Hierarchical black start control method for distribution network driven by hybrid V2G facilities

Abstract

The present invention relates to the field of distribution network black starts, and more particularly to a hierarchical black start control method for distribution networks driven by hybrid V2G facilities. The method comprises: after a power outage in the configuration network, determining whether the V2G facilities are in place; if so, setting a hierarchical black start power source selection priority, wherein the black start power sources include V2G facilities, diesel generators, distributed renewable energy, and thermal power units; sequentially entering the first, second, and third levels of black starts, and implementing the corresponding levels of black start control strategies; if all target nodes restored at the current level are restored, entering the next level of black start; wherein the control objectives of the first, second, and third levels of black starts are: focusing on core ring network branch nodes to ensure power supply to core loads and auxiliary power equipment; expanding trunk branch nodes to restore some residential areas and industrial and commercial areas; and multi-source coordinated frequency modulation for global grid connection recovery. Compared with the existing technology, the present invention has the advantages of achieving hierarchical black starts, fast and stable recovery, etc.

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 power system reliability, the distribution network's black start capability is directly related to the post-disaster recovery of key social functions such as medical emergency response and communication security. With the high penetration of distributed renewable energy and the frequent occurrence of extreme climate events, traditional black start technology faces fundamental challenges: on the one hand, the randomness and low inertia characteristics of wind and solar power sources weaken the system's self-healing ability; on the other hand, the contradiction between the differentiated user load recovery requirements (minute-level core load to hour-level ordinary load) and the physical constraints of the power grid (line capacity, voltage stability) is becoming increasingly acute. Specifically, the technical bottlenecks of traditional distribution network black starts are mainly reflected in the following aspects:

[0003] (1) Traditional black start power sources lack adaptability: Hydropower units are subject to geographical constraints, and diesel generators have long startup delays (>10 minutes), making it difficult to meet the minute-level restoration requirements for critical loads. Fixed energy storage systems have slow dynamic response speeds (hourly) and limited capacity, making them unable to support large-scale power restoration. In addition, distributed power sources such as wind and solar power lack inertia support and are prone to frequency oscillation when operating in isolated islands. This requires the additional configuration of expensive compensation devices such as SVG, resulting in poor economic efficiency.

[0004] (2) Mismatch between recovery strategy and load demand: Existing black start solutions mostly adopt a single-point start mode and do not establish a hierarchical recovery mechanism. At the same time, existing technologies rely on a one-time full-load start and usually adopt an "all or nothing" load switching mode. For core loads such as medical and communication loads that require minute-level power supply, and other non-core loads that require hour-level power supply, it is impossible to achieve hierarchical response with different priorities during the fault period, resulting in a core load recovery delay of up to 5-8 minutes. At the same time, the implementation of existing black start solutions may cause excessive instantaneous surge current, triggering safety hazards such as voltage drops.

[0005] Vehicle-to-Grid (V2G) technology leverages the bidirectional charging and discharging capabilities of electric vehicles to provide second-level response speeds and distributed power support, theoretically potentially breaking through the bottlenecks of traditional black start operations. However, existing V2G technology has serious limitations in its application to distribution network black starts:

[0006] Single resource utilization model: Only fixed V2G (charging piles) or mobile V2G (charging and discharging vehicles) operate independently, with no coordinated mechanism established. Fixed V2G is constrained by parking space occupancy (average daily utilization in urban areas <30%), while mobile V2G faces high scheduling complexity and low scheduling efficiency due to traffic conditions (deployment delays of over 25 minutes have been measured).

[0007] Inadequate control strategy adaptability: Existing V2G control methods are primarily targeted at normal peak-shaving and valley-filling scenarios and focus on normal grid services. They fail to consider the unique power surge suppression, multi-voltage level coordination, and spatiotemporal coordination mechanisms required for black start, and thus fail to meet the dynamic power matching requirements of hierarchical recovery. For example, directly applying the V2G frequency regulation control algorithm can lead to a sudden increase in load during the initial black start, triggering overload protection in some V2G clusters.

[0008] Existing technologies, such as CN113675876A, use a "storage-first start-up + diesel engine subsequent replenishment" architecture. While this achieves microgrid black start control through layered recovery, it suffers from the following fundamental flaws:

[0009] Rigid power configuration: The traditional fixed combination of energy storage and diesel generators typically results in startup delays of several minutes, which cannot meet the minute-level recovery requirements for core loads.

[0010] Flat control architecture: This system uses a "full-load, one-time startup" mode, relying on the energy storage system to close the interconnecting switches step by step. This fails to implement load tiering and parallel connection, and can easily lead to distribution network safety hazards such as transient surge current and excessive voltage fluctuations.

[0011] Lack of resource coordination: The spatiotemporal dispatchability of V2G is not utilized, and the system's expansion capacity is limited. The typical recovery capacity limit is only 8MW. As a result, in actual application, it still needs to rely on the support of the upper power grid and cannot adapt to the scale of modern distribution networks (the load in a single area is usually tens of MW).

[0012] 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 grid restoration and the physical limitations of traditional power sources and the inefficient utilization of V2G resources.

[0013] How to achieve efficient and stable hierarchical black start control of distribution networks based on hybrid V2G facilities has become a technical problem that needs to be solved urgently. Summary of the Invention

[0014] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a distribution network hierarchical black start control method driven by a hybrid V2G facility.

