Energy storage active support control method, device, equipment, medium and program product

Abstract

The invention relates to an energy storage active support control method, device and equipment, a medium and a program product, and the method comprises the steps: carrying out the adaptive adjustment of a first control parameter of a virtual synchronous generator based on the output angular frequency of the virtual synchronous generator, and determining the power grid angular frequency deviation value of a power grid system based on the power grid angular frequency of the power grid system, constructing a prediction equation aiming at the power grid angular frequency deviation value at the future moment, constructing a cost function by taking the power grid angular frequency deviation value at the future moment and the output power compensation value at the current moment as variable parameters, and determining the minimum cost value corresponding to the cost function as an optimization target; and performing optimization solution on the pre-obtained target function based on the first control parameter to obtain an output power compensation value at the current moment, thereby improving the dynamic response capability of the network-building energy storage technology, timely and effectively tracking and compensating system changes, and simultaneously considering the cost adjustment and enhancing the inertia support and frequency adjustment capability of the power system.

Description

Technical Field

[0001] The present disclosure relates to the field of power grid operation technology, and in particular to a method, device, equipment, medium and program product for active support control of energy storage. Background Art

[0002] Driven by the "dual carbon" goals, renewable energy sources such as wind power generation and photovoltaic power generation have been connected to the power system on a large scale, resulting in a significant increase in the penetration rate of power electronic equipment and a continuous decline in the system's inertia support and frequency regulation capabilities. At present, new energy grid-connected inverters generally adopt a grid-following control mode, relying on the power grid to provide voltage and frequency support, making it difficult to actively respond to system disturbances. Although grid-connected energy storage technologies, such as virtual synchronous generators (VSGs), can provide inertia and damping support by simulating the characteristics of synchronous generators, they are unable to track and compensate in a timely and effective manner when the system frequency deviation is large or the change speed is fast, resulting in insufficient dynamic response and no consideration of regulation costs. Summary of the Invention

[0003] In order to solve the above technical problems, the present disclosure provides an energy storage active support control method, device, equipment, medium and program product.

[0004] A first aspect of an embodiment of the present disclosure provides an energy storage active support control method, the method comprising:

[0005] Sampling an output angular frequency of a virtual synchronous generator, and adaptively adjusting a first control parameter of the virtual synchronous generator based on a first sampling result, the first control parameter including a moment of inertia and a damping coefficient;

[0006] Sampling a grid angular frequency of the power grid system, and determining a grid angular frequency deviation of the power grid system at a target time based on a second sampling result, wherein the target time includes a current time and a historical time;

[0007] Constructing a prediction equation for the grid angular frequency deviation at a future moment based on the first control parameter and the grid angular frequency deviation at the target moment;

[0008] The grid angular frequency deviation at the future moment and the output power compensation at the current moment are used as variable parameters to construct a cost function;

[0009] The minimum cost value corresponding to the cost function is determined as the optimization goal, and the pre-acquired objective function is optimized and solved based on the first control parameter to obtain the output power compensation value at the current moment.

[0010] A second aspect of an embodiment of the present disclosure provides an energy storage active support control device, the device comprising:

[0011] an adjustment module, configured to sample an output angular frequency of the virtual synchronous generator and adaptively adjust a first control parameter of the virtual synchronous generator based on a first sampling result, the first control parameter including a moment of inertia and a damping coefficient;

[0012] a first determining module, configured to sample a grid angular frequency of the grid system, and determine a grid angular frequency deviation of the grid system at a target moment based on a second sampling result, wherein the target moment includes a current moment and a historical moment;

[0013] A first construction module is configured to construct a prediction equation for a power grid angular frequency deviation at a future moment based on the first control parameter and the power grid angular frequency deviation at the target moment;

[0014] A second construction module is configured to construct a cost function by taking the grid angular frequency deviation at the future moment and the output power compensation at the current moment as variable parameters;

[0015] A solution module is used to determine the minimum cost value corresponding to the cost function as the optimization goal, optimize and solve the pre-acquired objective function based on the first control parameter, and obtain the output power compensation value at the current moment.

[0016] A third aspect of an embodiment of the present disclosure provides a computer device comprising a memory, a processor, and a computer program, wherein the memory stores the computer program, and when the computer program is executed by the processor, the energy storage active support control method as described in the first aspect above is implemented.

[0017] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the energy storage active support control method as described in the first aspect above is implemented.

[0018] A fifth aspect of an embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the energy storage active support control method as described in the first aspect above.

[0019] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0020] In the energy storage active support control method, apparatus, device, medium, and program product provided in the embodiments of the present disclosure, the output angular frequency of the virtual synchronous generator is sampled, and a first control parameter of the virtual synchronous generator is adaptively adjusted based on the first sampling result, where the first control parameter includes the moment of inertia and the damping coefficient. The grid angular frequency of the power grid system is sampled, and the grid angular frequency deviation of the power grid system at a target moment is determined based on the second sampling result. The target moment includes the current moment and the historical moment. A prediction equation for the grid angular frequency deviation at the target moment is constructed based on the first control parameter and the grid angular frequency deviation at the target moment. The grid angular frequency deviation at the future moment and the output power compensation at the current moment are used as variable parameters to construct a cost function. The cost value corresponding to the cost function is minimized as the optimization target. The pre-acquired target function is optimized and solved based on the first control parameter to obtain the output power compensation value at the current moment. This can improve the dynamic response capability of the grid-connected energy storage technology, timely and effectively track and compensate for system changes, while taking into account the regulation cost and enhancing the inertia support and frequency regulation capabilities of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0022] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a flow chart of an energy storage active support control method provided by an embodiment of the present disclosure;

