Energy storage-containing spot goods and frequency modulation double-market combined clearing method and energy storage-containing spot goods and frequency modulation double-market combined clearing system

Abstract

The invention relates to a spot goods and frequency modulation double-market combined clearing method and system containing energy storage, and belongs to the technical field of power market operation technology and optimal scheduling of an energy storage system. The invention aims to provide a double-market combined clearing mode of an electric energy market containing energy storage and a frequency modulation market, in the market mode, double-market combined clearing is carried out with the goal of minimizing the power generation cost of power generation resources, and the bid-winning capacity and clearing price of the energy storage in the two markets are solved. The problem that the utilization rate of energy storage in a single market is low is solved, and the purposes of optimizing electric power resource configuration and improving the energy storage income capacity are achieved.

Description

Technical Field

[0001] The present invention relates to a method and system for joint clearing of spot and frequency regulation markets involving energy storage, and belongs to the technical field of power market operation technology and optimized scheduling of energy storage systems. Background Art

[0002] The electricity spot market and ancillary services market are the latest trends in the development of the domestic power market. The electricity spot market accurately reflects the short-term supply and demand relationship and temporal and spatial value of electricity commodities, enabling efficient allocation of power resources and reducing the system security and financial risks inherent in medium- and long-term power transactions. It also provides regulatory tools and economic signals for managing congestion in the power system, ensuring safe system operation. The ancillary services market complements the energy market. Through the trading of active power balancing services such as frequency regulation and reserve in the ancillary services market, it achieves coordinated integration with day-ahead and real-time electricity spot markets, jointly contributing to balancing supply and demand in the power system.

[0003] In this context, energy storage systems, due to their physical characteristics such as high response speed, rapid charging and discharging, and bidirectional regulation, offer advantages in providing grid services such as frequency regulation, peak-to-valley regulation, and backup capacity support. They can serve as competitive participants in electricity spot markets and ancillary services markets. Existing research has primarily focused on single-type market trading and dispatch models involving energy storage in either the electricity energy market or the frequency regulation market. Limited research has examined the clearing and coordination mechanisms for energy storage in both the electricity energy market and the ancillary services market. Energy storage suffers from low utilization in single-type markets, failing to fully leverage its technical characteristics of flexible regulation and rapid response. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-market joint clearing model for the electric energy market and the frequency regulation market, which includes energy storage. In this market model, the dual-market joint clearing is carried out with the goal of minimizing the total market participation cost. The clearing results of energy storage in the two markets (winning bid capacity and clearing price) are solved, solving the problem of low utilization of energy storage in a single market, achieving the purpose of optimizing power resource allocation and improving the profitability of energy storage.

[0005] In a first aspect, the present invention provides a method for jointly clearing spot and frequency regulation markets involving energy storage, comprising: Obtaining electric energy demand and frequency regulation capacity demand of electric power users on an operation day, where the electric energy demand and frequency regulation capacity demand are met by thermal power units and energy storage power stations; For thermal power units and energy storage power stations, a safety-constrained unit combination model and a safety-constrained economic dispatch model are constructed; The safety-constrained unit combination model takes minimizing the first total market participation cost as the objective function, and solves the safety-constrained unit combination model under corresponding constraints to obtain a startup plan for the thermal power unit and a charge and discharge plan for the energy storage power station; Based on the solution results of the safety-constrained unit combination model, without considering the start-up and shutdown costs of thermal power units, the safety-constrained economic dispatch model takes minimizing the second total participation market cost as the objective function, and solves the safety-constrained economic dispatch model under the corresponding constraint conditions to obtain the clearing result.

[0006] As a preferred embodiment, the calculation formula for the first total market participation cost is: ; Where, represents the first total market participation cost, represents the market participation cost of thermal power units, represents the market participation cost of energy storage power stations, is the total cost of thermal power units in the spot market and frequency regulation market, is the power generation quotation of the thermal power unit at time t in the electricity market, is the winning bid capacity of the thermal power unit in the electricity market at time t, is the frequency regulation capacity quotation of the thermal power unit at time t, is the winning bid capacity of the thermal power unit in the frequency regulation market at time t, is a 0-1 variable representing the start / stop status of the thermal power unit at time t, is the startup cost of the thermal power unit, is the shutdown cost of the thermal power unit, is the collection of thermal power units, is the total cost of the energy storage power station in the spot market and frequency regulation market, is the discharge quotation of the energy storage power station at time t, is the discharge power of the energy storage station at time t, is the charging quotation of the energy storage power station at time t, is the charging power of the energy storage station at time t, is the frequency regulation capacity quotation of the energy storage power station at time t, is the winning bid capacity of the energy storage power station in the frequency regulation market at time t, It is a collection of energy storage power stations; 、 For the adjusted capacity quotation, 、 They are the frequency regulation performance indicators of thermal power units and energy storage power stations respectively.

