Hybrid V2G facility driven power distribution network grading black-start control method

Abstract

The invention relates to the field of power distribution network black start, in particular to a hybrid V2G facility driven power distribution network grading black start control method, which comprises the following steps: after a configuration network loses power, judging whether a V2G facility is in place or not, if so, setting the selection priority of a grading black start power supply, and if not, setting the selection priority of the grading black start power supply; wherein the black-start power supply comprises a V2G facility, a diesel generator, a distributed new energy source and a thermal power generating unit; sequentially entering first-stage black start, second-stage black start and third-stage black start, and implementing black start control strategies of corresponding stages; if all the target nodes recovered at the current level are recovered, entering next-level black start; wherein the control targets of the first-stage black start, the second-stage black start and the third-stage black start are as follows: focusing a core looped network branch node, and ensuring that a core load and a power supply auxiliary machine supply power; main branch nodes are expanded, and part of residential areas and industrial and commercial areas are recovered; and carrying out multi-source collaborative frequency modulation and global grid-connected recovery. Compared with the prior art, the method has the advantages of realization of graded black start, rapid and stable recovery and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of distribution network black start, and in particular to a hierarchical black start control method for a distribution network driven by a hybrid V2G facility. Background Art

[0002] As the "last mile" of the power supply reliability of the power system, the black start ability of the distribution network is directly related to the post-disaster recovery of social key functions such as medical first aid and communication guarantee. With the high proportion of distributed new energy penetration and frequent extreme climate events, traditional black start technologies face fundamental challenges: on the one hand, the randomness and low inertia characteristics of wind and light power sources weaken the system self-healing ability; on the other hand, the contradiction between the differentiated user load recovery requirements (from minute-level core loads to hour-level ordinary loads) and the grid physical constraints (line capacity, voltage stability) is becoming increasingly acute. Specifically, the technical bottlenecks of traditional distribution network black start are mainly reflected in the following aspects: (1) Insufficient adaptability of traditional black start power sources: Hydroelectric units are restricted by geographical conditions, and diesel generators have a long start-up delay (>10 minutes), making it difficult to meet the minute-level recovery requirements of important loads; fixed energy storage systems have a slow dynamic response speed (hour-level) and limited capacity, and cannot support large-scale power supply recovery. In addition, distributed power sources such as wind and light lack inertia support, and are prone to frequency oscillations during island operation, requiring additional expensive compensation devices such as SVG, with poor economy.

[0003] (2) Mismatch between recovery strategy and load demand: Existing black start schemes mostly adopt a single-point start mode and do not establish a hierarchical recovery mechanism. At the same time, existing technologies rely on one-time full-load start, usually adopting an "all or nothing" load switching mode, and cannot achieve hierarchical responses with different priorities during faults for core loads such as medical and communication that require minute-level power supply and other non-core loads that require hour-level power supply, resulting in a recovery delay of core loads usually reaching 5-8 minutes. At the same time, existing black start schemes may cause excessively high instantaneous impact current during implementation, leading to potential safety hazards such as voltage dips.

[0004] Vehicle-to-grid (V2G, Vehicle to Grid) technology can provide a second-level response speed and distributed power support through the bidirectional charging and discharging ability of electric vehicles, and theoretically has the potential to break through the bottleneck of traditional black start. However, the application of existing V2G technologies in distribution network black start has serious limitations: Single resource utilization mode: Only the independent operation modes of fixed V2G (charging piles) or mobile V2G (charging and discharging vehicles) are adopted, and no cooperation mechanism is established. Fixed V2G is restricted by the parking space occupancy rate (the daily average utilization rate in urban areas <30%), and mobile V2G faces problems of high scheduling complexity and low scheduling efficiency due to traffic conditions (the measured deployment delay reaches more than 25 minutes); Insufficient adaptability of control strategies: Most of the existing V2G control methods are aimed at the normal peak shaving and valley filling scenarios and focus on normal power grid services. They do not consider problems such as power impact suppression, multi-voltage level coordination, and spatio-temporal coordination mechanisms unique to black start, and cannot meet the power dynamic matching requirements of hierarchical restoration. For example, when directly applying the V2G frequency modulation control algorithm, it will cause some V2G clusters to trip due to overloading protection caused by sudden increase in load at the initial stage of black start.

[0005] The existing technologies represented by CN113675876A adopt the architecture of "energy storage starts first + diesel engine supplements later". Although the black start control of the microgrid is achieved through hierarchical restoration, there are the following fundamental defects: Rigid power supply configuration: Adopting the traditional fixed combination mode of "energy storage + diesel generator", the start-up delay usually reaches several minutes, which cannot meet the demand for minute-level restoration of core loads; Flat control architecture: Adopting the "one-time start of all loads" mode, relying on the energy storage system to close the tie switches step by step, the load is not hierarchically connected in parallel, and it is easy to cause potential safety hazards in the distribution network such as instantaneous impact current and voltage volatility exceeding the limit; Lack of resource coordination: The spatio-temporal schedulable characteristics of V2G are not utilized, the system expansion capacity is limited, and the typical restoration capacity upper limit is only 8MW. As a result, in actual applications, it still needs to rely on the support of the superior power grid and cannot adapt to the scale of modern distribution networks (the load of a single area usually reaches dozens of MW).

[0006] The above analysis reveals the core contradiction in the field of distribution network black start: the fundamental conflict between the timeliness and stability requirements of power grid restoration and the physical limitations of traditional power sources and the inefficient utilization of V2G resources.

[0007] How to achieve efficient and stable hierarchical black start control of the distribution network based on hybrid V2G facilities has become a technical problem that needs to be solved urgently. Summary of the Invention

[0008] The purpose of the present invention is to provide a hierarchical black start control method for a distribution network driven by hybrid V2G facilities to overcome the defects of the above-mentioned existing technologies.

[0009] The purpose of the present invention can be achieved by the following technical solutions: According to one aspect of the present invention, a hierarchical black start control method for a distribution network driven by a hybrid V2G facility is provided. After real-time judgment on power failure of the configuration network, black start control is entered. The hybrid V2G facility includes a fixed V2G facility and a mobile V2G fleet. The black start control method includes: judging whether the V2G facility is in place. If so, setting the selection priority of the hierarchical black start power supply; if not, waiting until the V2G facility is in place and executing the next step; wherein the black start power supply includes V2G facilities, diesel generators, distributed new energy and thermal power units; entering the first level black start, the second level black start and the third level black start in turn, and implementing the black start control strategy of the corresponding level; if all the target nodes restored at the current level are restored, entering the next level black start; wherein the control objectives of the first level black start, the second level black start and the third level black start are respectively: focusing on the core ring network branch nodes to ensure the power supply of the core load and the power auxiliary machine; expanding the trunk branch nodes to restore some residential areas and industrial and commercial areas; and multi-source coordinated frequency modulation and global grid connection recovery.

