Multi-type resource collaborative clearing method considering inertia and frequency modulation auxiliary service

Abstract

The invention discloses a multi-type resource collaborative clearing method considering inertia and frequency modulation auxiliary service. The method comprises the following steps: establishing a multi-type resource cooperation system of a power transmission network containing a virtual power plant, obtaining a response resource equipment time parameter, inputting the response resource equipment time parameter into a power transmission network inertia and frequency modulation auxiliary service clearing model, and outputting an auxiliary service clearing cost parameter to control the power transmission network after processing; inputting the auxiliary service clearing cost parameter into a virtual power plant inertia and frequency modulation auxiliary service clearing model, and outputting a power parameter of the virtual power plant to control the virtual power plant after processing; and inputting a preset control parameter into the multi-type resource collaborative clearing model, processing the preset control parameter, and outputting an actual control parameter as a control instruction to realize collaborative clearing of the multi-type resource collaborative system. By optimizing inertia and frequency modulation auxiliary service configuration, the frequency regulation and control capability of the power system is improved, and a solid guarantee is provided for safe grid connection of large-scale renewable energy sources.

Description

Technical Field

[0001] The present invention relates to a method for clearing inertia and frequency regulation auxiliary services, and to the technical field of stable operation of power systems, and in particular to a method for collaboratively clearing multiple types of resources taking inertia and frequency regulation auxiliary services into consideration. Background Art

[0002] With the rapid increase in the proportion of renewable energy power generation, the operation mode of the traditional power system dominated by synchronous units is undergoing fundamental changes. New energy units are usually connected to the power grid through power electronic devices, which cannot provide physical inertia and are difficult to respond quickly to system frequency fluctuations, making low-inertia power systems more prone to frequency instability under sudden disturbances. This change poses new challenges to the frequency stability of the power system.

[0003] The existing frequency regulation mechanism can no longer meet the actual needs of frequency stability in new power systems. The clearing method of frequency regulation auxiliary services is often limited to the single role of traditional thermal power units, and fails to fully consider the coordination capabilities of multiple types of resources such as energy storage and distributed energy. At the same time, the virtual inertia potential of distributed resources has not been effectively tapped, making it impossible for the system to provide timely and comprehensive support when the inertia is insufficient or the frequency fluctuates violently. Therefore, it is urgent to integrate the inertia support and frequency regulation capabilities of multiple types of resources and build a coordinated clearing mechanism, which can not only effectively improve the frequency stability of the power system in low-inertia scenarios, but also better adapt to the operation needs of power grids with a high proportion of new energy access. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the present invention provides a method for collaborative clearing of multiple types of resources considering inertia and frequency regulation auxiliary services. The method of the present invention aims to solve the technical problem of multiple types of response resources (such as generator sets, energy storage equipment, distributed energy equipment, etc.) in low-inertia power systems to collaboratively provide inertia support and frequency regulation auxiliary services, and provide important technical support for improving the resource allocation efficiency of frequency auxiliary services.

[0005] The technical solution adopted by the present invention is: The multi-type resource collaborative clearing method considering inertia and frequency modulation auxiliary services of the present invention includes: S1: Establish a multi-type resource coordination system of the transmission network including generator sets and virtual power plants, construct a transmission network inertia and frequency regulation auxiliary service clearing model based on the dual constraints of the transmission network, input the response resource equipment time parameters into the transmission network inertia and frequency regulation auxiliary service clearing model, and after processing, output the auxiliary service clearing cost parameters as control instructions to control the transmission network.

[0006] S2: Construct a virtual power plant inertia and frequency regulation ancillary service clearing model consisting of optimality conditions and complementary relaxation conditions, input the ancillary service clearing cost parameters into the virtual power plant inertia and frequency regulation ancillary service clearing model, and after processing, output the power parameters of the virtual power plant as control instructions to control the virtual power plant.

[0007] S3: Construct a multi-type resource collaborative clearing model for a multi-type resource collaborative system, input the preset control parameters of the transmission network and the virtual power plant into the multi-type resource collaborative clearing model, and after processing, output the actual control parameters of the transmission network and the virtual power plant as control instructions to achieve collaborative clearing of the multi-type resource collaborative system.

[0008] In the step S1, the transmission network of the multi-type resource coordination system includes generator sets, power loads and virtual power plants located on power nodes. The generator sets include thermal power units and renewable energy units represented by wind power units, but the renewable energy units do not provide inertia and frequency regulation auxiliary services. The generator sets and virtual power plants are the control subjects of the transmission network. At the transmission network control level, the virtual power plant is regulated as an independent control subject. The virtual power plant contains distributed energy equipment and energy storage equipment, which participate in regulation at the virtual power plant control level. Therefore, the multi-type resource coordination system uses generator sets, distributed energy equipment and energy storage equipment as response resources to regulate the frequency of the power system.

[0009] In step S1, the transmission network inertia and frequency regulation auxiliary service clearing model is as follows: min ∑ i,t [ a i ( P G i,t ) 2 + b i P G i,t + N i · u i,t + SU i,t + SD i,t ] in, a i and b i Respectively represent i first and second operating cost parameters of a power generating set providing power support service; P G i,t express t Momenti Output power of each generator set; N i Indicates i No-load cost of each generator set; u i,t express t Moment i The start and stop status of a generator set u i,t =1, it is turned on. u i,t =0, the machine stops; SU i,t and SD i,t Respectively t Moment i The actual startup cost and shutdown cost of each generator set.

[0010] In step S1, the dual constraints of the transmission network are as follows: M i,t = - b i + l E n,t + u G- i,t - u G+ i,t + u GU i,t+1 - u GU i,t - u GD i,t+1 + u GD i,t - v RG+ i,t N i + u G- i,t P Gmin i - u G+ i,t P Gmax i - u SU+ i,t+1 KU i + u SU+ i,t K U i + u SD+ i,t+1 K D i - u SD+ i,t K D i - v RG+ i,t P Gmax i - l H t H G i P Gmax i / P sys + u uc+ i,t ≥0 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1] 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[ T c , T - T c +1] 1- u SU+ i,t + u Tci,t-Tc+1 ≥0, t ∈[ T - T c +2, T ] 1- u SD+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1] 1- u SD+ i,t + ∑ t u Tc i,t ≥ 0, t ∈[ T c , T - T c +1] 1- u SD+ i,t +u Tc i,t-Tc+1 ≥0, t ∈[ T - T c +2, T ] ∑ m B nm ( l E n,t - l E m,t )+∑ m B nm ( e nmmax,t - e mnmax,t )-∑ m B nm ( e nmmin,t - e mnmin,t )- e minn,t +e max n,t +e δ1 t ≥0 u RG+ i,t + v RG+ i,t - l PFR t ≥0 l H t -2 RoCoF max · P sys · u RoCoF t +P sys · u nadir2 t / f 0- P sys · u nadir3 t / f 0≥0 u fss t +u RoCoF t f 0 +u nadir1 t / ( △f max ) 1 / 2 ≥0 l PFR t - u fss t +T d,G u nadir1 t / [ T G ( △f max ) 1 / 2 ]+ T d,G 2( u nadir2 t - u nadir3 t ) / (4 T G △f max )-( u nadir2 t + u nadir3 t ) / T G ≥0 l PFRES t - u fss t - u nadir1 t / ( △f max ) 1 / 2 -(2 T d,ES +T ES )·( u nadir2 t - u nadir3 t ) / (4 △f max )≥0 l PFRDER t - u fss t - u nadir1 t / ( △f max ) 1 / 2 -(2 T d,DER +T DER )·( u nadir2 t - u nadir3 t ) / (4 △f max )≥0 ( u nadir1t ) 2 + ( u nadir2 t ) 2 ≤( u nadir3 t ) 2 in, M i,t express t Moment i Auxiliary variables related to the operating cost of each generator set; b i Indicates i A second operating cost parameter for a generator set to provide power support service; l E n,t and l E m,t Respectively t Moment n and m The clearing cost parameter of the power support service on each power node; u G- i,t and u G+ i,t Respectively t Moment i The first and second dual variables of the generator sets; u GU i,t+1 and u GU i,t Respectively t +1 moment and t Moment i The third dual variable of the generator set; u GD i,t+1 and u GD i,t Respectively t +1 moment and t Moment i The fourth dual variable of the generator set; v RG+ i,t express t Moment i The fifth dual variable of the generator set; N i Indicates i No-load cost of each generator set;P Gmax i and P Gmin i Respectively represent i The upper and lower limits of the output power of each generator set; u SU+ i,t+1 and u SU+ i,t Respectively t +1 moment and t Moment i The sixth dual variable of the generator set; K U i and K D i Respectively represent i The cost of starting and stopping a generator set once; u SD+ i,t express t Moment i The seventh dual variable of the generator set; l H t express t The clearing cost parameters of inertia auxiliary services in the transmission network at any moment; H G i Indicates i The inertia constant of each generator set; P sys Indicates the rated power of the transmission network; u uc+ i,t express t Moment i The eighth dual variable of the generator set; u Tc i,t and u Tc i,t-Tc+1 Respectively represent time intervals T c middle t Moment and tT c +1 moment i The ninth dual variable of the generator set, T c Indicates the minimum time interval between the start and stop states of the generator set; T Represents the optimization cycle; B nm Indicatesn and m The admittance of the transmission line between power nodes; e nmmin,t and e nmmax,t Respectively t Moment n The power node m The tenth and eleventh dual variables of the power nodes, e mnmin,t and e mnmax,t Respectively represent m Towards n the twelfth and thirteenth dual variables of the power nodes; e min n,t and e max n,t Respectively t Moment n the fourteenth and fifteenth dual variables of the power nodes; e δ1 t express t The sixteenth dual variable of the first power node at time instant; u RG+ i,t express t Moment i The seventeenth dual variable of the generator set; l PFR t express t The clearing cost parameters for the frequency regulation auxiliary services provided by the generators at all times; RoCoF max Indicates the maximum value of the frequency change rate of the transmission network; u RoCoF t express t The eighteenth dual variable of the transmission network at the moment; u nadir1 t , u nadir2 t and u nadir3 t Respectively t The nineteenth, twentieth and twenty-first dual variables of the transmission network at the moment; f 0 Indicates the rated frequency of the transmission network; u fss t express tThe twenty-second dual variable of the transmission grid at time instant; △ f max Indicates the maximum frequency deviation of the transmission network; l PFR t express t The clearing cost parameters for the frequency regulation auxiliary services provided by the generators at all times; T d,G It indicates the delay time from the occurrence of fault to the start of frequency regulation auxiliary service of the generator set; T G Indicates the delivery time for the generator set to provide complete frequency regulation auxiliary services; l PFRES t and l PFRDER t Respectively t The clearing cost parameters for frequency regulation auxiliary services provided by energy storage equipment and distributed energy equipment; T d,ES It indicates the delay time from the occurrence of a fault to the start of providing frequency regulation auxiliary services. T ES Indicates the delivery time of the energy storage device to provide complete frequency regulation ancillary services; T d,DER It indicates the delay time from the occurrence of a fault in a distributed energy device to the start of providing frequency regulation auxiliary services. T DER Indicates the delivery time for distributed energy equipment to provide complete frequency regulation ancillary services.

