Consistency algorithm-based energy storage cluster frequency modulation and SOC equalization method and related device

Abstract

The invention provides an energy storage cluster frequency modulation and SOC equalization method based on a consistency algorithm and a related device. The method comprises the following steps: acquiring a regional power grid frequency deviation and a real-time charge state of each distributed energy storage power station; then real-time charge state information of each power station is interacted in a distributed control network based on a consistency algorithm, and the SOC adjustment direction is determined; then, switching a cooperative control strategy according to the frequency modulation interval where the frequency deviation is located, only allowing the power station to execute SOC adjustment consistent with the power margin direction of the power grid in the frequency modulation dead zone, preferentially participating in frequency modulation outside the dead zone, and executing SOC adjustment consistent with the power margin direction of the system after the frequency modulation requirement is met; and finally, enabling each power station to operate according to a strategy, and realizing power grid primary frequency modulation and power station SOC consistency cooperative control. The energy storage cluster frequency modulation capability and the resource utilization rate are improved through a consistency algorithm, and the frequency quality of a power grid is ensured and the service life of energy storage equipment is prolonged through a cooperative control strategy in combination with frequency modulation service and energy storage state management.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power system frequency modulation, and particularly relates to a method and related device for frequency modulation and SOC balancing of an energy storage cluster based on a consistency algorithm. BACKGROUND

[0002] With the increasing penetration of renewable energy sources such as wind power and photovoltaic power in power systems, the stability of power grid frequency has been greatly challenged. Renewable energy generation units have the characteristics of randomness and low inertia, which intensifies system frequency fluctuations. Traditional synchronous units are difficult to meet the demand for rapid frequency regulation after high-proportion new energy is connected to the power grid due to the limitations of mechanical response speed and frequency modulation economy.

[0003] In this case, battery energy storage power stations become a key technical means for enhancing the stability of power grid frequency because they have millisecond-level response capability and flexible bidirectional power regulation characteristics. In particular, the cluster deployment of distributed energy storage power stations can effectively improve the frequency modulation capability through the aggregation effect. However, the dispersed layout and heterogeneous characteristics of the distributed energy storage power stations cause the problem of state of charge (SOC) balancing control.

[0004] The existing control strategies for energy storage participating in primary frequency modulation mainly include two types: an adaptive droop coefficient adjustment method based on SOC feedback and a strategy of superimposing active charging and discharging on the basis of frequency modulation output. However, these methods are based on a single energy storage unit and do not consider the SOC consistency requirement in the collaborative scenario of multiple DESSs (distributed energy storage stations), resulting in gradual imbalance of SOC when multiple energy storage power stations participate in frequency modulation, early withdrawal of some power stations from frequency modulation, and influence on the cluster output capability. At the same time, the traditional strategy uses the same frequency modulation dead zone as the synchronous unit, causing resource waste of the energy storage in the dead zone and the inability to suppress high-frequency small-amplitude frequency fluctuations. Moreover, the existing collaborative control research results are mainly aimed at microgrid or secondary frequency modulation scenarios and are difficult to be directly applied to the primary frequency modulation scenario, which has the problems of strong communication dependency and response lag. SUMMARY

[0005] Therefore, the application provides a method and related device for frequency modulation and SOC balancing of an energy storage cluster based on a consistency algorithm, which aims to at least solve one of the above problems of the existing control strategies for energy storage participating in primary frequency modulation.

[0006] To achieve the above purpose, the technical solutions provided by the application are as follows.

[0007] In a first aspect, the application provides a method for frequency modulation and SOC balancing of an energy storage cluster based on a consistency algorithm, which includes the following steps:

[0008] Acquire the frequency deviation of the regional power grid and the real-time state of charge of each distributed energy storage power station;

[0009] Based on the consensus algorithm, the real-time state of charge (SOC) of each distributed energy storage station is exchanged in the distributed control network, and the SOC adjustment direction of each distributed energy storage station is determined.

