Offshore wind storage frequency modulation control method and device, terminal equipment and storage medium

Abstract

The invention discloses an offshore wind storage frequency modulation control method and device, terminal equipment and a storage medium, and belongs to the technical field of offshore wind power, and the method comprises the steps: obtaining the first operation frequency of a target power grid, carrying out the first frequency modulation iteration operation based on the first operation frequency, and repeatedly executing the frequency modulation iteration operation, therefore, the operation frequency of the target power grid can be kept smaller than the frequency threshold, and rolling calculation of power grid frequency modulation is realized. In each frequency modulation iteration operation, comparing the input operation frequency with the frequency threshold: when the input operation frequency is smaller than the frequency threshold, obtaining the operation frequency of the target power grid again, and executing the frequency modulation iteration operation again; and when the frequency is greater than the frequency threshold value, adjusting an offshore wind storage system composed of the offshore wind turbine generator and the energy storage system by acquiring output data of the offshore wind turbine generator and output data of the energy storage system, and re-executing the frequency modulation iteration operation. Therefore, by implementing the method, the problem of low efficiency of offshore wind storage frequency modulation is solved.

Description

Technical Field

[0001] The present invention relates to the field of offshore wind power technology, and in particular to an offshore wind storage frequency regulation control method, device, terminal equipment and storage medium. Background Art

[0002] Offshore wind turbines offer high dispatchability and responsiveness, making them suitable as a frequency regulation resource. Energy storage systems can help smooth offshore wind power output, storing excess energy and releasing it during peak demand, thereby improving the flexibility and efficiency of the power system. Offshore wind turbines and energy storage systems together form an offshore wind-storage system. Traditional frequency regulation strategies for offshore wind storage typically rely on manual frequency regulation. However, since manual regulation relies on experience, it is prone to significant frequency regulation delays, resulting in low efficiency.

[0003] Therefore, there is an urgent need for an offshore wind storage frequency regulation control strategy to solve the problem of low efficiency of offshore wind storage frequency regulation. Summary of the Invention

[0004] Embodiments of the present invention provide a method, apparatus, terminal device, and storage medium for controlling frequency regulation of offshore wind storage to solve the problem of low efficiency of frequency regulation of offshore wind storage.

[0005] In order to solve the above problems, an embodiment of the present invention provides an offshore wind storage frequency regulation control method, comprising:

[0006] Obtaining a first operating frequency of a target power grid;

[0007] Using the first operating frequency as an input for a first frequency modulation iterative operation, and repeatedly performing the frequency modulation iterative operation so that the operating frequency of the target power grid is less than a frequency threshold;

[0008] The frequency modulation iterative operation is specifically as follows:

[0009] Judge the current input;

[0010] If the current input is greater than or equal to the frequency threshold, obtaining the operating parameters of the target power grid, generating offshore wind turbine output data and energy storage system output data based on the current input and the operating parameters, controlling the operation adjustment of the offshore wind turbine based on the offshore wind turbine output data, and controlling the operation adjustment of the energy storage system based on the energy storage system output data; and after the operation adjustment of the offshore wind turbine and the energy storage system, re-obtaining the second operating frequency of the target power grid, and using the second operating frequency as the input of the next frequency modulation iterative operation;

[0011] If the current input is less than the frequency threshold, the offshore wind turbine and the energy storage system are not controlled to perform operation adjustments, and the third operating frequency of the target power grid is reacquired and used as the input for the next frequency regulation iterative operation.

[0012] As an improvement to the above solution, generating offshore wind turbine output data and energy storage system output data based on current input and operating parameters includes:

[0013] Obtain preset matrix data and model optimization objective function;

[0014] Substituting the matrix data and operating parameters into the MPC frequency regulation control model to obtain several sets of prediction data; each set of prediction data includes: the predicted output of the offshore wind turbine and the predicted output of the energy storage system;

[0015] Combine the current input with each set of running prediction data to obtain several sets of data to be calculated;

[0016] Each set of data to be calculated is substituted into the model optimization objective function, and the predicted data corresponding to the data to be calculated with the minimum objective function value is used as the output data of the offshore wind turbine group and the output data of the energy storage system.

