Class switch control method, device and equipment for electric vehicle to participate in frequency modulation

Abstract

The invention relates to the technical field of power system frequency control, and discloses a similar switch control method, device and equipment for an electric vehicle to participate in frequency modulation, which simulates the frequency change of a multi-region power system for the electric vehicle to participate in frequency modulation by constructing a frequency modulation operation model of the multi-region power system. Constructing an event triggering operation model of a similar switch event triggering mechanism and an operation model of a dynamic output feedback controller, and coupling the frequency modulation operation model of the multi-region power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of an augmented system; therefore, the frequency modulation feedback process of the multi-region power system is simulated, the control parameters of the augmented system are determined according to the stable performance indexes, and the control parameters are configured in the augmented system for frequency modulation, so that the influence of DoS attacks is reduced, and the stability of the load frequency control system under the DoS attacks can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power system frequency control, and in particular to a switch-like control method, device and equipment for electric vehicles to participate in frequency modulation. Background Art

[0002] Vehicle-to-Grid (V2G) technology is a key technology for electric vehicles to participate in the frequency regulation of power systems. V2G technology allows electric vehicles to be regarded as distributed power generation units when participating in frequency regulation, transmitting electric energy to the grid at a specific time. At the same time, it can participate in the operation of the grid as a flexible load, making the operation of the power system more stable and reliable, and effectively improving the quality of electric energy. At the same time, the response frequency speed of electric vehicles is faster than that of traditional frequency regulation units, which is very suitable for the rapidity requirements of system frequency regulation. In summary, it is of great significance and theoretical value to study the strategy of electric vehicles participating in the secondary frequency regulation of power grids. At the same time, with the increase in the scale and complexity of the power grid, environmental constraints and economic operation require the power grid to have higher quality and greater capacity during power transmission.

[0003] In addition, the widespread use of network components in the power grid has brought about many network security issues. Generally speaking, the attack modes of the system can be roughly divided into denial of service attacks and spoofing attacks. The main purpose of denial of service attacks is to invalidate current information, thereby affecting the reliability of the system. In order to reduce the damage to the network caused by denial of service attacks and ensure the network security of the system, the current load frequency control of the multi-regional power system where electric vehicles participate in frequency modulation is difficult to ensure that the closed-loop load frequency control system is stable and meets the required performance. Summary of the invention

[0004] In view of this, the present invention provides a switch-like control method, device and equipment for electric vehicles participating in frequency modulation, which solves the technical problem that the current load frequency control of multi-regional power systems in which electric vehicles participate in frequency modulation is difficult to ensure the stability of the closed-loop load frequency control system and meet the required performance.

[0005] A first aspect of the present invention provides a quasi-switch control method for electric vehicles participating in frequency modulation, comprising:

[0006] According to the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency regulation, and by setting the state space, a frequency regulation operation model of the multi-regional power system is constructed;

[0007] Constructing an event triggering operation model of the quasi-switch event triggering mechanism according to the sampling data of the quasi-switch event triggering mechanism of the multi-regional power system;

[0008] Determining an operation model of the dynamic output feedback controller according to the operation control of the dynamic output feedback controller of the multi-regional power system;

[0009] coupling the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of the augmented system;

[0010] The control parameters of the augmented broadcast system are determined according to the stability performance index, and the control parameters are configured in the augmented broadcast system for frequency modulation.