[0007] As a preferred embodiment, the calculation formula for the second total market participation cost is: ; in, is the second total market participation cost, The market participation cost of thermal power units without considering the start-up and shutdown costs of thermal power units. The market cost of thermal power units participating in the safety-constrained economic dispatch model.

[0008] As a preferred embodiment, the constraints of the safety-constrained unit commitment model and the safety-constrained economic dispatch model both include power balance constraints, network flow constraints, thermal power unit constraints, and energy storage power station constraints.

[0009] As a preferred embodiment, the clearing result includes the winning bid capacity and clearing price of thermal power units and energy storage power stations in the electric energy market and frequency regulation market in each scheduling period.

[0010] As a preferred embodiment, the clearing price includes an electric energy clearing price, and the steps of determining the electric energy clearing price include: Determining the power flow distribution of the power system based on the solution results of the security-constrained economic dispatch model; Based on the power flow distribution, the power balance constraint of each node at time t is obtained according to the power transfer distribution factor, and then the dual multiplier under the constraint condition is calculated; Calculate the route at time t l The dual multiplier of the upper and lower limit constraints of the transmission power is used to further obtain the electricity clearing price.

[0011] As a preferred embodiment, the calculation formula for the electricity energy clearing price is: ; Where, for t Time Node i The price of electricity, for t The dual multiplier of the node power balance constraint at time instant, , Line l The upper and lower limits of transmission power are constrained at time t The dual multiplier of For nodes i For lines l The power transfer distribution factor of the node i The unit injection to the line l The ability to adjust the trend, L A collection of lines.

[0012] As a preferred embodiment, the clearing price includes a frequency modulation capacity clearing price, and the steps of determining the frequency modulation capacity clearing price include: Determining the winning bid capacity in the frequency regulation market based on the solution of the security-constrained economic dispatch model; The frequency regulation capacity clearing price is determined based on the balance constraint between the winning bid capacity and the frequency regulation capacity demand.

[0013] As a preferred embodiment, the frequency modulation capacity clearing price is calculated by the following formula: ; In the formula, the dual variable for t The frequency regulation capacity clearing price at time , Indicates frequency regulation capacity requirements.

[0014] In a second aspect, the present invention provides a joint clearing system for spot and frequency regulation markets including energy storage, comprising: an acquisition module for acquiring electric energy demand and frequency regulation capacity demand of electric power users on an operation day, wherein the electric energy demand and frequency regulation capacity demand are satisfied by thermal power units and energy storage power stations; Construction module: For thermal power units and energy storage power stations, a safety-constrained unit combination model and a safety-constrained economic dispatch model are constructed; A first solving module, wherein the safety-constrained unit combination model is solved under corresponding constraints to obtain a startup plan for the thermal power unit and a charge and discharge plan for the energy storage power station, with minimizing the first total market participation cost as an objective function; The second solving module is based on the solution result of the safety-constrained unit combination model. Under the premise that the start-up and shutdown costs of the thermal power units do not need to be considered, the safety-constrained economic dispatch model takes minimizing the second total participation market cost as the objective function, and solves the safety-constrained economic dispatch model under the corresponding constraint conditions to obtain a clearing result.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention first solves the safety-constrained unit combination model to obtain the startup schedule for the thermal power units and the charge-discharge schedule for the energy storage power station. Since the safety-constrained unit combination model has already solved the startup schedule for the thermal power units and the charge-discharge schedule for the energy storage power station, there is no need to consider the startup and shutdown costs of the thermal power units. Furthermore, without considering the startup and shutdown costs of the thermal power units, the safety-constrained economic dispatch model is solved to further determine the clearing results, thereby achieving optimal allocation of power resources and minimizing the system's electricity purchase costs.

