performs power output limiting can be represented as follows:

[0140]

[0141] Among them, △P GV0 S represents the change in output power of the generator speed governor before adjusting the speed limit. G R represents the system unit capacity. Gmax R represents the maximum regulation rate of the system unit. Gmin This indicates the minimum regulation rate of the system unit.

[0142] Furthermore, in the embodiments of this application, based on the relationship between the unit's operating frequency and power, the first power deviation ΔP corresponding to the first frequency range component is determined. High The second power deviation ΔP corresponding to the second frequency range component Low This leads to the second power deviation ΔP Low The input is sent to the power regulation rate limiting module for power output limiting processing. Specifically, ΔP is... Low As △P GV0 Substituting into the above limiting formula, we obtain the second power regulation ΔP of the constant-speed pumped storage unit. GV and the corresponding second power adjustment margin (△P) GV0 -△P GV ).

[0143] By comprehensively considering the capacity and regulation capabilities of both constant-speed and variable-speed pumped storage units, variable-speed pumped storage units can quickly compensate for the margin (△P) exceeding the regulation rate of constant-speed pumped storage units. GV0 -△P GV In this way, the first power deviation ΔP can be reduced. High With the second power adjustment margin (△P) GV0 -△P GV ) Superimposed to generate △P V and △P V The input is fed into the power regulation rate limiting module and processed for power output limiting in the same way to obtain the first power regulation amount ΔP of the variable speed pumped storage unit. VPSS and the corresponding first power adjustment margin (△P) V -△P VPSS ).

[0144] Furthermore, using the first power adjustment amount ΔP VPSS Frequency regulation is applied to the variable-speed pumped storage unit, and the second power regulation variable ΔP is used. GV Frequency regulation is applied to constant-speed pumped-storage units. For variable-speed pumped-storage units, when system frequency fluctuations occur, frequency regulation is performed via an internal frequency regulator, generating a frequency deviation signal, which is then compared with the first power regulation value ΔP. VPSSAfter superposition processing, and then under the action of the superimposed signal, the power of the doubly-fed motor is regulated by the internal power regulator, thereby realizing the use of the first power regulation amount ΔP. VPSS The process of frequency regulation for variable speed pumped storage units.

[0145] The method in this application embodiment, by simultaneously considering the capacity and regulation capability of two types of units, introduces a power output limit, thereby designing an adaptive additional compensation action mode for the system. The regulation margin of the constant-speed pumped storage unit is used as the additional compensation amount of the variable-speed pumped storage unit, thereby achieving adaptive coordinated control of the hybrid pumped storage system in terms of regulation action constraints.

[0146] Based on the above embodiments, as an optional embodiment, after adjusting the frequency of the variable-speed pumped-storage unit using the first power adjustment amount and adjusting the frequency of the constant-speed pumped-storage unit using the second power adjustment amount, the method further includes:

[0147] Obtain the first operating power of the variable speed pumped storage unit after frequency regulation and the second operating power of the constant speed pumped storage unit after frequency regulation;

[0148] Based on the current power fluctuation deviation of the external wind turbine, the first operating power and the second operating power, a first frequency regulation calculation and a second frequency regulation calculation are performed respectively to determine the first frequency regulation range after the first frequency regulation calculation and the second frequency regulation range after the second frequency regulation calculation.

[0149] Determine the frequency adjustment amount corresponding to the first power adjustment margin;

[0150] The first frequency adjustment range, the second frequency adjustment range, and the frequency adjustment amount are superimposed to determine the updated frequency adjustment range of the frequency modulation system output.

[0151] Specifically, continue to refer to Figure 5 In the embodiments of this application, after frequency regulation of the variable-speed pumped storage unit using the first power regulation amount and frequency regulation of the constant-speed pumped storage unit using the second power regulation amount, the first operating power of the variable-speed pumped storage unit after frequency regulation and the second operating power of the constant-speed pumped storage unit after frequency regulation can be further obtained. Thus, the system superimposes the current power fluctuation deviation of the external wind turbine, the first operating power and the second operating power, and then inputs the superimposed signal into the frequency regulation system for frequency regulation calculation, thereby determining the first frequency regulation range after the first frequency regulation calculation of the primary frequency regulation system and the second frequency regulation range after the secondary frequency regulation calculation of the secondary frequency regulation system.

