Distributed tracking control system and method for large-scale variable frequency air conditioner cluster regulation and control

Abstract

The invention discloses a distributed tracking control system for large-scale variable-frequency air conditioner cluster regulation and control, which is characterized in that a model building module is used for fitting real-time refrigerating capacity of variable-frequency air conditioners and operating power and operating frequency of the variable-frequency air conditioners into a linear relation, and a large-scale variable-frequency air conditioner cluster system is built according to the linear relation obtained by fitting; the similar utilization level obtaining module is used for obtaining the similar utilization level of the variable-frequency air conditioner; and the power balance module is used for performing power distribution adjustment according to the power system demand forwarded by the load aggregator until the difference value between the total adjustment amount of the air conditioner cluster and the power target reaches power balance. Real-time power balance of the power supply side and the power demand side can be achieved, the signal transmission network structure between the load aggregator and the large-scale variable frequency air conditioner load cluster is greatly simplified, the whole regulation and control process is more efficient and flexible, and the cost effectiveness is higher.

Description

Technical Field

[0001] The present invention relates to the field of automatic control of electric power systems, and in particular to a distributed tracking control system and method for cluster control of large-scale variable frequency air conditioners. Background Art

[0002] With the depletion of traditional fossil energy, energy issues have become a key issue that needs to be solved urgently. my country is actively promoting and deepening power reform, striving to build a new power system with renewable energy as the main body. However, the stability of continuous power generation of renewable energy is greatly affected by factors such as seasons and climate, and is random and intermittent. When it is connected to the power grid on a large scale, it will impact the supply and demand balance of the power grid and affect the quality of electricity, thereby threatening the safe and stable operation of the power system. By using demand response or load direct control technology to allow adjustable loads to participate in grid regulation, energy conservation and emission reduction, peak shaving and valley filling can be achieved, and the power system's ability to absorb renewable energy can be further improved.

[0003] Therefore, it is urgent and important to give full play to the regulatory role of demand-side resources in the new power system. By utilizing adjustable loads, a large amount of power load elasticity can be released. Among all demand-side resources, the regulation potential of air-conditioning loads is very huge. The largest energy-consuming equipment in public and commercial buildings is usually the lighting system, central air-conditioning system and elevator system, among which the energy consumption of the air-conditioning system accounts for approximately 40% to 60%. Therefore, the demand-side response of the air-conditioning system can play an important role in energy conservation.

[0004] At present, there are two ways to control adjustable loads in the demand response of power systems: centralized control and distributed control. Centralized control requires that each adjustable load be connected to a control center through a communication network, which is dispatched and issues control instructions to each load. However, when faced with large-scale, distributed adjustable load access, this centralized control may cause communication congestion and make it difficult to dispatch flexibly. In contrast, distributed control only requires one or several nodes to receive dispatch instructions, and adjacent nodes interact with each other through information and respond accordingly according to their own status. Therefore, distributed control can better adapt to the current situation of adjustable load access. In addition, distributed control can not only greatly save the cost of building a control communication network, but also complete the predetermined instruction target even when some communication links fail.

[0005] A multi-agent system is composed of a series of interacting intelligent individuals. Each intelligent agent in the system can complete specific complex tasks through mutual communication and cooperation. It is a powerful tool for solving the problem of coordinated control of large-scale network systems. In the demand-side regulation of power grids, large-scale, decentralized adjustable loads can be studied with the help of a multi-agent framework. Each adjustable load is equivalent to an intelligent agent. Therefore, the control method in a multi-agent system can be used to solve the distributed control problem of adjustable loads. This method can fine-tune the control of adjustable loads to achieve more efficient energy utilization, and when a fault or emergency occurs in the power system, it can quickly respond to and handle abnormal situations by coordinating various energy equipment and loads to ensure the stability and safety of the power system.

[0006] In this context, the present invention proposes a distributed tracking control algorithm system and method for large-scale variable frequency air conditioning cluster control. Summary of the invention

[0007] On the one hand, the present invention provides a distributed tracking control system for large-scale variable-frequency air-conditioning cluster regulation, and on the other hand, provides a distributed tracking control method for large-scale variable-frequency air-conditioning cluster regulation. The system and method can give full play to the regulatory role of demand-side resources in the new power system, allowing adjustable loads to participate in power grid regulation, thereby achieving energy conservation and emission reduction, peak shaving and valley filling, and at the same time further improving the power system's ability to absorb renewable energy.

[0008] To achieve this purpose, the present invention designs a distributed tracking control system for large-scale variable frequency air conditioner cluster control, which includes: a model building module, a similar utilization level acquisition module and a power balancing module;

[0009] The model building module is used to simulate the thermodynamic process of the variable frequency air-conditioning room according to the first-order equivalent thermal parameter model of the variable frequency air-conditioning, obtain the real-time cooling capacity of the variable frequency air-conditioning room according to the thermodynamic process of the variable frequency air-conditioning room, fit the real-time cooling capacity of the variable frequency air-conditioning, the operating power and the operating frequency of the variable frequency air-conditioning into a linear relationship, and establish a large-scale variable frequency air-conditioning cluster system according to the fitted linear relationship;

[0010] The similar utilization level acquisition module is used to obtain the similar utilization level of the variable frequency air conditioner based on the large-scale variable frequency air conditioner cluster system according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner;

[0011] The power balancing module is used to take the similar utilization level of the variable-frequency air conditioner as a consistency variable. The variable-frequency air conditioner cluster adjusts power distribution through the consistency variable and according to the power system demand forwarded by the load aggregator. During the power distribution adjustment process, correction adjustment is made according to the difference between the total adjustment amount of the air conditioner cluster and the power target at each moment until the difference between the total adjustment amount of the air conditioner cluster and the power target reaches power balance.

[0012] Furthermore, the method for simulating the thermodynamic process of the air-conditioning variable frequency room according to the first-order equivalent thermal parameter model of the variable frequency air conditioner includes:

[0013]

[0014] Among them, C i is the equivalent air heat capacity of the i-th room; R i is the equivalent thermal resistance of the ith room; T i (t) is the indoor temperature of the ith room at time t; T0(t) is the outdoor temperature of the ith room at time t; Q i (t) is the cooling capacity of the i-th variable frequency air conditioner at time t; I is the node set of the variable frequency air conditioner, T is the set of time slots of the variable frequency air conditioner, It is a universal quantifier.