[0015] The purpose of the present invention can be achieved by the following technical solutions:

[0016] 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 outage 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 before 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 sequence, 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 power supply to the core load and the power auxiliary equipment; expanding the main branch nodes to restore some residential areas and industrial and commercial areas; and multi-source collaborative frequency modulation and global grid recovery.

[0017] Preferably, the control priority of the hierarchical black start power supply includes:

[0018] The power source selection priority for a Level 1 black start is, from high to low, V2G facilities, diesel generators, distributed renewable energy, and thermal power.

[0019] The power source selection priority for the second-level black start is: distributed renewable energy, V2G facilities, diesel generators, and thermal power;

[0020] The power source selection priority for level 3 black start is: thermal power, distributed new energy, V2G facilities, and diesel generators.

[0021] Preferably, the first-level black start control strategy includes: fixed V2G facilities quickly switching to grid-connected discharge mode to start core loads; mobile V2G fleets flexibly supplementing to help wake up thermal power auxiliary units and distributed new energy auxiliary units; diesel generators on standby to restore power supply to lifeline projects;

[0022] The key constraints of the first-level black start control include:

[0023] a1) The path priorities of the mobile V2G fleet are as follows from high to low: thermal power units, distributed new energy;

[0024] a2) Distributed new energy auxiliary power supply time window;

[0025] a3) The SOC consumption of a single mission of the mobile V2G fleet does not exceed the set threshold. If the SOC consumption during a single mission exceeds the set threshold, a return to home charging is triggered;

[0026] a4) The discharge power of fixed V2G shall not exceed the set rated value ratio.

[0027] Preferably, 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 restore the 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.

[0028] Preferably, the secondary black start control strategy further includes: when the distributed renewable energy output is sufficient, the distributed renewable energy is given priority to supply power, and the diesel generator remains on standby; the V2G facility smoothes the renewable energy fluctuation, and the diesel generator serves as a frequency regulation standby;

[0029] When the output of distributed renewable energy is insufficient, diesel generators make up for the power shortage.

[0030] Preferably, the three-level black start control strategy includes: thermal power units are connected to the grid to provide inertia 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 inertia control to simulate synchronous machine response, and the output power fluctuations of distributed new energy are smoothed by fixed V2G facilities; the mobile V2G fleet gradually exits black start control, and is preferentially dispatched to the regional transfer backup node with the largest frequency deviation, dynamically responds to regional frequency deviation, and is dispatched to the low-inertia node as needed.

[0031] More preferably, 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 scheduling instructions.

[0032] Preferably, the mobile V2G fleet performs target node scheduling based on scheduling priority, and the scheduling priority is calculated using the following formula:

[0033] ,

[0034] in, Y is the scheduling priority, LU is the load priority, SOC V2G Prioritization of 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 REIndicates the power change priority of distributed new 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.

[0035] Preferably, the method further comprises performing route optimization for the mobile V2G fleet, wherein the process comprises the following steps:

[0036] Step 1: Construct a standardized physical distance matrix between nodes;

[0037] Step 2: Calculate the total shortest path distance of the mobile V2G fleet based on the shortest path algorithm;

[0038] Step 3: Calculate the shortest path scheduling time based on the constraints of path planning ,

[0039] ,

[0040] in, i, j They represent the starting node and the ending 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 dispatching 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:

[0041] ,

[0042] 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.

[0043] More preferably, the constraints include:

[0044] b1) The V2G vehicle path meets the connectivity of the power grid topology;

[0045] b2) V2G vehicle SOC meets mission requirements;

[0046] b3) Restoration in order of load priority;

[0047] 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 restore power supply.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. This invention overcomes the limitations of traditional black start power sources. By jointly driving fixed and mobile V2G facilities, it divides the distribution network restoration process into three stages: "core load activation - local network reconstruction - global grid restoration" and implements corresponding black start control strategies. This gradually restores the critical loads and important nodes of the power grid, achieving a multi-scale recovery of "minute-level core load awakening - hour-level network reconstruction - and several hours-level global optimization." This meets the time and efficiency requirements of each level of restoration objectives and avoids grid instability caused by a one-time restoration.

[0050] 2. This invention prioritizes the selection of hierarchical black start power sources and dynamically allocates the output of each power source. V2G facilities are prioritized during emergency phases, and traditional power sources are gradually switched to during steady-state phases. This reduces battery loss in V2G facilities, optimizes the coordination between V2G facilities and traditional black start power sources, and ensures the efficiency and reliability of the black start process.

[0051] 3. This invention sets a control strategy for each black start level, restoring power to all nodes through the reuse of V2G facilities and distributed renewable energy. Fixed V2G facility users quickly wake up core load nodes, while mobile V2G fleets flexibly assist in waking up thermal power units and distributed renewable energy. Diesel generators are on standby to restore power to lifeline projects. This not only meets the reliability and redundancy requirements of distribution network black starts, but also reduces the overall cost of black starts. Ultimately, it deeply optimizes the efficiency, rationality, and stability of distribution network black starts, while improving social and economic benefits.

