A Multi-Type Resource Collaborative Clearing Method Considering Inertia and Frequency Regulation Ancillary Services

Abstract

The present invention discloses a collaborative clearing method for multi-type resources considering inertia and frequency regulation ancillary services. The method includes: establishing a collaborative system for multi-type resources of a power transmission network including a virtual power plant, obtaining the time parameters of the response resource equipment and inputting them into the inertia and frequency regulation ancillary service clearing model of the power transmission network, and after processing, outputting the ancillary service clearing cost parameters to control the power transmission network; inputting the ancillary service clearing cost parameters into the inertia and frequency regulation ancillary service clearing model of the virtual power plant, and after processing, outputting the power parameters of the virtual power plant to control the virtual power plant; inputting the preset control parameters into the multi-type resource collaborative clearing model, and after processing, outputting the actual control parameters as control instructions to achieve the collaborative clearing of the multi-type resource collaborative system. By optimizing the configuration of inertia and frequency regulation ancillary services, the present invention not only improves the frequency regulation ability of the power system, but also provides a solid guarantee for the safe grid connection of large-scale renewable energy.

Description

Technical Field

[0001] The present invention relates to a method for clearing inertia and frequency regulation ancillary services, belonging to the technical field of stable operation of power systems, and specifically to a method for coordinated clearing of multiple types of resources considering inertia and frequency regulation ancillary services. Background Art

[0002] With the rapid increase in the proportion of new energy power generation, the operation mode of traditional power systems mainly based on synchronous units is undergoing fundamental changes. New energy units are usually connected to the grid through power electronic devices, unable to provide physical inertia and difficult to respond quickly to system frequency fluctuations, resulting in a low-inertia power system being more prone to frequency instability problems under sudden disturbances. This change poses new challenges to the frequency stability of power systems.

[0003] Existing frequency regulation mechanisms are difficult to meet the actual needs of frequency stability in new power systems. The clearing methods of frequency regulation ancillary services often focus on the single role of traditional thermal power units and fail 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 exploited, making the system unable to provide timely and comprehensive support when inertia is insufficient or frequency fluctuations are severe. 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 power systems in low-inertia scenarios but also better adapt to the operation requirements of power grids with a high proportion of new energy access. Summary of the Invention

[0004] To solve the problems in the background art, the present invention provides a method for coordinated clearing of multiple types of resources considering inertia and frequency regulation ancillary services. The method of the present invention aims to solve the technical problems of coordinated provision of inertia support and frequency regulation ancillary services by multiple types of response resources (such as generator sets, energy storage devices, distributed energy devices, etc.) in a low-inertia power system and provide important technical support for improving the resource allocation efficiency of frequency regulation ancillary services.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The method for coordinated clearing of multiple types of resources considering inertia and frequency regulation ancillary services of the present invention includes:

[0007] S1: Establish a coordinated system of multiple types of resources for the transmission grid including generator sets and virtual power plants, construct a clearing model for transmission grid inertia and frequency regulation ancillary services based on dual constraints of the transmission grid, input the time parameters of response resource devices into the clearing model for transmission grid inertia and frequency regulation ancillary services, and output the clearing cost parameters of ancillary services as control instructions to control the transmission grid after processing.

[0008] S2: Construct a clearing model for the inertia and frequency regulation ancillary services of the virtual power plant composed of the optimality condition and the complementary slackness condition. Input the ancillary service clearing cost parameters into the clearing model for the inertia and frequency regulation ancillary services of the virtual power plant. After processing, output the power parameters of the virtual power plant as control commands to control the virtual power plant.

[0009] S3: Construct a clearing model for the collaborative clearing of multiple types of resources in the multi-type resource collaborative system. Input the preset control parameters of the transmission network and the virtual power plant into the clearing model for the collaborative clearing of multiple types of resources. After processing, output the actual control parameters of the transmission network and the virtual power plant as control commands to achieve the collaborative clearing of the multi-type resource collaborative system.

[0010] In the step S1 described above, the transmission network of the multi-type resource collaborative system includes generating units, power loads, and virtual power plants located at power nodes. The generating units include thermal power units and renewable energy units represented by wind turbine units. However, the renewable energy units do not provide inertia and frequency regulation ancillary services. The generating units and the virtual power plant 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 devices and energy storage devices and participates in regulation at the virtual power plant control level. Therefore, the multi-type resource collaborative system regulates the frequency of the power system through the generating units, distributed energy devices, and energy storage devices as response resources.

[0011] In the step S1 described above, the clearing model for the inertia and frequency regulation ancillary services of the transmission network is as follows:

[0012] 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

[0013] where a i and b i respectively represent the first and second operating cost parameters for the i th generating unit to provide power support services; P G ​​i,t Represents t The output power of the i th generator set at time N i Represents the no-load cost of the i th generator set u i,t Represents t The start-stop state of the i th generator set at time u i,t When u i,t = 1, it starts, and when SU i,t And SD i,t Respectively represent t The start-up cost and shutdown cost actually incurred by the i th generator set at time

[0014] In the said step S1, the dual constraints of the power transmission network are as follows:

[0015] 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

[0016] N i + u G- i,t P Gmin i - u G+ i,t P Gmaxi - 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

[0017] P Gmax i / P sys + u uc+ i,t ≥0

[0018] 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1]

[0019] 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[ T c , T -T c +1]

[0020] 1- u SU+ i,t + u Tc i,t-Tc+1 ≥0, t ∈[ T - T c +2, T ]

[0021] 1- u SD+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1]

[0022] 1- u SD+ i,t + ∑ t u Tc i,t ≥ 0, t ∈[ T c , T - T c +1]

[0023] 1- u SD+ i,t +u Tc i,t-Tc+1 ≥0, t ∈[ T - T c +2, T ]

[0024] ∑ m B nm ( l E n,t - l E m,t )+∑ m B nm ( enmmax,t - e mnmax,t )-∑ m B nm ( e nmmin,t - e mnmin,t )-

[0025] e min n,t +e max n,t +e δ1 t ≥0

[0026] u RG+ i,t + v RG+ i,t - l PFR t ≥0

[0027] 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

[0028] u fss t +u RoCoF t f 0 +u nadir1 t / ( △f max ) 1 / 2 ≥0

[0029] lPFR 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

[0030] 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

[0031] 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

[0032] ( u nadir1 t ) 2 + ( u nadir2 t ) 2 ≤( u nadir3 t ) 2

[0033] wherein, M i,t represents t the auxiliary variable related to the operation cost of the i th generating unit at time b i represents i the second operation cost parameter for the l E n,t and l E m,t respectively represent t the clearing cost parameters of the power support service at time n on the m th and u G- i,t and u G+ i,t respectively represent t the first and second dual variables of the i th generating unit at time u GU i,t+1 and u GU i,t respectively represent t at time t and at time iThe third dual variable of a generator set; u GD i,t+1 and u GD i,t respectively represent t the +1 moment and t the moment of the fourth dual variable of the i th generator set; v RG+ i,t represent t the moment of the fifth dual variable of the i th generator set; N i represent the no-load cost of the i th generator set; P Gmax i and P Gmin i respectively represent the upper and lower limits of the output power of the i th generator set; u SU+ i,t+1 and u SU+ i,t respectively represent t the +1 moment and t the moment of the sixth dual variable of the i th generator set; K U i and K D i respectively represent the single start-up and shutdown start-stop costs of the i th generator set; u SD+ i,t represent t the moment of the seventh dual variable of the i th generator set; l H t represent t the clearing cost parameter of the inertia ancillary service in the power transmission network at the moment; H G i represent the inertia constant of the i th generator set; P sys represent the rated power of the power transmission network; u uc+ i,t represent t the moment of the iThe eighth dual variable of the generator set; u Tc i,t and u Tc i,t-Tc+1 respectively represent the time intervals T c in t the moment and tT c the +1 moment, the ninth dual variable of the i th generator set, T c represents the minimum time interval for the start-stop state change of the generator set; T represents the optimization period; B nm represents the admittance of the transmission line between the n th and the m th power nodes; e nmmin,t and e nmmax,t respectively represent t at the moment, the tenth and eleventh dual variables of the n th power node to the m th power node, e mnmin,t and e mnmax,t respectively represent the twelfth and thirteenth dual variables of the m th to the n th power nodes; e min n,t and e max n,t respectively represent t at the moment, the fourteenth and fifteenth dual variables of the n th power node; e δ1 t represents t at the moment, the sixteenth dual variable of the first power node; u RG+ i,t represents t at the moment, the seventeenth dual variable of the i th generator set; l PFR t represents t at the moment, the clearing cost parameter for the generator set to provide frequency regulation ancillary services; RoCoF max represents the maximum value of the frequency change rate of the power grid; u RoCoFt denote t the eighteenth dual variable of the transmission grid at a moment; u nadir1 t and u nadir2 t and u nadir3 t respectively denote t the nineteenth, twentieth, and twenty - first dual variables of the transmission grid at a moment; f 0 denote the rated frequency of the transmission grid; u fss t denote t the twenty - second dual variable of the transmission grid at a moment; △ f max denote the maximum frequency deviation of the transmission grid; l PFR t denote t the clearing cost parameter for the generator set to provide frequency regulation ancillary services at a moment; T d,G denote the delay time for the generator set to start providing frequency regulation ancillary services from the occurrence of a fault; T G denote the transfer time for the generator set to provide complete frequency regulation ancillary services; l PFRES t and l PFRDER t respectively denote t the clearing cost parameters for the energy storage device and the distributed energy device to provide frequency regulation ancillary services at a moment; T d,ES denote the delay time for the energy storage device to start providing frequency regulation ancillary services from the occurrence of a fault, T ES denote the transfer time for the energy storage device to provide complete frequency regulation ancillary services; T d,DER denote the delay time for the distributed energy device to start providing frequency regulation ancillary services from the occurrence of a fault, T DER denote the transfer time for the distributed energy device to provide complete frequency regulation ancillary services.