[0015] Furthermore, the method of fitting the real-time cooling capacity of the variable frequency air conditioner, the operating power and the operating frequency of the variable frequency air conditioner into a linear relationship includes:

[0016]

[0017] Among them, P i (t) is the operating power of the variable frequency air conditioner at time t, Q i (t) is the cooling capacity of the variable frequency air conditioner at time t, f i (t) The operating frequency of the variable frequency air conditioner at time t, l i1 is a constant coefficient, l i2 is a constant coefficient, b i1 is a constant coefficient, b i2 is a constant coefficient, T is the set of time slots of the variable frequency air conditioner, I is the set of nodes of the variable frequency air conditioner, It is a universal quantifier.

[0018] Furthermore, the method for obtaining the similar utilization level of the variable frequency air conditioner according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner includes:

[0019]

[0020] Among them, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i The inherent lower limit of the operating frequency is affected by the characteristics of the device. is the inherent upper limit of the operating frequency affected by the characteristics of the device, f i (t) is the operating frequency of the variable frequency air conditioner at time t, x i (t) is the similarity utilization level of the variable frequency air conditioner of the i-th node at time t, T is the set of time slots of the variable frequency air conditioner, I is the set of nodes of the variable frequency air conditioner, is a universal quantifier, upward adjustment and downward adjustment are two different schemes for air conditioning cluster control, according to the similar utilization level x of variable frequency air conditioners i (t) Choose an upward or downward adjustment option.

[0021] Furthermore, the method for adjusting power distribution of the variable frequency air conditioner cluster through the consistency variable and according to the power system demand forwarded by the load aggregator includes: assuming that the i-th variable frequency air conditioner is a relay node, in the large-scale variable frequency air conditioner cluster system, the variable frequency air conditioner as a relay node is used to receive control instructions and power deviation information, and its power P i (t) The update rules are designed as follows:

[0022]

[0023] Where c is the consistency control gain to be designed, β i is the power balance control gain to be designed, P tgt is the total power indication regulation target issued by the aggregator; P DR (t) is the total adjustment capacity value of the variable frequency air conditioning cluster from the initial adjustment time t0 to time t, is the rate of change of the power of the i-th variable frequency air conditioner as a relay node over time, P i (t) is the power of the i-th variable frequency air conditioner as a relay node, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, a ij is an element in the adjacency matrix, representing the communication status of node i and node j, T is the set of time slots of the variable frequency air conditioner, I is the node set of the variable frequency air conditioner, is a universal quantifier, N i is the set of all neighbor nodes that interact with the i-th variable frequency air conditioner;

[0024] remember

[0025] Among them, P N (t) is the power of the Nth node, x N (t) The consistency variable of the Nth node, β N is the power control gain of the Nth node, To define symbols;

[0026] Then we can get the augmented system:

[0027] Where L is the Laplace matrix;

[0028] At the same time, the control gain design is carried out as an example to obtain the consistency variable x i Update rule for (t):

[0029]

[0030] in, is the rate of change of the consistency variable over time, c is the consistency control gain to be designed, β i is the power balance control gain to be designed, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i is the inherent lower limit of the operating frequency affected by the characteristics of the device, a ij is an element in the adjacency matrix, representing the communication between node i and node j, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, l i1 is a constant coefficient, N i Represents the set of neighbor nodes that interact with the i-th variable frequency air conditioner;

[0031] While ensuring power balance, the control gain also needs to meet the following consistency goals:

[0032]

[0033] Furthermore, the method of performing correction adjustment according to the difference between the total adjustment amount of the air conditioning cluster and the power target at each moment includes:

[0034] The total power control error of the variable frequency air conditioner at time t is e(t), then e(t) = P tgt -P DR (t), that is

[0035] N is the number of variable frequency air conditioners, P i(t0) is the power of the variable frequency air conditioner at time t0, P i (t) is the power of the variable frequency air conditioner at time t;

[0036] Then the total power dynamic error system of the variable frequency air conditioner is:

[0037]

[0038] in, is the rate of change of the total power control error e(t) over time, β is the set of power balance control gains, -1 T is an N-order row vector whose elements are all -1, and an N-order row vector whose elements are all 1 is 1 T , 1 T =[1,...,1] N , β i is the power balance control gain to be designed, and N is the number of variable frequency air conditioners.

[0039] Solving the above first-order linear differential equation, we can obtain

[0040] Where t0 is the initial adjustment time when the gain β i >0, we can get lim t→∞ If e(t)=0, the total power of the variable frequency air conditioning cluster can achieve the overall goal of power system dispatch through the self-regulation ability of the system.

[0041] Furthermore, while ensuring that the variable frequency air conditioning cluster system has the ability to self-regulate, it is also necessary to ensure the consistency variable x i (t) tends to be consistent, denoted by the consistency variable x i The average state of (t) is N is the number of variable frequency air conditioners, and the corresponding consistency error is recorded as According to the consistency error and consistency variable x i The update rule of (t) can obtain the following variable frequency air conditioner state error system:

[0042]

[0043] in, is the consistency error e i (t) is the rate of change over time, c is the consistency control gain to be designed, β i is the power balance control gain to be designed, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i is the inherent lower limit of the operating frequency of the i-th variable frequency air conditioner affected by the equipment characteristics, x i(t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, a ij is an element in the adjacency matrix, representing the communication between node i and node j, l i1 is a constant coefficient, is the rate of change of the consistency variable over time, j is the variable frequency air conditioner as a non-relay node, N i is the set of all neighbor nodes that interact with the i-th variable frequency air conditioner;

[0044] remember The following error system can be obtained:

[0045]

[0046] in, e(t ) is the consistency error, N is the number of variable frequency air conditioners;

[0047] And the augmented error system:

[0048]

[0049] in diag is the diagonal matrix symbol, I 1 is an N-order square matrix of all ones, I is the unit matrix, is the augmented error system, N is the number of variable frequency air conditioners, when e i When the value of (t) approaches 0, the variable frequency air conditioning cluster system is in a stable state.