[0017] As an improvement to the above solution, the matrix data and operating parameters are substituted into the MPC frequency modulation control model to obtain several sets of prediction data, including:

[0018] Obtaining energy storage system constraints and historical operating data; wherein the historical operating data includes: offshore wind turbine output sample data and energy storage system output sample data;

[0019] Under the constraints of the energy storage system, the historical operating data, the operating parameters and the matrix data are substituted into the MPC frequency regulation control model to generate several groups of prediction data.

[0020] As an improvement to the above solution, the MPC frequency modulation control model satisfies the following conditions:

[0021]

[0022]

[0023]

[0024]

[0025] In the formula, x(k+1) is the objective function value at the k+1th moment, x(k) is the operating parameter at the kth moment, Δf(k), P WTi (k), P Bi(k) are the frequency deviation at the kth moment, the active power output by the i-th offshore wind turbine at the kth moment, and the active power output by the i-th energy storage system at the kth moment; u(k) is the predicted output at the kth moment, ΔP WTi (k), ΔP Bi (k) are the offshore wind turbine increment of the i-th offshore wind turbine at the k-th moment and the energy storage system increment of the i-th energy storage system at the k-th moment, z(k) is the control variable at the k-th moment, ΔP L (k) is the load power increment at the kth moment, y(k) is the output variable at the kth moment, f(k) is the frequency data corresponding to the current input at the kth moment; A, B, C, D are matrix data, A is the coefficient matrix, B and C are the control matrices, and D is the state output matrix; H is the moment of inertia, T s is the current sampling time, and D is the damping.

[0026] As an improvement to the above solution, the model optimizes the objective function and satisfies the following conditions:

[0027]

[0028] Where f(k+j|k) is the frequency deviation at time k+j predicted at time k, f(k+j) is the frequency deviation value at time k+j, and ΔP WTi (k+j|k) is the offshore wind turbine increment of the i-th offshore wind turbine at time k+j predicted at time k, ΔP Bi (k+j|k) is the energy storage system increment of the i-th energy storage system at time k+j predicted at time k, α is the error weight coefficient, β and δ are the control weight coefficients, N j is the prediction time length, N i is the number of fans.

[0029] As an improvement to the above solution, the energy storage system constraint includes: energy storage device state of charge constraint; wherein the energy storage device state of charge constraint satisfies the following conditions:

[0030] SOC min <SOC(k)<SOC max

[0031] Where SOC(k) is the state of charge, SOC max and SOC min are the upper and lower limits of the state of charge constraint, respectively.

[0032] As an improvement to the above solution, the operating parameters include: initial state of the offshore wind turbine, initial state of the energy storage system, moment of inertia, damping, state of charge of the energy storage device and sampling time.

[0033] Accordingly, an embodiment of the present invention further provides an offshore wind storage frequency regulation control device, comprising: a data acquisition module and a frequency regulation module;

[0034] The data acquisition module is used to acquire a first operating frequency of the target power grid;

[0035] The frequency modulation module is configured to use the first operating frequency as an input for a first frequency modulation iterative operation, and repeatedly perform the frequency modulation iterative operation so that the operating frequency of the target power grid is less than a frequency threshold;

[0036] The frequency modulation iterative operation is specifically as follows:

[0037] Judge the current input;

[0038] If the current input is greater than or equal to the frequency threshold, obtaining the operating parameters of the target power grid, generating offshore wind turbine output data and energy storage system output data based on the current input and the operating parameters, controlling the operation adjustment of the offshore wind turbine based on the offshore wind turbine output data, and controlling the operation adjustment of the energy storage system based on the energy storage system output data; and after the operation adjustment of the offshore wind turbine and the energy storage system, re-obtaining the second operating frequency of the target power grid, and using the second operating frequency as the input of the next frequency modulation iterative operation;

[0039] If the current input is less than the frequency threshold, the offshore wind turbine and the energy storage system are not controlled to perform operation adjustments, and the third operating frequency of the target power grid is reacquired and used as the input for the next frequency regulation iterative operation.

[0040] Correspondingly, an embodiment of the present invention also provides a computer terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements an offshore wind storage frequency regulation control method as described in the present invention.

[0041] Correspondingly, an embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute an offshore wind storage frequency regulation control method as described in the present invention.

