A collaborative control method and system for energy storage systems used in power grid frequency regulation

Abstract

This invention discloses a method and system for coordinated control of energy storage systems for power grid frequency regulation, belonging to the field of power grid control, and particularly relating to power grid frequency control. The method includes: acquiring power output timing data of each energy storage system in the target power grid in response to power grid frequency regulation commands via a data monitoring device to identify timing misalignment events caused by communication delays or response differences; obtaining output power data for each timing misalignment event to determine whether a coordinated failure has occurred among the energy storage systems; if a coordinated failure is determined, generating a frequency regulation power task reallocation command aimed at smoothing power grid fluctuations based on the output power data, and acquiring delay data to generate a communication timing adjustment command synchronized with the power allocation, thereby achieving coordinated control of each energy storage system in the target power grid according to the communication timing adjustment command. This application can improve the stability of power grid frequency regulation through coordinated control of energy storage systems in the power grid.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power grid control, and in particular to a coordinated control method and system of energy storage systems for power grid frequency modulation. BACKGROUND

[0002] In modern power systems, energy storage systems participating in power grid frequency modulation is an important means to ensure stable power supply. Its core role is to balance the frequency fluctuations of the power grid by quickly responding to power demand, ensuring the safe and efficient operation of the power system. The importance of this field is self-evident, especially in the context of large-scale access of new energy, the frequency modulation capability of energy storage systems has become an indispensable support for power systems.

[0003] However, current technology often overlooks the coordination problem of multiple energy storage systems in actual operation, and fails to fully consider their time differences and mutual influences in the response process. This oversight leads to a decline in the overall efficiency of the system, especially in complex power grid environments, the coordination problem of multiple energy storage units becomes more prominent, affecting the actual effect of frequency modulation. Due to the time delay differences in receiving instructions and executing power output by each energy storage unit, this difference will cause the power output to be out of sync, and in turn cause mutual interference between systems. For example, in the case of a power grid frequency drop that needs to be quickly supplemented, some energy storage systems may not be able to output power in time due to delays, while another part of the system responds in advance, causing the power output to cancel each other out, and even exacerbating frequency fluctuations. This timing misalignment not only weakens the frequency modulation contribution of individual energy storage units, but also reduces the overall system's coordination capability, forming a difficult-to-break technical bottleneck.

[0004] Therefore, how to effectively identify and solve the problem of power output interference and overall efficiency decline caused by response timing misalignment in the frequency modulation process of multiple energy storage systems has become a key problem to improve the stability and efficiency of power grid frequency modulation. SUMMARY

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

[0006] In a first aspect, the present application provides a line detection method based on direct current signal test, comprising:

[0007] Through the data monitoring equipment, the power output timing data of each energy storage system in the target power grid in response to the power grid frequency modulation instruction is collected, and according to the power output timing data, the timing misalignment event is identified, and a timing misalignment event list is obtained;

[0008] acquire output power data of each timing misalignment event in the timing misalignment event list, and determine whether a synergistic failure condition occurs between each energy storage system of the target power grid according to the output power data; wherein the synergistic failure condition is manifested as mutual offset or exacerbation of contribution to power grid frequency regulation;

[0009] If it is determined that the synergistic failure condition occurs, generate a frequency regulation task redistribution instruction according to the output power data, and generate a communication timing adjustment instruction according to the pre-acquired delay data and the frequency regulation task redistribution instruction, so as to realize synergistic control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

[0010] The embodiment of the present application collects power output timing data of each energy storage system in the target power grid in response to the power grid frequency regulation instruction, provides original data support for subsequent analysis of the time difference of each system response, and provides a basis for identifying timing problems. Then, through the power output timing data, timing misalignment events are identified, the dispersed power output timing data is converted into targeted event information, which facilitates subsequent analysis focusing on key issues, saves calculation scale, and improves response control efficiency. By acquiring output power data of each timing misalignment event in the timing misalignment event list, the timing problem is associated with the power output effect, the actual frequency regulation efficiency is evaluated, and whether the timing misalignment leads to power offset can be reflected by the power data, so as to confirm the real impact of synergistic failure. When it is determined that the synergistic failure condition occurs, the frequency regulation task redistribution instruction is generated according to the output power, so as to redistribute the frequency regulation task according to the power output capacity of each system, so as to ensure that the energy storage system with reliable output capacity can be called first. In addition, the communication timing adjustment instruction is generated according to the pre-acquired delay data and the frequency regulation task redistribution instruction, so as to adjust the instruction sending time in combination with the response delay characteristics of each system and the new task allocation situation, so that each system can respond to the instruction at a similar time, solve the asynchronous response problem, and finally execute the timing adjustment instruction, so that each energy storage system cooperates with each other in time and power output, forms a unified and efficient frequency regulation whole, directly solves the synergistic failure problem, and improves the stability and reliability of power grid frequency regulation. Compared with the prior art, the present application can improve the stability and reliability of power grid frequency regulation through synergistic control of energy storage systems in the power grid.

[0011] Further, the timing misalignment event is identified according to the power output timing data to obtain a timing misalignment event list, specifically:

[0012] The power output timing data is time-aligned by a preset time stamp to obtain a response delay time difference record table; wherein the response delay time difference record table includes a unit identifier, an instruction initial time, an instruction response time, and a response delay duration.

[0013] According to the response delay time difference record table, delay peak data is extracted, and according to the delay peak data, a timing misalignment event list is identified.

[0014] The preset timestamp can eliminate local clock deviation and time zone difference of different energy storage systems, unify dispersed power output timing data to the same time reference, make the timing misalignment event determination of each system more accurate, and provide structured and standardized data for subsequent extraction of delay peak value and analysis of response characteristics of each system, so that analysis errors caused by data confusion are avoided.

[0015] Further, the output power data of each timing misalignment event in the timing misalignment event list is obtained, and whether a collaborative failure condition occurs between the energy storage systems of the target power grid is determined according to the output power data.

[0016] The actual output power curve and the target power curve of each timing misalignment event in the timing misalignment event list are obtained, and the loss power value of each timing misalignment event is calculated according to the actual output power curve and the target power curve.

[0017] A power offset loss power grading table is generated according to the loss power value of each timing misalignment event, and whether there is a collaborative failure between the energy storage systems of the target power grid is determined according to the power offset loss power grading table.

[0018] According to the actual output power curve and the target power curve, the loss power value of each timing misalignment event is calculated, so that the power deviation is quantified by the loss power value, the actual loss caused by each timing misalignment event to the power grid frequency modulation is accurately measured, a quantitative basis for judging the severity of the collaborative failure is provided, and the decision accuracy is improved. By constructing the power offset loss power grading table, whether there is a collaborative failure between the energy storage systems of the target power grid is determined, the influence of the timing misalignment event is extended from the time dimension to the power loss dimension, the precise evaluation of the harm degree of the timing misalignment is realized, and the scientific collaborative failure judgment can ensure that measures are taken in time when the systematic cooperation problem really occurs, resource waste or problem expansion is avoided, accurate failure judgment basis for subsequent generation of reasonable task redistribution and timing adjustment instructions is provided, and then the effectiveness of the energy storage system collaborative control is ensured, and the power grid frequency modulation stability is improved.