[0011] In step S2, the optimality conditions of the virtual power plant inertia and frequency regulation auxiliary service clearing model are as follows: - l E n,t + l A k,t =0 l C k,t + l A k,t - u ei,c- k,t + u ei,c+ k,t - u E k,t or c k△t - v RES+ k,t =0 l D k,t - l A k,t - u ei,d- k,t + u ei,d+ k,t + u E k,t △th d k + v RES+ k,t =0 u E k,t - u E k,t+1 + u E+ k,t - u E- k,t =0 u E k,t - u E0 k + u E+ k,t - u E- k,t =0 - l H t P eimax k / P sys - u EH- k,t + u EH+ k,t +( u ei,c+ k,t + u ei,d+ k,t +v RES+k,t )·(2| RoCoF max |) P eimax k / f 0+( u E+ k,t + u E- k,t )·(2| △f max |) P eimax k / f 0=0 - l PFRES t - u RES- k,t + u RES+ k,t + v RES+ k,t =0 l DER k - l A k,t - u DER- k,t + u DER+ k,t + v RDER+ k,t =0 - l H t P DERmax k / P sys - u DH- k,t + u DH+ k,t +( u DER+ k,t + v RDER+ k,t )·(2| RoCoF max |)· P DERmaxk / f 0=0 - l PFRDER t - u RDER- k,t + u RDER+ k,t + v RDER+ k,t =0 - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t =0 E k,t = E k,t-1 + P ei,c k,t or c k △t - P ei,d k,t △t / h d k E k,0 = E k,|T| in, l E n,t express t Moment n The clearing cost parameter of the power support service on each power node; l A k,t express t Virtual power plant k The clearing cost parameter of the power support service on the corresponding power node; l C k,t and l D k,t Respectivelyt Virtual power plant k The charging and discharging costs of energy storage equipment; u ei,c- k,t express t Virtual power plant k The first Lagrange multiplier of ; u ei,c+ k,t express t Virtual power plant k The second Lagrange multiplier of ; u E k,t and u E k,t+1 Respectively t Moment and t +1 Moment Virtual Power Plant k The third Lagrange multiplier of ; u E+ k,t express t Virtual power plant k The fourth Lagrange multiplier of ; u E- k,t express t Virtual power plant k The fifth Lagrange multiplier of ; u E0 k Virtual Power Plant k The sixth Lagrange multiplier of ; or c k and or d k Virtual Power Plant k The charging and discharging efficiency of energy storage devices; △t represents the control time interval of the virtual power plant; v RES+ k,t express t Virtual power plant k The seventh Lagrange multiplier of ; u ei,d+ k,t express t Virtual power plant k The eighth Lagrange multiplier of ; u ei,d- k,t express t Virtual power plant k The ninth Lagrange multiplier of ; lH t express t The clearing cost parameters of inertia auxiliary services in the transmission network at any moment; P DERmax k Virtual Power Plant k The maximum output power of distributed energy equipment, P eimax k Virtual Power Plant k The maximum charging power of the energy storage device; P sys Indicates the rated power of the transmission network; u EH- k,t and u EH+ k,t Respectively t Virtual power plant k the tenth and eleventh Lagrange multipliers of ; u DH- k,t and u DH+ k,t Respectively t Virtual power plant k the twelfth and thirteenth Lagrange multipliers of; RoCoF max Indicates the maximum value of the frequency change rate of the transmission network; f 0 Indicates the rated frequency of the transmission network; △f max Indicates the maximum frequency deviation of the transmission network; l PFRES t and l PFRDER t Respectively t The clearing cost parameters for frequency regulation auxiliary services provided by energy storage equipment and distributed energy equipment; u RES- k,t and u RES+ k,t Respectively t Virtual power plant k The fourteenth and fifteenth Lagrange multipliers of ; l DER k Virtual Power Plant k The operating cost of distributed energy equipment; u DER- k,t express tVirtual power plant k The sixteenth Lagrange multiplier of ; u DER+ k,t express t Virtual power plant k The seventeenth Lagrange multiplier of ; v RDER+ k,t express t Virtual power plant k The eighteenth Lagrange multiplier of ; u RDER- k,t and u RDER+ k,t Respectively t Virtual power plant k the nineteenth and twentieth Lagrange multipliers of; P DER k,t express t Virtual power plant k Output power of distributed energy equipment; P ei,c k,t and P ei,d k,t Respectively t Virtual power plant k The charging power and discharging power of the energy storage device; P VPP k,t express t Virtual power plant k The net output power of P L k,t express t Virtual power plant k Load power; E k,t , E k,t-1 , E k,0 and E k,|T| Respectively t time, t -1 moment, initial moment and | T |Moment Virtual Power Plant k The energy stored in the energy storage device, T Indicates the optimization cycle.

[0012] In step S2, the complementary relaxation conditions of the virtual power plant inertia and frequency regulation auxiliary service clearing model are as follows: 0≤u ei,c- k,t ⊥ P ei,c k,t ≥0 0≤ u ei,d- k,t ⊥ P ei,d k,t ≥0 0≤ u EH- k,t ⊥ H ei k,t ≥0 0≤ u EH+ k,t ⊥( H ei+ k - H ei k,t ) ≥0 0≤ u ei,c+ k,t ⊥( P cimax k - P ei,c k,t - H ei k,t ·(2| RoCoF max |) P eimax k / f 0)≥0 0≤ u ei,d+ k,t ⊥( P eimax k - P ei,d k,t - H ei k,t ·(2| RoCoF max |) P eimax k / f 0)≥0 0≤ u E+ k,t⊥( E max k - H ei k,t ·(2| △f max |)· P eimax k / f 0- E k,t )≥0 0≤ u E- k,t ⊥( E k,t - E min k - H ei k,t ·(2| △f max |)· P eimax k / f 0)≥0 0≤ u RES- k,t ⊥ R ES k,t ≥0 0≤ u RES+ k,t ⊥( R ES+ k - R ES k,t )≥0 0≤ v RES+ k,t ⊥( P eimax k - H ei k,t ·(2| RoCoF max |)· P eimax k / f 0- P ei,d k,t +P ei,c k,t - RES k,t )≥0 0≤ u DER- k,t ⊥ P DER k,t ≥0 0≤ u DH- k,t ⊥ H DER k,t ≥0 0≤ u DH+ k,t ⊥( H DER+ k - H DER k,t )≥0 0≤ u DER+ k,t ⊥( P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |)· P DERmax k / f 0)≥0 0≤ u RDER- k,t ⊥ R DER k,t ≥0 0≤ u RDER+ k,t ⊥( R DER+ k - R DER k,t )≥0 0≤ v RDER+ k,t ⊥( P DERmax k - P DER k,t -H DER k,t ·(2| RoCoF max |) P DERmax k / f 0- R DER k,t )≥0 Among them, ⊥ represents the complementary relaxation condition operator; H ei k,t and H ei+ k Virtual Power Plant k The virtual inertia provided by the energy storage device and its upper limit; P cimax k and P eimax k Virtual Power Plant k The maximum discharge and charge power of the energy storage device; E max k and E min k Virtual Power Plant k The maximum and minimum energy stored in the energy storage device; R ES k,t and R DER k,t Respectively t Virtual power plant k The amount of frequency regulation ancillary service response provided by energy storage equipment and distributed energy equipment; R ES+ k and R DER+ k Virtual Power Plant k The upper limit of the frequency regulation auxiliary service response volume of energy storage equipment and distributed energy equipment; H DER k,t express t Virtual power plant k The virtual inertia provided by the distributed energy devices in H DER+ k Virtual Power Plant k The upper limit of the virtual inertia provided by distributed energy devices.

[0013] In step S3, the multi-type resource collaborative clearing model is as follows: min ∑ i,t [ a i ( P G i,t ) 2 + b i P G i,t + N i · u i,t + SU i,t + SD i,t ]-{-∑ i,t [( M i,t ) 2 / 4 a i ]+∑ n,t l E n,t D d,t -∑ nm,t e nmmax,t L max nm -∑ nm,t e nmmin,t L max nm -∑ n,t I min n,t -∑ n,t I max n,t -∑ i,t u Tc i,t K U i -∑ i,t u GU i,t P GU i -∑ i,t u GDi,t P GD i -∑ i,t u RG+ i,t R G+ i -∑ i,t u uc+ i,t +∑ k,t l A k,t P L k,t -∑ k,t u DH+ k,t H DER+ k -∑ k,t u DER+ k, t P DERmax k -∑ k,t u RDER+ k,t R DER+ k -∑ k,t v RDER+ k,t P DERmax k -∑ k,t u EH+ k,t H ei+ k -∑ k,t u ei,c+ k,t P cimax k -∑ k,t u ei ,d+ k,t P eimax k - ∑k,t=1 u E k,t E k,0 +∑ k u E0 k E k,0 -∑ k,t u E+ k,t E max k +∑ k,t u E- k,t E min k -∑ k,t u RES+ k,t R ES+ k -∑ k, t v RES+ k,t P eimax k - ∑ k,t l DER k P DER k,t -∑ k,t l C k P ei,c k,t -∑ k,t l D k P ei,d k,t} The multi-type resource collaborative clearing device considering inertia and frequency modulation auxiliary services of the present invention comprises: The data acquisition unit is used to obtain the time parameters of the response resource equipment and the preset control parameters of the transmission network and the virtual power plant.

[0014] The model building unit is used to construct a transmission network inertia and frequency regulation ancillary service clearing model based on the dual constraints of the transmission network, a virtual power plant inertia and frequency regulation ancillary service clearing model consisting of optimality conditions and complementary relaxation conditions, and a multi-type resource collaborative clearing model.

[0015] The collaborative clearing unit is used to input the time parameters of the response resource equipment into the transmission network inertia and frequency regulation auxiliary service clearing model, and after processing, output the auxiliary service clearing cost parameters as control instructions to control the transmission network; input the auxiliary service clearing cost parameters into the virtual power plant inertia and frequency regulation auxiliary service clearing model, and after processing, output the power parameters of the virtual power plant as control instructions to control the virtual power plant; input the preset control parameters of the transmission network and the virtual power plant into the multi-type resource collaborative clearing model, and after processing, output the actual control parameters of the transmission network and the virtual power plant as control instructions to realize the collaborative clearing of the multi-type resource collaborative system.

[0016] The electronic device of the present invention comprises: a memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method as described above.

[0017] The computer-readable storage medium of the present invention stores program data thereon, and when the program data is executed by a processor, the method described above is implemented.

[0018] The method of the present invention first constructs an upper-layer transmission network inertia and frequency regulation auxiliary service clearing model by dual transformation of various constraints related to generator sets in the transmission network. On this basis, based on various constraints related to energy storage equipment and distributed energy equipment in the virtual power plant, the optimality conditions are used to replace them, and then the lower-layer virtual power plant inertia and frequency regulation auxiliary service clearing model is constructed. Finally, by integrating the upper and lower layer models, an objective function with the goal of maximizing operating benefits is formulated, and the strong duality theory is used for linearization to obtain a multi-type resource collaborative clearing model. By solving the model, the response amount of each type of resource when providing inertia and frequency regulation auxiliary services can be obtained. The method has significant advantages in improving the efficiency of inertia and frequency regulation auxiliary service resource allocation of generator sets, energy storage equipment, distributed energy equipment, etc., and can provide a more flexible and efficient solution for the safety and stability of power system frequency.

[0019] The beneficial effects of the present invention are: 1) The present invention accurately depicts frequency response differences and optimizes system stability: The present invention takes into account the differences in frequency response delay time and transmission time of different resources (such as generator sets, energy storage equipment, and distributed power generation equipment, etc.), and effectively improves the characterization of power system frequency stability by refining these differences. Especially in the case of high penetration of renewable energy, it can avoid the negative impact of new energy fluctuations on frequency response and reduce the risk of system frequency imbalance. This detailed characterization method provides a scientific basis for the access and application of diversified frequency regulation resources in the future, helping the power system to deal with uncertainty more safely.

[0020] 2) The transmission network and virtual power plant of the present invention are optimized in coordination to improve resource allocation efficiency: The present invention establishes a two-layer optimization model based on the transmission network and the virtual power plant, integrating the operation cost minimization goal of the upper transmission network and the operation benefit maximization goal of the lower virtual power plant. Through this multi-objective collaborative optimization, not only can the operation cost of the power system be reduced, but also the energy storage equipment and distributed energy in the virtual power plant can be effectively utilized to improve the frequency response capability of the system. Especially in the face of complex fault situations, the system can more flexibly schedule and respond resources to ensure frequency stability while optimizing benefits.

[0021] 3) The present invention efficiently transforms the double-layer model into a single-layer mixed integer quadratic programming model to simplify the solution process: The present invention converts the double-layer model into a dual problem by relaxing the non-convex constraints, and then combines the optimality conditions to finally simplify the double-layer model into a single-layer mixed integer quadratic programming model. This conversion greatly simplifies the solution process, allowing the optimization model to be efficiently solved in a relatively short time. This is particularly important for large-scale system applications, especially in power scenarios that require real-time scheduling, which can achieve rapid decision-making and ensure that the system frequency remains stable under variable load and renewable energy output conditions.

[0022] 4) The method of the present invention enhances the flexibility and reliability of the frequency regulation of the power system: The multi-type resource collaborative clearing method proposed in the present invention, by carefully considering the frequency response differences of different types of generators, energy storage equipment and distributed energy, significantly improves the dispatching capability of the power system in the face of new energy fluctuations, frequency response delays and the participation of virtual power plants. This method can flexibly allocate frequency regulation resources according to the dynamic response characteristics of various types of resources under the background of high penetration of renewable energy access, ensure that the system can quickly respond to frequency disturbances, and effectively prevent frequency imbalances caused by new energy fluctuations. In addition, the introduction of virtual power plants as the dispatching subject enables the power system to respond to sudden failures and quickly adjust the system inertia more flexibly, thereby enhancing the robustness and rapid response capability of the system. This method not only improves the frequency regulation capability of the power system, but also provides a solid guarantee for the safe grid connection of large-scale renewable energy.