[0050] Furthermore, in order to prove that the consistency variable control algorithm can simultaneously ensure the power balance and state consistency of the variable frequency air conditioning cluster system, it is also necessary to combine the system stability definition to judge the stability of the consistency error system.

[0051] Furthermore, a distributed tracking control method for large-scale variable frequency air conditioner cluster control based on the distributed tracking control system for large-scale variable frequency air conditioner cluster control includes:

[0052] The thermodynamic process of the variable frequency air conditioner room is simulated according to the first-order equivalent thermal parameter model of the variable frequency air conditioner. The real-time cooling capacity of the variable frequency air conditioner is obtained according to the thermodynamic process of the variable frequency air conditioner room. The real-time cooling capacity, operating power and operating frequency of the variable frequency air conditioner are fitted into a linear relationship. A large-scale variable frequency air conditioner cluster system is established according to the fitted linear relationship.

[0053] Based on the large-scale variable frequency air conditioner cluster system, the similar utilization level of the variable frequency air conditioner is obtained according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner;

[0054] The similar utilization level of variable-frequency air conditioners is used as a consistency variable. The variable-frequency air conditioner cluster adjusts power allocation through the consistency variable, and makes correction adjustments based on the difference between the total adjustment amount of the air conditioner cluster and the power target at each moment until the difference between the total adjustment amount of the air conditioner cluster and the power target reaches power balance.

[0055] Beneficial effects of the present invention: In existing research, the control mode of air-conditioning loads can be divided into two categories according to the connection mode between air-conditioning loads and whether there is a control center: centralized control and distributed control. Among them, most of the current research still adopts a centralized control method for air-conditioning load clusters, that is, a central controller connects each air-conditioning load through a communication network, and distributes instructions according to the air-conditioning load's own situation. However, when the scale of the air-conditioning load cluster increases, the limitations of the centralized control mode gradually emerge, mainly manifested in the problems of communication links being prone to failure and high cost of the decision-making process. This is mainly attributed to the fact that under the centralized control architecture, each load unit must establish a direct communication connection with the central controller, which undoubtedly increases the complexity and fragility of the system. The distributed control method can greatly improve the stability and reliability of the dispatching center's instructions and the entire system. At present, the distributed control research on air-conditioning load clusters tends to take user comfort as the core consideration, use the user comfort index as the key variable for consensus, and flexibly adjust the air-conditioning set temperature to effectively reduce the overall load of the variable frequency air-conditioning cluster. At the same time, the information exchange mechanism between adjacent air-conditioning clusters is used to greatly reduce the amount of data transmission, thereby ensuring that the load reduction instructions issued by the dispatching center can be executed efficiently and accurately.

[0056] Compared with existing research results, this invention introduces the first-order equivalent thermal parameter model of variable-frequency air conditioners for the problem of large-scale variable-frequency air conditioner load cluster management under the multi-agent control framework, and builds a closed-loop response system consisting of load aggregators and variable-frequency air conditioner units based on advanced multi-agent system theory. This system not only achieves real-time power balance on both sides of power supply and demand, but also greatly simplifies the signal transmission network structure between the load aggregator and the large-scale variable-frequency air conditioner load cluster, making the entire control process more efficient, flexible and cost-effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A control flow chart of a control method provided by an example of the present invention;

[0058] Figure 2 A schematic diagram of a large-scale air conditioning system scheduling provided by an example of the present invention;

[0059] Figure 3 A control framework diagram of a distributed variable frequency air conditioner provided by an example of the present invention;

[0060] Figure 4 A schematic diagram of a communication network of a large-scale variable frequency air conditioning system cluster provided by an example of the present invention;

[0061] Figure 5 A total power control effect diagram of an upward scheduling variable frequency air conditioning system cluster provided by an example of the present invention;

[0062] Figure 6 It is a structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0063] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0064] Example 1

[0065] like Figure 6 As shown, a distributed tracking control system for large-scale variable frequency air conditioner cluster control includes a model building module, a similar utilization level acquisition module and a power balancing module;

[0066] The model building module is used to simulate the thermodynamic process of the variable frequency air-conditioning room according to the first-order equivalent thermal parameter model of the variable frequency air-conditioning, obtain the real-time cooling capacity of the variable frequency air-conditioning room according to the thermodynamic process of the variable frequency air-conditioning room, fit the real-time cooling capacity of the variable frequency air-conditioning, the operating power and the operating frequency of the variable frequency air-conditioning into a linear relationship, and establish a large-scale variable frequency air-conditioning cluster system according to the fitted linear relationship;

[0067] The similar utilization level acquisition module is used to obtain the similar utilization level of the variable frequency air conditioner based on the large-scale variable frequency air conditioner cluster system according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner;

[0068] The power balancing module is used to take the similar utilization level of the variable-frequency air conditioner as a consistency variable. The variable-frequency air conditioner cluster adjusts power distribution through the consistency variable and according to the power system demand forwarded by the load aggregator. During the power distribution adjustment process, correction adjustment is made according to the difference between the total adjustment amount of the air conditioner cluster and the power target at each moment until the difference between the total adjustment amount of the air conditioner cluster and the power target reaches power balance.

[0069] like Figure 1The distributed tracking control method for large-scale variable frequency air conditioning cluster control is divided into the following three steps:

[0070] S1: Study the thermodynamic model of large-scale air conditioning clusters;

[0071] S2: Considering the fairness of power regulation of large-scale variable-frequency air conditioner clusters, similar utilization levels of large-scale variable-frequency air conditioners are designed;

[0072] S3: Design a power balancing controller to achieve distributed tracking control of large-scale variable frequency air conditioning cluster regulation.

[0073] The thermodynamic model of large-scale air-conditioning clusters is studied, and the large-scale variable-frequency air-conditioning cluster system is described by combining the knowledge of graph theory: the variable-frequency air-conditioners are regarded as nodes, and the information interaction between air-conditioners is regarded as edges. The nodes and edges constitute the communication network of the large-scale variable-frequency air-conditioning cluster, such as Figure 4 As shown in the figure, the system based on large-scale variable frequency air conditioners participating in the power grid is essentially a type of multi-agent network that can be constructed through a topological graph.