[0010] Preferably, the control priority of the hierarchical black start power supply includes: The priority of power source selection for the first-level black start is from high to low: V2G facilities, diesel generators, distributed renewable energy, and thermal power; The power source selection priority for the second-level black start: distributed new energy, V2G facilities, diesel generators, and thermal power; The power source selection priority for level 3 black start is: thermal power, distributed new energy, V2G facilities, and diesel generators.

[0011] Preferably, the first-level black start control strategy includes: the fixed V2G facilities are quickly switched to the grid-connected discharge mode to start the core load; the mobile V2G fleet is flexibly supplemented to assist in waking up the thermal power auxiliary equipment and distributed new energy auxiliary equipment; the diesel generators are on standby to restore the power supply of the lifeline project; And the key constraints of the first-level black start control include: a1) The path priorities of the mobile V2G fleet are as follows from high to low: thermal power units, distributed new energy; a2) Distributed new energy auxiliary power supply time window; a3) The SOC consumption of a single mission of the mobile V2G fleet is not greater than the set threshold. If the SOC consumption during a single mission is greater than the set threshold, the return charge is triggered; a4) The discharge power of fixed V2G shall not exceed the set rated value ratio.

[0012] Preferably, the secondary black start control strategy includes: reconstructing the local network, and the mobile V2G facilities assist the distributed new energy to gradually complete grid connection and restore the target nodes of the distribution substation and the main line; then the mobile V2G facilities continue to be dispatched to other target nodes to be restored in the vicinity.

[0013] Preferably, the secondary black start control strategy further includes: when the output of the distributed new energy is sufficient, the distributed new energy gives priority to power supply and the diesel generator remains standby; the V2G facilities smooth the fluctuations of the new energy and the diesel generator is used as frequency modulation reserve; when the output of the distributed new energy is insufficient, the diesel generator makes up the power shortage.

[0014] Preferably, the tertiary black start control strategy includes: the thermal power unit is connected to the grid to provide inertial response and primary frequency modulation; the new energy and the V2G facilities cooperate in frequency modulation: the distributed new energy operates in a power-limited mode and participates in secondary frequency modulation; when the distributed new energy over-generates, the V2G facilities charge to consume the excess power and prevent frequency over-limit; the fixed V2G adopts virtual inertia control to simulate the response of the synchronous machine, and the output power fluctuations of the distributed new energy are smoothed by the fixed V2G facilities; the mobile V2G fleet gradually withdraws from the black start control and is preferentially dispatched to the area with the largest frequency deviation to transfer the standby node, dynamically responds to the regional frequency deviation, and is dispatched to the low-inertia node as needed.

[0015] More preferably, the tertiary black start control strategy further includes: the diesel generator adopts droop control to synchronize with the V2G facilities to prevent circulating current and provides short-term frequency modulation support when the SOC of the V2G facilities is insufficient; after the diesel generator is connected to the grid, it automatically switches to the P / Q mode and outputs power according to the dispatching instructions.

[0016] Preferably, the mobile V2G fleet conducts target node dispatching based on the dispatching priority, and the dispatching priority is calculated by the following formula: , wherein, Y is the dispatching priority, LU is the load priority, SOC V2G is the priority of the V2G facilities, D is the dispatching moving distance of the mobile V2G, D max represents the maximum value of the distance of the dispatching path selected by the mobile V2G, Δ P RE represents the priority of the power change amount of the distributed new energy, α is the load urgency weight, β is the SOC state adjustment weight of the V2G fleet, γ is the dispatching distance weight, δis the volatility coefficient of distributed new energy output.

[0017] Preferably, the method further includes path optimization for the mobile V2G fleet, and the process includes the following steps: Step 1, construct a normalized physical distance matrix between nodes; Step 2, calculate the total shortest path distance of the mobile V2G fleet based on the shortest path algorithm; Step 3, calculate the shortest path scheduling time according to the constraint conditions of path planning , , wherein, i, j respectively represent the starting node and the ending node of the transfer of the mobile V2G fleet; V V2G , ij are respectively the speeds of the mobile V2G fleet moving from the starting node i to the ending node j ; MissNodes represents the set of nodes that exceed the node power restoration time constraint due to scheduling the mobile V2G fleet along a non-shortest path; k represents MissNodes a node element of the set; T Penalty(k) represents the penalty time for exceeding the node power restoration time constraint due to scheduling the mobile V2G fleet along a non-shortest path. The penalty time adopts a piecewise linear penalty method and is calculated according to the following formula: , wherein, is the scheduling time of the mobile V2G fleet along a non-shortest path, T R,max is the maximum scheduling time of the mobile V2G fleet along a non-shortest path, k 1 , k 2 are respectively the penalty coefficients of different segments, and k 1 < k 2 .

[0018] More preferably, the constraint conditions include: b1) The V2G vehicle path satisfies the connectivity of the power grid topology; b2) The V2G vehicle SOC meets the task requirements; b3) Restore in the order of load priority; b4) The scheduling time meets the time window constraint parameters, including the time windows for distributed new energy and thermal power unit restart, as well as the time window for restoring power supply to the nodes.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention breaks through the limitations of traditional black start power sources. Through the combined drive of fixed and mobile V2G facilities, the process of restoring the distribution network is divided into three levels: "core load start - local network reconstruction - global grid connection restoration", and corresponding black start control strategies are implemented. The key loads and important nodes of the power grid are gradually restored, realizing multi-scale restoration of "minute-level core load awakening - hour-level network reconstruction - multi-hour-level global optimization" to meet the time and efficiency requirements of each level of restoration objectives, and avoiding grid instability caused by one-time restoration.

[0020] 2. The present invention sets selection priorities for hierarchical black start power sources, dynamically distributes the output of each power source, with V2G facilities as the leading in the emergency stage and gradually switching to traditional power sources in the steady state stage, reducing the battery loss of V2G facilities, realizing the optimal cooperation between V2G facilities and traditional black start power sources, and ensuring the high efficiency and reliability of the black start process.

