Energy storage system cooperative control method and system for power grid frequency modulation

Abstract

The invention discloses an energy storage system cooperative control method and system for power grid frequency modulation, belongs to the field of power grid control, and particularly relates to power grid frequency control, and the method comprises the steps: collecting power output time sequence data of each energy storage system in a target power grid in response to a power grid frequency modulation instruction through data monitoring equipment, to identify a timing misalignment event due to communication delay or response difference; acquiring output power data of each time sequence dislocation event so as to judge whether a cooperative failure condition occurs among the energy storage systems or not; if it is determined that a cooperative failure condition occurs, generating a frequency modulation power task redistribution instruction with smooth power grid power fluctuation as a target according to the output power data, and obtaining delay data to generate a communication time sequence adjustment instruction synchronized with power distribution, so as to adjust the frequency modulation power task according to the communication time sequence adjustment instruction; and cooperative control of each energy storage system in the target power grid is realized. The stability of power frequency modulation of the power grid can be improved through cooperative control of the energy storage system in the power grid.

Description

Technical Field

[0001] This invention relates to the field of power grid control technology, and in particular to a collaborative control method and system for energy storage systems used in power grid frequency regulation. Background Technology

[0002] In modern power systems, energy storage systems participate in grid frequency regulation as a crucial means of ensuring stable power supply. Their core function is to balance grid frequency fluctuations by rapidly responding to power demand, thereby ensuring the safe and efficient operation of the power system. The importance of this field is self-evident, especially with the large-scale integration of new energy sources; the frequency regulation capabilities of energy storage systems have become an indispensable support for the power system.

[0003] However, current technologies often overlook the coordination issues of multiple energy storage systems in actual operation, failing to fully consider their time differences and mutual influences during response. This neglect leads to a decline in overall system efficiency, especially in complex grid environments where the coordination of multiple energy storage units becomes more prominent, affecting the actual effectiveness of frequency regulation. Because of the time delay differences between receiving commands and executing power output by various energy storage units, this difference can lead to asynchronous power output, resulting in mutual interference between systems. For example, in situations where a grid frequency drops and rapid power replenishment is needed, some energy storage systems may fail to output power in time due to delays, while other systems may respond prematurely, causing power output to cancel each other out and even exacerbating frequency fluctuations. This timing misalignment not only weakens the frequency regulation contribution of individual energy storage units but also reduces the overall system's coordination capability, forming a difficult-to-overcome technical bottleneck.

[0004] Therefore, effectively identifying and resolving the power output interference and overall performance degradation caused by misaligned response timing in multiple energy storage systems during frequency regulation has become a key issue in improving the stability and efficiency of power grid frequency regulation. Summary of the Invention

[0005] This invention provides a method and system for coordinated control of energy storage systems for power grid frequency regulation, which can improve the stability and reliability of power grid frequency regulation through coordinated control of energy storage systems in the power grid.

[0006] In a first aspect, embodiments of the present invention provide a line detection method based on DC signal testing, comprising: By using data monitoring equipment, the power output timing data of each energy storage system in the target power grid in response to the grid frequency regulation command is collected, and timing misalignment events are identified based on the power output timing data to obtain a list of timing misalignment events. The output power data of each timing misalignment event in the timing misalignment event list is obtained, and based on the output power data, it is determined whether a coordinated failure occurs among the energy storage systems of the target power grid; wherein, the coordinated failure is manifested as mutual cancellation or exacerbation of power grid frequency fluctuations in the contribution to power grid frequency regulation. If a collaborative failure is determined, a frequency regulation task redistribution instruction is generated based on the output power data, and a communication timing adjustment instruction is generated based on the pre-acquired delay data and the frequency regulation task redistribution instruction, so as to realize the collaborative control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

[0007] This invention collects power output timing data from various energy storage systems in the target power grid in response to grid frequency regulation commands. This provides raw data support for subsequent analysis of time differences in the responses of each system and lays the foundation for identifying timing problems. Then, using the power output timing data, timing misalignment events are identified, transforming the scattered power output timing data into targeted event information. This facilitates subsequent analysis focusing on key issues, saves computational resources, and improves response control efficiency. By acquiring the output power data of each timing misalignment event in the timing misalignment event list, timing problems are correlated with power output effects to evaluate actual frequency regulation performance. Furthermore, the power data reflects whether timing misalignment leads to power cancellation, thereby confirming the true impact of cooperative failure. By determining... In the event of a coordinated failure, a frequency regulation task redistribution command is generated based on the output power. This redistributes frequency regulation tasks according to the power output capabilities of each system, ensuring priority is given to energy storage systems with reliable output capabilities. Furthermore, a communication timing adjustment command is generated based on pre-acquired delay data and the frequency regulation task redistribution command. This, combined with the response delay characteristics of each system and the new task allocation, specifically adjusts the command transmission time, enabling each system to respond to commands at similar times, resolving asynchronous response issues. Finally, the timing adjustment command is executed, ensuring that the energy storage systems coordinate in terms of time and power output, forming a unified and efficient frequency regulation system. This directly addresses the coordinated failure problem and improves the stability and reliability of grid frequency regulation. Compared to existing technologies, this invention improves the stability and reliability of grid frequency regulation through the coordinated control of energy storage systems within the grid.

[0008] Furthermore, the step of identifying timing misalignment events based on the power output timing data and obtaining a list of timing misalignment events specifically involves: The power output timing data is time-aligned using a preset timestamp to obtain a response delay time difference record table; wherein, the response delay time difference record table includes unit identifier, command initial time, command response time, and response delay duration; Based on the response delay time difference record table, peak delay data is extracted, and based on the peak delay data, timing misalignment events are identified to obtain a list of timing misalignment events.

[0009] This invention eliminates local clock deviations and time zone differences between different energy storage systems by using preset timestamps, unifying the dispersed power output timing data under the same time base. This makes the identification of timing misalignment events in each system more accurate and provides structured and standardized data for subsequent extraction of delay peaks and analysis of the response characteristics of each system, avoiding analysis errors caused by data chaos. By extracting delay peak data and identifying timing misalignment events, the delay peaks can be extracted from the structured record table to quickly locate the period and system with the most severe response delay, focusing on key anomalies. Furthermore, the construction of the timing misalignment event list provides precise event objects for subsequent in-depth analysis of power loss and collaborative failure, avoiding the blindness of comprehensive investigation and improving the efficiency of problem identification.

[0010] Furthermore, the step of acquiring the output power data of each timing misalignment event in the timing misalignment event list, and determining whether a coordinated failure has occurred among the energy storage systems of the target power grid based on the output power data, specifically involves: Obtain the actual output power curve and target power curve of each timing misalignment event in the timing misalignment event list, and calculate the power loss value of each timing misalignment event based on the actual output power curve and target power curve. Based on the power loss values ​​of each time-series misalignment event, a power offset power loss classification table is generated, and based on the power offset power loss classification table, it is determined whether there is a coordinated failure between energy storage systems in the target power grid; wherein, the power offset power loss classification table includes the average power loss value of each classification category.