[0074] Topological structure diagram of variable frequency air conditioner cluster To represent, where V = {v1,...,v N} represents the vertex set of variable frequency air conditioner, represents the edge set of variable frequency air conditioner, The element is denoted by In addition, the communication topology graph considered in the present invention is an undirected graph, that is, there is a two-way communication between the two variable frequency air conditioners. The adjacency matrix corresponding to the graph G is A=[a ij ], the corresponding in-degree matrix is ​​recorded as D, and the corresponding Laplace matrix L = DA, where D = diag (d1, ..., d N ), d i =∑ j≠i a ij , a ij =1, Otherwise a ij = 0. Obviously, the Laplace matrix L is symmetric, and the eigenvector corresponding to its square eigenroot 0 is 1 T =[1,...,1] N .

[0075] Since the load power of variable frequency air conditioners is relatively small and their distribution is mostly scattered, they cannot directly interact with the power system operator. Therefore, large variable frequency air conditioners are aggregated by aggregators to provide a large amount of operating reserves for the power system. The aggregator is responsible for communicating and controlling a large number of variable frequency air conditioners to meet the requirements of the system operator.

[0076] Figure 2The schematic diagram of the large-scale air-conditioning system scheduling provided by the present invention shows in detail the core components of the air-conditioning system and how they work together to adjust the indoor temperature. The main control system is responsible for receiving and processing data from various sensors and adjusting the system's operating strategy based on these data. The main control system will decide how to adjust the system's operation based on the load curve (representing the cooling or heating capacity that the air-conditioning system needs to provide in different time periods) and the indoor temperature (monitored in real time by sensors in the room model). The power grid provides power to the entire air-conditioning system. The cooling capacity of the air-conditioning system is usually determined by the operating status of the compressor. The main control system can change its cooling capacity by adjusting the voltage of the compressor. In addition to the above core components, large-scale air-conditioning systems may also include other auxiliary systems, such as fans, water pumps, filters, etc., which work together to ensure the normal operation and efficient performance of the air-conditioning system.

[0077] In the above technical solution, the method for simulating the thermodynamic process of the air-conditioning variable frequency room according to the first-order equivalent thermal parameter model of the variable frequency air conditioner includes:

[0078]

[0079] Among them, C i is the equivalent air heat capacity of the i-th room; R i is the equivalent thermal resistance of the ith room; T i (t) is the indoor temperature of the ith room at time t; T0(t) is the outdoor temperature of the ith room at time t; Q i (t) is the cooling capacity of the i-th variable frequency air conditioner at time t, i.e., the cooling capacity; I is the node set of the variable frequency air conditioner, T is the set of time slots of the variable frequency air conditioner, It is a universal quantifier.

[0080] The first-order equivalent thermal parameter model can accurately describe the thermodynamic characteristics of a room by introducing parameters such as equivalent air heat capacity and equivalent thermal resistance. This model can capture the dynamic process of room temperature changing with factors such as outdoor temperature and air conditioning cooling capacity, thus providing more accurate simulation results.

[0081] The variable frequency air conditioner mainly provides cooling for the room through the compressor, and the power consumption of the compressor accounts for most of the power energy consumption of the variable frequency air conditioner. Therefore, the present invention assumes that the power of the air conditioner compressor is similar to the power of the air conditioner itself.

[0082] In the above technical solution, the method of fitting the real-time cooling capacity of the variable frequency air conditioner, the operating power and the operating frequency of the variable frequency air conditioner into a linear relationship includes:

[0083]

[0084] Among them, P i(t) is the operating power of the variable frequency air conditioner at time t, Q i (t) is the cooling capacity of the variable frequency air conditioner at time t, f i (t) The operating frequency of the variable frequency air conditioner at time t, l i1 is a constant coefficient and l i1 >0,l i2 is a constant coefficient and l i2 >0,b i1 is a constant coefficient, b i2 is a constant coefficient, T is the set of time slots of the variable frequency air conditioner, I is the set of nodes of the variable frequency air conditioner, It is a universal quantifier.

[0085] By fitting the real-time cooling capacity, operating power and operating frequency of the variable-frequency air conditioner into a linear relationship to simplify the mathematical model and formulate a more precise control strategy, the operating power and cooling capacity of the air conditioner can be predicted and adjusted according to the current operating frequency of the air conditioner.

[0086] In the above technical solution, the method for obtaining the similar utilization level of the variable frequency air conditioner according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner includes:

[0087]

[0088] Among them, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i is the inherent lower limit of the operating frequency affected by the characteristics of the device, f i is the inherent upper limit of the operating frequency affected by the characteristics of the device, f i (t) is the operating frequency of the variable frequency air conditioner at time t, x i (t) is the similarity utilization level of the variable frequency air conditioner of the i-th node at time t, T is the set of time slots of the variable frequency air conditioner, I is the set of nodes of the variable frequency air conditioner, is a universal quantifier, upward adjustment and downward adjustment are two different schemes for air conditioning cluster control, according to the similar utilization level x of variable frequency air conditioners i (t) Choose an upward or downward adjustment option.

[0089] In real systems, the adjustment capacity, size, cooling capacity and other factors of variable frequency air conditioners are generally not completely consistent. Therefore, in order to achieve fairness in power adjustment of large-scale variable frequency air conditioner clusters, the control ratio of adjustable capacity, that is, similar utilization level x i (t), is used as a consistency variable to exchange information between the i-th variable-frequency air conditioner and its neighbors.

[0090] The main difference between the upward and downward adjustment schemes is that the upward adjustment scheme increases the power system frequency by reducing the working power of the variable frequency air conditioner, while the downward adjustment scheme reduces the power system frequency by increasing the working power of the variable frequency air conditioner.

[0091] During each dispatch round, the power system operator sends control signals to the aggregator, which include information about increasing or decreasing the service. The information exchange between the VACs also includes secondary option instructions about increasing or decreasing the service. Based on the calculation rules of similar utilization levels of the VACs, the controller of the VAC can select the state information x i (t) is the transmission information between variable frequency air conditioner clusters. Therefore, the specific operation information (f i 0 , f i (t)) and physical characteristics are hidden, so as to better protect the customer's data privacy. The power consumption of the variable frequency air conditioner is linearly related to the working frequency, and the denominator in the similar utilization level calculation formula of the variable frequency air conditioner can represent the maximum adjustment range of the working power of the variable frequency air conditioner. Therefore, the variable frequency air conditioner state x defined i (t) essentially represents the level of utilization of its maximum power regulation potential.