[0024] Figure 2 is a flow chart of a method for determining a first control parameter provided by an embodiment of the present disclosure;

[0025] Figure 3 is a flowchart of a method for constructing a cost function provided by an embodiment of the present disclosure;

[0026] Figure 4 Schematic diagram of the structure of an energy storage active support control device provided by an embodiment of the present disclosure;

[0027] Figure 5 It is a structural diagram of a computer device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0030] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0031] Figure 1 This is a flow chart of an energy storage active support control method provided by an embodiment of the present disclosure. This method can be executed by an energy storage active support control device. The energy storage active support control device can be implemented in software and / or hardware. The energy storage active support control device can be configured in an electronic device, such as a server or a terminal, wherein the terminal specifically includes a mobile phone, a computer or a tablet computer, etc. Figure 1 As shown, the energy storage active support control method provided in this embodiment includes the following steps:

[0032] S101 . Sample the output angular frequency of the virtual synchronous generator, and adaptively adjust a first control parameter of the virtual synchronous generator based on a first sampling result, where the first control parameter includes a moment of inertia and a damping coefficient.

[0033] In the embodiment of the present disclosure, the energy storage active support control device can obtain a first sampling result of the sensor's timed sampling of the output angular frequency of the virtual synchronous generator, and adaptively adjust the rotational inertia and damping coefficient of the virtual synchronous generator according to the first sampling result.

[0034] In an exemplary embodiment of the present disclosure, the energy storage active support control device can calculate the deviation between the output angular frequency and the rated angular frequency after sampling the output angular frequency at each moment, and when the deviation exceeds a preset threshold, start the adaptive adjustment algorithm, and dynamically adjust the moment of inertia and damping coefficient through a preset functional relationship according to the size and change trend of the deviation. For example, if the angular frequency deviation increases in a positive direction, the moment of inertia is increased to enhance the system inertia, slow down the frequency change rate, increase the damping coefficient, accelerate energy loss, and suppress system oscillations. If the angular frequency deviation increases in a negative direction, the two parameters are adjusted in the opposite direction.

[0035] In another exemplary implementation of the embodiment of the present disclosure, the energy storage active support control device may first determine the value range of the moment of inertia and the damping coefficient, and then determine the first control parameter after adaptive adjustment within the value range.

[0036] Specifically, we can first construct the natural oscillation angular frequency ω of the VSG second-order model n and the damping ratio ξ, which can be expressed as follows:

[0037]

[0038] Among them, E0 is the VSG small signal model parameter, U g is the reference phase voltage, J is the moment of inertia, ω0 is the rated angular frequency of VSG, X is the equivalent reactance, D is the damping coefficient, K p is the VSG active power droop coefficient.

[0039] At the same time, D is affected by the change in mechanical torque and the change in angular frequency, where ω≈ω0 is taken. Therefore, we can obtain:

[0040]

[0041] Where ΔT is the change in mechanical torque, ΔT = ΔP / ω, Δω max Take 2π, ΔP is the change in active power, and ω is the output angular frequency of VSG.

[0042] Further deduction shows that D can be expressed as follows:

[0043]

[0044] Regulations state that when participating in primary frequency regulation, the differential rate should be 0.5% to 3%. When the system frequency drops by 1 Hz, the VSG's output active power should be 0.4 MW to 1 MW. Combining the above expressions, we can obtain a value for the moment of inertia within the range (202, 510).

[0045] In the early stages of a disturbance, the system should remain in an underdamped state to ensure a short adjustment time. In the later stages of a disturbance, the system should transition to a critically damped or overdamped state to reduce oscillation time and avoid power overshoot. To enable the system to effectively switch between underdamped and overdamped states during disturbances, the moment of inertia and damping coefficient need to be adjusted in a coordinated manner to optimize the system's dynamic performance. Furthermore, when the grid capacity is small, the grid impedance is large, and the current and voltage fluctuations output by the inverter have a significant impact on system stability. Therefore, when determining the moment of inertia, it is necessary not only to consider the system's response to the disturbance but also to assess its potential impact on grid stability. Therefore, the range of the moment of inertia is determined to be (0.2, 5).

[0046] In weak grids, the grid impedance is high and the system's anti-interference capability is weak. Therefore, when the energy storage inverter performs power compensation, it is important to minimize output power overshoot and oscillation periods to enhance system stability. Based on the angular frequency deviation and its trend (i.e., the deviation rate), the control gain can be divided into four intervals, each corresponding to a different gain coefficient. Different adjustment directions and amplitudes are then used for different operating conditions. Exponential decay is used to prevent over-adjustment of parameters when the deviation is large, while the adjustment amplitude is reduced when the deviation is small to minimize system oscillation.

[0047] Figure 2 is a flow chart of a method for determining a first control parameter provided by an embodiment of the present disclosure, such as Figure 2 As shown, based on the above embodiment, the first control parameter can be determined by the following method.

[0048] S201: Determine the output angular frequency deviation at the current moment based on the first sampling result.

