A Hybrid Energy Storage Frequency Modulation Method and System Based on Two-Dimensional Modal Decomposition

Abstract

A hybrid energy storage frequency modulation method based on two-dimensional modal decomposition, which obtains the original frequency modulation command signal; generates primary modal subsequences according to the frequency modulation command signal based on the two-dimensional modal decomposition algorithm; generates several secondary modal subsequences by cyclically iterating the two-dimensional modal decomposition algorithm on the undecomposed frequency modulation command signal; and allocates the primary modal subsequences and several secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation. It can respond in a timely manner when the power plant grid frequency fluctuates, obtain the optimal decomposition subsequences through the two-dimensional modal decomposition algorithm, thereby making the frequency modulation command allocation more accurate, solving the problem of inaccurate frequency modulation command signal allocation caused by modal aliasing, reducing the cost of the energy storage system, and improving the revenue of the power plant.

Description

Technical Field

[0001] The present disclosure relates to the technical field of power grid frequency modulation, and particularly to a hybrid energy storage frequency modulation method and system based on two-dimensional modal decomposition. Background Art

[0002] At present, in major regional power grids in China, large-scale hydropower and thermal power units (coal-fired units / gas-fired units) are mainly used as power grid frequency modulation power sources. The output of the frequency modulation power source is adjusted to respond to the system frequency change. However, hydropower and thermal power units have certain limitations in frequency modulation. In recent years, the increasing proportion of new energy power generation such as wind power and solar energy has led to a large number of thermal power units undertaking heavy AGC regulation tasks for a long time, resulting in a series of negative impacts such as increased power generation coal consumption and serious equipment wear. The existing power frequency modulation resources are difficult to meet the demand for renewable energy access to the grid. The hybrid energy storage system involving supercapacitors for primary frequency modulation coordinated control divides typical working conditions, realizes the conversion from frequency deviation to power based on the optimization decision module, and realizes the charge / discharge control of the supercapacitor energy storage system through the PCS system control module, and finally assists the traditional generator set to complete the primary frequency modulation process. Within the rated power range, it can complete the output of the specified power with an accuracy of more than 99% within 1 s, and its comprehensive response ability fully meets the power transformation requirements within the time scale of AGC frequency modulation, far exceeding the regulation ability of conventional thermal power plants. The more urgent the regulation demand of the system, the more obvious the advantages of this technology.

[0003] Based on the above hybrid energy storage system with supercapacitor energy storage, the VMD algorithm etc. is usually adopted to realize the distribution of frequency modulation signals. The traditional frequency modulation method of hybrid energy storage (supercapacitor + lithium battery) assisting thermal power units is to transfer the difference between the frequency modulation command and the thermal power unit to the hybrid energy storage, and adopt the VMD decomposition technology to decompose the original signal into K sub-sequences IMF1 to IMFK, where the low-frequency part is borne by the battery and the high-frequency part is borne by the supercapacitor. VMD is an adaptive, completely non-recursive modal variational and signal processing method. This technology has the advantage of being able to determine the number of modal decompositions. Its adaptability is manifested in determining the number of modal decompositions of the given sequence according to the actual situation, and in the subsequent search and solution process, it can adaptively match the optimal central frequency and finite bandwidth of each mode, and can effectively separate the intrinsic mode components (IMFs), divide the frequency domain of the signal, and then obtain the effective decomposition components of the given signal, and finally obtain the optimal solution of the variational problem. The decomposed sub-sequences contain multiple different frequency scales and are relatively stable, which is suitable for non-stationary sequences. However, the traditional VMD decomposition technology has the problem of modal aliasing. For example, a certain modal component IMFi may contain both high-frequency components and low-frequency components, which is not conducive to the power distribution between the battery and the supercapacitor. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to propose a hybrid energy storage frequency modulation method and system based on two-dimensional modal decomposition.