[0011] This invention calculates the power loss value of each timing misalignment event based on the actual output power curve and the target power curve. This power loss value quantifies the power deviation, accurately measuring the actual loss caused by each timing misalignment event to grid frequency regulation. This provides a quantitative basis for subsequently assessing the severity of collaborative failures, improving decision-making accuracy. By constructing a power offset loss power classification table, it determines whether collaborative failures exist between energy storage systems in the target grid. This extends the impact of timing misalignment events from the time dimension to the power loss dimension, achieving a precise assessment of the severity of timing misalignment. Furthermore, scientific collaborative failure assessment ensures timely measures are taken when systemic collaborative problems truly occur, avoiding resource waste or problem escalation. This provides an accurate failure assessment basis for subsequently generating reasonable task redistribution and timing adjustment commands, thereby ensuring the effectiveness of collaborative control of energy storage systems and improving grid frequency regulation stability.

[0012] Furthermore, the step of calculating the power loss value for each timing misalignment event based on the actual output power curve and the target power curve specifically involves: For each timing misalignment event, the power difference between the actual output power curve and the target power curve at each moment is calculated based on the timing misalignment event. Based on the power difference, time periods in which power cancellation occurs are identified, and the power loss value of the timing misalignment event is calculated based on the power difference corresponding to the time period.

[0013] This invention calculates the power difference at each moment for each timing misalignment event. By calculating the power difference moment by moment, it accurately captures the power output deviation at each time point in the timing misalignment event, avoiding the problem of ignoring severe local deviations by only calculating the overall difference. It comprehensively reflects the gap between the power output and the ideal state, providing detailed data support for the subsequent accurate identification of power cancellation time periods. By identifying the time periods with power cancellation based on the power difference and calculating the power loss value of the timing misalignment event, it filters out the time periods where the power output direction is opposite to the frequency modulation demand (i.e., power cancellation) from the power difference moment by moment. It focuses on the key time period that truly causes the loss, excludes interference from time periods with no cancellation or weak cancellation, and calculates the power loss based on the power difference of the key time period. This makes the calculation of power loss more accurate, avoids including normal deviations in non-cancellation time periods in the loss, ensures a more objective and accurate assessment of the loss caused by timing misalignment events, and provides reliable quantitative data for subsequent judgment of collaborative failure.

[0014] Furthermore, determining whether there is a coordinated failure between energy storage systems in the target power grid based on the power loss compensation classification table specifically involves: Extract the average power loss value of each category in the power offset power loss classification table, and compare the average power loss value of each category with a preset loss threshold in turn; When the average power loss value of a certain grade category is higher than the preset loss threshold, the timing misalignment event corresponding to the grade category is traced according to the preset mapping table, and the corresponding collaborative failure energy storage system is determined according to the timing misalignment event. Within a preset time window, the number of energy storage units responding abnormally in the collaborative failure energy storage system is counted. If the number exceeds a preset abnormal number threshold, it is determined that there is a collaborative failure between energy storage systems in the target power grid.

[0015] This invention compares the average power loss value with a preset loss threshold to quickly filter out the severe loss categories, identify high-loss event groups that require key attention, avoid blindly searching through a large number of loss events, and improve the efficiency and targeting of synergistic failure judgment. By tracing time-series misalignment events, the corresponding synergistic failure energy storage system is identified, clarifying the system scope where synergistic failure may exist, providing a clear system object for subsequent statistics on the number of abnormal units, and avoiding tracing difficulties due to confused correlations. By counting the number of energy storage units with abnormal responses and comparing it with the abnormal number threshold, it is possible to reasonably determine whether the number of abnormal units has reached the level of constituting synergistic failure, avoiding misjudging individual unit anomalies as synergistic failures or failing to identify multiple unit anomalies, thus ensuring the accuracy and reliability of synergistic failure judgment.

[0016] Furthermore, the step of generating a frequency modulation task reallocation instruction based on the output power data specifically involves: Obtain the energy storage unit numbers that participated in the coordinated failure, and determine a list of energy storage units that did not participate in the failure based on the energy storage unit numbers that participated in the coordinated failure; Obtain the rated power capacity data of each energy storage unit in the energy storage unit list, and generate the priority of each energy storage unit in the energy storage unit list based on the rated power capacity data; Based on the priority, the allocation weight of each energy storage unit in the energy storage unit list is determined to generate a frequency regulation task reallocation instruction.

[0017] This invention, through defining a list of energy storage units that did not fail, determines the effective resource range for priority allocation of frequency regulation tasks. This avoids assigning tasks to units that have failed and are unable to perform frequency regulation tasks normally, ensuring that frequency regulation tasks have reliable execution entities and laying the foundation for subsequent task reallocation. Furthermore, by generating a priority for each energy storage unit in the list based on rated power capacity data, where rated power capacity data reflects the maximum frequency regulation capability of the energy storage unit, larger capacity units can typically undertake more frequency regulation tasks and have a more significant effect on ensuring frequency regulation effectiveness. Therefore, generating priorities based on rated power capacity data ensures that frequency regulation tasks are preferentially allocated to units with stronger capabilities, improving the efficiency of frequency regulation. The frequency regulation task redistribution instruction aims to improve the efficiency and effectiveness of frequency regulation tasks, avoiding overload of small-capacity units or idle resources of large-capacity units due to unreasonable task allocation. By determining the allocation weight of each energy storage unit in the energy storage unit list based on the priority, a frequency regulation task redistribution instruction is generated. This weighted allocation transforms the priority into a specific task allocation ratio, ensuring that the workload of each unit matches its capacity. This avoids overly concentrated or dispersed task allocation. The weighted frequency regulation task redistribution instruction clearly defines the frequency regulation workload of each unit, ensuring scientific and reasonable task allocation, fully leveraging the role of each undone unit, and guaranteeing efficient completion of frequency regulation tasks even after coordinated failure, thus reducing the impact on grid frequency regulation stability.

[0018] Furthermore, the step of generating a communication timing adjustment instruction based on the pre-acquired delay data and the frequency modulation task reallocation instruction specifically involves: Obtain the delay data from each of the time-series misalignment events; From the delay data, extract the delay data of each energy storage unit in the energy storage unit list, and determine the delay data of each energy storage unit in the energy storage unit list as key delay data; Based on the key delay data and the allocation weight in the frequency modulation task reallocation instruction, the communication timing compensation amount of each energy storage unit in the energy storage unit list is calculated, and a communication timing adjustment instruction is generated based on the communication timing compensation amount.

[0019] This invention acquires delay data from each timing misalignment event and identifies the delay data of each energy storage unit in the energy storage unit list as key delay data. This allows for focusing on the core objects requiring timing adjustments, eliminating interference from delay data of failed units, and ensuring that subsequent adjustment measures target effective units, thus improving the targeting and efficiency of the adjustments. A communication timing adjustment instruction is generated based on the key delay data and the allocation weight in the frequency modulation task reallocation instruction. The key delay data reflects the response lag of each effective unit, and the allocation weight reflects the importance of the task undertaken by each unit. Combining these two factors to calculate the compensation amount ensures that the compensation amount both meets the need to eliminate delay differences and matches the unit's workload, avoiding over- or under-compensation. The timing adjustment instruction generated based on the compensation amount clarifies the adjustment time for each unit's instruction transmission, providing a specific execution plan for achieving synchronous response from each unit and solving the problem of asynchronous response.