[0016] 2. The clearing prices in both markets accurately reflect the load demand and frequency regulation capacity requirements for each time period. Furthermore, this invention fully leverages the superior frequency regulation performance of energy storage. If the overall frequency regulation capacity offer is low, it can be fully utilized in the frequency regulation market, providing sufficient protection for the frequency stability of the power system while improving the economic benefits of energy storage in the frequency regulation market. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Flowchart of a joint clearing method for spot and frequency regulation markets involving energy storage in an embodiment of the present invention; Figure 2 1 is a system topology diagram of the IEEE-30 node system in an embodiment of the present invention; Figure 3 is the daily load curve of the node system in the embodiment of the present invention; Figure 4 A diagram showing the winning bids of various market players in the frequency modulation market in an embodiment of the present invention; Figure 5 A diagram showing the winning bids of various market entities in the spot market in an embodiment of the present invention; Figure 6 is the node electricity price in each period of the electric energy market in the embodiment of the present invention; Figure 7 This is a graph of clearing prices in the FM market at various time periods in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0019] This embodiment provides a joint clearing method for both spot and frequency regulation markets that includes energy storage. First, a day-ahead security constrained unit commitment (SCUC) model is established to determine the startup pattern of thermal power units in the market and the charging and discharging schedules of energy storage power plants. Then, based on the day-ahead SCUC model solution, a security constrained economic dispatch (SCED) model is used to determine the winning bid capacity and clearing price for each market participant in both types of markets.

[0020] The execution process of this embodiment is as follows Figure 1As shown, the market trading model proposed in this invention involves participants including electricity users, power trading institutions, and thermal power generation units and energy storage power stations that meet market access requirements. The market operates as follows: On the bidding day (D-1), the power trading institution determines the frequency regulation capacity and energy demand of electricity users for the operating day (D-1) based on the grid's operating conditions and discloses this information as public information to participating thermal power generation units and energy storage power stations.

[0021] Thermal power units and energy storage power stations participating in the market are required to submit market information and physical parameters to the power trading institution, including but not limited to: declared electricity price; declared charge / discharge price; declared frequency regulation capacity price; the frequency regulation entity's comprehensive frequency regulation performance index; thermal power unit operating technical parameters, such as ramp rate, minimum duration of unit start / stop, and frequency regulation capacity ratio; and energy storage power station operating technical parameters, such as rated charge and discharge power, charge / discharge efficiency, and SOC upper and lower limits. Once the collected information is confirmed to be complete, the power trading institution will conduct a joint market clearing based on the SCUC and SCED models to determine the winning bid capacity and market clearing price for market entities in market transactions.

[0022] The next step is to construct an SCUC model that takes energy storage into account. The objective function of the SCUC model is to minimize the market participation cost of power generation resources. The decision variables determined by this function are the startup plan of the thermal power units on the operating day and the charging and discharging plan of the energy storage power station.

[0023] The first total market participation cost in the objective function of the SCUC model is divided into two parts: thermal power units and energy storage.

[0024] The thermal power unit part is shown as follows: ; Where, represents the market participation cost of thermal power units, is the total cost of thermal power units in the spot market and frequency regulation market, For thermal power units t Power generation quotes in the electricity market at all times, For thermal power units t The winning capacity in the electricity market at all times, For thermal power units t Frequency regulation capacity quotation at the moment, For thermal power units t The winning bid capacity in the frequency modulation market at all times, To express t The 0-1 variable of the start and stop status of the thermal power unit at the moment, is the startup cost of the thermal power unit, is the shutdown cost of thermal power units. A collection of thermal power units.

[0025] The energy storage power station part is shown as follows: ; Where, represents the market participation cost of energy storage power stations, is the total cost of the energy storage power station in the spot market and frequency regulation market, For energy storage power stations t Discharge quotes at the moment, For energy storage power stations t The discharge power at the moment, For energy storage power stations t Charging quotes at all times, For energy storage power stations t Charging power at the moment, For energy storage power stations t Frequency regulation capacity quotation at the moment, For energy storage power stations t The winning bid capacity in the frequency modulation market at all times, It is a collection of energy storage power stations.

[0026] In the frequency regulation market, taking into account the frequency regulation performance indicators of the frequency regulation entities, the power trading organization adjusts the frequency regulation capacity quotation to form a comprehensive quotation, as shown in the following formula: ; Where, 、 For the adjusted capacity quotation, 、 They are the frequency regulation performance indicators of thermal power units and energy storage power stations respectively.

[0027] The first total participation market cost of the safety-constrained unit commitment model , which is the objective function of the SCUC model, is shown in the following formula: ; The constraints of the SCUC model include power balance constraints, network flow constraints, technical operating parameter constraints of thermal power units and energy storage, and market constraints.