[0092] In the above technical solution, the method for adjusting power distribution of the variable frequency air conditioner cluster through consistency variables and according to the power system demand forwarded by the load aggregator includes: assuming that the i-th variable frequency air conditioner is a relay node, in a large-scale variable frequency air conditioner cluster system, the variable frequency air conditioner as a relay node is used to receive control instructions and power deviation information, and its power P i (t) The update rules are designed as follows:

[0093]

[0094] Where c is the consistency control gain to be designed, β i is the power balance control gain to be designed, and only the relay node can receive the power deviation information, so β i Satisfy β i ≠0, β j =0(i≠j), this condition is to ensure that only the relay node (i.e., the i-th node) can receive the power deviation information and adjust its power output according to this information. j represents the power balance control gain of the jth node, which is used to adjust the power output of the node according to the deviation between the total instruction issued by the aggregator and the power output of the current node during the power control process. tgt is the total power indication regulation target issued by the aggregator; P DR(t) is the total adjustment capacity value of the variable frequency air conditioning cluster from the initial adjustment time t0 to time t, P DR (t) = P Total (t)-P Total (t0), represents the total operating power of the variable frequency air conditioning cluster at time t, P Total (t0) represents the total operating power of the variable frequency air conditioning cluster at the initial adjustment time t0.

[0095] is the rate of change of the power of the i-th variable frequency air conditioner as a relay node over time, P i (t) is the power of the i-th variable frequency air conditioner as a relay node, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, a ij is an element in the adjacency matrix, representing the communication status of node i and node j, T is the set of time slots of the variable frequency air conditioner, I is the node set of the variable frequency air conditioner, is a universal quantifier, N i is the set of all neighbor nodes that interact with the i-th variable frequency air conditioner;

[0096] Power i (t) The updating rule is the power balance control method of the variable frequency air conditioning cluster system: through the parameter β i and power deviation (P tgt -P DR (t)) to adjust the power of the relay nodes. This part ensures that the total power of the entire cluster can track the total power instruction issued by the aggregator.

[0097] Power i (t) The design of the update rule adopts the idea of ​​distributed control. Each relay node can update the power according to the received control instructions and power deviation information. This distributed control method helps to reduce the burden of the central controller and improve the scalability and reliability of the system. And by introducing the consistency control gain and power balance control gain, the flexibility of the algorithm is enhanced. These two parameters can be adjusted according to the actual situation to achieve the best control effect.

[0098] To facilitate subsequent analysis:

[0099] Among them, P N (t) is the power of the Nth node, x N (t) The consistency variable of the Nth node, β Nis the power control gain of the Nth node, To define symbols;

[0100] Then we can get the augmented system:

[0101] Where L is the Laplace matrix;

[0102] At the same time, the control gain design is carried out as an example to obtain the consistency variable x i Update rule for (t):

[0103]

[0104] in, is the rate of change of the consistency variable over time, c is the consistency control gain to be designed, β i is the power balance control gain to be designed, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i is the inherent lower limit of the operating frequency affected by the characteristics of the device, a ij is an element in the adjacency matrix, representing the communication between node i and node j, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, l i1 is a constant coefficient, N i Represents the set of neighbor nodes that interact with the i-th variable frequency air conditioner;

[0105] The design of the consistency variable update rule aims to ensure that all variable-frequency air conditioners participating in the regulation can maintain consistency during the power regulation process, which helps to achieve stable operation of the power system and balanced power distribution. By introducing control gain and considering different regulation schemes, the design makes the system flexible, which helps to cope with different power system needs and changes and improve the adaptability and robustness of the system. In this design, the neighbor node set N of all nodes that interact with the i-th variable-frequency air conditioner is considered. i , which means that the design rules not only consider the behavior of a single node, but also the mutual influence and interaction between nodes, thus helping to achieve more precise control and regulation.

[0106] While ensuring power balance, the control gain also needs to meet the following consistency goals:

[0107]

[0108] Consistency variable xi The update rule of (t) is the consistency control method of the variable frequency air conditioning cluster system: through the parameter c and the state difference of the neighboring nodes (x i (t)-x j (t)) to adjust the power of the node. This ensures that the power distribution between nodes in the cluster can be consistent.

[0109] like Figure 3 As shown, in the regulation of the variable frequency air conditioning cluster considered by the present invention, the load aggregator accepts the corresponding allocation indicators from the power grid operator, and sends the regulation instructions to the relay node. The variable frequency air conditioning cluster adjusts the power distribution through the consistency variable, and makes corrections and adjustments according to the difference between the total regulation amount of the air conditioning cluster and the power target at each moment until power balance is achieved. It is worth noting that in the process of power regulation, the total regulation amount of the air conditioning cluster at each moment is only fed back to the relay node, and the deviation is corrected by the power control algorithm of the relay node to achieve power balance. At the same time, the relay node will also feed back the corresponding capacity prediction information to the load aggregator, and the load aggregator reports the capacity to the power grid operator. The power control goal of the present invention is the total power tracking of the air conditioning cluster to complete the cluster instructions, and the consistency of the capacity allocation within the cluster.