[0010] The coordinated control strategy is switched according to the frequency regulation range where the frequency deviation is located and the SOC adjustment direction. If it is within the frequency regulation dead zone, the coordinated control strategy is to only allow distributed energy storage power stations to perform SOC adjustment in the direction consistent with the power margin of the grid. If it is outside the frequency regulation dead zone, the coordinated control strategy is to give priority to distributed energy storage power stations in participating in frequency regulation and perform SOC adjustment in the direction consistent with the power margin of the system, provided that the frequency regulation requirements are met.

[0011] By implementing a coordinated control strategy, each distributed energy storage power station performs operations, thereby achieving coordinated control that ensures consistency between the primary frequency regulation of the power grid and the state of charge (SOC) of the distributed energy storage power station.

[0012] Furthermore, the distributed control network is constructed based on an undirected graph communication topology to exchange information on the real-time state of charge (SOC) of each distributed energy storage station and determine the SOC adjustment direction of each distributed energy storage station, including:

[0013] Each distributed energy storage power station updates its own SOC value according to the discrete consensus iterative formula, which is:

[0014]

[0015] In the formula, and Let represent the state of charge of the i-th distributed energy storage power station at time k+1 and time k, respectively. This represents the state of charge of the i-th distributed energy storage power station at time k. Represents the consistency coefficient. Represents the communication weighting coefficient. Let i represent the set of neighboring nodes. Indicates the index of the neighboring node;

[0016] The local information exchanged by the distributed energy storage power station at time k is determined as follows:

[0017]

[0018] In the formula, This represents the local information exchanged by the i-th distributed energy storage power station at time k;

[0019] like If so, it is determined that the SOC needs to be increased. If so, it is determined that the SOC needs to be reduced.

[0020] Furthermore, within the frequency modulation dead zone, the cooperative control strategy includes:

[0021] If the grid has a net power surplus and the SOC needs to be adjusted upward, it is determined that both the grid power surplus direction and the SOC adjustment direction are positive, and the distributed energy storage station will only charge in a consistent manner.

[0022] If the grid has a net power surplus and the SOC needs to be reduced, it is determined that the direction of the grid power surplus is inconsistent with the direction of SOC adjustment, and the distributed energy storage station will not operate.

[0023] If the net power of the grid is insufficient and the SOC needs to be increased, it is determined that the direction of the grid power margin is inconsistent with the direction of SOC adjustment, and the distributed energy storage station will not operate.

[0024] If the net power of the grid is insufficient and the SOC needs to be reduced, it is determined that both the direction of the grid power margin and the direction of SOC adjustment are negative, and the distributed energy storage power station will only discharge in a consistent manner.

[0025] Furthermore, outside the frequency modulation dead zone, the cooperative control strategy includes:

[0026] If the grid has a net power surplus and the SOC needs to be increased, it is determined that both the grid power surplus direction and the SOC adjustment direction are positive, and then the distributed energy storage station participates in frequency regulation and charges in a consistent manner.

[0027] If the grid has a net power surplus and the SOC needs to be reduced, it is determined that the direction of the grid power surplus is inconsistent with the direction of SOC adjustment, and the distributed energy storage power station only participates in frequency regulation.

[0028] If the net power of the grid is insufficient and the SOC needs to be increased, it is determined that the direction of the grid power margin is inconsistent with the direction of SOC adjustment, and the distributed energy storage power station only participates in frequency regulation.

[0029] If the net power of the grid is insufficient and the SOC needs to be reduced, it is determined that both the direction of the grid power margin and the direction of SOC adjustment are negative. In this case, the distributed energy storage power station participates in frequency regulation and discharges in a consistent manner.

[0030] Furthermore, in the collaborative control strategy, the total output of the distributed energy storage power station is:

[0031]

[0032] In the formula, For the total output of the i-th distributed energy storage power station, Let be the adaptive droop coefficient for the i-th distributed energy storage power station. For frequency deviation, SOC consistency adjustment power during consistent charging and discharging.