[0034] In the step S2 described above, the optimality conditions of the virtual power plant inertia and frequency regulation ancillary service clearing model are as follows:

[0035] - l E n,t+ l A k,t =0

[0036] 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

[0037] 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

[0038] u E k,t - u E k,t+1 + u E+ k,t - u E- k,t =0

[0039] u E k,t - u E0 k + u E+ k,t -u E- k,t =0

[0040] - 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

[0041] - l PFRES t - u RES- k,t + u RES+ k,t + v RES+ k,t =0

[0042] l DER k - l A k,t - u DER- k,t + u DER+ k,t +v RDER+ k,t =0

[0043] - 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

[0044] - l PFRDER t - u RDER- k,t + u RDER+ k,t + v RDER+ k,t =0

[0045] - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t =0

[0046] 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

[0047] E k,0 = E k,|T|

[0048] Among them, l E n,t represents t the clearing cost parameter of the power support service on the n th power node at time l A k,t represents t the clearing cost parameter of the power support service on the power node corresponding to the virtual power plant at time k ; l C k,t and l D k,t respectively represent t the charging cost and discharging cost of the energy storage device in the virtual power plant at time k ; u ei,c- k,t represents t the first Lagrange multiplier of the virtual power plant at time k ; u ei,c+ k,t represents t the second Lagrange multiplier of the virtual power plant at time k ; u E k,t and u E k,t+1 respectively represent t the time t and the third Lagrange multiplier of the virtual power plant at time k +1; u E+ k,t represents t the fourth Lagrange multiplier of the virtual power plant at time k ; u E- k,t represents t the fifth Lagrange multiplier of the virtual power plant at time k ; uE0 k Represents the virtual power plant k The sixth Lagrange multiplier; or c k and or d k Respectively represent the charging and discharging efficiencies of the energy storage device in the virtual power plant k ; △t Represents the control time interval of the virtual power plant; v RES+ k,t Represents t At the moment of the virtual power plant k The seventh Lagrange multiplier; u ei,d+ k,t Represents t At the moment of the virtual power plant k The eighth Lagrange multiplier; u ei,d- k,t Represents t At the moment of the virtual power plant k The ninth Lagrange multiplier; l H t Represents t The clearing cost parameter of the inertia auxiliary service in the transmission grid at the moment; P DERmax k Represents the virtual power plant k The maximum output power of the distributed energy device in; P eimax k Represents the virtual power plant k The maximum charging power of the energy storage device in; P sys Represents the rated power of the transmission grid; u EH- k,t and u EH+ k,t Respectively represent t At the moment of the virtual power plant k The tenth and eleventh Lagrange multipliers; u DH- k,t and u DH+ k,t Respectively represent t At the moment of the virtual power plant k The twelfth and thirteenth Lagrange multipliers; RoCoF max Represents the maximum value of the frequency change rate of the transmission grid;f 0 represents the rated frequency of the power transmission grid; △f max represents the maximum frequency deviation of the power transmission grid; l PFRES t and l PFRDER t respectively represent t the clearing cost parameters for the energy storage device and the distributed energy device to provide frequency regulation ancillary services at a certain moment; u RES- k,t and u RES+ k,t respectively represent t at a certain moment, the virtual power plant k the fourteenth and fifteenth Lagrange multipliers; l DER k represents the operating cost of the distributed energy device in the virtual power plant k ; u DER- k,t represents t at a certain moment, the virtual power plant k the sixteenth Lagrange multiplier; u DER+ k,t represents t at a certain moment, the virtual power plant k the seventeenth Lagrange multiplier; v RDER+ k,t represents t at a certain moment, the virtual power plant k the eighteenth Lagrange multiplier; u RDER- k,t and u RDER+ k,t respectively represent t at a certain moment, the virtual power plant k the nineteenth and twentieth Lagrange multipliers; P DER k,t represents t at a certain moment, the output power of the distributed energy device in the virtual power plant k ; P ei,c k,t and P ei,d k,t respectively represent t at a certain moment, the virtual power plant kThe charging power and discharging power of the energy storage device; P VPP k,t represents t the net output power of the virtual power plant at time k ; P L k,t represents t the load power of the virtual power plant at time k ; E k,t , E k,t-1 , E k,0 and E k,|T| respectively represent t time t -1 time, initial time and | T | time, the energy stored in the energy storage device of the virtual power plant k , T represents the optimization period.

[0049] In the step S2 described above, the complementary slackness conditions of the virtual power plant inertia and frequency regulation ancillary service clearing model are as follows:

[0050] 0 ≤ u ei,c- k,t ⊥ P ei,c k,t ≥ 0

[0051] 0 ≤ u ei,d- k,t ⊥ P ei,d k,t ≥ 0

[0052] 0 ≤ u EH- k,t ⊥ H ei k,t ≥ 0

[0053] 0 ≤ u EH+ k,t ⊥ ( H ei+ k - H ei k,t ) ≥ 0

[0054] 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

[0055] 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

[0056] 0≤ u E+ k,t ⊥( E max k - H ei k,t ·(2| △f max |)· P eimax k / f 0- E k,t )≥0

[0057] 0≤ u E- k,t ⊥( E k,t - E min k - H ei k,t ·(2| △f max |)· P eimaxk / f 0)≥0

[0058] 0≤ u RES- k,t ⊥ R ES k,t ≥0

[0059] 0≤ u RES+ k,t ⊥( R ES+ k - R ES k,t )≥0

[0060] 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

[0061] 0≤ u DER- k,t ⊥ P DER k,t ≥0

[0062] 0≤ u DH- k,t ⊥ H DER k,t ≥0

[0063] 0≤ u DH+ k,t ⊥( H DER+ k - H DERk,t ) ≥ 0

[0064] 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

[0065] 0 ≤ u RDER- k,t ⊥ R DER k,t ≥ 0

[0066] 0 ≤ u RDER+ k,t ⊥( R DER+ k - R DER k,t ) ≥ 0

[0067] 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

[0068] Among them, ⊥ represents the complementary slackness condition operator; H ei k,t and H ei+ k respectively represent the virtual power plantk The virtual inertia provided by the energy storage device and its upper limit; P cimax k and P eimax k respectively represent the maximum discharge and charge power of the energy storage device in the virtual power plant k ; E max k and E min k respectively represent the maximum and minimum energy stored in the energy storage device in the virtual power plant k ; R ES k,t and R DER k,t respectively represent t the response volume of the frequency regulation auxiliary service provided by the energy storage device and the distributed energy device in the virtual power plant at time k ; R ES+ k and R DER+ k respectively represent the upper limits of the response volumes of the frequency regulation auxiliary services of the energy storage device and the distributed energy device in the virtual power plant k ; H DER k,t represents t the virtual inertia provided by the distributed energy device in the virtual power plant at time k ; H DER+ k represents the upper limit of the virtual inertia provided by the distributed energy device in the virtual power plant k ;

[0069] In the step S3 described above, the multi-type resource collaborative clearing model is as follows:

[0070] 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

[0071] 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,tP L k,t -∑ k,t u DH+ k,t H DER+ k -∑ k,t u DER+ k, t P DERmax k -∑ k,t

[0072] 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 -

[0073] ∑ k,t=1 u E k,t E k,0 +∑ k u E0 k E k,0 -∑ k,t u E+ k,t Emax 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 -

[0074] ∑ 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}

[0075] The multi-type resource collaborative clearing device for considering inertia and frequency regulation ancillary services of the present invention includes:

[0076] A data acquisition unit, configured to acquire the time parameters of the response resource device and the preset control parameters of the transmission grid and the virtual power plant.