[0042] As can be seen from the above, the present invention has the following beneficial effects:

[0043] The present invention provides a frequency regulation control method for offshore wind storage, which obtains the first operating frequency of the target power grid, performs the first frequency regulation iterative operation based on the first operating frequency, and repeatedly performs the frequency regulation iterative operation so that the operating frequency of the target power grid can be kept less than the frequency threshold. Based on the frequency regulation iterative operation, a rolling calculation of the power grid frequency regulation is realized. In each frequency regulation iterative operation, the input operating frequency is compared with the frequency threshold: when it is less than the frequency threshold, the operating frequency of the target power grid is re-acquired, and the frequency regulation iterative operation is re-executed with the re-acquired operating frequency; when it is greater than the frequency threshold, the output data of the offshore wind turbine and the output data of the energy storage system are obtained, the offshore wind storage system composed of the offshore wind turbine and the energy storage system is adjusted, and the adjusted operating frequency of the target power grid is obtained, and the frequency regulation iterative operation is re-executed with the adjusted operating frequency. The present invention realizes the automation of offshore wind storage frequency regulation. Compared with manual frequency regulation, the present invention improves the efficiency of offshore wind storage frequency regulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of a frequency regulation control method for offshore wind storage provided by one embodiment of the present invention;

[0045] Figure 2 This is a schematic structural diagram of an offshore wind storage frequency regulation control device provided by one embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the structure of a terminal device provided by one embodiment of the present invention;

[0047] Figure 4 It is a flow chart of an offshore wind storage frequency regulation control method provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0048] 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 only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] Example 1

[0050] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a frequency regulation control method for offshore wind storage provided by an embodiment of the present invention. Figure 1 As shown, in order to solve the problem of low efficiency of frequency regulation of offshore wind storage, this embodiment includes steps 101 to 102, and each step is specifically as follows:

[0051] Step 101: Acquire a first operating frequency of a target power grid.

[0052] In this embodiment, the operating frequency f of the target power grid is collected.

[0053] Step 102: using the first operating frequency as input for a first frequency modulation iterative operation, and repeatedly performing the frequency modulation iterative operation to make the operating frequency of the target power grid less than a frequency threshold;

[0054] The frequency modulation iterative operation is specifically as follows:

[0055] Judge the current input;

[0056] If the current input is greater than or equal to the frequency threshold, obtaining the operating parameters of the target power grid, generating offshore wind turbine output data and energy storage system output data based on the current input and the operating parameters, controlling the operation adjustment of the offshore wind turbine based on the offshore wind turbine output data, and controlling the operation adjustment of the energy storage system based on the energy storage system output data; and after the operation adjustment of the offshore wind turbine and the energy storage system, re-obtaining the second operating frequency of the target power grid, and using the second operating frequency as the input of the next frequency modulation iterative operation;

[0057] If the current input is less than the frequency threshold, the offshore wind turbine and the energy storage system are not controlled to perform operation adjustments, and the third operating frequency of the target power grid is reacquired and used as the input for the next frequency regulation iterative operation.

[0058] As an improvement to the above solution, generating offshore wind turbine output data and energy storage system output data based on current input and operating parameters includes:

[0059] Obtain preset matrix data and model optimization objective function;

[0060] Substituting the matrix data and operating parameters into the MPC frequency regulation control model to obtain several sets of prediction data; each set of prediction data includes: the predicted output of the offshore wind turbine and the predicted output of the energy storage system;

[0061] Combine the current input with each set of running prediction data to obtain several sets of data to be calculated;

[0062] Each set of data to be calculated is substituted into the model optimization objective function, and the predicted data corresponding to the data to be calculated with the minimum objective function value is used as the output data of the offshore wind turbine group and the output data of the energy storage system.

[0063] As an improvement to the above solution, the matrix data and operating parameters are substituted into the MPC frequency modulation control model to obtain several sets of prediction data, including:

[0064] Obtaining energy storage system constraints and historical operating data; wherein the historical operating data includes: offshore wind turbine output sample data and energy storage system output sample data;

[0065] Under the constraints of the energy storage system, the historical operating data, the operating parameters and the matrix data are substituted into the MPC frequency regulation control model to generate several groups of prediction data.