[0049] S202: Compare the absolute value of the output angular frequency deviation with a preset first start threshold and a preset second start threshold respectively.

[0050] In an embodiment of the present disclosure, the energy storage active support control device can determine the output angular frequency deviation at the current moment based on the sampling result after obtaining the sampling result of the sensor's timed sampling of the output angular frequency of the virtual synchronous generator. The output angular frequency deviation can be understood as the deviation between the output angular frequency and the rated angular frequency, and the absolute value of the output angular frequency deviation is compared with the preset first start threshold and the second start threshold respectively, wherein the first start threshold is used to measure whether the moment of inertia needs to be adjusted, and the second start threshold is used to measure whether the damping coefficient needs to be adjusted.

[0051] S203 : If the absolute value is greater than or equal to the first start threshold, adjust the pre-acquired initial value of the moment of inertia and determine the adjusted initial value of the moment of inertia as the moment of inertia; otherwise, determine the initial value of the moment of inertia as the moment of inertia.

[0052] In an embodiment of the present disclosure, the energy storage active support control device may determine that a pre-acquired initial value of moment of inertia needs to be adjusted when the absolute value of the output angular frequency deviation is greater than or equal to a first startup threshold, and determine the adjusted initial value of moment of inertia as the moment of inertia. When the absolute value of the output angular frequency deviation is less than the first startup threshold, the device may determine that the pre-acquired initial value of moment of inertia does not need to be adjusted, and determine the initial value of moment of inertia as the moment of inertia. The initial value of moment of inertia may be selected from a predetermined range of moment of inertia values.

[0053] S204: If the absolute value is greater than or equal to the second start threshold, adjust the pre-acquired initial value of the damping coefficient and determine the adjusted initial value of the damping coefficient as the damping coefficient; otherwise, determine the initial value of the damping coefficient as the damping coefficient.

[0054] In an embodiment of the present disclosure, the energy storage active support control device may determine that a pre-acquired initial value of the damping coefficient needs to be adjusted when the absolute value of the output angular frequency deviation is greater than or equal to a second startup threshold, and determine the adjusted initial value of the damping coefficient as the moment of inertia. When the absolute value of the output angular frequency deviation is less than the second startup threshold, the device may determine that the pre-acquired initial value of the damping coefficient does not need to be adjusted, and determine the initial value of the damping coefficient as the damping coefficient. The initial value of the damping coefficient may be selected from a predetermined range of values ​​for the damping coefficient.

[0055] There is no restriction on the execution order of S203 and S204, and the moment of inertia and damping coefficient must comply with the overall changes of the system during their respective adjustment processes.

[0056] In one example, the method further includes: determining the output angular frequency change rate at the current moment based on the first sampling result; determining the regulation stage to which the current moment belongs based on the output angular frequency deviation at the current moment and the output angular frequency change rate at the current moment;

[0057] In step S203, the pre-acquired initial value of the moment of inertia is adjusted, including: determining a first adjustment parameter corresponding to the adjustment stage to which the current moment belongs based on a pre-acquired first correspondence between the adjustment stage and the moment of inertia adjustment parameter; and adjusting the initial value of the moment of inertia based on the first adjustment parameter;

[0058] In S204, the pre-acquired initial value of the damping coefficient is adjusted, including: determining the second adjustment parameter corresponding to the adjustment stage to which the current moment belongs based on the second corresponding relationship between the pre-acquired adjustment stage and the damping coefficient adjustment parameter; and adjusting the initial value of the damping coefficient based on the second adjustment parameter.

[0059] Specifically, after obtaining the sampling results of the sensor's regular sampling of the output angular frequency of the virtual synchronous generator, the energy storage active support control device can further determine the output angular frequency deviation rate at the current moment based on the sampling results. The output angular frequency deviation rate can be understood as the rate of change of the output angular frequency deviation. After determining the output angular frequency deviation rate at the current moment, further determine the adjustment stage to which the current moment belongs based on the output angular frequency deviation at the current moment and the output angular frequency change rate at the current moment. Optionally, when the output angular frequency deviation and the output angular frequency change rate are both greater than 0, determine that the current moment is in the first adjustment stage; when the output angular frequency deviation is greater than 0 and the output angular frequency change rate is both less than 0, determine that the current moment is in the second adjustment stage; when the output angular frequency deviation is less than 0 and the output angular frequency change rate is greater than 0, determine that the current moment is in the third adjustment stage; when the output angular frequency deviation and the output angular frequency change rate are both less than 0, determine that the current moment is in the fourth adjustment stage; and then, based on the first corresponding relationship between the adjustment stage and the moment of inertia adjustment parameter, determine the first adjustment parameter corresponding to the adjustment stage to which the current moment belongs; based on the second corresponding relationship between the adjustment stage and the damping coefficient adjustment parameter, determine the second adjustment parameter corresponding to the adjustment stage to which the current moment belongs; adjust the initial value of the moment of inertia according to the first adjustment parameter; and adjust the initial value of the damping coefficient according to the second adjustment parameter.

