A distributed energy storage scheduling method and system

Abstract

The application discloses a kind of distributed energy storage scheduling method and system, comprising: constructing the master-slave node of energy storage scheduling, main node is used to issue energy storage scheduling instruction to slave node, and the cycle length and non-cycle length of energy storage scheduling are constructed in advance in main node, wherein cycle length and non-cycle length are alternately generated;In main node, time slot is segmented to each energy storage scheduling cycle, and unicast request instruction is sent to slave node according to segmented energy storage scheduling cycle time slot, and unicast request instruction includes energy storage scheduling instruction, and slave node can only send data after receiving the unicast request instruction of the main node;Configuration execution command in the non-period of main node, and send to slave node in non-period, and slave node obtains corresponding execution command in non-period, and executes the energy storage scheduling instruction by execution equipment;After each slave node obtains corresponding unicast request instruction, broadcast data is sent externally, for data synchronization, and corresponding energy storage scheduling is executed synchronously.

Description

Technical Field

[0001] This invention relates to the field of energy storage dispatching technology, and in particular to a distributed energy storage dispatching method and system. Background Technology

[0002] In traditional distributed energy storage scheduling systems, the issuance of commands from the dispatch center is typically a serial process. The server needs to communicate with dozens or even hundreds of PCSs within the site one by one. Traditional distributed energy storage systems include peer-to-peer modes; for specific technical solutions, please refer to the existing technology patent with publication number CN118523415A. In peer-to-peer mode, the lack of a unified scheduling mechanism for data transmission and reception between energy management systems (EMSs) leads to the following problems: Poor control consistency: Due to the disordered data interaction, the commands issued by each EMS may be inconsistent, affecting the overall consistency of the system. Slow response speed: Achieving the target power value requires multiple adjustments, reducing the dynamic response efficiency of the system. In other words, the asynchrony of the external output power of distributed energy storage in traditional peer-to-peer mode may lead to power oscillations. Summary of the Invention

[0003] One objective of this invention is to provide a distributed energy storage scheduling method and system. This method and system construct a master-slave node model for the energy storage scheduling system and execute the collection and synchronous transmission of instructions for corresponding slave nodes by constructing periodic and aperiodic time sequences. The master node sends scheduling instructions to the slave nodes within the preset periodic time sequence. The slave nodes only collect the scheduling instructions from the master node within the periodic time sequence and do not execute the collected instructions. Instead, they send the scheduling instructions to the execution device only within the aperiodic time sequence. This invention transforms the serial scheduling of slave nodes into parallel scheduling with segmented time slots. Therefore, this invention can achieve high-quality synchronization of distributed scheduling instructions even in poor network environments with high network latency, thereby improving the stability of the distributed energy storage scheduling system and effectively reducing battery overcharging or over-discharging.

[0004] Another objective of this invention is to provide a distributed energy storage scheduling method and system. The method and system employ a data transmission mechanism where the master node sends unicast tokens and the slave nodes respond with broadcast responses. The master node sends unicast data to a designated slave node via a token, and the slave node can only execute a response after receiving the unicast data containing the token, thus ensuring conflict-free data transmission. Furthermore, the broadcast response of the designated slave node can effectively send its own data to other slave nodes, allowing other slave nodes or the master node to obtain data directly with reduced data routing, thereby improving the real-time performance of data synchronization.

[0005] Another objective of this invention is to provide a distributed energy storage scheduling method and system. The method and system divide the periodic time series into time slots according to the number of slave nodes, where the number of time slots is the number of corresponding slave nodes. Each time slot is bound to a corresponding slave node, and each divided time slot is used to serially send scheduling instructions to the corresponding bound slave node. Therefore, in the sending of scheduling instructions from multiple slave nodes, this invention can satisfy both the regularity of serial instruction sending and the stability of low bandwidth ratio, while also ensuring the collaborative stability of energy storage scheduling.