[0011] Preferably, the frequency regulation operation model of the multi-regional power system is constructed by setting a state space based on the relationship between the multiple disturbance variation amounts and the system frequency variation amount of the multi-regional power system in which electric vehicles participate in frequency regulation, including:

[0012] According to the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency modulation, a frequency modulation operation model of the multi-regional power system is established through differential equations. The frequency modulation operation model of the multi-regional power system is:

[0013]

[0014] Where i is the i-th region of the multi-regional power system, is the derivative of the system frequency change, is the frequency deviation, is the damping coefficient of the generator set, is the moment of inertia of the generator set, is the change in active power of the tie line, is the change in generator output power, is the load deviation, is the output power change of the electric vehicle, is the change in the governor valve position, is the wind speed change of the wind turbine;

[0015] in,

[0016]

[0017]

[0018]

[0019]

[0020]

[0021]

[0022] In the formula, is the derivative of the tie line active power change vector, For Region and Region The connection line synchronization coefficient between them, n is the number of regions, is the derivative of the generator output power change vector, is the time constant of the turbine, is the derivative of the generator output power change vector, is the derivative of the change vector of the governor valve position, To reduce the speed, is the time constant of the speed regulating unit, is the control input of the system, is the derivative of the wind speed change vector of the wind turbine, is the time constant of the wind turbine speed governor, is the wind speed disturbance parameter, is the derivative of the electric vehicle output power change vector, is the time constant of the electric vehicle, is the proportionality factor of electric vehicles;

[0023] Determining a state variable and an output variable of each region according to a plurality of disturbance variation quantities of each region in the multi-region power system;

[0024] Determine the state space of each region according to the state variable of each region and the output variable;

[0025] Adding the state spaces of each region to obtain the state space of the multi-region power system;

[0026] According to the frequency regulation operation model and state space of the multi-regional power system, a frequency regulation operation model of the multi-regional power system is constructed.

[0027] Preferably, constructing an event triggering operation model of the quasi-switch event triggering mechanism according to the sampling data of the quasi-switch event triggering mechanism of the multi-regional power system includes:

[0028] The event triggering operation model of the switch-like event triggering mechanism is constructed according to the DoS attack variable. The event triggering operation model is:

[0029]

[0030]

[0031] In the formula, , They represent the kth and k+1th transmission moments respectively, l is a positive integer, Represents the sampling interval of the sensor in the event trigger mechanism, To trigger the delay, To transfer data, is the packet transmission error, is the first trigger delay, is the second trigger delay, It is the DoS attack variable;

[0032] in,

[0033]

[0034] In the formula, For the system attack, The system is not affected attack;

[0035] .

[0036]

[0037] Where T is the matrix transpose, , are all positive matrices, , These are the threshold parameters of the switch event trigger mechanism. is the packet transmission error under DoS attack, For the current transmission data, Transmit data for the next moment, is the current transmission time, Sampling instants for future transmissions affected by the DoS attack, is the current DoS attack time, is the maximum attack time;

[0038] Through , Perform simultaneous operations to obtain a positive matrix , The calculation result of the positive matrix , The calculation result is substituted into the event-triggered operation model.

[0039] Preferably, the operation model of the dynamic output feedback controller is:

[0040]

[0041] In the formula, is the control output of the dynamic output feedback controller, , , , are the control parameters of the dynamic output feedback controller, is the state variable of the dynamic data feedback controller, To transfer data, For control input.

[0042] Preferably, coupling the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of the augmented system includes:

[0043] The state space of the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller are coupled to obtain an equivalent operation model of the augmented system, and the equivalent operation model of the augmented system is:

[0044]

[0045] In the formula, To augment the control output of the system, , , , are all closed-loop system matrices, is the state variable of the augmented system, To augment the state variables of the system in the next step, is the step interval, is the control parameter.

[0046] Preferably, determining the control parameters of the augmented broadcast system according to the stability performance index, and configuring the control parameters in the augmented broadcast system for frequency modulation includes:

[0047] According to the stability performance index, the control parameters of the augmented system are determined as follows:

[0048]

[0049] Where U is a non-singular matrix, are all unknown parameter matrices, , are the parameter matrices of the interconnected power system, is the identity matrix;

[0050] The control parameters are configured in the augmented broadcast system for frequency modulation.