[0033] Furthermore, in the coordinated control strategy, when the distributed energy storage power station performs consistent charging and discharging, the SOC consistency adjustment power is dynamically adjusted according to the charging and discharging constraint coefficient to ensure that the SOC is maintained within the safe range. The charging and discharging constraint coefficient is:

[0034]

[0035] In the formula, Indicates the charge / discharge constraint coefficient. Indicates the power proportionality coefficient. Indicates the attenuation factor. This represents the maximum droop coefficient.

[0036] Furthermore, in the collaborative control strategy, when the distributed energy storage power station participates in frequency regulation, the frequency regulation power is determined based on the adaptive droop coefficient. When the SOC is outside the lower limit of the safe range, discharging is prohibited and the adaptive droop coefficient is set to 0. When the SOC is outside the upper limit of the safe range, charging is prohibited and the adaptive droop coefficient is set to 0. When the SOC is within the safe range, the adaptive droop coefficient increases linearly with the SOC.

[0037] Secondly, the present invention provides a frequency regulation and SOC equalization device for energy storage clusters based on a consensus algorithm, comprising:

[0038] The data acquisition module is used to acquire the frequency deviation of the regional power grid and the real-time state of charge of each distributed energy storage power station.

[0039] The SOC balancing module is used to exchange information on the real-time state of charge of each distributed energy storage station in the distributed control network based on the consensus algorithm, and to determine the SOC adjustment direction of each distributed energy storage station.

[0040] The strategy selection module is used to switch the corresponding cooperative control strategy according to the frequency regulation range where the frequency deviation is located and the SOC adjustment direction. Specifically, if it is within the frequency regulation dead zone, the cooperative control strategy is to only allow distributed energy storage power stations to perform SOC adjustment in the direction consistent with the power margin of the grid; if it is outside the frequency regulation dead zone, the cooperative control strategy is to give priority to distributed energy storage power stations in participating in frequency regulation and perform SOC adjustment in the direction consistent with the power margin of the system, provided that the frequency regulation requirements are met.

[0041] The strategy execution module is used to enable each distributed energy storage power station to perform operations according to the collaborative control strategy, thereby achieving collaborative control that ensures consistency between the primary frequency regulation of the power grid and the SOC of the distributed energy storage power station.

[0042] Thirdly, the present invention provides a computer device, the device including a processor and a memory:

[0043] The memory is used to store computer programs and send the instructions of the computer programs to the processor;

[0044] The processor executes, according to the instructions of the computer program, a method for frequency regulation and SOC equalization of energy storage clusters based on a consensus algorithm, as described in the first aspect.

[0045] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a method for frequency regulation and SOC equalization of an energy storage cluster based on a consensus algorithm as described in the first aspect.

[0046] In summary, this invention provides a method and related apparatus for frequency regulation and SOC equalization of energy storage clusters based on a consensus algorithm. The method includes acquiring the frequency deviation of the regional power grid and the real-time state of charge (SOC) of each distributed energy storage station; based on the consensus algorithm, exchanging information on the real-time SOC of each distributed energy storage station within a distributed control network and determining the SOC adjustment direction of each station; switching the corresponding collaborative control strategy according to the frequency regulation range of the frequency deviation and the SOC adjustment direction; wherein, if within the frequency regulation dead zone, the collaborative control strategy only allows distributed energy storage stations to perform SOC adjustments consistent with the power margin direction of the grid; if outside the dead zone, the collaborative control strategy prioritizes distributed energy storage stations participating in frequency regulation and performs SOC adjustments consistent with the system power margin direction while meeting frequency regulation requirements; and enabling each distributed energy storage station to perform operations according to the collaborative control strategy, thereby achieving collaborative control of the primary frequency regulation of the power grid and the SOC consistency of the distributed energy storage stations. This invention significantly reduces the SOC difference between multiple energy storage power stations through a distributed SOC consensus algorithm, effectively avoids the problem of overcharging and over-discharging of a single station, and greatly improves the overall frequency regulation capability and resource utilization of the energy storage cluster. At the same time, it creatively combines frequency regulation service with energy storage status management through a collaborative control strategy, which effectively extends the service life of energy storage equipment while ensuring the grid frequency quality. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A flowchart illustrating a frequency regulation and SOC equalization method for energy storage clusters based on a consensus algorithm, provided in an embodiment of the present invention;