[0066] In a specific embodiment, the historical operating data, the operating parameters and the matrix data are substituted into the MPC frequency modulation control model to generate several sets of prediction data, specifically:

[0067] Based on the input and output characteristics of the MPC frequency regulation control model, various possible combinations of offshore wind turbine output sample data and energy storage system output sample data are designed to form multiple sets of historical operation data;

[0068] Starting from the current moment, the MPC frequency control model is used to repeatedly perform model iterative calculations on each set of historical operating data to predict the target grid frequency changes at multiple moments in the future. In each model iterative calculation, the current historical operating data and the current grid frequency are input into the model to obtain the predicted operating data and grid frequency forecast value for the next moment. The predicted operating data and grid frequency forecast value for the next moment are then used as new inputs to continue the next round of predictions until the set prediction duration is reached or a specific termination condition is met. The predicted output of the offshore wind turbine and the predicted output of the energy storage system corresponding to the predicted operating data at this time are output as the predicted data.

[0069] The system parameter update equation is x(k+1)=Ax(k)+Bu(k)+Cz(k), where x(k) is the operating parameter at the kth moment, including the frequency deviation, the initial state of the offshore wind turbine, and the initial state of the energy storage system; u(k) is the predicted output at the kth moment, including the increment of the offshore wind turbine and the increment of the energy storage system; A is the coefficient matrix, and B and C are the control matrices. Given the current operating parameter x(k), by adjusting the predicted output u(k), multiple matrix multiplication operations are performed to predict the system parameters x(k+1), x(k+2), etc. at future moments until the iteration is stable, and the current predicted output u(k) is output; the collected grid frequency and each predicted output after the iteration are used to calculate the objective function value to find the optimal predicted output u(k) that minimizes the objective function value;

[0070] In a specific embodiment, the rolling calculation in the offshore wind storage frequency regulation system based on model predictive control (MPC) involved in the present invention is a continuous and dynamic operation process performed by a computer, and its specific steps and operations are as follows:

[0071] First, the computer collects a series of data reflecting the current system status in real time, including but not limited to grid frequency, load power fluctuations, offshore wind turbine output power, and the state of charge of the energy storage device. This data is a key indicator of the system's operating status. The computer accurately inserts this collected data into a pre-built system mathematical model, which includes a dynamic model of the grid frequency, time-domain dynamic models of the offshore wind turbines and energy storage devices, and a state-space model. This ensures that the model accurately reflects the current actual system operation.

[0072] Next, the computer performs calculations based on the optimization objective function. This objective function comprehensively considers multiple factors, including frequency error, offshore wind turbine regulation, and energy storage regulation, and balances these factors using parameters such as error weight coefficients and control weight coefficients. During the calculation process, the computer uses an iterative algorithm to predict the system state at multiple future moments, while satisfying constraints such as the energy storage state of charge. By continuously adjusting the control input variables and undergoing multiple complex matrix operations, the optimal control input solution that minimizes the objective function value is gradually found.

[0073] The computer then promptly transmits the optimal solution it calculates to the offshore wind turbines and energy storage devices. These devices adjust their active power output based on this optimal solution, thereby regulating the grid frequency. Throughout this process, the computer continuously monitors the state of charge (SOC) of the energy storage devices. If a change in SOC is detected, the computer immediately updates the corresponding constraints to ensure the accuracy and effectiveness of subsequent calculations.

[0074] Finally, the computer enters the next calculation cycle, repeating the aforementioned process of data collection, computational solution, and result application and update. This continuous rolling calculation and optimization continuously adjusts the control inputs of offshore wind turbines and energy storage devices, effectively regulating the grid frequency and ensuring stable operation of the power system.

[0075] As an improvement to the above solution, the MPC frequency modulation control model satisfies the following conditions:

[0076]

[0077]

[0078]

[0079]

[0080] In the formula, x(k+1) is the objective function value at the k+1th moment, x(k) is the operating parameter at the kth moment, Δf(k), P WTi (k), P Bi(k) are the frequency deviation at the kth moment, the active power output by the i-th offshore wind turbine at the kth moment, and the active power output by the i-th energy storage system at the kth moment; u(k) is the predicted output at the kth moment, ΔP WTi (k), ΔP Bi (k) are the offshore wind turbine increment of the i-th offshore wind turbine at the k-th moment and the energy storage system increment of the i-th energy storage system at the k-th moment, z(k) is the control variable at the k-th moment, ΔP L (k) is the load power increment at the kth moment, y(k) is the output variable at the kth moment, f(k) is the frequency data corresponding to the current input at the kth moment; A, B, C, D are matrix data, A is the coefficient matrix, B and C are the control matrices, and D is the state output matrix; H is the moment of inertia, T s is the current sampling time, and D is the damping.