[0051] In a second aspect, the present invention further provides a switch-like control device for an electric vehicle to participate in frequency modulation, comprising:

[0052] A frequency regulation operation module is used to construct a frequency regulation operation model of a multi-regional power system by setting a state space according to the relationship between multiple disturbance changes and system frequency changes of a multi-regional power system in which electric vehicles participate in frequency regulation;

[0053] A trigger operation module, used for constructing an event trigger operation model of the switch-like event trigger mechanism according to the sampling data of the switch-like event trigger mechanism of the multi-region power system;

[0054] A feedback control module, configured to determine an operation model of the dynamic output feedback controller according to the operation control of the dynamic output feedback controller of the multi-region power system;

[0055] An augmented coupling module, used to couple the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of the augmented system;

[0056] The frequency modulation module is used to determine the control parameters of the augmented broadcast system according to the stability performance index, and configure the control parameters in the augmented broadcast system to perform frequency modulation.

[0057] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the switch-like control method for the electric vehicle participating in frequency modulation as described in the first aspect.

[0058] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the steps of the switch-like control method for the electric vehicle participating in frequency modulation as described in the first aspect are implemented.

[0059] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions, wherein when the program instructions are executed by a computer, the computer executes the steps of the switch-like control method for an electric vehicle participating in frequency modulation as described in the first aspect.

[0060] It can be seen from the above technical solutions that the present invention simulates the frequency changes of the multi-regional power system in which electric vehicles participate in frequency modulation by constructing a frequency modulation operation model of the multi-regional power system, and constructs an event-triggered operation model of a switch event trigger mechanism and an operation model of a dynamic output feedback controller. The frequency modulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller are coupled to obtain an equivalent operation model of the augmented system, thereby simulating the frequency modulation feedback process of the multi-regional power system, and determining the control parameters of the augmented system according to the stability performance index, and configuring the control parameters in the augmented system for frequency modulation, thereby reducing the impact of DoS attacks and ensuring the stability of the load frequency control system under DoS attacks. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 An application environment of a switch-like control method for an electric vehicle participating in frequency modulation provided by an embodiment of the present invention;

[0062] Figure 2 A flow chart of a quasi-switch control method for an electric vehicle participating in frequency modulation provided by an embodiment of the present invention;

[0063] Figure 3 A control logic diagram of a multi-region power system provided by an embodiment of the present invention;

[0064] Figure 4 A real-time attack status diagram of a DoS attack provided by an embodiment of the present invention;

[0065] Figure 5 A state response diagram of a system provided by an embodiment of the present invention when it is subjected to a DoS attack;

[0066] Figure 6 ACE status response diagram of two regions provided by an embodiment of the present invention;

[0067] Figure 7 A tie line status response diagram for a region provided by an embodiment of the present invention;

[0068] Figure 8 A data transmission diagram when the system provided by the embodiment of the present invention is subjected to a DoS attack;

[0069] Fig. 9 A schematic diagram of the structure of a switch-like control device for an electric vehicle participating in frequency modulation provided by an embodiment of the present invention;

[0070] Fig.10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0071] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0072] The switch-like control method for an electric vehicle participating in frequency modulation provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The multi-regional power system communicates with the server 102 via a network. The data storage system can store data that the server 102 needs to process. The data storage system can be integrated on the server 102, or placed on the cloud or other network servers. The server 102 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0073] like Figure 2 As shown, a switch-like control method for electric vehicles participating in frequency modulation is provided, and the method is applied to Figure 1 The server 102 in the example is used as an example to illustrate the method, which includes the following steps S1 to S5. Among them:

[0074] Step S1, according to the relationship between multiple disturbance changes and system frequency changes of a multi-regional power system in which electric vehicles participate in frequency modulation, and by setting a state space, a frequency modulation operation model of the multi-regional power system is constructed.