[0060] Adjustment phase, output angular frequency deviation Δω, output angular frequency change rate dω / dt, first adjustment parameter α J and the second adjustment parameter α D The corresponding relationship is shown in Table 1:

[0061] Table 1

[0062] Adjustment phase Δω dω / dt <![CDATA[α J ]]> <![CDATA[α D ]]> 1 >0 >0 1.85 0.2 2 >0 <0 -0.8 1.8 3 <0 >0 2.15 -0.5 4 <0 <0 -0.9 0.8

[0063] The specific process of adjusting the initial value of the moment of inertia based on the first adjustment parameter and adjusting the initial value of the damping coefficient based on the second adjustment parameter can be expressed as follows:

[0064]

[0065] Among them, J0 and D0 are the initial values ​​of moment of inertia and damping coefficient respectively, γ J , γ D are the adaptive gains of the moment of inertia and damping coefficient respectively, λ is the exponential decay factor used to adjust the adaptation rate, K J , K D is the starting threshold, α J , α D are the first adjustment parameter and the second adjustment parameter respectively, and δ is the power angle.

[0066] During the first regulation phase, the system should increase its moment of inertia to ensure that the output power can promptly track the power command. At the same time, the damping coefficient should be appropriately increased to accommodate the change in moment of inertia. The system should operate in an underdamped state. Entering the second regulation phase, the system is in the late stage of disturbance. At this point, the moment of inertia should be promptly reduced, the damping coefficient increased, and the system's oscillation period shortened. The system should operate in an overdamped state. During the third regulation phase, the actual output power exceeds the power command. At this point, the moment of inertia should be increased and the damping coefficient reduced. The regulation time should be shortened, and the adjustment coefficient should be set low to prevent the damping coefficient from decreasing too quickly. The entire system should operate in an underdamped state. During the fourth regulation phase, the system has completed regulation. The oscillation period should be reduced to increase system stability. The moment of inertia and the damping coefficient must be coordinated to avoid both a rapid decrease in moment of inertia and an excessive increase in the damping coefficient, which would result in a slow recovery.

[0067] By determining the output angular frequency deviation at the current moment based on the first sampling result, and comparing the absolute value of the output angular frequency deviation with the preset first start-up threshold and the second start-up threshold respectively, if the absolute value is greater than or equal to the first start-up threshold, the pre-acquired initial value of the moment of inertia is adjusted, and the adjusted initial value of the moment of inertia is determined as the moment of inertia, otherwise the initial value of the moment of inertia is determined as the moment of inertia, if the absolute value is greater than or equal to the second start-up threshold, the pre-acquired initial value of the damping coefficient is adjusted, and the adjusted initial value of the damping coefficient is determined as the damping coefficient, otherwise the initial value of the damping coefficient is determined as the damping coefficient. This can dynamically and accurately adjust the VSG parameters, improve the dynamic response capability of the grid-type energy storage technology, and ensure the stable operation of the VSG and the reliable power supply of the power system.

[0068] S102: Sampling the grid angular frequency of the grid system, and determining the grid angular frequency deviation of the grid system at a target time based on a second sampling result, where the target time includes a current time and a historical time.

[0069] In the embodiment of the present disclosure, the energy storage active support control device can obtain the second sampling result of the sensor performing timed sampling on the grid angular frequency of the power grid system, and calculate the grid angular frequency deviation of the network system at the current moment and the historical moment based on the second sampling result, wherein the historical moment can be determined based on the control domain used when constructing the prediction equation.

[0070] S103: Construct a prediction equation for the grid angular frequency deviation at a future moment based on the first control parameter and the grid angular frequency deviation at a target moment.

[0071] In the embodiment of the present disclosure, the energy storage active support control device can, after determining the moment of inertia and damping coefficient of the adjusted virtual synchronous generator, construct a prediction equation for the grid angular frequency deviation at a future moment based on the moment of inertia, damping coefficient, the grid angular frequency deviation at a target moment, and the grid angular frequency change rate at a target moment.

[0072] Specifically, the state matrix A and input matrix B can be constructed based on the moment of inertia and damping coefficient. m and the perturbation matrix D e , which can be expressed as follows:

[0073]

[0074]

[0075] Among them, T s is the discrete time, and τ is the time constant.

[0076] After the construction is completed, further based on the state matrix A and input matrix B m , perturbation matrix D e ,, the grid angular frequency deviation Δω(k) at the target moment is used to construct the prediction equation Y for the grid angular frequency deviation at the future moment p (k+1|k), which can be expressed as follows:

[0077] Y p (k+1|k)=S A Δω(k)+S m ΔP M (k)+S e ΔP e (k)+γΔω(k)

[0078] ΔP M (k)=[ΔP m (k)ΔP m (k+1)ΔP m (k+2)]

[0079] S A =[AA 2 +AA 3 +A 2 +A] T

[0080]

[0081] S e =[D e AD e +D e A 2 D e +ADe +D e ] T

[0082] γ=[1 1 1] T

[0083] Where ΔP M (k) is the incremental matrix of the control input variable, ΔP m (k) is the increment of the control input variable, which refers to the output power compensation, ΔP e (k) is the increment of the disturbance variable, and y(k) is the controlled output variable.

[0084] S104: Using the grid angular frequency deviation at a future moment and the output power compensation at the current moment as variable parameters, a cost function is constructed.

[0085] The selection of the cost function directly reflects the performance requirements of the system. The cost function needs to take into account the deviation of the system frequency. At the same time, in order to avoid the adverse effects of drastic changes in the control input variables on the system stability and the interference of inverter output power fluctuations on the system performance, the cost function needs to take into account the effective constraints on both the frequency deviation and the control input variable increment.