[0019] Further, the loss power value of each timing misalignment event is calculated according to the actual output power curve and the target power curve, specifically:

[0020] For each timing misalignment event, the power difference value at each time is calculated according to the actual output power curve and the target power curve of the timing misalignment event;

[0021] According to the power difference value, the time period with power offset is identified, and the loss power value of the timing misalignment event is calculated according to the power difference value corresponding to the time period.

[0022] The embodiment of the present application calculates the power difference value at each time for each timing misalignment event, thereby accurately capturing the power output deviation at each time point in the timing misalignment event by calculating the power difference value at each time, avoiding the problem of ignoring local serious deviation due to only calculating the overall difference, and fully reflecting the gap between the power output and the ideal state, providing detailed data support for subsequent accurate identification of power offset time period; by identifying the time period with power offset according to the power difference value, and calculating the loss power value of the timing misalignment event, the time period with power output direction opposite to the frequency modulation demand (i.e. power offset) is selected from the power difference value at each time, the key period causing loss is focused, the period without offset or with inconspicuous offset is excluded, and the loss power is calculated based on the power difference value of the key period, which can make the calculation of loss power more accurate, avoid counting the normal deviation of non-offset period as loss, and ensure that the loss evaluation caused by timing misalignment event is more objective and accurate, providing reliable quantitative data for subsequent judgment of collaborative failure.

[0023] Further, the collaborative failure between energy storage systems in the target power grid is judged according to the power offset loss power grading table, specifically:

[0024] The average loss power value of each grading category in the power offset loss power grading table is extracted, and the average loss power value of each grading category is compared with the preset loss threshold in turn;

[0025] When the average loss power value of a certain grading category is higher than the preset loss threshold, the corresponding timing misalignment event of the grading category is traced back according to the preset mapping table, and the corresponding collaborative failure energy storage system is determined according to the timing misalignment event.

[0026] In a preset time window, the number of abnormal energy storage units in the collaborative failure energy storage system is counted, and if the number exceeds the preset abnormal number threshold, it is determined that the target power grid has collaborative failure between energy storage systems.

[0027] The embodiment of the present application compares the average loss power value with the preset loss threshold value to quickly screen out the classification of serious loss, clearly needs to focus on the high loss event group, avoids blind investigation in a large number of loss events, improves the efficiency and pertinence of judgment of cooperative failure, traces the time sequence misplacement event to determine the corresponding cooperative failure energy storage system, clearly determines the system range that may exist cooperative failure, provides clear system object for subsequent statistics of abnormal unit quantity, avoids tracing difficulty caused by confusion of association relationship, counts the number of abnormal response energy storage units, compares with the abnormal quantity threshold value, reasonably judges whether the abnormal unit quantity reaches the degree of cooperative failure, avoids misjudgment of individual unit abnormality as cooperative failure, or multiple unit abnormalities are not identified, and ensures the accuracy and reliability of cooperative failure judgment.

[0028] Further, the output power data is used to generate frequency modulation task reallocation instructions, specifically:

[0029] The number of energy storage units participating in cooperative failure is obtained, and the number of energy storage units not participating in failure is determined according to the number of energy storage units participating in cooperative failure;

[0030] The rated power capacity data of each energy storage unit in the energy storage unit list is obtained, and the priority of each energy storage unit in the energy storage unit list is generated according to the rated power capacity data;

[0031] According to the priority, the allocation weight of each energy storage unit in the energy storage unit list is determined to generate frequency modulation task reallocation instructions.

[0032] The embodiment of the present application determines the effective resource range that can be preferentially assigned to the frequency modulation task by determining the list of energy storage units that do not participate in failure, avoids assigning the task to the units that have failed and cannot normally execute the frequency modulation task, ensures that the frequency modulation task has a reliable execution subject, and lays a foundation for subsequent task reassignment; the priority of each energy storage unit in the list of energy storage units is generated according to the rated power capacity data, wherein the rated power capacity data reflects the maximum frequency modulation capacity of the energy storage unit, and the unit with greater capacity can usually undertake more frequency modulation tasks, and the effect of ensuring frequency modulation is more significant, therefore, the priority is generated according to the rated power capacity data, which can ensure that the frequency modulation task is preferentially assigned to the unit with stronger capacity, improve the execution efficiency and effect of the frequency modulation task, and avoid overloading of small-capacity units or idle resources of large-capacity units due to unreasonable task assignment; the assignment weight of each energy storage unit in the list of energy storage units is determined according to the priority to generate a frequency modulation task reassignment instruction, so as to convert the priority into a specific task assignment ratio through the assignment weight, match the task amount of each unit with its capacity, avoid too concentrated or dispersed task assignment, and the frequency modulation task reassignment instruction generated based on the weight can clearly indicate the frequency modulation task amount that each unit needs to undertake, ensure scientific and reasonable task assignment, fully play the role of each non-failed unit, ensure efficient completion of the frequency modulation task after cooperative failure, and reduce the influence on the frequency modulation stability of the power grid.

[0033] Further, the communication timing adjustment instruction is generated according to the pre-acquired delay data and the frequency modulation task reassignment instruction, specifically:

[0034] Obtain the delay data in each timing misalignment event;

[0035] Extract the delay data of each energy storage unit in the list of energy storage units from the delay data, and determine the delay data of each energy storage unit in the list of energy storage units as key delay data;

[0036] According to the key delay data and the assignment weight in the frequency modulation task reassignment instruction, calculate the communication timing compensation amount of each energy storage unit in the list of energy storage units, and generate a communication timing adjustment instruction according to the communication timing compensation amount.

[0037] The embodiment of the application focuses on the core object needing timing adjustment by acquiring delay data in each timing misplacement event and determining the delay data of each energy storage unit in the energy storage unit list as key delay data, excludes the delay data interference of the invalid unit, ensures that the subsequent adjustment measures can be targeted at the effective unit, and improves the pertinence and efficiency of adjustment; the communication timing adjustment instruction is generated according to the key delay data and the allocation weight in the frequency modulation task allocation instruction, wherein the key delay data reflects the response lag of each effective unit, the allocation weight reflects the importance of the task borne by each unit, and the compensation amount is calculated by combining the two, which can ensure that the compensation amount meets the needs of eliminating the delay difference and is matched with the task amount of the unit, avoiding overcompensation or insufficient compensation, and the timing adjustment instruction generated based on the compensation amount can clearly indicate the adjustment time of each unit instruction sending, provide a specific execution scheme for realizing the synchronous response of each unit, and solve the problem of asynchronous response.

[0038] Further, the communication timing adjustment instruction is used to realize the cooperative control of each energy storage system in the target power grid, specifically:

[0039] According to the communication timing compensation amount in the communication timing adjustment instruction, the power grid frequency modulation instruction sending time of the corresponding energy storage unit is adjusted to realize the cooperative control of each energy storage system in the target power grid.