[0052] 4. This invention prioritizes and optimizes mobile V2G fleets, ensuring they reach their target nodes for discharge or auxiliary power supply at the optimal path and time. By fully leveraging the distributed nature of V2G infrastructure and optimizing scheduling, this approach reduces reliance on traditional black start power sources, lowering overall black start costs while improving black start efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Schematic diagram of the IEEE 33-node distribution network topology with hybrid V2G facilities in the present invention;

[0054] Figure 2 Schematic diagram of a scenario in which a distribution network failure causes a power outage in the entire network in the present invention;

[0055] Figure 3 Schematic diagram of the distribution network restoration scenario and results of a first-level black start in the present invention;

[0056] Figure 4 Schematic diagram of the distribution network restoration scenario and results of the secondary black start in the present invention;

[0057] Figure 5 Schematic diagram of the distribution network restoration scenario and results of the three-level black start in the present invention;

[0058] Figure 6 Schematic diagram of the process of the hierarchical black start control method of the present invention. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0060] This invention addresses the following deficiencies in current black start control and proposes a control strategy for a "fixed-mobile hybrid V2G drive power supply and hierarchical black start." Current distribution network black start technology has the following problems:

[0061] (1) Traditional black start drive power supply is single and inefficient: Current grid black start mainly relies on traditional power sources such as diesel generators and hydropower stations, which have slow response speeds (>30 minutes) and are restricted by geographical conditions. Usually, a single power source is used, which makes it difficult to cope with the multi-point failure and hierarchical recovery requirements of complex power grids.

[0062] (2) Insufficient capacity of a single V2G mode: Existing V2G solutions rely solely on fixed charging piles (such as charging stations), which are usually deployed at fixed locations. The discharge capacity is limited by the density of fixed facilities and cannot flexibly respond to dynamic changes in grid fault points, making it difficult to cover large areas of power outages.

[0063] (3) No hierarchical coordination mechanism: The existing black start strategy adopts an “all or nothing” model and lacks priority differentiation for critical loads (hospitals, communication base stations), resulting in low recovery efficiency.

[0064] (4) Rigidity in mobile resource scheduling: Electric vehicles, as mobile energy storage units, are not included in the black start system, and their temporal and spatial flexibility is not utilized.

[0065] This invention proposes a new black start drive power supply and coordinated control paradigm to resolve this contradiction through the following technical ideas:

[0066] Build a V2G facility collaborative architecture suitable for black start scenarios, fully leveraging the steady-state support capabilities of fixed V2G and the dynamic compensation advantages of mobile V2G to achieve dual-mode operation of "steady-state support + dynamic expansion";

[0067] Develop a hierarchical control strategy with spatiotemporal coupling to achieve multi-scale recovery, including "minute-level core load wake-up, hour-level network reconstruction, and several-hour-level global optimization." Differentiated V2G combinations and control strategies are configured at each stage.

[0068] Implement dynamic path optimization for V2G clusters: Based on the improved Dijkstra algorithm and integrated with real-time traffic data, we achieve minute-level accessibility guarantee for mobile V2G, significantly improving path planning efficiency compared to traditional methods.

[0069] Example 1

[0070] This embodiment relates to a hierarchical black start control method for a distribution network driven by a hybrid V2G facility, which fully utilizes the distributed characteristics and coordinated control of fixed and mobile V2G facilities to reduce dependence on traditional black start power sources.

[0071] In terms of black start resource coordination, fixed V2G is used as a steady-state power source to provide stable basic power support and baseline support. Mobile V2G is used as a dynamic power source to flexibly respond to dynamic changes in grid fault points, dynamically fill gaps on demand, and address coverage blind spots of fixed facilities, achieving rapid response and coverage. A dynamic power allocation algorithm is designed to switch between the two types of facility-led modes based on real-time demand, significantly improving the flexibility and dynamic expansion capabilities of the grid during black starts.

[0072] A hierarchical blackstart control strategy is proposed to address the priority requirements of different loads and systems at different levels during the blackstart and restoration process. Within the hierarchical control architecture, the distribution network restoration process is divided into three stages: core load startup, local network reconstruction, and global grid restoration. A multi-class blackstart power source priority strategy is designed, encompassing V2G facilities, distributed renewable energy, diesel generators, and thermal power. Within each restoration stage, V2G facility-driven priority is evaluated in real time based on state of charge (SOC), distance, and load demand. Based on the restoration objectives at each stage, different leading driver facilities and restoration timescales are designed to meet the time and efficiency requirements of each restoration objective and achieve optimal resource allocation. Through hierarchical control, critical loads and important nodes of the grid are gradually restored, avoiding grid instability caused by a single restoration. By leveraging the distributed nature and coordinated control of V2G facilities, reliance on traditional blackstart power sources is reduced. The distribution network restoration process is divided into three stages, and the overall blackstart cost is reduced through V2G facility reuse. Ultimately, the efficiency, rationality, and stability of distribution network blackstarts are optimized, while enhancing social and economic benefits.

[0073] To optimize the coordination of multiple power sources, a collaborative optimization mechanism has been designed for hybrid V2G facilities and traditional black start power sources (such as diesel generators). Through intelligent scheduling and dynamic weighting algorithms, the output of each power source is dynamically allocated. V2G takes the lead in emergency situations, and traditional power sources are gradually switched to during steady-state periods. This reduces V2G battery loss, achieves multi-source coordinated control, and mitigates overload risks. Furthermore, in extreme scenarios, such as V2G facility failure or damage due to disasters (such as flooding of charging stations or vehicle failure), diesel generators can quickly take over powering core loads, avoiding restoration interruptions. This meets the reliability and redundancy requirements of the distribution network black start and ensures the efficiency and reliability of the black start process. A dynamic weighting algorithm is used to allocate the output ratio of V2G and traditional power sources, reducing overload risks.