[0006] Another objective of this invention is to provide a distributed energy storage scheduling method and system. This method and system utilizes periodic time slots to divide the master node's unicast delivery and the slave node's broadcast response for master-slave distributed energy storage scheduling. Traditional solutions have energy storage scheduling command deviations exceeding 10ms, while the present invention's solution can achieve deviations within 100μs, representing a 100-fold performance improvement. Furthermore, this invention can achieve μs (microsecond) level energy storage scheduling command synchronization without relying on precise synchronization time, significantly improving the accuracy and stability of distributed energy storage scheduling.

[0007] To achieve at least one of the above-mentioned objectives, the present invention further provides a distributed energy storage scheduling method, the method comprising the following steps:

[0008] A master-slave node for energy storage scheduling is constructed. The master node is used to issue energy storage scheduling instructions to the slave node. The cycle duration and aperiodic duration of energy storage scheduling are pre-constructed in the master node, wherein the cycle duration and aperiodic duration are generated alternately.

[0009] The master node divides each energy storage scheduling cycle into time slots and sends unicast request instructions to the slave nodes according to the divided energy storage scheduling cycle time slots. The unicast request instructions include energy storage scheduling instructions. The slave nodes can only send data after receiving the unicast request instructions from the master node.

[0010] Execution commands are configured on each master node during non-periodic periods, and the execution commands are sent to slave nodes during the non-periodic periods. After obtaining the corresponding execution commands, the slave nodes execute the energy storage scheduling instructions through the corresponding execution devices.

[0011] After each slave node obtains the corresponding unicast request instruction, it sends broadcast data to the outside world for data synchronization and synchronously executes the corresponding energy storage.

[0012] According to a preferred embodiment of the present invention, the master node sends token unicast request instructions to the slave nodes in a preset polling order within the corresponding time slot. Only the corresponding slave node receives the corresponding token unicast request instruction. After receiving the token unicast request instruction, the slave node immediately broadcasts its own response data to all other nodes. Other slave nodes and other master nodes obtain the response data of the corresponding slave node for data synchronization.

[0013] According to a preferred embodiment of the present invention, the master node obtains the number of valid slave nodes and divides the periodic duration of a specified duration into time slots according to the number of valid slave nodes to obtain a periodic time slot sequence equal to the number of valid slave nodes. Each periodic time slot sequence is mapped to only one slave node, so that the master node sends the unicast request instruction to only one slave node in the corresponding time slot, and completes the distribution of unicast request instructions to all slave nodes in the period in a polling manner. At the same time, the non-periodic duration is divided into time slots according to the number of slave nodes to obtain a non-periodic time slot sequence.

[0014] According to a preferred embodiment of the present invention, when the periodic time slot sequence ends, the master node sends a unicast request instruction containing an execution command to a slave node in the beginning time slot sequence of the aperiodic time slot sequence. After obtaining the unicast request instruction, the slave node obtains the execution command and encapsulates the execution command into a response message. The slave node broadcasts the response message to all other slave nodes. After receiving the broadcast response message, all other slave nodes synchronously execute the execution command.

[0015] According to a preferred embodiment of the present invention, the method for constructing the periodic duration and aperiodic duration includes: determining the periodic duration based on the average delay data of the communication packets between the master and slave nodes and the number of slave nodes; if the average delay data of the communication packets between the master and slave nodes is t0, and the number of slave nodes managed by the master node is x1, then the periodic duration T of the master node is... n The expression is: 2t0×(x1-1)≥T n ≥t0×(x1-1), where n represents the sequence identifier of the corresponding master node; wherein the aperiodic communication duration of the master node is 2t0×(x1-1)≥W n ≥t0×(x1-1), where n represents the corresponding master node sequence identifier.

[0016] According to a preferred embodiment of the present invention, the master node calculates the instruction that the PCS expects to execute or the command that other devices expect to execute in the next cycle based on the response data of each slave node and the difference between the target data and the slave node response data. After generating the energy storage scheduling instruction for each slave node, the master node constructs a fixed time slot to divide the cycle length according to the average delay data of the communication messages between the master and slave nodes. The master node generates and sends a unicast request instruction for the energy storage scheduling instruction to the slave node. The slave node generates a broadcast response message according to the unicast request instruction. The unicast request instruction of the master node includes the cache address or pre-loaded register address of the energy storage scheduling instruction of the slave node.