[0021] 3. The present invention sets control strategies for each level of black start, and realizes power supply restoration to all nodes through the reuse of V2G facilities and distributed new energy, etc. Among them, fixed V2G facility users quickly awaken core load nodes, and mobile V2G fleets flexibly supplement and assist in awakening thermal power units and distributed new energy; diesel generators are on standby to restore power supply to lifeline projects, not only meeting the reliability redundancy requirements of distribution network black start, but also reducing the overall cost of black start, and finally realizing in-depth optimization of the efficiency, rationality and stability of distribution network black start, and improving social and economic benefits.

[0022] 4. The present invention schedules the mobile V2G fleet based on priorities and optimizes the mobile path, enabling the mobile V2G fleet to reach the target node for discharging or auxiliary power supply in the shortest path and time. By making full use of the distributed characteristics of V2G facilities and optimizing the scheduling, the dependence on traditional black start power sources is reduced, the overall cost of black start is lowered, and at the same time, the efficiency of black start is improved. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the topological structure of the IEEE 33-node distribution network with hybrid V2G facilities in the present invention; Figure 2 It is a schematic diagram of the scenario where the entire distribution network loses power due to a fault in the present invention; Figure 3 It is a schematic diagram of the distribution network restoration scenario and results of the first-level black start in the present invention; Figure 4 Schematic diagram of the distribution network restoration scenario and results for the secondary black start in the present invention; Figure 5 Schematic diagram of the distribution network restoration scenario and results for the tertiary black start in the present invention; Figure 6 Schematic flow diagram of the hierarchical black start control method in the present invention. Detailed implementation manners

[0024] 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 some, but not all, of the embodiments of the present invention. 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.

[0025] The present invention application proposes a control strategy of "fixed-mobile hybrid V2G drive power supply and hierarchical black start" for the following deficiencies in current black start control. The current distribution network black start technology has the following problems: (1) The traditional black start drive power supply is single and inefficient: The current power grid black start mainly relies on traditional power sources such as diesel generators and hydropower stations, with a slow response speed (>30 minutes) and limited by geographical conditions. Usually, a single power supply is used for driving, making it difficult to cope with multi-point faults and hierarchical restoration requirements of complex power grids.

[0026] (2) The capacity of the single V2G mode is insufficient: Existing V2G solutions only rely on fixed charging piles (such as charging stations), usually deployed in fixed positions, and the discharge capacity is limited by the density of fixed facilities, unable to flexibly respond to the dynamic changes of power grid fault points and difficult to cover large-scale power outage areas.

[0027] (3) There is no hierarchical coordination mechanism: Existing black start strategies adopt an "all-or-nothing" mode, lacking priority differentiation for critical loads (hospitals, communication base stations), resulting in low restoration efficiency.

[0028] (4) The scheduling of mobile resources is rigid: Electric vehicles, as mobile energy storage units, are not incorporated into the black start system, and their spatio-temporal flexibility is not utilized.

[0029] The present invention proposes a new black start drive power supply and collaborative control paradigm to solve this contradiction through the following technical ideas: Construct a V2G facility collaborative architecture adapted to the black start scenario, give full play to the steady-state support ability of fixed V2G and the dynamic compensation advantage of mobile V2G, and realize dual-mode operation of "steady-state support + dynamic capacity expansion"; Develop a hierarchical control strategy for spatio-temporal coupling to achieve multi-scale restoration of "minute-level core load wake-up - hour-level network reconstruction - multi-hour-level global optimization", and configure differentiated V2G combinations and control strategies for each stage; Implement dynamic path optimization for V2G clusters: Based on the improved Dijkstra algorithm integrated with real-time traffic conditions data, ensure the minute-level reachability of mobile V2G, and significantly improve the path planning efficiency compared with traditional methods.

[0030] Example 1 This example relates to a hierarchical black start control method for a distribution network driven by a hybrid V2G facility, which makes full use of the distributed characteristics and cooperative control of fixed and mobile V2G facilities to reduce the dependence on traditional black start power sources.

[0031] In terms of black start resource coordination, use fixed V2G as a steady-state power source to provide stable basic power support and baseline support; use mobile V2G as a dynamic power source to flexibly respond to the dynamic changes of grid fault points, dynamically fill the gaps as needed, solve the coverage blind area of fixed facilities, and achieve fast response and coverage. Design a dynamic power distribution algorithm to switch the dominant modes of the two types of facilities according to real-time requirements, and significantly improve the flexibility and dynamic capacity expansion ability of the grid black start.

[0032] Aiming at the priority requirements of different loads and different levels of systems during the grid black start and restoration process, a hierarchical black start control strategy is proposed. In terms of the hierarchical control architecture, divide the distribution network restoration process into three levels: "core load start - local network reconstruction - global grid connection restoration", and design the priority strategies of multiple types of black start power sources including V2G facilities, distributed new energy, diesel generators, and thermal power. Among them, the driving priority of V2G facilities is calculated and evaluated in real time based on references such as SOC (State of Charge), distance, and load demand for each level of restoration process. For the restoration goals of each level, design different dominant driving facilities and restoration time scales to meet the time and efficiency requirements of each level of restoration goals and achieve optimal resource allocation. Through hierarchical control, gradually restore the key loads and important nodes of the grid to avoid grid instability caused by one-time restoration. By making full use of the distributed characteristics and cooperative control of V2G facilities, reduce the dependence on traditional black start power sources, divide the distribution network restoration process into three levels, reduce the overall cost of black start through V2G facility reuse, and finally achieve in-depth optimization of the efficiency, rationality, and stability of the distribution network black start, and improve social and economic benefits.

[0033] In terms of the coordinated optimization of multiple power sources, a coordinated optimization mechanism for hybrid V2G facilities and traditional black-start power sources (such as diesel generators) is designed. Through intelligent scheduling algorithms and dynamic weight algorithms, the output of each power source is dynamically allocated. In the emergency stage, V2G is the dominant power source, and in the steady state stage, it gradually switches to traditional power sources to reduce the battery loss of V2G, achieve multi-source coordinated control, and reduce the overload risk. At the same time, considering extreme scenarios, when V2G facilities fail or are damaged due to disasters (such as charging piles getting waterlogged or vehicle failures), the diesel generator can quickly take over the power supply of the core load to avoid interruption of restoration, meet the reliability redundancy requirements of the distribution network black start, and ensure the efficiency and reliability of the black start process. By using the dynamic weight algorithm to allocate the output ratio of V2G and traditional power sources, the overload risk is reduced.