[0086] In the disclosed embodiment, the energy storage active support control device can use the grid angular frequency deviation (i.e., the system frequency deviation) at a future moment and the output power compensation (control input variable increment) at a current moment as variable parameters to construct a cost function that comprehensively considers the grid angular frequency deviation and the output power compensation.

[0087] Figure 3 is a flow chart of a method for constructing a cost function provided by an embodiment of the present disclosure, such as Figure 3 As shown, based on the above embodiment, the cost function can be constructed by the following method.

[0088] S301: Determine an angular frequency deviation weight factor based on a pre-acquired initial value of the angular frequency change weight factor, a first angular frequency deviation gain coefficient, a current grid angular frequency deviation, a first angular frequency change rate gain coefficient, and a current grid angular frequency change rate.

[0089] The weighting factor directly reflects the priority of each control objective during the control process. The selection of the weighting factor is based on two performance indicators: the first is the grid angular frequency deviation; increasing this weighting factor can accelerate the angular frequency's return to the reference value; the second is the power compensation output by the VSG; increasing this weighting factor can reduce the VSG's regulation cost. If the sole objective is to optimize frequency deviation while ignoring the VSG's regulation cost, resources will be wasted and the output power will fluctuate significantly, hindering stable system operation. Conversely, if only reducing regulation cost is considered while ignoring frequency deviation, frequency recovery may be slow.

[0090] When constructing the cost function, it is necessary to first determine the angular frequency deviation weight factor and the power compensation amount weight factor, and then perform adaptive adjustment on the angular frequency deviation weight factor and the power compensation amount weight factor.

[0091] Specifically, the angular frequency deviation weight factor α can be expressed as follows:

[0092]

[0093] Among them, α0 is the initial value of the angular frequency change weight factor, K A is the first angular frequency deviation gain coefficient, ω-ω0 is the grid angular frequency deviation at the current moment, K DA is the first angular frequency change rate gain coefficient, is the rate of change of the grid angular frequency at the current moment.

[0094] S302: Determine a power compensation weight factor based on a pre-acquired power change weight factor initial value, a second angular frequency deviation gain coefficient, a current grid angular frequency deviation, a second angular frequency change rate gain coefficient, and a current grid angular frequency change rate.

[0095] In one example, S302 specifically includes: if the grid angular frequency deviation at the current moment is greater than a preset threshold, then the initial value of the power change weight factor, the angular frequency deviation item at the current moment, and the angular frequency change item at the current moment are summed to obtain the power compensation weight factor, the angular frequency deviation item at the current moment is determined based on the second angular frequency deviation gain coefficient and the grid angular frequency deviation at the current moment, and the angular frequency change item at the current moment is determined based on the second angular frequency change rate gain coefficient and the grid angular frequency change rate at the current moment; if the grid angular frequency deviation at the current moment is less than the preset threshold, then the sum of the initial value of the power change weight factor and the angular frequency change item at the current moment is subtracted from the angular frequency deviation item at the current moment to obtain the power compensation weight factor.

[0096] The power compensation weight factor β can be expressed as follows:

[0097]

[0098] Among them, β0 is the initial value of the power change weight factor, K B is the second angular frequency deviation gain coefficient, ω-ω0 is the grid angular frequency deviation at the current moment, K DB is the second angular frequency change rate gain coefficient, is the rate of change of the grid angular frequency at the current moment.

[0099] S303: Taking the grid angular frequency deviation at a future moment and the output power compensation at the current moment as variable parameters, and combining the angular frequency deviation weight factor and the power compensation weight factor to construct a cost function.

[0100] Specifically, after determining the angular frequency deviation weight factor and the power compensation weight factor, the energy storage active support control device can determine the angular frequency deviation weight coefficient and the power compensation weight coefficient according to the angular frequency deviation weight factor and the power compensation weight factor respectively, and construct a cost function based on the grid angular frequency deviation, angular frequency deviation weight coefficient at the future moment, the output power compensation at the current moment, and the power compensation weight coefficient.

[0101] Angular frequency deviation weight coefficient Γ y and power compensation weight coefficient Γ Pm It can be expressed as follows:

[0102]

[0103] Cost function J p (Δω(k),ΔP m (k)) can be expressed as follows:

[0104]

[0105] Among them, R(k+1) is the reference sequence of control output, and p is the prediction time domain.

[0106] As the grid's angular frequency deviation increases, the angular frequency deviation weight coefficient increases exponentially. The larger the grid's angular frequency deviation or the greater the rate of change of the grid's angular frequency, the more pronounced the increase in the angular frequency weight coefficient, allowing it to more quickly participate in the grid's angular frequency recovery process. When the grid's angular frequency begins to recover, the angular frequency weight coefficient gradually decreases, matching the speed of recovery with the speed of reduction. When the grid's angular frequency deviation is large, the power compensation weight coefficient is reduced to coordinate frequency regulation with the system. When the system enters the recovery phase, the power compensation weight coefficient is increased to reduce the VSG's regulation cost.