[0020] Furthermore, the step of adjusting communication timing instructions to achieve coordinated control of various energy storage systems in the target power grid specifically involves: Based on the communication timing compensation amount in the communication timing adjustment instruction, the timing of the grid frequency regulation instruction issuance of the corresponding energy storage unit is adjusted to achieve coordinated control of each energy storage system in the target grid.

[0021] This invention achieves synchronous response of each energy storage unit by directly adjusting the timing of command issuance, thereby eliminating power cancellation problems caused by timing misalignment, fully leveraging the synergistic effect of each energy storage system, ensuring that the overall frequency regulation capability meets the grid demand, effectively improving the stability of grid frequency regulation, and enabling the grid frequency to quickly and smoothly recover to the rated range when facing fluctuations.

[0022] Furthermore, it also includes: Real-time acquisition of the actual grid frequency regulation command response time and actual output power of each energy storage system after executing the communication timing adjustment command; Calculate the response timing deviation based on the actual power grid frequency regulation command response time and the preset expected response time, and calculate the power deviation based on the actual output power and the preset target power; Based on the response timing deviation and the power deviation, determine whether the current target power grid has met the preset synchronization requirements; If the target power grid does not meet the preset synchronization requirements, the current power output timing data is obtained, and a new communication timing adjustment command is generated based on the current power output timing data, so as to perform coordinated control of the energy storage system of the target power grid according to the new communication timing adjustment command.

[0023] This invention, through real-time monitoring and dynamic adjustment, ensures that communication timing adjustment commands can continuously and effectively solve problems, enabling the energy storage system to always maintain a coordinated control state. The closed-loop control mechanism can promptly detect and correct adjustment deviations, avoiding the failure of coordinated control due to changes in the external environment or system state, thereby maintaining the stability of power grid frequency regulation in the long term, ensuring that the power grid can continuously cope with frequency fluctuations, and guaranteeing the safe operation of the power system.

[0024] Secondly, embodiments of the present invention provide a collaborative control system for an energy storage system used for power grid frequency regulation, comprising a misalignment event acquisition module, a collaborative failure judgment module, and a collaborative control module, wherein... The misalignment event acquisition module is used to collect power output timing data of each energy storage system in the target power grid in response to the grid frequency regulation command through a data monitoring device, and identify timing misalignment events based on the power output timing data to obtain a timing misalignment event list. The collaborative failure judgment module is used to acquire the output power data of each timing misalignment event in the timing misalignment event list, and determine whether a collaborative failure situation has occurred among the energy storage systems of the target power grid based on the output power data; wherein, the collaborative failure situation is manifested as mutual cancellation or aggravation of power grid frequency fluctuations in the contribution to power grid frequency regulation. The collaborative control module is used to generate a frequency regulation task reallocation instruction based on the output power data if a collaborative failure is determined to occur, and to generate a communication timing adjustment instruction based on the pre-acquired delay data and the frequency regulation task reallocation instruction, so as to realize the collaborative control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

[0025] This invention employs a misalignment event acquisition module to collect power output timing data of each energy storage system in the target power grid in response to grid frequency regulation commands. This provides raw data support for subsequent analysis of the time differences in the responses of each system and lays the foundation for identifying timing problems. Through the power output timing data, timing misalignment events are identified, transforming scattered power output timing data into targeted event information. This facilitates subsequent analysis focusing on key issues, saves computational resources, and improves response control efficiency. Furthermore, the collaborative failure judgment module acquires the output power data of each timing misalignment event in the timing misalignment event list, correlates timing problems with power output effects, evaluates actual frequency regulation performance, and reflects whether timing misalignment leads to power cancellation, thereby confirming the true impact of collaborative failure. The coordinated control module generates a frequency regulation task reallocation command based on the output power when a coordinated failure is detected. This command reallocates frequency regulation tasks according to the power output capabilities of each system, ensuring that reliable energy storage systems with high output capabilities are prioritized. Furthermore, a communication timing adjustment command is generated based on pre-acquired delay data and the frequency regulation task reallocation command. This command adjusts the command transmission time in a targeted manner, taking into account the response delay characteristics of each system and the new task allocation, so that each system can respond to the command at similar times, resolving the problem of asynchronous response. Finally, the timing adjustment command is executed, enabling the energy storage systems to coordinate with each other in terms of time and power output, forming a unified and efficient frequency regulation system. This directly solves the coordinated failure problem and improves the stability and reliability of grid frequency regulation.

[0026] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0027] Figure 1 A schematic diagram of a collaborative control method for an energy storage system for power grid frequency regulation provided in an embodiment of the present invention; Figure 2 This is a structural diagram of a collaborative control system for an energy storage system used for power grid frequency regulation, provided in an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example 1: like Figure 1 As shown in the figure, a collaborative control method for an energy storage system for power grid frequency regulation provided by an embodiment of the present invention includes the following steps: S101, through a data monitoring device, collect the power output timing data of each energy storage system in the target power grid in response to the grid frequency regulation command, and based on the power output timing data, identify timing misalignment events and obtain a list of timing misalignment events; In this embodiment, the step of identifying timing misalignment events and obtaining a timing misalignment event list based on the power output timing data specifically involves: aligning the power output timing data using a preset timestamp to obtain a response delay time difference record table; wherein the response delay time difference record table includes a unit identifier, instruction initial time, instruction response time, and response delay duration; extracting delay peak data based on the response delay time difference record table, and identifying timing misalignment events based on the delay peak data to obtain a timing misalignment event list.

[0030] In one specific embodiment, the step of aligning the power output timing data using a preset timestamp to obtain a response delay time difference record table specifically involves: acquiring communication data from each energy storage system through a data monitoring device, recording the initial moment of the grid frequency regulation command issuance and the actual moment each energy storage unit receives the command, and marking the time data with timestamps to obtain a time dataset containing the command issuance and receipt times; monitoring the time interval from receiving the command to starting power output for each energy storage unit, and determining the response start time when the power output value exceeds a preset response threshold, thus obtaining the response start time data for each energy storage unit; calculating the time difference between the response start time and the grid frequency regulation command issuance time as the delay duration; and converting all delay durations to the same time coordinate system using a unified time base to construct a response delay time difference record table containing unit identifier, command time, response time, and delay duration.

[0031] In one specific embodiment, the acquisition of communication interface data packets is achieved by deploying data monitoring equipment on the communication link between the energy storage system and the power grid dispatch center.

[0032] In one specific embodiment, when the grid frequency deviates from the rated value, the dispatch center sends a grid frequency regulation command to each energy storage power station. The monitoring device captures data packets containing frequency regulation power requirements and execution time requirements, and uses a high-precision clock source provided by the GPS timing system to stamp each data packet with a timestamp accurate to milliseconds, forming an initial time dataset.

[0033] It should be noted that the determination of the response start time involves real-time monitoring of the output power of the energy storage inverter.

