Energy storage cluster cooperative control method and device, terminal equipment and storage medium

Abstract

The invention discloses an energy storage cluster cooperative control method and apparatus, a terminal device and a storage medium. The method comprises the steps of obtaining operation information of a power system to be subjected to frequency modulation; wherein the operation information comprises frequency deviation data; according to the operation information, generating a regional control error signal of the power system to be subjected to frequency modulation; calculating frequency modulation total power based on the regional control error signal and the frequency deviation data; performing primary power distribution on each energy storage cluster in the power system to be subjected to frequency modulation according to the frequency modulation total power to obtain single energy storage cluster frequency modulation power of each energy storage cluster; and performing power secondary distribution in each energy storage cluster based on the single energy storage cluster frequency modulation power corresponding to each energy storage cluster to obtain a power adjustment scheme of the power system to be subjected to frequency modulation. According to the invention, the control precision of the to-be-frequency-modulated power system in automatic power generation control is improved.

Description

Technical Field

[0001] The present invention relates to the field of frequency regulation and energy storage optimal scheduling of power systems, and particularly to a collaborative control method, device, terminal device and storage medium for an energy storage cluster. Background Art

[0002] The intermittency and randomness of new energy output increase the difficulty of collaborative control (AGC) of energy storage clusters, and it is difficult to meet the current frequency regulation requirements only relying on conventional units. At present, the AGC control of power systems is usually regulated manually. However, due to the large number of clusters included in the power system, manual regulation will have problems with low control accuracy.

[0003] Therefore, there is an urgent need for a collaborative control strategy for energy storage clusters to solve the problem of low control accuracy in the automatic generation control of power systems by manual means. Summary of the Invention

[0004] Embodiments of the present invention provide a collaborative control method and device for an energy storage cluster to solve the problem of low control accuracy in the automatic generation control of power systems by manual means.

[0005] To solve the above problems, an embodiment of the present invention provides a collaborative control method for an energy storage cluster, including:

[0006] Obtaining operation information of a power system to be frequency-regulated; wherein, the operation information includes: frequency deviation data;

[0007] Generating an area control error signal of the power system to be frequency-regulated according to the operation information;

[0008] Calculating the total frequency-regulation power based on the area control error signal and the frequency deviation data;

[0009] Performing primary power distribution on each energy storage cluster in the power system to be frequency-regulated according to the total frequency-regulation power to obtain the single energy storage cluster frequency-regulation power of each energy storage cluster;

[0010] Performing secondary power distribution in each energy storage cluster based on the single energy storage cluster frequency-regulation power corresponding to each energy storage cluster to obtain a power adjustment plan for the power system to be frequency-regulated.

[0011] As an improvement of the above solution, the energy storage cluster includes: an electric vehicle energy storage cluster, a temperature-controlled load energy storage cluster, and an energy storage battery energy storage cluster; the performing primary power distribution on each energy storage cluster in the power system to be frequency-regulated according to the total frequency-regulation power to obtain the single energy storage cluster frequency-regulation power corresponding to each energy storage cluster includes:

[0012] Judge the total frequency modulation power; wherein, the following conditions are satisfied among the total frequency modulation power, the single energy storage cluster frequency modulation power of the electric vehicle energy storage cluster, the single energy storage cluster frequency modulation power of the temperature control load energy storage cluster, and the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster:

[0013] If the frequency modulation power data is greater than or equal to 0, then in each energy storage cluster, based on the maximum value of the equivalent SOC corresponding to each energy storage cluster monomer, calculate the power regulation ability corresponding to each energy storage cluster monomer, obtain the first monomer power regulation ability corresponding to each energy storage cluster monomer, and substitute the first monomer power regulation ability corresponding to each energy storage cluster monomer into the inter-cluster energy distribution formula to obtain the single energy storage cluster frequency modulation power corresponding to each energy storage cluster; wherein, the inter-cluster energy distribution formula satisfies the following conditions:

[0014]

[0015] In the formula, ΔP x,k is the single energy storage cluster frequency modulation power of the x-th energy storage cluster at the k-th moment, ΔP is the total frequency modulation power, is the power regulation ability of the p-th electric vehicle energy storage cluster monomer in the electric vehicle energy storage cluster, is the power regulation ability of the j-th temperature control load energy storage cluster monomer in the temperature control load energy storage cluster, is the power regulation ability of the i-th energy storage battery energy storage cluster monomer in the energy storage battery energy storage cluster, x ∈ {EV, VESS, BESS}, n x ∈ {i, j, p}, n x,max ∈ {n, m, q}; is the power regulation ability of the n-th x monomer in the energy storage cluster x;

[0016] If the frequency modulation power data is less than 0, then in each energy storage cluster, based on the minimum value of the equivalent SOC corresponding to each energy storage cluster monomer, calculate the power regulation ability corresponding to each energy storage cluster monomer, obtain the second monomer power regulation ability corresponding to each energy storage cluster monomer, and substitute the second monomer power regulation ability corresponding to each energy storage cluster monomer into the inter-cluster energy distribution formula to obtain the single energy storage cluster frequency modulation power corresponding to each energy storage cluster.

[0017] As an improvement of the above solution, the power adjustment plan of the power system to be frequency modulated is obtained by performing power distribution in each energy storage cluster based on the single energy storage cluster frequency modulation power corresponding to each energy storage cluster, including:

[0018] Obtain the running time of the energy storage battery energy storage cluster and the SOC difference between monomers. When the running time is equal to a multiple of the automatic update period, or the SOC difference between monomers is equal to the forced update threshold, update the current battery pack through a grouping operation. Specifically, the grouping operation is as follows: Sort each monomer of the energy storage battery energy storage cluster according to the SOC value of each monomer, and perform a grouping on each monomer of the energy storage battery energy storage cluster according to the sorting result and the SOC difference between monomers of the energy storage battery energy storage cluster to obtain battery packs. The battery packs include: a charging group, a standby group, and a discharging group.

[0019] Determine the response power of each battery pack according to the maximum charging power and maximum discharging power of the current battery pack, and the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster.

[0020] Determine the response power of the monomers of the energy storage battery energy storage cluster corresponding to the battery pack according to the response power of each battery pack.

[0021] In each battery pack, generate AGC commands according to the response power of each monomer of the energy storage battery energy storage cluster. Based on the maximum charging power and maximum discharging power of the current battery pack, the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster, and the number of actions of each monomer of the energy storage battery energy storage cluster during the AGC command tracking process, perform a secondary grouping operation to update the monomers of the energy storage battery energy storage cluster in the battery pack according to the result of the secondary grouping, so as to perform power adjustment according to the battery pack after the secondary grouping and obtain the power adjustment scheme of the energy storage battery energy storage cluster of the power system to be frequency modulated.

[0022] As an improvement of the above solution, the secondary grouping operation is specifically as follows:

[0023] Judge the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster.

[0024] If the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster is greater than 0, the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster is less than or equal to the maximum charging power of the charging group, and the monomer of the energy storage battery energy storage cluster with the highest number of actions is located in the charging group, then exchange the battery monomer with the largest SOC in the original charging group and the battery monomer with the smallest SOC in the original standby group in sequence to obtain a new charging group and a new standby group, and then complete the secondary grouping according to the new charging group and the new standby group. Specifically, the sorting of the new charging group is as follows: Starting from the battery monomer with the smallest SOC in the original standby group, arrange them in ascending order of SOC; the sorting of the new standby group is as follows: Starting from the battery monomer with the smallest SOC in the original charging group, arrange them in ascending order of SOC.

[0025] If the single energy storage cluster frequency regulation power of the energy storage battery energy storage cluster is less than 0, the single energy storage cluster frequency regulation power of the energy storage battery energy storage cluster is greater than or equal to the maximum discharge power of the discharge group, and one of the energy storage battery energy storage cluster monomers with the top three highest action times is in the discharge group, then the energy storage battery energy storage cluster monomers in the discharge group and the standby group are exchanged in position in the order of decreasing SOC, thereby completing the secondary grouping.