[0074] Firstly, the distribution network topology including fixed-mobile hybrid V2G facilities is introduced, such as Figure 1 The IEEE 33-node distribution network model, based on the distribution network topology, consists of 33 nodes and 32 lines, with one root node (balancing node) and 32 load nodes. It exhibits typical characteristics of an actual distribution network and can accurately reflect the network's operating status under different conditions and various post-outage operational scenarios, including key steps such as islanding and load restoration. Its complex structure, diverse simulation capabilities, ease of control and observation, and broad application base make it an ideal choice for studying blackstart control issues. Therefore, this application uses this model as a basis to design and verify a hierarchical blackstart control strategy driven by fixed-mobile hybrid V2G facilities.

[0075] The power supply, load and V2G facility configuration designs in the IEEE 33-node distribution network are shown in Tables 1 to 3. Table 1 shows the power supply configuration of the node.

[0076] Table 1

[0077] node type capacity Features 33 thermal power units 10MW Traditional main power supply, black start main power supply, ramp rate 2MW / min 16、24 diesel generators 1MW, 0.8MW Backup power for core loads 10 Distributed wind turbines 2×1.5MW Dual wind turbine configuration, maximum output of a single unit is 1.5MW 28 Distributed wind turbines 1×2MW Single fan, cut-in wind speed 3m / s 7、15、21 Distributed photovoltaic power stations 1MW, 0.8MW, 1.2MW With energy storage buffer (100kWh / station)

[0078] The main loads and priorities of the nodes are shown in Table 2.

[0079] Table 2

[0080] node type capacity Priority 5 Hospital 250kW P1 (highest) 12 communication center 180kW P1 22 government agencies 150kW P1 9、14、19 residential area 300kW / node P2 3、6、18 commercial district 300kW / node P3 27、32 Industrial Zone 500kW P3

[0081] The V2G facility configuration of the node is shown in Table 3:

[0082] Table 3

[0083]

[0084] Next, the hierarchical black start control process of distribution network based on different time scales is introduced.

[0085] In a typical distribution network black start scenario, the fault type is: extreme weather (such as typhoons) causing multiple transmission line breaks and equipment damage. Power outage scope: thermal power units shut down, wind power / photovoltaic power cannot start due to auxiliary power outage, resulting in power outage of the entire network. Figure 2 shown.

[0086] Hierarchical black start strategy design: The restoration of the distribution network needs to follow the hierarchical principle of "from point to surface". Using V2G facilities as the black start driving power source has the advantages of flexibility and economy, but it 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 extreme weather (such as continuous cloudy days and no wind) causes insufficient output of new energy; V2G facilities rely on grid communication and vehicle dispatching. If the communication is interrupted or the vehicle is damaged, the traditional power source can be used as a backup guarantee. To this end, the present invention designs a strategy for the coordination of V2G facilities and diesel generators to fully meet the reliability redundancy requirements of the black start of the distribution network. If the distribution network is simultaneously equipped with different black start power sources such as V2G facilities, diesel generators, distributed new energy (wind power / photovoltaic power), and thermal power, the priority strategy for the selection of the black start power source of the distribution network is designed as follows:

[0087] The power source selection priority for a Level 1 black start is: V2G facilities > diesel generators > distributed renewable energy (wind power / photovoltaic power) > thermal power;

[0088] The power source selection priority for Level 2 black start is: distributed renewable energy (wind power / photovoltaic) > V2G facilities > diesel generators > thermal power;

[0089] The power source selection priority for level 3 black start is: thermal power > distributed renewable energy (wind power / photovoltaic) > V2G facilities (frequency regulation mode) > diesel generators.

[0090] The triggering conditions for black start power supply at all levels are: dynamic adjustment according to real-time output gap and power supply availability.

[0091] The diesel generator starts when one of the following two conditions is met:

[0092] The SOC of the V2G facility is less than 20% or the communication is interrupted;

[0093] The continuous output of distributed new energy is less than 50% of the load demand for 30 minutes or more.

[0094] 1. Level 1 black start control strategy includes:

[0095] The control target (0-30 minutes) focuses on the core ring network branch nodes to ensure the power supply of core loads and auxiliary power equipment; fixed V2G facilities dominate the power supply of core loads, and the mobile V2G fleet flexibly supplements and assists in waking up thermal power auxiliary equipment and new energy auxiliary equipment. Diesel generators are on standby to restore power supply for lifeline projects.

[0096] The key constraints of the first-level black start control include:

[0097] a1) Route priority of mobile V2G fleets: thermal power > wind power > photovoltaic power;

[0098] a2) New energy auxiliary power supply time window: wind power ≤ 15 minutes / node, photovoltaic ≤ 10 minutes / node;

[0099] a3) The SOC consumption of a mobile V2G fleet in a single mission does not exceed a set threshold (e.g., 30%). If the SOC consumption during a single mission exceeds 30%, a return to home charging is triggered;

[0100] a4) The discharge power of fixed V2G does not exceed the preset rated value ratio (for example: 80%).