[0034] First, the distribution network topology structure including fixed-mobile hybrid V2G facilities is introduced, such as Figure 1 The distribution network topology structure of the IEEE 33-node distribution network model includes 33 nodes and 32 lines, with a root node (balanced node) and 32 load nodes. It has the typical characteristics of an actual distribution network, can accurately reflect the operating state of the distribution network under different conditions and various operating conditions after a power outage, including key steps such as island division and load restoration. Its complex structure, diverse simulation functions, easy control and observation features, and extensive application basis make it an ideal choice for studying black start control problems. Therefore, this invention application designs and verifies a hierarchical black start control strategy driven by fixed-mobile hybrid V2G facilities based on this model.

[0035] The power source, load, and V2G facility configurations in the IEEE 33-node distribution network are designed as shown in Tables 1 to 3. Table 1 shows the power source configuration of the nodes.

[0036] Table 1 Node Type Capacity Functional characteristics 33 Thermal power unit 10MW Traditional main power supply, black start main power supply, ramp rate 2MW / min 16、24 Diesel generator 1MW, 0.8MW Standby power supply for core load 10 Distributed wind turbine 2×1.5MW Dual - wind turbine configuration, maximum single - unit output 1.5MW 28 Distributed wind turbine 1×2MW Single wind turbine, cut - in wind speed 3m / s 7、15、21 Distributed photovoltaic power station 1MW, 0.8MW, 1.2MW With energy storage buffer (100kWh / station) The main loads and priorities of the nodes are shown in Table 2.

[0037] Table 2 Node Type Capacity Priority 5 Hospital 250kW P1 (highest) 12 Communication center 180kW P1 22 Government agency 150kW P1 9、14、19 Residential area 300kW / node P2 3、6、18 Commercial area 300kW / node P3 27、32 Industrial area 500kW P3 The V2G facility configuration of the nodes is shown in Table 3:

[0038] Table 3

[0039] Next, the hierarchical black start control process of the distribution network based on different time scales is introduced.

[0040] Under typical black-start scenarios of a distribution network, the fault type is that extreme weather (such as typhoons) causes multi-node transmission line breaks and equipment damage. The power outage scope is that thermal power units shut down, and wind power / solar power cannot start due to the power failure of auxiliary equipment, resulting in a complete power outage of the whole network. The scenario of the complete power outage of the distribution network due to faults is as Figure 2 shown.

[0041] Hierarchical black-start strategy design: The restoration of the distribution network needs to follow the hierarchical principle of "from point to area". Using V2G facilities as the black-start driving power source has the advantages of flexibility and economy, but still needs to cooperate with traditional black-start power sources (such as diesel generators) in extreme scenarios. As a mature black-start power source, diesel generators can provide stable power support when new energy output is insufficient due to extreme weather (such as continuous cloudy days and no wind); V2G facilities rely on grid communication and vehicle dispatching. If the communication is interrupted or the vehicles are damaged, traditional power sources can be used as backup guarantees. Therefore, the present invention designs a cooperative strategy between V2G facilities and diesel generators to fully meet the reliability redundancy requirements of the distribution network black-start. If the distribution network is configured with different black-start power sources such as V2G facilities, diesel generators, distributed new energy (wind power / solar power), and thermal power, the priority strategy design for the selection of the distribution network black-start power source is: Priority of power source selection for primary black-start: V2G facilities > diesel generators > distributed new energy (wind power / solar power) > thermal power; Priority of power source selection for secondary black-start: distributed new energy (wind power / solar power) > V2G facilities > diesel generators > thermal power; Priority of power source selection for tertiary black-start: thermal power > distributed new energy (wind power / solar power) > V2G facilities (frequency modulation mode) > diesel generators.

[0042] The triggering conditions for black-start power sources at all levels are: dynamically adjusted according to the real-time power output gap and power source availability.

[0043] When one of the following two conditions is met, the diesel generator starts: The SOC of V2G facilities < 20% or the communication is interrupted; The continuous output of distributed new energy is lower than 50% of the load demand for 30 minutes or more.

[0044] 1. The primary black-start control strategy includes: Control objective (0 - 30 minutes), focusing on the core loop network branch nodes to ensure the power supply for core loads and power source auxiliary equipment; fixed V2G facilities mainly supply power to core loads, and mobile V2G fleets flexibly supplement and assist in waking up thermal power auxiliary equipment and new energy auxiliary equipment, while diesel generators are on standby to restore the power supply of lifeline projects.

[0045] The key constraints of primary black-start control include: a1) Path priority of mobile V2G fleet: thermal power > wind power > photovoltaic power; a2) Power supply time window for new energy auxiliary equipment: wind power ≤ 15 minutes / node, photovoltaic power ≤ 10 minutes / node; a3) The SOC consumption of a single mission of the mobile V2G fleet shall not be greater than the set threshold (e.g., 30%). If the SOC consumption > 30% during the execution of a single mission, a return to base for charging shall be triggered; a4) The discharge power of the fixed V2G shall not exceed the preset rated value ratio (e.g., 80%).

[0046] The key control technologies include: (1) The fixed V2G quickly switches to the grid-connected discharge mode to start the core loads: the fixed V2Gs (i.e., charging piles) at nodes 5, 12, and 22 switch to the discharge mode, and give priority to supplying power to the hospital and communication center, with output powers of 200 kW, 180 kW, and 150 kW respectively; (2) The fixed V2G automatically connects to the grid through the pre-set black start protocol, and the voltage support is controlled by the local inverter to maintain a deviation of ±2%, and the frequency deviation ≤ ±0.1 Hz; (3) The mobile V2G supports the auxiliary equipment of thermal power and distributed new energy (wind power / photovoltaic power): Node 8 is the station of the mobile V2G fleet, and a fleet consists of 5 mobile V2G vehicles of 5×200 kW / 400 kWh.