[0023] In summary, the present invention not only provides an efficient resource allocation method and optimizes the configuration of inertia and frequency regulation auxiliary services, but also provides a more flexible and reliable frequency control solution for the power system when facing a high proportion of renewable energy access, greatly improving the safety and economy of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of the method of the present invention; Figure 2 is a comparison diagram showing the influence of delay time on clearing cost parameters according to an exemplary embodiment, wherein: Figure 2 (a) is a comparison chart of the clearing costs of power support services in Example 1 and Example 2. Figure 2 (b) is a comparison chart of the clearing costs of inertia auxiliary services in Example 1 and Example 2. Figure 2 (c) is a comparison chart of the clearing costs of the units providing frequency regulation auxiliary services in Example 1 and Example 2. Figure 2 (d) is a comparison chart of the clearing costs of the energy storage equipment providing frequency regulation auxiliary services in Example 1 and Example 2. Figure 2 (e) is a comparison chart of the clearing costs of distributed energy providing frequency regulation ancillary services in Example 1 and Example 2; Figure 3 is a comparison diagram showing the impact of different wind power penetration rates on clearing cost parameters according to an exemplary embodiment, wherein: Figure 3 (a) is a comparison chart of the clearing costs of power support services for Cases 1-4. Figure 3 (b) is a comparison chart of the clearing costs of inertia auxiliary services for Cases 1-4. Figure 3 (c) is a comparison chart of the clearing costs of the units providing frequency regulation ancillary services in Cases 1-4; Figure 4 is a comparison diagram showing the impact of different wind power penetration rates on frequency regulation auxiliary service clearing cost parameters and online units according to an exemplary embodiment, wherein: Figure 4 (a) is a comparison chart of the clearing costs of frequency regulation ancillary services provided by energy storage equipment in Cases 1-4. Figure 4 (b) is a comparison chart of the clearing costs of distributed energy providing frequency regulation ancillary services in Cases 1-4. Figure 4 (c) is a comparison chart of the number of online units for Cases 1-4; Figure 5 is a comparison diagram showing the impact of the number of virtual power plants on clearing cost parameters according to an exemplary embodiment, wherein: Figure 5 (a) is a comparison chart of the clearing costs of power support services for cases 1-4. Figure 5 (b) is a comparison chart of the clearing costs of inertia auxiliary services for cases 1-4. Figure 5(c) is a comparison chart of the clearing costs of frequency regulation ancillary services provided by units in cases 1-4; Figure 6 is a comparison diagram showing the impact of the number of virtual power plants on the clearing cost parameters and operating benefits of frequency regulation auxiliary services according to an exemplary embodiment, wherein: Figure 6 (a) is a comparison chart of the clearing costs of frequency regulation ancillary services provided by energy storage equipment in cases 1-4. Figure 6 (b) is a comparison chart of the clearing costs of distributed energy providing frequency regulation ancillary services in cases 1-4. Figure 6 (c) is a schematic diagram of the transmission network operation cost and virtual power plant operation benefits. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, the method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services of the present invention is specifically as follows: The present invention uses the IEEE 30-node power system as a test case. The power system has 17 generators, including 12 thermal power units and 5 wind power units. The operating costs and technical parameters of the units are detailed in Table 1. The optimization time scale of the present invention is 24 hours, with 1 hour as a cycle, that is, the optimization cycle T is 24. The power shortage of the power system is selected as 5% of the maximum load power of the day. RoCoF max Set to 1Hz / s, the maximum frequency deviation allowed by the system △f max Set to 0.8Hz, the rated frequency of the power system is 50Hz. The delay time of the thermal power unit providing frequency regulation auxiliary service T d,G 0.2s, the delivery time required to provide complete frequency modulation auxiliary services T G 10s; the delay time for the energy storage device to provide frequency regulation auxiliary services T d,ES 0.25s, the transfer time T ES 0.5s; the delay time for distributed energy to provide frequency regulation auxiliary services T d,DER 0.3s, the transfer time T DER The operation cost and technical parameters of the virtual power plant are shown in Table 2.

[0027] Table 1

[0028] Table 2

[0029] First, a multi-type resource coordination system of the transmission network including generators and virtual power plants is established. The transmission network of the multi-type resource coordination system includes generators, power loads and virtual power plants located at power nodes. Generators include thermal power units and renewable energy units represented by wind turbines, but renewable energy units do not provide inertia and frequency regulation auxiliary services. Generators and virtual power plants are the control subjects of the transmission network. At the control level of the transmission network, the virtual power plant is regulated as an independent control subject. The virtual power plant contains distributed energy equipment and energy storage equipment, which participate in regulation at the control level of the virtual power plant. Therefore, the multi-type resource coordination system uses generators, distributed energy equipment and energy storage equipment as response resources to regulate the frequency of the power system. The power support (i.e. power supply) of the generator set is the main service, and frequency regulation (or inertia) is a service provided by the generator set in addition to power support, so it is called frequency regulation auxiliary service and inertia auxiliary service. Auxiliary services correspond to frequency regulation auxiliary services and inertia auxiliary services, and power supply is called power support service.

[0030] Then, the transmission network inertia and frequency regulation auxiliary service clearing model based on the dual constraints of the transmission network is constructed as follows: min ∑ i,t [ a i ( P G i,t ) 2 + b i P G i,t + N i · u i,t + SU i,t + SD i,t ] M i,t = - b i + l E n,t + u G- i,t - u G+ i,t + u GU i,t+1 - uGU i,t - u GD i,t+1 + u GD i,t - v RG+ i,t N i + u G- i,t P Gmin i - u G+ i,t P Gmax i - u SU+ i,t+1 K U i + u SU+ i,t K U i + u SD+ i,t+1 K D i - u SD+ i,t K D i - v RG+ i,t P Gmax i - l H t H G i P Gmax i / P sys + u uc+ i,t ≥0 1- u SU+ i,t+ ∑ t u Tc i,t ≥0, t ∈[1, T c -1] 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[ T c , T - T c +1] 1- u SU+ i,t + u Tc i,t-Tc+1 ≥0, t ∈[ T - T c +2, T ] 1- u SD+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1] 1- u SD+ i,t + ∑ t u Tc i,t ≥ 0, t ∈[ T c , T - T c +1] 1- u SD+ i,t +u Tc i,t-Tc+1 ≥0, t ∈[ T -T c +2, T ] ∑ m B nm ( l E n,t - l E m,t )+∑ m B nm ( e nmmax,t - e mnmax,t )-∑ m B nm ( e nmmin,t - e mnmin,t )- e min n,t +e max n,t +e δ1 t ≥0 u RG+ i,t + v RG+ i,t - l PFR t ≥0 l H t -2 RoCoF max · P sys · u RoCoF t +P sys · u nadir2 t / f 0- P sys · u nadir3 t / f 0≥0 u fss t+u RoCoF t f 0 +u nadir1 t / ( △f max ) 1 / 2 ≥0 l PFR t - u fss t +T d,G u nadir1 t / [ T G ( △f max ) 1 / 2 ]+ T d,G 2 ( u nadir2 t - u nadir3 t ) / (4 T G △f max )-( u nadir2 t + u nadir3 t ) / T G ≥0 l PFRES t - u fss t - u nadir1 t / ( △f max ) 1 / 2 -(2 T d,ES +T ES )·( u nadir2 t - u nadir3 t ) / (4 △fmax )≥0 l PFRDER t - u fss t - u nadir1 t / ( △f max ) 1 / 2 -(2 T d,DER +T DER )·( u nadir2 t - u nadir3 t ) / (4 △f max )≥0 ( u nadir1 t ) 2 + ( u nadir2 t ) 2 ≤( u nadir3 t ) 2 l E n,t 、 e nmmin,t 、 e nmmax,t 、 e min n,t 、 e max n,t 、 e δ1 t ≥0 u G- i,t 、 u G+ i,t 、 u uc+ i,t 、u GU i,t 、 u GD i,t 、u RG+ i,t , v RG+ i,t , u SU+ i,t , u SD+ i,t , u Tc i,t ≥0 u nadir1 t , u nadir2 t , u nadir3 t , u RoCoF t , u fss t ≥0 l H t , l PFR t , l PFRES t , l PFRDER t ≥0 in, a i and b i Respectively represent i first and second operating cost parameters of a power generating set providing power support service; P G i,t express t Moment i Output power of each generator set; N i Indicates i No-load cost of each generator set; u i,t express t Moment i The start and stop status of a generator set u i,t =1, it is turned on. u i,t =0, the machine stops; SU i,t and SD i,t Respectively t Moment i The actual startup cost and shutdown cost of each generator set; M i,t express t Moment i Auxiliary variables related to the operating cost of each generator set, M i,t =2 a i P G i,t ; b i Indicates i A second operating cost parameter for a generator set to provide power support service; l E n,t and l E m,t Respectively t Moment n and m The clearing cost parameter of the power support service on the power node, that is, the transmission network constraint -∑ t P G i,t +∑ d D d,t +∑ m B nm ( i n,t - i m,t )-∑ k P VPP k,t =0 dual variable; u G- i,t and u G+ i,t Respectively t Moment i The first and second dual variables of the generator set correspond to the unit operation constraints u i,t P Gmin i ≤P G i,t and P G i,t≤u i,t P Gmax i The dual variable of u GU i,t+1 and u GU i,t Respectively t +1 moment and t Moment i The third dual variable of the generator set corresponds to the unit operation constraints P G i,t – P G i,t-1 ≤ P GU i The dual variable of u GD i,t+1 and u GD i,t Respectively t +1 moment and t Moment i The fourth dual variable of the generator set corresponds to the unit operation constraints P G i,t-1 - P G i,t ≤ P GD i The dual variable of v RG+ i,t express t Moment i The fifth dual variable of the generator set corresponds to the unit operation constraint R G i,t ≤ u i,t P Gmax i - P G i,t The dual variable of N i Indicates i No-load cost of each generator set; P Gmax i and P Gmin iRespectively represent i The upper and lower limits of the output power of each generator set; u SU+ i,t+1 and u SU+ i,t Respectively t +1 moment and t Moment i The sixth dual variable of the generator set corresponds to the unit operation constraint SU i,t ≥( u i,t - u i,t-1 ) K U i The dual variable of K U i and K D i Respectively represent i The cost of starting and stopping a generator set once; u SD+ i,t express t Moment i The seventh dual variable of the generator set corresponds to the unit operation constraint SD i,t ≥( u i,t-1 - u i,t ) K D i The dual variable of l H t express t The clearing cost parameter of the inertia auxiliary service in the transmission network at the moment, that is, the coupling constraint of the upper and lower models H t =[∑ i u i,t H G i P Gmax i +∑ k ( H DER k, t P DERmax k + Hei k,t P eimax k )] / P sys The dual variable of the inertia auxiliary service is consistent with the clearing cost parameters of different power nodes; H G i Indicates i The inertia constant of the generator set, i Each generator set has a fixed inertia and does not provide virtual inertia. Its maximum virtual inertia can be equivalent to H G i ; P sys Indicates the rated power of the transmission network; u uc+ i,t express t Moment i The eighth dual variable of the generator set is u i,t ∈{0,1} is discrete, and we relax it and transform it into 0≤ u i,t ≤1, so the eighth dual variable corresponds to the unit operation constraint u i,t Dual variable ≤1; u Tc i,t and u Tc i,t-Tc+1 Respectively represent time intervals T c middle t Moment and tT c +1 moment i The ninth dual variable of the generator set corresponds to the unit operation constraint ∑ t ( SU i,t + SD i,t )≤max{ K U i , K D i} dual variable, T c Indicates the minimum time interval between the start and stop states of the generator set. T c During the time, the unit will have at most one start / stop state change; T Represents the optimization cycle;B nm Indicates n and m The admittance of the transmission line between power nodes; e nmmin,t and e nmmax,t Respectively t Moment n The power node m The tenth and eleventh dual variables of the power nodes, e mnmin,t and e mnmax,t Respectively represent m Towards n The twelfth and thirteenth dual variables of the power nodes, and the tenth and twelfth dual variables correspond to the transmission network constraints - L max nm ≤ B nm ( i n,t - i m,t ) is the dual variable, when nm = mn hour, e nmmin,t = e mnmin,t , the eleventh and thirteenth dual variables correspond to the transmission network constraints B nm ( i n,t - i m,t )≤ L max nm The dual variable of nm = mn hour, e nmmax,t = e mnmax,t ; e min n,t and e max n,t Respectively t Moment n The fourteenth and fifteenth dual variables of the power nodes correspond to the transmission network constraints – π ≤ i n,t and i n,t ≤ π The dual variable of e δ1 t express t The sixteenth dual variable of the first power node at time t, corresponding to the transmission network constraint i 1,t =0 dual variable; u RG+ i,t express t Moment i The seventeenth dual variable of the generator set corresponds to the unit operation constraint R G i,t ≤ R G+ i The dual variable of l PFR t express t The clearing cost parameters for the frequency regulation auxiliary services provided by the generators at all times; RoCoF max Indicates the maximum value of the frequency change rate of the transmission network; u RoCoF t express t The eighteenth dual variable of the transmission network at time instant corresponds to the frequency change rate constraint P L t f 0 / (2 H t P sys )≤ RoCoF max The dual variable of u nadir1 t , u nadir2 t and u nadir3 t Respectively t The nineteenth, twentieth and twenty-first dual variables of the transmission network at time instant. Since the frequency minimum point constraint has three dual variables, u nadir1 t , u nadir2 t and u nadir3 t The first, second, and third dual variables corresponding to the frequency minimum constraint, respectively; f 0 Indicates the rated frequency of the transmission network; ufss t express t The twenty-second dual variable of the transmission network at time t, corresponding to the quasi-steady-state constraint R G t + R ES t + R DER t ≥ P L t The dual variable of △f max Indicates the maximum frequency deviation allowed by the transmission network; l PFR t express t The clearing cost parameter of the frequency regulation auxiliary service provided by the generator at the moment, that is, the coupling constraint of the upper and lower models R G t =∑ i R G i,t The dual variable of T d,G It indicates the delay time from the occurrence of fault to the start of frequency regulation auxiliary service of the generator set; T G Indicates the delivery time for the generator set to provide complete frequency regulation auxiliary services; l PFRES t and l PFRDER t Respectively t The clearing cost parameters of the frequency regulation auxiliary services provided by the energy storage equipment and distributed energy equipment correspond to the coupling constraints of the upper and lower models respectively. R ES t =∑ k R ES k,t and R DER t =∑ k R DER k,t The dual variable of T d,ES It indicates the delay time from the occurrence of a fault to the start of providing frequency regulation auxiliary services. T ESIndicates the delivery time of the energy storage device to provide complete frequency regulation ancillary services; T d,DER It indicates the delay time from the occurrence of fault to the start of frequency regulation auxiliary service of distributed energy equipment. d It is used only for distinction. It is the abbreviation of delay and does not contain the meaning of numbers. T DER It refers to the delivery time for distributed energy equipment to provide complete frequency regulation auxiliary services; the cost can be specifically measured in terms of electricity.