[0081] In a specific embodiment, the mathematical model of primary frequency regulation of offshore wind storage is as follows:

[0082]

[0083] Where ΔP is the active power fluctuation deviation in the grid, H is the moment of inertia, Δf is the frequency deviation, and D is the damping. For the differential link.

[0084] The grid active power fluctuation deviation ΔP can be combined with the output of offshore wind turbines and energy storage equipment to be described as:

[0085] ΔP=ΔP WT +ΔP B -ΔP L (2)

[0086] Where ΔP WT is the active power output of the offshore wind turbine, ΔP B is the active power output by the energy storage device, ΔP L is the load power.

[0087] Substitute equation (2) into equation (1) and transform equation (1) into a grid frequency dynamic model:

[0088]

[0089] Where, is the actual deviation value after the frequency disturbance, which is actually the first-order derivative of Δf. i represents the i-th offshore wind turbine, i=1,2,3…N i .

[0090] Discretize equation (3):

[0091]

[0092] Where Δf(k+1) and Δf(k) are the frequency deviations at the next moment and the current moment, T s is the current sampling time, P WTi (k) is the active power output of the i-th offshore wind turbine at the current moment, P B (k) is the active power output by the energy storage device at the current moment, ΔP L (k) is the load power fluctuation value at the current moment.

[0093] The time domain dynamic model of offshore wind turbines and energy storage equipment is as follows:

[0094]

[0095] Combining Equation (4) and Equation (5), the state space model of the system in the time domain is obtained as follows:

[0096]

[0097] In a specific embodiment, in an MPC-based frequency regulation control strategy for offshore wind energy storage, the objective function calculation requires the collection of multiple grid input parameters in addition to the grid frequency. These parameters are listed below in detail: 1. System state parameters. 1. Grid frequency deviation Δf: While the grid frequency is known, the more critical parameter is the frequency deviation, which is the difference between the actual frequency and the rated frequency. This parameter intuitively reflects grid frequency fluctuations and is an important indicator for measuring frequency stability in the objective function. 2. Load power fluctuation ΔPL: The load in a power system is constantly changing, and fluctuations in load power directly affect the grid frequency. Accurately collecting load power fluctuations helps comprehensively consider the impact of load changes on the system during the objective function calculation, thereby more effectively adjusting the control strategy. 2. Offshore wind turbine-related parameters. 1. Offshore wind turbine output power PWT: Understanding the current output power of each offshore wind turbine can clarify its contribution to the grid. During the objective function calculation, frequency regulation tasks can be rationally allocated based on the wind turbine output power to avoid over- or under-regulation of certain wind turbines. 2. Offshore Wind Turbine Power Adjustment ΔPWT: This parameter reflects the power adjustment amplitude of the offshore wind turbine to participate in frequency regulation. By constraining and optimizing the power adjustment amplitude in the objective function, we can ensure that the offshore wind turbine can respond effectively during frequency regulation while also preventing excessive adjustment amplitude from impacting its safe and stable operation. III. Energy Storage Device Parameters. 1. Energy Storage Device Output Power PB: Energy storage devices play an important role in buffering and regulating grid frequency regulation, and their output power directly impacts the frequency regulation effect. Collecting energy storage device output power helps to rationally plan the energy storage device's charging and discharging strategies within the objective function. 2. Energy Storage Device State of Charge (SOC): The state of charge reflects the current energy storage status of the energy storage device. When calculating the objective function, SOC constraints must be considered to avoid overcharging or overdischarging the energy storage device, thereby extending its service life and ensuring its reliability and effectiveness during frequency regulation. IV. System Dynamic Parameters 1. System Moment of Inertia H: Moment of inertia is a key parameter reflecting the inertia of the power system and significantly impacts the rate of change of the grid frequency. Incorporating the system's moment of inertia in the objective function calculation allows for more accurate prediction of frequency trends, leading to the development of more appropriate control strategies. 2. System Damping Coefficient D: The damping coefficient reflects the system's ability to suppress frequency fluctuations. Collecting this parameter helps comprehensively consider the system's dynamic characteristics in the objective function, optimize control inputs, and improve system stability and anti-interference capabilities.