[0005] A hybrid energy storage frequency modulation method based on two-dimensional modal decomposition, characterized by comprising the steps of:

[0006] S101. Obtain the original frequency modulation command signal;

[0007] S102. Generate primary modal subsequences according to the frequency modulation command signal based on the two-dimensional modal decomposition algorithm; in the two-dimensional modal decomposition algorithm, first generate a first group of subsequences based on the frequency modulation command; check the two-dimensional conditions of the subsequences; if the generated subsequences cannot simultaneously meet the conditions of the amplitude dimension and the frequency dimension, regenerate the first group of subsequences; re-check the first group of subsequences until they meet the conditions of the amplitude dimension and the frequency dimension; finally generate the subsequences;

[0008] S103. Generate a number of secondary modal subsequences for the undecomposed frequency modulation command signal through cyclic iteration based on the two-dimensional modal decomposition algorithm;

[0009] S104. Allocate the primary modal subsequences and a number of secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation.

[0010] Further,

[0011] Let the frequency modulation command be Pt = [X1, X2, X3,..., X i ,..., X N , and the first group of subsequences generated based on the frequency modulation command is,

[0012] IMF1 = [x 11 , x 12 ,..., x 1i ,..., x 1N ,

[0013] The generation method of each value in IMF1 is as follows:

[0014]

[0015] rand() is a random function, and max() is to find the maximum value.

[0016] Further,

[0017] For the first group of generated sequences, the following two-dimensional conditions need to be met:

[0018] Check the amplitude dimension: ;

[0019] Check the frequency dimension: Let , Let ,

[0020] a set of frequency sequences is generated

[0021]

[0022] For this frequency sequence, the requirements are as follows:

[0023] , where avg() is used to calculate the average value and max() is used to calculate the maximum value.

[0024] Furthermore,[[]]

[0025] In step S103,[[]]

[0026] subtract the primary modal subsequence generated by the two-dimensional modal decomposition algorithm from the original frequency modulation command signal to obtain the undecomposed frequency modulation command signal;

[0027] Determine whether the undecomposed frequency modulation command signal sequence and the original frequency modulation command signal meet the predetermined conditions;

[0028] If the predetermined conditions are not met, the two-dimensional modal decomposition algorithm is iteratively applied to the undecomposed frequency modulation command signal to generate several groups of subsequences, and the decomposition stops when the predetermined conditions are met.

[0029] Furthermore,[[]]

[0030] The sequence of the undecomposed frequency modulation command signal Pt-IMF1 is [X1 - x 11 , X2 - x 12 , X3 - x 13 ,..., X i - x 1i ,..., X N - x 1N sequence;

[0031] Repeat until the Kth group of sequences is generated. The sequence of the undecomposed frequency modulation command signal is Pt-(IMF1 + IMF2 +... + IMF K ).

[0032] Furthermore,[[]]

[0033] When the sequence of the undecomposed frequency modulation command signal Pt-(IMF1 + IMF2 +... + IMF K ) and the original frequency modulation command signal Pt meet the following conditions, the decomposition stops:

[0034] , where gelu() is the activation function.

[0035] Furthermore,[[]]

[0036] In step S104,[[]]

[0037] Obtain the primary modal subsequence and several secondary modal subsequences generated iteratively, including all K + 1 subsequences generated when the decomposition stops;

[0038] Divide all K + 1 subsequences into a low-frequency part and a high-frequency part according to a predetermined ratio. The low-frequency part is allocated to the battery to bear, and the high-frequency part is allocated to the supercapacitor to bear.

[0039] Furthermore,

[0040] Among them, the front part [30%K] of all K + 1 subsequences is used as the low-frequency part, and the rest is the high-frequency part; [] means taking the integer.

[0041] There is also provided a hybrid energy storage frequency modulation system with two-dimensional modal decomposition, characterized by including:

[0042] An instruction acquisition module that acquires the original frequency modulation instruction signal;

[0043] A two-dimensional modal decomposition module that generates a primary modal subsequence based on the two-dimensional modal decomposition algorithm according to the frequency modulation instruction signal; in the two-dimensional modal decomposition algorithm, first generate a first group of subsequences based on the frequency modulation instruction; check the two-dimensional conditions of the subsequences; if the generated subsequences cannot simultaneously meet the conditions of the amplitude dimension and the frequency dimension, regenerate the first group of subsequences; re-check the first group of subsequences until they meet the conditions of the amplitude dimension and the frequency dimension; finally generate the subsequences;

[0044] And generate several secondary modal subsequences by iteratively looping the undecomposed frequency modulation instruction signal based on the two-dimensional modal decomposition algorithm;

[0045] A power distribution module that distributes the primary modal subsequence and several secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation.