[0152] Furthermore, in the embodiments of this application, the power regulation margin (ΔP) of the variable speed pumped storage unit V -△PVPSS The system will return to the control loop of the hybrid pumped storage system and undergo frequency division control again. Specifically, the first power regulation margin (ΔP) will be determined first. V -△P VPSS The corresponding frequency adjustment amount is returned to the system control loop. The first frequency adjustment range output by the primary frequency modulation system, the second frequency adjustment range output by the secondary frequency modulation system, and the frequency adjustment amount are superimposed to update the previously output frequency adjustment range of the frequency modulation system, thereby determining the updated frequency adjustment range output by the frequency modulation system for re-frequency division control.

[0153] The method in this application embodiment, after frequency regulation of the variable speed pumped storage unit and the constant speed pumped storage unit, further utilizes the current power fluctuation deviation of the external wind turbine and the power after frequency regulation of the unit to re-input to the frequency regulation system for frequency regulation calculation, thereby updating the frequency adjustment range previously output by the frequency regulation system, preparing for subsequent iterative frequency division and frequency regulation control, so as to realize the adaptive additional compensation frequency regulation mode of the system.

[0154] Furthermore, continue to refer to Figure 5 In the embodiments of this application, in step S2, after processing by the frequency division control module, the updated frequency adjustment range is divided again to obtain the updated first frequency range component and the updated second frequency range component.

[0155] Furthermore, in the embodiments of this application, in step S3, using the updated first frequency range component and the updated second frequency range component, the variable speed pumped storage unit and the constant speed pumped storage unit are frequency-regulated again according to the aforementioned frequency regulation control process and the adaptive compensation frequency regulation method based on the rate regulation limit.

[0156] Finally, if it is determined that frequency fluctuations still exist in the hybrid pumped storage system, the updated frequency adjustment range is determined, and the process of steps S2 to S3 is repeated continuously to iterate frequency division and frequency adjustment control until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0157] The method in this application embodiment designs an adaptive compensation frequency regulation mechanism based on adjustment constraints. It utilizes the difference in amplitude and frequency response between constant-speed and variable-speed pumped storage units to continuously coordinate the adjustment status of each unit, fully leverages the rapid adjustment capability of variable-speed pumped storage units to high-frequency load fluctuations, reduces the amount of action required by constant-speed pumped storage units, and further improves the overall adjustment performance of the hybrid regulation system.

[0158] In one specific embodiment of this application, the hybrid pumped storage system comprises 12 units, including 10 constant-speed pumped storage units and 2 variable-speed pumped storage units, with a total installed capacity of 3000MW. The cutoff frequency in the hybrid pumped storage system employing the frequency regulation control method of this application is set to 0.1Hz, and the stability analysis and verification of the proposed coordinated control method are conducted.

[0159] By plotting the global root locus curves of a hybrid pumped storage system employing and without the frequency modulation control method of this application, as a function of the governor control parameter K, such as... Figure 6 As shown. From Figure 6 As shown in (a), as the control parameter K increases, some poles cross to the right of the imaginary axis, making the system unstable. Conversely, as the value of K decreases, the root locus deviates from the imaginary axis, and the system stability increases. And... Figure 6 In (b) of the diagram, all system root loci are located to the left of the imaginary axis, and conjugate poles do not cross the imaginary axis into the unstable region, i.e., to the right of the imaginary axis. A comparison shows that, under reasonable parameter settings, the frequency-division coordinated control method of this application can significantly improve the operational stability of the hybrid pumped storage system and reduce the operational risks of each unit and the power grid.

[0160] Figure 7 This is a schematic diagram of the spectral density distribution curve of the frequency fluctuation of the hybrid pumped storage system provided in the embodiments of this application, as shown in the figure. Figure 7 As shown, taking the wind power fluctuation scenario under the single-peak turbulence model KAI as an example, the variable-speed pumped storage unit has a suppressive effect on the system frequency deviation across the entire frequency band, and its effect is more significant in the mid-frequency band: the power spectrum amplitude at the resonant frequency of 0.077Hz decreases from 1.77e-5 of the constant-speed pumped storage unit to 2.16e-6 of the variable-speed pumped storage unit, and its response amplitude remains at the same level as the low-frequency band amplitude. This further confirms the regulation advantage of the variable-speed pumped storage unit in the hybrid pumped storage system and its frequency difference suppression effect within a specific load fluctuation range (0.02~0.12Hz).