[0017] According to a preferred embodiment of the present invention, after receiving a unicast request instruction from the master node during an aperiodic period, the slave node sends an aperiodic response message to all slave nodes via broadcast. The aperiodic response message within a specified aperiodic time slot contains an execution command. After all slave nodes synchronously receive the aperiodic message data from the master node, they read the execution command within the aperiodic message to synchronously execute the energy storage scheduling data of each slave node in the cache address or pre-loaded register address. After the corresponding master node issues a new unicast request instruction to the slave node in the next periodic time slot sequence, the corresponding slave node broadcasts a response message of the energy storage scheduling result. The master node regenerates a new unicast request instruction based on the response message of the energy storage scheduling result and sends it to the corresponding slave node according to the bound aperiodic time slot.

[0018] To achieve at least one of the above-mentioned objectives, the present invention further provides a distributed energy storage scheduling system, wherein the system executes the above-mentioned distributed energy storage scheduling method.

[0019] The present invention further provides a computer-readable storage medium storing a computer program, which is executed by a processor to implement the above-described distributed energy storage scheduling method. Attached Figure Description

[0020] Figure 1 The diagram shown is a flowchart of a distributed energy storage scheduling method according to the present invention.

[0021] Figure 2 This diagram illustrates the time slot division and command issuance in the periodic configuration of this invention. Detailed Implementation

[0022] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0023] It is understood that the term "a" should be understood as "at least one" or "one or more," that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0024] Please combine Figure 1 and Figure 2 This invention discloses a distributed energy storage scheduling method and system, the method mainly includes the following steps:

[0025] S01. Construct a master-slave node for energy storage scheduling. The master node is used to issue energy storage scheduling instructions to the slave node. The cycle duration and aperiodic duration of energy storage scheduling are pre-constructed in the master node, wherein the cycle duration and aperiodic duration are generated alternately.

[0026] S02. In the master node, each energy storage scheduling cycle is divided into time slots, and a unicast request instruction is sent to the slave node according to the divided energy storage scheduling cycle time slots. The unicast request instruction includes an energy storage scheduling instruction. The slave node can only send data after receiving the unicast request instruction from the master node.

[0027] S03. Configure execution commands on each master node during non-periodic periods, and send the execution commands to slave nodes during the non-periodic periods. After obtaining the corresponding execution commands, the slave nodes execute the energy storage scheduling instructions through the corresponding execution devices.

[0028] S04. After each slave node obtains the corresponding unicast request instruction, it sends broadcast data to the outside world for data synchronization and synchronously executes the corresponding energy storage scheduling.

[0029] Please refer to the details. Figure 2 The diagram illustrates the time slot division and command issuance for periodic configuration. In one preferred embodiment of the invention, the periodic and aperiodic durations are pre-configured only in the master node; there is no periodic or aperiodic configuration in the slave nodes. Furthermore, the slave node passively triggers its response mechanism only after the master node issues a unicast request command to it. Therefore, the present invention, through the master-slave unicast and the slave node response mechanism triggered by unicast reception, can effectively avoid data transmission chaos and improve data transmission stability.

[0030] like Figure 2 As shown, the master node performs time slot segmentation on both periodic and aperiodic durations, specifically using the number of slave nodes controlled by the master node as the segmentation parameter. The master node segments the periodic and aperiodic durations into the same number of time slots as the number of slave nodes controlled by the master node, and assigns a sequence number to each periodic time slot. For example, each periodic time slot can be sequentially numbered 1, 2, 3...x1, where x1 represents the number of slave nodes controlled by master node 1. Figure 2 As shown, at the start of the periodic and aperiodic durations, a time slot needs to be reserved for the master node to send periodic start messages and aperiodic start messages to the slave nodes. The remaining periodic and aperiodic durations can be used for time slot division based on the number of slave nodes controlled by the master node. In another preferred embodiment of the invention, since the slave nodes controlled by the master node may experience failures such as downtime, the number of time slots can be determined by referring to the number of surviving slave nodes. For example, the master node can pre-determine the survival status of slave nodes based on heartbeats. If a slave node is surviving, it is classified as a valid slave node; otherwise, it is classified as an invalid slave node. In this invention, the master node directly divides the periodic and aperiodic durations based on the number of valid slave nodes.