[0031] The response resource equipment time parameters are input into the transmission network inertia and frequency regulation auxiliary service clearing model, and after processing, the auxiliary service clearing cost parameters are output as control instructions to control the transmission network. The response resource equipment time parameters include the delay time from the occurrence of the fault to the start of the frequency regulation auxiliary service of the generator set, distributed energy equipment and energy storage equipment, and the transmission time for the generator set, distributed energy equipment and energy storage equipment to provide complete frequency regulation auxiliary services; the auxiliary service clearing cost parameters include the power support service at different power nodes, the inertia auxiliary service in the transmission network, and the clearing cost parameters of the frequency regulation auxiliary service provided by the generator set, distributed energy equipment and energy storage equipment. Among them, the power support service is provided by the generator set, and its clearing cost parameters are inconsistent at different power nodes. The inertia auxiliary service is provided by the distributed energy equipment and energy storage equipment, and its clearing cost parameters are consistent at different power nodes and provided by different equipment. The frequency regulation auxiliary service is jointly provided by the generator set, distributed energy equipment and energy storage equipment, and its clearing cost parameters are inconsistent when provided by different equipment, but they are consistent for the same equipment at different electrical nodes.

[0032] The transmission network inertia and frequency regulation auxiliary service clearing model is mainly composed of five parts: transmission network constraints, unit operation constraints, frequency stability constraints, upper and lower model coupling constraints, and dual constraints. Based on the transmission network constraints, unit operation constraints, frequency stability constraints and upper and lower model coupling constraints, the transmission network formulates the dual constraints of the above constraints, and then constructs the transmission network inertia and frequency regulation auxiliary service clearing model. The decision-making subject is the transmission network, and the control object is the generator set (including generator sets and wind turbine sets). The goal is to minimize the operation cost of the transmission network.

[0033] 1) Transmission network constraints: -∑ t P G i,t +∑ d D d,t +∑ m B nm ( in,t - i m,t )-∑ k P VPP k,t =0 - L max nm ≤ B nm ( i n,t - i m,t )≤ L max nm – π ≤ i n,t ≤ π i 1,t =0 in, D d,t express t Moment d The power consumed by each electrical load; i n,t , i m,t and i 1,t Respectively t Moment n , m The voltage angle between the first and second power nodes; P VPP k,t express t Virtual power plant k The net output power of L max nm Indicates n and m The maximum transmission power of the transmission line between power nodes.

[0034] 2) Unit operation constraints: u i,t P Gmin i ≤ P G i,t ≤ u i,t P Gmax i u i,t ∈{0,1} P G i,t - P G i,t-1 ≤ P GU i P G i,t-1 - P G i,t ≤ P GD i 0≤ R G i,t ≤ R G+ i R G i,t ≤ u i,t P Gmax i - P G i,t SU i,t ≥0 SU i,t ≥( u i,t - u i,t-1 )· K U i SD i,t ≥0 SD i,t ≥( u i,t-1 - u i,t )· K D i ∑ t ( SU i,t + SD i,t )≤max{K U i , K D i}, t ∈[ T c , T + T c +1] in, u i,t express t Moment i The start and stop status of each generator set is a 0-1 variable. u i,t =1, it is turned on. u i,t =0, the machine stops; P GU i and P GD i Respectively represent i The maximum climbing power and landslide power of each generator set in a unit time interval; R G i,t express t Moment i The amount of frequency regulation auxiliary service response provided by each generator set; R G+ i Indicates i The maximum frequency regulation auxiliary service response that a generator set can provide. Renewable energy units generally output at maximum power, so their maximum frequency regulation auxiliary service response is usually 0; SU i,t and SD i,t Respectively t Moment i The actual startup cost and shutdown cost of each generator set; K U i and K D i Respectively represent i The start-up and shutdown costs required for a single startup and shutdown of a generator set.

[0035] 3) Frequency stability constraints: In order to ensure that the power system can maintain stable operation in the event of a sudden large disturbance or fault accident, it is usually required that the system frequency after the accident remain within a certain safety range. In this regard, the present invention sets three types of frequency stability constraints: frequency minimum point constraint, frequency change rate constraint and quasi-steady state constraint.

[0036] a) Frequency minimum point constraint: Considering that the minimum frequency of the system after a sudden large disturbance or a fault accident should not be lower than the set threshold △f max The present invention uses three types of response resources, namely, generator sets in the transmission network (renewable energy units represented by wind turbines are usually unable to provide inertia and frequency regulation auxiliary services) and distributed energy devices and energy storage devices aggregated in virtual power plants, to provide support for frequency regulation of the transmission network. Considering that each type of response resource has different delay time characteristics (related to the dead zone of each type of resource response frequency change) and transmission time (related to the frequency regulation reserve capacity and response speed of each type of resource), the coordinated response amount of frequency regulation auxiliary services provided by multiple types of resources can be calculated by piecewise function as follows: FR total ( t )= 0 if t ≤ T d,G R G t ( t - T d,G ) / T G if T d,G ≤ t ≤ T d,ES R G t ( t - T d,G ) / T G + R ES t ( t - T d,ES ) / T ES if T d,ES ≤ t ≤ T d,DER R G t ( t - T d,G ) / T G + R ES t ( t - T d,ES ) / T ES + R DER t ( t - T d,DER ) / T DER if T d,DER ≤ t ≤ T d,ES +T ES R G t ( t - T d,G ) / T G + R ES t + R DER t ( t - T d,DER ) / T DER if T d,ES +T ES ≤ t ≤ T d,DER +T DER R G t ( t - T d,G ) / T G + R ES t + RDER t if T d,DER +T DER ≤ t ≤ T d,G +T G R G t + R ES t + R DER t if t ≥ T d,G +T G in, FR total ( t )express t The coordinated response of three resources, namely, generators, distributed energy and energy storage equipment, to provide frequency regulation auxiliary services at each moment; R G t , R ES t and R DER t They respectively represent the frequency regulation auxiliary service response amounts provided by the generator sets, energy storage equipment and distributed energy equipment at each moment.

[0037] The amount of collaborative response FR total Substituting the swing equation describing the dynamic change of power system frequency into the frequency minimum point constraint, the following is obtained: { T d,G R G t / [ T G ( △f max ) 1 / 2 ]-( R ES t +R DER t - P L t )·( △f max )1 / 2} 2 +{ P sys H t / f 0 +T d,G 2 R G t / (4 T G △f max )- R G t / T G -(2 T d,ES +T ES ) R ES t / (4 △f max )-(2 T d,DER +T DER ) R DER t / (4 △f max )} 2 ≤{ P sys H t / f 0 +T d, G 2 R G t / (4 T G △f max )+ R G t / T G -(2 T d,ES +T ES ) R ES t / (4 △f max )-(2T d,DER +T DER ) R DER t / (4 △f max )} 2 in, P L t express t The power shortage of the transmission grid at any given moment; H t Represents the inertia of the transmission network at that moment.

[0038] b) Frequency change rate constraint: When a power system fault occurs, the system frequency change rate should not exceed the defined maximum value, that is: P L t f 0 / (2 H t P sys )≤ RoCoF max c) Quasi-steady-state constraints: In order to keep the power system stable after a fault occurs, the coordinated response of the frequency regulation auxiliary service provided should be greater than the power shortage, that is: R G t + R ES t + R DER t ≥ P L t 4) Coupling constraints between upper and lower layer models: The upper-layer transmission network inertia and frequency regulation auxiliary service clearing model will be affected by the clearing results of the lower-layer virtual power plant inertia and frequency regulation auxiliary service clearing model, namely: H t =[∑ i u i,t H G i P Gmax i +∑ k( H DER k,t P DERmax k + H ei k,t P eimax k )] / P sys R G t =∑ i R G i,t R ES t =∑ k R ES k,t R DER t =∑ k R DER k,t in, H DER k,t express t Virtual power plant k Virtual inertia provided by distributed energy devices; P DERmax k Virtual Power Plant k The maximum output power of distributed energy equipment; H ei k,t express t Virtual power plant k Virtual inertia provided by energy storage devices; P eimax k Virtual Power Plant k The maximum charging power of the energy storage device; R ES k,t and R DER k,t Respectively t Virtual power plant k The response volume of frequency regulation auxiliary services provided by energy storage equipment and distributed energy equipment.