[0075] Among them, Figure 3 The control logic of the multi-area power system shown in Figure 3 The load frequency control system is shown as a control structure, covering core parts such as controller, communication network, feedback control module, etc. The design of the system not only takes into account the traditional frequency regulation function, but also introduces electric vehicles to participate in the system frequency regulation to optimize the system performance. A protection mechanism for DoS attacks is also added. First, the controller generates a control signal based on the regional control error (ACE). Then the control signal is transmitted to the regulation system through the communication network, and network attacks are protected. At the same time, the deviation signal caused by wind power fluctuations and load changes is adjusted to generate frequency and power deviation signals. The system adjusts the regulation signal in real time through the feedback control loop, optimizes the control effect, and finally outputs the frequency deviation signal. It is controlled as much as possible within the stable range to ensure the safety and reliability of power grid operation.

[0076] Based on the control logic of the multi-regional power system, the frequency regulation operation model of the multi-regional power system can be obtained by performing inverse Laplace transform.

[0077] Specifically, in step S1, the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency modulation is used, and a frequency modulation operation model of the multi-regional power system is constructed by setting a state space, including:

[0078] Step S101: According to the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency modulation, a frequency modulation operation model of the multi-regional power system is established through differential equations. The frequency modulation operation model of the multi-regional power system is:

[0079]

[0080] Where i is the i-th region of the multi-regional power system, is the derivative of the system frequency change, is the frequency deviation, is the damping coefficient of the generator set, is the moment of inertia of the generator set, is the change in active power of the tie line, is the change in generator output power, is the load deviation, is the output power change of the electric vehicle, is the change in the governor valve position, is the wind speed change of the wind turbine;

[0081] in,

[0082]

[0083]

[0084]

[0085]

[0086]

[0087]

[0088] In the formula, is the derivative of the tie line active power change vector, For Region and Region The connection line synchronization coefficient between them, n is the number of regions, is the derivative of the generator output power change vector, is the time constant of the turbine, is the derivative of the generator output power change vector, is the derivative of the change vector of the governor valve position, To reduce the speed, is the time constant of the speed regulating unit, is the control input of the system, is the derivative of the wind speed change vector of the wind turbine, is the time constant of the wind turbine speed governor, is the wind speed disturbance parameter, is the derivative of the electric vehicle output power change vector, is the time constant of the electric vehicle, is the proportionality factor of electric vehicles;

[0089] Step S102: determining the state variables and output variables of each region according to a plurality of disturbance variation quantities of each region in the multi-region power system.

[0090] Among them, the state variables and output variables are:

[0091] ,

[0092]

[0093] In the formula, is the state variable, is the disturbance variable, is the output variable, is the regional control error.

[0094] Step S103: determine the state space of each region according to the state variables and output variables of each region.

[0095] Among them, the state space of each region is:

[0096]

[0097] In the formula, is the state variable vector value, is the system parameter matrix of the ith region of the interconnected power system, is the control input matrix of the ith region, Input vector value for control for . is the state variable of region j, is the output parameter matrix of the ith region of the interconnected power system.

[0098] ,

[0099] ,

[0100]

[0101] In the formula, is the frequency deviation factor.

[0102] Step S104: sum the state spaces of the various regions to obtain the state space of the multi-region power system.

[0103] Among them, the state space of the multi-regional power system is obtained by adding the state spaces of each region. Specifically, the state space expression of the multi-regional power system with electric vehicles participating in frequency regulation can be described as:

[0104]

[0105]

[0106] ,

[0107] ,

[0108] ,

[0109] ,

[0110] ,

[0111] ,

[0112] .

[0113] In the formula, , , , They are all parameter matrices of interconnected power systems.

[0114] Step S105: construct a frequency regulation operation model of the multi-regional power system according to the frequency regulation operation model and state space of the multi-regional power system.

[0115] Among them, a multi-regional power system load frequency model is established in which electric vehicles participate in frequency regulation as control inputs, and wind power generation participates in frequency regulation as interference. Based on the dynamic output feedback control method, the impact of less considered uncertain energy sources such as electric vehicles and wind power generation on the load frequency control of the power system is solved.

[0116] Step S2: construct an event triggering operation model of the quasi-switch event triggering mechanism according to the sampling data of the quasi-switch event triggering mechanism of the multi-regional power system.