[0040] The embodiment of the application realizes the synchronous response of each energy storage unit by directly adjusting the instruction sending time to eliminate the power offset problem caused by timing misplacement, fully plays the cooperative role of each energy storage system, ensures that the overall frequency modulation capacity meets the power grid demand, effectively improves the stability of power grid frequency modulation, and enables the power grid frequency to quickly and smoothly recover to the rated range when facing fluctuations.

[0041] Further, it further includes:

[0042] The actual power grid frequency modulation instruction response time and actual output power of each energy storage system after executing the communication timing adjustment instruction are collected in real time.

[0043] According to the actual power grid frequency modulation instruction response time and the preset expected response time, the response timing deviation is calculated, and according to the actual output power and the preset target power, the power deviation is calculated.

[0044] According to the response timing deviation and the power deviation, it is judged whether the current target power grid meets the preset synchronization requirement;

[0045] If the current target power grid does not meet the preset synchronization requirement, the current power output timing data is acquired, and a new communication timing adjustment instruction is regenerated according to the current power output timing data, so that the energy storage system cooperative control of the target power grid is performed according to the new communication timing adjustment instruction.

[0046] The embodiment of the present application ensures that the communication timing adjustment instruction can continuously and effectively solve the problem through real-time monitoring and dynamic adjustment, so that the energy storage system always maintains a cooperative control state, the closed-loop control mechanism can timely find and correct the adjustment deviation, and the cooperative control failure caused by external environment changes or system state changes is avoided, thereby long-term maintaining the stability of the grid frequency modulation, ensuring that the power grid can continuously respond to frequency fluctuations, and guaranteeing the safe operation of the power system.

[0047] In a second aspect, the embodiment of the present application provides an energy storage system cooperative control system for grid frequency modulation, comprising a misalignment event acquisition module, a cooperative failure judgment module and a cooperative control module, wherein,

[0048] The misalignment event acquisition module is configured to collect power output timing data of each energy storage system responding to the grid frequency modulation instruction in the target grid through a data monitoring device, and identify a timing misalignment event according to the power output timing data to obtain a timing misalignment event list.

[0049] The cooperative failure judgment module is configured to acquire output power data of each timing misalignment event in the timing misalignment event list, and judge whether a cooperative failure condition occurs between each energy storage system of the target grid according to the output power data, wherein the cooperative failure condition is manifested as mutual cancellation of contribution to grid frequency regulation or aggravation of grid frequency fluctuation.

[0050] The cooperative control module is configured to generate a frequency modulation task reallocation instruction according to the output power data if it is determined that the cooperative failure condition occurs, and generate a communication timing adjustment instruction according to the pre-acquired delay data and the frequency modulation task reallocation instruction, so as to realize the cooperative control of each energy storage system in the target grid according to the communication timing adjustment instruction.

[0051] The power output time sequence data of each energy storage system in the target power grid is collected by the misalignment event acquisition module, original data support is provided for subsequent analysis of the time difference of each system response, and the basis for identifying the time sequence problem is provided, and the power output time sequence data is used to identify the time sequence misalignment event, convert the scattered power output time sequence data into targeted event information, facilitate subsequent analysis focusing on key issues, save the calculation scale, and improve the response control efficiency; the output power data of each time sequence misalignment event in the time sequence misalignment event list is obtained by the cooperative failure judgment module, the time sequence problem is associated with the power output effect, the actual frequency modulation efficiency is evaluated, and the power data can reflect whether the time sequence misalignment leads to power offset, so as to confirm the real influence of cooperative failure; when it is determined that the cooperative failure condition occurs, the frequency modulation task redistribution instruction is generated according to the output power by the cooperative control module, so as to perform frequency modulation task redistribution according to the power output capacity of each system, so as to ensure that the energy storage system with reliable output capacity can be called first, and the communication time sequence adjustment instruction is generated according to the pre-acquired delay data and the frequency modulation task redistribution instruction, so as to adjust the instruction sending time in combination with the response delay characteristics of each system and the new task allocation situation, so that each system can respond to the instruction at a similar time, solve the asynchronous response problem, finally, the time sequence adjustment instruction is executed, so that each energy storage system cooperates with each other in time and power output, forms a unified and efficient frequency modulation whole, directly solves the cooperative failure problem, and improves the stability and reliability of power grid frequency modulation.

[0052] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, and to be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the embodiments of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 A storage system cooperative control method for power grid frequency modulation provided by the embodiments of the present application is shown in the figure.

[0054] Figure 2 A storage system cooperative control system structure diagram for power grid frequency modulation provided by the embodiments of the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0056] Example 1:

[0057] 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:

[0058] 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;

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] Exemplarily, after receiving a 100 MW frequency modulation power demand, the power output of a certain energy storage station starts to ramp up from the static state, and the monitoring system records the power value with a sampling period of 10 milliseconds. When it is detected that the output power exceeds the preset response threshold, such as 10% of the rated power, i.e. 10 MW, the time point corresponding to the sampling point is marked as the response start time. This determination method avoids misjudging noise signals or small power fluctuations as effective responses, ensuring the accuracy of the determination of the response time.

[0065] Preferably, the conversion of the UTC time reference is realized through a time synchronization protocol. The local clocks of the energy storage units may be distributed in different geographical locations and have deviations, and by mapping all time data to the coordinated universal time coordinate system, the problem of time inconsistency caused by time zone differences and clock drift is eliminated.

[0066] In a specific embodiment, the delay peak data is extracted from the response delay time difference record table, and the time sequence misalignment event is identified according to the delay peak data, and a time sequence misalignment event list is obtained, specifically: the data is grouped according to a preset time window width from the response delay time difference record table, the record table is traversed through each time window, the maximum value of the delay time length is searched in each window and recorded, and a delay peak data set containing the peak value, the unit identifier and the timestamp is obtained; for each peak record in the delay peak data set, the peak value is compared with a preset time threshold, if the peak value of a certain record exceeds the threshold, a time sequence misalignment event record is created, which contains the timestamp of the peak value, the involved energy storage unit identifier and the peak value, and a time sequence misalignment event list is formed; according to the timestamp information of each event in the time sequence misalignment event list, the normal response records before and after the timestamp are searched, the time difference between the timestamp of the misalignment event and the timestamp of the first subsequent normal response is calculated to determine the delay time length of the time sequence misalignment event.

[0067] Exemplarily, the width of the time window is set to 5 minutes, which is determined based on the typical cycle characteristics of the frequency modulation response of the energy storage system.

[0068] Specifically, from the starting time of the response delay time difference record table, a statistical interval is divided every 5 minutes, and the delay time data of all energy storage units in each interval is traversed to find the maximum delay value in the interval through comparison operation. In the grid frequency regulation service, the normal response delay of the energy storage system is generally within 100 milliseconds, so the threshold can be set to 150 milliseconds. When the delay peak value in a certain time window exceeds this threshold, it indicates that there is an abnormal response timing problem in this period.