[0039] Then, a virtual power plant inertia and frequency regulation auxiliary service clearing model consisting of optimality conditions and complementary relaxation conditions is constructed. The optimality conditions are as follows: - l E n,t + l A k,t =0 l C k,t + l A k,t - u ei,c- k,t + u ei,c+ k,t - u E k,t or c k △t - v RES+ k,t =0 l D k,t - l A k,t - u ei,d- k,t + u ei,d+ k,t + u E k,t △th d k + v RES+ k,t =0 u E k,t - u E k,t+1 + u E+ k,t - u E- k,t =0 u E k,t - uE0 k + u E+ k,t - u E- k,t =0 - l H t P eimax k / P sys - u EH- k,t + u EH+ k,t +( u ei,c+ k,t + u ei,d+ k,t +v RES+ k,t )·(2| RoCoF max |) P eimax k / f 0+( u E+ k,t + u E- k,t )·(2| △f max |) P eimax k / f 0=0 - l PFRES t - u RES- k,t + u RES+ k,t + v RES+ k,t =0 l DER k - l A k,t - u DER- k,t + uDER+ k,t + v RDER+ k,t =0 - l H t P DERmax k / P sys - u DH- k,t + u DH+ k,t +( u DER+ k,t + v RDER+ k,t )·(2| RoCoF max |)· P DERmax k / f 0=0 - l PFRDER t - u RDER- k,t + u RDER+ k,t + v RDER+ k,t =0 - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t =0 E k,t = E k,t-1 + P ei,c k,t or c k △t - Pei,d k,t △t / h d k E k,0 = E k,|T| in, l E n,t express t Moment n The clearing cost parameter of the power support service on each power node; l A k,t express t Virtual power plant k The clearing cost parameter of the power support service on the power node corresponds to the constraint - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t = 0 Lagrange multiplier; l C k,t and l D k,t Respectively t Virtual power plant k The charging and discharging costs of energy storage equipment; u ei,c- k,t express t Virtual power plant k The first Lagrange multiplier of , that is, the corresponding constraint 0≤ P ei,c k,t The Lagrange multiplier of ; u ei,c+ k,t express t Virtual power plant k The second Lagrange multiplier of P ei ,c k,t + H ei k,t ·(2| RoCoF max |) P eimax k / f 0≤ P cimax k The Lagrange multiplier of ; u E k,t and u E k,t+1 Respectively t Moment and t +1 Moment Virtual Power Plant k The third Lagrange multiplier of E k,t = E k,t-1 + P ei,c k,t or c k △t - P ei,d k,t △ t / h d k The Lagrange multiplier of ; u E+ k,t express t Virtual power plant k The fourth Lagrange multiplier of , that is, the corresponding constraint E k,t ≤ E max k - H ei k,t ·(2| △f max |) P eimax k / f Lagrange multiplier of 0; u E- k,t express t Virtual power plant k The fifth Lagrange multiplier of E k,t ≥ E min k + H ei k,t·(2| △f max |) P eimax k / f Lagrange multiplier of 0; u E0 k Virtual Power Plant k The sixth Lagrange multiplier of E k,0 = E k,|T| The Lagrange multiplier of ; or c k and or d k Virtual Power Plant k The charging and discharging efficiency of energy storage devices; △t represents the control time interval of the virtual power plant; v RES+ k,t express t Virtual power plant k The seventh Lagrange multiplier of , which corresponds to the constraint R ES k,t ≤ P eimax k - H ei k,t ·(2| RoCoF max |) P eimax k / f 0- P ei,d k,t +P ei,c k,t The Lagrange multiplier of ; u ei,d+ k,t express t Virtual power plant k The eighth Lagrange multiplier of P ei,d k,t + H ei k,t ·(2| RoCoF max |) P eimax k / f 0≤ P eimax k The Lagrange multiplier of ; u ei,d- k,t express t Virtual power plant k The ninth Lagrange multiplier of , which corresponds to the constraint 0≤ P ei,d k,t The Lagrange multiplier of ; l H t express t The clearing cost parameters of inertia auxiliary services in the transmission network at any moment; P DERmax k Virtual Power Plant k The maximum output power of distributed energy equipment, P eimax k Virtual Power Plant k The maximum charging power of the energy storage device; P sys Indicates the rated power of the transmission network; u EH- k,t and u EH+ k,t Respectively t Virtual power plant k The tenth and eleventh Lagrange multipliers of H ei k,t and H ei k,t ≤ H ei+ k The Lagrange multiplier of ; u DH- k,t and u DH+ k,t Respectively t Virtual power plant k The twelfth and thirteenth Lagrange multipliers of , corresponding to the constraint 0≤ H DER k,t and H DER k,t ≤ H DER+ k The Lagrange multiplier of ; RoCoFmax Indicates the maximum value of the frequency change rate of the transmission network; f 0 Indicates the rated frequency of the transmission network; △f max Indicates the maximum frequency deviation allowed by the transmission network; l PFRES t and l PFRDER t Respectively t The clearing cost parameters for frequency regulation auxiliary services provided by energy storage equipment and distributed energy equipment; u RES- k,t and u RES+ k,t Respectively t Virtual power plant k The fourteenth and fifteenth Lagrange multipliers of correspond to the constraints 0≤ R ES k,t and R ES k,t ≤ R ES+ k The Lagrange multiplier of ; l DER k Virtual Power Plant k The operating cost of distributed energy equipment; u DER- k,t express t Virtual power plant k The sixteenth Lagrange multiplier of , corresponding to the constraint 0≤ P DER k,t The Lagrange multiplier of ; u DER+ k,t express t Virtual power plant k The seventeenth Lagrange multiplier of P DER k,t + H DER k,t ·(2| RoCoF max |) P DERmax k / f 0≤ P DERmax kThe Lagrange multiplier of ; v RDER+ k,t express t Virtual power plant k The eighteenth Lagrange multiplier of R DER k,t ≤ P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |) P DERmax k / f Lagrange multiplier of 0; u RDER- k,t and u RDER+ k,t Respectively t Virtual power plant k The nineteenth and twentieth Lagrange multipliers of correspond to the constraints 0≤ R DER k,t and R DER k,t ≤ R DER+ k The Lagrange multiplier of ; P DER k,t express t Virtual power plant k Output power of distributed energy equipment; P ei,c k,t and P ei,d k,t Respectively t Virtual power plant k The charging power and discharging power of the energy storage device; P VPP k,t express t Virtual power plant k The net output power of P L k,t express t Virtual power plant k Load power;E k,t , E k,t-1 , E k,0 and E k,|T| Respectively t time, t -1 moment, initial moment and | T |Moment Virtual Power Plant k The energy stored in the energy storage device, T Indicates the optimization cycle.

[0040] The complementary relaxation conditions of the virtual power plant inertia and frequency regulation auxiliary service clearing model are as follows: 0≤ u ei,c- k,t ⊥ P ei,c k,t ≥0 0≤ u ei,d- k,t ⊥ P ei,d k,t ≥0 0≤ u EH- k,t ⊥ H ei k,t ≥0 0≤ u EH+ k,t ⊥( H ei+ k - H ei k,t ) ≥0 0≤ u ei,c+ k,t ⊥( P cimax k - P ei,c k,t - H ei k,t ·(2| RoCoF max |) P eimax k / f 0)≥0 0≤ uei,d+ k,t ⊥( P eimax k - P ei,d k,t - H ei k,t ·(2| RoCoF max |) P eimax k / f 0)≥0 0≤ u E+ k,t ⊥( E max k - H ei k,t ·(2| △f max |)· P eimax k / f 0- E k,t )≥0 0≤ u E- k,t ⊥( E k,t - E min k - H ei k,t ·(2| △f max |)· P eimax k / f 0)≥0 0≤ u RES- k,t ⊥ R ES k,t ≥0 0≤ u RES+ k,t ⊥( R ES+ k - R ES k,t )≥0 0≤ vRES+ k,t ⊥( P eimax k - H ei k,t ·(2| RoCoF max |)· P eimax k / f 0- P ei,d k,t +P ei,c k,t - R ES k,t )≥0 0≤ u DER- k,t ⊥ P DER k,t ≥0 0≤ u DH- k,t ⊥ H DER k,t ≥0 0≤ u DH+ k,t ⊥( H DER+ k - H DER k,t )≥0 0≤ u DER+ k,t ⊥( P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |)· P DERmax k / f 0)≥0 0≤ u RDER- k,t ⊥ R DER k,t≥0 0≤ u RDER+ k,t ⊥( R DER+ k - R DER k,t )≥0 0≤ v RDER+ k,t ⊥( P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |) P DERmax k / f 0- R DER k,t )≥0 Among them, ⊥ represents the complementary relaxation condition operator, such as 0≤ a ⊥ b ≥0 indicates a constraint a ≥0 and constraint b ≥0 constitutes a complementary relaxation condition, that is, the formula can be equivalent to ab =0, a ≥0, b ≥0, on this basis, a 0-1 variable can be introduced c and a large constant M Convert this constraint to 0≤ a ≤ Mc and 0≤ b ≤ M (1- c ) two constraints; H ei k,t and H ei+ k Virtual Power Plant k The virtual inertia provided by the energy storage device and its upper limit; P cimax k and P eimax k Virtual Power Plant k The maximum discharge and charge power of the energy storage device; Emax k and E min k Virtual Power Plant k The maximum and minimum energy stored in the energy storage device; R ES k,t and R DER k,t Respectively t Virtual power plant k The amount of frequency regulation ancillary service response provided by energy storage equipment and distributed energy equipment; R ES+ k and R DER+ k Virtual Power Plant k The upper limit of the frequency regulation auxiliary service response volume of energy storage equipment and distributed energy equipment; H DER k,t express t Virtual power plant k The virtual inertia provided by the distributed energy devices in H DER+ k Virtual Power Plant k The upper limit of the virtual inertia provided by distributed energy devices.

[0041] The ancillary service clearing cost parameters are input into the virtual power plant inertia and frequency regulation ancillary service clearing model, and after processing, the power parameters of the virtual power plant are output as control instructions to control the virtual power plant; the power parameters of the virtual power plant include the output power of the distributed energy equipment in the virtual power plant and the charging power and discharging power of the energy storage equipment.

[0042] When the lower-level virtual power plant inertia and frequency regulation auxiliary service clearing model receives the clearing cost parameters transmitted by the upper-level transmission network inertia and frequency regulation auxiliary service clearing model, the lower-level model first formulates the virtual power plant inertia and frequency regulation auxiliary service clearing targets as follows: max ∑ t l E n,t P VPP k,t + ∑ t l H t ( H ei k,t Peimax k + H DER k,t P DERmax k ) / P sys + ∑ t l PFRES t R ES k,t + ∑ t l PFRES t R DER k,t - ∑ t l DER k P DER k,t -∑ t l C k,t P ei,c k,t -∑ t l D k,t P ei,d k,t The clearing constraints for virtual power plant inertia and frequency regulation auxiliary services are as follows: - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t =0 0≤ P ei,c k,t 0≤ P ei,d k,t 0≤ H ei k,t ≤ H ei+ k P ei,c k,t + H ei k,t ·(2| RoCoF max |) P eimax k / f 0≤ P cimax k P ei,d k,t + H ei k,t ·(2| RoCoF max |) P eimax k / f 0≤ P eimax k E k,t = E k,t-1 + P ei,c k,t or c k △t - P ei,d k,t △t / h d k E k,0 = E k,|T| E k,t ≤ E max k - H ei k,t ·(2| △f max |) P eimaxk / f 0 E k,t ≥ E min k + H ei k,t ·(2| △f max |) P eimax k / f 0 0≤ R ES k,t ≤ R ES+ k R ES k,t ≤ P eimax k - H ei k,t ·(2| RoCoF max |) P eimax k / f 0- P ei,d k,t +P ei,c k,t 0≤ P DER k,t 0≤ H DER k,t ≤ H DER+ k P DER k,t + H DER k,t ·(2| RoCoF max |) P DERmax k / f 0≤ P DERmax k 0≤R DER k,t ≤ R DER+ k R DER k,t ≤ P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |) P DERmax k / f 0 It is worth noting that for the upper-level model, the smaller the clearing cost parameters of power support services, inertia auxiliary services, and frequency regulation auxiliary services, the smaller the operating cost of the transmission network; while for the lower-level model, the larger the clearing cost parameters of power support services, inertia auxiliary services, and frequency regulation auxiliary services, the greater the operating benefit of the virtual power plant. Therefore, the present invention aims to find the optimal equilibrium point of the upper and lower-level models.

[0043] For the lower-level optimization problem, the present invention first uses equivalent optimality conditions to replace the virtual power plant inertia and frequency regulation ancillary service clearing objectives and constraints, then uses the big M method to process the nonlinear constraints of the optimality conditions, and merges them into the upper-level transmission network inertia and frequency regulation ancillary service clearing model, and finally obtains the lower-level virtual power plant inertia and frequency regulation ancillary service clearing model.

[0044] Finally, the multi-type resource collaborative clearing model of the multi-type resource collaborative system is constructed as follows: min ∑ i,t [ a i ( P G i,t ) 2 + b i P G i,t + N i · u i,t + SU i,t + SD i,t ]-{-∑ i,t [( Mi,t ) 2 / 4 a i ]+∑ n,t l E n,t D d,t -∑ nm,t e nmmax,t L max nm -∑ nm,t e nmmin,t L max nm -∑ n,t I min n,t -∑ n,t I max n,t -∑ i,t u Tc i,t K U i -∑ i,t u GU i,t P GU i -∑ i,t u GD i,t P GD i -∑ i,t u RG+ i,t R G+ i -∑ i,t u uc+ i,t +∑ k,t l A k,t P L k,t -∑ k,t u DH+ k,t HDER+ k -∑ k,t u DER+ k, t P DERmax k -∑ k,t u RDER+ k,t R DER+ k -∑ k,t v RDER+ k,t P DERmax k -∑ k,t u EH+ k,t H ei+ k -∑ k,t u ei,c+ k,t P cimax k -∑ k,t u ei ,d+ k,t P eimax k - ∑ k,t=1 u E k,t E k,0 +∑ k u E0 k E k,0 -∑ k,t u E+ k,t E max k +∑ k,t u E- k,t E min k -∑ k,tu RES+ k,t R ES+ k -∑ k, t v RES+ k,t P eimax k - ∑ k,t l DER k P DER k,t -∑ k,t l C k P ei,c k,t -∑ k,t l D k P ei,d k,t}

[0045] The preset control parameters of the transmission network and the virtual power plant are input into the collaborative clearing model of multiple types of resources. After processing, the actual control parameters of the transmission network and the virtual power plant are output as control instructions to achieve collaborative clearing of the collaborative system of multiple types of resources.

[0046] The multi-type resource collaborative clearing model takes the transmission network inertia and frequency regulation auxiliary service clearing model and the virtual power plant inertia and frequency regulation auxiliary service clearing model as constraints. The transmission network inertia and frequency regulation auxiliary service clearing model only includes transmission network constraints, unit operation constraints, frequency stability constraints, upper and lower model coupling constraints and transmission network dual constraints, and does not include objective functions. The preset control parameters of the transmission network and virtual power plant include the maximum output power of the generator set, the upper limit of the virtual inertia and the upper limit of the frequency regulation auxiliary service response amount, the maximum output power, the upper limit of the virtual inertia and the upper limit of the maximum frequency regulation auxiliary service response amount of the distributed energy equipment, and the maximum discharge and charging power, the upper limit of the virtual inertia and the upper limit of the frequency regulation auxiliary service response amount of the energy storage equipment; the actual control parameters of the transmission network and virtual power plant include the output power, virtual inertia and frequency regulation auxiliary service response amount of the generator set, the output power, virtual inertia and frequency regulation auxiliary service response amount of the distributed energy equipment, and the output power, virtual inertia and frequency regulation auxiliary service response amount of the energy storage equipment.