[0049] Figure 2An architecture diagram of a regional power grid frequency regulation control model containing distributed energy storage power stations provided in an embodiment of the present invention;

[0050] Figure 3 This is an overall control flowchart of the collaborative control strategy provided in an embodiment of the present invention;

[0051] Figure 4 Frequency response curves of a single-region system frequency model provided in this embodiment of the invention, simulated in the time domain;

[0052] Figure 5 A diagram illustrating the dynamic process of SOC during time-domain simulation of a single-region system frequency model provided in this embodiment of the invention.

[0053] Figure 6 A graph showing the change in SOC consistency index during time-domain simulation of a single-region system frequency model provided in an embodiment of the present invention.

[0054] Figure 7 The energy storage output diagrams for time-domain simulation of the single-region system frequency model provided in this embodiment of the invention, according to the method of this invention and the conventional method;

[0055] Figure 8 This is a block diagram of a frequency regulation and SOC equalization device for an energy storage cluster based on a consensus algorithm, provided in an embodiment of the present invention.

[0056] Figure 9 This is a block diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0057] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0058] The following section will first provide a detailed explanation of the main technical limitations of the current control strategies for energy storage to participate in grid frequency regulation.

[0059] (1) SOC (State of Charge) imbalance among energy storage units: Due to differences in initial state, different capacity configurations and local control independence, the SOC gradually diverges when multiple energy storage power stations operate in coordination. Some units exit frequency regulation prematurely due to overcharging / over-discharging, which seriously weakens the overall regulation capability of the cluster.

[0060] Most existing methods are designed for single energy storage units and are difficult to meet the collaborative control requirements of distributed energy storage power station clusters. Although methods such as adaptive droop control can prevent overcharging and over-discharging of individual energy storage units, when multiple energy storage power stations operate in coordination, the state of charge of each power station will gradually become unbalanced due to factors such as differences in initial state and capacity configuration. This may cause some energy storage units to prematurely exit frequency regulation because they exceed the safe operating range, which seriously affects the overall regulation capability of the cluster.

[0061] (2) Waste of frequency modulation dead zone resources: Traditional strategies use the fixed dead zone of synchronous generators (such as ±0.033 Hz), and the energy storage is completely idle in the dead zone, which cannot give full play to its fast response advantage to smooth out high-frequency small frequency fluctuations, resulting in low resource utilization.

[0062] Traditional control strategies employ the same frequency dead-zone setting as synchronous generators, leaving energy storage completely idle when the system frequency falls within the dead-zone range. In reality, energy storage batteries possess advantages such as rapid response and low-power regulation, making them perfectly capable of smoothing out high-frequency, small-amplitude fluctuations within the dead-zone. This waste of resources is particularly pronounced in the current grid environment with a high proportion of renewable energy integration, not only increasing the regulation burden on traditional generators but also failing to fully utilize the rapid regulation characteristics of energy storage.

[0063] (3) Insufficient scenario adaptability: Existing collaborative control schemes (such as microgrid consensus algorithms or secondary frequency regulation scheduling mechanisms) are difficult to be compatible with the decentralized autonomous response characteristics of primary frequency regulation, and have problems such as strong communication dependence and response lag.

[0064] Existing energy storage collaborative control methods are mainly designed for microgrids or secondary frequency regulation scenarios and are difficult to apply directly to primary frequency regulation. These methods either place excessively high demands on the communication system or cannot adapt to the autonomous response characteristics of primary frequency regulation. In practical applications, they suffer from problems such as response lag and control mismatch, and cannot meet the requirements of large power grids for the speed and reliability of frequency regulation.

[0065] To address the aforementioned technical deficiencies, the solutions provided in this invention aim to achieve three main objectives: first, to realize autonomous state-of-charge balancing among multiple energy storage power stations through distributed control algorithms, ensuring coordinated operation of each unit in the cluster; second, to optimize the frequency regulation dead-zone control strategy, fully utilizing the rapid adjustment capabilities of energy storage to improve resource utilization while ensuring system frequency quality; and third, to establish a collaborative mechanism between frequency regulation demand and state regulation, maintaining the optimal operating state of the energy storage power station while ensuring primary frequency regulation performance. Through these technological innovations, this invention can significantly enhance the operational reliability and regulation capabilities of the energy storage system while improving grid frequency stability.