[0069] In the embodiment, the output power data of each timing misalignment event in the timing misalignment event list is obtained, and whether a synergistic failure condition occurs between the energy storage systems of the target power grid is judged according to the output power data; wherein the synergistic failure condition is manifested as mutual offset of contribution to grid frequency regulation or aggravation of grid frequency fluctuation.

[0070] In the embodiment, the output power data of each timing misalignment event in the timing misalignment event list is obtained, and whether a synergistic failure condition occurs between the energy storage systems of the target power grid is judged according to the output power data, specifically: the actual output power curve and the target power curve of each timing misalignment event in the timing misalignment event list are obtained, and the loss of electric quantity value of each timing misalignment event is calculated according to the actual output power curve and the target power curve; the power offset loss of electric quantity grading table is generated according to the loss of electric quantity value of each timing misalignment event, and whether there is a synergistic failure between the energy storage systems of the target power grid is judged according to the power offset loss of electric quantity grading table; wherein the power offset loss of electric quantity grading table includes the average loss of electric quantity value of each grading category.

[0071] In the embodiment, the loss of electric quantity value of each timing misalignment event is calculated according to the actual output power curve and the target power curve, specifically: for each timing misalignment event, the power difference value at each time point is calculated according to the actual output power curve and the target power curve of the timing misalignment event; according to the power difference value, the time period in which there is power offset is identified, so as to calculate the loss of electric quantity value of the timing misalignment event according to the power difference value corresponding to the time period.

[0072] In a specific embodiment, the loss of power value of each timing misalignment event is calculated according to the actual output power curve and the target power curve, specifically: 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 modulation instruction are obtained, the power difference value of the two curves at the same time is calculated, when the output power of the energy storage unit and the direction of the frequency modulation demand are opposite, the period of power mutual offset is identified, the power difference value in the period is accumulated and summed according to the sampling period, and then multiplied by the sampling time interval to obtain the loss of power value caused by power offset; according to the loss of power value, the hierarchical threshold value obtained based on historical data statistics is used for interval division, if the loss of power is less than the lower limit value of the hierarchical threshold value, it is classified into the slight loss category, if it is between the lower limit value and the upper limit value, it is classified into the moderate loss category, and if it exceeds the upper limit value, it is classified into the serious loss category, to obtain a three-level classification result containing category identification and power value; for the three-level classification result, the loss of power corresponding to all timing misalignment events in each category is counted, the average loss of power value and the maximum loss of power value of each category are calculated, and a power offset loss of power hierarchical table containing hierarchical categories, the average loss of power value and the maximum loss of power value corresponding to the category is formed.

[0073] In a specific embodiment, the power curve is obtained by a power monitoring device of the energy storage system, which records the actual output power of each energy storage unit through a set sampling frequency.

[0074] Specifically, when the energy storage system receives an upward grid frequency modulation instruction to increase the power output by 100 MW, the target power curve shows an upward trend, and some energy storage units may have reverse power output or insufficient output due to timing misalignment. By accumulating the power difference value according to the sampling period, the power difference value of each sampling point is multiplied by the sampling time interval of 0.05 seconds, and the loss of power of the period is obtained after accumulation.

[0075] For example, in a power offset period of 5 minutes, if the average power deviation is 20 MW, the loss of power is 20 MW x 300 seconds ÷ 3600 seconds / hour = 1.67 MWh.

[0076] Preferably, the hierarchical threshold value is determined based on the historical operation data of the energy storage system in one year. By statistically analyzing the loss of power distribution caused by all timing misalignment events, the hierarchical boundaries are determined by the loss of power distribution: the 25th percentile is the upper limit of slight loss, the 75th percentile is the upper limit of moderate loss, and the loss exceeding the 75th percentile is classified into the serious loss category.

[0077] In the embodiment, the power offset loss power level classification table is used to determine whether the target power grid has a cooperative failure between energy storage systems. Specifically, the average loss power value of each classification category in the power offset loss power level classification table is extracted, and the average loss power value of each classification category is compared with a preset loss threshold value in sequence. When the average loss power value of a classification category is higher than the preset loss threshold value, the time sequence misalignment event corresponding to the classification category is traced back according to a preset mapping table, and the corresponding cooperative failure energy storage system is determined according to the time sequence misalignment event. Within a preset time window, the number of energy storage units responding abnormally in the cooperative failure energy storage system is counted, and if the number exceeds a preset abnormal number threshold, it is determined that the target power grid has a cooperative failure between energy storage systems.

[0078] In a specific embodiment, the power offset loss power level classification table is used to determine whether the target power grid has a cooperative failure between energy storage systems. Specifically, the average loss power value and the maximum loss power value of each classification category are extracted from the power offset loss power level classification table, the average loss power value is compared with a preset loss threshold value, and if the average loss power value of a classification category exceeds the preset loss threshold value, the category is marked as a high loss category, and a loss determination result containing the category identifier and the over-standard mark is obtained. According to the high loss category in the loss determination result, the time sequence misalignment event corresponding to the category is traced back, the involved energy storage unit number is extracted from the event record, the number of energy storage units responding abnormally within the same time window is counted, and if the number exceeds a preset proportion threshold of the total number of energy storage units, it is determined that there is a power output cooperative failure and a frequency modulation response cooperative failure. Through the determination result of the cooperative failure, the set of energy storage unit numbers participating in the cooperative failure event is summarized, the total number of energy storage units responding abnormally at the same time is calculated, and the total number is taken as the equipment range involved in the cooperative failure.

[0079] In a specific embodiment, the determination of the preset loss threshold value is based on the economic operation indicators of the energy storage system.

[0080] Specifically, by analyzing the balance point between the frequency modulation benefit per unit capacity of the energy storage system and the economic loss caused by the loss power, the loss threshold value is set.

[0081] For example, when the frequency modulation compensation standard of a certain energy storage power station is 500 yuan per megawatt-hour, and the loss power exceeds 200 kWh, the economic loss begins to exceed 10% of the normal frequency modulation benefit, so 200 kWh is set as the loss threshold value.

[0082] It should be noted that the identification of the high loss category involves a traversal comparison of the data in the grading table. When the average value of the slight loss category is 30kWh, the average value of the moderate loss category is 150kWh, and the average value of the severe loss category reaches 500kWh, if the loss threshold is set to 200kWh, the moderate and severe categories will be marked as high loss categories, which indicates that the frequency modulation efficiency of the energy storage system in this period is severely affected.

[0083] Preferably, the tracing of the timing misalignment event is realized by the association query of the event number. Each loss power record corresponds to the original timing misalignment event number, through which all the energy storage unit information involved in the event can be traced, including the unit number, the delay duration, the power deviation and other detailed data.

[0084] In a possible implementation, the determination of the coordinated failure adopts a double standard.