[0107] The embodiment of the present disclosure determines the angular frequency deviation weight factor based on the pre-acquired initial value of the angular frequency change weight factor, the first angular frequency deviation gain coefficient, the grid angular frequency deviation at the current moment, the first angular frequency change rate gain coefficient and the grid angular frequency change rate at the current moment; determines the power compensation weight factor based on the pre-acquired initial value of the power change weight factor, the second angular frequency deviation gain coefficient, the grid angular frequency deviation at the current moment, the second angular frequency change rate gain coefficient and the grid angular frequency change rate at the current moment; takes the grid angular frequency deviation at a future moment and the output power compensation at the current moment as variable parameters, and constructs a cost function in combination with the angular frequency deviation weight factor and the power compensation weight factor, thereby achieving an effective balance between the angular frequency adjustment speed and the adjustment cost, and accelerating the recovery speed of the system angular frequency at a limited adjustment cost.

[0108] S105 , determining the minimum cost value corresponding to the cost function as the optimization target, optimizing and solving the pre-acquired target function based on the first control parameter, and obtaining the output power compensation value at the current moment.

[0109] According to the frequency fluctuation characteristics and amplitude requirements of the power grid system, the objective function of the constrained MPC optimization solution can be expressed as follows:

[0110]

[0111] in:

[0112]

[0113] H=B m T Γ y T Γ y B m +Γ pm T Γ pm

[0114] G(k+1|k)=2B m T Γ y T E p (k+1|k)

[0115]

[0116] Where Y max , Y minIn order to pre-acquire the upper and lower frequency limit constraints, the energy storage active support control device can take the minimum cost value corresponding to the pre-constructed cost function as the optimization goal, determine the state variable increment and input matrix based on the first control parameter, and then optimize and solve the pre-acquired objective function based on the state variable increment and input matrix to obtain the output power compensation value at the current moment.

[0117] In some embodiments, S104 includes: extracting the output power compensation value at the current moment from the solution result of the objective function.

[0118] Specifically, the solution results include the output power compensation values ​​for the current moment and future moments in the predicted time domain. The energy storage active support control device can extract the first item from the solution results as the output power compensation value at the current moment, act on the active link of the VSG, and continuously correct the active output of the VSG through rolling optimization, thereby achieving faster frequency response while reducing the adjustment cost of the VSG.

[0119] The embodiment of the present disclosure samples the output angular frequency of the virtual synchronous generator, adaptively adjusts the first control parameter of the virtual synchronous generator based on the first sampling result, the first control parameter including the moment of inertia and the damping coefficient, samples the grid angular frequency of the power grid system, determines the grid angular frequency deviation of the power grid system at the target moment based on the second sampling result, the target moment including the current moment and the historical moment, constructs a prediction equation for the grid angular frequency deviation at the future moment based on the first control parameter and the grid angular frequency deviation at the target moment, takes the grid angular frequency deviation at the future moment and the output power compensation at the current moment as variable parameters, constructs a cost function, determines the minimum cost value corresponding to the cost function as the optimization target, optimizes and solves the pre-acquired target function based on the first control parameter, and obtains the output power compensation value at the current moment, which can improve the dynamic response capability of the grid-type energy storage technology, timely and effectively track and compensate for system changes, while taking into account the regulation cost, and enhancing the inertia support and frequency regulation capabilities of the power system.

[0120] Figure 4 This is a schematic diagram of the structure of an energy storage active support control device provided by an embodiment of the present disclosure. Figure 4As shown, the energy storage active support control device 400 includes: an adjustment module 410, which is used to sample the output angular frequency of the virtual synchronous generator and adaptively adjust the first control parameter of the virtual synchronous generator based on the first sampling result, wherein the first control parameter includes the moment of inertia and the damping coefficient; a first determination module 420, which is used to sample the grid angular frequency of the power grid system and determine the grid angular frequency deviation of the power grid system at the target moment based on the second sampling result, wherein the target moment includes the current moment and the historical moment; a first construction module 430, which is used to construct a prediction equation for the grid angular frequency deviation at the future moment based on the first control parameter and the grid angular frequency deviation at the target moment; a second construction module 440, which is used to construct a cost function using the grid angular frequency deviation at the future moment and the output power compensation at the current moment as variable parameters; a solution module 450, which is used to determine the minimum cost value corresponding to the cost function as the optimization target, optimize and solve the pre-acquired target function based on the first control parameter, and obtain the output power compensation value at the current moment.

[0121] Optionally, the adjustment module 410 includes: a first determination unit, used to determine the output angular frequency deviation at the current moment based on the first sampling result; a comparison unit, used to compare the absolute value of the output angular frequency deviation with a preset first start threshold and a second start threshold, respectively; a first adjustment unit, used to adjust the pre-acquired initial value of the moment of inertia if the absolute value is greater than or equal to the first start threshold, and determine the adjusted initial value of the moment of inertia as the moment of inertia, otherwise determine the initial value of the moment of inertia as the moment of inertia; a second adjustment unit, used to adjust the pre-acquired initial value of the damping coefficient if the absolute value is greater than or equal to the second start threshold, and determine the adjusted initial value of the damping coefficient as the damping coefficient, otherwise determine the initial value of the damping coefficient as the damping coefficient.