[0034] For example, after receiving a frequency regulation power demand of 100MW, a power storage power station begins to ramp up its power output from a standstill. The monitoring system records the power value with a sampling period of 10 milliseconds. When the output power exceeds a preset response threshold, such as 10% of the rated power (i.e., 10MW), the time corresponding to that sampling point is marked as the response initiation time. This method avoids misjudging noise signals or small power fluctuations as valid responses, ensuring the accuracy of response time determination.

[0035] Preferably, the conversion of the UTC time base is achieved through a time synchronization protocol. Since the energy storage units may be located in different geographical locations and their local clocks may deviate, mapping all time data to the Coordinated Universal Time (UTC) coordinate system eliminates time inconsistencies caused by time zone differences and clock drift.

[0036] In one specific embodiment, the step of extracting delay peak data from the response delay time difference record table and identifying timing misalignment events based on the delay peak data to obtain a timing misalignment event list specifically involves: grouping the data from the response delay time difference record table according to a preset time window width; traversing the record table window by window, searching for the maximum delay duration within each window and recording the maximum value along with its corresponding energy storage unit identifier and timestamp to obtain a delay peak dataset containing peak size, unit identifier, and timestamp; for each peak record in the delay peak dataset, comparing the peak size with a preset time threshold; if the peak of a record exceeds the threshold, creating a timing misalignment event record, which includes the timestamp of the peak occurrence, the energy storage unit identifier involved, and the peak size, forming a timing misalignment event list; and based on the timestamp information of each event in the timing misalignment event list, searching for normal response records before and after the timestamp, and determining the delay duration of the timing misalignment event by calculating the time difference between the start timestamp of the misalignment event and the timestamp of the first subsequent normal response.

[0037] For example, the width of the time window is set to 5 minutes, which is determined based on the typical periodic characteristics of the frequency regulation response of the energy storage system.

[0038] Specifically, starting from the beginning of the response delay time difference record table, a statistical interval is defined every 5 minutes. Within each interval, the delay duration data of all energy storage units are traversed, and the maximum delay value within that interval is determined through comparison calculations. In grid frequency regulation operations, the normal response delay of an energy storage system is generally within 100 milliseconds; therefore, the threshold can be set to 150 milliseconds. When the delay peak within a certain time window exceeds this threshold, it indicates an abnormal response timing problem within that period.

[0039] S102, acquire the output power data of each timing misalignment event in the timing misalignment event list, and determine whether a coordinated failure occurs among the energy storage systems of the target power grid based on the output power data; wherein, the coordinated failure is manifested as mutual cancellation or exacerbation of power grid frequency fluctuations in the contribution to power grid frequency regulation. In this embodiment, the step of acquiring the output power data of each time-series misalignment event in the time-series misalignment event list and determining whether a coordinated failure has occurred among the energy storage systems of the target power grid based on the output power data specifically involves: acquiring the actual output power curve and target power curve of each time-series misalignment event in the time-series misalignment event list; calculating the power loss value of each time-series misalignment event based on the actual output power curve and target power curve; generating a power offset power loss classification table based on the power offset power loss classification table; and determining whether a coordinated failure exists among the energy storage systems of the target power grid based on the power offset power loss classification table; wherein the power offset power loss classification table includes the average power loss value of each classification category.

[0040] In this embodiment, calculating the power loss value of each timing misalignment event based on the actual output power curve and the target power curve specifically involves: for each timing misalignment event, calculating the power difference between the actual output power curve and the target power curve at each moment; identifying time periods where power cancellation occurs based on the power difference, and calculating the power loss value of the timing misalignment event based on the power difference corresponding to the time periods.

[0041] In one specific embodiment, calculating the power loss value of each timing misalignment event based on the actual output power curve and the target power curve specifically involves: obtaining the actual output power curve of each energy storage unit during the timing misalignment period and the target power curve required by the grid frequency regulation command; calculating the power difference between the two curves at the same moment; when the output power of the energy storage unit is opposite to the direction of the frequency regulation demand, identifying the period of power mutual cancellation; summing the power difference within the period according to the sampling period, and then multiplying it by the sampling time interval to obtain the power loss value caused by power cancellation; and based on the power loss value, using historical data... The statistically obtained grading thresholds are divided into intervals. If the power loss is less than the lower limit of the grading threshold, it is classified as a minor loss; if it is between the lower and upper limits, it is classified as a moderate loss; and if it exceeds the upper limit, it is classified as a severe loss. This yields a three-level classification result that includes category identifiers and power values. For the three-level classification result, the power loss corresponding to all time-series misalignment events within each category is statistically analyzed. The average power loss value and the maximum power loss value for each category are calculated to form a power compensation loss power grading table that includes the grading category, the average power loss value corresponding to that category, and the maximum power loss value.

[0042] In one specific embodiment, the power curve is obtained through a power monitoring device of the energy storage system, which records the actual output power of each energy storage unit at a set sampling frequency.

[0043] Specifically, when the energy storage system receives a frequency regulation command from the grid requesting an increase of 100MW in power output, the target power curve shows an upward trend. However, some energy storage units may experience reverse power output or insufficient output due to timing misalignment issues. By accumulating the power difference over the sampling period, multiplying the power difference at each sampling point by the sampling time interval of 0.05 seconds, the accumulated power loss for that period is obtained.

[0044] For example, if the average power deviation is 20MW during a power offset period of 5 minutes, the power loss is 20MW × 300 seconds ÷ 3600 seconds / hour = 1.67MWh.

[0045] Preferably, the grading thresholds are determined based on one year of historical operating data of the energy storage system. By statistically analyzing the distribution of lost electricity caused by all time-series misalignment events, the grading boundaries are determined based on the distribution of lost electricity: the 25th percentile is used as the upper limit for minor losses, the 75th percentile as the upper limit for moderate losses, and losses exceeding the 75th percentile are classified as severe losses.

[0046] In this embodiment, determining whether there is a coordinated failure between energy storage systems in the target power grid based on the power offset loss capacity classification table specifically involves: extracting the average loss capacity value of each classification category in the power offset loss capacity classification table, and comparing the average loss capacity value of each classification category with a preset loss threshold in sequence; when the average loss capacity value of a certain classification category is higher than the preset loss threshold, then according to a preset mapping table, tracing the time-series misalignment event corresponding to the classification category, and determining the corresponding coordinated failure energy storage system based on the time-series misalignment event; within a preset time window, counting the number of energy storage units with abnormal responses in the coordinated failure energy storage system, and if the number exceeds a preset abnormal number threshold, then determining that there is a coordinated failure between energy storage systems in the target power grid.