[0047] The target node scheduling algorithm for the mobile V2G fleet includes: The scheduling priority algorithm for the mobile V2G fleet: , where Y is the priority score, LU is the load priority, SOC V2G is the priority of the V2G facility, D is the scheduling moving distance of the mobile V2G, D max represents the maximum distance of the selected scheduling path of the mobile V2G, Δ P RE represents the priority of the power change amount of the distributed new energy, α is the load urgency weight, β is the SOC state adjustment weight of the V2G fleet, γ is the scheduling distance weight, δ is the volatility coefficient of the distributed new energy output.

[0048] (a) α is the load urgency weight: In the IEEE 33-node standard data, the core load accounts for 20% - 30% of the total network load and needs to be prioritized. Different load emergency degree weights are set according to the types of load nodes, specifically: Core load nodes (nodes 5, 12, 22): Given the highest weight (α = 0.5), corresponding to non-interruptible loads such as hospitals and communication centers; Residential load nodes (nodes 9, 14, 19): With the second-highest weight (α = 0.3), because short-term power outages can be tolerated; Commercial / industrial load nodes (nodes 3, 6, 18): With the lowest weight (α = 0.2), allowing delayed restoration.

[0049] (b) β Weights for the SOC state adjustment of the mobile V2G fleet: Based on the V2G battery life model, frequent deep charge and discharge will accelerate aging, and the SOC fluctuation range needs to be restricted.

[0050] (c) γ Weights for the dispatching distance: Based on the line impedance and power flow direction between nodes, the forward-backward substitution method is used to calculate the equivalent distance. Among them, D max Is the maximum electrical distance of the distribution network (about 5 km in the IEEE 33-node). The electrical distance directly affects the dispatching time and network loss, and proximal nodes need to be prioritized for dispatching to reduce losses.

[0051] (d) δ Is the volatility coefficient of distributed new energy output Calculate the standard deviation based on the historical output data of wind power / solar power σ , and normalize it to a volatility coefficient of 0 - 1; Weight assignment: High volatility ( σ > 0.3): δ = 0.2, and V2G needs to be frequently compensated; Medium volatility (0.1 < σ ≤ 0.3): δ = 0.1; Low volatility ( σ ≤ 0.1): δ = 0. Wind power nodes (such as 10, 28) and solar power nodes (7, 15, 21) have significant output fluctuations and the dispatching priority needs to be dynamically adjusted.

[0052] Taking the mobile V2G fleet dispatched from node 8 to node 7 as an example: Parameter input: LU = 2, D = 3.0 km, SOC = 70%, solar power fluctuation σ = 0.25; Weight calculation: α = 0.5, β=0.2, γ =0.28(1 / (1+3.0 / 5)), δ =0.1; Priority Score: Y =0.5×2 + 0.2×0.7 + 0.175 + 0.1 = 1.415 (secondary priority).

[0053] Building a route optimization model for a mobile V2G fleet includes the following steps: Step 1: Construct the standardized physical distance matrix between nodes: According to the line length (in km) in the IEEE 33 node standard data and the layout of the typical urban distribution network, the average distance between nodes is 0.5-2 km, and the IEEE 33 node distance matrix (see Table 4 for examples) is constructed (for example: the distance between nodes 1-2 is 0.8 km, and the distance between nodes 2-3 is 1.2 km).

[0054] When there is a physical connection between nodes, the mobile V2G fleet moves sequentially along the physical connection path between nodes. When there is no direct physical connection between nodes, the mobile V2G fleet uses the shortest path algorithm (Dijkstra) to jump-calculate the multi-hop distance between nodes without direct physical connection. The multi-hop distance refers to the sum of the distances between all adjacent nodes when there is no direct connection between two points and they need to be transmitted ("hopped") step by step through multiple intermediate nodes.

[0055] Table 4 Starting point End point Distance (km) Path 1 2 0.8 1→2 2 3 1.2 2→3 3 4 0.9 3→4 4 5 1.5 4→5 5 6 1.0 5→6 6 7 0.7 6→7 7 8 2.0 7→8 8 9 1.8 8→9 9 10 1.3 9→10 10 11 1.4 10→11 11 12 1.0 11→12 12 13 1.5 12→13 13 14 0.9 13→14 14 15 1.2 14→15 15 16 1.8 15→16 16 17 1.1 16→17 17 18 0.8 17→18 18 33 2.5 18→19→20→21→22→…→33 (multi - hop) 19 20 1.4 19→20 20 21 1.6 20→21 21 22 0.9 21→22 22 23 1.3 22→23 23 24 1.7 23→24 24 25 0.7 24→25 25 26 1.2 25→26 26 27 0.8 26→27 27 28 1.5 27→28 28 29 1.0 28→29 29 30 1.3 29→30 30 31 0.9 30→31 31 32 1.6 31→32 32 33 0.8 32→33 Step 2, a method for calculating the total distance of the shortest path of a mobile V2G fleet based on the Dijkstra algorithm, includes the following steps: Step 2-1. Initialization: The distance of the starting point (such as station node 8) is set to 0, the distances of other nodes are set to infinity ∞, and all nodes are stored in the priority queue (sorted by distance).

[0056] Step 2-2. Iterative selection: Take out the unvisited node with the shortest current distance from the queue (such as node 8).

[0057] Step 2-3. Update neighbor distance: Traverse the neighboring nodes of the node (such as nodes 7 and 9) and calculate the new distance: New distance = current node distance + section distance (e.g. 8→7 distance is 2.0km) If the new distance is smaller than the original distance of the neighbor node, the queue is updated and reordered.

[0058] Step 2-4. Termination conditions: Repeat steps 2-2 to 2-3 until reaching the target node (such as hospital node 5) or the queue is empty.

[0059] Step 2-5. Output result: Backtrack the path and accumulate the distances of each segment to obtain the total distance of the shortest path from the starting point to the target node.

[0060] Step 3, calculate the shortest path scheduling time according to the constraint conditions of path planning.

[0061] The constraint conditions of path planning include: b1) V2G vehicle path connectivity: The path needs to conform to the power grid topology structure (avoiding faulty lines); b2) V2G vehicle SOC limit: The remaining power of the vehicle needs to meet the task requirements: When SOC < 30%, the vehicle needs to return to base for charging; When SOC > 80%, it is preferentially scheduled for high-priority tasks.

[0062] b3) Priority order: Restore the core load first.

[0063] Vehicles cannot visit the same node repeatedly (except for charging) b4) Time window constraint parameters Thermal power node: The time window for auxiliary restart is set to 30 minutes; Wind power / solar power node: The time window for auxiliary restart is set to 1 hour; Core load node: The time window for power restoration is set to 30 minutes; Residential load node: The time window for power restoration is set to 2 hours.