[0085] Exemplarily, when 8 energy storage units simultaneously appear abnormal response in the same 5-minute time window, and the total number of energy storage units is 10, the proportion of abnormal units reaches 80%, which exceeds the preset 60% proportion threshold, and the coordinated failure is determined. This large-scale synchronous failure indicates that the energy storage system has a systemic problem, rather than an occasional failure of individual units. The identification of the coordinated failure is of great significance for distinguishing between systemic failure and random failure. Systemic failure often originates from common triggering factors, such as communication network delay, abnormal scheduling instructions, etc. Further, the determination of the equipment range adopts an absolute number. By counting all the events marked as coordinated failure, the energy storage unit numbers involved are summarized and duplicates are removed to obtain the total number of energy storage units participating in the coordinated failure.

[0086] For example, if 8 of the 10 energy storage units participate in the coordinated failure, the equipment range is 8, which directly reflects the severity of the problem and provides a quantitative basis for subsequent control strategy adjustment.

[0087] S103, if it is determined that the coordinated failure condition occurs, generating a frequency modulation task redistribution instruction according to the output power data, and generating a communication timing adjustment instruction according to the pre-acquired delay data and the frequency modulation task redistribution instruction, to realize the coordinated control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

[0088] In the embodiment, the generating frequency modulation task reassignment instruction according to the output power data specifically comprises: obtaining the energy storage unit numbers participating in the cooperative failure, determining a list of energy storage units not participating in the failure according to the energy storage unit numbers participating in the cooperative failure; obtaining the rated power capacity data of each energy storage unit in the list of energy storage units, and generating the priority of each energy storage unit in the list of energy storage units according to the rated power capacity data; determining the assignment weight of each energy storage unit in the list of energy storage units according to the priority, so as to generate the frequency modulation task reassignment instruction.

[0089] In a specific embodiment, the generating frequency modulation task reassignment instruction according to the output power data specifically comprises: identifying the energy storage unit numbers participating in the cooperative failure according to the equipment range involved in the cooperative failure, obtaining the rated power capacity data of each unit, sorting the units not participating in the failure in descending order of capacity, setting the high-priority frequency modulation task execution unit, and obtaining the energy storage unit priority sorting result. According to the priority sorting result, a frequency modulation task weight coefficient is assigned to each energy storage unit, the weight of the high-priority unit is set to a preset upper limit value, the weights of the remaining units are assigned in descending order according to the sorting, and a frequency modulation task reassignment control instruction list containing the unit number, priority identifier and weight coefficient is formed.

[0090] It should be noted that the energy storage units not participating in the cooperative failure are identified by exclusion.

[0091] Specifically, the unit numbers involved in the cooperative failure are excluded from the entire list of energy storage units, and the remaining energy storage units can normally participate in frequency modulation.

[0092] For example, if there are 10 energy storage units in the system, 8 of which participate in the cooperative failure, the remaining 2 units become the priority frequency modulation resources.

[0093] It should be noted that the assignment of the weight coefficient follows the capacity proportion principle.

[0094] Preferably, the energy storage unit with the largest rated capacity obtains a weight coefficient of 1.0, and the remaining units are assigned weights in descending order according to the capacity proportion.

[0095] In the embodiment, the generating communication timing adjustment instruction according to the pre-obtained delay data and the frequency modulation task reassignment instruction specifically comprises: obtaining the delay data in each timing misalignment event; extracting the delay data of each energy storage unit in the list of energy storage units from the delay data, and determining the delay data of each energy storage unit in the list of energy storage units as key delay data; calculating the communication timing compensation amount of each energy storage unit in the list of energy storage units according to the key delay data and the assignment weight in the frequency modulation task reassignment instruction, and generating a communication timing adjustment instruction according to the communication timing compensation amount.

[0096] In the embodiment, the communication timing adjustment instruction is used to realize the cooperative control of the energy storage systems in the target power grid, specifically: according to the communication timing compensation amount in the communication timing adjustment instruction, the sending time of the power grid frequency modulation instruction of the corresponding energy storage unit is adjusted to realize the cooperative control of the energy storage systems in the target power grid.

[0097] In a specific embodiment, the communication timing adjustment instruction is generated according to the pre-acquired delay data and the frequency modulation task reassignment instruction, specifically: the weight coefficient and the unit number of each energy storage unit are extracted from the control instruction list, the power allocation proportion of each unit in the total frequency modulation capacity is calculated according to the weight coefficient, and if the weight coefficient of a unit is zero, the unit is marked as a suspended frequency modulation state, and the allocation weight of each energy storage system and the corresponding frequency modulation participation state are obtained; according to the allocation weight, the average delay duration of the energy storage units participating in frequency modulation is calculated in combination with the delay duration data of each unit in the timing misalignment event record, the difference between the delay duration of each unit and the average delay duration is taken as the time adjustment amount that needs to be compensated for the unit, and the timing compensation value of each unit is obtained; the sending time of the power grid frequency modulation instruction is adjusted through the timing compensation value, the power grid frequency modulation instruction is sent in advance for the energy storage unit with a larger delay, and the advance amount is 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 instruction tends to be consistent, and the communication timing is coordinated and controlled.

[0098] In a specific embodiment, the weight coefficient of the control instruction list is normalized, so that the sum of the weight coefficients of all the energy storage units participating in frequency modulation is 1.

[0099] Specifically, when a certain energy storage unit is marked as a suspended state due to cooperative failure, the weight coefficient of the unit is set to 0, and the unit temporarily exits the frequency modulation task.

[0100] For example, if 3 of the 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 modulation capacity.

[0101] It should be noted that the calculation of the average delay duration is based on statistical principles. By collecting the delay data of all the energy storage units participating in frequency modulation in the last 30 days, the arithmetic mean value is calculated after removing the outliers, and the average delay reference of the system is obtained.

[0102] For example, if the delay durations of 7 units participating in frequency modulation are 80ms, 85ms, 90ms, 95ms, 100ms, 105ms and 110ms, the average delay duration is 95ms. The difference between each unit and the average value is the amount of time that needs to be compensated, for example, the unit with a delay of 80ms needs to be compensated by -15ms, and the unit with a delay of 110ms needs to be compensated by +15ms.

[0103] Preferably, the implementation of the timing compensation is done by adjusting the timestamp field in the communication protocol.

[0104] In a specific embodiment, the communication server of the dispatch center maintains a timing compensation table for each energy storage unit, recording the compensation value of the unit. When the grid frequency modulation instruction needs to be sent, the server adjusts the sending time of each unit according to the value in the compensation table. For units with large delays, the instruction is sent in advance; for units with small delays, the instruction is sent later. This differentiated sending strategy enables all units to start performing the frequency modulation task almost simultaneously. Further, the coordinated 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 the delay decreasing after optimization of the communication link, the system automatically adjusts the compensation value of the unit to maintain overall synchronization.