[0117] Among them, the embodiment of the present application takes into account the increasing problem of DoS attacks in the network. The present invention introduces the following state function to indicate whether a DoS attack occurs, so as to determine the DoS attack variable.

[0118] Specifically, in step S2, based on the sampling data of the quasi-switch event trigger mechanism of the multi-regional power system, an event trigger operation model of the quasi-switch event trigger mechanism is constructed, including:

[0119] Step S201: construct an event triggering operation model of a switch-like event triggering mechanism according to the DoS attack variable. The event triggering operation model is:

[0120]

[0121]

[0122] In the formula, , They represent the kth and k+1th transmission moments respectively, l is a positive integer, indicating the minimum number of intervals after which the trigger occurs. Represents the sampling interval of the sensor in the event trigger mechanism, To trigger the delay, To transfer data, is the packet transmission error, is the first trigger delay, is the second trigger delay, It is the DoS attack variable;

[0123] in,

[0124]

[0125] In the formula, For the system attack, The system is not affected attack;

[0126] .

[0127]

[0128] Where T is the matrix transpose, , are all positive matrices, , These are the threshold parameters of the switch event trigger mechanism. is the packet transmission error under DoS attack, For the current transmission data, Transmit data for the next moment, is the current transmission time, Sampling instants for future transmissions affected by the DoS attack, is the current DoS attack time, is the maximum attack time;

[0129] Step S202: , Perform simultaneous operations to obtain a positive matrix , The calculation result of the positive matrix , The calculation results are substituted into the event-triggered operation model.

[0130] Step S3: determining an operation model of the dynamic output feedback controller according to the operation control of the dynamic output feedback controller of the multi-regional power system.

[0131] Among them, the operation model of the dynamic output feedback controller is:

[0132]

[0133] In the formula, is the control output of the dynamic output feedback controller, , , , are the control parameters of the dynamic output feedback controller, is the state variable of the dynamic data feedback controller, To transfer data, For control input.

[0134] Step S4: coupling the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of the augmented system.

[0135] Among them, the state space of the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller are coupled to obtain the equivalent operation model of the augmented system. The equivalent operation model of the augmented system is:

[0136]

[0137] In the formula, To augment the control output of the system, , , , are all closed-loop system matrices, is the state variable of the augmented system, To augment the state variables of the system in the next step, is the step interval, is the control parameter.

[0138] in,

[0139]

[0140]

[0141] Step S5: determining control parameters of the augmented broadcast system according to the stability performance index, and configuring the control parameters in the augmented broadcast system for frequency modulation.

[0142] Specifically, according to the equivalent operation model of the augmented system, if there is a positive definite matrix of suitable dimension If the following inequality conditions are met, then the load frequency control system is asymptotically stable and satisfies Performance Indicators ,in, Performance Indicators It is a representation of the system's ability to achieve a certain stability. Based on Lyapunov's stability theory and linear matrix inequality, the positive definite matrix Negative definiteness can ensure the convergence and stability of the system, that is, the inequality conditions are as follows:

[0143]

[0144]

[0145] In the formula, is the admittance matrix, , is the self-admittance matrix, is the mutual admittance matrix.

[0146] Among them, the positive definite matrix It can be obtained by solving the linear matrix inequality.

[0147]

[0148]

[0149]

[0150]

[0151] In the formula, , are all self-admittance matrices, , are the upper and lower bounds of the communication delay respectively.

[0152] In order to solve the control parameter matrix of the dynamic output feedback controller, the embodiment of the present application proposes the following conditions for controller design.

[0153] Specifically, for a given positive real number Performance Indicators , the system is asymptotically stable if there is a symmetric positive definite matrix , and a matrix U of appropriate dimension, the following conditions hold:

[0154]

[0155]

[0156] in,

[0157]

[0158]

[0159]

[0160]

[0161]

[0162] .

[0163] In the formula, , , , , are parameter matrices.