[0161] Similarly, based on the scenario of wind turbine fluctuations, the dynamic performance of frequency fluctuations in the hybrid pumped storage system under different control modes was compared and analyzed. The comparison time scale was from 0 to 80 seconds, and its frequency response time-domain curve was obtained as follows. Figure 8 As shown, SC represents the time-domain frequency response curve of the hybrid pumped storage system in this application embodiment, SRC represents the time-domain frequency response curve of the hybrid pumped storage system in this application embodiment considering the adjustment limit rate of the hydraulic mechanical governor system, S1 represents the time-domain frequency response curve of the conventional hybrid pumped storage system without adopting the frequency regulation control method of this application, and SR1 represents the time-domain frequency response curve of the conventional hybrid pumped storage system considering the adjustment limit rate of the hydraulic mechanical governor system.

[0162] As shown in the figure, under wind power disturbances with continuous time-frequency characteristics, the frequency regulation of SC and SRC is better than that of S1 and SR1. That is, the frequency regulation control method of this application significantly improves the fluctuation of system frequency deviation, which is consistent with the above discussion results.

[0163] From the perspective of the influencing mechanism, variable-speed pumped storage units can utilize their enormous rotational kinetic energy to participate in the system's inertial response. Their flexibility and continuous power modulation capabilities allow for more precise grid frequency control, thus enabling a faster response to load fluctuations compared to constant-speed pumped storage units. Furthermore, comparisons are made separately... Figure 8 The curves in (a) and (b) show that when the regulating rate limiting effect in the hybrid pumped storage system is amplified, the frequency response of the hybrid pumped storage system also improves. This indicates that the regulating rate limiting and the frequency modulation control method of this application have a positive and synergistic effect in suppressing system frequency fluctuations.

[0164] Furthermore, as shown in the figure, the frequency errors of SC and SRC are much smaller than those of S1 and SR1, indicating that the frequency-division coordinated control method of this application quantitatively compensates for the high-frequency regulation caused by wind power disturbances in the system, thus significantly weakening the impact of the regulation rate limitation. Specifically, at time t = 22s, under the SRC condition, the system frequency response error under both control modes decreases from Δf1 = 1.01e-3 to Δf c =1.14e-4.

[0165] In summary, for hybrid pumped storage systems with variable-speed pumped storage units participating in frequency regulation, the frequency regulation control method proposed in this application can significantly improve system operational stability and frequency deviation when smoothing typical wind power load fluctuations.

[0166] The frequency control device for a hybrid pumped storage system provided by the present invention is described below. The frequency control device for a hybrid pumped storage system described below can be referred to in correspondence with the frequency control method for a hybrid pumped storage system described above.

[0167] Figure 9 This is a schematic diagram of the frequency regulation control device for the hybrid pumped storage system provided in this application, as shown below. Figure 9 As shown, this is applied to a hybrid pumped storage system, which includes a constant-speed pumped storage unit, a variable-speed pumped storage unit, and a frequency regulation system, including:

[0168] The acquisition module 100 is used to acquire the frequency adjustment range of the frequency regulation system output when frequency fluctuations occur in the hybrid pumped storage system; the frequency adjustment range is obtained by frequency regulation of the constant-speed pumped storage unit and the variable-speed pumped storage unit.

[0169] The frequency division module 200 is used to perform frequency division processing on the frequency adjustment range based on the amplitude-frequency response characteristics of constant-speed pumped storage units and variable-speed pumped storage units, and to determine the frequency division result.

[0170] The frequency modulation module 300 is used to adjust the frequency of constant-speed pumped storage units and variable-speed pumped storage units based on the frequency division results, until the frequency fluctuations in the hybrid pumped storage system are eliminated.

[0171] It is understood that the detailed functional implementation of each of the above units / modules can be found in the description in the aforementioned method embodiments, and will not be repeated here.

[0172] It should be understood that the above-described device is used to execute the methods in the above embodiments. The implementation principle and technical effect of the corresponding program modules in the device are similar to those described in the above methods. The working process of the device can be referred to the corresponding process in the above methods, and will not be repeated here.