[0026] As an improvement of the above solution, the power adjustment plan for the power system to be frequency regulated is obtained by performing power distribution in each energy storage cluster based on the single energy storage cluster frequency regulation power corresponding to each energy storage cluster, including:

[0027] Obtain the operating status of each temperature control load energy storage cluster monomer in the temperature control load energy storage cluster, and based on the operating status, obtain the on-group and off-group of the temperature control load energy storage cluster;

[0028] Obtain the indoor temperature of each temperature control load energy storage cluster monomer, sort the temperature control load energy storage cluster monomers in the on-group in ascending order of indoor temperature to obtain an on-temperature sequence, and sort the temperature control load energy storage cluster monomers in the off-group in descending order of indoor temperature to obtain an off-temperature sequence;

[0029] According to the single energy storage cluster frequency regulation power of the temperature control load energy storage cluster, determine the control quantity according to a preset quantity calculation formula; where the control quantity includes one of the on-control quantity or the off-control quantity. If the single energy storage cluster frequency regulation power of the temperature control load energy storage cluster is greater than 0, the control quantity is the on-control quantity. If the single energy storage cluster frequency regulation power of the temperature control load energy storage cluster is less than 0, the control quantity is the off-control quantity; the quantity calculation formula is specifically:

[0030]

[0031] In the formula: ΔP VESS is the single energy storage cluster power regulation target value of the temperature control load energy storage cluster; n l is the number of air conditioners that need to be turned on or off; P ac_i is the rated power of the i-th air conditioner;

[0032] If the single energy storage cluster frequency regulation power of the temperature control load energy storage cluster is greater than 0, then select the temperature control load energy storage cluster monomers from the beginning in the on-temperature sequence as the target temperature control load energy storage cluster monomers according to the on-control quantity, and calculate the controlled times of each target temperature control load energy storage cluster monomer through an improved temperature priority sequence algorithm, thereby determining the power adjustment plan for the temperature control load energy storage cluster of the power system to be frequency regulated;

[0033] If the single energy storage cluster frequency regulation power of the temperature control load energy storage cluster is less than 0, select the temperature control load energy storage cluster monomer from the head of the shutdown temperature sequence according to the shutdown control quantity as the target temperature control load energy storage cluster monomer, and calculate the controlled times of each target temperature control load energy storage cluster monomer through the improved temperature priority sequence algorithm, so as to determine the power adjustment scheme of the temperature control load energy storage cluster of the power system to be frequency regulated.

[0034] As an improvement of the above scheme, obtaining the power adjustment scheme of the power system to be frequency regulated by performing power distribution in each energy storage cluster based on the single energy storage cluster frequency regulation power corresponding to each energy storage cluster includes:

[0035] Judge the single energy storage cluster frequency regulation power of the electric vehicle energy storage cluster;

[0036] If the single energy storage cluster frequency regulation power of the electric vehicle energy storage cluster is greater than or equal to 0, adjust according to the preset charging control strategy to obtain the power adjustment scheme of the electric vehicle energy storage cluster; where, the charging control strategy satisfies the following conditions:

[0037]

[0038] In the formula, ΔP ev,p is the power adjustment amount of the pth electric vehicle, is the maximum charging power of the pth electric vehicle; ψ is a buffer cluster set to prevent the power allocated to some electric vehicles from exceeding the controllable capacity; is the maximum SOC value of the pth electric vehicle, is the actual SOC value of the pth electric vehicle; ΔP EV is the single energy storage cluster frequency regulation power of the electric vehicle energy storage cluster; when the single energy storage cluster frequency regulation power of the electric vehicle energy storage cluster increases, each electric vehicle increases the charging load, and the electric vehicle with a smaller SOC has a higher priority and undertakes a greater power regulation task;

[0039] If the single energy storage cluster frequency regulation power of the electric vehicle energy storage cluster is less than 0, adjust according to the preset discharge control strategy to obtain the power adjustment scheme of the electric vehicle energy storage cluster; where, the discharge control strategy satisfies the following conditions:

[0040]

[0041] In the formula, is the maximum discharge power of the pth electric vehicle, is the minimum SOC value of the pth electric vehicle; when the single energy storage cluster frequency regulation power of the electric vehicle energy storage cluster decreases, each electric vehicle reduces the charging load or switches to the discharge state, and the electric vehicle with a smaller SOC has a lower priority and undertakes a smaller power regulation task.

[0042] As an improvement to the above solution, after obtaining the power adjustment plan for each energy storage cluster, the following steps are further included:

[0043] Obtain the CPS daily settlement result of the power system to be frequency modulated through the CPS model;

[0044] Perform feedback control according to the CPS daily settlement result and the interval distribution of the assessment points, and then determine the controller parameters corresponding to the controller for executing the power adjustment plan of each energy storage cluster.

[0045] Correspondingly, an embodiment of the present invention further provides an energy storage cluster collaborative control device, including: a data acquisition module, a signal generation module, a data calculation module, a primary distribution module, and a secondary distribution module;

[0046] The data acquisition module is used to acquire the operation information of the power system to be frequency modulated; wherein, the operation information includes: frequency deviation data;

[0047] The data acquisition module is used to generate a regional control error signal of the power system to be frequency modulated according to the operation information;

[0048] The signal generation module is used to calculate the total frequency modulation power based on the regional control error signal and the frequency deviation data;

[0049] The primary distribution module is used to perform primary power distribution on each energy storage cluster in the power system to be frequency modulated according to the total frequency modulation power, and obtain the single energy storage cluster frequency modulation power of each energy storage cluster;

[0050] The secondary distribution module is used to perform secondary power distribution in each energy storage cluster based on the single energy storage cluster frequency modulation power corresponding to each energy storage cluster, and obtain the power adjustment plan of the power system to be frequency modulated.

[0051] Correspondingly, an embodiment of the present invention further provides a computer terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements an energy storage cluster collaborative control method as described in the present invention.

[0052] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium includes a stored computer program. When the computer program runs, it controls the device where the computer-readable storage medium is located to execute an energy storage cluster collaborative control method as described in the present invention.

[0053] As can be seen from the above, the present invention has the following beneficial effects:

[0054] The present invention provides a collaborative control method for an energy storage cluster, which obtains the operation information of a power system to be frequency - modulated; wherein, the operation information includes: frequency deviation data; generates an area control error signal of the power system to be frequency - modulated according to the operation information; calculates the total frequency - modulation power based on the area control error signal and the frequency deviation data; performs a primary power distribution for each energy storage cluster in the power system to be frequency - modulated according to the total frequency - modulation power to obtain the single - energy - storage - cluster frequency - modulation power of each energy storage cluster; and performs a secondary power distribution in each energy storage cluster based on the single - energy - storage - cluster frequency - modulation power corresponding to each energy storage cluster to obtain a power adjustment scheme for the power system to be frequency - modulated. After generating the area control error signal according to the operation information of the power system, the present invention can calculate the total frequency - modulation power, first perform a primary power distribution among the energy storage clusters based on the total frequency - modulation power, and after the primary power distribution, separately perform a secondary power distribution in the energy storage clusters, realizing the automatic frequency - modulation control of the power system, and greatly improving the control accuracy of the power system to be frequency - modulated in automatic generation control through the primary power distribution and the secondary power distribution. Description of the Drawings

[0055] Figure 1 is a schematic flow chart of the collaborative control method for an energy storage cluster provided by an embodiment of the present invention;

[0056] Figure 2 is a schematic structural diagram of the collaborative control device for an energy storage cluster provided by an embodiment of the present invention;

[0057] Figure 3 is a schematic structural diagram of a terminal device provided by an embodiment of the present invention;

[0058] Figure 4 is a schematic diagram of the charge - discharge constraint conditions after an electric vehicle is connected to the power grid provided by an embodiment of the present invention;

[0059] Figure 5 is a schematic diagram of temperature - priority sequence control provided by an embodiment of the present invention;

[0060] Figure 6 is a schematic diagram of the power regulation ability of an electric vehicle provided by an embodiment of the present invention;

[0061] Figure 7 is a schematic diagram of the CPS model assessment process provided by an embodiment of the present invention. Detailed Embodiments

[0062] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0063] Embodiment 1

[0064] See Figure 1 , Figure 1 is a schematic flow chart of a collaborative control method for an energy storage cluster provided by an embodiment of the present invention. As Figure 1 shown, this embodiment includes steps 101 to 105, and the specific steps are as follows:

[0065] Step 101: Obtain the operation information of the power system to be frequency modulated; wherein, the operation information includes: frequency deviation data.

[0066] In this embodiment, the SCADA system detects information such as the current frequency deviation and tie-line power flow fluctuation of the power grid, and generates an area control error signal (ACE).