[0101] Key control technologies include:

[0102] (1) The fixed V2G is quickly switched to the grid-connected discharge mode and the core load is started: the fixed V2G (i.e., charging piles) at nodes 5, 12, and 22 are switched to the discharge mode, giving priority to supplying power to the hospital and the communication center, with output powers of 200kW, 180kW, and 150kW, respectively;

[0103] (2) Fixed V2G is automatically connected to the grid through a preset black start protocol. The voltage support is controlled by the local inverter, maintaining a ±2% deviation and a frequency deviation of ≤±0.1Hz.

[0104] (3) Mobile V2G supports thermal power auxiliary equipment and distributed new energy (wind power / photovoltaic): Node 8 is the station for the mobile V2G fleet, which consists of 5 5×200kW / 400kWh mobile V2G vehicles.

[0105] The target node scheduling algorithm for mobile V2G fleets includes:

[0106] Dispatch priority algorithm for mobile V2G fleets:

[0107] ,

[0108] in, Y is the priority score, LU is the load priority, SOC V2G Prioritization of 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 new 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.

[0109] (a) α is the load urgency weight:

[0110] In the IEEE 33-node standard data, core load accounts for 20% to 30% of the total network load and needs to be prioritized. Different load urgency weights are set according to the type of load node, specifically:

[0111] Core load nodes (nodes 5, 12, and 22): assigned the highest weight (α=0.5), corresponding to non-interruptible loads such as hospitals and communication centers;

[0112] Residential load nodes (nodes 9, 14, and 19): The weight is second (α = 0.3) because they can tolerate short power outages;

[0113] Commercial / industrial load nodes (nodes 3, 6, and 18): have the lowest weight (α = 0.2) and are allowed to recover later.

[0114] (b) β Adjust the weights for the SOC status of the mobile V2G fleet:

[0115] Based on the V2G battery life model, frequent deep charging and discharging will accelerate aging, and the SOC fluctuation range needs to be limited.

[0116] (c) γ is the dispatch distance weight:

[0117] Based on the line impedance and flow direction between nodes, the equivalent distance is calculated using the forward-backward substitution method. D max The maximum electrical distance in the distribution network (approximately 5 km for IEEE 33 nodes). Electrical distance directly affects dispatch time and network losses. Prioritize dispatching nearby nodes to minimize losses.

[0118] (d) δ is the output volatility coefficient of distributed renewable energy

[0119] Calculate the standard deviation based on historical wind power / photovoltaic output data σ , normalized to a volatility coefficient of 0~1; weight distribution: high volatility ( σ >0.3): δ =0.2, V2G frequent compensation is required; medium fluctuation (0.1< σ ≤0.3): δ =0.1; low volatility ( σ ≤0.1): δ = 0. The output of wind power nodes (such as 10 and 28) and photovoltaic nodes (7, 15, and 21) fluctuates significantly, and the scheduling priority needs to be dynamically adjusted.

[0120] Take the mobile V2G fleet dispatched from node 8 to node 7 as an example:

[0121] Parameter input: LU =2, D =3.0km, SOC =70%, PV fluctuation σ=0.25;

[0122] Weight calculation: α =0.5, β =0.2, γ =0.28(1 / (1+3.0 / 5)), δ =0.1;

[0123] Priority Score: Y =0.5×2 + 0.2×0.7 + 0.175 + 0.1 = 1.415 (secondary priority).

[0124] Building a route optimization model for a mobile V2G fleet includes the following steps:

[0125] Step 1: Construct the standardized physical distance matrix between nodes:

[0126] Based on the line length (in km) in the IEEE 33-node standard data and the layout of a typical urban distribution network, the average distance between nodes is 0.5-2 km. An IEEE 33-node distance matrix (see Table 4 for an example) is constructed (e.g., the distance between nodes 1-2 is 0.8 km, and the distance between nodes 2-3 is 1.2 km).

[0127] When nodes are physically connected, the mobile V2G fleet moves sequentially along the physical connection path between nodes. When nodes are not directly connected, the mobile V2G fleet uses the Dijkstra shortest path algorithm to calculate the multi-hop distance between nodes without direct physical connections. The multi-hop distance is the sum of the distances between all adjacent nodes when there is no direct connection between two points and the connection must be passed through multiple intermediate nodes ("hops") in a step-by-step manner.

[0128] Table 4

[0129] starting point end 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 (multiple hops) 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

[0130] Step 2, a method for calculating the total shortest path distance of a mobile V2G fleet based on the Dijkstra algorithm, includes the following steps:

[0131] 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 a priority queue (sorted by distance).

[0132] Step 2-2. Iterative selection:

[0133] Remove the unvisited node with the shortest current distance from the queue (such as node 8).

[0134] Step 2-3. Update neighbor distance:

[0135] Traverse the neighboring nodes of the node (such as nodes 7 and 9) and calculate the new distance:

[0136] New distance = current node distance + segment distance (e.g. 8→7 distance is 2.0km)

[0137] If the new distance is less than the original distance of the neighbor node, the queue is updated and reordered.

[0138] Step 2-4. Termination conditions:

[0139] Repeat steps 2-2 to 2-3 until the target node is reached (such as hospital node 5) or the queue is empty.

[0140] Step 2-5. Output:

[0141] Backtrack the path and accumulate the distance of each segment to obtain the total distance of the shortest path from the starting point to the target node.