[0098] As an improvement to the above solution, the model optimizes the objective function and satisfies the following conditions:

[0099]

[0100] Where f(k+j|k) is the frequency deviation at time k+j predicted at time k, f(k+j) is the frequency deviation value at time k+j, and ΔP WTi (k+j|k) is the offshore wind turbine increment of the i-th offshore wind turbine at time k+j predicted at time k, ΔP Bi (k+j|k) is the energy storage system increment of the i-th energy storage system at time k+j predicted at time k, α is the error weight coefficient, β and δ are the control weight coefficients, N j is the prediction time length, N i is the number of fans.

[0101] As an improvement to the above solution, the energy storage system constraint includes: energy storage device state of charge constraint; wherein the energy storage device state of charge constraint satisfies the following conditions:

[0102] SOC min <SOC(k)<SOC max

[0103] Where SOC(k) is the state of charge, SOC max and SOC min are the upper and lower limits of the state of charge constraint, respectively.

[0104] As an improvement to the above solution, the operating parameters include: initial state of the offshore wind turbine, initial state of the energy storage system, moment of inertia, damping, state of charge of the energy storage device and sampling time.

[0105] In a specific embodiment, during the actual control process, when the frequency fluctuates, frequency error adjustment is given priority, followed by offshore wind turbine adjustment, and finally energy storage adjustment. This can reduce the number of charge and discharge times of the energy storage device and extend the operating life of the energy storage device.

[0106] In a specific embodiment, see Figure 4 , the specific method of frequency regulation control of offshore wind storage is:

[0107] (1) After establishing the offshore wind storage MPC frequency regulation control model (i.e., the MPC frequency regulation control model described in the present invention) and the objective function (i.e., the model optimization objective function described in the present invention), the grid frequency f is collected to obtain Δf, and a determination is made as to whether it exceeds a threshold and whether MPC optimization control needs to be initiated. If it is within the set threshold range, MPC control does not need to be initiated and frequency fluctuations continue to be monitored. If it exceeds the set threshold range, the current time x(k) is collected, MPC control is initiated, and step (2) is executed.

[0108] (2) After the MPC control is started, the objective function is calculated in a rolling manner to obtain the optimal predicted output u(k) of the control input, and the increase in active power of both the offshore wind turbine and the energy storage device is determined. After the active power is transmitted to the offshore wind turbine and the energy storage device, the rolling optimization is continued.

[0109] (3) The offshore wind turbines and energy storage equipment respond to the optimal input in real time, detect the charge state of the energy storage equipment, update the constraints, and issue output instructions for the offshore wind turbines and energy storage equipment.

[0110] (4) The grid frequency returns to normal and the frequency modulation ends. Otherwise, repeat steps (1) to (3).

[0111] It should be noted that the grid frequency returning to normal can be understood as the frequency regulation ending when the grid frequency returns to within a threshold range. Within the threshold range, |Δf| ≤ 0.05 Hz.

[0112] See also Figure 2 , Figure 2 1 is a structural diagram of an offshore wind storage frequency regulation control device provided by an embodiment of the present invention, comprising: a data acquisition module 201 and a frequency regulation module 202;

[0113] The data acquisition module is used to acquire a first operating frequency of the target power grid;

[0114] The frequency modulation module is configured to use the first operating frequency as an input for a first frequency modulation iterative operation, and repeatedly perform the frequency modulation iterative operation so that the operating frequency of the target power grid is less than a frequency threshold;

[0115] The frequency modulation iterative operation is specifically as follows:

[0116] Judge the current input;

[0117] If the current input is greater than or equal to the frequency threshold, obtaining the operating parameters of the target power grid, generating offshore wind turbine output data and energy storage system output data based on the current input and the operating parameters, controlling the operation adjustment of the offshore wind turbine based on the offshore wind turbine output data, and controlling the operation adjustment of the energy storage system based on the energy storage system output data; and after the operation adjustment of the offshore wind turbine and the energy storage system, re-obtaining the second operating frequency of the target power grid, and using the second operating frequency as the input of the next frequency modulation iterative operation;

[0118] If the current input is less than the frequency threshold, the offshore wind turbine and the energy storage system are not controlled to perform operation adjustments, and the third operating frequency of the target power grid is reacquired and used as the input for the next frequency regulation iterative operation.