[0066] The present invention will be described in detail below with reference to some embodiments.

[0067] Please seeFigure 1 This invention provides a method for frequency regulation and SOC equalization of energy storage clusters based on a consensus algorithm, comprising the following steps:

[0068] S1: Obtain the frequency deviation of the regional power grid and the real-time state of charge of each distributed energy storage power station.

[0069] It should be noted that the frequency deviation of a regional power grid refers to the difference between the actual operating frequency and the rated frequency of the regional power grid, and is a core indicator reflecting the balance of active power supply and demand in the power grid. When the frequency is lower than the rated value, the frequency deviation is negative, indicating insufficient power in the power grid; when the frequency is higher than the rated value, the frequency deviation is positive, indicating a power surplus in the power grid.

[0070] The real-time state of charge (SOC) of a distributed energy storage power station refers to the ratio of the current available electricity to the rated capacity. It is a parameter for measuring the remaining capacity of the energy storage and directly affects its frequency regulation capability and lifespan (e.g., too low SOC may lead to over-discharge, while too high SOC may lead to over-charging).

[0071] S2: Based on the consensus algorithm, information exchange is performed on the real-time state of charge of each distributed energy storage power station in the distributed control network, and the SOC adjustment direction of each distributed energy storage power station is determined.

[0072] It should be noted that the consensus algorithm is a distributed collaborative control algorithm. Through local information exchange between adjacent nodes (in this step, each energy storage power station), the state of the entire cluster (such as SOC) gradually tends to be consistent, without the need for a central node to coordinate, thus reducing the dependence on global communication.

[0073] A distributed control network is a network composed of multiple distributed energy storage power stations connected by local communication links. Each node (energy storage power station) only exchanges information with its neighboring nodes, without relying on a central controller, thus improving system robustness and response speed.

[0074] SOC adjustment direction refers to the direction in which an energy storage power station needs to adjust its SOC towards the average level of the cluster through charging and discharging. That is, when the SOC of a certain power station is higher than the average value of the cluster, the adjustment direction is discharging (SOC reduction); when it is lower than the average value, the adjustment direction is charging (SOC increase).

[0075] S3: Switch the corresponding collaborative control strategy according to the frequency regulation range where the frequency deviation is located and the SOC adjustment direction; where, if it is within the frequency regulation dead zone, the collaborative control strategy is to only allow distributed energy storage power stations to perform SOC adjustment in the direction consistent with the power margin of the grid; if it is outside the frequency regulation dead zone, the collaborative control strategy is that distributed energy storage power stations take priority in participating in frequency regulation and perform SOC adjustment in the direction consistent with the power margin of the system under the premise of meeting the frequency regulation requirements.

[0076] It should be noted that the frequency regulation dead zone refers to the interval where the absolute value of the frequency deviation is less than the dead zone threshold. In traditional strategies, the generating unit does not participate in frequency regulation to avoid frequent operations. The interval outside the frequency regulation dead zone refers to the interval where the frequency deviation exceeds the dead zone threshold. In this case, the energy storage power station needs to actively participate in frequency regulation to restore the frequency.

[0077] The direction of the power margin in the power grid reflects the current acceptable direction of power adjustment in the power grid. That is, when the power grid frequency is too low (the frequency deviation is negative and there is a power deficit), the direction of the power margin is to absorb active power (energy storage discharge is needed to supplement the power); when the frequency is too high (the frequency deviation is positive and there is a power surplus), the direction is to release active power (energy storage charging is needed to consume the surplus).

[0078] Aligning with the power margin of the grid means that when the grid frequency is lower than the rated value, the distributed energy storage station performs the discharge operation in this direction; when the grid frequency is higher than the rated value, the energy storage station performs the charging operation in this direction.