[0105] In the embodiment, the method further includes: collecting actual grid frequency modulation instruction response time and actual output power of each energy storage system after executing the communication timing adjustment instruction; calculating response timing deviation according to the actual grid frequency modulation instruction response time and the preset expected response time, and calculating power deviation according to the actual output power and the preset target power; judging whether the current target grid meets the preset synchronization requirement according to the response timing deviation and the power deviation; if the current target grid does not meet the preset synchronization requirement, obtaining current power output timing data, and regenerating a new communication timing adjustment instruction according to the current power output timing data, so as to perform coordinated control of the energy storage system of the target grid according to the new communication timing adjustment instruction.

[0106] In a specific embodiment, the above-mentioned real-time feedback loop mechanism is specifically: collecting actual response time and power output data of each energy storage system after executing the grid frequency modulation instruction, and comparing with the expected response time and target power to calculate response timing deviation and power deviation. The deviation data is transmitted in real time to the frequency modulation control center through the communication interface to form a feedback data stream. The frequency modulation control center identifies the energy storage units with persistent timing deviation, updates the communication timing compensation parameters thereof, and obtains an adjusted timing control instruction set. The sending time of the grid frequency modulation instruction of each energy storage unit is reset, and the power distribution coefficient of each unit is adjusted according to the power deviation, and is issued to the local controller of each energy storage system. The response state of each energy storage system after the execution of the control data packet is monitored, and whether the adjusted response timing meets the synchronization requirement is verified. If not, the feedback data is collected again and the next round of adjustment cycle is entered to realize the coordinated control of the energy storage system.

[0107] In a specific embodiment, the collection of feedback data is achieved by high-precision power sensors and time synchronization devices deployed at each energy storage unit. When an energy storage unit receives a grid frequency regulation command, the monitoring device records the time of arrival of the command, the time when the power starts to change, and the time when the power reaches the target value. These time data, together with the corresponding power values, constitute the original monitoring data.

[0108] It should be noted that the deviation calculation involves a comparative analysis of two dimensions. The timing deviation is obtained by comparing the actual response time with the expected response time, which is determined based on the standard response characteristic curve of the energy storage unit. The power deviation is calculated by comparing the actual output power curve with the target power curve. The integral method is used to calculate the area difference between the two curves, reflecting the accuracy of power output. These deviation data are transmitted in real time to the frequency regulation control center through a high-speed Ethernet communication interface, with a transmission delay controlled within 10 milliseconds. The feedback data stream uses a structured data format, with each data packet containing five fields: time stamp, unit number, timing deviation value, power deviation value, and data check code, ensuring the integrity and reliability of data transmission.

[0109] Preferably, the monitoring mechanism of the continuous sampling period is implemented based on a sliding window algorithm. The system maintains a sliding window with a length of N, which is set according to the system stability requirements, usually taking 5 to 10 sampling periods. At the end of each sampling period, the deviation data of that period is added to the window, while the oldest data is removed. If more than a preset proportion of the deviation values in the window exceed the threshold value, it is determined that there is a persistent timing deviation problem with the energy storage unit. This judgment method avoids false positives caused by accidental communication delays or transient interference, improving the robustness of the system.

[0110] In a specific embodiment, the update of the communication timing compensation parameter uses an incremental adjustment method.

[0111] For example, if the average timing deviation of a certain energy storage unit is +20 milliseconds for 5 consecutive sampling periods, indicating that the unit is responding with a lag, the system will increase the timing compensation parameter of the unit by 20 milliseconds in advance based on the original value. This incremental adjustment avoids drastic changes in parameters, ensuring smooth transition of the system. The updated parameter is written into a dedicated field of the control command, forming a timing control command set containing adjustment parameters of multiple energy storage units. Further, the adjustment of the power distribution coefficient follows the principle of power conservation. When some energy storage units fail to output power due to timing problems, the system automatically allocates the missing power to units that respond normally. The specific allocation ratio is calculated inversely based on the real-time power deviation of each unit, with units having smaller deviations receiving higher power allocation weights.

[0112] For example, if the power deviation of unit A is -5%, unit B is -2%, and unit C is +1%, the system will appropriately increase the power allocation coefficient of unit C and reduce that of unit A to make the overall output power meet the frequency modulation requirement.

[0113] It should be noted that the delivery of control data packets adopts a communication mode combining broadcast and unicast. Timing control parameters are sent to all energy storage units simultaneously through broadcast to ensure the synchronization of instructions, while the power allocation coefficients for specific units are sent directionally through unicast to reduce network load. Each control data packet contains a sequence number and a timestamp, and the energy storage units need to return an acknowledgement message after receiving it. If the acknowledgement is not received within the specified time, the control center will resend the data packet.

[0114] In a specific embodiment, synchronization verification is achieved by calculating the standard deviation of the response times of all energy storage units. The system sets the synchronization threshold to 10 milliseconds, and when the standard deviation of the response times of all energy storage units participating in frequency modulation is less than the threshold, it is considered to meet the synchronization requirement. If the synchronization requirement is not met, the system automatically enters the next round of adjustment cycle, re-collects feedback data, analyzes the deviation reason, and updates the control parameters. This cyclic adjustment mechanism continues to run until the system reaches a stable synchronization state.

[0115] It should be noted that the period of the feedback cycle is dynamically adjusted according to the real-time requirement of grid frequency modulation. When the grid frequency fluctuates greatly, the cycle period is shortened to 100 milliseconds to quickly respond to frequency changes; when the grid runs smoothly, the cycle period is extended to 500 milliseconds to reduce system overhead. Through this adaptive feedback cycle mechanism, the energy storage system can continuously optimize the response performance and achieve efficient coordinated control.

[0116] The embodiment of the present application collects power output time sequence data of each energy storage system in the target power grid in response to the power grid frequency modulation instruction, provides original data support for subsequent analysis of time difference of each system response, and provides a basis for identifying time sequence problems. Then, through the power output time sequence data, the time sequence misplacement events are identified, the dispersed power output time sequence data is converted into targeted event information, which facilitates subsequent focused analysis of key issues, saves calculation scale, and improves response control efficiency. By obtaining the output power data of each time sequence misplacement event in the time sequence misplacement event list, the time sequence problem is associated with the power output effect, the actual frequency modulation efficiency is evaluated, and the power data can reflect whether the time sequence misplacement causes power offset, thereby confirming the real impact of the collaborative failure. When it is determined that the collaborative failure condition occurs, the frequency modulation task redistribution instruction is generated according to the output power, so as to perform frequency modulation task redistribution according to the power output capacity of each system, so as to ensure that the energy storage system with reliable output capacity can be called first. In addition, the communication time sequence adjustment instruction is generated according to the pre-acquired delay data and the frequency modulation task redistribution instruction, so as to adjust the instruction sending time in combination with the response delay characteristics of each system and the new task allocation situation, so that each system can respond to the instruction at a similar time, solve the asynchronous response problem, and finally execute the time sequence adjustment instruction, so that each energy storage system cooperates with each other in time and power output, forms a unified and efficient frequency modulation whole, directly solves the collaborative failure problem, and improves the stability and reliability of power grid frequency modulation. Compared with the prior art, the present application can improve the stability and reliability of power grid frequency modulation through collaborative control of energy storage systems in the power grid.