[0064] Calculate the shortest path scheduling time : , where, i, j respectively represent the starting node and the ending node of the transfer of the mobile V2G fleet; V V2G , ij are respectively the mobile V2G fleet from the starting node i moving to the ending node j speed; MissNodes represents the set of nodes that exceed the power restoration time constraint of the node due to scheduling the mobile V2G fleet along a non-shortest path; k represents MissNodes a node element of the set; T Penalty(k)Represents the penalty time for exceeding the node power restoration time constraint due to dispatching the mobile V2G fleet along a non - shortest path. The penalty time adopts a piece - wise linear penalty (time threshold constraint) method, setting a threshold for the dispatching time of each path. T R,max , and the exceeded part is accumulated according to the stepped penalty coefficient. The calculation is based on the following formula: , where, is the dispatching time of the conventional non - shortest path, k 1 , k 2 are the penalty coefficients for different segments respectively, and k 1 < k 2 , reflecting a high penalty for serious overtime (for example k 1 = 1.5, k 2 = 3).

[0065] The driving speed of the mobile V2G fleet is set as follows: When driving on a non - main road, the speed of the mobile V2G fleet is V d = 30 km / h, which is also set as the default speed of the mobile V2G fleet; When driving on a main road, the speed of the mobile V2G fleet is increased to V m = 50 km / h; When driving in a congested section: the speed of the mobile V2G fleet is reduced to V c = 10 - 20 km / h, and it needs to be dynamically adjusted according to real - time traffic data.

[0066] Since the present invention does not involve the specific road conditions in the area where the distribution network is located, here, the default speed when the mobile V2G fleet is driving on a non - main road in the city is used as the driving speed of the mobile V2G fleet, and the dispatching time of the mobile V2G fleet is calculated as a reference value in the common urban distribution network scenario.

[0067] Combined with the IEEE 33 - node distribution network structure, core load, and power source point distribution, through planning, it is obtained that the mobile V2G fleet stationed at node 8 needs to be divided into 5 groups, driving along different paths to different nodes for power support respectively. The path planning is shown in Table 5.

[0068] Table 5 Mobile V2G fleet Starting point End point Shortest path distance (km) Dispatch path Dispatch time (minutes) Function Fleet A 8 7 1.0 8→7 2.0 Repair photovoltaic inverter and supply power (35kW) Fleet A 7 10 4.5 7→8→9→10 9.0 Start the pitch system of the wind turbine (50kW) and the cooling device (30kW) Fleet B 8 15 5.2 8→9→10→11→12→13→14→15 10.4 Repair photovoltaic inverter and supply power (30kW) Fleet C 8 21 6.8 8→7→21 13.6 Repair photovoltaic inverter and supply power (40kW) Fleet D 8 28 3.0 8→7→6→26→27→28 6.0 Start the pitch system of the wind turbine (60kW) and the cooling device (35kW) Fleet E 8 33 8.0 8→7→6→5→4→3→2→1→33 (multi - hop) 16.0 Support the boiler water pump of thermal power (200kW) Among them, the two segmented paths from node 8 to node 7 and from node 7 to node 10 are of the same mobile V2G fleet.

[0069] It can be seen that the scheduling time of the mobile V2G fleet E is about 16 minutes, meeting the time window for the restart of the auxiliary equipment of the thermal power node; the scheduling times of other fleets are also within 15 minutes, meeting the time window for the restart of the auxiliary equipment of the wind power / solar photovoltaic nodes.

[0070] The restoration result of the primary black start is as Figure 3 , which is specifically as follows: Start of thermal power auxiliary equipment: Boiler preheating (25 minutes), continuously powered by fleet A, and the thermal power output power climbs from 0 to 2 MW.

[0071] Power supply for wind power / solar photovoltaic auxiliary equipment: Nodes 7, 10, 15, 21, and 28 start the self-check program, which takes 10 minutes; Main restoration nodes: Core load nodes: Node 5 (hospital), Node 12 (communication center), Node 22 (government agency); Power auxiliary equipment start nodes: Node 33 (thermal power), Node 10, 28 (wind power), Node 7, 15, 21 (solar photovoltaic).

[0072] A summary of all the nodes restored to power during the primary black start is shown in Table 6 below: Table 6

[0073] 2. The secondary black start control strategy includes: Control objectives (30 - 90 minutes): Expand the backbone branch nodes, restore some residential areas, commercial areas, and industrial areas. Reconstruct the local network, gradually connect the distributed wind / solar new energy to the grid, restore the substations and backbone lines, and gradually restore the industrial and commercial loads.

[0074] Key control technologies: The self-start of new energy power stations includes the start of wind turbines and the start of solar photovoltaic power stations. Specifically: (1) Wind turbines: The mobile V2G provides the grid-connected voltage, and the output power of the wind turbines climbs with the wind speed after startup; (2) Solar photovoltaic power stations: The mobile V2G provides the grid-connected voltage and repairs the inverters, and the output power resumes to the rated value with the light.

[0075] After the mobile V2G assists the distributed wind / solar new energy to complete grid connection, it continues to be dispatched to adjacent residential or industrial and commercial loads, as shown in Table 7, to improve the stability and reliability during the initial stage of load power supply restoration.

[0076] Table 7 Fleet Original node Adjacent load node Fleet A 10 9 Fleet B 15 18 Fleet C 21 19 Fleet D 28 3 Fleet E 33 32 The control strategies of diesel generators include: Scenario 1: When the new energy output is sufficient, wind power / solar power is given priority for power supply, and the diesel generator remains standby; the V2G facility smooths the fluctuations of new energy, and the diesel generator serves as the frequency modulation reserve.

[0077] Scenario 2: When the new energy output is insufficient, the diesel generator supplements the power deficit: , where, P diesel represents the power of the diesel generator, P load represents the load power of the distribution network, P V2G represents the total power of fixed and mobile V2G facilities, P RE represents the distributed new energy power of the distribution network.

[0078] The restoration scenarios and results of the secondary black start are as Figure 4 , specifically including: New energy grid-connected power generation restoration nodes: Node 10 (wind power), Node 28 (wind power), Node 7 (solar power), Node 15 (solar power), Node 21 (solar power); Local load restoration nodes: Node 9 (residential area), Node 14 (residential area), Node 3 (commercial area).