[0119] It can be understood that the above-mentioned system embodiment corresponds to the method embodiment of the present invention, which can implement the offshore wind storage frequency regulation control method provided by any of the above-mentioned method embodiments of the present invention.

[0120] This embodiment obtains the first operating frequency of the target power grid, performs the first frequency modulation iteration operation based on the first operating frequency, and repeatedly performs the frequency modulation iteration operation so that the operating frequency of the target power grid can be kept less than the frequency threshold, thereby realizing rolling calculation of the power grid frequency modulation based on the frequency modulation iteration operation. In each frequency modulation iteration operation, the input operating frequency is compared with the frequency threshold: when it is less than the frequency threshold, the operating frequency of the target power grid is re-acquired, and the frequency modulation iteration operation is re-executed with the re-acquired operating frequency; when it is greater than the frequency threshold, the offshore wind turbine output data and the energy storage system output data are obtained, the offshore wind storage system composed of the offshore wind turbine and the energy storage system is adjusted, and the adjusted operating frequency of the target power grid is obtained, and the frequency modulation iteration operation is re-executed with the adjusted operating frequency. The present invention realizes the automation of offshore wind storage frequency modulation. Compared with manual frequency modulation, the present invention improves the efficiency of offshore wind storage frequency modulation.

[0121] Example 2

[0122] See also Figure 3 , Figure 3 It is a schematic diagram of the terminal device structure provided by one embodiment of the present invention.

[0123] A terminal device of this embodiment includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps of the above-mentioned offshore wind power storage frequency regulation control method in the embodiment are implemented, for example: Figure 1 Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the offshore wind storage frequency regulation control device are shown.

[0124] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the offshore wind storage frequency regulation control method described in any of the above embodiments.

[0125] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0126] The processor 301 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor 301 is the control center of the terminal device, connecting various parts of the entire terminal device using various interfaces and lines.

[0127] The memory 302 can be used to store the computer programs and / or modules. The processor 301 implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, a phone book, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0128] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0129] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without inventive effort.

[0130] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A frequency regulation control method for offshore wind storage, characterized in that: include: Obtaining a first operating frequency of a target power grid; Using the first operating frequency as an input for a first frequency modulation iterative operation, and repeatedly performing the frequency modulation iterative operation so that the operating frequency of the target power grid is less than a frequency threshold; The frequency modulation iterative operation is specifically as follows: Judge the current input; If the current input is greater than or equal to the frequency threshold, obtaining the operating parameters of the target power grid, generating offshore wind turbine output data and energy storage system output data based on the current input and the operating parameters, controlling the operation adjustment of the offshore wind turbine based on the offshore wind turbine output data, and controlling the operation adjustment of the energy storage system based on the energy storage system output data; and after the operation adjustment of the offshore wind turbine and the energy storage system, re-obtaining the second operating frequency of the target power grid, and using the second operating frequency as the input of the next frequency modulation iterative operation; If the current input is less than the frequency threshold, the offshore wind turbine and the energy storage system are not controlled to perform operation adjustments, and the third operating frequency of the target power grid is reacquired and used as the input for the next frequency regulation iterative operation.

2. The offshore wind storage frequency regulation control method according to claim 1, characterized in that: The generating of offshore wind turbine output data and energy storage system output data based on current input and operating parameters includes: Obtain preset matrix data and model optimization objective function; Substituting the matrix data and operating parameters into the MPC frequency regulation control model to obtain several sets of prediction data; each set of prediction data includes: the predicted output of the offshore wind turbine and the predicted output of the energy storage system; Combine the current input with each set of running prediction data to obtain several sets of data to be calculated; Each set of data to be calculated is substituted into the model optimization objective function, and the predicted data corresponding to the data to be calculated with the minimum objective function value is used as the output data of the offshore wind turbine group and the output data of the energy storage system.