[0047] In one specific embodiment, determining whether there is a coordinated failure between energy storage systems in the target power grid based on the power offset loss capacity classification table specifically involves: extracting the average and maximum loss capacity values ​​for each classification category from the power offset loss capacity classification table; comparing the average loss capacity value with a preset loss threshold; if the average loss capacity value for a certain classification category exceeds the preset loss threshold, then the category is marked as a high-loss category, resulting in a loss determination result containing a category identifier and an exceedance marker. Based on the high-loss category in the loss determination result, tracing the corresponding time-series misalignment events, extracting the relevant energy storage unit numbers from the event records, and counting the number of energy storage units exhibiting abnormal responses within the same time window; if this number exceeds a preset proportion threshold of the total number of energy storage system units, then it is determined that there is a coordinated failure in power output and a coordinated failure in frequency regulation response. Based on the determination result of the coordinated failure, summarizing the set of energy storage unit numbers involved in all coordinated failure events, calculating the total number of energy storage units exhibiting abnormal responses simultaneously, and using this total number as the equipment scope involved in the coordinated failure.

[0048] In one specific embodiment, the preset loss threshold is determined based on the economic operating indicators of the energy storage system.

[0049] Specifically, a loss threshold is set by analyzing the balance between the frequency regulation benefits per unit capacity of the energy storage system and the economic losses caused by the lost electricity.

[0050] For example, when the frequency regulation compensation standard of a certain energy storage power station is 500 yuan per megawatt-hour, and the power loss exceeds 200 kWh, the economic loss begins to exceed 10% of the normal frequency regulation revenue. Therefore, 200 kWh is set as the loss threshold.

[0051] It should be noted that identifying high-loss categories involves traversing and comparing data in the grading table. When the average value of the minor loss category is 30 kWh, the average value of the moderate loss category is 150 kWh, and the average value of the severe loss category reaches 500 kWh, if the loss threshold is set to 200 kWh, then the moderate and severe categories will be marked as high-loss categories, indicating that the frequency regulation efficiency of the energy storage system is severely affected during this period.

[0052] Preferably, the tracing of timing misalignment events is achieved through correlation querying via event numbers. Each power loss record corresponds to an original timing misalignment event number, which allows tracing back to all energy storage unit information involved when the event occurred, including detailed data such as unit number, delay duration, and power deviation.

[0053] In one possible implementation, a dual standard is used to determine cooperative failure.

[0054] For example, if eight energy storage units simultaneously exhibit abnormal responses within the same five-minute time window, and the energy storage system has a total of 10 units, the abnormal unit ratio reaches 80%, exceeding the preset 60% threshold. This is then classified as a coordinated failure. Such large-scale synchronous failures indicate a systemic problem in the energy storage system, rather than an occasional failure of individual units. Identifying coordinated failures is crucial for distinguishing between systemic and random failures. Systemic failures often stem from common triggering factors, such as communication network delays or abnormal scheduling commands. Furthermore, the scope of equipment is determined using absolute numbers. By statistically analyzing all events marked as coordinated failures, summarizing the involved energy storage unit numbers, and removing duplicates, the total number of energy storage units involved in the coordinated failure is obtained.

[0055] For example, if 8 out of 10 energy storage units are involved in a coordinated failure, then the scope of the failure is 8 units. This data directly reflects the severity of the problem and provides a quantitative basis for subsequent control strategy adjustments.

[0056] S103, if a collaborative failure is determined to have occurred, a frequency regulation task redistribution instruction is generated based on the output power data, and a communication timing adjustment instruction is generated based on the pre-acquired delay data and the frequency regulation task redistribution instruction, so as to realize the collaborative control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

[0057] In this embodiment, generating a frequency regulation task reallocation instruction based on the output power data specifically involves: obtaining the energy storage unit numbers involved in the coordinated failure, and determining a list of energy storage units that did not participate in the failure based on the coordinated failure energy storage unit numbers; obtaining the rated power capacity data of each energy storage unit in the energy storage unit list, and generating a priority for each energy storage unit in the energy storage unit list based on the rated power capacity data; and determining the allocation weight of each energy storage unit in the energy storage unit list based on the priority, in order to generate a frequency regulation task reallocation instruction.

[0058] In one specific embodiment, generating frequency regulation task reallocation instructions based on the output power data specifically involves: identifying the energy storage unit numbers involved in the failure based on the scope of equipment affected by the coordinated failure; obtaining the rated power capacity data of each unit; sorting the units not involved in the failure by capacity from largest to smallest and setting them as high-priority frequency regulation task execution units, thus obtaining an energy storage unit priority ranking result. Based on the priority ranking result, a frequency regulation task weight coefficient is assigned to each energy storage unit, setting the weight of high-priority units to a preset upper limit value, and assigning weights to the remaining units in descending order of priority, forming a list of frequency regulation task reallocation control instructions containing unit numbers, priority identifiers, and weight coefficients.

[0059] It should be noted that energy storage units that did not participate in the coordinated failure were identified through an elimination method.

[0060] Specifically, the unit numbers involved in the coordinated failure are removed from the list of all units in the energy storage system, and the remaining units are the energy storage units that can participate in frequency regulation normally.

[0061] For example, if the system has a total of 10 energy storage units, and 8 of them participate in the coordinated failure, then the remaining 2 units become the priority frequency regulation resources.

[0062] It should be noted that the allocation of weighting coefficients follows the principle of capacity ratio.

[0063] Preferably, the energy storage unit with the largest rated capacity receives a weighting coefficient of 1.0, and the remaining units are assigned weights in descending order of their capacity.

[0064] In this embodiment, the step of generating a communication timing adjustment instruction based on the pre-acquired delay data and the frequency modulation task reallocation instruction specifically involves: acquiring delay data from each timing misalignment event; extracting delay data from each energy storage unit in the energy storage unit list from the delay data, and determining the delay data of each energy storage unit in the energy storage unit list as key delay data; calculating the communication timing compensation amount for each energy storage unit in each energy storage unit list based on the key delay data and the allocation weight in the frequency modulation task reallocation instruction, and generating a communication timing adjustment instruction based on the communication timing compensation amount.

[0065] In this embodiment, the step of achieving coordinated control of each energy storage system in the target power grid according to the communication timing adjustment instruction specifically involves adjusting the power grid frequency regulation instruction issuance time of the corresponding energy storage unit according to the communication timing compensation amount in the communication timing adjustment instruction, so as to achieve coordinated control of each energy storage system in the target power grid.

[0066] In one specific embodiment, the step of generating communication timing adjustment instructions based on pre-acquired delay data and the frequency regulation task reallocation instructions specifically involves: extracting the weight coefficient and unit number of each energy storage unit from the control instruction list; calculating the power allocation ratio of each unit in the total frequency regulation capacity based on the weight coefficient; marking the unit as suspended in frequency regulation if the weight coefficient of a unit is zero, thereby obtaining the allocation weight of each energy storage system and the corresponding frequency regulation participation status; calculating the average delay duration of the energy storage units participating in frequency regulation based on the allocation weight and the delay duration data of each unit in the timing misalignment event record; using the difference between the delay duration of each unit and the average delay duration as the time adjustment amount that the unit needs to compensate for, thereby obtaining the timing compensation value of each unit; adjusting the sending time of the grid frequency regulation instructions through the timing compensation value, sending the grid frequency regulation instructions in advance for energy storage units with larger delays, with the advance amount equal to the timing compensation value of the unit, so that the actual response time of each energy storage unit after receiving and executing the instructions tends to be consistent, thereby achieving coordinated control of communication timing.