[0110] The method for performing correction adjustment according to the difference between the total adjustment amount of the air conditioning cluster and the power target at each moment includes:

[0111] The total power control error of the variable frequency air conditioner at time t is e(t), then e(t) = P tgt -P DR (t), that is

[0112] N is the number of variable frequency air conditioners, P i (t0) is the power of the variable frequency air conditioner at time t0, P i (t) is the power of the variable frequency air conditioner at time t; then the total power dynamic error system of the variable frequency air conditioner is:

[0113]

[0114] in, is the rate of change of the total power control error e(t) over time, β is the set of power balance control gains, -1 T is an N-order row vector whose elements are all -1, and an N-order row vector whose elements are all 1 is 1 T , 1 T =[1,...,1] N , β i is the power balance control gain to be designed, N is the number of variable frequency air conditioners;

[0115] The total power dynamic error system formula of the variable frequency air conditioner describes a first-order linear differential equation, which expresses the change law of the dynamic error system e(t) over time. In this equation, e(t) represents the total power control error of the variable frequency air conditioner, and β is a gain parameter. When the gain β is greater than 0, by solving this first-order linear differential equation, we can get lim t→∞ e(t) = 0, which means that the total power of the variable frequency air conditioning cluster will eventually track the overall dispatch target of the power system. This process reflects that the system has a certain self-regulation ability, that is, when there is an error, the system will make corrections and adjustments according to the size and direction of the error so that the error gradually decreases and eventually tends to 0. e(t) = P tgt -P DR (t), the difference e(t) is the basis for the system to make corrections and adjustments. When e(t) is not 0, the system will adjust the power output of each air-conditioning unit according to the size and direction of this difference, so that e(t) gradually decreases and eventually approaches 0. This process is the embodiment of making corrections and adjustments based on the difference between the total adjustment amount of the air-conditioning cluster and the power target at each moment.

[0116] Solving the above first-order linear differential equation, we can obtain

[0117] Where t0 is the initial adjustment time when the gain β i >0, we can get lim t→∞ If e(t)=0, the total power of the variable frequency air conditioning cluster can achieve the overall goal of power system dispatch through the self-regulation ability of the system.

[0118] In the above technical solution, while ensuring that the variable frequency air conditioning cluster system has the ability to self-regulate, it is also necessary to ensure that the consistency variable x i (t) tends to be consistent, denoted by the consistency variable x i The average state of (t) is N is the number of variable frequency air conditioners, and the corresponding consistency error is recorded as According to the consistency error and consistency variable x i The update rule of (t) can obtain the following variable frequency air conditioner state error system:

[0119]

[0120] in, is the consistency error e i (t) is the rate of change over time, c is the consistency control gain to be designed, β i is the power balance control gain to be designed, f i 0is the initial operating frequency of the compressor of the ith variable frequency air conditioner when it starts to adjust, f is the inherent lower limit of the operating frequency of the ith variable frequency air conditioner affected by the equipment characteristics, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, a ij is an element in the adjacency matrix, representing the communication between node i and node j. is the rate of change of the consistency variable over time, j is the variable frequency air conditioner as a non-relay node, N i is the set of all neighbor nodes that interact with the i-th variable frequency air conditioner, and N is the number of variable frequency air conditioners;

[0121] The system formula of variable frequency air conditioner state error involves consistency variable x i (t) The kinetic equation and consistency error e i (t) is the state error system. In this formula, x i (t) represents the average value of the state variables (such as power, temperature, etc.) of each air conditioning unit, e i (t) represents the error between the state of the i-th air conditioning unit and the average state. The variable frequency air conditioning state error system formula combined with the consistency variable x i The update rule of (t) can describe the consistency behavior of the entire air-conditioning cluster. When the states of each air-conditioning unit tend to be consistent (i.e., e i (t) tends to 0), the state of the entire system becomes stable.

[0122] To facilitate subsequent analysis: The following error system can be obtained. The design of the error system is only to prove the convergence of the designed algorithm:

[0123]

[0124] in, e(t) is the consistency error, N is the number of variable frequency air conditioners;

[0125] And the augmented error system for subsequent analysis:

[0126]

[0127] in diag is the symbol for a diagonal matrix, I 1 is an N-order square matrix of all ones, I is the unit matrix, is the augmented error system, N is the number of variable frequency air conditioners, when e iWhen the value of (t) approaches 0, the variable frequency air conditioning cluster system is in a stable state.

[0128] In the above technical solution, in order to prove that the consistency variable control algorithm can simultaneously ensure the power balance and state consistency of the variable frequency air conditioning cluster system, it is also necessary to combine the system stability definition to judge the stability of the consistency error system.

[0129] System stability is defined as: is input-state stable, where the function f(t,x,u) is piecewise continuous for t if the following conditions are met:

[0130] (1) The nonlinear function f(t,x,u) satisfies the local Lipschitz condition for x and u;

[0131] (2) The input u is piecewise continuous and bounded with respect to t;

[0132] (3) Corresponding unincentivized system is globally exponentially stable.

[0133] Remember For the augmented error system formula, (N-1 / N)β i h i The e(t) part is used as external input. Obviously is about the variables e(t) and is a linear function of two variables, and is continuous with respect to t. When |c|<∞, β i |<∞ for e(t) and All satisfy the local Lipschitz condition. Note that e(t) = P tgt -P DR (t), then it is obvious that e(t) is continuous with respect to t, and its upper bound is P tgt .

[0134] When the external input e(t) = 0, the corresponding unexcited system is According to the general solution method of the first-order homogeneous differential equation system, we can get where λ=[λ1,...,λ N ] T ,λ i (i=1,...,N) is the eigenvalue of matrix A. Let us remember Depend on Available Considering that the topological graph of this patent is an undirected graph, L is a symmetric positive definite matrix. Also note that The eigenvalues ​​of are 0 and N-1 times 1, then the matrix is semi-positive definite. And since h i> 0, the sum of two semi-positive definite matrices is still semi-positive definite, so the matrix A is semi-positive definite, that is, the eigenvalue λ i (i=1,...,N) is greater than zero.

[0135] Combining the above conclusions and the definition of system stability, we can get that when c>0 and |c|<∞, the state error system is input state stable and Right now The control algorithm can simultaneously ensure the power balance and state consistency of the variable frequency air conditioning system.

[0136] The above control algorithm is simulated and verified: Taking a smart building as a unit, it is assumed that a large-scale variable frequency cluster system consisting of 100 variable frequency air conditioners of the same brand needs to participate in the demand response of the power system. In this system, the variable frequency air conditioner cluster consists of four air conditioners with different powers, including 1 HP, 1.5 HP, 2 HP, and 3 HP. Normally, their rated cooling and heating powers are 800W, 1200W, 1800W, and 2780W, respectively. However, due to aging and other working conditions, the actual power of different air conditioners of the same brand is slightly different. These differences need to be taken into account when building the system model. And the operating frequency of all air conditioners is subject to an inherent upper limit and the inherent lower limit f i The limits are 130HZ and 30HZ respectively.