[0164] Then, determining the control parameters of the augmented system according to the stability performance index in step S5 includes:

[0165] Step S501: Determine the control parameters of the augmented system according to the stability performance index:

[0166]

[0167] Where U is a non-singular matrix, are all unknown parameter matrices, , are the parameter matrices of the interconnected power system, is the identity matrix.

[0168] Among them, the interconnected power system is a multi-regional power system. Because each region is interconnected, it refers to the interconnection line power, so it is also called an interconnected power system. In the solution process, it will be assigned a value to find a solution. After finding the value that meets the conditions, the unknown parameter matrix can be calculated.

[0169] Step S502: configure the control parameters in the augmented broadcast system to perform frequency modulation.

[0170] It should be noted that the embodiment of the present application simulates the frequency changes of the multi-regional power system in which electric vehicles participate in frequency modulation by constructing a frequency modulation operation model of the multi-regional power system, and constructs an event-triggered operation model of a switch event trigger mechanism and an operation model of the dynamic output feedback controller. The frequency modulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller are coupled to obtain an equivalent operation model of the augmented system, thereby simulating the frequency modulation feedback process of the multi-regional power system, and determining the control parameters of the augmented system according to the stability performance index, and configuring the control parameters in the augmented system for frequency modulation, thereby reducing the impact of DoS attacks and ensuring the stability of the load frequency control system under DoS attacks.

[0171] The following is a verification example for verifying the effectiveness of the switch-like control method for electric vehicles participating in frequency modulation proposed in the embodiment of the present application.

[0172] In this example, the specific parameter values ​​of the system are shown in Table 1:

[0173] Table 1 Parameters of power system in zone 2

[0174]

[0175] The dynamic output feedback control method is applied to the above system, and the initial state vector is set as ; and set the parameters separately , , , .

[0176] The simulation results are as follows Figure 4-8 shown. Figure 4 Displays the real-time attack status function of DoS attack ; Figure 5 It shows the status response of the system when it is attacked by DoS; Figure 6 The ACE status responses of the two regions are given; Figure 7 The tie line status response of the area is given; Figure 8 Shows the data transmission under DoS attack.

[0177] analyze Figure 4-8 It can be obtained that under the load frequency control scheme based on the quasi-switch event trigger mechanism, with the intervention of wind power generation as a disturbance, the two-area power system with electric vehicles participating in frequency modulation finally maintained frequency stability at around 16S after suffering a denial of service attack. In general, the above simulation results further prove that the method proposed in the present invention can maintain load frequency stability under DoS attacks and reduce the impact of DoS attacks on the network. Compared with the general event trigger mechanism, the number of triggers is reduced by 5%, indicating that the proposed quasi-switch event trigger mechanism is effective. In addition, the final frequency of the two-area power system model tends to be stable, and the power exchange deviation of the tie line tends to zero, which also means that the two major functions of load frequency control are realized, and the effectiveness of the control scheme proposed by the quasi-switch control method for electric vehicles participating in frequency modulation proposed in the embodiment of the present application is verified.

[0178] Based on the same inventive concept, an embodiment of the present application further provides a quasi-switch control device for electric vehicle participating in frequency modulation for implementing the quasi-switch control method for electric vehicle participating in frequency modulation mentioned above.

[0179] The solution to the problem provided by the device is similar to the solution described in the above method. Therefore, the specific limitations in the embodiments of the switch-like control device for one or more electric vehicles participating in frequency modulation provided below can be found in the above limitations on the switch-like control method for electric vehicles participating in frequency modulation, and will not be repeated here.