[0067] In one specific embodiment, the weight coefficients of the control instruction list are normalized so that the sum of the weights of all energy storage units participating in frequency regulation is 1.

[0068] Specifically, when an energy storage unit is marked as suspended due to a collaborative failure, its weighting coefficient is set to 0, and the unit temporarily withdraws from the frequency regulation task.

[0069] For example, if 3 out of 10 energy storage units have a weight of 0, the weight coefficients of the remaining 7 units are redistributed to ensure full utilization of the frequency regulation capacity.

[0070] It should be noted that the average delay duration is calculated based on statistical principles. By collecting delay data from all energy storage units participating in frequency regulation over the past 30 days, removing outliers, and then calculating the arithmetic mean, the average delay baseline of the system is obtained.

[0071] For example, if the delay times of the 7 units participating in frequency modulation are 80ms, 85ms, 90ms, 95ms, 100ms, 105ms, and 110ms respectively, then the average delay time is 95ms. The difference between each unit and this average value is the amount of time that needs to be compensated. For example, a unit with an 80ms delay needs to be compensated -15ms, and a unit with a 110ms delay needs to be compensated +15ms.

[0072] Preferably, timing compensation is achieved by adjusting the timestamp field in the communication protocol.

[0073] In one specific embodiment, the communication server in the dispatch center maintains a timing compensation table for each energy storage unit, recording the compensation value of that unit. When a grid frequency regulation command needs to be sent, the server adjusts the transmission time of each unit according to the values ​​in the compensation table. For units with larger delays, the command is sent earlier; for units with smaller delays, the command is sent later. This differentiated transmission strategy ensures that all units begin executing the frequency regulation task almost simultaneously. Furthermore, the coordination and control of communication timing also includes a dynamic adjustment mechanism. The system recalculates the actual delay of each unit every 5 minutes and updates the timing compensation value. If the delay characteristics of a unit change, such as a reduction in delay after communication link optimization, the system automatically adjusts the compensation value of that unit to maintain overall synchronization.

[0074] In this embodiment, the method further includes: real-time acquisition of the actual grid frequency regulation command response time and actual output power of each energy storage system after executing the communication timing adjustment command; calculation of response timing deviation based on the actual grid frequency regulation command response time and the preset expected response time, and calculation of power deviation based on the actual output power and the preset target power; determination of whether the current target grid has met the preset synchronization requirements based on the response timing deviation and the power deviation; if the current target grid has not met the preset synchronization requirements, acquisition of current power output timing data, and regeneration of a new communication timing adjustment command based on the current power output timing data, so as to perform coordinated control of the energy storage systems of the target grid according to the new communication timing adjustment command.

[0075] In one specific embodiment, the aforementioned real-time feedback loop mechanism is as follows: The actual response time and power output data of each energy storage system after executing the grid frequency regulation command are collected and compared with the expected response time and target power to calculate the response timing deviation and power deviation. The deviation data is transmitted to the frequency regulation control center in real time via a communication interface, forming a feedback data stream. The frequency regulation control center identifies energy storage units with persistent timing deviations, updates their communication timing compensation parameters, and obtains an adjusted timing control command set. The grid frequency regulation command transmission time for each energy storage unit is reset, and the power allocation coefficient of each unit is adjusted according to the power deviation, and then sent to the local controller of each energy storage system. The response status of each energy storage system after the control data packet is executed is monitored to verify whether the adjusted response timing meets the synchronization requirements. If not, feedback data is collected again and the next adjustment loop is entered to achieve coordinated control of the energy storage systems.

[0076] In one specific embodiment, the feedback data is acquired through high-precision power sensors and time synchronization devices deployed in each energy storage unit. When the energy storage unit receives a grid frequency regulation command, the monitoring device records the arrival time of the command, the start time of power change, and the time when the power reaches the target value. These time data, together with the corresponding power values, constitute the raw monitoring data.

[0077] It should be noted that the deviation calculation involves a comparative analysis across two dimensions. Timing deviation is derived by comparing the actual response time with the expected response time, where the expected response time is determined based on the standard response characteristic curve of the energy storage unit. Power deviation is calculated by comparing the actual output power curve with the target power curve, using an integral method to calculate the area difference between the two curves, reflecting the accuracy of the power output. This deviation data is transmitted in real-time to the frequency modulation control center via a high-speed Ethernet communication interface, with transmission delay controlled within 10 milliseconds. The feedback data stream uses a structured data format, with each data packet containing five fields: timestamp, unit number, timing deviation value, power deviation value, and data checksum, ensuring the integrity and reliability of data transmission.

[0078] Preferably, the continuous sampling period monitoring mechanism is implemented based on a sliding window algorithm. The system maintains a sliding window of length N, where N is set according to system stability requirements, typically ranging from 5 to 10 sampling periods. At the end of each sampling period, the deviation data for that period is added to the window, while the oldest data is removed. If the deviation values ​​exceeding a preset proportion within the window all exceed a threshold, the energy storage unit is determined to have a persistent timing deviation problem. This judgment method avoids misjudgments caused by occasional communication delays or transient interference, thus improving the robustness of the system.

[0079] In one specific embodiment, the communication timing compensation parameters are updated using an incremental adjustment method.

[0080] For example, if the average timing deviation of an energy storage unit over five consecutive sampling periods is +20 milliseconds, it indicates that the unit's response is lagging. The system then increases the timing compensation parameter by 20 milliseconds. This incremental adjustment avoids drastic parameter changes and ensures a smooth system transition. The updated parameters are written into a dedicated field in the control command, forming a timing control command set containing adjustment parameters for multiple energy storage units. Furthermore, the adjustment of the power allocation coefficient follows the power conservation principle. When some energy storage units experience insufficient power output due to timing issues, the system automatically allocates the missing power to units with normal responses. The specific allocation ratio is calculated in reverse based on the real-time power deviation of each unit; units with smaller deviations receive higher power allocation weights.

[0081] For example, if the power deviation of energy storage unit A is -5%, the power deviation of unit B is -2%, and the power deviation of unit C is +1%, the system will appropriately increase the power allocation coefficient of unit C and decrease the allocation coefficient of unit A so that the overall output power meets the frequency regulation requirements.

[0082] It should be noted that the control data packets are sent using a combination of broadcast and unicast communication. Timing control parameters are broadcast simultaneously to all energy storage units to ensure command synchronization; while power allocation coefficients for specific units are sent unicast to reduce network load. Each control data packet contains a sequence number and a timestamp. After receiving the packet, the energy storage unit needs to return an acknowledgment message. If no acknowledgment is received within a specified time, the control center will resend the data packet.

[0083] In one specific embodiment, synchronization verification is achieved by calculating the standard deviation of the response times of all energy storage units. The system sets a synchronization threshold of 10 milliseconds. When the standard deviation of the response times of all participating energy storage units is less than this threshold, synchronization is considered to have been achieved. If synchronization is not achieved, the system automatically enters the next adjustment cycle, re-collects feedback data, analyzes the causes of deviations, and updates control parameters. This cyclical adjustment mechanism continues to run until the system reaches a stable synchronization state.