[0028] The power balance constraints are as follows: ; Where, is the load power at time t.

[0029] The network flow constraints are as follows: ; Where, for t Time system branchk The active power transmitted, For branch k The upper limit of active power allowed to be transmitted, is the power transfer distribution factor, is a 0-1 variable representing the relationship between the node where the thermal power unit is located and the system node, It is a 0-1 variable that represents the relationship between the node where the energy storage power station is located and the system node.

[0030] The constraints of thermal power units are as follows: 1. Thermal power unit climbing constraints: ; Where, , They are thermal power units in t The upper and lower limits of output at all times, , are the up and down ramp rates of thermal power units respectively.

[0031] 2. Start and stop time constraints of thermal power units: ; Where, , They are t The start-up time and shutdown time of thermal power units in each period, , They are the minimum start-up and shutdown time requirements for thermal power units respectively.

[0032] 3. The capacity constraint of the spot market bid needs to be deducted from the portion of the bid won in the frequency modulation market: ; 4. Frequency regulation constraints of thermal power units: ; Where, is the proportion of frequency regulation capacity of thermal power units.

[0033] The energy storage constraints are as follows: 1. Energy storage charging and discharging constraints: ; Where, , Energy storage t The charging and discharging power of the time period, is the rated charging and discharging power of the energy storage power station. , are 0-1 variables representing the charging and discharging status of the energy storage.

[0034] 2. Energy storage state of charge constraints: ; Where, , are the initial and final energies of the energy storage power station in a dispatching cycle, , are the charging and discharging efficiency of the energy storage power station, For energy storage power stations t The remaining energy of the period, , The lower and upper limits of energy storage power station capacity respectively.

[0035] 3. Capacity constraints in energy storage market bidding ; 4. Energy storage frequency regulation capacity constraints ; Where, is the proportion of frequency regulation capacity of energy storage.

[0036] Next, a SCED model incorporating energy storage is constructed. Solving the SCUC model yields the startup schedule for thermal power units and the charge and discharge schedule for energy storage plants. Based on the SCUC model's results, the SCED model performs intraday market clearing to calculate the winning bid capacity and clearing price for thermal power units and energy storage plants in the electricity and frequency regulation markets during each dispatch period.

[0037] Since the startup plan of the thermal power unit has been determined in the SCUC model, the objective function of the SCED model does not need to consider the startup and shutdown costs of the thermal power unit compared to the SCUC model. As shown in the following formula: ; The SCED model takes the second total market participation cost is the objective function, the second total market participation cost There is no need to consider the start-up and shutdown costs of thermal power units. The second total market participation cost The calculation formula is as follows: ; in, is the second total market participation cost, It is the market participation cost of thermal power units without considering the start-up and shutdown costs of thermal power units.

[0038] The constraints of the SCED model are the same as those of the SCUC model. This embodiment uses the commercial solver CPLEX to solve the SCED model.

[0039] Furthermore, the clearing price includes an electric energy clearing price, and the steps for determining the electric energy clearing price include: determining the power flow distribution of the power system according to the solution results of the security constrained economic dispatch model (SCED model); based on the power flow distribution, obtaining the power balance constraint of each node at time t according to the power transfer distribution factor, and then calculating the dual multiplier under the constraint condition; calculating the line at time t l The dual multiplier of the upper and lower limit constraints of the transmission power is used to further obtain the electricity clearing price.

[0040] The calculation formula for the electricity clearing price (or the node electricity price of the power system) is: ; Where, for t Time Node i The price of electricity, for t The dual multiplier of the node power balance constraint at time instant, , Line l The upper and lower limits of transmission power are constrained at time t The dual multiplier of For nodes i For lines l The power transfer distribution factor of the node i The unit injection to the line l The ability to adjust the trend, L A collection of lines.

[0041] The clearing price also includes a frequency regulation capacity clearing price. The step of determining the frequency regulation capacity clearing price includes determining the winning capacity of the frequency regulation market according to the solution result of the security-constrained economic dispatch model; and determining the frequency regulation capacity clearing price according to the winning capacity and the frequency regulation capacity demand balance constraint.

[0042] The frequency regulation capacity clearing price is determined by the following formula: ; In the formula, the dual variable for t The frequency regulation capacity clearing price at the time. represents the frequency regulation capacity demand. The formula means: the frequency regulation capacity clearing price is t The dual multiplier of the winning bid for the instantaneous frequency regulation capacity and the demand balance constraint.