[0079] The collaborative control strategy is a unified control logic designed for multi-energy storage power station clusters. By coordinating the charging and discharging behavior of each power station, it simultaneously achieves the two objectives of "primary frequency regulation" and "SOC balancing", avoiding excessive operation or resource waste by a single power station.

[0080] S4: Implement operations for each distributed energy storage power station according to the coordinated control strategy, thereby achieving coordinated control that ensures consistency between the primary frequency regulation of the power grid and the SOC of the distributed energy storage power station.

[0081] Understandably, each energy storage power station performs charging and discharging operations according to a defined strategy: SOC balancing is performed within the dead zone, and frequency regulation and rebalancing are prioritized outside the dead zone. Ultimately, this achieves two goals: first, to quickly smooth out grid frequency fluctuations (primary frequency regulation function); and second, to gradually bring the SOC of each energy storage power station closer to uniformity (preventing some power stations from prematurely shutting down).

[0082] This embodiment addresses the issues of SOC imbalance and poor adaptability of collaborative control when multiple distributed energy storage power stations participate in primary frequency regulation. It proposes a distributed collaborative control method based on consensus algorithms. By employing consensus algorithms, decentralized negotiation of the SOC of each energy storage power station is achieved, enabling cluster SOC consensus without global communication. This solves the problems of communication dependence and response lag in traditional centralized control. At the same time, distributed consensus control is deeply integrated with the primary frequency regulation scenario, and control logic is specifically designed for multi-DESS collaborative scenarios. This overcomes the limitations of existing collaborative control methods, which are mostly applicable to microgrids or secondary frequency regulation. Ultimately, it achieves dual optimization of improving the primary frequency regulation performance of the power grid and long-term SOC balance of the energy storage cluster, ensuring the continuous output capability of the energy storage cluster.

[0083] Please see Figure 2 , Figure 2An architecture for a regional power grid frequency regulation control model incorporating distributed energy storage power stations is presented. The model includes traditional synchronous generators (SG), distributed energy storage power stations, load disturbances, and a frequency control loop. When the method provided in the above embodiments is implemented within this architecture, it specifically includes: achieving SOC (State of Charge) information exchange between the current node and neighboring nodes through communication between adjacent power stations; obtaining a correction amount for SOC consistency control through consensus iteration; and combining this with frequency deviation. Calculate the equilibrium correction factor Finally, the SOC uniformity regulation power was calculated. Meanwhile, from the reference frequency With actual frequency The deviation, after droop coefficient Determine the frequency modulation power SOC consistency regulation power and frequency modulation power Through collaborative control strategy, the following is obtained (Frequency regulation integrated output), and then through the converter dual closed-loop control, based on the output power sampling value, precisely regulate the charging and discharging operation of the distributed energy storage power station, and coordinate to achieve grid primary frequency regulation and SOC consistency control, making full use of the distributed communication, hierarchical control and feedback regulation mechanisms in the architecture to ensure the balanced and coordinated operation of frequency regulation and SOC. The following, in conjunction with some other embodiments of the present invention, further introduces a frequency regulation and SOC balancing method for energy storage clusters based on a consensus algorithm.

[0084] In one embodiment of the present invention, a communication architecture design is proposed. The distributed control network is constructed based on an undirected graph communication topology, that is, the DESS (Distributed Control System) communicates with each other via an undirected graph. The described topological structure enables local information exchange, and the adjacency matrix... With Laplace matrix Define the connection relationships and dynamic characteristics between nodes respectively.

[0085] Real-time state of charge (SOC) information is exchanged among the distributed energy storage stations, and the SOC adjustment direction of each distributed energy storage station is determined, including:

[0086] Each distributed energy storage power station updates its own SOC value according to the discrete consensus iterative formula, which is:

[0087] (1)

[0088] In the formula, and Let represent the state of charge of the i-th distributed energy storage power station at time k+1 and time k, respectively. This represents the state of charge of the i-th distributed energy storage power station at time k. Represents the consistency coefficient. Represents the communication weighting coefficient. Let i represent the set of neighboring nodes. Indicates the index of the neighboring node.