[0137] The communication network structure of the variable frequency air conditioning system cluster is as follows: Figure 4 As shown in the figure, in this structure, only 4 air conditioners are selected as relay nodes, which can communicate with the aggregator and receive control information. Other variable frequency air conditioners can only transmit information with neighboring air conditioner nodes.

[0138] Figure 5 The simulation of the upward dispatch process of a large-scale variable frequency air conditioning system cluster is presented. At the initial moment, the relay node receives the power system demand dispatch instruction forwarded by the load aggregator, and the system performs adaptive adjustment according to the upward distributed algorithm. Figure 5 The total real-time power adjustment process of the air-conditioning system cluster is demonstrated after receiving the upward adjustment command. The air-conditioning system cluster can quickly keep up with the external scheduling command, reduce the total real-time power of the system and stabilize it quickly.

[0139] Example 2

[0140] A distributed tracking control method for large-scale variable frequency air conditioning cluster regulation based on the distributed tracking control system for large-scale variable frequency air conditioning cluster regulation, such as Figure 1 As shown:

[0141] The thermodynamic process of the variable frequency air conditioner room is simulated according to the first-order equivalent thermal parameter model of the variable frequency air conditioner. The real-time cooling capacity of the variable frequency air conditioner is obtained according to the thermodynamic process of the variable frequency air conditioner room. The real-time cooling capacity, operating power and operating frequency of the variable frequency air conditioner are fitted into a linear relationship. A large-scale variable frequency air conditioner cluster system is established according to the fitted linear relationship.

[0142] Based on the large-scale variable frequency air conditioner cluster system, the similar utilization level of the variable frequency air conditioner is obtained according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner;

[0143] The similar utilization level of variable-frequency air conditioners is used as a consistency variable. The variable-frequency air conditioner cluster adjusts power allocation through the consistency variable, and makes correction adjustments based on the difference between the total adjustment amount of the air conditioner cluster and the power target at each moment until the difference between the total adjustment amount of the air conditioner cluster and the power target reaches power balance.

[0144] Example 3

[0145] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method described in Embodiment 2 are implemented.

[0146] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0147] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0148] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A system that specifies the functions of a box or multiple boxes.

[0149] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction system, which is implemented in the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0151] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A distributed tracking control system for large-scale variable frequency air conditioner cluster control, characterized by: It includes a model building module, a similar utilization level acquisition module and a power balancing module; The model building module is used to simulate the thermodynamic process of the variable frequency air-conditioning room according to the first-order equivalent thermal parameter model of the variable frequency air-conditioning, obtain the real-time cooling capacity of the variable frequency air-conditioning room according to the thermodynamic process of the variable frequency air-conditioning room, fit the real-time cooling capacity of the variable frequency air-conditioning, the operating power and the operating frequency of the variable frequency air-conditioning into a linear relationship, and establish a large-scale variable frequency air-conditioning cluster system according to the fitted linear relationship; The similar utilization level acquisition module is used to obtain the similar utilization level of the variable frequency air conditioner based on the large-scale variable frequency air conditioner cluster system according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner; The power balancing module is used to take the similar utilization level of the variable-frequency air conditioner as a consistency variable. The variable-frequency air conditioner cluster adjusts power distribution through the consistency variable and according to the power system demand forwarded by the load aggregator. During the power distribution adjustment process, correction adjustment is made according to the difference between the total adjustment amount of the air conditioner cluster and the power target at each moment until the difference between the total adjustment amount of the air conditioner cluster and the power target reaches power balance.

2. A distributed tracking control system for large-scale variable frequency air conditioner cluster control according to claim 1, characterized in that: The method of simulating the thermodynamic process of the air-conditioning inverter room according to the first-order equivalent thermal parameter model of the inverter air-conditioner includes: Among them, C i is the equivalent air heat capacity of the i-th room; R i is the equivalent thermal resistance of the ith room; T i (t) is the indoor temperature of the ith room at time t; T0(t) is the outdoor temperature of the ith room at time t; Q i (t) is the cooling capacity of the i-th variable frequency air conditioner at time t; I is the node set of the variable frequency air conditioner, T is the set of time slots of the variable frequency air conditioner, It is a universal quantifier.

3. A distributed tracking control system for large-scale variable frequency air conditioner cluster control according to claim 1, characterized in that: The method of fitting the real-time cooling capacity of the variable frequency air conditioner, the operating power and the operating frequency of the variable frequency air conditioner into a linear relationship includes: Among them, P i (t) is the operating power of the variable frequency air conditioner at time t, Q i (t) is the cooling capacity of the variable frequency air conditioner at time t, f i (t) The operating frequency of the variable frequency air conditioner at time t, l i1 is a constant coefficient, l i2 is a constant coefficient, b i1 is a constant coefficient, b i2 is a constant coefficient, T is the set of time slots of the variable frequency air conditioner, I is the set of nodes of the variable frequency air conditioner, It is a universal quantifier.

4. A distributed tracking control system for large-scale variable frequency air conditioner cluster control according to claim 1, characterized in that: The method for obtaining the similar utilization level of the variable frequency air conditioner according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner includes: Among them, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i The inherent lower limit of the operating frequency is affected by the characteristics of the device. is the inherent upper limit of the operating frequency affected by the characteristics of the device, f i (t) is the operating frequency of the variable frequency air conditioner at time t, x i (t) is the similarity utilization level of the variable frequency air conditioner of the i-th node at time t, T is the set of time slots of the variable frequency air conditioner, I is the set of nodes of the variable frequency air conditioner, is a universal quantifier, upward adjustment and downward adjustment are two different schemes for air conditioning cluster control, according to the similar utilization level x of variable frequency air conditioners i (t) Choose an upward or downward adjustment option.