[0142] Step 3: Calculate the shortest path scheduling time based on the path planning constraints.

[0143] The constraints for path planning include:

[0144] b1) V2G vehicle path connectivity: The path must conform to the grid topology (avoiding faulty lines);

[0145] b2) V2G vehicle SOC limitation: The remaining battery capacity of the vehicle must meet the mission requirements:

[0146] When SOC < 30%, the vehicle needs to return to the city for charging;

[0147] When SOC>80%, high-priority tasks are scheduled first.

[0148] b3) Priority order: restore based on core load first.

[0149] Vehicles cannot visit the same node repeatedly (unless charging)

[0150] b4) Time window constraint parameters

[0151] Thermal power plant node: The time window for auxiliary generator restart is set to 30 minutes;

[0152] Wind power / PV nodes: The time window for auxiliary generator restart is set to 1 hour;

[0153] Core load nodes: The time window for restoring power supply is set to 30 minutes;

[0154] Residential load node: The time window for restoring power supply is set to 2 hours.

[0155] Calculate the shortest path scheduling time :

[0156] ,

[0157] in, i, j They represent the starting node and the ending 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; TPenalty(k) Represents the penalty time for exceeding the node power restoration time constraint due to scheduling a mobile V2G fleet along a non-shortest path. The penalty time adopts a piecewise linear penalty (time threshold constraint) method, setting a threshold for the scheduling time of each path. T R,max The excess amount will be accumulated according to the stepped penalty coefficient. Calculation is based on the following formula:

[0158] ,

[0159] in, is the scheduling time of the regular non-shortest path, k 1, k 2 are the penalty coefficients of different segments, and k 1< k 2. Reflect high penalties for serious overtime (e.g. k 1=1.5, k 2=3).

[0160] The driving speed of the mobile V2G fleet is set as follows:

[0161] When traveling on non-arterial roads, the speed of the mobile V2G fleet is V d =30 km / h, which is also set as the default speed for mobile V2G fleets;

[0162] When driving on main roads, the speed of the mobile V2G fleet increases to V m =50 km / h;

[0163] When driving on congested roads: the speed of the mobile V2G fleet is reduced to V c =10~20 km / h, and needs to be dynamically adjusted according to real-time traffic data.

[0164] Since the present invention does not involve the specific road conditions in the area where the distribution network is located, the default speed of the mobile V2G fleet when traveling on non-main roads in the city is used as the driving speed of the mobile V2G fleet, and the dispatch time of the mobile V2G fleet is calculated as a reference value in common urban distribution network scenarios.

[0165] Combining the IEEE 33-node distribution network structure, core load, and power point distribution, it was concluded through planning that the mobile V2G fleet stationed at node 8 needs to be divided into five groups, each traveling along different paths to different nodes for power support. The path planning is shown in Table 5.

[0166] Table 5

[0167] Mobile V2G fleet starting point end Shortest path distance (km) Scheduling Path Scheduling time (minutes) Function Team A 8 7 1.0 8→7 2.0 Repair and supply of PV inverter (35kW) Team A 7 10 4.5 7→8→9→10 9.0 Start the fan pitch control system (50kW) and cooling device (30kW) Team B 8 15 5.2 8→9→10→11→12→13→14→15 10.4 Repair and supply of PV inverter (30kW) Team C 8 21 6.8 8→7→21 13.6 Repair and supply of PV inverter (40kW) Team D 8 28 3.0 8→7→6→26→27→28 6.0 Start the fan pitch control system (60kW) and cooling device (35kW) Team E 8 33 8.0 8→7→6→5→4→3→2→1→33 (multiple hops) 16.0 Support thermal power boiler water pump (200kW)

[0168] Among them, from node 8 → node 7 and from node 7 → node 10 are two segmented paths of the same mobile V2G fleet.

[0169] It can be seen that the dispatch time of mobile V2G fleet E is about 16 minutes, which meets the time window for restarting the auxiliary equipment of the thermal power node; the dispatch time of other fleets is also within 15 minutes, which meets the time window for restarting the auxiliary equipment of the wind power / photovoltaic node.

[0170] The recovery result of the first-level black start is as follows Figure 3 , as follows:

[0171] Thermal power auxiliary equipment start-up: The boiler is preheated (25 minutes), and the power supply is continuously provided by fleet A, and the thermal power output power climbs from 0 to 2MW.

[0172] Wind power / PV auxiliary power supply: Nodes 7, 10, 15, 21, and 28 start the self-test procedure, which takes 10 minutes;

[0173] Main recovery node:

[0174] Core load nodes: Node 5 (hospital), Node 12 (communication center), Node 22 (government agency); Power auxiliary equipment start-up nodes: Node 33 (thermal power), Nodes 10 and 28 (wind power), Nodes 7, 15, and 21 (photovoltaic).

[0175] All nodes that restored power during the first-level black start are summarized in Table 6 below:

[0176] Table 6

[0177]

[0178] 2. The secondary black start control strategy includes:

[0179] Control Objectives (30-90 minutes): Expand trunk and branch line nodes, restore some residential, commercial, and industrial areas, restructure local networks, gradually integrate distributed wind and solar power, restore distribution stations and trunk lines, and gradually restore industrial and commercial loads.