[0043] The method proposed in the present invention is verified by combining a specific application example. The topology of the IEEE-30 node system is as follows: Figure 2As shown in the figure, there are 20 load nodes, 41 branches, and 6 thermal power units. One energy storage station is connected at nodes 7, 10, and 15, with a charge and discharge efficiency of 90%. The market clearing frequency is 15 minutes. The operating and market parameters of the thermal power units and energy storage station are shown in Tables 1 and 2, respectively.

[0044]

[0045]

[0046] The daily load curve of the system is as follows: Figure 3 As shown in Figure 1, all power loads are distributed to each load node according to the load proportion of each node in the IEEE-30 node system. The system's frequency regulation capacity requirement is set to 5% of the load.

[0047] Figure 4 This chart shows the winning bids for various market players in the frequency regulation market. The three energy storage power plants provide 87.57% of the system's total frequency regulation capacity, dominating the market. Energy storage power plants, with their superior frequency regulation performance, are prioritized for frequency regulation services. During periods of high frequency regulation demand, the system can arrange for additional thermal power generation based on the adjusted frequency regulation capacity quotation to ensure frequency regulation needs are met.

[0048] According to the joint market clearing transaction mechanism proposed in this embodiment, the winning bids of each market player in the spot market are as follows: Figure 5 As shown in the figure, thermal power units meet almost all electricity demand in the spot market, while energy storage has a low participation rate in the spot market, indicating the prevalence of thermal power units in the spot market. Thanks to its low bidding strategy, thermal power unit 1 operates at full capacity for the vast majority of the time, giving it a significant advantage in market competition.

[0049] The clearing price in the electricity market is the node electricity price in each period of the system, that is, the marginal price of each node, such as Figure 6 As shown in the figure, the changes in node electricity prices can reflect the supply and demand relationship in the electricity market. In the scenario set in this embodiment, the transmission capacity margin of the power grid line is sufficient, and the power grid is not congested during peak load periods, so the marginal price of all nodes is equal.

[0050] Figure 7 The figure shows the clearing price of the frequency modulation market in each period. It can be seen from the figure that the change of the clearing price of the frequency modulation capacity basically reflects the frequency modulation demand of the system. Figure 4 and Figure 7 It can be seen that when the participants in the frequency regulation market win the bid in the market, the clearing price of the frequency regulation market is equal to the bid of the marginal unit providing frequency regulation services.

[0051] Based on the market clearing results, the benefits of energy storage in the two markets are calculated, as shown in Table 3.

[0052]

[0053] The data in Table 3 shows that, thanks to their excellent frequency regulation performance and relatively low combined frequency regulation capacity quotes, the three energy storage units' revenue from the frequency regulation market exceeds their revenue from the spot market. ES1's revenue from the frequency regulation market accounts for as much as 86% of its total revenue. This indicates that active participation in the frequency regulation market can lead to higher economic returns for energy storage, and the development of the frequency regulation market provides impetus for the development of the energy storage industry.

[0054] The above is only 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 technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for clearing spot and frequency modulation markets jointly involving energy storage, characterized in that: include: Obtaining electric energy demand and frequency regulation capacity demand of electric power users on an operation day, where the electric energy demand and frequency regulation capacity demand are met by thermal power units and energy storage power stations; For thermal power units and energy storage power stations, a safety-constrained unit combination model and a safety-constrained economic dispatch model are constructed; The safety-constrained unit combination model takes minimizing the first total market participation cost as the objective function, and solves the safety-constrained unit combination model under corresponding constraints to obtain a startup plan for the thermal power unit and a charge and discharge plan for the energy storage power station; Based on the solution results of the safety-constrained unit combination model, without considering the start-up and shutdown costs of thermal power units, the safety-constrained economic dispatch model takes minimizing the second total participation market cost as the objective function, and solves the safety-constrained economic dispatch model under the corresponding constraint conditions to obtain the clearing result.