[0173] The frequency regulation control device for a hybrid pumped storage system provided in this application takes into account the difference in amplitude-frequency response characteristics between constant-speed and variable-speed pumped storage units during the regulation process. When frequency fluctuations occur in the hybrid pumped storage system, it obtains the initial output frequency regulation range of the frequency regulation system, and then performs targeted frequency division processing on this frequency regulation range to divide the load fluctuation response frequency band. Using the divided frequency results, it allocates targeted regulation commands and performs frequency regulation control for constant-speed and variable-speed pumped storage units until the frequency fluctuations of the hybrid pumped storage system are eliminated. This achieves joint frequency regulation control that takes into account the respective regulation advantages of the two types of units, greatly improving the comprehensive regulation capability and operational stability of the hybrid pumped storage system.

[0174] Based on the methods in the above embodiments, this application provides an electronic device, such as... Figure 10 As shown, the electronic device may include a processor 1010, a communications interface 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communications interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute the methods in the above embodiments.

[0175] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0176] Based on the methods in the above embodiments, this application provides a computer-readable storage medium storing a computer program that, when run on a processor, causes the processor to execute the methods in the above embodiments.

[0177] Based on the methods in the above embodiments, this application provides a computer program product that, when run on a processor, causes the processor to execute the methods in the above embodiments.

[0178] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0179] The method steps in this application embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an ASIC.

[0180] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0181] It is understood that the various numerical designations used in the embodiments of this application are merely for the convenience of description and are not intended to limit the scope of the embodiments of this application.

[0182] It should be understood that expressions such as “comprising” and “may include” used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as “comprising” and / or “having” are to be interpreted as indicating a particular characteristic, number, operation, constituent element, component, or combination thereof, but not to exclude the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0183] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A frequency regulation control method for a hybrid pumped storage system, applied to a hybrid pumped storage system, wherein the hybrid pumped storage system includes a constant-speed pumped storage unit, a variable-speed pumped storage unit, and a frequency regulation system, characterized in that, include: When frequency fluctuations occur in the hybrid pumped storage system, the frequency adjustment range output by the frequency modulation system is obtained; The frequency adjustment range is divided based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit to determine the frequency division result; Based on the frequency division results, the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit is adjusted until the frequency fluctuations in the hybrid pumped storage system are eliminated. The step of performing frequency division processing on the frequency adjustment range based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit, and determining the frequency division result, includes: The amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit are analyzed to determine the target operating frequency of the variable-speed pumped storage unit at the resonant peak. Based on the target operating frequency of the variable-speed pumped storage unit at the resonant peak, the frequency adjustment range is divided into a first frequency range component that is greater than the target operating frequency and a second frequency range component that is not greater than the target operating frequency; the frequency division result includes the first frequency range component and the second frequency range component. The step of adjusting the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit based on the frequency division result until the frequency fluctuations in the hybrid pumped storage system are eliminated includes: Step S1: Using the first frequency range component and the second frequency range component, the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit is adjusted to determine the updated frequency adjustment range output by the frequency adjustment system. Step S2: Perform frequency division processing on the updated frequency adjustment range to determine the updated first frequency range component and the updated second frequency range component; Step S3: Use the updated first frequency range component and the updated second frequency range component to adjust the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit. If it is determined that frequency fluctuations still exist in the hybrid pumped storage system, an updated frequency adjustment range is determined, and steps S2 to S3 are repeated until the frequency fluctuations in the hybrid pumped storage system are eliminated.

2. The frequency regulation control method for a hybrid pumped storage system according to claim 1, characterized in that, The steps for frequency regulation of the variable-speed pumped storage unit and the constant-speed pumped storage unit using the first frequency range component and the second frequency range component include: Determine the first power deviation corresponding to the first frequency range component and the second power deviation corresponding to the second frequency range component; The second power deviation is subjected to power output limitation processing to determine the second power adjustment amount and the corresponding second power adjustment margin of the constant speed pumped storage unit. Based on the first power deviation and the second power adjustment margin, power output limiting processing is performed to determine the first power adjustment amount and the corresponding first power adjustment margin of the variable speed pumped storage unit; the first power adjustment margin is used to iteratively update the frequency adjustment range. The frequency of the variable-speed pumped storage unit is adjusted using the first power adjustment amount, and the frequency of the constant-speed pumped storage unit is adjusted using the second power adjustment amount.