[0046] The beneficial effects of the present invention are:

[0047] The present disclosure provides a hybrid energy storage frequency modulation method and system with two-dimensional modal decomposition, which can respond in a timely manner when the frequency of the power plant power grid fluctuates, obtain the optimal decomposition subsequences through the two-dimensional modal algorithm, and then make the frequency modulation instruction allocation more accurate, solve the problem of inaccurate allocation of the frequency modulation instruction signal caused by modal aliasing, reduce the cost of the energy storage system, and improve the revenue of the power plant. Description of the Drawings

[0048] Figure 1 It is a method step diagram.

[0049] Figure 2 It is a flow chart of frequency modulation signal decomposition and allocation.

[0050] Figure 3 It is a flowchart of a two-dimensional modal decomposition algorithm. Specific implementation manners

[0051] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0052] It should be understood that the step numbers used in the text are only for convenient description and do not limit the execution order of the steps.

[0053] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless otherwise clearly specified in the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0054] The terms "include" and "comprise" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0055] The term " / or" refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0056] The embodiments of the present disclosure provide a hybrid energy storage frequency modulation method for two-dimensional modal decomposition, as Figure 1 shown, including:

[0057] S101. Obtain the original frequency modulation command signal;

[0058] S102. Generate a primary modal subsequence based on the two-dimensional modal decomposition algorithm according to the frequency modulation command signal; in the two-dimensional modal decomposition algorithm, first generate a first group of subsequences based on the frequency modulation command; check the two-dimensional conditions of the subsequences; if the generated subsequences cannot simultaneously meet the conditions of the amplitude dimension and the frequency dimension, regenerate the first group of subsequences; re-check the first group of subsequences until the conditions of the amplitude dimension and the frequency dimension are met; finally generate the subsequences;

[0059] S103. Generate a number of secondary modal subsequences by cyclically iterating the non-decomposed frequency modulation command signal based on the two-dimensional modal decomposition algorithm;

[0060] S104. Assign the primary modal subsequence and several secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation.

[0061] The frequency modulation method based on supercapacitor energy storage provided by the embodiments of the present disclosure uses a new type of supercapacitor and lithium battery as energy storage devices and performs frequency modulation on the power grid frequency in a power plant when it fluctuates. The state of the power grid in the power plant is monitored in real time. When the power supply frequency in the power grid of the power plant fluctuates, a corresponding frequency modulation command signal is generated. After obtaining this signal, each level of modal subsequence is obtained through a two-dimensional modal decomposition algorithm to perform frequency modulation on the power grid of the power plant.

[0062] In another embodiment provided by the present disclosure, as Figure 3 shown, the above steps “S102. Generate a primary modal subsequence based on the two-dimensional modal decomposition algorithm according to the frequency modulation command signal; in the two-dimensional modal decomposition algorithm, first generate a first group of subsequences based on the frequency modulation command; check the two-dimensional conditions of the subsequence; if the generated subsequence cannot satisfy the conditions of both the amplitude dimension and the frequency dimension at the same time, regenerate the first group of subsequences; re-check the first group of subsequences until the conditions of the amplitude dimension and the frequency dimension are satisfied; finally generate the subsequence;” include:

[0063] Step 1. Let the frequency modulation command be Pt = [X1, X2, X3,..., X i ,..., X N . In this application, the two-dimensional decomposition method is adopted, and the first group of subsequences generated based on the frequency modulation command is

[0064] IMF1 = [x 11 , x 12 ,..., x 1i ,..., x 1N ,

[0065] The generation method of each value in IMF1 is as follows:

[0066] .

[0067] where rand() is a random function.

[0068] Step 2. Check the two-dimensional conditions of the subsequence

[0069] For the generated first group of sequences, the following two-dimensional conditions need to be satisfied:

[0070] Check the amplitude dimension formula 1): ;

[0071] Among them, when checking the first group of sequences, the denominator X i is X1, and for the numerator part, for x 11 , x12 ,..., x 1i ,..., x 1N All need to calculate the checksum.