[0180] like Fig. 9 As shown, the embodiment of the present application also provides a switch-like control device for electric vehicles to participate in frequency modulation, including:

[0181] The frequency regulation operation module 100 is used to construct a frequency regulation operation model of the multi-regional power system by setting a state space according to the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency regulation;

[0182] The trigger operation module 200 is used to construct an event trigger operation model of the similar switch event trigger mechanism according to the sampling data of the similar switch event trigger mechanism of the multi-region power system;

[0183] A feedback control module 300, for determining an operation model of a dynamic output feedback controller according to the operation control of the dynamic output feedback controller of the multi-region power system;

[0184] The augmented coupling module 400 is used to couple the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of the augmented system;

[0185] The frequency modulation module 500 is used to determine the control parameters of the augmented broadcast system according to the stability performance index, and configure the control parameters in the augmented broadcast system to perform frequency modulation.

[0186] like Fig.10 As shown, an embodiment of the present application further provides an electronic device, the electronic device 10 includes a memory 20 and a processor 30, the memory 20 stores a computer program, and when the computer program is executed by the processor 30, the processor 30 executes the steps of the switch-like control method for an electric vehicle participating in frequency modulation as in any of the above embodiments.

[0187] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed, the steps of the switch-like control method for an electric vehicle participating in frequency modulation as in any of the above embodiments are implemented.

[0188] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes the steps of the class switch control method for an electric vehicle participating in frequency modulation as in any of the above embodiments.

[0189] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, electronic devices, computer storage media and computer program products can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0190] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus.

[0191] In several embodiments provided by the present invention, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and a part of a module, a program segment or a code includes one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0192] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, electronic devices, computer storage media, computer program products and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the 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.

[0193] 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.

[0194] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0195] 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 technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for executing all or part of the steps of the method described in each embodiment of the present invention through a computer device (which can be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (full name in English: Read-Only Memory, English abbreviation: ROM), random access memory (full name in English: Random Access Memory, English abbreviation: RAM), disk or optical disk and other media that can store program codes.

[0196] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, 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 invention.

Claims

1. A switch-like control method for electric vehicles participating in frequency modulation, characterized in that: include: According to the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency regulation, and by setting the state space, a frequency regulation operation model of the multi-regional power system is constructed; Constructing an event triggering operation model of the quasi-switch event triggering mechanism according to the sampling data of the quasi-switch event triggering mechanism of the multi-regional power system; Determining an operation model of the dynamic output feedback controller according to the operation control of the dynamic output feedback controller of the multi-regional power system; coupling the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of the augmented system; The control parameters of the augmented broadcast system are determined according to the stability performance index, and the control parameters are configured in the augmented broadcast system for frequency modulation.

2. The switch-like control method for electric vehicles participating in frequency modulation according to claim 1 is characterized in that: The frequency regulation operation model of the multi-regional power system is constructed by setting a state space based on the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency regulation, including: According to the relationship between multiple disturbance changes and system frequency changes of the multi-regional power system in which electric vehicles participate in frequency modulation, a frequency modulation operation model of the multi-regional power system is established through differential equations. The frequency modulation operation model of the multi-regional power system is: Where i is the i-th region of the multi-regional power system, is the derivative of the system frequency change, is the frequency deviation, is the damping coefficient of the generator set, is the moment of inertia of the generator set, is the change in active power of the tie line, is the change in generator output power, is the load deviation, is the output power change of the electric vehicle, is the change in the governor valve position, is the wind speed change of the wind turbine; in, In the formula, is the derivative of the tie line active power change vector, For Region and Region The connection line synchronization coefficient between them, n is the number of regions, is the derivative of the generator output power change vector, is the time constant of the turbine, is the derivative of the generator output power change vector, is the derivative of the change vector of the governor valve position, To reduce the speed, is the time constant of the speed regulating unit, is the control input of the system, is the derivative of the wind speed change vector of the wind turbine, is the time constant of the wind turbine speed governor, is the wind speed disturbance parameter, is the derivative of the electric vehicle output power change vector, is the time constant of the electric vehicle, is the proportionality factor of electric vehicles; Determining a state variable and an output variable of each region according to a plurality of disturbance variation quantities of each region in the multi-region power system; Determine the state space of each region according to the state variable of each region and the output variable; Adding the state spaces of each region to obtain the state space of the multi-region power system; According to the frequency regulation operation model and state space of the multi-regional power system, a frequency regulation operation model of the multi-regional power system is constructed.