[0122] Optionally, the energy storage active support control device 400 includes: a second determination module, used to determine the output angular frequency change rate at the current moment based on the first sampling result; a third determination module, used to determine the adjustment stage to which the current moment belongs based on the output angular frequency deviation at the current moment and the output angular frequency change rate at the current moment; the first adjustment unit, specifically used to determine the first adjustment parameter corresponding to the adjustment stage to which the current moment belongs based on the first correspondence between the adjustment stage and the moment of inertia adjustment parameter obtained in advance; and adjust the initial value of the moment of inertia based on the first adjustment parameter; the second adjustment unit, specifically used to determine the second adjustment parameter corresponding to the adjustment stage to which the current moment belongs based on the second correspondence between the adjustment stage and the damping coefficient adjustment parameter obtained in advance; and adjust the initial value of the damping coefficient based on the second adjustment parameter.

[0123] Optionally, the second construction module 440 includes: a second determination unit, used to determine the angular frequency deviation weight factor based on the pre-acquired initial value of the angular frequency change weight factor, the first angular frequency deviation gain coefficient, the grid angular frequency deviation at the current moment, the first angular frequency change rate gain coefficient and the grid angular frequency change rate at the current moment; a third determination unit, used to determine the power compensation weight factor based on the pre-acquired initial value of the power change weight factor, the second angular frequency deviation gain coefficient, the grid angular frequency deviation at the current moment, the second angular frequency change rate gain coefficient and the grid angular frequency change rate at the current moment; a construction unit, used to use the grid angular frequency deviation at the future moment and the output power compensation at the current moment as variable parameters, and combine the angular frequency deviation weight factor and the power compensation weight factor to construct the cost function.

[0124] Optionally, the construction unit includes: a first construction subunit, which is used to sum the initial value of the power change weight factor, the angular frequency deviation item at the current moment, and the angular frequency change item at the current moment to obtain the power compensation weight factor if the grid angular frequency deviation at the current moment is greater than a preset threshold, the angular frequency deviation item at the current moment is determined based on the second angular frequency deviation gain coefficient and the grid angular frequency deviation at the current moment, and the angular frequency change item at the current moment is determined based on the second angular frequency change rate gain coefficient and the grid angular frequency change rate at the current moment; and a second construction subunit, which is used to perform subtraction processing on the sum of the initial value of the power change weight factor and the angular frequency change item at the current moment and the angular frequency deviation item at the current moment to obtain the power compensation weight factor if the grid angular frequency deviation at the current moment is less than a preset threshold.

[0125] Optionally, the solution module 450 is specifically configured to extract the output power compensation value at the current moment from the solution result of the objective function.

[0126] The energy storage active support control device provided in this embodiment can execute the method described in any of the above embodiments. Its execution method and beneficial effects are similar and will not be described in detail here.

[0127] Figure 5 It is a structural diagram of a computer device provided by an embodiment of the present disclosure.

[0128] like Figure 5 As shown, the computer device may include a processor 510 and a memory 520 storing computer program instructions.

[0129] Specifically, the processor 510 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0130] Memory 520 may include a large-capacity memory for information or instructions. By way of example, and not limitation, memory 520 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 520 may include removable or non-removable (or fixed) media. Where appropriate, memory 520 may be internal or external to the integrated gateway device. In certain embodiments, memory 520 is non-volatile solid-state memory. In certain embodiments, memory 520 includes read-only memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0131] The processor 510 reads and executes computer program instructions stored in the memory 520 to perform the steps of the energy storage active support control method provided in the embodiment of the present disclosure.

[0132] In one example, the computer device may further include a transceiver 530 and a bus 540. Figure 5 As shown, the processor 510 , the memory 520 and the transceiver 530 are connected via a bus 540 and communicate with each other.

[0133] The bus 540 includes hardware, software, or both. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 540 may include one or more buses. Although embodiments herein describe and illustrate a particular bus, this application contemplates any suitable bus or interconnect.

[0134] The embodiments of the present disclosure further provide a computer-readable storage medium, which may store a computer program. When the computer program is executed by a processor, the processor implements the energy storage active support control method provided by the embodiments of the present disclosure.

[0135] The above-mentioned storage medium may, for example, include a memory 520 of computer program instructions, and the above-mentioned instructions may be executed by the processor 510 of the energy storage active support control device to complete the energy storage active support control method provided by the embodiment of the present disclosure. Optionally, the storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc. The above-mentioned computer program may be written in any combination of one or more programming languages ​​to form program codes for performing the operations of the embodiments of the present disclosure, and the programming languages ​​include object-oriented programming languages ​​such as Java, C++, etc., and also include conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0136] The embodiments of the present disclosure also provide a computer program product, including a computer program. When the computer program is executed by a processor, the processor implements the energy storage active support control method provided by the embodiments of the present disclosure.

[0137] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0138] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling active energy storage support, characterized in that: include: Sampling an output angular frequency of a virtual synchronous generator, and adaptively adjusting a first control parameter of the virtual synchronous generator based on a first sampling result, the first control parameter including a moment of inertia and a damping coefficient; Sampling a grid angular frequency of the power grid system, and determining a grid angular frequency deviation of the power grid system at a target time based on a second sampling result, wherein the target time includes a current time and a historical time; Constructing a prediction equation for the grid angular frequency deviation at a future moment based on the first control parameter and the grid angular frequency deviation at the target moment; The grid angular frequency deviation at the future moment and the output power compensation at the current moment are used as variable parameters to construct a cost function; The minimum cost value corresponding to the cost function is determined as the optimization goal, and the pre-acquired objective function is optimized and solved based on the first control parameter to obtain the output power compensation value at the current moment.