[0047] The objective function of the multi-type resource collaborative clearing model consists of four parts: 1) minimizing the operating cost of generator sets in the transmission network; 2) minimizing the start-stop cost of generator sets in the transmission network; 3) maximizing the operating benefits of power support services, inertia auxiliary services, and frequency regulation auxiliary services provided by each virtual power plant; 4) minimizing the operating cost of distributed energy and energy storage equipment in each virtual power plant. The specific objective functions are as follows: min ∑ i,t [ a i ( P G i,t ) 2 + b i P G i,t + N i · u i,t + SU i,t + SD i,t ]-{-∑ i,t [( M i,t ) 2 / 4 a i ]+∑ n,t l E n,t D d,t -∑ n,t,k l E n,t P VPP k,t -∑ nm,t e nm,t L max nm -∑ nm,t e nmmin,t L max nm -∑ n,t I min n,t -∑ n,t I max n,t -∑ i,t uTc i, t K U i - ∑ i,t u GU i,t P GU i -∑ i,t u GD i,t P GD i -∑ i,t u RG+ i,t R G+ i -∑ k,t l H t ( H DER k,t P DERmax k + H ei k,t P eimax k ) / P sys -∑ k,t l PFRES t R ES k,t -∑ k,t l PFRDER t R DER k,t -∑ i,t u uc+ t,t} Among them, due to the existence of nonlinear terms in the objective function -∑ n,t,k l E n,t P VPP k,t -∑ k,t l H t ( H DER k,t P DERmax k + H ei k,t P eimax k ) / P sys -∑ k,t l PFRES t R ES k,t -∑ k,t l PFRDER t R DER k,t , which makes it impossible to solve the optimization problem directly. The present invention uses the strong duality theory to replace the nonlinear part, namely: -∑ n,t,k l E n,t P VPP k,t -∑ k,t l H t ( H DER k,t P DERmax k + H ei k,t P eimax k ) / P sys -∑ k,t l PFRES t R ES k,t -∑ k,t l PFRDER t R DERk,t =∑ k,t l A k,t P L k,t -∑ k,t u DH+ k,t H DER+ k -∑ k,t u DER+ k,t P DERmax k -∑ k,t u RDER+ k,t R DER+ k -∑ k,t v RDER+ k,t P DERmax k -∑ k,t u EH+ k,t H ei+ k -∑ k,t u ei,c+ k,t P cimax k -∑ k,t u ei,d+ k,t P eimax k -∑ k,t=1 u E k, t E k,0 +∑ k u E0 k E k,0 -∑ k,t u E+ k,tE max k +∑ k,t u E- k,t E min k -∑ k,t u RES+ k,t R ES+ k -∑ k,t v RES+ k,t P eimax k -∑ k,t l DER k P DER k,t -∑ k,t l C k P ei,c k,t -∑ k,t l D k P ei,d k,t Finally, the objective function of the replaced multi-type resource collaborative clearing model is obtained. The upper-layer transmission network inertia and frequency regulation auxiliary service clearing model and the lower-layer virtual power plant inertia and frequency regulation auxiliary service clearing model are integrated to formulate an objective function with the goal of maximizing operating benefits, and the nonlinear terms in the objective function are transformed using the strong duality theory, and then a multi-type resource collaborative clearing model considering inertia and frequency regulation auxiliary services is finally constructed. The constraints of the multi-type resource collaborative clearing model are completely consistent with the constraints of the upper-layer transmission network inertia and frequency regulation auxiliary service clearing model and the lower-layer virtual power plant inertia and frequency regulation auxiliary service clearing model. The objective function and constraints together constitute a multi-type resource collaborative clearing model, which is a single-layer mixed integer quadratic programming and can be directly solved using a solver.

[0048] In specific implementation, the present invention analyzes the impact of delay time on inertia auxiliary service and frequency modulation auxiliary service as follows: In order to study the impact of delay time on inertia auxiliary service and frequency regulation auxiliary service, the present invention sets up two sets of examples for comparison, where Example 1 considers the delay time of providing frequency regulation auxiliary service, while Example 2 does not consider the delay time. Table 3 gives a comparison of the operation conditions under the two examples. Figure 2 As shown, the impact of delay time on the clearing cost parameters of power support service, inertia auxiliary service and frequency regulation auxiliary service is compared.

[0049] As shown in Table 3 and Figure 2 As shown in (a), considering the delay time has almost no effect on the clearing cost parameters of the power support service. This is because the frequency regulation auxiliary service is essentially provided by utilizing the remaining capacity of the resource and will not directly affect the response amount of the power support service. Figure 2 As shown in (b), considering the delay time will increase the clearing cost parameters of multi-type resources providing inertia auxiliary services. This is because the maximum system frequency change rate after considering the delay time is RoCoF max It does not necessarily appear at the initial moment, but a period of time after the initial moment, such as 0.2s in this example. To prevent low-frequency load shedding, the power system needs more inertia to "suppress" changes in system frequency, so the clearing cost parameter of the inertia auxiliary service increases significantly after considering the delay time, as shown in Table 3, from 0.039 / MWs to 0.047 / MWs, an increase of 20.51%. For virtual power plants, under the guidance of high inertia auxiliary service operating cost parameters, more resources will participate in providing inertia support, which helps to ensure the safety of the power system. Figure 2 As shown in (c), the influence of delay time on the clearing cost parameters of the frequency regulation auxiliary service provided by the unit is not significant. This is because the delay time of the thermal power unit in the transmission network is very small compared to its transmission time, so it will not have a significant impact on the clearing cost parameters of the frequency regulation auxiliary service. For virtual power plants, since the transmission time of energy storage equipment is short, the delay time has a certain impact on the clearing cost parameters of its frequency regulation auxiliary service, such as Figure 2 As shown in (d), after considering the delay time, the clearing cost parameter of the frequency regulation auxiliary service has increased from 6.30 / MWh to 6.70 / MWh. For distributed energy, considering the delay time has almost no effect on the clearing cost parameter of the frequency regulation auxiliary service it provides, as shown in Figure 2 As shown in (e).

[0050] Table 3

[0051] The present invention also analyzes the impact of wind power penetration on inertia auxiliary services and frequency regulation auxiliary services as follows: With the development of renewable energy technology, the increase in wind power penetration will also have a significant impact on the operation of the power system. To this end, the present invention sets up 4 groups of cases to demonstrate the impact of wind power penetration. Case 1 has the same parameter configuration as Example 1 in the first part. On this basis, three new groups of cases are added, and the installed capacity of wind turbines is increased by 50MW, 100MW and 150MW on the basis of Example 1. The wind power penetration rates of these three groups of cases are 50.42%, 58.85% and 67.22% respectively. Table 4 shows the operation of the power system under different wind power penetration rates. Figure 3 and Figure 4 The changes in clearing cost parameters of power support services, inertia auxiliary services and frequency regulation auxiliary services under different wind power penetration rates are compared.

[0052] Table 4

[0053] As for the operating cost of the transmission network under different wind power penetration rates, it can be seen from Table 4 that with the increase of wind power penetration rate, the operating cost of the transmission network and the clearing cost parameters of power support services are decreasing. This is because the transmission network under high wind power penetration rate reduces its dependence on traditional units with high operating costs.

[0054] like Figure 3 As shown in (a), at the time 1-6 and 23-24, the clearing cost parameters of the power support service provided by Case 3 and Case 4 are greatly reduced. Figure 3 As shown in (b), the clearing cost parameter of inertia auxiliary service increases with the increase of wind power penetration rate. This is because as traditional units are replaced by renewable energy units, in order to maintain system frequency stability, it is necessary to rely on higher inertia auxiliary service clearing cost parameter signals to guide virtual power plants to provide inertia support. In addition, Figure 3 As shown in (c) of , the clearing cost parameter of the frequency regulation auxiliary service provided by the unit also increases with the increase of wind power penetration rate, such as Figure 4 (a) and Figure 4 As shown in (b), the clearing cost parameters of frequency regulation ancillary services provided by energy storage equipment and renewable energy also increase with the increase of wind power penetration rate. These changes are caused by the decrease in the number of traditional units providing frequency regulation ancillary services. In addition, the clearing cost parameters and frequency regulation ancillary service response of Case 1 are relatively low. This is because at a lower wind power penetration rate, there are more traditional units online in the power system, and the level of inertia ancillary services and frequency regulation ancillary services provided is higher. This can be seen in Figure 4 This is confirmed in (c).

[0055] Comprehensive comparison Figure 3 and Figure 4It can be seen that the clearing cost parameters of inertia auxiliary service and frequency regulation auxiliary service are negatively correlated with the clearing cost parameters of power support service. This is because when the wind power penetration rate is high, the clearing cost parameters of power support service of the power system are affected by the operating cost of wind turbines and are at a low level. In this state, the system increases unit inertia auxiliary service and frequency regulation auxiliary service, and relies on higher operating cost signals to guide virtual power plants to participate in inertia auxiliary service and frequency regulation auxiliary service, which will be more efficient than starting offline traditional units. When the wind power penetration rate is low, the clearing cost parameters of power support service are affected by the operating cost of traditional units and are at a high level. At this time, the cost of providing more inertia auxiliary service and frequency regulation auxiliary service by traditional units is lower. In addition, it can be seen from Table 4 that with the increase of wind power penetration rate, the operating efficiency of virtual power plants is constantly improving. On the one hand, it is due to the increase of clearing cost parameters of inertia auxiliary service and frequency regulation auxiliary service, which actively guides virtual power plants to participate in inertia auxiliary service and frequency regulation auxiliary service. On the other hand, the energy storage equipment in the virtual power plant relies on the change signal of the clearing cost parameter of the intraday power support service to carry out peak-valley arbitrage.

[0056] The present invention also analyzes the impact of virtual power plants on inertia auxiliary services and frequency regulation auxiliary services as follows: The present invention sets up 4 cases to verify the impact of virtual power plants on inertia auxiliary services and frequency regulation auxiliary services, and the number of virtual power plants is 0, 1, 3, and 5 respectively. Table 5 shows the operation of the power system under different numbers of virtual power plants. Figure 5 and Figure 6 The changes in clearing cost parameters of power support services, inertia auxiliary services and frequency regulation auxiliary services under different numbers of virtual power plants are compared.

[0057] Table 5

[0058] As shown in Table 5, as the number of virtual power plants increases, the cost of operating the transmission network gradually decreases. This is because when more virtual power plants provide power support services and inertia and frequency regulation auxiliary services to the power system, the transmission network's reliance on traditional thermal power units will decrease, which helps save the cost of operating the transmission system. Figure 5 As shown in (a), the clearing cost parameters of power support services are given. It can be seen that with the increase in the number of virtual power plants, the clearing cost parameters of power support services gradually increase, especially at points 3-4 and 23-24. On the one hand, with the increase in the number of virtual power plants, the amount of wind abandonment decreases and eventually becomes zero, and the thermal power units with higher operating costs become marginal units, resulting in an increase in the clearing cost parameters of power support services. On the other hand, the increase in resources such as energy storage equipment leads to an increase in the clearing cost parameters of power support services.

[0059] like Figure 5 (b) Figure 5 (c) Figure 6 (a) Figure 6 (b) and Figure 6 As shown in (c), with the increase in the number of virtual power plants, the clearing cost parameters of inertia and frequency regulation auxiliary services provided by units, energy storage equipment, and distributed energy resources gradually decrease. This is because as the flexibility of virtual power plants increases, they can provide more inertia and frequency regulation auxiliary service responses for the frequency stability of the power system, which leads to a decrease in the clearing cost parameters of inertia and frequency regulation auxiliary services. It is worth noting that since there is no virtual power plant in Case 1, the frequency regulation auxiliary services provided by energy storage equipment and distributed energy resources become extremely scarce, so their clearing cost parameters are very high in Case 1. In summary, multi-type resources have a significant and positive impact on maintaining power grid security and frequency stability.