[0084] It should be noted that the feedback loop period is dynamically adjusted according to the real-time requirements of grid frequency regulation. When grid frequency fluctuations are large, the loop period is shortened to 100 milliseconds for rapid response to frequency changes; when the grid is operating smoothly, the loop period is extended to 500 milliseconds to reduce system overhead. Through this adaptive feedback loop mechanism, the energy storage system can continuously optimize its response performance and achieve efficient coordinated control.

[0085] This invention collects power output timing data from various energy storage systems in the target power grid in response to grid frequency regulation commands. This provides raw data support for subsequent analysis of time differences in the responses of each system and lays the foundation for identifying timing problems. Then, using the power output timing data, timing misalignment events are identified, transforming the scattered power output timing data into targeted event information. This facilitates subsequent analysis focusing on key issues, saves computational resources, and improves response control efficiency. By acquiring the output power data of each timing misalignment event in the timing misalignment event list, timing problems are correlated with power output effects to evaluate actual frequency regulation performance. Furthermore, the power data reflects whether timing misalignment leads to power cancellation, thereby confirming the true impact of cooperative failure. By determining... In the event of a coordinated failure, a frequency regulation task redistribution command is generated based on the output power. This redistributes frequency regulation tasks according to the power output capabilities of each system, ensuring priority is given to energy storage systems with reliable output capabilities. Furthermore, a communication timing adjustment command is generated based on pre-acquired delay data and the frequency regulation task redistribution command. This, combined with the response delay characteristics of each system and the new task allocation, specifically adjusts the command transmission time, enabling each system to respond to commands at similar times, resolving asynchronous response issues. Finally, the timing adjustment command is executed, ensuring that the energy storage systems coordinate in terms of time and power output, forming a unified and efficient frequency regulation system. This directly addresses the coordinated failure problem and improves the stability and reliability of grid frequency regulation. Compared to existing technologies, this invention improves the stability and reliability of grid frequency regulation through the coordinated control of energy storage systems within the grid.

[0086] Example 2: like Figure 2As shown, this embodiment provides a collaborative control system for an energy storage system used for grid frequency regulation, including a misalignment event acquisition module 201, a collaborative failure judgment module 202, and a collaborative control module 203, wherein... The misalignment event acquisition module 201 is used to collect power output timing data of each energy storage system in the target power grid in response to the grid frequency regulation command through a data monitoring device, and identify timing misalignment events based on the power output timing data to obtain a timing misalignment event list. In this embodiment, the misalignment event acquisition module 201 identifies timing misalignment events based on the power output timing data and obtains a timing misalignment event list. Specifically, the misalignment event acquisition module 201 performs time alignment on the power output timing data using a preset timestamp to obtain a response delay time difference record table. The response delay time difference record table includes a unit identifier, instruction initial time, instruction response time, and response delay duration. Based on the response delay time difference record table, delay peak data is extracted, and based on the delay peak data, timing misalignment events are identified to obtain a timing misalignment event list.

[0087] The collaborative failure judgment module 202 is used to acquire the output power data of each timing misalignment event in the timing misalignment event list, and determine whether a collaborative failure situation has occurred among the energy storage systems of the target power grid based on the output power data; wherein, the collaborative failure situation is manifested as mutual cancellation or aggravation of power grid frequency fluctuations in the contribution to power grid frequency regulation. In this embodiment, the collaborative failure judgment module 202 acquires the output power data of each time-series misalignment event in the time-series misalignment event list, and determines whether a collaborative failure has occurred among the energy storage systems of the target power grid based on the output power data. Specifically, the collaborative failure judgment module 202 acquires the actual output power curve and target power curve of each time-series misalignment event in the time-series misalignment event list, and calculates the power loss value of each time-series misalignment event based on the actual output power curve and target power curve; generates a power offset power loss classification table based on the power offset power loss classification table, and determines whether there is a collaborative failure among the energy storage systems in the target power grid based on the power offset power loss classification table; wherein, the power offset power loss classification table includes the average power loss value of each classification category.

[0088] The collaborative control module 203 is used to generate a frequency regulation task redistribution instruction based on the output power data if a collaborative failure is determined to occur, and to generate a communication timing adjustment instruction based on the pre-acquired delay data and the frequency regulation task redistribution instruction, so as to realize the collaborative control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

[0089] In this embodiment, the cooperative control module 203 generates a frequency regulation task reallocation instruction based on the output power data. Specifically, the cooperative control module 203 obtains the energy storage unit numbers that participated in the cooperative failure, and determines a list of energy storage units that did not participate in the failure based on the energy storage unit numbers that participated in the cooperative failure; obtains the rated power capacity data of each energy storage unit in the energy storage unit list, and generates the priority of each energy storage unit in the energy storage unit list based on the rated power capacity data; and determines the allocation weight of each energy storage unit in the energy storage unit list based on the priority, so as to generate a frequency regulation task reallocation instruction.

[0090] In this embodiment, the collaborative control module 203 generates a communication timing adjustment instruction based on the pre-acquired delay data and the frequency modulation task reallocation instruction. Specifically, the collaborative control module 203 acquires the delay data in each timing misalignment event; extracts the delay data of each energy storage unit in the energy storage unit list from the delay data, and determines the delay data of each energy storage unit in the energy storage unit list as key delay data; calculates the communication timing compensation amount of each energy storage unit in each energy storage unit list based on the key delay data and the allocation weight in the frequency modulation task reallocation instruction, and generates a communication timing adjustment instruction based on the communication timing compensation amount.

[0091] In this embodiment, the collaborative control module 203 realizes the collaborative control of each energy storage system in the target power grid according to the communication timing adjustment instruction. Specifically, the collaborative control module 203 adjusts the power grid frequency regulation instruction issuance time of the corresponding energy storage unit according to the communication timing compensation amount in the communication timing adjustment instruction, so as to realize the collaborative control of each energy storage system in the target power grid.

[0092] For a more detailed explanation of the working principle and procedures of this embodiment, please refer to the relevant description in Embodiment 1.

[0093] This invention employs a misalignment event acquisition module 201 to collect power output timing data of each energy storage system in the target power grid in response to grid frequency regulation commands. This provides raw data support for subsequent analysis of time differences in the responses of each system and lays the foundation for identifying timing problems. Through the power output timing data, timing misalignment events are identified, transforming scattered power output timing data into targeted event information. This facilitates subsequent analysis focusing on key issues, saves computational resources, and improves response control efficiency. The collaborative failure judgment module 202 acquires the output power data of each timing misalignment event in the timing misalignment event list, correlates timing problems with power output effects, evaluates actual frequency regulation performance, and reflects whether timing misalignment leads to power cancellation, thereby confirming the true impact of collaborative failure. The coordinated control module 203, upon determining a coordinated failure, generates a frequency regulation task reallocation command based on the output power. This reallocation is performed according to the power output capabilities of each system, ensuring that reliable energy storage systems with high output capabilities are prioritized. Furthermore, based on pre-acquired delay data and the frequency regulation task reallocation command, a communication timing adjustment command is generated. This adjusts the command transmission time in a targeted manner, taking into account the response delay characteristics of each system and the new task allocation, enabling each system to respond to the command at similar times and resolving asynchronous response issues. Finally, the timing adjustment command is executed, allowing each energy storage system to coordinate with each other in terms of time and power output, forming a unified and efficient frequency regulation system. This directly addresses the coordinated failure problem and improves the stability and reliability of grid frequency regulation.