[0077] A model construction unit, configured to construct a transmission grid inertia and frequency regulation ancillary service clearing model based on the dual constraints of the transmission grid, construct a virtual power plant inertia and frequency regulation ancillary service clearing model composed of optimality conditions and complementary slack conditions, and a multi-type resource collaborative clearing model.

[0078] A collaborative clearing unit is used to input the response resource device time parameters into the inertia and frequency regulation ancillary service clearing model of the transmission grid. After processing, it outputs the ancillary service clearing cost parameters as control instructions to control the transmission grid. The ancillary service clearing cost parameters are input into the inertia and frequency regulation ancillary service clearing model of the virtual power plant. After processing, it outputs the power parameters of the virtual power plant as control instructions to control the virtual power plant. The preset control parameters of the transmission grid and the virtual power plant are input into the collaborative clearing model of multi-type resources. After processing, it outputs the actual control parameters of the transmission grid and the virtual power plant as control instructions to achieve the collaborative clearing of the multi-type resource collaborative system.

[0079] The electronic device of the present invention includes: 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.

[0080] 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 as described above is implemented.

[0081] The method of the present invention first performs dual transformation on various constraints related to generator sets in the transmission grid to construct an upper-layer inertia and frequency regulation ancillary service clearing model of the transmission grid. On this basis, based on various constraints related to energy storage devices and distributed energy devices in the virtual power plant, the optimality conditions are used for substitution, and then a lower-layer inertia and frequency regulation ancillary service clearing model of the virtual power plant is constructed. Finally, by integrating the upper and lower layer models, an objective function aiming to maximize the operation benefit is formulated, and linearization is performed using the strong duality theory to obtain a collaborative clearing model of multi-type resources. By solving this model, the response amounts of various types of resources when providing inertia and frequency regulation ancillary services can be obtained. The method has significant advantages in improving the configuration efficiency of inertia and frequency regulation ancillary service resources such as generator sets, energy storage devices, and distributed energy devices, and can provide a more flexible and efficient solution for the safe and stable operation of the power system frequency.

[0082] The beneficial effects of the present invention are:

[0083] 1) The present invention accurately depicts the frequency response differences and optimizes the system stability: The present invention takes into account the differences in the frequency response delay time and transmission time of different resources (such as generator sets, energy storage devices, and distributed generation devices, etc.). By refining these differences, the description of the power system frequency stability is effectively improved. Especially in the face of high-penetration renewable energy, it can avoid the negative impact of new energy fluctuations on the frequency response and reduce the risks caused by system frequency imbalance. This detailed description method provides a scientific basis for the access and application of future diversified frequency modulation resources, and helps the power system to more safely cope with uncertainties.

[0084] 2) The transmission network of the present invention collaborates with the virtual power plant for coordinated optimization, enhancing the efficiency of resource allocation: The present invention establishes a two-layer optimization model based on the transmission network and the virtual power plant, integrating the objective of minimizing the operating cost of the upper-layer transmission network and the objective of maximizing the operating benefits of the lower-layer virtual power plant. Through this multi-objective coordinated optimization, not only can the operating cost of the power system be reduced, but also the energy storage devices and distributed energy sources in the virtual power plant can be effectively utilized to enhance the frequency response ability of the system. Especially in the face of complex faults, the system can perform resource scheduling and response more flexibly, ensuring frequency stability while optimizing benefits.

[0085] 3) The efficient conversion of the two-layer model of the present invention into a single-layer mixed-integer quadratic programming model simplifies the solution process: The present invention simplifies the two-layer model into a single-layer mixed-integer quadratic programming model by relaxing non-convex constraints, transforming it into a dual problem, and then combining the optimality conditions. This transformation greatly simplifies the solution process, enabling the optimization model to be efficiently solved in a short time. It is particularly important for the application of large-scale systems, especially in power scenarios that require real-time scheduling, where rapid decision-making can be achieved to ensure that the system frequency remains stable under varying loads and renewable energy outputs.

[0086] 4) The method of the present invention enhances the flexibility and reliability of power system frequency regulation: The proposed multi-type resource coordinated clearing method of the present invention significantly improves the scheduling ability of the power system in the face of new energy fluctuations, frequency response delays, and the participation of virtual power plants by carefully considering the frequency response differences of different types of generating units, energy storage devices, and distributed energy sources. This method can flexibly allocate frequency regulation resources according to the dynamic response characteristics of various resources in the context of high-penetration renewable energy access, ensuring that the system can quickly respond to frequency disturbances and effectively prevent frequency imbalances caused by new energy fluctuations. In addition, introducing the virtual power plant as a scheduling entity enables the power system to respond more flexibly to sudden faults and quickly adjust the system inertia, thereby enhancing the robustness and rapid response ability of the system. This method not only improves the frequency regulation ability of the power system but also provides a solid guarantee for the safe grid connection of large-scale renewable energy.

[0087] In summary, the present invention not only provides an efficient resource allocation method, optimizes the configuration of inertia and frequency regulation ancillary services, but also provides a more flexible and reliable frequency regulation scheme for the power system in the face of high-proportion renewable energy access, greatly enhancing the safety and economy of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] Figure 1 is a flowchart of the method of the present invention;

[0089] Figure 2It is a comparison chart showing the influence of the delay time on the clearing cost parameter according to an exemplary embodiment. Among them, Figure 2 Figure (a) of Figure 2 is a comparison chart of the clearing costs of the power support services in Case 1 and Case 2. Figure 2 Figure (b) of Figure 2 is a comparison chart of the clearing costs of the inertia assistance services in Case 1 and Case 2. Figure 2 Figure (c) of

[0090] Figure 3 is a comparison chart showing the influence of different wind power penetration rates on the clearing cost parameter according to an exemplary embodiment. Among them, Figure 3 Figure (a) of Figure 3 is a comparison chart of the clearing costs of the power support services in Cases 1-4. Figure 3 Figure (b) of

[0091] Figure 4 is a comparison chart showing the influence of different wind power penetration rates on the clearing cost parameter and the online units of the frequency modulation assistance service according to an exemplary embodiment. Among them, Figure 4 Figure (a) of Figure 4 is a comparison chart of the clearing costs of the frequency modulation assistance services provided by the energy storage devices in Cases 1-4. Figure 4 Figure (b) of

[0092] Figure 5 is a comparison chart showing the influence of the number of virtual power plants on the clearing cost parameter according to an exemplary embodiment. Among them, Figure 5 Figure (a) of Figure 5 is a comparison chart of the clearing costs of the power support services in Situations 1-4. Figure 5 Figure (b) of

[0093] Figure 6 is a comparison chart showing the influence of the number of virtual power plants on the clearing cost parameter and the operating benefits of the frequency modulation assistance service according to an exemplary embodiment. Among them, Figure 6 Figure (a) of Figure 6 Figure (b) is a comparison chart of the clearing costs for distributed energy in Cases 1-4 to provide frequency regulation ancillary services. Figure 6 Figure (c) is a schematic diagram of the operating cost of the transmission grid and the operating benefits of the virtual power plant. Detailed implementation manners

[0094] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0095] As Figure 1 shown, the multi-type resource collaborative clearing method considering inertia and frequency regulation ancillary services of the present invention is specifically as follows:

[0096] The present invention uses the IEEE 30-node power system as a test case. This 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 shown in Table 1 in detail. 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 deficit of the power system is selected as 5% of the maximum load power on the same day. The maximum frequency change rate RoCoF max is set to 1 Hz / s, and the maximum allowable frequency deviation △f max of the system is set to 0.8 Hz. The rated frequency of the power system is 50 Hz. The delay time T d,G for the thermal power unit to provide frequency regulation ancillary services is 0.2 s, and the transfer time T G required to provide complete frequency regulation ancillary services is 10 s; the delay time T d,ES for the energy storage device to provide frequency regulation ancillary services is 0.25 s, and the transfer time T ES is 0.5 s; the delay time T d,DER for the distributed energy to provide frequency regulation ancillary services is 0.3 s, and the transfer time T DER is 0.7 s. The operating costs and technical parameters of the virtual power plant are shown in Table 2 in detail.