[0031] For further information, please refer to the following: Figure 2 When the periodic time slot sequence is divided into 1, 2, 3...x1, each periodic time slot sequence is further mapped and associated, meaning each periodic time slot sequence is mapped and associated with one and only one slave node. This mapping and association can be implemented using methods including, but not limited to, polling tables. For example, when the master node monitors time slots within a period, and detects that the current time point is within periodic time sequence 1, it queries the polling table to find the slave node identifier and the corresponding slave node A address for the current periodic time slot sequence 1. At this time, the master node generates an energy storage scheduling instruction corresponding to slave node A based on the slave node identifier, and encapsulates the slave node A energy storage scheduling instruction, slave node identifier, and slave node A address into a unicast request instruction D. a And within the periodic time series 1, the unicast request instruction D is sent according to the address of the slave node A. a The corresponding slave node A is then issued the command. It should be noted that in this invention, the energy storage scheduling command can be unicast to the slave node A using a token, i.e., the unicast request command D. a It can also contain tokens.

[0032] In this invention, a broadcast triggering mechanism needs to be configured in the slave node beforehand. Preferably, a token mechanism is used for broadcast triggering by the slave node. Therefore, when slave node A receives the unicast request instruction D sent by the master node... a At that time, the unicast request instruction D is obtained through parsing.a The token and the energy storage scheduling instruction from slave node A are stored in the sequence. Slave node A pre-saves the energy storage scheduling instruction, therefore slave node A will not immediately execute the energy storage scheduling instruction. Furthermore, after acquiring the token, slave node A immediately generates broadcast information within the periodic time slot sequence 1. This broadcast information may include, but is not limited to, the current energy storage information and output power information of slave node A. The encapsulation content of the broadcast information will not be elaborated further in this invention. Within the periodic time slot sequence 1, the unicast request instruction D from the master node to slave node A is executed. a The token distribution mechanism from node A triggers a broadcast action.

[0033] Furthermore, such as Figure 2 As shown, when the master node detects that the current time point is in periodic time slot sequence 2, it queries the polling table to obtain the slave node identifier and the address information of the corresponding slave node B mapped to periodic time slot sequence 2. At this time, the master node generates an energy storage scheduling instruction for the corresponding slave node B based on the slave node identifier. The energy storage scheduling instruction for slave node B is different from the previous one, and is calculated by the master node through a relevant scheduling algorithm. The implementation method of the energy storage scheduling instruction will not be described in detail in this invention. The master node encapsulates the energy storage scheduling instruction of slave node B, the slave node identifier, the address information of slave node B, and the token information into the unicast request instruction D. b And based on the address information of the slave node B, the unicast request instruction D is sent. b The energy storage scheduling instruction is unicast to slave node B. Slave node B parses the instruction and stores it. At this point, slave node B does not directly trigger the corresponding energy storage scheduling. Furthermore, after receiving the token information, slave node B immediately generates, but is not limited to, its own energy storage information and external output power information. This information is then encapsulated into a broadcast message and broadcast to all slave nodes.

[0034] The master node monitors all periodic time slot sequences in real time and communicates according to the unicast and token broadcast mechanisms of slave nodes A and B as described above. After the master node has polled all periodic time slot sequence numbers, it begins monitoring aperiodic time slot sequences. It should be noted that this invention requires the synchronous execution of energy storage scheduling instructions from each slave node in the aperiodic time slot sequences, and these instructions are pre-stored. When the master node detects that the current time point is the first aperiodic time slot sequence 1, it generates an execution command and queries the polling table of the pre-configured aperiodic time slot sequences to find the slave node A corresponding to the first aperiodic time slot sequence 1. The master node then encapsulates the generated execution command, token information, slave node A identifier, and slave node A address information into an aperiodic unicast request instruction G. a At this time, the master node sends the unicast request instruction G based on the address information of the slave node A. a The token is unicast to slave node A. Upon receiving the token information, slave node A generates broadcast information under aperiodic time slot sequence 1. Slave node A encapsulates the execution command into the broadcast information under aperiodic time slot sequence 1 and sends the broadcast information to all slave nodes within aperiodic time slot sequence 1. After receiving the broadcast information sent by slave node A, all slave nodes parse the broadcast information to obtain the corresponding execution instruction, enabling slave node A and all slave nodes to issue the execution instruction to the corresponding execution device within aperiodic time slot sequence 1 for energy storage scheduling synchronized by each slave node.