[0094] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0095] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A collaborative control method for an energy storage system used for power grid frequency regulation, characterized in that, include: By using data monitoring equipment, the power output timing data of each energy storage system in the target power grid in response to the grid frequency regulation command is collected, and timing misalignment events are identified based on the power output timing data to obtain a list of timing misalignment events. The output power data of each timing misalignment event in the timing misalignment event list is obtained, and based on the output power data, it is determined whether a coordinated failure occurs among the energy storage systems of the target power grid; wherein, the coordinated failure is manifested as mutual cancellation or exacerbation of power grid frequency fluctuations in the contribution to power grid frequency regulation. If a collaborative failure is determined, a frequency regulation task redistribution instruction is generated based on the output power data, and a communication timing adjustment instruction is generated based on the pre-acquired delay data and the frequency regulation task redistribution instruction, so as to realize the collaborative control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

2. The energy storage system collaborative control method for power grid frequency regulation as described in claim 1, characterized in that, The step of identifying timing misalignment events based on the power output timing data and obtaining a list of timing misalignment events is as follows: The power output timing data is time-aligned using a preset timestamp to obtain a response delay time difference record table; wherein, the response delay time difference record table includes unit identifier, command initial time, command response time, and response delay duration; Based on the response delay time difference record table, peak delay data is extracted, and based on the peak delay data, timing misalignment events are identified to obtain a list of timing misalignment events.

3. The energy storage system collaborative control method for power grid frequency regulation as described in claim 1, characterized in that, The step of acquiring the output power data of each timing misalignment event in the timing misalignment event list, and determining whether a coordinated failure has occurred among the energy storage systems of the target power grid based on the output power data, specifically involves: Obtain the actual output power curve and target power curve of each timing misalignment event in the timing misalignment event list, and calculate the power loss value of each timing misalignment event based on the actual output power curve and target power curve. Based on the power loss values ​​of each time-series misalignment event, a power offset power loss classification table is generated, and based on the power offset power loss classification table, it is determined whether there is a coordinated failure between energy storage systems in the target power grid; wherein, the power offset power loss classification table includes the average power loss value of each classification category.

4. The energy storage system collaborative control method for power grid frequency regulation as described in claim 3, characterized in that, The step of calculating the power loss value for each timing misalignment event based on the actual output power curve and the target power curve is as follows: For each timing misalignment event, the power difference between the actual output power curve and the target power curve at each moment is calculated based on the timing misalignment event. Based on the power difference, time periods in which power cancellation occurs are identified, and the power loss value of the timing misalignment event is calculated based on the power difference corresponding to the time period.

5. The energy storage system collaborative control method for power grid frequency regulation as described in claim 3, characterized in that, The step of determining whether there is a coordinated failure between energy storage systems in the target power grid based on the power loss compensation classification table is as follows: Extract the average power loss value of each category in the power offset power loss classification table, and compare the average power loss value of each category with a preset loss threshold in turn; When the average power loss value of a certain grade category is higher than the preset loss threshold, the timing misalignment event corresponding to the grade category is traced according to the preset mapping table, and the corresponding collaborative failure energy storage system is determined according to the timing misalignment event. Within a preset time window, the number of energy storage units responding abnormally in the collaborative failure energy storage system is counted. If the number exceeds a preset abnormal number threshold, it is determined that there is a collaborative failure between energy storage systems in the target power grid.

6. The energy storage system collaborative control method for power grid frequency regulation as described in claim 1, characterized in that, The step of generating a frequency modulation task reallocation instruction based on the output power data specifically involves: Obtain the energy storage unit numbers that participated in the coordinated failure, and determine a list of energy storage units that did not participate in the failure based on the energy storage unit numbers that participated in the coordinated failure; Obtain the rated power capacity data of each energy storage unit in the energy storage unit list, and generate the priority of each energy storage unit in the energy storage unit list based on the rated power capacity data; Based on the priority, the allocation weight of each energy storage unit in the energy storage unit list is determined to generate a frequency regulation task reallocation instruction.

7. The energy storage system collaborative control method for power grid frequency regulation as described in claim 6, characterized in that, The step of generating a communication timing adjustment instruction based on the pre-acquired delay data and the frequency modulation task reallocation instruction specifically involves: Obtain the delay data from each of the time-series misalignment events; From the delay data, extract the delay data of each energy storage unit in the energy storage unit list, and determine the delay data of each energy storage unit in the energy storage unit list as key delay data; Based on the key delay data and the allocation weight in the frequency modulation task reallocation instruction, the communication timing compensation amount of each energy storage unit in the energy storage unit list is calculated, and a communication timing adjustment instruction is generated based on the communication timing compensation amount.

8. The energy storage system collaborative control method for power grid frequency regulation as described in claim 7, characterized in that, The method of achieving coordinated control of various energy storage systems in the target power grid based on communication timing adjustment instructions specifically includes: Based on the communication timing compensation amount in the communication timing adjustment instruction, the timing of the grid frequency regulation instruction issuance of the corresponding energy storage unit is adjusted to achieve coordinated control of each energy storage system in the target grid.

9. The energy storage system collaborative control method for power grid frequency regulation as described in claim 1, characterized in that, Also includes: Real-time acquisition of the actual grid frequency regulation command response time and actual output power of each energy storage system after executing the communication timing adjustment command; Calculate the response timing deviation based on the actual power grid frequency regulation command response time and the preset expected response time, and calculate the power deviation based on the actual output power and the preset target power; Based on the response timing deviation and the power deviation, determine whether the current target power grid has met the preset synchronization requirements; If the target power grid does not meet the preset synchronization requirements, the current power output timing data is obtained, and a new communication timing adjustment command is generated based on the current power output timing data, so as to perform coordinated control of the energy storage system of the target power grid according to the new communication timing adjustment command.

10. A coordinated control system for an energy storage system for power grid frequency regulation, characterized in that, It includes a misalignment event acquisition module, a collaborative failure judgment module, and a collaborative control module, among which, The misalignment event acquisition module is used to collect power output timing data of each energy storage system in the target power grid in response to the grid frequency regulation command through a data monitoring device, and identify timing misalignment events based on the power output timing data to obtain a timing misalignment event list. The collaborative failure judgment module is used to acquire the output power data of each timing misalignment event in the timing misalignment event list, and determine whether a collaborative failure situation has occurred among the energy storage systems of the target power grid based on the output power data; wherein, the collaborative failure situation is manifested as mutual cancellation or aggravation of power grid frequency fluctuations in the contribution to power grid frequency regulation. The collaborative control module is used to generate a frequency regulation task reallocation instruction based on the output power data if a collaborative failure is determined to occur, and to generate a communication timing adjustment instruction based on the pre-acquired delay data and the frequency regulation task reallocation instruction, so as to realize the collaborative control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

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