[0067] Step 102: Generate an area control error signal for the power system to be frequency modulated according to the operation information.

[0068] It should be noted that the area control error (ACE) is converted from the power grid frequency deviation and power flow data detected in real time by the power grid SCADA system (supervisory control and data acquisition system), and is used to measure the deviation between the power grid frequency and power balance.

[0069] Its general calculation formula is:

[0070] ACE = tie-line power exchange error + frequency deviation multiplied by the deviation coefficient, which can be specifically seen in the reference documents of each provincial power dispatching agency.

[0071] Step 103: Calculate the total frequency modulation power based on the area control error signal and the frequency deviation data.

[0072] In this embodiment, the calculation of the total frequency modulation power based on the area control error signal and the frequency deviation data is specifically: the general calculation formula for the frequency modulation power based on the frequency deviation and the area control error signal:

[0073] ΔP = k 1 ×Δf + k 2 ×E

[0074] where ΔP is the total frequency modulation power, Δf is the system frequency deviation, E is the area control error signal, and k 1 and k 2 are adjustment coefficients, which will be adjusted according to the specific conditions of different power systems, but the overall calculation framework follows this mode.

[0075] Step 104: Perform primary power distribution on each energy storage cluster in the power system to be frequency modulated according to the total frequency modulation power, and obtain the single energy storage cluster frequency modulation power of each energy storage cluster.

[0076] In this embodiment, the energy storage clusters include: an electric vehicle energy storage cluster, a temperature-controlled load energy storage cluster, and an energy storage battery energy storage cluster; the performing primary power distribution on each energy storage cluster in the power system to be frequency modulated according to the total frequency modulation power, and obtaining the single energy storage cluster frequency modulation power corresponding to each energy storage cluster includes:

[0077] Judge the total frequency modulation power; among them, the following conditions are satisfied between the total frequency modulation power and the single energy storage cluster frequency modulation power of the electric vehicle energy storage cluster, the single energy storage cluster frequency modulation power of the temperature-controlled load energy storage cluster, and the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster:

[0078] If the frequency modulation power data is greater than or equal to 0, then in each energy storage cluster, based on the maximum value of the equivalent SOC corresponding to each energy storage cluster monomer, calculate the power regulation ability corresponding to each energy storage cluster monomer, obtain the first monomer power regulation ability corresponding to each energy storage cluster monomer, and substitute the first monomer power regulation ability corresponding to each energy storage cluster monomer into the inter-cluster energy distribution formula to obtain the single energy storage cluster frequency modulation power corresponding to each energy storage cluster; among them, the inter-cluster energy distribution formula satisfies the following conditions:

[0079]

[0080] In the formula, ΔP x,k is the single energy storage cluster frequency modulation power of the xth energy storage cluster at time k, ΔP is the total frequency modulation power, is the power regulation ability of the pth electric vehicle energy storage cluster monomer in the electric vehicle energy storage cluster, is the power regulation ability of the jth temperature-controlled load energy storage cluster monomer in the temperature-controlled load energy storage cluster, is the power regulation ability of the ith energy storage battery energy storage cluster monomer in the energy storage battery energy storage cluster, x ∈ {EV, VESS, BESS}, n x ∈ {i, j, p}, n x,max ∈ {n, m, q}; is the power regulation ability of the nth x monomer in the energy storage cluster x;

[0081] If the frequency modulation power data is less than 0, in each energy storage cluster, based on the minimum value of the equivalent SOC corresponding to each energy storage cluster monomer, calculate the power regulation capacity corresponding to each energy storage cluster monomer, obtain the second monomer power regulation capacity corresponding to each energy storage cluster monomer, and substitute the second monomer power regulation capacity corresponding to each energy storage cluster monomer into the inter-cluster energy distribution formula to obtain the single energy storage cluster frequency modulation power corresponding to each energy storage cluster.

[0082] In a specific embodiment, when the frequency modulation power data ΔP≥0, calculate the first monomer power regulation capacity corresponding to each energy storage cluster monomer through the following formula:

[0083]

[0084]

[0085]

[0086] In the formula, represents the power regulation capacity of the p-th electric vehicle energy storage cluster monomer, represents the power regulation capacity of the j-th temperature control load energy storage cluster monomer, is the power regulation capacity of the i-th battery energy storage cluster monomer; is the rated energy of the p-th electric vehicle energy storage cluster monomer, is the rated energy of the j-th temperature control load energy storage cluster monomer, is the rated energy of the i-th battery energy storage cluster monomer; is the maximum SOC value of the p-th electric vehicle energy storage cluster monomer, is the maximum SOC value of the j-th temperature control load energy storage cluster monomer, is the maximum SOC value of the i-th energy storage battery energy storage cluster monomer; is the actual SOC value of the p-th electric vehicle energy storage cluster monomer, is the actual SOC value of the j-th temperature control load energy storage cluster monomer, is the actual SOC value of the i-th energy storage battery energy storage cluster monomer.

[0087] When the frequency modulation power data ΔP<0, calculate the second monomer power regulation capacity corresponding to each energy storage cluster monomer through the following formula:

[0088]

[0089]

[0090]

[0091] In the formula, is the minimum SOC value of the p-th single unit of the electric vehicle energy storage cluster, is the minimum SOC value of the j-th single unit of the temperature control load energy storage cluster, is the minimum SOC value of the i-th single unit of the energy storage battery energy storage cluster.

[0092] In a specific embodiment, the equivalent SOC model of the energy storage battery energy storage cluster is specifically:

[0093] Let the SOC state of the i-th energy storage battery (i.e., the single unit of the energy storage battery energy storage cluster described in the present invention) at time k be Then the SOC state at time k + 1 is expressed as:

[0094]

[0095] In the formula, represents the charging and discharging efficiency of the i-th energy storage battery; Δt is the length of the control cycle time; is the rated capacity of the i-th energy storage battery; represents the charging and discharging power of the i-th energy storage battery at time k, satisfying the following formula:

[0096]

[0097] During the actual operation process, the rated capacity is directly given by the energy storage nameplate. Combining with the current energy storage SOC state, the currently available capacity of a single energy storage can be expressed as the following formula:

[0098]

[0099] Furthermore, it can be obtained that the equivalent SOC of the energy storage cluster is the ratio of the sum of the remaining capacities of all current energy storages to the sum of the available capacities of all energy storages, as shown in the following formula:

[0100]

[0101] In a specific embodiment, the equivalent SOC model of the temperature control load energy storage cluster is specifically: Taking the air conditioner-building system as the research object of the temperature control load, a first-order equivalent thermal parameter model is used to represent its thermodynamic model, where the air conditioner is the single unit of the temperature control load energy storage cluster described in the present invention.

[0102]

[0103] In the formula, Q ac is the air conditioner cooling (heating) capacity; R and C are respectively the equivalent thermal resistance and equivalent heat capacity of the building; T in and Tout They are the indoor and outdoor temperatures respectively. The thermoelectric conversion relationship of the air-conditioning load is determined by the working characteristics of the air conditioner itself. For a traditional fixed-frequency air conditioner, the relationship between its electric power and cooling capacity can be approximately expressed as:

[0104]

[0105] In the formula, P ac is the electric power of the air conditioner, and η ac is the energy efficiency ratio of the air conditioner, which can be approximated as a constant value. Taking the typical curve of an air-source heat pump air conditioner as an example:

[0106] η ac = 0.07T in + 2.5;

[0107] The room temperature T in fluctuates between the upper and lower temperature limits T max and T min Taking cooling as an example, when the room temperature reaches the upper temperature limit, the air conditioner starts cooling and the room temperature begins to drop. When the room temperature drops to the lower temperature limit, the air conditioner turns off and the room temperature rises. In this way, the cycle maintains the stability of the indoor temperature. Under steady-state heat transfer conditions, when the air-conditioning load decreases from T max to T min , the corresponding self-discharge power consumption is defined as the virtual capacity

[0108]

[0109] In the formula, t max is the time corresponding to reaching the upper temperature limit T max , and t max is the time corresponding to the lower temperature limit T min .