[0035] Specifically, the period is used for the serial transmission of energy storage scheduling instructions from the master node to the slave nodes. Upon receiving the energy storage scheduling instruction from the master node, all slave nodes do not directly execute the instruction but wait for an aperiodic "execution" instruction. The aperiodic node is used to confirm and issue the master node's command to the slave nodes. Because the master node's periodic and aperiodic cycles alternate, the technical problem of poor synchronization stability caused by excessive latency differences due to serial instruction transmission is significantly reduced during the synchronization process. The method for constructing the periodic and aperiodic duration in this invention includes: determining the periodic duration based on the average latency data of the communication messages between the master and slave nodes and the number of slave nodes. If the average latency data of the communication messages between the master and slave nodes is t0, and the number of slave nodes managed by the master node is x1, then the periodic duration T of the master node is... n The expression is: 2t0×(x1-1)≥T n ≥t0×(x1-1), where n represents the sequence identifier of the corresponding master node; wherein the aperiodic communication duration of the master node is 2t0×(x1-1)≥W n≥t0×(x1-1), where n represents the corresponding master node sequence identifier. The above period duration is only an example; the present invention can be set according to specific circumstances, and the present invention will not elaborate on this further.

[0036] The master node calculates the instructions that the PCS expects to execute in the next cycle, as well as other device instructions, based on the response data of each slave node and the difference between the target data and the slave node response data. These other device instructions include photovoltaic equipment EMS equipment instructions, etc., which will not be elaborated upon in detail here. For example, it should be noted that the master node sends aperiodic messages to all slave nodes via broadcast. In one preferred embodiment of the invention, an independent frame is generated within the aperiodic time series, and a broadcast command is added to this independent frame for broadcasting writes to each slave node. The data area of ​​the periodic message contains execution commands, so the non-periodic message contains the execution commands of each slave node. After synchronously receiving the non-periodic message data from the master node, the slave node reads the execution commands in the non-periodic message to synchronously execute the energy storage scheduling data of each slave node in the cache address or pre-loaded register address, and sends a response message of energy storage scheduling result to the master node in the corresponding bound time slot in the next periodic time series. The master node regenerates a new energy storage scheduling request based on the response message of energy storage scheduling result and sends it to the corresponding slave node according to the same preset time interval.

[0037] The processes described in the flowcharts above, as disclosed in the embodiments of this invention, can be implemented as computer software programs. Embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), the methods of this application are not limited to the aforementioned functions. It should be noted that the computer-readable medium described above can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wire segments, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless segments, wire segments, optical fibers, RF, etc., or any suitable combination thereof.

[0038] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0039] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been shown and explained in the embodiments. Without departing from the stated principles, the implementation of the present invention may have any variations or modifications.

Claims

1. A distributed energy storage scheduling method, characterized in that, The method includes the following steps: A master-slave node for energy storage scheduling is constructed. The master node is used to issue energy storage scheduling instructions to the slave node. The cycle duration and aperiodic duration of energy storage scheduling are pre-constructed in the master node, wherein the cycle duration and aperiodic duration are generated alternately. The master node divides each energy storage scheduling cycle into time slots and sends unicast request instructions to the slave nodes according to the divided energy storage scheduling cycle time slots. The unicast request instructions include energy storage scheduling instructions. The slave nodes can only send data after receiving the unicast request instructions from the master node. Execution commands are configured on each master node during non-periodic periods, and the execution commands are sent to slave nodes during the non-periodic periods. After obtaining the corresponding execution commands, the slave nodes execute the energy storage scheduling instructions through the corresponding execution devices. After each slave node obtains the corresponding unicast request instruction, it sends broadcast data to the outside world for data synchronization and synchronously executes the corresponding energy storage scheduling.