[0072] Checksum frequency dimension formula (2): Let , Let ,

[0073] where x i , x i+1 is the frequency modulation command Pt = [X1, X2, X3,..., X i ,..., X N in each command value.

[0074] Then generate a set of frequency sequences

[0075]

[0076] For this frequency sequence, the requirements are:

[0077] , where avg() is to calculate the average value, and max() is to calculate the maximum value.

[0078] Step Three.

[0079] If the generated subsequence cannot simultaneously meet the conditions of the amplitude dimension and the frequency dimension, then regenerate IMF1;

[0080] The generation method of each value in IMF1 is as follows:

[0081] .

[0082] where rand() is a random function.

[0083] Re-check IMF1 until it meets the conditions of the amplitude dimension and the frequency dimension.

[0084] Finally, generate the subsequence IMF1;

[0085] IMF1 = [x 11 , x 12 ,..., x 1i ,..., x 1N

[0086] In another embodiment provided by the present disclosure, as Figure 2 shown, in the above step "S103. Pass the undecimated frequency modulation command signal through cyclic iteration to generate several secondary modal subsequences based on the two-dimensional modal decomposition algorithm", it includes:

[0087] Step 1: Obtain the undecimated FM command signal. Subtract the generated subsequence IMF1 from the original FM command signal, i.e., obtain the undecimated FM command signal Pt-IMF1 sequence,

[0088] i.e., [X1 - x 11 , X2 - x 12 , X3 - x 13 ,..., X i - x 1i ,..., X N - x 1N sequence.

[0089] Step 2: Continue to use the two-dimensional decomposition method for the Pt-IMF1 sequence to obtain the second group of generated subsequences,

[0090] IMF2 = [x 21 , x 22 ,..., x 2i ,..., x 2N , and it also needs to be verified to meet the conditions of the amplitude dimension and the frequency dimension.

[0091] When performing the verification of the amplitude dimension and the frequency dimension, use [X1 - x 11 , X2 - x 12 , X3 - x 13 ,..., X i - x 1i ,..., X N - x 1N sequence to replace each command value of the original [X1, X2, X3,..., X i ,..., X N sequence and substitute it into formulas (1) and (2) for verification operations.

[0092] Step 3: Iteratively obtain the undecimated FM command signal and generate several groups of sequences.

[0093] Continue to obtain the sequence of the undecimated FM command signal Pt-IMF1-IMF2,

[0094] i.e., [X1 - x 11 - x 21 , X2 - x 12 - x 22 , X3 - x 13 - x 23 ,..., X i - x 1i - x 2i ,..., X N - x 1N - x 2N sequence.

[0095] Continue to use the two-dimensional decomposition method for the Pt-IMF1-IMF2 sequence to generate the third group of subsequences and perform two-dimensional verification.

[0096] Repeat the process until the Kth group of sequences is generated. When the undecayed frequency modulation command signal sequence Pt-(IMF1 + IMF2 +... + IMF K ) and the original frequency modulation command signal Pt satisfy the following conditions, stop the decomposition:

[0097] , where gelu() is the activation function.

[0098] Among them, calculation verification is performed on each command value of the [X1, X2, X3,..., X i ,..., X N sequence.

[0099] In another embodiment provided by the present disclosure, in the above step "S104. Assign the primary modal subsequence and several secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation", it includes:

[0100] Step 1. Obtain the primary modal subsequence and several iteratively generated secondary modal subsequences. It includes all K + 1 subsequences generated when the decomposition stops,

[0101] IMF1, IMF2, IMF3,..., IMF K , Pt-(IMF1 + IMF2 +... + IMF K ).

[0102] Step 2. Perform proportional allocation on all K + 1 subsequences.

[0103] Divide all K + 1 subsequences into a low-frequency part and a high-frequency part according to a predetermined ratio. The low-frequency part is assigned to the battery, and the high-frequency part is assigned to the supercapacitor.

[0104] Among them, the front part [30%K] of all K + 1 subsequences is used as the low-frequency part, and the remainder is the high-frequency part. [] represents rounding.