[0110] Then, the SOC state of the jth air-conditioning load at the kth moment is:

[0111]

[0112]

[0113] Furthermore, it can be obtained that the equivalent SOC of the temperature control load energy storage cluster is expressed as the ratio of the sum of the remaining capacities of all energy storages to the sum of the available capacities of all energy storages:

[0114]

[0115] In a specific embodiment, the equivalent SOC model of the electric vehicle energy storage cluster is specifically as follows: The charging and discharging power of the electric vehicle can be dynamically adjusted through the converter of the charging pile. Different from traditional energy storage batteries, electric vehicles not only have the function of energy storage but also have the attribute of a means of transportation. Therefore, when participating in demand response, in addition to considering the battery capacity, various factors such as the access and disconnection time and the travel demand of users need to be comprehensively considered. Figure 4 Figure 4 shows the charging and discharging constraint conditions after the electric vehicle (i.e., the single unit of the electric vehicle energy storage cluster described in the present invention) is connected to the power grid, in which the adjustable region and the forced charging boundary are divided according to the charging and discharging state of the battery. Within the adjustable region, the electric vehicle is in a controllable state and can effectively participate in the power regulation of the power grid. To ensure the normal operation of the charging and discharging process of the electric vehicle, the following constraint conditions must be followed:

[0116] 1) Regulation time constraint: The electric vehicle can only participate in the power grid regulation during the period when it is connected to the power grid, and the regulation time needs to satisfy:

[0117] t in ≤t≤t out ;

[0118] In the formula, t in and t out respectively represent the time when the electric vehicle accesses and disconnects from the power grid.

[0119] 2) Charging and discharging power constraint:

[0120] P ev,min ≤P ev ≤P ev,max ;

[0121] In the formula, P ev is the charging and discharging power of the electric vehicle; P ev,min and P ev,max respectively represent the minimum and maximum charging powers of the electric vehicle.

[0122] 3) State of charge constraint:

[0123]

[0124] In the formula, and respectively represent the minimum and maximum state of charge of the electric vehicle battery.

[0125] 4) Travel demand constraint:

[0126]

[0127] In the formula, represents the desired state of charge when the electric vehicle disconnects.

[0128] To ensure that the state of charge (SOC) of each electric vehicle can reach the user's expected value when connecting to the power grid, a forced charging boundary is set. That is, when the charging and discharging state of the electric vehicle reaches the forced charging boundary, it will charge at the maximum power and no longer participate in regulation to meet the demand for the state of charge during the user's travel. The forced charging boundary is as follows:

[0129]

[0130] In the formula, represents the expected state of charge when the electric vehicle is connected.

[0131] (5) The state of charge of the electric vehicle can be expressed as:

[0132]

[0133]

[0134] In the formula, η c and η d are the charging efficiency and discharging efficiency of the electric vehicle respectively.

[0135] The equivalent SOC of the electric vehicle energy storage cluster is as follows:

[0136]

[0137] In this embodiment, based on the single energy storage cluster frequency modulation power corresponding to each energy storage cluster, power distribution is performed in each energy storage cluster to obtain a power adjustment scheme for the power system to be frequency modulated, including:

[0138] Obtain the running time of the energy storage battery energy storage cluster and the SOC difference between monomers. When the running time is a multiple of the automatic update period or the SOC difference between monomers is equal to the forced update threshold, update the current battery pack through a grouping operation. Specifically, the grouping operation is as follows: Sort each monomer of the energy storage battery energy storage cluster according to the SOC value of each monomer of the energy storage battery energy storage cluster, and perform a grouping operation on each monomer of the energy storage battery energy storage cluster according to the sorting result and the SOC difference between monomers of the energy storage battery energy storage cluster to obtain a battery pack. The battery pack includes: a charging group, a standby group, and a discharging group;

[0139] Determine the response power of each battery pack according to the maximum charging power and maximum discharging power of the current battery pack and the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster;

[0140] Determine the response power of the monomers of the energy storage battery energy storage cluster corresponding to the battery pack according to the response power of each battery pack;

[0141] In each battery pack, AGC commands are generated according to the response power of each energy storage battery energy storage cluster monomer. Based on the maximum charging power and maximum discharging power of the current battery pack, the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster, and the number of actions of each energy storage battery energy storage cluster monomer during the AGC command tracking process, a secondary grouping operation is performed to update the energy storage battery energy storage cluster monomers in the battery pack according to the results of the secondary grouping. Thus, power adjustment is performed according to the battery pack after secondary grouping to obtain a power adjustment scheme for the energy storage battery energy storage cluster of the power system to be frequency modulated.

[0142] In a specific embodiment, the acquisition of the power adjustment scheme for the energy storage battery energy storage cluster is specifically as follows:

[0143] (1) Sort the battery cells according to the SOC level. Number all the battery cells and sort them in the order of SOC level from high to low. For battery cells with the same SOC, the one with a smaller number is ranked first.

[0144] (2) Perform a primary grouping according to the sorting result and the SOC range of the battery cells. To ensure that the SOC of the battery cells has a self-recovery effect during all tracking periods, 3 battery packs are divided, namely the charging pack, the standby pack, and the discharging pack. The average SOC of the charging pack is relatively low, and the average SOC of the discharging pack is relatively high.

[0145] (3) Dynamically update the grouping of the battery cells to improve the SOC consistency of the battery cells. During the process of the energy storage system responding to the AGC command, in order to maintain the SOC consistency of the battery cells, it is necessary to regularly adjust the grouping of the battery cells. However, too frequent grouping updates will increase the complexity of the control system. Therefore, a set of grouping update criteria is designed, and a grouping update is performed only when the following conditions are met.

[0146] u≥w or T=rt

[0147] In the formula, T is the power station operation time; t is the automatic update period, which can be set to 10 min or 15 min; r is a positive integer; u is the SOC range of the battery cells at the end of each AGC cycle; w is the forced update threshold.

[0148] When the BESS operation time T is equal to a multiple of the automatic update period t, or when the SOC range of the BESS battery cells is greater than or equal to the forced update threshold w, the BESS will complete a grouping, thus taking into account the SOC consistency of the battery cells and the update times of the primary grouping of the power station. However, the size of the forced update threshold is crucial. If w is set too small, the number of groupings will increase. On the contrary, if w is too large, the SOC consistency of the battery cells cannot be fully improved. Therefore, the forced update threshold w can be optimized.

[0149] (4) Determine the response power commands for each battery pack:

[0150] Let P r , P cmax , P bmax , P dmax be the BESS power regulation command, the maximum charge-discharge power of the charging group, the maximum charge-discharge power of the standby group, and the maximum charge-discharge power of the discharging group respectively. The above parameters greater than 0 represent the maximum charging power, and less than 0 represent the maximum discharging power. It is necessary to determine the AGC regulation tasks that each battery pack should share according to the power regulation command Pr, and the allocation method is designed as follows:

[0151] ① When the power station receives a charging command (P r > 0)

[0152] When P r ≤ P cmax , the charging group undertakes all the charging power, and the other battery packs do not respond;

[0153] When P cmax ≤ P r ≤ P cmax + P bmax , the charging group works at the maximum charging power, the standby group undertakes the remaining power difference, and the other battery packs do not respond.

[0154] When P r > P cmax + P bmax , both the charging group and the standby group work at the maximum charging power, and the discharging group undertakes the remaining power difference.

[0155] ② When the power station receives a discharging command (P r < 0)

[0156] When P r ≥ P dmax , the discharging group undertakes all the generating power, and the other battery packs do not respond.

[0157] When P dmax > P r ≥ P dmax + P bmax , the discharging group works at the maximum discharging power, the standby group undertakes the remaining power difference, and the other battery packs do not respond.

[0158] When P r < P dmax + P bmax , both the discharging group and the standby group work at the maximum discharging power, and the charging group undertakes the remaining power difference.

[0159] (5) Determine the response power commands for each battery cell:

[0160] To reduce the boundary fluctuations of the battery cell SOC and ensure its consistency, in the battery pack that undertakes the power difference and the battery pack that separately undertakes the charge and discharge tasks, the power of the battery cells is allocated according to the SOC balancing principle:

[0161]

[0162]

[0163] Where, P r,bj,t+1 is the allocated power of battery cell j at time t+1; f ch and f dis are the charging function and discharging function of the battery cell. To characterize the charge and discharge capabilities of the battery cell at time t and enable the battery cell to charge as much as possible when its state of charge is low and discharge as much as possible when it is high, the charging function and discharging function of the battery cell are defined respectively as

[0164]

[0165]

[0166] When the power P r, b j,t+1 allocated to the battery cell is greater than the maximum charge and discharge power of the battery, it discharges with the maximum charge and discharge power; when the SOC is equal to its upper bound, the battery cell stops charging; similarly, when the SOC of the battery cell is equal to its lower bound, the battery cell stops discharging. In this way, the battery cell with a relatively high SOC has a lower charging power and a higher discharging power, and the battery cell with a relatively low SOC should have a higher charging power and a lower discharging power, thus taking into account both the SOC boundary and the consistency of the battery cells.