2. The distributed energy storage scheduling method according to claim 1, characterized in that, Within the corresponding time slot, the master node sends token unicast request instructions to the slave nodes in a preset polling order. Only the corresponding slave node receives the token unicast request instruction. After receiving the token unicast request instruction, the slave node immediately broadcasts its own response data to all other nodes. Other slave nodes and other master nodes obtain the response data of the corresponding slave node for data synchronization.

3. The distributed energy storage scheduling method according to claim 1, characterized in that, The master node obtains the number of valid slave nodes and divides the period of a specified duration into time slots according to the number of valid slave nodes to obtain a periodic time slot sequence equal to the number of valid slave nodes. Each periodic time slot sequence is mapped to only one slave node, so that the master node sends the unicast request instruction to only one slave node in the corresponding periodic time slot, and completes the distribution of unicast request instructions to all slave nodes in the period in a round-robin manner. At the same time, the non-periodic duration is divided into time slots according to the number of slave nodes to obtain a non-periodic time slot sequence.

4. The distributed energy storage scheduling method according to claim 3, characterized in that, When the periodic time slot sequence ends, the master node sends a unicast request instruction containing an execution command to a slave node in the beginning time slot sequence of the aperiodic time slot sequence. After obtaining the unicast request instruction, the slave node obtains the execution command and encapsulates the execution command into a response message. The slave node broadcasts the response message to all other slave nodes. After receiving the broadcast response message, all other slave nodes synchronously execute the execution command.

5. A distributed energy storage scheduling method according to claim 1, characterized in that, The method for constructing the periodic and aperiodic durations includes: determining the periodic duration based on the average latency data of the communication packets between the master and slave nodes and the number of slave nodes. If the average latency data of the communication packets between the master and slave nodes is t0, and the number of slave nodes managed by the master node is x1, then the periodic duration T of the master node is... n The expression is: 2t0×(x1-1)≥T n ≥t0×(x1-1), where n represents the sequence identifier of the corresponding master node; wherein the aperiodic communication duration of the master node is 2t0×(x1-1)≥W n ≥t0×(x1-1), where n represents the sequence identifier of the corresponding master node.

6. The distributed energy storage scheduling method according to claim 1, characterized in that, The master node calculates the instruction that the PCS expects to execute or the command that other devices expect to execute in the next cycle based on the response data of each slave node and the difference between the target data and the slave node response data. After generating the energy storage scheduling instruction for each slave node, the master node constructs a fixed time slot to divide the cycle length according to the average delay data of the communication messages between the master and slave nodes. The master node generates and sends the unicast request instruction of the energy storage scheduling instruction to the slave node. The slave node generates a broadcast response message according to the unicast request instruction. The unicast request instruction of the master node includes the cache address or pre-loaded register address of the energy storage scheduling instruction of the slave node.

7. A distributed energy storage scheduling method according to claim 6, characterized in that, After receiving a unicast request instruction from the master node during an aperiodic period, the slave node broadcasts an aperiodic response message to all slave nodes. The aperiodic response message within a specified aperiodic time slot contains an execution command. After all slave nodes synchronously receive the aperiodic message data from the master node, they read the execution command within the aperiodic message to synchronously execute the energy storage scheduling data of each slave node in the cache address or pre-loaded register address. After the corresponding master node issues a new unicast request instruction to the slave node in the next periodic time slot sequence, the corresponding slave node broadcasts a response message of the energy storage scheduling result. The master node regenerates a new unicast request instruction based on the response message of the energy storage scheduling result and sends it to the corresponding slave node according to the bound aperiodic time slot.

8. A distributed energy storage dispatch system, characterized in that, The system executes a distributed energy storage scheduling method according to any one of claims 1-7.

9. A computer-readable storage medium storing a computer program, characterized in that, The computer program is executed by a processor to implement a distributed energy storage scheduling method according to any one of claims 1-7.

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