5. A distributed tracking control system for large-scale variable frequency air conditioner cluster control according to claim 1, characterized in that: The method for adjusting power distribution of the variable frequency air conditioner cluster through consistency variables and according to the power system demand forwarded by the load aggregator includes: assuming that the i-th variable frequency air conditioner is a relay node, in a large-scale variable frequency air conditioner cluster system, the variable frequency air conditioner as a relay node is used to receive control instructions and power deviation information, and its power P i (t) The update rules are designed as follows: Where c is the consistency control gain to be designed, β i is the power balance control gain to be designed, P tgt is the total power indication regulation target issued by the aggregator; P DR (t) is the total adjustment capacity value of the variable frequency air conditioning cluster from the initial adjustment time t0 to time t, is the rate of change of the power of the i-th variable frequency air conditioner as a relay node over time, P i (t) is the power of the i-th variable frequency air conditioner as a relay node, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, a ij is an element in the adjacency matrix, representing the communication status of node i and node j, T is the set of time slots of the variable frequency air conditioner, I is the node set of the variable frequency air conditioner, is a universal quantifier, N i is the set of all neighbor nodes that interact with the i-th variable frequency air conditioner; remember Among them, P N (t) is the power of the Nth node, x N (t) The consistency variable of the Nth node, β N is the power control gain of the Nth node, To define symbols; Then we can get the augmented system: Where L is the Laplace matrix; At the same time, the control gain design is carried out as an example to obtain the consistency variable x i Update rule for (t): in, is the rate of change of the consistency variable over time, c is the consistency control gain to be designed, β i is the power balance control gain to be designed, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i is the inherent lower limit of the operating frequency affected by the characteristics of the device, a ij is an element in the adjacency matrix, representing the communication between node i and node j, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, l i1 is a constant coefficient, N i Represents the set of neighbor nodes that interact with the i-th variable frequency air conditioner; While ensuring power balance, the control gain also needs to meet the following consistency goals:

6. A distributed tracking control system for large-scale variable frequency air conditioner cluster control according to claim 5, characterized in that: The method for performing correction adjustment according to the difference between the total adjustment amount of the air conditioning cluster and the power target at each moment includes: The total power control error of the variable frequency air conditioner at time t is e(t), then e(t) = P tgt -P DR (t), that is N is the number of variable frequency air conditioners, P i (t0) is the power of the variable frequency air conditioner at time t0, P i (t) is the power of the variable frequency air conditioner at time t; Then the total power dynamic error system of the variable frequency air conditioner is: in, is the rate of change of the total power control error e(t) over time, β is the set of power balance control gains, -1 T is an N-order row vector whose elements are all -1, and an N-order row vector whose elements are all 1 is 1 T , 1 T =[1,...,1] N , β i is the power balance control gain to be designed, N is the number of variable frequency air conditioners; Solving the above first-order linear differential equation, we can obtain Where t0 is the initial adjustment time, when the gain β i >0, we can get lim t→∞ If e(t)=0, the total power of the variable frequency air conditioning cluster can achieve the overall goal of power system dispatch through the self-regulation ability of the system.

7. A distributed tracking control system for large-scale variable frequency air conditioner cluster control according to claim 6, characterized in that: While ensuring that the variable frequency air conditioning cluster system has self-regulation capabilities, it is also necessary to ensure that the consistency variable x i (t) tends to be consistent, denoted by the consistency variable x i The average state of (t) is N is the number of variable frequency air conditioners, and the corresponding consistency error is recorded as According to the consistency error and consistency variable x i The update rule of (t) can obtain the following variable frequency air conditioner state error system: in, is the consistency error e i (t) is the rate of change over time, c is the consistency control gain to be designed, β i is the power balance control gain to be designed, f i 0 is the initial operating frequency of the compressor of the i-th variable frequency air conditioner when it starts to adjust, f i is the inherent lower limit of the operating frequency of the i-th variable frequency air conditioner affected by the equipment characteristics, x i (t) is the similarity utilization level of the i-th variable frequency air conditioner as a relay node at time t, x j (t) is the similarity utilization level of the jth variable frequency air conditioner as a non-relay node at time t, a ij is an element in the adjacency matrix, representing the communication between node i and node j, l i1 is a constant coefficient, is the rate of change of the consistency variable over time, j is the variable frequency air conditioner as a non-relay node, N i is the set of all neighbor nodes that interact with the i-th variable frequency air conditioner, and N is the number of variable frequency air conditioners; remember The following error system can be obtained: in, e(t) is the consistency error, N is the number of variable frequency air conditioners; And the augmented error system: in diag is the diagonal matrix symbol, I 1 is an N-order square matrix of all ones, I is the unit matrix, is the augmented error system, N is the number of variable frequency air conditioners, when e i When the value of (t) approaches 0, the variable frequency air conditioning cluster system is in a stable state.

8. A distributed tracking control system for large-scale variable frequency air conditioner cluster control according to claim 7, characterized in that: In order to prove that the consistent variable control algorithm can simultaneously ensure the power balance and state consistency of the variable frequency air conditioning cluster system, it is also necessary to combine the system stability definition to judge the stability of the consistency error system.

9. The distributed tracking control method for large-scale variable frequency air conditioner cluster control according to claim 1, characterized in that: The thermodynamic process of the variable frequency air conditioner room is simulated according to the first-order equivalent thermal parameter model of the variable frequency air conditioner. The real-time cooling capacity of the variable frequency air conditioner is obtained according to the thermodynamic process of the variable frequency air conditioner room. The real-time cooling capacity, operating power and operating frequency of the variable frequency air conditioner are fitted into a linear relationship. A large-scale variable frequency air conditioner cluster system is established according to the fitted linear relationship. Based on the large-scale variable frequency air conditioner cluster system, the similar utilization level of the variable frequency air conditioner is obtained according to the initial operating frequency of the variable frequency air conditioner, the inherent lower limit of the operating frequency affected by the equipment characteristics, the inherent upper limit of the operating frequency affected by the equipment characteristics, and the real-time operating frequency of the variable frequency air conditioner; The similar utilization level of variable-frequency air conditioners is used as a consistency variable. The variable-frequency air conditioner cluster adjusts power allocation through the consistency variable, and makes correction adjustments based on the difference between the total adjustment amount of the air conditioner cluster and the power target at each moment until the difference between the total adjustment amount of the air conditioner cluster and the power target reaches power balance.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in claim 9 are implemented.

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