[0060] The present invention also provides a multi-type resource collaborative clearing device considering inertia and frequency regulation auxiliary services, the device includes a data acquisition unit, a model building unit and a collaborative clearing unit, the data acquisition unit is used to acquire the time parameters of the response resource equipment and the preset control parameters of the transmission network and the virtual power plant; the model building unit is used to construct a transmission network inertia and frequency regulation auxiliary service clearing model based on the dual constraints of the transmission network, a virtual power plant inertia and frequency regulation auxiliary service clearing model composed of optimality conditions and complementary relaxation conditions, and a multi-type resource collaborative clearing model; the collaborative clearing unit is used to convert the response resource The equipment time parameters are input into the transmission network inertia and frequency regulation auxiliary service clearing model, and after processing, the auxiliary service clearing cost parameters are output as control instructions to control the transmission network; the auxiliary service clearing cost parameters are input into the virtual power plant inertia and frequency regulation auxiliary service clearing model, and after processing, the power parameters of the virtual power plant are output as control instructions to control the virtual power plant; the preset control parameters of the transmission network and the virtual power plant are input into the multi-type resource collaborative clearing model, and after processing, the actual control parameters of the transmission network and the virtual power plant are output as control instructions to realize the collaborative clearing of the multi-type resource collaborative system.

[0061] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0062] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, in which the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the present invention. Ordinary technicians in this field can understand and implement it without paying creative work.

[0063] Accordingly, the present invention also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by one or more processors, the one or more processors implement the multi-type resource collaborative clearing method considering inertia and frequency modulation auxiliary services as described above.

[0064] Accordingly, the present invention also provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method for collaborative clearing of multiple types of resources taking into account inertia and frequency modulation auxiliary services as described above.

[0065] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the disclosure disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0066] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for collaborative clearing of multiple types of resources considering inertia and frequency regulation auxiliary services, characterized in that: include: S1: Establish a multi-type resource coordination system of the transmission network including generators and virtual power plants, construct a transmission network inertia and frequency regulation auxiliary service clearing model based on the dual constraints of the transmission network, input the response resource equipment time parameters into the transmission network inertia and frequency regulation auxiliary service clearing model, and after processing, output the auxiliary service clearing cost parameters as control instructions to control the transmission network; S2: Construct a virtual power plant inertia and frequency regulation auxiliary service clearing model consisting of optimality conditions and complementary relaxation conditions, input the auxiliary service clearing cost parameters into the virtual power plant inertia and frequency regulation auxiliary service clearing model, and output the power parameters of the virtual power plant as control instructions to control the virtual power plant after processing; S3: Construct a multi-type resource collaborative clearing model for a multi-type resource collaborative system, input the preset control parameters of the transmission network and the virtual power plant into the multi-type resource collaborative clearing model, and after processing, output the actual control parameters of the transmission network and the virtual power plant as control instructions to achieve collaborative clearing of the multi-type resource collaborative system.

2. The method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services according to claim 1, characterized in that: In the step S1, the transmission network of the multi-type resource coordination system includes generator sets, power loads and virtual power plants located on power nodes. The generator sets and virtual power plants serve as the control entities of the transmission network. The virtual power plants contain distributed energy equipment and energy storage equipment. The multi-type resource coordination system uses generator sets, distributed energy equipment and energy storage equipment as response resources to regulate the frequency of the power system.

3. The method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services according to claim 2, characterized in that: In step S1, the transmission network inertia and frequency regulation auxiliary service clearing model is as follows: min ∑ i,t [ a i ( P G i,t ) 2 + b i P G i,t + N i · u i,t + SU i,t + SD i,t ] in, a i and b i Respectively represent i first and second operating cost parameters of a power generating set providing power support service; P G i,t express t Moment i Output power of each generator set; N i Indicates i No-load cost of each generator set; u i,t express t Moment i The start and stop status of a generator set u i,t =1, it is turned on. u i,t =0, the machine stops; SU i,t and SD i,t Respectively t Moment i The actual startup cost and shutdown cost of each generator set.

4. The method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services according to claim 2, characterized in that: In step S1, the dual constraints of the transmission network are as follows: M i,t = - b i + λ E n,t + u G- i,t - u G+ i,t + u GU i,t+1 - u GU i,t - u GD i,t+1 + u GD i,t - v RG+ i,t N i + u G- i,t P Gmin i - u G+ i,t P Gmax i - u SU+ i,t+1 K U i + u SU+ i,t K U i + u SD+ i,t+1 K D i - u SD+ i,t K D i - v RG+ i,t P Gmax i - λ H t H G i P Gmax i / P sys + u uc+ i,t ≥0 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1] 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[ T c , T - T c +1] 1- u SU+ i,t + u Tc i,t-Tc+1 ≥0, t ∈[ T - T c +2, T ] 1- u SD+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1] 1- u SD+ i,t + ∑ t u Tc i,t ≥ 0, t ∈[ T c , T - T c +1] 1- u SD+ i,t +u Tc i,t-Tc+1 ≥0, t ∈[ T - T c +2, T ] ∑ m B nm ( λ E n,t - λ E m,t )+∑ m B nm ( ε nmmax,t - ε mnmax,t )-∑ m B nm ( ε nmmin,t - ε mnmin,t )- ε min n,t +ε max n,t +ε δ1 t ≥0 u RG+ i,t + v RG+ i,t - λ PFR t ≥0 λ H t -2 RoCoF max · P sys · u RoCoF t +P sys · u nadir2 t / f 0- P sys · u nadir3 t / f 0≥0 u fss t +u RoCoF t f 0 +u nadir1 t / ( △f max ) 1 / 2 ≥0 λ PFR t - u fss t +T d,G u nadir1 t / [ T G ( △f max ) 1 / 2 ]+ T d,G 2 ( u nadir2 t - u nadir3 t ) / (4 T G △f max )-( u nadir2 t + u nadir3 t ) / T G ≥0 λ PFRES t - u fss t - u nadir1 t / ( △f max ) 1 / 2 -(2 T d,ES +T ES )·( u nadir2 t - u nadir3 t ) / (4 △f max )≥0 λ PFRDER t - u fss t - u nadir1 t / ( △f max ) 1 / 2 -(2 T d,DER +T DER )·( u nadir2 t - u nadir3 t ) / (4 △f max )≥0 ( u nadir1 t ) 2 + ( u nadir2 t ) 2 ≤( u nadir3 t ) 2 in, M i,t express t Moment i Auxiliary variables of the operating cost of each generator set; b i Indicates i A second operating cost parameter for a generator set to provide power support service; λ E n,t and λ E m,t Respectively t Moment n and m The clearing cost parameter of the power support service on each power node; u G- i,t and u G+ i,t Respectively t Moment i The first and second dual variables of the generator sets; u GU i,t+1 and u GU i,t Respectively t +1 moment and t Moment i The third dual variable of the generator set; u GD i,t+1 and u GD i,t Respectively t +1 moment and t Moment i The fourth dual variable of the generator set; v RG+ i,t express t Moment i The fifth dual variable of the generator set; N i Indicates i No-load cost of each generator set; P Gmax i and P Gmin i Respectively represent i The upper and lower limits of the output power of each generator set; u SU+ i,t+1 and u SU+ i,t Respectively t +1 moment and t Moment i The sixth dual variable of the generator set; K U i and K D i Respectively represent i The cost of starting and stopping a generator set once; u SD+ i,t express t Moment i The seventh dual variable of the generator set; λ H t express t The clearing cost parameters of inertia auxiliary services in the transmission network at any moment; H G i Indicates i The inertia constant of each generator set; P sys Indicates the rated power of the transmission network; u uc+ i,t express t Moment i The eighth dual variable of the generator set; u Tc i,t and u Tc i,t-Tc+1 Respectively represent time intervals T c middle t Moment and T c +1 moment i The ninth dual variable of the generator set, T c Indicates the minimum time interval between the start and stop states of the generator set; T Represents the optimization cycle; B nm Indicates n and m The admittance of the transmission line between power nodes; ε nmmin,t and ε nmmax,t Respectively t Moment n The power node m The tenth and eleventh dual variables of the power nodes, ε mnmin,t and ε mnmax,t Respectively represent m Towards n the twelfth and thirteenth dual variables of the power nodes; ε min n,t and ε max n,t Respectively t Moment n the fourteenth and fifteenth dual variables of the power nodes; ε δ1 t express t The sixteenth dual variable of the first power node at time instant; u RG+ i,t express t Moment i The seventeenth dual variable of the generator set; λ PFR t express t The clearing cost parameters for the frequency regulation auxiliary services provided by the generators at all times; RoCoF max Indicates the maximum value of the frequency change rate of the transmission network; u RoCoF t express t The eighteenth dual variable of the transmission network at the moment; u nadir1 t , u nadir2 t and u nadir3 t Respectively t The nineteenth, twentieth and twenty-first dual variables of the transmission network at the moment; f 0 Indicates the rated frequency of the transmission network; u fss t express t The twenty-second dual variable of the transmission grid at time instant; △f max Indicates the maximum frequency deviation of the transmission network; λ PFR t express t The clearing cost parameters for the frequency regulation auxiliary services provided by the generators at all times; T d,G It indicates the delay time from the occurrence of fault to the start of providing frequency regulation auxiliary service of the generator set; T G Indicates the delivery time for the generator set to provide complete frequency regulation auxiliary services; λ PFRES t and λ PFRDER t Respectively t The clearing cost parameters for frequency regulation auxiliary services provided by energy storage equipment and distributed energy equipment; T d,ES It indicates the delay time from the occurrence of a fault to the start of providing frequency regulation auxiliary services. T ES Indicates the delivery time of the energy storage device to provide complete frequency regulation ancillary services; T d,DER It indicates the delay time from the occurrence of a fault in a distributed energy device to the start of providing frequency regulation auxiliary services. T DER It indicates the delivery time of the distributed energy equipment to provide complete frequency regulation ancillary services; The response resource equipment time parameters include the delay time from the occurrence of a fault to the start of providing frequency regulation auxiliary services by the generator set, distributed energy equipment and energy storage equipment, as well as the delivery time for the generator set, distributed energy equipment and energy storage equipment to provide complete frequency regulation auxiliary services; the auxiliary service clearing cost parameters include the power support services at different power nodes, the inertia auxiliary services in the transmission network, and the clearing cost parameters for the frequency regulation auxiliary services provided by the generator set, distributed energy equipment and energy storage equipment.

5. The method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services according to claim 2, characterized in that: In step S2, the optimality conditions of the virtual power plant inertia and frequency regulation auxiliary service clearing model are as follows: - λ E n,t + λ A k,t =0 λ C k,t + λ A k,t - u ei,c- k,t + u ei,c+ k,t - u E k,t η c k △t - v RES+ k,t =0 λ D k,t - λ A k,t - u ei,d- k,t + u ei,d+ k,t + u E k,t △tη d k + v RES+ k,t =0 u E k,t - u E k,t+1 + u E+ k,t - u E- k,t =0 u E k,t - u E0 k + u E+ k,t - u E- k,t =0 - λ H t P eimax k / P sys - u EH- k,t + u EH+ k,t +( u ei,c+ k,t + u ei,d+ k,t +v RES+ k,t )·(2| RoCoF max |) P eimax k / f 0+( u E+ k,t + u E- k,t )·(2| △f max |) P eimax k / f 0=0 - λ PFRES t - u RES- k,t + u RES+ k,t + v RES+ k,t =0 λ DER k - λ A k,t - u DER- k,t + u DER+ k,t + v RDER+ k,t =0 - λ H t P DERmax k / P sys - u DH- k,t + u DH+ k,t +( u DER+ k,t + v RDER+ k,t )·(2| RoCoF max |)· P DERmax k / f 0=0 - λ PFRDER t - u RDER- k,t + u RDER+ k,t + v RDER+ k,t =0 - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t =0 E k,t = E k,t-1 + P ei,c k,t η c k △t - P ei,d k,t △t / η d k E k,0 = E k,|T| in, λ E n,t express t Moment n The clearing cost parameter of the power support service on each power node; λ A k,t express t Virtual power plant k The clearing cost parameter of the power support service on the corresponding power node; λ C k,t and λ D k,t Respectively t Virtual power plant k The charging and discharging costs of energy storage equipment; u ei,c- k,t express t Virtual power plant k The first Lagrange multiplier of ; u ei,c+ k,t express t Virtual power plant k The second Lagrange multiplier of ; u E k,t and u E k,t+1 Respectively t Moment and t +1 Moment Virtual Power Plant k The third Lagrange multiplier of ; u E+ k,t express t Virtual power plant k The fourth Lagrange multiplier of ; u E- k,t express t Virtual power plant k The fifth Lagrange multiplier of ; u E0 k Virtual Power Plant k The sixth Lagrange multiplier of ; η c k and η d k Virtual Power Plant k The charging and discharging efficiency of energy storage devices; △t represents the control time interval of the virtual power plant; v RES+ k,t express t Virtual power plant k The seventh Lagrange multiplier of ; u ei,d+ k,t express t Virtual power plant k The eighth Lagrange multiplier of ; u ei,d- k,t express t Virtual power plant k The ninth Lagrange multiplier of ; λ H t express t The clearing cost parameters of inertia auxiliary services in the transmission network at any moment; P DERmax k Virtual Power Plant k The maximum output power of distributed energy equipment, P eimax k Virtual Power Plant k The maximum charging power of the energy storage device; P sys Indicates the rated power of the transmission network; u EH- k,t and u EH + k,t Respectively t Virtual power plant k the tenth and eleventh Lagrange multipliers of ; u DH- k,t and u DH+ k,t Respectively t Virtual power plant k the twelfth and thirteenth Lagrange multipliers of; RoCoF max Indicates the maximum value of the frequency change rate of the transmission network; f 0 Indicates the rated frequency of the transmission network; △f max Indicates the maximum frequency deviation of the transmission network; λ PFRES t and λ PFRDER t Respectively t The clearing cost parameters for frequency regulation auxiliary services provided by energy storage equipment and distributed energy equipment; u RES- k,t and u RES+ k,t Respectively t Virtual power plant k The fourteenth and fifteenth Lagrange multipliers of ; λ DER k Virtual Power Plant k The operating cost of distributed energy equipment; u DER- k,t express t Virtual power plant k The sixteenth Lagrange multiplier of ; u DER+ k,t express t Virtual power plant k The seventeenth Lagrange multiplier of ; v RDER+ k,t express t Virtual power plant k The eighteenth Lagrange multiplier of ; u RDER- k,t and u RDER + k,t Respectively t Virtual power plant k the nineteenth and twentieth Lagrange multipliers of; P DER k,t express t Virtual power plant k Output power of distributed energy equipment; P ei,c k,t and P ei,d k,t Respectively t Virtual power plant k The charging power and discharging power of the energy storage device; P VPP k,t express t Virtual power plant k The net output power of P L k,t express t Virtual power plant k Load power; E k,t , E k,t-1 , E k,0 and E k,|T| Respectively t time, t -1 moment, initial moment and | T | Moment Virtual Power Plant k The energy stored in the energy storage device, T Represents the optimization cycle; The power parameters of a virtual power plant include the output power of distributed energy equipment in the virtual power plant and the charging power and discharging power of energy storage equipment.