[0089] Understandably, based on the discrete consensus protocol, each DESS exchanges SOC information in real time and updates its own SOC reference value through iterative calculation. A DESS in The SOC value at time step (1) is obtained by weighted summation of the SOC differences between the current value and its neighboring nodes, as shown in equation (1) for the specific iterative formula. The iteration must satisfy the convergence condition. , For nodes The in-degree. After multiple iterations, the SOC of all DESS converges to the initial mean, forming a globally consistent reference value:

[0090] (2)

[0091] In the formula, This is a globally consistent reference value, where N is the number of energy storage power stations.

[0092] Furthermore, the local information exchanged by the distributed energy storage power station at time k is determined as follows:

[0093] (3)

[0094] In the formula, This represents the local information exchanged by the i-th distributed energy storage power station at time k;

[0095] like If so, it is determined that the SOC needs to be increased. If so, it is determined that the SOC needs to be reduced.

[0096] In this embodiment, a distributed SOC consensus control architecture is constructed. Specifically, a distributed control network based on an undirected graph communication topology is built. Each energy storage power station only needs to exchange SOC information with its neighboring nodes, and global SOC balancing is achieved through a discrete consensus iterative algorithm. This architecture abandons the dependence of traditional centralized control on a central controller and adopts the local information interaction mechanism shown in equation (3) to ensure the robustness of the system in the event of communication interruptions or other faults. In this embodiment, the distributed consensus algorithm enables the SOC of multiple energy storage power stations to dynamically converge to the global mean, avoiding single-point failures and ensuring the long-term reliable operation of the cluster.

[0097] In one embodiment of the present invention, the cooperative control strategy includes the following when within the frequency modulation dead zone:

[0098] If the grid has a net power surplus and the SOC needs to be adjusted upward, it is determined that both the grid power surplus direction and the SOC adjustment direction are positive, and the distributed energy storage station will only charge in a consistent manner.

[0099] If the grid has a net power surplus and the SOC needs to be reduced, it is determined that the direction of the grid power surplus is inconsistent with the direction of SOC adjustment, and the distributed energy storage station will not operate.

[0100] If the net power of the grid is insufficient and the SOC needs to be increased, it is determined that the direction of the grid power margin is inconsistent with the direction of SOC adjustment, and the distributed energy storage station will not operate.

[0101] If the net power of the grid is insufficient and the SOC needs to be reduced, it is determined that both the direction of the grid power margin and the direction of SOC adjustment are negative, and the distributed energy storage power station will only discharge in a consistent manner.

[0102] In this embodiment, when the grid is in a net power surplus state (power margin direction is positive) and the SOC of the DESS needs to be increased (charging is required, adjustment direction is positive), the DESS only performs consistent charging; when the grid is in a net power deficit state (power margin direction is negative) and the SOC of the DESS needs to be decreased (discharging is required, adjustment direction is negative), the DESS only performs consistent discharging; however, if the grid has a net power surplus but the DESS's SOC needs to be decreased, or the grid has a net power deficit but the DESS's SOC needs to be increased (both scenarios involve the power margin direction and the SOC adjustment direction being inconsistent), the DESS does not perform any operation. This allows for consistent SOC adjustment during the dead zone while avoiding grid frequency disturbances, balancing grid stability and energy storage state equilibrium. The overall control flow of the dead zone collaborative control strategy is as follows: Figure 3 As shown, it should be noted that traditional units do not operate within the dead zone.

[0103] In one embodiment of the present invention, when outside the frequency modulation dead zone, the cooperative control strategy includes:

[0104] If the grid has a net power surplus and the SOC needs to be increased, it is determined that both the grid power surplus direction and the SOC adjustment direction are positive, and then the distributed energy storage station participates in frequency regulation and charges in a consistent manner.

[0105] If the grid has a net power surplus and the SOC needs to be reduced, it is determined that the direction of the grid power surplus is inconsistent with the direction of SOC adjustment, and the distributed energy storage power station only participates in frequency regulation.