[0180] Key control technologies: New energy power station self-startup includes wind turbine startup and photovoltaic power station startup, specifically:

[0181] (1) Wind turbine: Mobile V2G provides grid-connected voltage, and the output of the wind turbine increases with wind speed after it is started;

[0182] (2) Photovoltaic power station: Mobile V2G provides grid-connected voltage and repairs the inverter, and the output is restored to the rated value as the sunlight increases.

[0183] After the mobile V2G-assisted wind power / photovoltaic distributed new energy is connected to the grid, it will continue to be dispatched to nearby residential or industrial and commercial loads, as shown in Table 7, to improve the stability and reliability of the load power supply in the initial stage of restoration.

[0184] Table 7

[0185] fleet Original node Nearby load nodes Team A 10 9 Team B 15 18 Team C 21 19 Team D 28 3 Team E 33 32

[0186] The control strategy of diesel generators includes:

[0187] Scenario 1: When renewable energy output is sufficient, wind power / photovoltaic power generation takes priority, and diesel generators remain on standby; V2G facilities smooth out renewable energy fluctuations, and diesel generators serve as a frequency regulation backup.

[0188] Scenario 2: When the output of renewable energy is insufficient, the diesel generator supplements the power shortage:

[0189] ,

[0190] in, P diesel Indicates the diesel generator power, P load Indicates the load power of the distribution network, P V2G represents the total power of fixed and mobile V2G facilities, P RE Represents the distributed renewable energy power of the distribution network.

[0191] The recovery scenarios and results of the second-level black start are as follows: Figure 4 , specifically including:

[0192] Renewable energy grid-connected power generation recovery nodes: Node 10 (wind power), Node 28 (wind power), Node 7 (photovoltaic), Node 15 (photovoltaic), Node 21 (photovoltaic);

[0193] Local load restoration nodes: Node 9 (residential area), Node 14 (residential area), Node 3 (commercial area).

[0194] All nodes that restored power during the secondary black start are summarized in Table 8 below:

[0195] Table 8

[0196]

[0197] 3. The three-level black start control strategy includes:

[0198] Control Target (after 90 minutes): V2G facilities switch to frequency regulation mode, participate in the distribution network's frequency regulation and absorption, and smoothly transition to steady-state operation. A multi-source coordinated frequency regulation model is established across the entire network, optimizing the economic efficiency of operational control.

[0199] Key control technologies include grid connection of thermal power units, coordinated frequency regulation of new energy and V2G facilities, and diesel generator control solutions.

[0200] Thermal power unit grid connection: Node 33 thermal power unit completes preheating, and output power increases from 0 to 5 MW (ramp rate 2 MW / min);

[0201] Provide inertial response and primary frequency modulation, droop coefficient D thermal =2 Hz / pu.

[0202] Renewable energy and V2G facilities coordinate frequency regulation: Wind power / photovoltaic distributed renewable energy operates in limited power mode (10% capacity is reserved) and participates in secondary frequency regulation; when wind power / photovoltaic power exceeds generation, V2G facilities charge and absorb excess power (SOC≤90%) to prevent frequency from exceeding the limit.

[0203] Fixed V2G uses virtual inertial control to simulate the response of synchronous machines, and the output power fluctuations of wind farms and photovoltaic power plants are smoothed by fixed V2G facilities;

[0204] ,

[0205] in, P FV2G Indicates the power of fixed V2G facilities; Δ f Indicates the power change, t Indicates the running time.

[0206] The mobile V2G fleet gradually exits black start control and is preferentially dispatched to the backup node for regional transfer with the largest frequency deviation. It dynamically responds to regional frequency deviations and dispatches to low-inertia nodes as needed:

[0207] ,

[0208] in, P MV2G represents the power of the mobile V2G fleet; η represents the FM weight, which is set to 0.6; μ It represents the SOC weight of the mobile V2G fleet, which is 0.4; SOC available Indicates the SOC adapted to the frequency regulation of the mobile V2G fleet.

[0209] The mobile V2G transfer to the backup node is shown in Table 9:

[0210] Table 9

[0211] fleet Original node Standby node Team A 9 11 Team B 18 16 Team C 19 20 Team D 3 25 Team E 32 30

[0212] Diesel generator control solution: Diesel generators and thermal power units share the base load, reducing the pressure of thermal power ramping; and provide short-term frequency regulation support when the SOC of the V2G facility is insufficient.

[0213] The diesel generators are first synchronized with the V2G facilities using droop control to prevent circulating currents:

[0214]

[0215] in, K p represents the droop control coefficient, f and f 0 represents the real-time frequency and rated frequency of the system, P ref Indicates the reference power set for droop control.

[0216] After the diesel generator is connected to the grid, it will automatically switch to P / Q mode, output power according to the scheduling instructions.

[0217] The distribution network restoration scenarios and results of the three-level black start are as follows Figure 5 Specifically, the network-wide load recovery rate is ≥ 95%, the frequency deviation is ≤ 0.1 Hz, and the hybrid V2G facility SOC is maintained within a safe range of 20% to 90%. Network-wide redundant communication nodes are closed, enabling multi-ring network interconnection and dynamic frequency modulation.

[0218] Table 10 summarizes all nodes that restored power during the three-level black start:

[0219] Table 10

[0220]

[0221] By executing the above three levels of distribution network black start control processes respectively, all nodes, power sources and loads in the distribution network can be restored to normal power supply and operation status.