[0167] (6) Secondary grouping of battery cells according to the difference in the number of actions of battery cells

[0168] The first grouping of the BESS solves the problem of excessive SOC range of battery cells. To further reduce the number of actions of battery cells during the AGC command tracking process, this patent designs a secondary grouping technology to optimize the previous dynamic grouping technology, that is, when the difference X in the number of actions of each battery cell is greater than a certain set threshold w, the secondary grouping is started. The implementation steps of the secondary grouping are as follows.

[0169] ① The power station receives a charging command (P r >0):

[0170] When P r ≤P cmax , find all the battery cells with the highest number of actions in the battery packs. If there are any in the charging pack, exchange the positions of the battery cells in the charging pack and the battery cells in the standby pack in ascending order of SOC;

[0171] ② The power station receives a charging instruction (P r <0):

[0172] When P r ≥P dmax At this time, find the three battery cells with the highest number of group actions. If they exist in the discharging group, then exchange the positions of the battery cells in the charging group and the battery cells in the standby group in descending order of SOC.

[0173] In this embodiment, the acquisition of the forced update threshold is specifically as follows:

[0174] Obtain the standard deviation f of the difference between the power output of the power station of the energy storage battery energy storage cluster and the AGC instruction 1 , the SOC range f of the battery cells at the end of the response 2 , the difference f in the number of actions 3 , the number of forced updates f 4 ;

[0175] According to the standard deviation f of the difference between the power output of the power station and the AGC instruction 1 , the SOC range f of the battery cells at the end of the response 2 , the difference f in the number of actions 3 , the number of forced updates f 4 , construct a fitness function;

[0176] Based on the fitness function and the AGC instruction, execute the BAS algorithm to obtain the forced update threshold.

[0177] In a specific embodiment, determine the evaluation system according to the effect of the BESS tracking the AGC instruction. Determine 4 indicators, the standard deviation f of the difference between the power output of the power station and the AGC instruction 1 , the SOC range f of the battery cells at the end of the response 2 , the difference f in the number of actions 3 , the number of forced updates f 4 (representing the increase in the number of dynamic grouping times caused by the SOC range of the battery cells being greater than the forced update threshold).

[0178] Design the fitness function required for the BAS algorithm according to the evaluation index system:

[0179] f = α 1 f 1 +α 2 f 2 +α 3 f 3 +α 4 f 4

[0180]

[0181]

[0182] f 3 = |N start - N end |

[0183]

[0184] where f is the fitness function value, N 1 is the number of AGC commands, and P act (t) is the output of the energy storage power station in each AGC cycle; P AGC (t) is the expected output value of the AGC command; t is the AGC command cycle; is the SOC at the start time of the response, is the SOC at the end time of the response. N start is the number of actions at the start of the response, and N end is the number of actions at the end of the response. 1 {u＞w} is an indicator function whose value is 1 when forced update occurs and 0 otherwise. Optimize the forced update threshold required for the dynamic grouping technology according to the fitness function and AGC commands required by the BAS algorithm.

[0185] In this embodiment, the secondary grouping operation is specifically as follows:

[0186] Judge the frequency modulation power of a single energy storage cluster in the energy storage battery energy storage cluster;

[0187] If the frequency modulation power of a single energy storage cluster in the energy storage battery energy storage cluster is greater than 0, the frequency modulation power of a single energy storage cluster in the energy storage battery energy storage cluster is less than or equal to the maximum charging power of the charging group, and the single energy storage cluster monomer with the highest number of actions in the energy storage battery energy storage cluster is located in the charging group, then exchange the battery monomer with the largest SOC in the original charging group and the battery monomer with the smallest SOC in the original standby group in sequence to obtain a new charging group and a new standby group, and then complete the secondary grouping according to the new charging group and the new standby group; among them, the sorting of the new charging group is specifically: starting from the battery monomer with the smallest SOC in the original standby group, arranging in ascending order of SOC; the sorting of the new standby group is: starting from the battery monomer with the smallest SOC in the original charging group, arranging in ascending order of SOC;

[0188] If the frequency modulation power of a single energy storage cluster in the energy storage battery energy storage cluster is less than 0, the frequency modulation power of a single energy storage cluster in the energy storage battery energy storage cluster is greater than or equal to the maximum discharge power of the discharge group, and one of the single energy storage cluster monomers with the top three highest number of actions in the energy storage battery energy storage cluster is located in the discharge group, then exchange the positions of the single energy storage cluster monomers in the discharge group and the standby group in descending order of SOC, and then complete the secondary grouping.

[0189] In this embodiment, power distribution is performed in each energy storage cluster based on the single energy storage cluster frequency modulation power corresponding to each energy storage cluster, and a power adjustment scheme for the power system to be frequency modulated is obtained, including:

[0190] Obtain the operating status of each temperature control load energy storage cluster monomer in the temperature control load energy storage cluster, and based on the operating status, obtain the turn-on group and turn-off group of the temperature control load energy storage cluster;

[0191] Obtain the indoor temperature of each temperature control load energy storage cluster monomer, sort the temperature control load energy storage cluster monomers in the turn-on group in ascending order of indoor temperature to obtain a turn-on temperature sequence, and sort the temperature control load energy storage cluster monomers in the turn-off group in descending order of indoor temperature to obtain a turn-off temperature sequence;

[0192] According to the single energy storage cluster frequency modulation power of the temperature control load energy storage cluster, determine the control quantity according to a preset quantity calculation formula; where the control quantity includes one of the turn-on control quantity or the turn-off control quantity. If the single energy storage cluster frequency modulation power of the temperature control load energy storage cluster is greater than 0, the control quantity is the turn-on control quantity. If the single energy storage cluster frequency modulation power of the temperature control load energy storage cluster is less than 0, the control quantity is the turn-off control quantity; the quantity calculation formula is specifically:

[0193]

[0194] In the formula: ΔP VESS is the single energy storage cluster power adjustment target value of the temperature control load energy storage cluster; n l is the number of air conditioners that need to be turned on or off; P ac_i is the rated power of the i-th air conditioner;

[0195] If the single energy storage cluster frequency modulation power of the temperature control load energy storage cluster is greater than 0, select the temperature control load energy storage cluster monomers as target temperature control load energy storage cluster monomers from the beginning in the turn-on temperature sequence according to the turn-on control quantity, and calculate the controlled times of each target temperature control load energy storage cluster monomer through an improved temperature priority sequence algorithm, and then determine the power adjustment scheme of the temperature control load energy storage cluster of the power system to be frequency modulated;

[0196] If the single energy storage cluster frequency modulation power of the temperature control load energy storage cluster is less than 0, select the temperature control load energy storage cluster monomers as target temperature control load energy storage cluster monomers from the beginning in the turn-off temperature sequence according to the turn-off control quantity, and calculate the controlled times of each target temperature control load energy storage cluster monomer through an improved temperature priority sequence algorithm, and then determine the power adjustment scheme of the temperature control load energy storage cluster of the power system to be frequency modulated.

[0197] In a specific embodiment, the acquisition of the power adjustment scheme for the temperature-controlled load energy storage cluster is specifically as follows:

[0198] When a large number of air-conditioning loads are aggregated into a cluster to participate in direct load control, without affecting user comfort, the response of the cluster to the power command can be achieved by controlling the start-stop states of the air conditioners in the group. Currently, as Figure 5 shown, the temperature priority sequence control is as follows:

[0199] (1) State grouping. Assume there are n ac air conditioners in the cluster. According to the operating states of the air conditioners at the current moment, the air conditioners can be divided into two controlled load groups: the on-group and the off-group, which can be respectively expressed as:

[0200]

[0201]

[0202] where respectively represent the on-group and off-group of air conditioners; respectively represent the numbers of the air conditioners in the on-group and off-group; n 1 and n 2 respectively represent the numbers of the air conditioners in the on-group and off-group, which change with time and satisfy n 1 +n 2 =n ac

[0203] (2) Temperature sorting. According to the differences in the indoor temperatures of the air conditioners at the current moment, the air conditioners in the on state are sorted from low to high in terms of temperature, while the air conditioners in the off state are sorted from high to low in terms of temperature.