[0117] Embodiment two:

[0118] As shown in Figure 2 , the present embodiment provides a kind of energy storage system collaborative control system for power grid frequency modulation, including misplacement event acquisition module 201, collaborative failure judging module 202 and collaborative control module 203, wherein,

[0119] The misplacement event acquisition module 201 is used to collect the power output time sequence data of each energy storage system in the target power grid in response to the power grid frequency modulation instruction by data monitoring equipment, and identify time sequence misplacement events according to the power output time sequence data, and obtain time sequence misplacement event list;

[0120] In the embodiment, the misalignment event acquisition module 201 identifies the timing misalignment events according to 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 through a preset time stamp, and obtains a response delay time difference record table; wherein the response delay time difference record table includes unit identification, instruction initial time, instruction response time and response delay duration; according to the response delay time difference record table, the delay peak value data is extracted, and according to the delay peak value data, the timing misalignment events are identified, and the timing misalignment event list is obtained.

[0121] The cooperative failure judgment module 202 is configured to acquire the output power data of each timing misalignment event in the timing misalignment event list, and determine whether the cooperative failure condition occurs between the energy storage systems of the target power grid according to the output power data; wherein the cooperative failure condition is reflected as mutual offset of contribution to power grid frequency regulation or aggravation of power grid frequency fluctuation.

[0122] In the embodiment, the cooperative failure judgment module 202 acquires the output power data of each timing misalignment event in the timing misalignment event list, and determines whether the cooperative failure condition occurs between the energy storage systems of the target power grid according to the output power data, specifically: the cooperative failure judgment module 202 acquires the actual output power curve and the target power curve of each timing misalignment event in the timing misalignment event list, and calculates the loss of electric quantity value of each timing misalignment event according to the actual output power curve and the target power curve; according to the loss of electric quantity value of each timing misalignment event, a power offset loss of electric quantity classification table is generated, and whether the cooperative failure between the energy storage systems of the target power grid exists is determined according to the power offset loss of electric quantity classification table; wherein the power offset loss of electric quantity classification table includes the average loss of electric quantity value of each classification category.

[0123] The cooperative control module 203 is configured to, if it is determined that the cooperative failure condition occurs, generate a frequency modulation task reallocation instruction according to the output power data, and generate a communication timing adjustment instruction according to the pre-acquired delay data and the frequency modulation task reallocation instruction, so as to realize the cooperative control of the energy storage systems in the target power grid according to the communication timing adjustment instruction.

[0124] In this embodiment, the cooperative control module 203 generates frequency modulation task reassignment instructions according to the output power data, specifically: the cooperative control module 203 obtains the energy storage unit number participating in cooperative failure, to determine the energy storage unit list not participating in failure according to the energy storage unit number participating in 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 according to the rated power capacity data; according to the priority, determine the allocation weight of each energy storage unit in the energy storage unit list, to generate frequency modulation task reassignment instructions.

[0125] In this embodiment, the cooperative control module 203 generates communication timing adjustment instructions according to the pre-acquired delay data and the frequency modulation task reassignment instructions, specifically: the cooperative control module 203 obtains the delay data in the each timing misalignment event; 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; according to the key delay data and the allocation weight in the frequency modulation task reassignment instructions, calculate the communication timing compensation amount of each energy storage unit in the each energy storage unit list, and generate communication timing adjustment instructions according to the communication timing compensation amount.

[0126] In this embodiment, the cooperative control module 203 realizes the cooperative control of each energy storage system in the target power grid according to the communication timing adjustment instructions, specifically: the cooperative control module 203 adjusts the power grid frequency modulation instruction issuing time of the corresponding energy storage unit according to the communication timing compensation amount in the communication timing adjustment instructions, to realize the cooperative control of each energy storage system in the target power grid.

[0127] The more detailed working principle and step flow of this embodiment can be but not limited to refer to the related records of embodiment one.

[0128] The embodiment of the present application acquires the power output time sequence data of each energy storage system in the target power grid in response to the power grid frequency modulation instruction through the misalignment event acquisition module 201, provides original data support for subsequent analysis of the time difference of each system response, and provides the basis for identifying the time sequence problem. Through the power output time sequence data, the time sequence misalignment event is identified, the dispersed power output time sequence data is converted into targeted event information, which is convenient for subsequent analysis focusing on key problems, saves the calculation scale, and improves the response control efficiency. Through the cooperative failure judgment module 202, the output power data of each time sequence misalignment event in the time sequence misalignment event list is acquired, the time sequence problem is associated with the power output effect, the actual frequency modulation efficiency is evaluated, and the power data can reflect whether the time sequence misalignment leads to power offset, so as to confirm the real influence of the cooperative failure. Through the cooperative control module 203, when it is determined that the cooperative failure condition occurs, the frequency modulation task redistribution instruction is generated according to the output power, so as to perform the frequency modulation task redistribution according to the power output capacity of each system, so as to ensure that the energy storage system with reliable output capacity can be called first. In addition, the communication time sequence adjustment instruction is generated according to the pre-acquired delay data and the frequency modulation task redistribution instruction, so as to adjust the instruction sending time in combination with the response delay characteristics of each system and the new task allocation situation, so that each system can respond to the instruction at a similar time, solve the asynchronous response problem, finally, the time sequence adjustment instruction is executed, so that each energy storage system cooperates with each other in time and power output, forms a unified and efficient frequency modulation whole, directly solves the cooperative failure problem, and improves the stability and reliability of the power grid frequency modulation.

[0129] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiments of each method. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), etc.

[0130] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-described specific embodiments are only specific embodiments of the present application and are not used to limit the protection scope of the present application. It is particularly pointed out that any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for coordinated control of energy storage systems for grid frequency regulation, characterized in that, The method comprises: Through a data monitoring device, collecting power output time sequence data of each energy storage system in a target power grid in response to a power grid frequency regulation instruction, and identifying a time sequence misplacement event according to the power output time sequence data to obtain a time sequence misplacement event list; Obtaining output power data of each time sequence misplacement event in the time sequence misplacement event list, and judging whether a synergistic failure condition occurs between each energy storage system in the target power grid according to the output power data; wherein the synergistic failure condition is manifested as mutual cancellation of contributions to power grid frequency regulation or exacerbation of power grid frequency fluctuation; The method of obtaining output power data of each time sequence misplacement event in the time sequence misplacement event list and judging whether a synergistic failure condition occurs between each energy storage system in the target power grid according to the output power data is specifically: obtaining actual output power curves and target power curves of each time sequence misplacement event in the time sequence misplacement event list, and calculating loss power values of the time sequence misplacement events according to the actual output power curves and the target power curves; generating a power cancellation loss power classification table according to the loss power values of the time sequence misplacement events, and judging whether there is a synergistic failure between energy storage systems in the target power grid according to the power cancellation loss power classification table; wherein the power cancellation loss power classification table includes average loss power values of each classification category; The method of judging whether there is a synergistic failure between energy storage systems in the target power grid according to the power cancellation loss power classification table is specifically: extracting average loss power values of each classification category in the power cancellation loss power classification table, and comparing the average loss power values of each classification category with a preset loss threshold in turn; when the average loss power value of a certain classification category is higher than the preset loss threshold, the corresponding time sequence misplacement event of the classification category is traced back according to a preset mapping table, and the corresponding synergistic failure energy storage system is determined according to the time sequence misplacement event; within a preset time window, the number of energy storage units responding abnormally in the synergistic failure energy storage system is counted, and if the number exceeds a preset abnormal number threshold, it is determined that there is a synergistic failure between energy storage systems in the target power grid; If it is determined that a synergistic failure condition occurs, a frequency regulation task redistribution instruction is generated according to the output power data, and a communication time sequence adjustment instruction is generated according to the pre-obtained delay data and the frequency regulation task redistribution instruction, so as to realize synergistic control of each energy storage system in the target power grid according to the communication time sequence adjustment instruction.