2. The method for clearing spot and frequency modulation markets jointly involving energy storage according to claim 1, characterized in that: The calculation formula for the first total market participation cost is: ； Where, represents the first total market participation cost, represents the market participation cost of thermal power units, represents the market participation cost of energy storage power stations, is the total cost of thermal power units in the spot market and frequency regulation market, is the power generation quotation of the thermal power unit at time t in the electricity market, is the winning bid capacity of the thermal power unit in the electricity market at time t, is the frequency regulation capacity quotation of the thermal power unit at time t, is the winning bid capacity of the thermal power unit in the frequency regulation market at time t, is a 0-1 variable representing the start / stop status of the thermal power unit at time t, is the startup cost of the thermal power unit, is the shutdown cost of the thermal power unit, is the collection of thermal power units, is the total cost of the energy storage power station in the spot market and frequency regulation market, is the discharge quotation of the energy storage power station at time t, is the discharge power of the energy storage station at time t, is the charging quotation of the energy storage power station at time t, is the charging power of the energy storage station at time t, is the frequency regulation capacity quotation of the energy storage power station at time t, is the winning bid capacity of the energy storage power station in the frequency regulation market at time t, It is a collection of energy storage power stations; 、 For the adjusted capacity quotation, 、 They are the frequency regulation performance indicators of thermal power units and energy storage power stations respectively.

3. The method for joint clearing of spot and frequency modulation markets involving energy storage according to claim 2, characterized in that: The calculation formula for the second total market participation cost is: ； in, is the second total market participation cost, The market participation cost of thermal power units without considering the start-up and shutdown costs of thermal power units. The market cost of thermal power units participating in the safety-constrained economic dispatch model.

4. The method for clearing spot and frequency modulation markets jointly involving energy storage according to claim 3, characterized in that: The constraints of the safety-constrained unit commitment model and the safety-constrained economic dispatch model both include power balance constraints, network flow constraints, thermal power unit constraints, and energy storage power station constraints.

5. The method for joint clearing of spot and frequency modulation markets involving energy storage according to claim 3, characterized in that: The clearing results include the winning capacity and clearing price of thermal power units and energy storage power stations in the electric energy market and frequency regulation market during each scheduling period.

6. The method for joint clearing of spot and frequency modulation markets involving energy storage according to claim 5, characterized in that: The clearing price includes an electric energy clearing price, and the steps for determining the electric energy clearing price include: Determining the power flow distribution of the power system based on the solution results of the security-constrained economic dispatch model; Based on the power flow distribution, the power transfer distribution factor is used to obtain the power flow distribution of each node. t The power balance constraint at the moment, and then calculate the dual multiplier under the constraint condition; calculate t Timeline l The dual multiplier of the upper and lower limit constraints of the transmission power is used to further obtain the electricity clearing price.

7. The method for joint clearing of spot and frequency modulation markets involving energy storage according to claim 6, characterized in that: The calculation formula for the electricity energy clearing price is: ； Where, for t Time Node i The price of electricity, for t The dual multiplier of the node power balance constraint at time instant, , Line l The upper and lower limits of transmission power are constrained at time t The dual multiplier of For nodes i For lines l The power transfer distribution factor of the node i The unit injection to the line l The ability to adjust the trend, L A collection of lines.

8. The method for joint clearing of spot and frequency modulation markets involving energy storage according to claim 5, characterized in that: The clearing price includes a frequency modulation capacity clearing price, and the steps for determining the frequency modulation capacity clearing price include: Determining the winning bid capacity in the frequency regulation market based on the solution of the security-constrained economic dispatch model; The frequency regulation capacity clearing price is determined based on the balance constraint between the winning bid capacity and the frequency regulation capacity demand.

9. The method for joint clearing of spot and frequency modulation markets involving energy storage according to claim 8, characterized in that: The frequency regulation capacity clearing price is calculated by the following formula: ； In the formula, the dual variable for t The frequency regulation capacity clearing price at time , Indicates frequency regulation capacity requirements.

10. A joint clearing system for spot and frequency modulation markets including energy storage, characterized in that: include: an acquisition module for acquiring electric energy demand and frequency regulation capacity demand of electric power users on an operation day, wherein the electric energy demand and frequency regulation capacity demand are satisfied by thermal power units and energy storage power stations; Construction module: For thermal power units and energy storage power stations, a safety-constrained unit combination model and a safety-constrained economic dispatch model are constructed; A first solving module, wherein the safety-constrained unit combination model is solved under corresponding constraints to obtain a startup plan for the thermal power unit and a charge and discharge plan for the energy storage power station, with minimizing the first total market participation cost as an objective function; The second solving module is based on the solution result of the safety-constrained unit combination model. Under the premise that the start-up and shutdown costs of the thermal power units do not need to be considered, the safety-constrained economic dispatch model takes minimizing the second total participation market cost as the objective function, and solves the safety-constrained economic dispatch model under the corresponding constraint conditions to obtain a clearing result.

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