[0204] (3) Power response. When the power grid needs to reduce the load, the air conditioners with temperatures close to the lower limit in the on-group are preferentially turned off; when the power grid needs to increase the load, the air conditioners with temperatures close to the upper limit in the off-group are preferentially turned on. The number of air conditioners to be turned on or off should satisfy the following formula:

[0205]

[0206] where: ΔP is the power adjustment target value; n l is the number of air conditioners to be turned on or off; P ac_i is the rated power of the i-th air conditioner.

[0207] To make the controlled times of the air conditioners in the cluster tend to be consistent, based on the above algorithm, this patent takes into account the controlled times of each air conditioner and proposes an improved temperature priority sequence algorithm. In the temperature sorting, the sorting state identifiers O T and C T of the air conditioners are defined as follows:

[0208] O T = T in + k c × N c ;

[0209] C T = T in - k c × N c ;

[0210] Where: O T and C T are the sorting status identifiers of the air conditioners in the opening group and the closing group respectively; k c is the proportionality coefficient, and N c is the number of times the air conditioner is controlled.

[0211] In this embodiment, based on the single energy storage cluster frequency modulation power corresponding to each energy storage cluster, power distribution is performed in each energy storage cluster to obtain a power adjustment plan for the power system to be frequency modulated, including:

[0212] Judge the single energy storage cluster frequency modulation power of the electric vehicle energy storage cluster;

[0213] If the single energy storage cluster frequency modulation power of the electric vehicle energy storage cluster is greater than or equal to 0, adjust according to the preset charging control strategy to obtain a power adjustment plan for the electric vehicle energy storage cluster; among them, the charging control strategy satisfies the following conditions:

[0214]

[0215] Where ΔP ev,p is the power adjustment amount of the pth electric vehicle, is the maximum charging power of the pth electric vehicle; ψ is a buffer cluster set to prevent the power allocated to some electric vehicles from exceeding the controllable capacity; is the maximum SOC value of the pth electric vehicle, is the actual SOC value of the pth electric vehicle; ΔP EV is the single energy storage cluster frequency modulation power of the electric vehicle energy storage cluster; when the single energy storage cluster frequency modulation power of the electric vehicle energy storage cluster increases, each electric vehicle increases the charging load, and the electric vehicle with a smaller SOC has a higher priority and undertakes a greater power adjustment task;

[0216] If the single energy storage cluster frequency modulation power of the electric vehicle energy storage cluster is less than 0, adjust according to the preset discharge control strategy to obtain a power adjustment plan for the electric vehicle energy storage cluster; among them, the discharge control strategy satisfies the following conditions:

[0217]

[0218] In the formula, is the maximum discharge power of the pth electric vehicle, is the minimum SOC value of the pth electric vehicle; when the frequency modulation power of a single energy storage cluster in the electric vehicle energy storage cluster decreases, each electric vehicle reduces the charging load or switches to the discharging state, and the lower the SOC of the electric vehicle, the lower the priority and the smaller the power regulation task it undertakes.

[0219] In a specific embodiment, the acquisition of the power adjustment scheme of the electric vehicle energy storage cluster is specifically as follows: The controllable capacity of the electric vehicle is expressed as:

[0220]

[0221]

[0222] In the formula: respectively represent the upward adjustment capacity and the downward adjustment capacity of the electric vehicle.

[0223] The controllable capacity of the electric vehicle reflects the power regulation ability of the electric vehicle, as Figure 6 shown.

[0224] At the same time, another key index SOC of the electric vehicle reflects the energy storage ability of the electric vehicle. When regulating the electric vehicle, it is necessary to comprehensively consider the energy storage ability and power regulation ability of the electric vehicle.

[0225] When the cluster power needs to increase by ΔP≥0:

[0226]

[0227] When the cluster power needs ΔP<0:

[0228]

[0229] In the formula, ΔP ev,p is the power regulation amount of the pth electric vehicle; n ev is the total number of electric vehicles in the adjustable area in the cluster. When the cluster power increases, each electric vehicle increases the charging load, and the lower the SOC of the electric vehicle, the higher the priority and the greater the power regulation task it undertakes; on the contrary, when the cluster power decreases, each electric vehicle reduces the charging load or switches to the discharging state, and the lower the SOC of the electric vehicle, the lower the priority and the smaller the power regulation task it undertakes. However, in the actual control process, the power allocated to some electric vehicles may exceed the controllable capacity To solve this problem, this patent proposes to limit the power allocated to some electric vehicles within the controllable capacity range, and then allocate the remaining power according to the above formula.

[0230] When ΔP ≥ 0,

[0231]

[0232] When ΔP < 0,

[0233]

[0234] Step 105: Based on the frequency regulation power of each energy storage cluster, perform secondary power distribution in each energy storage cluster to obtain a power adjustment plan for the power system to be frequency regulated.

[0235] In this embodiment, after obtaining the power adjustment plan for each energy storage cluster, it further includes:

[0236] Obtain the daily CPS settlement result of the power system to be frequency regulated through the CPS model;

[0237] Perform feedback control according to the daily CPS settlement result and the interval distribution of the assessment points, and then determine the controller parameters corresponding to the controller for executing the power adjustment plan of each energy storage cluster.

[0238] In a specific embodiment, the CPS model includes several links such as CPS calculation, CPS assessment, and CPS daily settlement. The specific assessment process is as Figure 7 shown. First, collect relevant data such as frequency deviation and ACE, and calculate the real-time index value according to the mathematical formulas of CPS1 and CPS2 (taking the power dispatching assessment standard of Guangdong Province as an example, calculate the real-time index value; then, based on the assessment standard, perform CPS assessment every 15 minutes. Due to different assessment results, it is divided into four assessment intervals; finally, complete the daily settlement by counting the number of assessment points in different assessment intervals, referring to the daily settlement rules of Guangdong assessment and the CPS fine unit price, as shown in Table 1 and Table 2.

[0239] Table 1 CPS assessment daily settlement rules

[0240]

[0241] Note: AVG represents the average value of a variable within a certain period of time.

[0242] Table 2 CPS fine unit price for different time periods

[0243]

[0244] During the actual frequency modulation process, the frequency modulation demand of the power system changes continuously due to the influence of the balance between supply and demand. To ensure that the AGC control command accurately tracks the actual frequency modulation demand, this invention patent constructs a feedback control system based on the CPS daily settlement result and the interval distribution of the assessment points, and dynamically adjusts the controller parameters on a daily basis.

[0245] On the premise of ensuring sufficient downward margin, if the assessment qualification rate increases on the same day, the parameter setting of the controller can be appropriately reduced. Let the adjustment coefficient on the m-th day be k ACE,m , and its magnitude is proportional to the change in the qualification rate, as shown in the following formula:

[0246] k ACE,m = k step Δδ m ;

[0247] In the formula, k step is the adjustment step, and Δδ m is the change in the assessment qualification rate. A positive value indicates an increase in the qualification rate. The actual command output by the controller on the same day after correcting the adjustment coefficient is as shown in the formula:

[0248] P AGC,m = (1 - k ACE,m )P AGC,m-1 ;

[0249] In the formula, P AGC,m-1 is the AGC command value obtained according to the controller parameters of the previous day.

[0250] If the assessment qualification rate decreases on the same day, increase the controller parameters. The control method for adjusting the controller parameters is the same as when the qualification rate increases. Since the change in the assessment qualification rate Δδ m is negative, the corrected AGC output will be greater than the output value under the original setting parameters, which improves the adjustment depth of the controller.

[0251] The adjustment depth β of the current controller is as shown in the formula:

[0252]

[0253] In the formula, P AGC0 is the AGC command value obtained from the initially set control parameters. It should be noted that the adjustment depth needs to be restricted within a certain range. If the value is too small, the controller cannot meet the frequency modulation requirements; if the value is too large, there will be a phenomenon of oscillatory instability.

[0254] In this embodiment, this embodiment has the following advantages:

[0255] (1) Improve the rationality of power distribution among energy storage clusters.