[0222] Example 2

[0223] This embodiment also relates to a distribution network hierarchical black start control method driven by a hybrid V2G facility. The specific process is as follows: Figure 6 As shown, the specific steps include:

[0224] S101, determining in real time whether the configuration network is out of power. If so, determining the distribution network structure and configuration and entering black start control;

[0225] S102: Determine whether V2G facilities are in place. If so, perform strategy design to set the selection priority and control method for V2G, diesel generators, distributed renewable energy, and thermal power. If not, wait until the V2G facilities are in place before proceeding to the next step.

[0226] S103, enter the first level black start, set the target nodes for recovery, key control technologies and mobile V2G scheduling algorithm, and implement the first level black start control strategy; determine whether all target nodes have been recovered. If so, enter S104; otherwise, continue to implement the first level black start control strategy;

[0227] S104: Entering the second-level black start, setting the target nodes to be restored, key control technologies, and mobile V2G scheduling algorithm, and implementing the second-level black start control strategy; determining whether all target nodes have been restored, if so, proceeding to S105; otherwise, continuing to implement the second-level black start control strategy;

[0228] S105, enter the third level black start, set the target nodes to be restored, key control technologies and mobile V2G scheduling algorithm, and implement the third level black start control strategy; determine whether all target nodes have been restored, if so, end; otherwise, continue to implement the third level black start control strategy.

[0229] Example 3

[0230] 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 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.

[0231] Many components in a device are connected to the I / O interface, including: input units, such as a keyboard and mouse; output units, such as various types of displays and speakers; storage units, such as magnetic disks and optical disks; and communication units, such as network cards, modems, and wireless communication transceivers. The communication unit allows the device to exchange information / data with other devices via computer networks such as the Internet and / or various telecommunication networks.

[0232] The processing unit performs the various 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 on the device via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by the CPU, one or more steps of the method described above can be performed. Alternatively, in other embodiments, the CPU can be configured to execute the method in any other appropriate manner (e.g., by means of firmware).

[0233] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0234] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0235] In the context of the present invention, machine-readable medium can be a tangible medium that can contain or store a program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0236] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection 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 outage in the distribution network, black start control is entered. The hybrid V2G facility includes fixed V2G facilities and mobile V2G fleets. The black start control method includes: judging whether the V2G facility is in place. If yes, setting the selection priority of the hierarchical black start power supply; if not, waiting until the V2G facility is in place before 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, entering 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 equipment; expanding the main branch nodes to restore some residential areas, industrial and commercial areas; and multi-source coordinated frequency modulation and global grid recovery; The first-level black start control strategy includes: the fixed V2G facilities are deployed at core load nodes. After entering the first-level black start, the fixed V2G facilities quickly switch to grid-connected discharge mode to start the core load; the mobile V2G fleet is flexibly supplemented to help wake up thermal power units and distributed renewable energy; diesel generators are on standby to restore power to lifeline projects; 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 does not exceed the set threshold. If the SOC consumption during a single mission exceeds the set threshold, a return to home charging is triggered; a4) The discharge power of fixed V2G shall not exceed the set rated value ratio.

2. The method for controlling a hierarchical black start of a distribution network 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 power source selection priority for a Level 1 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 is: distributed renewable 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 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 the target nodes of distribution stations and trunk lines; then the mobile V2G facilities continue to be dispatched and moved to other nearby target nodes to be restored.

4. The method for controlling a hierarchical black start of a distribution network driven by a hybrid V2G facility according to claim 1, characterized in that: The second-level black start control strategy also includes: when the output of distributed renewable energy is sufficient, the distributed renewable energy will be given priority for power supply, and the diesel generator will remain on standby; V2G facilities will smooth the fluctuations of renewable energy, and the diesel generator will serve as a frequency regulation standby; When the output of distributed renewable energy is insufficient, diesel generators make up for the power shortage.

5. The method for controlling a hierarchical black start of a distribution network driven by a hybrid V2G facility 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 inertia 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 inertia 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 exits black start control, and is preferentially dispatched to the regional transfer backup node with the largest frequency deviation, dynamically responds to regional frequency deviations, and is dispatched to low-inertia nodes as needed.

6. The method for controlling a hierarchical black start of a distribution network driven by a hybrid V2G facility according to claim 5, characterized in that: The three-level black start control strategy also includes: diesel generators use droop control to synchronize with V2G facilities to prevent circulation and provide short-term frequency regulation support when the SOC of the V2G facilities is insufficient; after the diesel generators are connected to the grid, they automatically switch to P / Q mode and output power according to the dispatch instructions.

7. The method for controlling a hierarchical black start of a distribution network driven by a hybrid V2G facility according to claim 1, characterized in that: The mobile V2G fleet schedules target nodes based on scheduling priorities, which are calculated using the following formula: ， in, Y is the scheduling priority, LU is the load priority, SOC V2G Prioritization of 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 new 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.

8. The method for controlling a hierarchical black start of a distribution network 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: 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 based on the constraints of path planning , ， in, i, j They represent the starting node and the ending 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 dispatching 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: ， 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.

9. The method for controlling a hierarchical black start of a distribution network driven by a hybrid V2G facility according to claim 8, 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) Restoration 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 restore power supply.

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