[0105] Corresponding to the method shown above Figure 1 , the present disclosure embodiment also provides a hybrid energy storage frequency modulation system with two-dimensional modal decomposition, including:

[0106] A command acquisition module that acquires the original frequency modulation command signal;

[0107] The two-dimensional modal decomposition module generates primary modal subsequences based on the two-dimensional modal decomposition algorithm according to the frequency modulation command signal. In the two-dimensional modal decomposition algorithm, first generate a first set of subsequences based on the frequency modulation command; check the two-dimensional conditions of the subsequences; if the generated subsequences cannot simultaneously meet the conditions of the amplitude dimension and the frequency dimension, regenerate the first set of subsequences; re-check the first set of subsequences until the conditions of the amplitude dimension and the frequency dimension are met; finally generate the subsequences.

[0108] And the un-decomposed frequency modulation command signal is used to generate a number of secondary modal subsequences through cyclic iteration based on the two-dimensional modal decomposition algorithm.

[0109] The power distribution module distributes the primary modal subsequences and a number of secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation.

[0110] In order to further verify the advantages of the present invention, the present invention uses the two-dimensional decomposition method of the present invention and the prediction method of direct VMD decomposition to predict the frequency modulation sequence respectively. The results are as follows, and the performance of the present invention is better.

[0111]

[0112] Four evaluation indexes

[0113]

[0114] N represents the sample size and respectively represent the actual value and the predicted value at time n.

[0115] The present disclosure provides a computer device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps provided in any embodiment of the present disclosure are executed.

[0116] The computer device provided in the embodiment of the present application includes a processor, a memory, and a bus. Among them, the memory is used to store execution instructions, including internal memory and external memory; the internal memory here is also called main memory, which is used to temporarily store the operation data in the processor and the data exchanged with external memories such as hard disks. The processor exchanges data with the external memory through the internal memory. When the electronic device runs, the processor communicates with the memory through the bus, so that the processor executes the following instructions:

[0117] Obtain the original frequency modulation command signal;

[0118] Generate a primary modal subsequence based on the frequency modulation command signal according to the two-dimensional modal decomposition algorithm; in the two-dimensional modal decomposition algorithm, first generate a first set of subsequences based on the frequency modulation command; verify the two-dimensional conditions of the subsequence; if the generated subsequence cannot satisfy the conditions of the amplitude dimension and the frequency dimension at the same time, regenerate the first set of subsequences; re-verify the first set of subsequences until the conditions of the amplitude dimension and the frequency dimension are satisfied; finally generate the subsequence.

[0119] Generate a number of secondary modal subsequences by cyclically iterating the non-decomposed frequency modulation command signal based on the two-dimensional modal decomposition algorithm.

[0120] Allocate the primary modal subsequence and a number of secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation.

[0121] The embodiments of the present disclosure provide a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it executes the steps provided in any embodiment of the present disclosure. Among them, the storage medium can be a volatile or non-volatile computer-readable storage medium.

[0122] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by hardware or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a read-only optical disc, a USB flash drive, a mobile hard disk, etc.), including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present disclosure.

[0123] Those skilled in the art can understand that the drawings are only schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing the present disclosure.

[0124] Those skilled in the art can understand that the modules in the device in the embodiments can be distributed in the device in the embodiments according to the description of the embodiments, or can be correspondingly changed to be located in one or more devices different from the present embodiments. The modules of the above embodiments can be combined into one module, or further split into multiple sub-modules.

[0125] The serial numbers of the above embodiments of the present disclosure are only for description and do not represent the advantages and disadvantages of the embodiments.

[0126] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalent technologies, the present disclosure is also intended to include these modifications and variations.