3. The switch-like control method for electric vehicles participating in frequency modulation according to claim 1 is characterized in that: The constructing an event triggering operation model of the quasi-switch event triggering mechanism according to the sampling data of the quasi-switch event triggering mechanism of the multi-regional power system comprises: The event triggering operation model of the switch-like event triggering mechanism is constructed according to the DoS attack variable. The event triggering operation model is: In the formula, , They represent the kth and k+1th transmission moments respectively, l is a positive integer, Represents the sampling interval of the sensor in the event trigger mechanism, To trigger the delay, To transfer data, is the packet transmission error, is the first trigger delay, is the second trigger delay, It is the DoS attack variable; in, In the formula, For the system attack, The system is not affected attack; . Where T is the matrix transpose, , are all positive matrices, , These are the threshold parameters of the switch event trigger mechanism. is the packet transmission error under DoS attack, For the current transmission data, Transmit data for the next moment, is the current transmission time, Sampling instants for future transmissions affected by the DoS attack, is the current DoS attack time, is the maximum attack time; Through , Perform simultaneous operations to obtain a positive matrix , The calculation result of the positive matrix , The calculation result is substituted into the event-triggered operation model.

4. The switch-like control method for electric vehicles participating in frequency modulation according to claim 1 is characterized in that: The operation model of the dynamic output feedback controller is: In the formula, is the control output of the dynamic data feedback controller, , , , are the control parameters of the dynamic output feedback controller, is the state variable of the dynamic data feedback controller, To transfer data, For control input.

5. The switch-like control method for electric vehicles participating in frequency modulation according to claim 4 is characterized in that: The frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller are coupled to obtain an equivalent operation model of the augmented system, including: The state space of the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller are coupled to obtain an equivalent operation model of the augmented system, and the equivalent operation model of the augmented system is: In the formula, To augment the control output of the system, , , , are all closed-loop system matrices, is the state variable of the augmented system, To augment the state variables of the system in the next step, is the step interval, is the control parameter.

6. The method for controlling a quasi-switch of an electric vehicle participating in frequency modulation according to claim 5, characterized in that: The step of determining the control parameters of the augmented broadcast system according to the stability performance index and configuring the control parameters in the augmented broadcast system for frequency modulation includes: According to the stability performance index, the control parameters of the augmented system are determined as follows: Where U is a non-singular matrix, are all unknown parameter matrices, , are the parameter matrices of the interconnected power system, is the identity matrix; The control parameters are configured in the augmented broadcast system for frequency modulation.

7. A switch-like control device for electric vehicles participating in frequency modulation, characterized in that: include: A frequency regulation operation module is used to construct a frequency regulation operation model of a multi-regional power system by setting a state space according to the relationship between multiple disturbance changes and system frequency changes of a multi-regional power system in which electric vehicles participate in frequency regulation; A trigger operation module, used for constructing an event trigger operation model of the switch-like event trigger mechanism according to the sampling data of the switch-like event trigger mechanism of the multi-region power system; A feedback control module, configured to determine an operation model of the dynamic output feedback controller according to the operation control of the dynamic output feedback controller of the multi-region power system; An augmented coupling module, used to couple the frequency regulation operation model of the multi-regional power system and the operation model of the dynamic output feedback controller to obtain an equivalent operation model of the augmented system; The frequency modulation module is used to determine the control parameters of the augmented broadcast system according to the stability performance index, and configure the control parameters in the augmented broadcast system to perform frequency modulation.

8. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the switch-like control method for an electric vehicle participating in frequency modulation as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the steps of the method for controlling a class switch of an electric vehicle participating in frequency modulation as claimed in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer is caused to execute the steps of the class switch control method for an electric vehicle participating in frequency modulation as described in any one of claims 1 to 6.

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