[0097] Table 1

[0098]

[0099] Table 2

[0100]

[0101] First, a multi-type resource collaborative system of the power transmission network including generator sets and virtual power plants is established. The power transmission network of the multi-type resource collaborative system includes generator sets, power loads, and virtual power plants located at power nodes. The generator sets include thermal power units and renewable energy units represented by wind turbine units. However, the renewable energy units do not provide inertia and frequency regulation ancillary services. The generator sets and virtual power plants are the control subjects of the power transmission network. At the power transmission network control level, the virtual power plant is regulated as an independent control subject. The virtual power plant contains distributed energy devices and energy storage devices and participates in regulation at the virtual power plant control level. Therefore, the multi-type resource collaborative system regulates the frequency of the power system through generator sets, distributed energy devices, and energy storage devices as response resources. The power support (i.e., power supply) of the generator set is the main service, and frequency regulation (or inertia) is the service provided additionally by the generator set different from power support. Therefore, it is called frequency regulation ancillary service and inertia ancillary service. The ancillary service corresponds to the frequency regulation ancillary service and inertia ancillary service, and the power supply is called the power support service.

[0102] Then, the following clearing model of inertia and frequency regulation ancillary services for the power transmission network based on the dual constraints of the power transmission network is constructed:

[0103] 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

[0104] 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

[0105] 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

[0106] P Gmax i / P sys + u uc+ i,t ≥0

[0107] 1- u SU+ i,t +∑ t u Tc i,t ≥0, t ∈[1, T c -1]

[0108] 1- u SU+ i,t + ∑ t u Tc i,t ≥0, t ∈[ T c , T - T c +1]

[0109] 1- u SU+ i,t + u Tc i,t-Tc+1 ≥0, t ∈[ T - T c +2, T ]

[0110] 1- u SD+ i,t + ∑ t u Tc i,t ≥0, t ∈[1, T c -1]

[0111] 1- u SD+ i,t + ∑ t u Tc i,t ≥ 0, t ∈[ T c , T - T c +1]

[0112] 1- u SD+ i,t +u Tci,t-Tc+1 ≥0, t ∈[ T - T c +2, T ]

[0113] ∑ 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 )-

[0114] e min n,t +e max n,t +e δ1 t ≥0

[0115] u RG+ i,t + v RG+ i,t - l PFR t ≥0

[0116] l H t -2 RoCoF max · P sys · u RoCoF t +P sys · u nadir2 t / f 0- P sys · unadir3 t / f 0≥0

[0117] u fss t +u RoCoF t f 0 +u nadir1 t / ( △f max ) 1 / 2 ≥0

[0118] 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

[0119] l PFRES t - u fss t - u nadir1 t / ( △f max ) 1 / 2 -(2 Td,ES +T ES )·( u nadir2 t - u nadir3 t ) / (4 △f max )≥0

[0120] 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

[0121] ( u nadir1 t ) 2 + ( u nadir2 t ) 2 ≤( u nadir3 t ) 2

[0122] l E n,t 、 e nmmin,t 、 e nmmax,t 、 e min n,t 、 e max n,t 、 e δ1 t ≥0

[0123] uG- 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

[0124] u nadir1 t , u nadir2 t , u nadir3 t , u RoCoF t , u fss t ≥ 0

[0125] l H t , l PFR t , l PFRES t , l PFRDER t ≥ 0

[0126] Among them, a i and b i respectively represent the first and second operating cost parameters for the i th generator set to provide power support services; P G i,t represents t at the moment of the iOutput power of a generator set; N i Indicates the i no-load cost of the u i,t Indicates t the start-stop state of the i generator set at time u i,t When u i,t = 1, it starts; when SU i,t and SD i,t respectively indicate t the start-up cost and shutdown cost actually incurred by the i generator set at time M i,t Indicates t the auxiliary variable related to the operation cost of the i generator set at time M i,t = 2 a i P G i,t ; b i Indicates the i second operation cost parameter for the generator set to provide power support services; l E n,t and l E m,t respectively indicate t the clearing cost parameters of power support services at time n for the m th and 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 variables; u G- i,t andu G+ i,t respectively represent t the first and second dual variables of the i th generator set at the moment, corresponding to the operation constraints of the unit u i,t P Gmin i ≤P G i,t and P G i,t ≤u i,t P Gmax i dual variables; u GU i,t+1 and u GU i,t respectively represent t the third dual variable of the t th generator set at the +1 moment and i the moment, corresponding to the operation constraints of the unit P G i,t – P G i,t-1 ≤ P GU i dual variables; u GD i,t+1 and u GD i,t respectively represent t the fourth dual variable of the t th generator set at the +1 moment and i the moment, corresponding to the operation constraints of the unit P G i,t-1 - P G i,t ≤ P GD i dual variables; v RG+ i,t represents t the fifth dual variable of the i th generator set at the moment, corresponding to the operation constraints of the unit R G i,t ≤u i,t P Gmax i - P G i,t The dual variable of; N i Indicates the i No-load cost of the generator set; P Gmax i And P Gmin i Respectively indicate the i Upper and lower limits of the output power of the generator set; u SU+ i,t+1 And u SU+ i,t Respectively indicate t The +1 moment and t At the moment, the sixth dual variable of the i Generator set, corresponding 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 indicate the i Single start-up and shutdown start-stop costs of the generator set; u SD+ i,t Indicates t At the moment, the seventh dual variable of the i Generator set, corresponding 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 Indicates t The clearing cost parameter of the inertia auxiliary service in the power grid at the moment, that is, the coupling constraint between 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 + H ei k,t P eimax k )] / P sys The dual variables, and the clearing cost parameters of inertia ancillary services on different power nodes are the same; H G i represents the i th generator set's inertia constant. The i th generator set has a fixed inertia and does not participate in providing virtual inertia. Its maximum virtual inertia can be equivalently regarded as H G i ; P sys represents the rated power of the transmission network; u uc+ i,t represents t the eighth dual variable of the i th generator set at time u i,t ∈{0,1} is discrete. Relax it to 0 ≤ u i,t ≤ 1. Therefore, the eighth dual variable corresponds to the dual variable of the generator set operation constraint u i,t ≤ 1; u Tc i,t and u Tc i,t-Tc+1 respectively represent the ninth dual variable of the T c th generator set at time t and tT c +1 in the time interval i th generator set, corresponding to the generator set operation constraint ∑ t ( SUi,t + SD i,t ) ≤ max{ K U i , K D i} of the dual variables, T c represents the minimum time interval for the start-stop state transformation of the generating unit, that is, within T c time, the unit can have at most one start-stop state transformation; T represents the optimization period; B nm represents the n th and m th admittance of the transmission line between the e nmmin,t and e nmmax,t respectively represent t at the n th power node to the m th power node's tenth and eleventh dual variables, e mnmin,t and e mnmax,t respectively represent the m th to the n th power node's twelfth and thirteenth dual variables. The tenth and twelfth dual variables both correspond to the transmission network constraint - L max nm ≤ B nm ( i n,t - i m,t ) of the dual variables. When nm = mn , e nmmin,t = e mnmin,t , the eleventh and thirteenth dual variables both correspond to the transmission network constraint B nm ( i n,t - i m,t ) ≤ L max nm ) of the dual variables. When nm = mn , e nmmax,t = emnmax,t ; e min n,t and e max n,t respectively represent t the fourteenth and fifteenth dual variables of the n th power grid node at time π ≤ i n,t and i n,t ≤ π dual variables; e δ1 t represent t the sixteenth dual variable of the first power grid node at time i 1,t = 0 dual variable; u RG+ i,t represent t the seventeenth dual variable of the i th generator set at time R G i,t ≤ R G+ i dual variables; l PFR t represent t the clearing cost parameter for the generator set to provide frequency regulation ancillary services at time RoCoF max represents the maximum value of the frequency change rate of the power grid; u RoCoF t represent t the eighteenth dual variable of the power grid at time P L t f 0 / (2 H t P sys ) ≤ RoCoF max dual variables; u nadir1 t , u nadir2 t and u nadir3 t respectively representt The nineteenth, twentieth, and twenty - first dual variables of the power transmission network at a certain moment. Since the first - type frequency nadir constraint has three dual variables, so u nadir1 t 、 u nadir2 t and u nadir3 t correspond to the first, second, and third dual variables of the frequency nadir constraint respectively; f 0 represents the rated frequency of the power transmission network; u fss t represents t the twenty - second dual variable of the power transmission network at a certain moment, corresponding to the quasi - steady - state constraint R G t + R ES t + R DER t ≥ P L t 's dual variable; △f max represents the maximum allowable frequency deviation of the power transmission network; l PFR t represents t the clearing cost parameter for the generator set to provide frequency regulation ancillary services at a certain moment, that is, the coupling constraint between the upper and lower layers R G t =∑ i R G i,t 's dual variable; T d,G represents the delay time for the generator set to start providing frequency regulation ancillary services from the occurrence of a fault; T G represents the transfer time for the generator set to provide complete frequency regulation ancillary services; l PFRES t and l PFRDER t represent respectively t the clearing cost parameters for the energy storage device and the distributed energy device to provide frequency regulation ancillary services at a certain moment, corresponding to the coupling constraints between the upper and lower layers R ES t =∑k R ES k,t and R DER t =∑ k R DER k,t dual variables; T d,ES represents the delay time of the energy storage device from the occurrence of the fault to the start of providing frequency regulation auxiliary services, T ES represents the transfer time of the energy storage device to provide complete frequency regulation auxiliary services; T d,DER represents the delay time of the distributed energy device from the occurrence of the fault to the start of providing frequency regulation auxiliary services. Here, the subscript d is only used for distinction and is the initials abbreviation of delay, without the meaning of numbers. T DER represents the transfer time of the distributed energy device to provide complete frequency regulation auxiliary services; the cost can be specifically measured by electricity.