2. The energy storage system collaborative control method for grid frequency regulation of claim 1, wherein, The method of identifying a time sequence misplacement event according to the power output time sequence data to obtain a time sequence misplacement event list is specifically: Time alignment is performed on the power output time sequence data through a preset time stamp to obtain a response delay time difference record table; wherein the response delay time difference record table includes a unit identifier, an instruction initial time, an instruction response time, and a response delay duration; According to the response delay time difference record table, delay peak data is extracted, and a time sequence misplacement event is identified according to the delay peak data to obtain a time sequence misplacement event list.

3. The energy storage system collaborative control method for grid frequency regulation of claim 1, wherein, The loss power value of each timing misalignment event is calculated according to the actual output power curve and the target power curve, specifically as follows: For each timing misalignment event, the power difference value at each time is calculated according to the actual output power curve and the target power curve of the timing misalignment event; According to the power difference value, the time period of power offset is identified, and the loss power value of the timing misalignment event is calculated according to the power difference value corresponding to the time period.

4. The energy storage system coordinated control method for grid frequency regulation of claim 1, wherein, The frequency modulation task reassignment instruction is generated according to the output power data, specifically as follows: The energy storage unit numbers participating in the cooperative failure are obtained, and the energy storage unit list not participating in the failure is determined according to the energy storage unit numbers participating in the cooperative failure; The rated power capacity data of each energy storage unit in the energy storage unit list is obtained, and the priority of each energy storage unit in the energy storage unit list is generated according to the rated power capacity data; According to the priority, the allocation weight of each energy storage unit in the energy storage unit list is determined to generate the frequency modulation task reassignment instruction.

5. The energy storage system coordinated control method for grid frequency regulation of claim 4, wherein, The communication timing adjustment instruction is generated according to the pre-acquired delay data and the frequency modulation task reassignment instruction, specifically as follows: Delay data in each timing misalignment event is obtained; From the delay data, the delay data of each energy storage unit in the energy storage unit list is extracted, and the delay data of each energy storage unit in the energy storage unit list is determined as key delay data; According to the key delay data and the allocation weight in the frequency modulation task reassignment instruction, the communication timing compensation amount of each energy storage unit in the energy storage unit list is calculated, and the communication timing adjustment instruction is generated according to the communication timing compensation amount.

6. The energy storage system coordinated control method for grid frequency regulation of claim 5, wherein, According to the communication timing adjustment instruction, the cooperative control of each energy storage system in the target power grid is realized, specifically as follows: According to the communication timing compensation amount in the communication timing adjustment instruction, the power grid frequency modulation instruction issuing time of the corresponding energy storage unit is adjusted to realize the cooperative control of each energy storage system in the target power grid.

7. The energy storage system coordinated control method for grid frequency regulation of claim 1, wherein, Further comprising: The actual power grid frequency modulation instruction response time and the actual output power of each energy storage system after executing the communication timing adjustment instruction are collected in real time; According to the actual power grid frequency modulation instruction response time and the pre-set expected response time, the response timing deviation is calculated, and the power deviation is calculated according to the actual output power and the pre-set target power; According to the response timing deviation and the power deviation, it is judged whether the current target power grid meets the pre-set synchronization requirement; If the current target power grid does not meet the pre-set synchronization requirement, the current power output timing data is obtained, and a new communication timing adjustment instruction is generated according to the current power output timing data, so as to realize the cooperative control of the energy storage system of the target power grid according to the new communication timing adjustment instruction.

8. A coordinated control system for energy storage systems for grid frequency regulation, characterized in that, It comprises a misalignment event acquisition module, a cooperative failure judgment module and a cooperative control module, wherein The misalignment event acquisition module is used to collect the power output timing data of each energy storage system in the target power grid responding to the power grid frequency modulation instruction through the data monitoring device, and to identify the timing misalignment event according to the power output timing data to obtain a timing misalignment event list; The cooperative failure judgment module is configured to acquire output power data of each timing misalignment event in the timing misalignment event list, and determine whether a cooperative failure condition occurs between each energy storage system of the target power grid according to the output power data; wherein the cooperative failure condition is manifested as mutual offset of contribution to power grid frequency regulation or aggravation of power grid frequency fluctuation. In the method, the output power data of each timing misalignment event in the timing misalignment event list is acquired, and the cooperative failure condition between each energy storage system of the target power grid is determined according to the output power data, specifically, actual output power curves and target power curves of each timing misalignment event in the timing misalignment event list are acquired, and loss power values of each timing misalignment event are calculated according to the actual output power curves and the target power curves; a power offset loss power grading table is generated according to the loss power values of each timing misalignment event, and whether the cooperative failure between energy storage systems of the target power grid exists is determined according to the power offset loss power grading table; wherein the power offset loss power grading table includes average loss power values of each grading category. In the method, whether the cooperative failure between energy storage systems of the target power grid exists is determined according to the power offset loss power grading table, specifically, the average loss power values of each grading category in the power offset loss power grading table are extracted, and the average loss power values of each grading category are compared with a preset loss threshold value in sequence; when the average loss power value of a certain grading category is higher than the preset loss threshold value, the timing misalignment event corresponding to the grading category is traced back according to a preset mapping table, and the corresponding cooperative failure energy storage system is determined according to the timing misalignment event; the number of energy storage units responding to the abnormality in the cooperative failure energy storage system is counted within a preset time window, and if the number exceeds a preset abnormal number threshold value, it is determined that the cooperative failure between energy storage systems of the target power grid exists. The cooperative control module is configured to, if it is determined that the cooperative failure condition occurs, generate a frequency regulation task reassignment instruction according to the output power data, and generate a communication timing adjustment instruction according to the pre-acquired delay data and the frequency regulation task reassignment instruction, so as to realize cooperative control of each energy storage system in the target power grid according to the communication timing adjustment instruction.

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