3. The offshore wind storage frequency regulation control method according to claim 2, characterized in that: Substituting the matrix data and operating parameters into the MPC frequency modulation control model, several sets of prediction data are obtained, including: Obtaining energy storage system constraints and historical operating data; wherein the historical operating data includes: offshore wind turbine output sample data and energy storage system output sample data; Under the constraints of the energy storage system, the historical operating data, the operating parameters and the matrix data are substituted into the MPC frequency regulation control model to generate several groups of prediction data.

4. The offshore wind storage frequency regulation control method according to claim 3, characterized in that: The MPC frequency modulation control model meets the following conditions: In the formula, x(k+1) is the objective function value at the k+1th moment, x(k) is the operating parameter at the kth moment, Δf(k), P WTi (k), P Bi (k) are the frequency deviation at the kth moment, the active power output by the i-th offshore wind turbine at the kth moment, and the active power output by the i-th energy storage system at the kth moment; u(k) is the predicted output at the kth moment, ΔP WTi (k), ΔP Bi (k) are the offshore wind turbine increment of the i-th offshore wind turbine at the k-th moment and the energy storage system increment of the i-th energy storage system at the k-th moment, z(k) is the control variable at the k-th moment, ΔP L (k) is the load power increment at the kth moment, y(k) is the output variable at the kth moment, f(k) is the frequency data corresponding to the current input at the kth moment; A, B, C, D are matrix data, A is the coefficient matrix, B and C are the control matrices, and D is the state output matrix; H is the moment of inertia, T s is the current sampling time, and D is the damping.

5. The offshore wind storage frequency regulation control method according to claim 4, characterized in that: The model optimizes the objective function and satisfies the following conditions: Where, f(k+j|k) is the frequency deviation at time k+j predicted at time k, f(k+j) is the frequency deviation value at time k+j, ΔP WTi (k+j|k) is the offshore wind turbine increment of the i-th offshore wind turbine at time k+j predicted at time k, ΔP Bi (k+j|k) is the energy storage system increment of the i-th energy storage system at time k+j predicted at time k, α is the error weight coefficient, β and δ are the control weight coefficients, N j is the prediction time length, N i is the number of fans.

6. The offshore wind storage frequency regulation control method according to claim 5, characterized in that: The energy storage system constraints include: energy storage device state of charge constraints; wherein the energy storage device state of charge constraints meet the following conditions: SOC min <SOC(s)<SOC max Where SOC(k) is the state of charge, SOC max and SOC min are the upper and lower limits of the state of charge constraint, respectively.

7. The offshore wind storage frequency regulation control method according to claim 6, characterized in that: The operating parameters include: initial state of the offshore wind turbine, initial state of the energy storage system, moment of inertia, damping, state of charge of the energy storage device and sampling time.

8. An offshore wind storage frequency regulation control device, characterized in that: include: Data acquisition module and frequency modulation module; The data acquisition module is used to acquire a first operating frequency of the target power grid; The frequency modulation module is configured to use the first operating frequency as an input for a first frequency modulation iterative operation, and repeatedly perform the frequency modulation iterative operation so that the operating frequency of the target power grid is less than a frequency threshold; The frequency modulation iterative operation is specifically as follows: Judge the current input; If the current input is greater than or equal to the frequency threshold, obtaining the operating parameters of the target power grid, generating offshore wind turbine output data and energy storage system output data based on the current input and the operating parameters, controlling the operation adjustment of the offshore wind turbine based on the offshore wind turbine output data, and controlling the operation adjustment of the energy storage system based on the energy storage system output data; and after the operation adjustment of the offshore wind turbine and the energy storage system, re-obtaining the second operating frequency of the target power grid, and using the second operating frequency as the input of the next frequency modulation iterative operation; If the current input is less than the frequency threshold, the offshore wind turbine and the energy storage system are not controlled to perform operation adjustments, and the third operating frequency of the target power grid is reacquired and used as the input for the next frequency regulation iterative operation.

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

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute an offshore wind storage frequency regulation control method as described in any one of claims 1 to 7.

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