[0127] Input the time parameters of the response resource device into the inertia and frequency regulation auxiliary service clearing model of the power grid. After processing, output the auxiliary service clearing cost parameters as control instructions to control the power grid. The time parameters of the response resource device include the delay time of the generator set, distributed energy device, and energy storage device from the occurrence of the fault to the start of providing frequency regulation auxiliary services, and the transfer time of the generator set, distributed energy device, and energy storage device 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 power grid, and the clearing cost parameters of the generator set, distributed energy device, and energy storage device to provide frequency regulation auxiliary services. 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 device and the energy storage device, and its clearing cost parameters are consistent at different power nodes and provided by different devices. The frequency regulation auxiliary service is jointly provided by the generator set, distributed energy device, and energy storage device, and its clearing cost parameters provided by different devices are inconsistent, but are consistent for the same device at different electrical nodes.

[0128] The clearing model of the inertia and frequency regulation ancillary services of the transmission grid mainly consists of five parts: the network constraints of the transmission grid, the operation constraints of the units, the frequency stability constraints, the coupling constraints between the upper and lower layer models, and the dual constraints. Based on the network constraints of the transmission grid, the operation constraints of the units, the frequency stability constraints, and the coupling constraints between the upper and lower layer models, the transmission grid formulates the dual constraints of the above constraints, and then constructs the clearing model of the inertia and frequency regulation ancillary services of the transmission grid. Its decision-making entity is the transmission grid, the control object is the generating units (including generating units and wind turbines), and the goal is to minimize the operation cost of the transmission grid.

[0129] 1) Network constraints of the transmission grid:

[0130] -∑ t P G i,t +∑ d D d,t +∑ m B nm ( i n,t - i m,t )-∑ k P VPP k,t =0

[0131] - L max nm ≤ B nm ( i n,t - i m,t )≤ L max nm

[0132] – π ≤ i n,t ≤ π

[0133] i 1,t =0

[0134] Among them, D d,t represents t the power consumed by the d th electrical load at time i n,t , i m,t and i 1,t respectively representt The voltage angles of the n nth, m mth, and first power nodes; P VPP k,t denote t the net output power of the virtual power plant k at time t; L max nm denote the maximum transmission power of the transmission line n between the m nth and

[0135] 2) Unit operation constraints:

[0136] u i,t P Gmin i ≤ P G i,t ≤ u i,t P Gmax i

[0137] u i,t ∈ {0, 1}

[0138] P G i,t - P G i,t-1 ≤ P GU i

[0139] P G i,t-1 - P G i,t ≤ P GD i

[0140] 0 ≤ R G i,t ≤ R G+ i

[0141] R G i,t ≤ ui,t P Gmax i - P G i,t

[0142] SU i,t ≥0

[0143] SU i,t ≥( u i,t - u i,t-1 )· K U i

[0144] SD i,t ≥0

[0145] SD i,t ≥( u i,t-1 - u i,t )· K D i

[0146] ∑ t ( SU i,t + SD i,t )≤max{ K U i , K D i}, t ∈ T c , T + T c +1]

[0147] Among them, u i,t represents t the start-stop state of the i th generator set at time, which is a 0-1 variable. u i,t When u i,t = 1, it is turned on. P GU i and P GDi respectively represent the maximum climbing power and landslide power of the i th generator set within a unit time interval; R G i,t represents t the amount of frequency regulation auxiliary service response provided by the i th generator set at time R G+ i represents the maximum amount of frequency regulation auxiliary service response that the i th generator set can provide. Renewable energy generator sets generally output at maximum power, so the maximum amount of frequency regulation auxiliary service response they can provide is usually 0; SU i,t and SD i,t respectively represent t the actual start-up cost and shutdown cost of the i th generator set at time K U i and K D i respectively represent the start-stop costs required for a single start-up and shutdown of the i th generator set.

[0148] 3) Frequency stability constraint:

[0149] To ensure that the power system can maintain stable operation during sudden large disturbances or fault accidents, it is usually required that the system frequency after the accident remains within a certain safe range. For this reason, the present invention sets three types of frequency stability constraints: the lowest frequency point constraint, the frequency change rate constraint, and the quasi-steady state constraint.

[0150] a) Lowest frequency point constraint:

[0151] Considering that the minimum frequency of the system after sudden large disturbances or fault accidents should not be lower than the set threshold △f max , the present invention uses three types of response resources, namely the generator sets in the transmission network (renewable energy generator sets represented by wind turbine generator sets usually cannot provide inertia and frequency regulation auxiliary services), the distributed energy devices aggregated in the virtual power plant, and the energy storage devices, to provide support for the frequency regulation of the transmission network. Considering that different types of response resources have different delay time characteristics (related to the dead zones of different types of resources responding to frequency changes) and transmission times (related to the frequency regulation reserve capacity and response speed of different types of resources), the collaborative response amount of multiple types of resources providing frequency regulation auxiliary services can be calculated by a piecewise function as follows:

[0152] FR total( t ) =

[0153] 0 If t ≤ T d,G

[0154] R G t ( t - T d,G ) / T G If T d,G ≤ t ≤ T d,ES

[0155] 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

[0156] 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

[0157] 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

[0158] R G t ( t - T d,G ) / T G + R ES t + R DER t If T d,DER +T DER ≤ t ≤ T d,G +T G

[0159] R G t + R ES t + R DER t If t ≥ T d,G +TG

[0160] Among them, FR total ( t ) represents t the coordinated response volume of the three resources of the generator set, distributed energy, and energy storage device to provide frequency regulation ancillary services at a certain moment; R G t and R ES t and R DER t respectively represent the response volumes of the generator set, energy storage device, and distributed energy device to provide frequency regulation ancillary services at a certain moment.

[0161] Substituting the coordinated response volume FR total into the swing equation describing the dynamic change of the power system frequency, the frequency minimum point constraint can be obtained as:

[0162] { 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 -(2T 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

[0163] △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

[0164] Among them, P L t represents t the power deficit of the power transmission grid at a certain moment; H t represents the inertia of the power transmission grid at a certain moment.

[0165] b) Frequency change rate constraint:

[0166] When a fault occurs in the power system, the rate of change of the system frequency should not exceed the defined maximum value, i.e.:

[0167] P L t f 0 / (2 H t P sys ) ≤ RoCoF max

[0168] c) Quasi-steady state constraint:

[0169] To enable the power system to maintain a stable state after a fault occurs, the coordinated response volume of the frequency regulation ancillary services provided should be greater than the power deficit, i.e.:

[0170] R G t + R ES t + R DER t ≥ P L t

[0171] 4) Upper and lower layer model coupling constraint:

[0172] The inertia and frequency regulation ancillary service clearing model of the upper-layer transmission grid will be affected by the clearing results of the inertia and frequency regulation ancillary service clearing model of the lower-layer virtual power plant, i.e.:

[0173] 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

[0174] R G t =∑ i R G i,t

[0175] R ES t =∑ k R ES k,t

[0176] R DER t =∑ k R DER k,t

[0177] wherein, H DER k,t represents t the virtual inertia provided by distributed energy devices in the virtual power plant at time k ; P DERmax k represents k the maximum output power of distributed energy devices in the virtual power plant; H ei k,t represents t the virtual inertia provided by the energy storage device in the virtual power plant at time k ; P eimax k represents k the maximum charging power of the energy storage device in the virtual power plant; R ES k,t and R DER k,t respectively represent t the response amounts of frequency regulation ancillary services provided by the energy storage device and distributed energy devices in the virtual power plant at time k ;

[0178] Then, a clearing model for the virtual inertia and frequency regulation ancillary services of the virtual power plant is constructed from the optimality conditions and complementary slack conditions. The optimality conditions are as follows:

[0179] - l E n,t + lA k,t =0

[0180] 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

[0181] 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

[0182] u E k,t - u E k,t+1 + u E+ k,t - u E- k,t =0

[0183] u E k,t - u E0 k + u E+ k,t - uE- k,t =0

[0184] - 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

[0185] - l PFRES t - u RES- k,t + u RES+ k,t + v RES+ k,t =0

[0186] l DER k - l A k,t - u DER- k,t + u DER+ k,t + vRDER+ k,t =0

[0187] - 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

[0188] - l PFRDER t - u RDER- k,t + u RDER+ k,t + v RDER+ k,t =0

[0189] - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t =0

[0190] 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

[0191] E k,0 = E k,|T|

[0192] Among them, l E n,t represents t the clearing cost parameter of the power support service on the n th power node at time l A k,t represents t the clearing cost parameter of the power support service on the corresponding power node of the virtual power plant at time k , that is, the Lagrange multiplier corresponding 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; l C k,t and l D k,t respectively represent t the charging cost and discharging cost of the energy storage device in the virtual power plant at time k ; u ei,c- k,t represents t the first Lagrange multiplier of the virtual power plant at time k , that is, the Lagrange multiplier corresponding to the constraint 0 ≤ P ei,c k,t ; u ei,c+ k,t represents t the second Lagrange multiplier of the virtual power plant at time k , that is, the corresponding constraint P ei ,c k,t + Hei 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 The Lagrange multiplier of 0; u E0 k Indicates the virtual power plant k The sixth Lagrange multiplier of, that is, corresponding to the constraint E k,0 = E k,|T| The Lagrange multiplier of; or c k and or d k Respectively indicate the charging and discharging efficiencies of the energy storage devices in the virtual power plant k ; △t Indicates the control time interval of the virtual power plant; v RES+ k,t Indicates t At the moment, the virtual power plant k The seventh Lagrange multiplier of, that is, corresponding 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 Indicates t At the moment, the virtual power plant k The eighth Lagrange multiplier of, that is, corresponding to the constraint P ei,d k,t + H ei k,t ·(2| RoCoF max |)P eimax k / f 0 ≤ P eimax k the Lagrange multiplier; u ei,d- k,t denote t the virtual power plant at time k the ninth Lagrange multiplier of, that is, corresponding to the constraint 0 ≤ P ei,d k,t the Lagrange multiplier; l H t denote t the clearing cost parameter of the inertia auxiliary service in the power transmission network at time P DERmax k denote the virtual power plant k the maximum output power of the distributed energy equipment in P eimax k denote the virtual power plant k the maximum charging power of the energy storage equipment in P sys denote the rated power of the power transmission network; u EH- k,t and u EH+ k,t respectively denote t the virtual power plant at time k the tenth and eleventh Lagrange multipliers of, corresponding to the constraints 0 ≤ H ei k,t and H ei k,t ≤ H ei+ k the Lagrange multiplier; u DH- k,t and u DH+ k,t respectively denote t the virtual power plant at time k the twelfth and thirteenth Lagrange multipliers of, that is, corresponding to the constraints 0 ≤ H DER k,t and H DER k,t ≤ H DER+k Lagrange multiplier; RoCoF max represents the maximum value of the rate of change of the frequency of the power transmission network; f 0 represents the rated frequency of the power transmission network; △f max represents the maximum allowable frequency deviation of the power transmission network; l PFRES t and l PFRDER t respectively represent t the clearing cost parameters for the energy storage device and the distributed energy device to provide frequency regulation ancillary services at time u RES- k,t and u RES+ k,t respectively represent t the fourteenth and fifteenth Lagrange multipliers of the virtual power plant at time k , corresponding to the constraints 0 ≤ R ES k,t and R ES k,t ≤ R ES+ k Lagrange multiplier; l DER k represents the operating cost of the distributed energy device in the virtual power plant k ; u DER- k,t represents t the sixteenth Lagrange multiplier of the virtual power plant at time k , that is, corresponding to the constraint 0 ≤ P DER k,t Lagrange multiplier; u DER+ k,t represents t the seventeenth Lagrange multiplier of the virtual power plant at time k , that is, corresponding to the constraint P DER k,t + H DER k,t ·(2| RoCoF max |) P DERmax k / f 0 ≤P DERmax k 's Lagrange multiplier; v RDER+ k,t represent t the virtual power plant at time k the eighteenth Lagrange multiplier of, i.e., corresponding to the constraint R DER k,t ≤ P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |) P DERmax k / f the Lagrange multiplier of 0; u RDER- k,t and u RDER+ k,t respectively represent t the virtual power plant at time k the nineteenth and twentieth Lagrange multipliers of, respectively corresponding to the constraints 0 ≤ R DER k,t and R DER k,t ≤ R DER+ k 's Lagrange multiplier; P DER k,t represent t the output power of distributed energy equipment in the virtual power plant at time k ; P ei,c k,t and P ei,d k,t respectively represent t the charging power and discharging power of energy storage equipment in the virtual power plant at time k ; P VPP k,t represent t the net output power of the virtual power plant at time k ; P L k,t represent tMomentary virtual power plant k The load power of E k,t , E k,t-1 , E k,0 and E k,|T| respectively represent t The moment,[[-1]] moment, the initial moment and t | moment, the energy stored in the energy storage device in the virtual power plant T |, where k represents the optimization period. T represents the optimization period.

[0193] The complementary slackness conditions of the virtual power plant inertia and frequency regulation ancillary service clearing model are as follows:

[0194] 0 ≤ u ei,c- k,t ⊥ P ei,c k,t ≥ 0

[0195] 0 ≤ u ei,d- k,t ⊥ P ei,d k,t ≥ 0

[0196] 0 ≤ u EH- k,t ⊥ H ei k,t ≥ 0

[0197] 0 ≤ u EH+ k,t ⊥( H ei+ k - H ei k,t ) ≥ 0

[0198] 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

[0199] 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

[0200] 0≤ u E+ k,t ⊥( E max k - H ei k,t ·(2| △f max |)· P eimax k / f 0- E k,t )≥0

[0201] 0≤ u E- k,t ⊥( E k,t - E min k - H ei k,t ·(2| △f max |)· P eimax k / f 0)≥0

[0202] 0≤ u RES- k,t ⊥ R ES k,t ≥0

[0203] 0≤u RES+ k,t ⊥( R ES+ k - R ES k,t )≥0

[0204] 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

[0205] 0≤ u DER- k,t ⊥ P DER k,t ≥0

[0206] 0≤ u DH- k,t ⊥ H DER k,t ≥0

[0207] 0≤ u DH+ k,t ⊥( H DER+ k - H DER k,t )≥0

[0208] 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

[0209] 0≤ u RDER- k,t ⊥ R DER k,t ≥0

[0210] 0≤ u RDER+ k,t ⊥( R DER+ k - R DER k,t )≥0

[0211] 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

[0212] where ⊥ represents the complementary slackness condition operator, such as 0≤ a ⊥ b ≥0 represents a constraint a ≥0 and the constraint b ≥0 form a complementary slackness condition, that is, this formula can be equivalently written as ab =0, a ≥0, b ≥0. On this basis, by introducing a 0-1 variable c and a very large constant M this constraint can be transformed into 0≤ a ≤ Mc and 0≤ b ≤ M (1-c ) Two constraints; H ei k,t and H ei+ k respectively represent the virtual inertia provided by the energy storage device in the virtual power plant k and its upper limit; P cimax k and P eimax k respectively represent the maximum discharge and charge power of the energy storage device in the virtual power plant k ; E max k and E min k respectively represent the maximum and minimum energies stored in the energy storage device in the virtual power plant k ; R ES k,t and R DER k,t respectively represent t at a certain moment, the response amounts of the frequency regulation auxiliary services provided by the energy storage device and the distributed energy device in the virtual power plant k ; R ES+ k and R DER+ k respectively represent the upper limits of the response amounts of the frequency regulation auxiliary services provided by the energy storage device and the distributed energy device in the virtual power plant k ; H DER k,t represents t at a certain moment, the virtual inertia provided by the distributed energy device in the virtual power plant k , H DER+ k represents the upper limit of the virtual inertia provided by the distributed energy device in the virtual power plant k .

[0213] Input the auxiliary service clearing cost parameter into the virtual power plant inertia and frequency regulation auxiliary service clearing model, and after processing, output the power parameter of the virtual power plant as a control instruction to control the virtual power plant; the power parameter of the virtual power plant includes the output power of the distributed energy device in the virtual power plant and the charge and discharge powers of the energy storage device.