3. The frequency regulation control method for a hybrid pumped storage system according to claim 2, characterized in that, After adjusting the frequency of the variable-speed pumped-storage unit using the first power adjustment amount and adjusting the frequency of the constant-speed pumped-storage unit using the second power adjustment amount, the method further includes: The first operating power of the variable speed pumped storage unit after frequency regulation and the second operating power of the constant speed pumped storage unit after frequency regulation are obtained. Based on the current power fluctuation deviation of the external wind turbine, the first operating power and the second operating power, a first frequency regulation calculation and a second frequency regulation calculation are performed respectively to determine the first frequency adjustment range after the first frequency regulation calculation and the second frequency adjustment range after the second frequency regulation calculation. Determine the frequency adjustment amount corresponding to the first power adjustment margin; The first frequency adjustment range, the second frequency adjustment range, and the frequency adjustment amount are superimposed to determine the updated frequency adjustment range output by the frequency modulation system.

4. The frequency regulation control method for a hybrid pumped storage system according to any one of claims 1-3, characterized in that, The analysis of the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit, and the determination of the target operating frequency of the variable-speed pumped storage unit at the resonant peak, includes: Power spectral density analysis was performed on historical power fluctuation time-series data of external wind turbines to determine the target power fluctuation frequency range. A difference analysis of amplitude-frequency response characteristics was performed on the constant-speed pumped storage unit and the variable-speed pumped storage unit within the target power fluctuation frequency range, and the target operating frequency of the variable-speed pumped storage unit at the resonance peak was determined based on the analysis results.

5. The frequency regulation control method for a hybrid pumped storage system according to claim 4, characterized in that, The process of performing power spectral density analysis on historical power fluctuation time-series data of external wind turbines to determine the target power fluctuation frequency range includes: Multiple types of wind power fluctuation time series data are obtained from the historical power fluctuation time series data of the external wind turbine; Power spectral density analysis is performed on the time series data of wind power fluctuations of various types to determine the statistical average value of wind power spectral density corresponding to the time series data of wind power fluctuations of various types. The target power fluctuation frequency range is determined based on the frequency distribution of the statistical average values ​​of various wind power power spectral densities.

6. A frequency regulation control device for a hybrid pumped storage system, applied to a hybrid pumped storage system, the hybrid pumped storage system comprising a constant-speed pumped storage unit, a variable-speed pumped storage unit, and a frequency regulation system, characterized in that, include: The acquisition module is used to acquire the frequency adjustment range output by the frequency regulation system when frequency fluctuations occur in the hybrid pumped storage system. The frequency division module is used to perform frequency division processing on the frequency adjustment range based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit, and to determine the frequency division result. The frequency modulation module is used to adjust the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit based on the frequency division result until the frequency fluctuations in the hybrid pumped storage system are eliminated. The step of performing frequency division processing on the frequency adjustment range based on the amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit, and determining the frequency division result, includes: The amplitude-frequency response characteristics of the constant-speed pumped storage unit and the variable-speed pumped storage unit are analyzed to determine the target operating frequency of the variable-speed pumped storage unit at the resonant peak. Based on the target operating frequency of the variable-speed pumped storage unit at the resonant peak, the frequency adjustment range is divided into a first frequency range component that is greater than the target operating frequency and a second frequency range component that is not greater than the target operating frequency; the frequency division result includes the first frequency range component and the second frequency range component. The step of adjusting the frequency of the constant-speed pumped storage unit and the variable-speed pumped storage unit based on the frequency division result until the frequency fluctuations in the hybrid pumped storage system are eliminated includes: Step S1: Using the first frequency range component and the second frequency range component, the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit is adjusted to determine the updated frequency adjustment range output by the frequency adjustment system. Step S2: Perform frequency division processing on the updated frequency adjustment range to determine the updated first frequency range component and the updated second frequency range component; Step S3: Use the updated first frequency range component and the updated second frequency range component to adjust the frequency of the variable speed pumped storage unit and the constant speed pumped storage unit. If it is determined that frequency fluctuations still exist in the hybrid pumped storage system, an updated frequency adjustment range is determined, and steps S2 to S3 are repeated until the frequency fluctuations in the hybrid pumped storage system are eliminated.

7. An electronic device, characterized in that, include: At least one memory for storing computer programs; At least one processor is configured to execute a program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is run on the processor, it causes the processor to perform the method as described in any one of claims 1-5.

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