[0079] All the nodes restored power supply in the secondary black start are summarized in Table 8 below: Table 8

[0080] 3. The control strategies of the tertiary black start include: Control objective (after 90 minutes): The V2G facility switches to the frequency modulation mode, participates in the frequency modulation and consumption of the distribution network, and smoothly transitions to the steady-state operation. A multi-source collaborative frequency modulation mode is formed throughout the network to optimize the economy of operation control.

[0081] The key control technologies include the grid connection of thermal power units, the collaborative frequency modulation of new energy and V2G facilities, and the control scheme of diesel generators.

[0082] Grid connection of thermal power units: The thermal power unit at Node 33 completes preheating, and the output power ramps up from 0 to 5 MW (ramp rate 2 MW / min); Provide inertial response and primary frequency modulation, droop coefficient D thermal =2 Hz / p.u.

[0083] New Energy and V2G Facilities for Coordinated Frequency Regulation: Wind power and photovoltaic distributed new energy operate in a power-limiting mode (reserving 10% capacity) and participate in secondary frequency regulation; when wind power and photovoltaic exceed their limits, the V2G facilities charge to absorb the excess power (SOC ≤ 90%) to prevent frequency over-limit.

[0084] Fixed V2G uses virtual inertia control to simulate the response of a synchronous machine, and the output power fluctuations of wind farms and photovoltaic power plants are smoothed by fixed V2G facilities; , where, P FV2G represents the power of the fixed V2G facility; Δ f represents the power change, t represents the operating time.

[0085] The mobile V2G fleet gradually withdraws from black start control and is preferentially dispatched to the standby node with the largest frequency deviation in the transferred area to dynamically respond to the regional frequency deviation and is dispatched to low-inertia nodes as needed: , where, P MV2G represents the power of the mobile V2G fleet; η represents the frequency regulation weight, taken as 0.6; μ represents the SOC weight of the mobile V2G fleet, taken as 0.4; SOC available represents the SOC adapted for the frequency regulation of the mobile V2G fleet.

[0086] The transfer of the mobile V2G to the standby node is shown in Table 9: Table 9 Fleet Original node Standby node Fleet A 9 11 Fleet B 18 16 Fleet C 19 20 Fleet D 3 25 Fleet E 32 30 Diesel Generator Control Scheme: Diesel generators and thermal power units jointly undertake the base load to reduce the thermal power ramp-up pressure; provide short-term frequency regulation support when the SOC of the V2G facility is insufficient.

[0087] The diesel generator first uses droop control to synchronize with the V2G facility to prevent circulating current:

[0088] where, K p represents the droop control coefficient, f and f 0 respectively represent the real-time frequency and the rated frequency of the system, P ref represents the reference power set for droop control.

[0089] After the diesel generator is connected to the grid, it automatically switches toP / Q Mode, output power according to the dispatching instruction.

[0090] The scenarios and results of the distribution network restoration for the three - level black start are as Figure 5 shown, specifically: the network load restoration rate ≥ 95%, the frequency deviation ≤ 0.1 Hz, and the SOC of the hybrid V2G facilities is maintained within the safe range of 20% - 90%. Close all redundant connection nodes in the network to achieve multi - loop network interconnection and dynamic frequency modulation.

[0091] The summary of all nodes restored to power during the three - level black start is shown in Table 10: Table 10

[0092] By separately executing the above - mentioned three - level distribution network black - start control process, all nodes, power sources, and loads in the distribution network are restored to the normal power - supply and operation state.

[0093] Embodiment 2 This embodiment also relates to a hierarchical black - start control method for a distribution network driven by hybrid V2G facilities. The specific process is as Figure 6 shown, and specifically includes the following steps: S101, Real - time judge whether the distribution network loses power. If so, determine the distribution network structure and configuration, and enter the black - start control; S102, Judge whether the V2G facilities are in place. If so, conduct strategy design and set the selection priorities and control methods for V2G, diesel generators, distributed new energy, and thermal power; if not, keep waiting until the V2G facilities are in place and then execute the next step; S103, Enter the first - level black start, set the target nodes to be restored, key control technologies, and the mobile V2G scheduling algorithm, and implement the first - level black - start control strategy; judge whether all target nodes are restored. If so, enter S104; otherwise, continue to implement the first - level black - start control strategy; S104, Enter the second - level black start, set the target nodes to be restored, key control technologies, and the mobile V2G scheduling algorithm, and implement the second - level black - start control strategy; judge whether all target nodes are restored. If so, enter S105; otherwise, continue to implement the second - level black - start control strategy; S105, Enter the third - level black start, set the target nodes to be restored, key control technologies, and the mobile V2G scheduling algorithm, and implement the third - level black - start control strategy; judge whether all target nodes are restored. If so, end; otherwise, continue to implement the third - level black - start control strategy.

[0094] Embodiment 3 The electronic device of the present invention includes a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or computer program instructions loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0095] Multiple components in the device are connected to the I / O interface, including: an input unit, such as a keyboard, mouse, etc.; an output unit, such as various types of displays, speakers, etc.; a storage unit, such as a magnetic disk, optical disk, etc.; and a communication unit, such as a network card, modem, wireless communication transceiver, etc. The communication unit allows the device to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0096] The processing unit executes each of the methods and processes described above. For example, in some embodiments, the method can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device via the ROM and / or the communication unit. When the computer program is loaded into the RAM and executed by the CPU, one or more steps of the method described above can be executed. Alternatively, in other embodiments, the CPU can be configured to execute the method by any other suitable means (e.g., by means of firmware).

[0097] The functions described above herein can be performed at least in part by one or more hardware logic components. For example, by way of non-limitation, exemplary types of hardware logic components that can be used include: field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), system on a chip (SOC), complex programmable logic devices (CPLD), and so on.

[0098] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program code is executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, executed partially on the machine as an independent software package and partially on a remote machine, or executed entirely on a remote machine or server.