[0214] After the lower-layer virtual power plant inertia and frequency regulation ancillary service clearing model receives the clearing cost parameters transmitted by the upper-layer transmission grid inertia and frequency regulation ancillary service clearing model, the lower-layer model first formulates the virtual power plant inertia and frequency regulation ancillary service clearing objectives as follows:

[0215] max ∑ t l E n,t P VPP k,t + ∑ t l H t ( H ei k,t P eimax 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 -

[0216] ∑ 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

[0217] The clearing constraints for the inertia and frequency regulation ancillary services of the virtual power plant are as follows:

[0218] - P DER k,t - P ei,d k,t +P ei,c k,t +P VPP k,t +P L k,t =0

[0219] 0≤ P ei,c k,t

[0220] 0≤ P ei,d k,t

[0221] 0≤ H ei k,t ≤ H ei+ k

[0222] P ei,c k,t + H ei k,t ·(2| RoCoF max |) P eimax k / f 0≤ P cimax k

[0223] P ei,d k,t + H ei k,t ·(2| RoCoF max |) P eimax k / f 0≤ P eimax k

[0224] 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

[0225] E k,0 = E k,|T|

[0226] E k,t ≤ E max k - H ei k,t ·(2| △f max |) P eimax k / f 0

[0227] E k,t ≥ E min k + H ei k,t ·(2| △f max |) P eimax k / f 0

[0228] 0≤ R ES k,t ≤ R ES+ k

[0229] 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

[0230] 0≤ P DER k,t

[0231] 0≤ H DER k,t ≤ H DER+ k

[0232] P DER k,t + H DER k,t ·(2| RoCoF max |) P DERmax k / f 0≤ P DERmax k

[0233] 0≤ R DER k,t ≤ R DER+ k

[0234] R DER k,t ≤ P DERmax k - P DER k,t - H DER k,t ·(2| RoCoF max |) P DERmax k / f 0

[0235] It should be noted that for the upper-layer model, the smaller the clearing cost parameters of the power support service, inertia assistance service, and frequency regulation assistance service, the lower the operating cost of the transmission grid; while for the lower-layer model, the larger the clearing cost parameters of the power support service, inertia assistance service, and frequency regulation assistance service, 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 layer models.

[0236] For the lower-layer optimization problem, the present invention first replaces the clearing objectives and constraints of the virtual power plant's inertia and frequency regulation assistance services with equivalent optimality conditions, then uses the big M method to handle the non-linear constraints of the optimality conditions, and incorporates them into the upper-layer transmission grid's inertia and frequency regulation assistance service clearing model, and finally obtains the lower-layer virtual power plant's inertia and frequency regulation assistance service clearing model.

[0237] Finally, the multi-type resource collaborative clearing model of the multi-type resource collaborative system is constructed as follows:

[0238] 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

[0239] 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 H DER+ k -∑ k,t u DER+ k, t P DERmax k -∑ k,t

[0240] u RDER+ k,t R DER+ k -∑ k,t v RDER+ k,t PDERmax 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 -

[0241] ∑ 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 -

[0242] ∑ k,t l DER k P DERk,t -∑ k,t l C k P ei,c k,t -∑ k,t l D k P ei,d k,t}

[0243] Input the preset control parameters of the power transmission network and the virtual power plant into the multi-type resource collaborative clearing model. After processing, output the actual control parameters of the power transmission network and the virtual power plant as control instructions to achieve the collaborative clearing of the multi-type resource collaborative system.

[0244] The multi-type resource collaborative clearing model takes the power transmission network inertia and frequency regulation ancillary service clearing model and the virtual power plant inertia and frequency regulation ancillary service clearing model as constraint conditions. The power transmission network inertia and frequency regulation ancillary service clearing model only includes power transmission network network constraints, unit operation constraints, frequency stability constraints, upper and lower layer model coupling constraints, and power transmission network dual constraints, and does not include the objective function. The preset control parameters of the power transmission network and the virtual power plant include the maximum output power of the generating units, the upper limit of virtual inertia, and the upper limit of the frequency regulation ancillary service response volume, the maximum output power of distributed energy devices, the upper limit of virtual inertia, and the maximum frequency regulation ancillary service response volume, as well as the maximum discharge and charge power of energy storage devices, the upper limit of virtual inertia, and the frequency regulation ancillary service response volume; the actual control parameters of the power transmission network and the virtual power plant include the output power of the generating units, virtual inertia, and frequency regulation ancillary service response volume, the output power of distributed energy devices, virtual inertia, and frequency regulation ancillary service response volume, as well as the output power of energy storage devices, virtual inertia, and frequency regulation ancillary service response volume.

[0245] The objective function of the multi-type resource collaborative clearing model consists of four parts: 1) Minimize the operation cost of the generating units in the power transmission network; 2) Minimize the start-stop cost of the generating units in the power transmission network; 3) Maximize the operation benefits of each virtual power plant providing power support services, inertia ancillary services, and frequency regulation ancillary services; 4) Minimize the operation costs of distributed energy and energy storage devices in each virtual power plant. The specific objective function is as follows:

[0246] 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

[0247] 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 u Tc i, t K U i -

[0248] ∑ i,t u GU i,t P GU i -∑ i,t u GD i,t P GDi -∑ 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 ) /

[0249] 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}

[0250] Among them, due to the existence of non - linear terms -∑ n,t,k l E n,t P VPP k,t -∑ k,t l H t ( H DER k,t P DERmax k +

[0251] H ei k,t P eimax k ) / Psys -∑ k,t l PFRES t R ES k,t -∑ k,t l PFRDER t R DER k,t , which leads to the inability to directly solve the optimization problem. The present invention uses the strong duality theory to replace this non-linear part, that is:

[0252] -∑ 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

[0253] R DER k,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

[0254] 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,tR ES+ k -∑ k,t v RES+ k,t P eimax k -∑ k,t l DER k P DER k,t -∑ k,t

[0255] l C k P ei,c k,t -∑ k,t l D k P ei,d k,t

[0256] Finally, the objective function of the multi-type resource collaborative clearing model after replacement is obtained. By integrating the upper-layer transmission grid inertia and frequency regulation ancillary service clearing model and the lower-layer virtual power plant inertia and frequency regulation ancillary service clearing model, an objective function aiming at maximizing the operation benefit is formulated, and the nonlinear terms in the objective function are transformed by using the strong duality theory, and then finally a multi-type resource collaborative clearing model considering inertia and frequency regulation ancillary services is constructed. The constraint conditions of the multi-type resource collaborative clearing model are exactly the same as those of the upper-layer transmission grid inertia and frequency regulation ancillary service clearing model and the lower-layer virtual power plant inertia and frequency regulation ancillary service clearing model. The objective function and the constraint conditions together constitute the multi-type resource collaborative clearing model, which is a single-layer mixed integer quadratic programming and can be directly solved by a solver.

[0257] Specifically in the implementation, the present invention analyzes the influence of the delay time on the inertia ancillary service and the frequency regulation ancillary service as follows:

[0258] In order to study the influence of the delay time on the inertia ancillary service and the frequency regulation ancillary service, the present invention sets two groups of calculation examples for comparison. Among them, calculation example 1 considers the delay time for providing the frequency regulation ancillary service, while calculation example 2 does not consider the delay time. Table 3 gives the comparison of the operation conditions under the two calculation examples, as Figure 2 shown, which compares the influence of the delay time on the clearing cost parameters of the power support service, the inertia ancillary service and the frequency regulation ancillary service.

[0259] As shown in Table 3 and Figure 2As shown in (a), considering the delay time has little impact on the clearing cost parameter of power support service. This is because the frequency regulation ancillary service essentially utilizes the remaining capacity of resources and does not directly affect the response volume of power support service. As Figure 2 shown in (b), considering the delay time increases the clearing cost parameter of inertia ancillary service provided by multi-type resources. This is because the maximum value of the system frequency change rate RoCoF max does not necessarily occur at the initial moment, but at a certain time after the initial moment. For example, in this case study, it is 0.2 s. To prevent under-frequency load shedding, the power system requires more inertia to "suppress" the change of system frequency. Therefore, the clearing cost parameter of inertia ancillary service increases significantly after considering the delay time. As shown in Table 3, it increases from 0.039 / MWs to 0.047 / MWs, with an increase rate of 20.51%. For virtual power plants, under the guidance of the operating cost parameter of high-inertia ancillary service, more resources will participate in providing inertia support, which helps to ensure the security of the power system. As Figure 2 shown in (c), considering the delay time has little impact on the clearing cost parameter of the frequency regulation ancillary service provided by units. This is because the delay time of thermal power units in the transmission grid is very small compared to their transfer time, so it will not have a significant impact on the clearing cost parameter of the frequency regulation ancillary service. For virtual power plants, due to the short transfer time of energy storage devices, the delay time has a certain impact on the clearing cost parameter of their frequency regulation ancillary service. As Figure 2 shown in (d), the clearing cost parameter of the frequency regulation ancillary service increases after considering the delay time, from 6.30 / MWh to 6.70 / MWh. For distributed energy, considering the delay time has little impact on the clearing cost parameter of the frequency regulation ancillary service it provides. As Figure 2 shown in (e).