2. The method according to claim 1, characterized in that The step of sampling the output angular frequency of the virtual synchronous generator and adaptively adjusting a first control parameter of the virtual synchronous generator based on a first sampling result includes: Determine the output angular frequency deviation at the current moment based on the first sampling result; Comparing the absolute value of the output angular frequency deviation with a preset first start threshold and a preset second start threshold respectively; If the absolute value is greater than or equal to the first start threshold, adjusting the pre-acquired initial value of the moment of inertia and determining the adjusted initial value of the moment of inertia as the moment of inertia; otherwise, determining the initial value of the moment of inertia as the moment of inertia; If the absolute value is greater than or equal to the second start threshold, the pre-acquired initial value of the damping coefficient is adjusted, and the adjusted initial value of the damping coefficient is determined as the damping coefficient; otherwise, the initial value of the damping coefficient is determined as the damping coefficient.

3. The method according to claim 2, characterized in that The method further comprises: Determine the output angular frequency change rate at the current moment based on the first sampling result; determining the regulation stage to which the current moment belongs based on the output angular frequency deviation at the current moment and the output angular frequency change rate at the current moment; The adjusting of the pre-acquired initial value of the moment of inertia includes: Determining a first adjustment parameter corresponding to the adjustment stage to which the current moment belongs based on a pre-acquired first correspondence between the adjustment stage and the moment of inertia adjustment parameter; adjusting the initial value of the moment of inertia based on the first adjustment parameter; The adjusting of the pre-acquired initial value of the damping coefficient includes: Determining a second adjustment parameter corresponding to the adjustment stage to which the current moment belongs based on a pre-acquired second correspondence between the adjustment stage and the damping coefficient adjustment parameter; The initial value of the damping coefficient is adjusted based on the second adjustment parameter.

4. The method according to claim 1, wherein The cost function is constructed by taking the grid angular frequency deviation at the future moment and the output power compensation at the current moment as variable parameters, including: Determine the angular frequency deviation weight factor based on the pre-acquired initial value of the angular frequency change weight factor, the first angular frequency deviation gain coefficient, the grid angular frequency deviation at the current moment, the first angular frequency change rate gain coefficient, and the grid angular frequency change rate at the current moment; Determine the power compensation weight factor based on the pre-acquired power change weight factor initial value, the second angular frequency deviation gain coefficient, the grid angular frequency deviation at the current moment, the second angular frequency change rate gain coefficient, and the grid angular frequency change rate at the current moment; The grid angular frequency deviation at the future moment and the output power compensation at the current moment are used as variable parameters, and the cost function is constructed by combining the angular frequency deviation weight factor and the power compensation weight factor.

5. The method according to claim 4, characterized in that The method of determining the power compensation weight factor based on the pre-acquired initial value of the power change weight factor, the second angular frequency deviation gain coefficient, the grid angular frequency deviation at the current moment, the second angular frequency change rate gain coefficient, and the grid angular frequency change rate at the current moment includes: If the grid angular frequency deviation at the current moment is greater than a preset threshold, summing the initial value of the power change weight factor, the angular frequency deviation term at the current moment, and the angular frequency change term at the current moment to obtain the power compensation weight factor, wherein the angular frequency deviation term at the current moment is determined based on the second angular frequency deviation gain coefficient and the grid angular frequency deviation at the current moment, and the angular frequency change term at the current moment is determined based on the second angular frequency change rate gain coefficient and the grid angular frequency change rate at the current moment; If the grid angular frequency deviation at the current moment is less than a preset threshold, the power compensation weight factor is obtained by performing a subtraction process on the sum of the initial value of the power change weight factor and the angular frequency change term at the current moment and the angular frequency deviation term at the current moment.

6. The method according to claim 1, characterized in that The step of minimizing the cost value corresponding to the cost function as an optimization objective, and optimizing and solving the pre-acquired objective function based on the first control parameter to obtain the output power compensation value at the current moment, includes: The output power compensation value at the current moment is extracted from the solution result of the objective function.

7. An energy storage active support control device, characterized in that: The device comprises: an adjustment module, configured to sample an output angular frequency of the virtual synchronous generator and adaptively adjust a first control parameter of the virtual synchronous generator based on a first sampling result, the first control parameter including a moment of inertia and a damping coefficient; a first determining module, configured to sample a grid angular frequency of the grid system, and determine a grid angular frequency deviation of the grid system at a target moment based on a second sampling result, wherein the target moment includes a current moment and a historical moment; A first construction module is configured to construct a prediction equation for a power grid angular frequency deviation at a future moment based on the first control parameter and the power grid angular frequency deviation at the target moment; A second construction module is configured to construct a cost function by taking the grid angular frequency deviation at the future moment and the output power compensation at the current moment as variable parameters; A solution module is used to determine the minimum cost value corresponding to the cost function as the optimization goal, optimize and solve the pre-acquired objective function based on the first control parameter, and obtain the output power compensation value at the current moment.

8. A computer device, characterized in that: include: Memory; processor; And a computer program; wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the energy storage active support control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the energy storage active support control method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the energy storage active support control method according to any one of claims 1 to 6 is implemented.

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