[0099] In the context of the present invention, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0100] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A hierarchical black start control method for a distribution network driven by a hybrid V2G facility, characterized in that: After real-time judgment of power failure in the configuration network, enter black start control, the hybrid V2G facility includes fixed V2G facilities and mobile V2G fleets, and the black start control method includes: judging whether the V2G facility is in place, if yes, setting the selection priority of the graded black start power supply; if not, waiting until the V2G facility is in place, and executing the next step; the black start power supply includes V2G facilities, diesel generators, distributed new energy and thermal power units; entering the first level black start, the second level black start and the third level black start in turn, and implementing the black start control strategy of the corresponding level; if all the target nodes restored at the current level are restored, enter the next level black start; the control objectives of the first level black start, the second level black start and the third level black start are: focusing on the core ring network branch nodes to ensure the power supply of the core load and the power auxiliary machine; expanding the trunk branch nodes to restore some residential areas, industrial and commercial areas; and multi-source coordinated frequency modulation and global grid connection recovery.

2. A distribution network hierarchical black start control method driven by a hybrid V2G facility according to claim 1, characterized in that: The control priorities of the hierarchical black start power supply include: The priority of power source selection for the first-level black start is from high to low: V2G facilities, diesel generators, distributed renewable energy, and thermal power; The power source selection priority for the second-level black start: distributed new energy, V2G facilities, diesel generators, and thermal power; The power source selection priority for level 3 black start is: thermal power, distributed new energy, V2G facilities, and diesel generators.

3. The method for controlling a distribution network hierarchical black start driven by a hybrid V2G facility according to claim 1, characterized in that: The first-level black start control strategy includes: the fixed V2G facilities are deployed at the core load nodes. After entering the first-level black start, the fixed V2G facilities quickly switch to the grid-connected discharge mode to start the core load; the mobile V2G fleet is flexibly supplemented to assist in waking up the thermal power units and distributed new energy; the diesel generators are on standby to restore the power supply of the lifeline project; And the key constraints of the first-level black start control include: a1) The path priorities of the mobile V2G fleet are as follows from high to low: thermal power units, distributed new energy; a2) Distributed renewable energy power supply time window constraints; a3) The SOC consumption of a single mission of the mobile V2G fleet is not greater than the set threshold. If the SOC consumption during a single mission is greater than the set threshold, the return charge is triggered; a4) The discharge power of fixed V2G shall not exceed the set rated value ratio.

4. The method for controlling a distribution network hierarchical black start driven by a hybrid V2G facility according to claim 1, characterized in that: The secondary black start control strategy includes: reconstructing the local network, using mobile V2G facilities to assist distributed renewable energy to gradually complete grid connection, and restoring target nodes of distribution stations and trunk lines; then the mobile V2G facilities continue to be dispatched to move to other nearby target nodes to be restored.

5. The method for controlling a distribution network hierarchical black start driven by a hybrid V2G facility according to claim 1, characterized in that: The secondary black start control strategy also includes: when the output of distributed renewable energy is sufficient, the distributed renewable energy is given priority to supply power, and the diesel generator remains on standby; the V2G facility smoothes the fluctuation of renewable energy, and the diesel generator is used as a frequency regulation standby; When the output of distributed renewable energy is insufficient, diesel generators will supplement the power shortage.

6. A hybrid V2G facility driven distribution network hierarchical black start control method according to claim 1, characterized in that: The three-level black start control strategy includes: thermal power units are connected to the grid to provide inertial response and primary frequency regulation; new energy and V2G facilities coordinate frequency regulation: distributed new energy operates in limited power mode and participates in secondary frequency regulation; when distributed new energy is over-generated, V2G facilities charge and absorb excess power to prevent frequency from exceeding the limit; fixed V2G uses virtual inertial control to simulate the response of synchronous machines, and the output power fluctuations of distributed new energy are smoothed by fixed V2G facilities; the mobile V2G fleet gradually withdraws from black start control, and is preferentially dispatched to the regional transfer standby node with the largest frequency deviation, dynamically responds to regional frequency deviations, and is dispatched to low inertia nodes as needed.

7. A hybrid V2G facility driven distribution network hierarchical black start control method according to claim 6, characterized in that: The three-level black start control strategy also includes: the diesel generator adopts droop control to synchronize with the V2G facility to prevent circulation, and provides short-term frequency regulation support when the SOC of the V2G facility is insufficient; the diesel generator automatically switches to P / Q mode after being connected to the grid, and outputs power according to the dispatch instruction.

8. The method for controlling a distribution network hierarchical black start driven by a hybrid V2G facility according to claim 1, characterized in that: The mobile V2G fleet performs target node scheduling based on scheduling priority, and the scheduling priority is calculated using the following formula: ， in, Y is the scheduling priority, LU is the load priority, SOC V2G Priority for V2G facilities, D The dispatching distance of mobile V2G, D max Indicates the maximum distance of the scheduling path selected by mobile V2G, Δ P RE Indicates the power change priority of distributed renewable energy. α is the load urgency weight, β Adjust the weight for the SOC status of the V2G fleet, γ is the dispatch distance weight, δ is the output volatility coefficient of distributed renewable energy.

9. The method for controlling a distribution network hierarchical black start driven by a hybrid V2G facility according to claim 1, characterized in that: The method further includes performing route optimization for a mobile V2G fleet, wherein the process comprises the following steps: Step 1, construct a standardized physical distance matrix between nodes; Step 2, calculating the total shortest path distance of the mobile V2G fleet based on the shortest path algorithm; Step 3: Calculate the shortest path scheduling time based on the constraints of path planning , ， in, i, j They represent the starting point node and the end point node of the mobile V2G fleet transfer respectively; V V2G , ij The mobile V2G fleet starts from the starting node i Move to the end node j speed; MissNodes represents the set of nodes that exceed the node power restoration time constraint due to scheduling the mobile V2G fleet along a non-shortest path; k express MissNodes A node element of a collection; T Penalty(k) Represents the penalty time for exceeding the node power restoration time constraint due to scheduling the mobile V2G fleet along a non-shortest path. The penalty time is calculated in a piecewise linear penalty manner according to the following formula: ， in, is the dispatching time of the mobile V2G fleet along the non-shortest path, T R,max is the maximum dispatching time of the mobile V2G fleet along the non-shortest path, k 1, k 2 are the penalty coefficients of different segments, and k 1< k 2.

10. A hybrid V2G facility driven distribution network hierarchical black start control method according to claim 9, characterized in that: The constraints include: b1) The V2G vehicle path meets the connectivity of the power grid topology; b2) V2G vehicle SOC meets mission requirements; b3) Restore in order of load priority; b4) The scheduling time meets the time window constraint parameters, including the time window for the restart of distributed renewable energy and thermal power units, and the time window for the node to resume power supply.

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