[0260] Table 3

[0261]

[0262] The present invention also analyzes the impact of wind power penetration on inertia ancillary service and frequency regulation ancillary service as follows:

[0263] With the development of renewable energy technologies, the increase in wind power penetration will also have a significant impact on the operation of power systems. In this regard, the present invention sets up 4 groups of cases to show the impact of wind power penetration. Among them, the parameters of Case 1 are the same as those of Example 1 in the first part. On this basis, three additional cases are added, with the installed capacity of wind turbines increased by 50 MW, 100 MW, and 150 MW respectively on the basis of Example 1. Thus, the wind power penetration rates of these three cases are obtained as 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 variation of the clearing cost parameters of power support services, inertia assistance services, and frequency regulation assistance services under different wind power penetration rates is compared.

[0264] Table 4

[0265]

[0266] Regarding the operation cost of the transmission grid under different wind power penetration rates, as can be seen from Table 4, with the increase in wind power penetration, both the operation cost of the transmission grid and the clearing cost parameters of power support services are decreasing. This is because under high wind power penetration, the transmission grid reduces its dependence on traditional units with high operation costs.

[0267] As Figure 3 shown in (a) of, at times 1-6 and 23-24, the clearing cost parameters of Case 3 and Case 4 for providing power support services decrease significantly. At this time, as Figure 3 shown in (b) of, the clearing cost parameters of inertia assistance services increase with the increase in wind power penetration. This is because as traditional units are replaced by renewable energy units, in order to maintain the stability of the system frequency, it is necessary to rely on higher clearing cost parameter signals of inertia assistance services to guide virtual power plants to provide inertia support. In addition, as Figure 3 shown in (c) of, the clearing cost parameters of units for providing frequency regulation assistance services also increase with the increase in wind power penetration. As Figure 4 shown in (a) of and Figure 4 shown in (b) of, the clearing cost parameters of energy storage devices and renewable energy for providing frequency regulation assistance services also increase with the increase in wind power penetration. These changes are caused by the decrease in the number of traditional units providing frequency regulation assistance services. In addition, the clearing cost parameters of inertia assistance services and the response volume of frequency regulation assistance services of Case 1 are relatively low. This is because under low wind power penetration, there are more traditional units online in the power system, and the levels of inertia assistance services and frequency regulation assistance services provided are relatively high. This can be verified in Figure 4 shown in (c) of.

[0268] 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 those of power support service. This is because when the wind power penetration rate is relatively high, the clearing cost parameters of power support service in the power system are affected by the operating cost of wind turbines and are at a relatively low level. In this state, when the system increases the unit inertia auxiliary service and frequency regulation auxiliary service, it is more efficient to rely on higher operating cost signals to guide the virtual power plant to participate in inertia auxiliary service and frequency regulation auxiliary service than to start offline traditional units. When the wind power penetration rate is relatively low, the clearing cost parameters of power support service are affected by the operating cost of traditional units and are at a relatively high level. At this time, it is less costly for traditional units to provide more inertia auxiliary service and frequency regulation auxiliary service. In addition, as can be seen from Table 4, with the increase of wind power penetration rate, the operating efficiency of the virtual power plant is continuously improved. On the one hand, it is because of the increase in the clearing cost parameters of inertia auxiliary service and frequency regulation auxiliary service, which actively guides the virtual power plant to participate in inertia auxiliary service and frequency regulation auxiliary service. On the other hand, the energy storage equipment in the virtual power plant conducts peak-valley arbitrage relying on the change signal of the clearing cost parameters of the intraday power support service.

[0269] The present invention also conducts the following analysis on the impact of the virtual power plant on inertia auxiliary service and frequency regulation auxiliary service:

[0270] The present invention sets up 4 cases to verify the impact of the virtual power plant on inertia auxiliary service and frequency regulation auxiliary service, and the numbers of virtual power plants are 0, 1, 3, and 5 respectively. Table 5 gives the operating conditions of the power system under different numbers of virtual power plants. Figure 5 and Figure 6 compares the change situations of the clearing cost parameters of power support service, inertia auxiliary service, and frequency regulation auxiliary service under different numbers of virtual power plants.

[0271] Table 5

[0272]

[0273] As shown in Table 5, with the increase in the number of virtual power plants, the operating cost of the transmission grid gradually decreases. This is because when more virtual power plants provide power support service, inertia, and frequency regulation auxiliary service to the power system, the dependence of the transmission grid on traditional thermal power units will decrease, which helps to save the operating cost of the transmission system. As shown in (a) of Figure 5 , the clearing cost parameter situation of power support service is given. It can be seen that with the increase in the number of virtual power plants, the clearing cost parameters of power support service gradually increase, especially at 3-4 o'clock and 23-24 o'clock. On the one hand, it is because with the increase in the number of virtual power plants, the wind curtailment amount decreases and finally becomes zero, and the thermal power units with relatively high operating costs become the marginal units, resulting in the increase of the clearing cost parameters of power support service. On the other hand, it is because of the increase in resources such as energy storage equipment, resulting in the increase of the clearing cost parameters of power support service.

[0274] As shown in Figure 5 sub - figure (b) of Figure 5 sub - figure (c) of Figure 6 sub - figure (a) of Figure 6 sub - figure (b) of Figure 6 and sub - figure (c) of, as the number of virtual power plants increases, the clearing cost parameters of units, energy storage devices, and distributed energy sources providing inertia and frequency regulation ancillary services gradually decrease. This is because as the flexibility of the virtual power plant increases, it can provide more inertia and frequency regulation ancillary service responses for the frequency stability of the power system, resulting in a decrease in the clearing cost parameters of inertia and frequency regulation ancillary services. It should be noted that since no virtual power plant is configured in Case 1, the provision of frequency regulation ancillary services through energy storage devices and distributed energy sources becomes extremely scarce, so the clearing cost parameters in Case 1 are very high. In summary, multi - type resources have a significant and positive impact on maintaining grid security and frequency stability.

[0275] The present invention also provides a multi - type resource collaborative clearing device considering inertia and frequency regulation ancillary services. The device includes a data acquisition unit, a model construction unit, and a collaborative clearing unit. The data acquisition unit is used to acquire the time parameters of response resource devices and the preset control parameters of the transmission grid and virtual power plants; the model construction unit is used to construct a transmission grid inertia and frequency regulation ancillary service clearing model based on the dual constraints of the transmission grid, construct a virtual power plant inertia and frequency regulation ancillary service clearing model composed of optimality conditions and complementary slack conditions, and a multi - type resource collaborative clearing model; the collaborative clearing unit is used to input the time parameters of response resource devices into the transmission grid inertia and frequency regulation ancillary service clearing model, and after processing, output the ancillary service clearing cost parameters as control instructions to control the transmission grid; 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; input the preset control parameters of the transmission grid and virtual power plants into the multi - type resource collaborative clearing model, and after processing, output the actual control parameters of the transmission grid and virtual power plants as control instructions to achieve the collaborative clearing of the multi - type resource collaborative system.

[0276] Regarding the device in the above - mentioned embodiments, the specific ways in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0277] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial descriptions of the method embodiments. The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0278] Correspondingly, the present invention also provides an electronic device, including: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the multi-type resource collaborative clearing method considering inertia and frequency regulation ancillary services as described above.

[0279] Correspondingly, the present invention also provides a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the multi-type resource collaborative clearing method considering inertia and frequency regulation ancillary services as described above is implemented.

[0280] After considering the specification and practicing the disclosure herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include well-known knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0281] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited 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; 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 control entities of the transmission network, and the virtual power plants contain distributed energy devices and energy storage devices. The multi-type resource coordination system uses the generator sets, distributed energy devices and energy storage devices as response resources to adjust the frequency of the power system. 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.

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 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.

3. The method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services according to claim 1, 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.

4. The method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services according to claim 3 is 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.

5. The method for collaboratively clearing multiple types of resources considering inertia and frequency modulation auxiliary services according to claim 1, 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.

6. A multi-type resource collaborative clearing device considering inertia and frequency modulation auxiliary services according to any one of the methods described in claims 1-5, 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.

7. 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 5.

8. 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 5 is implemented.

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