[0256] In the prior art, the power distribution of energy storage systems often ignores the differences between energy storage clusters, especially in the case of coordinated operation of multiple energy storage forms (such as battery energy storage, air-conditioning loads, and electric vehicles). The present invention proposes a frequency modulation power distribution strategy for a multi-source generalized energy storage cluster based on the equivalent SOC state. By coordinating the frequency modulation power ratios of the energy storage battery cluster, the air-conditioning load cluster, and the electric vehicle cluster, the regulation potential of demand-side resources is maximized, thereby improving the overall frequency modulation ability of the system. This innovative solution has not been effectively applied in the prior art.

[0257] (2) Establish a secondary distribution strategy to enhance the active management ability of energy storage.

[0258] The present invention also particularly focuses on the different power response characteristics of individual energy storage units in the energy storage cluster, the air-conditioning cluster, and the electric vehicle cluster. By establishing a secondary distribution strategy for the power within the cluster, not only is the frequency modulation power reasonably distributed among the clusters, but also the power response is optimized within the clusters. As Figure 4 shown, this strategy helps to improve the consistency of the state of charge of battery cells, reduce the frequent charging and discharging of batteries, and thus extend the service life of individual energy storage units. Compared with the prior art, while improving the frequency modulation ability, the present invention effectively reduces the losses of energy storage devices, and has higher economic benefits and long-term stability.

[0259] (3) Introduce a dynamic feedback adjustment mechanism to improve the frequency modulation accuracy.

[0260] In the control process of the present invention, CPS evaluation and settlement data are combined. By dynamically feedback controlling and optimizing the controller parameters, its adaptability to the system frequency modulation requirements is enhanced. This method ensures a quick response and precise adjustment of the power output during frequency fluctuations, thereby improving the frequency modulation accuracy and response speed. Compared with the prior art, traditional frequency modulation methods usually cannot efficiently track rapidly changing frequencies, and the adjustment mechanism is relatively single, making it difficult to adapt to the challenges brought by complex load changes.

[0261] Refer to Figure 2 , Figure 2 which is a schematic structural diagram of a coordinated control device for an energy storage cluster provided by an embodiment of the present invention, including: a data acquisition module 201, a signal generation module 202, a data calculation module 203, a primary distribution module 204, and a secondary distribution module 205;

[0262] The data acquisition module is used to acquire the operation information of the power system to be frequency modulated; wherein, the operation information includes: frequency deviation data;

[0263] The data acquisition module is used to generate an area control error signal of the power system to be frequency modulated according to the operation information;

[0264] The signal generation module is configured to calculate the total FM power based on the area control error signal and the frequency deviation data.

[0265] The primary distribution module is configured to perform primary power distribution on each energy storage cluster in the power system to be frequency modulated according to the total FM power, so as to obtain the FM power of a single energy storage cluster for each energy storage cluster.

[0266] The secondary distribution module is configured to perform secondary power distribution in each energy storage cluster based on the FM power of a single energy storage cluster corresponding to each energy storage cluster, so as to obtain a power adjustment scheme for the power system to be frequency modulated.

[0267] It can be understood that the above system item embodiments correspond to the method item embodiments of the present invention, and can implement the energy storage cluster cooperative control method provided by any one of the above method item embodiments of the present invention.

[0268] In this embodiment, the operation information of the power system to be frequency modulated is obtained; wherein, the operation information includes: frequency deviation data; according to the operation information, an area control error signal of the power system to be frequency modulated is generated; based on the area control error signal and the frequency deviation data, the total FM power is calculated; according to the total FM power, primary power distribution is performed on each energy storage cluster in the power system to be frequency modulated, so as to obtain the FM power of a single energy storage cluster for each energy storage cluster; based on the FM power of a single energy storage cluster corresponding to each energy storage cluster, secondary power distribution is performed in each energy storage cluster, so as to obtain a power adjustment scheme for the power system to be frequency modulated. After generating the area control error signal according to the operation information of the power system, the present invention can calculate and obtain the total FM power, first perform primary power distribution among the energy storage clusters based on the total FM power, and after the primary power distribution, separately perform secondary power distribution in the energy storage clusters, realizing the automatic frequency modulation control of the power system, and greatly improving the control accuracy of the power system to be frequency modulated in automatic generation control through primary power distribution and secondary power distribution.

[0269] Embodiment 2

[0270] See Figure 3 , Figure 3 which is a schematic structural diagram of a terminal device provided by an embodiment of the present invention.

[0271] The above are the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A method for coordinated control of an energy storage cluster, characterized in that: include: Acquiring operation information of the power system to be frequency-regulated; wherein the operation information includes: frequency deviation data; generating a regional control error signal of the power system to be frequency regulated according to the operation information; Calculating the total frequency modulation power based on the regional control error signal and the frequency deviation data; According to the total frequency regulation power, power is distributed once to each energy storage cluster in the power system to be frequency regulated to obtain the frequency regulation power of a single energy storage cluster of each energy storage cluster; Based on the frequency regulation power of a single energy storage cluster corresponding to each energy storage cluster, power is secondary distributed in each energy storage cluster to obtain a power adjustment plan for the power system to be frequency regulated.

2. The energy storage cluster coordinated control method according to claim 1, characterized in that: The energy storage cluster includes: an electric vehicle energy storage cluster, a temperature control load energy storage cluster and an energy storage battery energy storage cluster; according to the total frequency modulation power, the power of each energy storage cluster in the power system to be frequency regulated is distributed once to obtain the frequency modulation power of a single energy storage cluster corresponding to each energy storage cluster, including: The total frequency modulation power is judged; wherein the total frequency modulation power satisfies the following conditions with the frequency modulation power of a single energy storage cluster of an electric vehicle energy storage cluster, the frequency modulation power of a single energy storage cluster of a temperature control load energy storage cluster, and the frequency modulation power of a single energy storage cluster of an energy storage battery energy storage cluster: If the frequency modulation power data is greater than or equal to 0, then in each energy storage cluster, based on the maximum value of the equivalent SOC corresponding to each energy storage cluster monomer, the power regulation capability corresponding to each energy storage cluster monomer is calculated to obtain the first monomer power regulation capability corresponding to each energy storage cluster monomer, and the first monomer power regulation capability corresponding to each energy storage cluster monomer is substituted into the inter-cluster energy allocation formula to obtain the single energy storage cluster frequency modulation power corresponding to each energy storage cluster; wherein, the inter-cluster energy allocation formula satisfies the following conditions: In the formula, ΔP x,k is the frequency regulation power of the single energy storage cluster at the kth time of the xth energy storage cluster, ΔP is the total frequency regulation power, is the power regulation capability of the pth electric vehicle energy storage cluster monomer, is the power regulation capability of the jth temperature-controlled load energy storage cluster, ΔP i BESS is the power regulation capability of the i-th energy storage battery cluster, x∈{EV,VESS,BESS}, n x ∈{i,j,p},n x,max ∈{n,m,q}; The energy storage cluster is the nth x The power regulation capability of each monomer; If the frequency regulation power data is less than 0, then in each energy storage cluster, based on the minimum value of the equivalent SOC corresponding to each energy storage cluster monomer, the power regulation capability corresponding to each energy storage cluster monomer is calculated to obtain the second monomer power regulation capability corresponding to each energy storage cluster monomer, and the second monomer power regulation capability corresponding to each energy storage cluster monomer is substituted into the energy allocation formula between clusters to obtain the single energy storage cluster frequency regulation power corresponding to each energy storage cluster.