6. The method for collaboratively clearing multiple types of resources considering inertia and frequency regulation auxiliary services according to claim 5, characterized in that: In step S2, the complementary relaxation conditions of the virtual power plant inertia and frequency regulation auxiliary service clearing model are as follows: 0≤ u ei,c- k,t ⊥ P ei,c k,t ≥0 0≤ u ei,d- k,t ⊥ P ei,d k,t ≥0 0≤ u EH- k,t ⊥ H ei k,t ≥0 0≤ u EH+ k,t ⊥( H ei+ k - H ei k,t ) ≥0 0≤ u ei,c+ k,t ⊥( P cimax k - P ei,c k,t - H ei k,t ·(2| RoCoF max |) P eimax k / f 0)≥0 0≤ u ei,d+ k,t ⊥( P eimax k - P ei,d k,t - H ei k,t ·(2| RoCoF max |) P eimax k / f 0)≥0 0≤ u E+ k,t ⊥( E max k - H ei k,t ·(2| △f max |)· P eimax k / f 0- E k,t )≥0 0≤ u E- k,t ⊥( E k,t - E min k - H ei k,t ·(2| △f max |)· P eimax k / f 0)≥0 0≤ u RES- k,t ⊥ R ES k,t ≥0 0≤ u RES+ k,t ⊥( R ES+ k - R ES k,t )≥0 0≤ v RES+ k,t ⊥( P eimax k - H ei k,t ·(2| RoCoF max |)· P eimax k / f 0- P ei,d k,t +P ei,c k,t - R ES k,t )≥0 0≤ u DER- k,t ⊥ P DER k,t ≥0 0≤ u DH- k,t ⊥ H DER k,t ≥0 0≤ u DH+ k,t ⊥( H DER+ k - H DER k,t )≥0 0≤ u DER+ k,t ⊥( P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |)· P DERmax k / f 0)≥0 0≤ u RDER- k,t ⊥ R DER k,t ≥0 0≤ u RDER+ k,t ⊥( R DER+ k - R DER k,t )≥0 0≤ v RDER+ k,t ⊥( P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |)· P DERmax k / f 0- R DER k,t )≥0 Among them, ⊥ represents the complementary relaxation condition operator; H ei k,t and H ei+ k Virtual Power Plant k The virtual inertia provided by the energy storage device and its upper limit; P cimax k and P eimax k Virtual Power Plant k The maximum discharge and charge power of the energy storage device; E max k and E min k Virtual Power Plant k The maximum and minimum energy stored in the energy storage device; R ES k,t and R DER k,t Respectively t Virtual power plant k The amount of frequency regulation ancillary service response provided by energy storage equipment and distributed energy equipment; R ES+ k and R DER+ k Virtual Power Plant k The upper limit of the frequency regulation auxiliary service response volume of energy storage equipment and distributed energy equipment; H DER k,t express t Virtual power plant k The virtual inertia provided by the distributed energy devices in H DER+ k Virtual Power Plant k The upper limit of the virtual inertia provided by distributed energy devices.

7. The method for collaboratively clearing multiple types of resources considering inertia and frequency regulation auxiliary services according to claim 2, characterized in that: In step S3, the multi-type resource collaborative clearing model is as follows: min ∑ i,t [ a i ( P G i,t ) 2 + b i P G i,t + N i · u i,t + SU i,t + SD i,t ]-{-∑ i,t [( M i,t ) 2 / 4 a i ]+∑ n,t λ E n, t D d,t -∑ nm,t ε nmmax,t L max nm -∑ nm,t ε nmmin,t L max nm -∑ n,t πε min n,t -∑ n,t πε max n,t -∑ i,t u Tc i,t K U i -∑ i,t u GU i,t P GU i -∑ i,t u GD i,t P GD i -∑ i,t u RG+ i,t R G+ i -∑ i,t u uc+ i,t +∑ k,t λ A k,t P L k,t -∑ k,t u DH+ k,t H DER+ k -∑ k,t u DER+ k,t P DERmax k - ∑ k,t u RDER+ k,t R DER+ k -∑ k,t v RDER+ k,t P DERmax k -∑ k,t u EH+ k,t H ei+ k -∑ k,t u ei,c+ k,t P cimax k -∑ k,t u ei,d+ k,t P eimax k -∑ k,t=1 u E k,t E k,0 +∑ k u E0 k E k,0 -∑ k,t u E+ k,t E max k +∑ k,t u E- k,t E min k -∑ k,t u RES+ k,t R ES + k -∑ k,t v RES+ k,t P eimax k -∑ k,t λ DER k P DER k,t -∑ k,t λ C k P ei,c k,t -∑ k,t λ D k P ei,d k,t} in, a i and b i Respectively represent i first and second operating cost parameters of a power generating set providing power support service; P G i,t express t Moment i Output power of each generator set; N i Indicates i No-load cost of each generator set; u i,t express t Moment i The start and stop status of a generator set u i,t =1, it is turned on. u i,t =0, the machine stops; SU i,t and SD i,t Respectively t Moment i The actual startup cost and shutdown cost of each generator set; M i,t express t Moment i Auxiliary variables of the operating cost of each generator set; λ E n,t express t Moment n The clearing cost parameter of the power support service on each power node; D d,t express t Moment d The power consumed by each electrical load; ε nmmin,t and ε nmmax,t Respectively t Moment n The power node m The tenth and eleventh dual variables of the power nodes; L max nm Indicates n and m The maximum transmission power of the transmission line between power nodes; ε min n,t and ε max n,t Respectively t Moment n the fourteenth and fifteenth dual variables of the power nodes; u Tc i,t Indicates time interval T c middle t Moment i The ninth dual variable of the generator set, T c Indicates the minimum time interval between the start and stop states of the generator set; K U i Indicates i The cost of starting a generator set once; u GD i,t express t Moment i The fourth dual variable of the generator set; P GU i and P GD i Respectively represent i The maximum climbing power and landslide power of each generator set in a unit time interval; u RG+ i,t express t Moment i The seventeenth dual variable of the generator set; R G+ i Indicates i The maximum frequency regulation auxiliary service response that can be provided by each generator set; u uc+ i,t express t Moment i The eighth dual variable of the generator set; λ A k,t express t Virtual power plant k The clearing cost parameter of the power support service on the corresponding power node; P L k,t express t Virtual power plant k Load power; H DER+ k Virtual Power Plant k The upper limit of the virtual inertia provided by the distributed energy devices; u DER+ k,t express t Virtual power plant k The seventeenth Lagrange multiplier P DERmax k Virtual Power Plant k The maximum output power of distributed energy equipment; u RDER+ k,t express t Virtual power plant k The twentieth Lagrange multiplier of ; R DER+ k Virtual Power Plant k The upper limit of the frequency regulation auxiliary service response volume of distributed energy equipment; v RDER+ k,t express t Virtual power plant k The eighteenth Lagrange multiplier of ; u EH+ k,t express t Virtual power plant k The eleventh Lagrange multiplier of ; H ei+ k Virtual Power Plant k The upper limit of the virtual inertia provided by the energy storage device; u ei,c+ k,t express t Virtual power plant k The second Lagrange multiplier of ; P cimax k and P eimax k Virtual Power Plant k The maximum discharge and charge power of the energy storage device; u ei,d+ k,t express t Virtual power plant k The eighth Lagrange multiplier of ; u E k,t express t Virtual power plant k The third Lagrange multiplier of ; u E+ k,t express t Virtual power plant k The fourth Lagrange multiplier of ; u E- k,t express t Virtual power plant k The fifth Lagrange multiplier of ; E k,0 represents the virtual power plant at the initial time k The energy stored in the energy storage device; u E0 k Virtual Power Plant k The sixth Lagrange multiplier of ; E max k and E min k Virtual Power Plant k The maximum and minimum energy stored in the energy storage device; u RES+ k,t express t Virtual power plant k The fifteenth Lagrange multiplier of ; R ES+ k Virtual Power Plant k The upper limit of the frequency regulation auxiliary service response volume of the energy storage equipment; v RES + k,t express t Virtual power plant k The seventh Lagrange multiplier of ; λ DER k Virtual Power Plant k The operating cost of distributed energy equipment; P DER k,t express t Virtual power plant k The output power of the distributed energy equipment is equal to the maximum output power; P ei ,c k,t and P ei,d k,t Respectively t Virtual power plant k The charging power and discharging power of the energy storage device; λ C k and λ D k Virtual Power Plant k The charging and discharging costs of energy storage equipment; The multi-type resource collaborative clearing model takes the transmission network inertia and frequency regulation auxiliary service clearing model and the virtual power plant inertia and frequency regulation auxiliary service clearing model as constraints. The preset control parameters of the transmission network and the virtual power plant include the maximum output power of the generator set, the upper limit of the virtual inertia and the upper limit of the frequency regulation auxiliary service response amount, the maximum output power, the upper limit of the virtual inertia and the upper limit of the maximum frequency regulation auxiliary service response amount of the distributed energy equipment, and the maximum discharge and charging power, the upper limit of the virtual inertia and the upper limit of the frequency regulation auxiliary service response amount of the energy storage equipment; the actual control parameters of the transmission network and the virtual power plant include the output power, virtual inertia and frequency regulation auxiliary service response amount of the generator set, the output power, virtual inertia and frequency regulation auxiliary service response amount of the distributed energy equipment, and the output power, virtual inertia and frequency regulation auxiliary service response amount of the energy storage equipment.

8. A multi-type resource collaborative clearing device considering inertia and frequency modulation auxiliary services according to any one of the methods of claims 1-7, characterized in that: include: A data acquisition unit, used to acquire time parameters of response resource equipment and preset control parameters of the transmission network and the virtual power plant; Model building unit, used to build a transmission network inertia and frequency regulation ancillary service clearing model based on dual constraints of the transmission network, a virtual power plant inertia and frequency regulation ancillary service clearing model consisting of optimality conditions and complementary relaxation conditions, and a multi-type resource collaborative clearing model; The collaborative clearing unit is used to input the time parameters of the response resource equipment into the transmission network inertia and frequency regulation auxiliary service clearing model, and after processing, output the auxiliary service clearing cost parameters as control instructions to control the transmission network; input the auxiliary service clearing cost parameters into the virtual power plant inertia and frequency regulation auxiliary service clearing model, and after processing, output the power parameters of the virtual power plant as control instructions to control the virtual power plant; input the preset control parameters of the transmission network and the virtual power plant into the multi-type resource collaborative clearing model, and after processing, output the actual control parameters of the transmission network and the virtual power plant as control instructions to realize the collaborative clearing of the multi-type resource collaborative system.

9. An electronic device, characterized in that: include: A memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having program data stored thereon, characterized in that: When the program data is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images