[0127] Finally, it should be noted that the above description is only an explanation of the present invention and is not used to limit the present invention. Although the present invention has been described in detail, those skilled in the art can still modify the aforementioned technical solutions or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A hybrid energy storage frequency modulation method based on two-dimensional modal decomposition, characterized in that, Including the steps: S101. Obtain the original frequency modulation command signal; S102. Generate primary modal subsequences based on the double-dimensional modal decomposition algorithm according to the frequency modulation command signal. In the double-dimensional modal decomposition algorithm, first generate a first group of subsequences based on the frequency modulation command; check the two-dimensional conditions of the subsequences; if the generated subsequences cannot simultaneously meet the conditions of the amplitude dimension and the frequency dimension, regenerate the first group of subsequences; re-check the first group of subsequences until they meet the conditions of the amplitude dimension and the frequency dimension; finally generate the subsequences; S103. Generate a number of secondary modal subsequences for the undecomposed frequency modulation command signal through cyclic iteration based on the double-dimensional modal decomposition algorithm; S104. Assign the primary modal subsequences and a number of secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation; Let the frequency modulation command be Pt = [X1, X2, X3,..., X i ,..., X N , and the first set of subsequences generated based on the frequency modulation command is IMF1 = [x 11 , x 12 ,..., x 1i ,..., x 1N , The generation method of each value in IMF1 is as follows: rand() is a random function, and max() is to find the maximum value; For the generated first group of sequences, the following two-dimensional conditions need to be met: Verification amplitude dimension: ; Verification frequency dimension: Let , Let , Then generate a group of frequency sequences For this frequency sequence, the requirements are: , avg() is used to calculate the average value, and max() is used to calculate the maximum value.

2. The hybrid energy storage frequency modulation method based on double-dimensional modal decomposition according to claim 1, characterized in that In step S103, Subtract the primary modal subsequences generated by the double-dimensional modal decomposition algorithm from the original frequency modulation command signal to obtain the undecomposed frequency modulation command signal; Judge whether the undecomposed frequency modulation command signal sequence and the original frequency modulation command signal meet the predetermined conditions; If the predetermined conditions are not met, iteratively use the double-dimensional modal decomposition algorithm for the undecomposed frequency modulation command signal to generate several groups of subsequences, and stop decomposing when the predetermined conditions are met.

3. The hybrid energy storage frequency modulation method based on double-dimensional modal decomposition according to claim 2, characterized in that The sequence of the undecimated FM command signal Pt-IMF1 is [X1-x 11 , X2-x 12 , X3-x 13 ,..., X i -x 1i ,..., X N -x 1N sequence; Repeat until the Kth group of sequences is generated. The undecayed frequency modulation command signal sequence is Pt - (IMF1 + IMF2 +... + IMF K ).

4. The hybrid energy storage frequency modulation method based on double-dimensional modal decomposition according to claim 3, characterized in that The sequence of undecimated FM command signals Pt - (IMF1 + IMF2 +... + IMF K ) stops decomposing when it satisfies the following conditions with the original FM command signal Pt: , gelu() is the activation function.

5. The hybrid energy storage frequency modulation method based on double-dimensional modal decomposition according to claim 1, characterized in that In step S104, Obtain the primary modal subsequences and a number of iteratively generated secondary modal subsequences, including all K + 1 subsequences generated when decomposition stops; Divide all K + 1 subsequences into a low-frequency part and a high-frequency part according to a predetermined ratio. The low-frequency part is assigned to the battery to bear, and the high-frequency part is assigned to the supercapacitor to bear.

6. The hybrid energy storage frequency modulation method based on double-dimensional modal decomposition according to claim 5, characterized in that Among them, the front part [30%K] of all K + 1 subsequences is used as the low-frequency part, and the rest is the high-frequency part; [] means taking the integer.

7. A hybrid energy storage frequency modulation system for the hybrid energy storage frequency modulation method based on the two-dimensional modal decomposition described in claim 1, characterized in that Including: An instruction acquisition module that acquires the original frequency modulation command signal; A double-dimensional modal decomposition module that generates primary modal subsequences based on the double-dimensional modal decomposition algorithm according to the frequency modulation command signal. In the double-dimensional modal decomposition algorithm, first generate a first group of subsequences based on the frequency modulation command; check the two-dimensional conditions of the subsequences; if the generated subsequences cannot simultaneously meet the conditions of the amplitude dimension and the frequency dimension, regenerate the first group of subsequences; re-check the first group of subsequences until they meet the conditions of the amplitude dimension and the frequency dimension; finally generate the subsequences; And the undecayed frequency modulation command signal is used to generate a number of secondary modal subsequences through cyclic iteration based on the two-dimensional modal decomposition algorithm; A power distribution module distributes the primary modal subsequence and a number of secondary modal subsequences to different energy storage units in the hybrid energy storage system for power regulation.

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