3. The energy storage cluster coordinated control method according to claim 2, characterized in that: The method of allocating power in each energy storage cluster based on the frequency regulation power of the single energy storage cluster corresponding to each energy storage cluster to obtain a power adjustment plan for the power system to be frequency regulated includes: Obtain the operating time and inter-cell SOC range of the energy storage battery energy storage cluster, and when the operating time is equal to a multiple of the automatic update cycle, or the inter-cell SOC range is equal to the forced update threshold, update the current battery group through a grouping operation; wherein the grouping operation is specifically: sorting each energy storage battery energy storage cluster monomer according to the SOC value of each energy storage battery energy storage cluster monomer, and grouping each energy storage battery energy storage cluster monomer according to the sorting result and the inter-cell SOC range of the energy storage battery energy storage cluster monomer to obtain a battery group; the battery group includes: a charging group, a standby group and a discharging group; Determine the response power of each battery group according to the maximum charging power and maximum discharging power of the current battery group and the frequency modulation power of a single energy storage cluster of the energy storage battery energy storage cluster; According to the response power of each battery group, determine the response power of the energy storage battery cluster monomer corresponding to the battery group; In each battery group, the AGC instruction is generated according to the response power of each energy storage battery energy storage cluster monomer, and a secondary grouping operation is performed based on the maximum charging power and maximum discharging power of the current battery group, the single energy storage cluster frequency modulation power of the energy storage battery energy storage cluster, and the number of actions of each energy storage battery energy storage cluster monomer in the AGC instruction tracking process, so as to update the energy storage battery energy storage cluster monomer in the battery group according to the result of the secondary grouping, so as to adjust the power according to the battery group after the secondary grouping, and obtain the power adjustment plan of the energy storage battery energy storage cluster of the power system to be frequency-regulated.

4. The energy storage cluster coordinated control method according to claim 3, characterized in that: The secondary grouping operation is specifically as follows: Determine the frequency modulation power of a single energy storage cluster of the energy storage battery energy storage cluster; If the frequency modulation power of a single energy storage cluster of the energy storage battery energy storage cluster is greater than 0, the frequency modulation power of a single energy storage cluster of the energy storage battery energy storage cluster is less than or equal to the maximum charging power of the charging group, and the energy storage battery energy storage cluster monomer with the highest number of actions is located in the charging group, then the battery monomer with the largest SOC in the original charging group and the battery monomer with the smallest SOC in the original standby group are exchanged in turn to obtain a new charging group and a new standby group, and then the secondary grouping is completed according to the new charging group and the new standby group; wherein, the order of the new charging group is specifically: starting from the battery monomer with the smallest SOC in the original standby group, and arranging in order of SOC from small to large; the order of the new standby group is specifically: starting from the battery monomer with the smallest SOC in the original charging group, and arranging in order of SOC from small to large; If the frequency modulation power of a single energy storage cluster of the energy storage battery energy storage cluster is less than 0, the frequency modulation power of a single energy storage cluster of the energy storage battery energy storage cluster is greater than or equal to the maximum discharge power of the discharge group, and one of the energy storage battery energy storage cluster monomers with the top three highest action times is located in the discharge group, then the energy storage battery energy storage cluster monomers of the discharge group and the standby group are exchanged in order of SOC from large to small, thereby completing the secondary grouping.

5. The energy storage cluster coordinated control method according to claim 2, characterized in that: The method of allocating power in each energy storage cluster based on the frequency regulation power of the single energy storage cluster corresponding to each energy storage cluster to obtain a power adjustment plan for the power system to be frequency regulated includes: Obtaining the operating status of each temperature-controlled load energy storage cluster monomer in the temperature-controlled load energy storage cluster, and obtaining the open group and the closed group of the temperature-controlled load energy storage cluster according to the operating status; Obtain the indoor temperature of each temperature-controlled load energy storage cluster monomer, and sort the temperature-controlled load energy storage cluster monomers of the open group in order from low to high indoor temperatures to obtain an open temperature sequence, and sort the temperature-controlled load energy storage cluster monomers of the closed group in order from high to low indoor temperatures to obtain a closed temperature sequence; According to the frequency modulation power of a single energy storage cluster of the temperature-controlled load energy storage cluster, the control quantity is determined according to a preset quantity calculation formula; wherein the control quantity includes: one of an on control quantity or a off control quantity. If the frequency modulation power of a single energy storage cluster of the temperature-controlled load energy storage cluster is greater than 0, the control quantity is an on control quantity. If the frequency modulation power of a single energy storage cluster of the temperature-controlled load energy storage cluster is less than 0, the control quantity is a off control quantity. The quantity calculation formula is specifically: Where: ΔP VESS is the power adjustment target value of a single energy storage cluster of the temperature control load energy storage cluster; n l is the number of air conditioners that need to be turned on or off; ac_i is the rated power of the i-th air conditioner; If the frequency regulation power of a single energy storage cluster of the temperature-controlled load energy storage cluster is greater than 0, the temperature-controlled load energy storage cluster monomer is reselected as the target temperature-controlled load energy storage cluster monomer in the start-up temperature sequence according to the start-up control quantity, and the controlled times of each target temperature-controlled load energy storage cluster monomer are calculated through the improved temperature priority sequence algorithm, thereby determining the power adjustment plan of the temperature-controlled load energy storage cluster of the power system to be frequency-regulated; If the frequency regulation power of a single energy storage cluster of the temperature-controlled load energy storage cluster is less than 0, the temperature-controlled load energy storage cluster monomer is reselected in the shutdown temperature sequence as the target temperature-controlled load energy storage cluster monomer according to the shutdown control quantity, and the controlled times of each target temperature-controlled load energy storage cluster monomer are calculated through the improved temperature priority sequence algorithm, thereby determining the power adjustment plan of the temperature-controlled load energy storage cluster of the power system to be frequency regulated.

6. The energy storage cluster coordinated control method according to claim 2, characterized in that: The method of allocating power in each energy storage cluster based on the frequency regulation power of the single energy storage cluster corresponding to each energy storage cluster to obtain a power adjustment plan for the power system to be frequency regulated includes: Determine the frequency modulation power of a single energy storage cluster of an electric vehicle energy storage cluster; If the frequency modulation power of a single energy storage cluster of the electric vehicle energy storage cluster is greater than or equal to 0, the power adjustment plan of the electric vehicle energy storage cluster is obtained according to the preset charging control strategy; wherein the charging control strategy satisfies the following conditions: In the formula, ΔP ev,p is the power regulation value of the pth electric vehicle, is the maximum charging power of the pth electric vehicle; ψ is the buffer cluster set up to prevent the power allocated to some electric vehicles from exceeding the controllable capacity; is the maximum SOC value of the pth electric vehicle, is the actual SOC value of the pth electric vehicle; ΔP EV The frequency modulation power of a single energy storage cluster of an electric vehicle energy storage cluster is increased; when the frequency modulation power of a single energy storage cluster of an electric vehicle energy storage cluster increases, each electric vehicle increases its charging load, and the electric vehicle with a smaller SOC has a higher priority and bears a greater power regulation task; If the frequency modulation power of a single energy storage cluster of the electric vehicle energy storage cluster is less than 0, the power adjustment scheme of the electric vehicle energy storage cluster is obtained according to the preset discharge control strategy; wherein the discharge control strategy satisfies the following conditions: In the formula, is the maximum discharge power of the pth electric vehicle, is the minimum SOC value of the pth electric vehicle; when the frequency modulation power of a single energy storage cluster of the electric vehicle energy storage cluster decreases, each electric vehicle reduces its charging load or switches to a discharging state. The electric vehicle with a smaller SOC has a lower priority and bears a smaller power regulation task.

7. The energy storage cluster coordinated control method according to any one of claims 1 to 6, characterized in that: After obtaining the power adjustment plan of each energy storage cluster, the method further includes: Through the CPS model, the CPS daily settlement results of the power system to be regulated are obtained; Feedback control is performed based on the CPS daily settlement results and the interval distribution of the assessment points, thereby determining the controller parameters corresponding to the controller used to execute the power adjustment plan of each energy storage cluster.

8. A collaborative control device for energy storage clusters, characterized in that: include: Data acquisition module, signal generation module, data calculation module, primary distribution module and secondary distribution module; The data acquisition module is used to acquire the operation information of the power system to be frequency-regulated; wherein the operation information includes: frequency deviation data; The data acquisition module is used to generate a regional control error signal of the power system to be frequency-regulated according to the operation information; The signal generating module is used to calculate the total frequency modulation power based on the regional control error signal and the frequency deviation data; The primary allocation module is used to perform primary power allocation on each energy storage cluster in the power system to be frequency-regulated according to the total frequency-regulated power, so as to obtain the frequency-regulated power of a single energy storage cluster of each energy storage cluster; The secondary distribution module is used to perform power secondary distribution in each energy storage cluster based on the single energy storage cluster frequency regulation power corresponding to each energy storage cluster, and obtain a power adjustment plan for the power system to be frequency regulated.

9. A computer terminal device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements a method for collaborative control of an energy storage cluster as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute a method for collaborative control of an energy storage cluster as described in any one of claims 1 to 7.

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