[0106] If the net power of the grid is insufficient and the SOC needs to be increased, it is determined that the direction of the grid power margin is inconsistent with the direction of SOC adjustment, and the distributed energy storage power station only participates in frequency regulation.

[0107] If the net power of the grid is insufficient and the SOC needs to be reduced, it is determined that both the direction of the grid power margin and the direction of SOC adjustment are negative. In this case, the distributed energy storage power station participates in frequency regulation and discharges in a consistent manner.

[0108] In this embodiment, when the frequency is within the dead zone (e.g.) At Hz, traditional generating units do not operate, and energy storage stations only perform SOC regulation under conditions consistent with the system power margin direction. Specifically, when the grid has a net power surplus (power margin direction is positive) and the distributed energy storage station (DESS) needs to increase its SOC (requires charging, adjustment direction is positive), i.e., both directions are consistent, the DESS performs consistent charging while participating in frequency regulation, achieving the dual goals of frequency regulation and SOC balance. When the grid has a net power surplus but the DESS's SOC needs to decrease (inconsistent directions), or when the grid has a net power deficiency (power margin direction is negative) but the DESS's SOC needs to increase (inconsistent directions), the DESS is only used for frequency regulation response and does not perform SOC regulation temporarily to avoid affecting grid frequency stability due to target conflicts. When the grid has a net power deficiency and the DESS's SOC needs to decrease (both directions are negative), the DESS performs consistent discharging while participating in frequency regulation, also taking into account frequency regulation performance and SOC consistency, ultimately maximizing the use of energy storage regulation capabilities to achieve state balance while ensuring the grid's primary frequency regulation needs. The overall control flow of the dead-zone out-of-zone cooperative control strategy is as follows: Figure 3 As shown, it should be noted that traditional units outside the dead zone participate in primary frequency regulation.

[0109] In this embodiment, an intelligent coordination mechanism for frequency modulation demand and SOC adjustment is established, achieving dynamic coupling between the two control objectives. When the frequency modulation direction and the SOC adjustment direction are consistent, a power superposition strategy is adopted; when the directions conflict, frequency modulation is automatically selected as the priority based on priority judgment to ensure that the system frequency stability is not affected.

[0110] In one embodiment of the present invention, in the cooperative control strategy, the total output of the distributed energy storage power station is:

[0111] (4)

[0112] In the formula, For the total output of the i-th distributed energy storage power station, Let be the adaptive droop coefficient for the i-th distributed energy storage power station. For frequency deviation, For consistent charging and discharging, the SOC consistency regulation power (i.e.) Figure 2 middle part).

[0113] System frequency deviation Due to load power fluctuations Generated through the grid inertial elements (time constant M, damping coefficient D), the energy storage power station collects the data through a local controller. And generate frequency regulation power. Unlike the traditional model, the present invention adds SOC consistency control, and realizes the coordinated regulation of multiple DESS through the communication network. The frequency regulation power of the energy storage power station is composed of the superposition of droop control and SOC consistency regulation power, and its total output is shown in equation (4).

[0114] In one embodiment of the present invention, in the collaborative control strategy, when the distributed energy storage power station performs consistent charging and discharging, the SOC consistency adjustment power is dynamically adjusted according to the charging and discharging constraint coefficient to ensure that the SOC is maintained within a safe range. The charging and discharging constraint coefficient is:

[0115] (5)

[0116] In the formula, Indicates the charge / discharge constraint coefficient. This represents the power adjustment ratio (which can be set to 0.1). Indicates the attenuation factor. This represents the maximum droop coefficient.

[0117] In addition, the SOC deviation is corrected by a PI controller:

[0118] (6)

[0119] In the formula, As a correction factor, and These are the proportional coefficient and the integral coefficient, respectively. The SOC deviation is determined based on real-time state of charge and globally consistent reference values. The correction factor is combined with the charge / discharge constraint coefficient. Dynamically adjust the regulating power For example, in the dead zone, the system has excess power ( When this condition is met, only DESS with a lower SOC is allowed to charge, and the power is adjusted as follows:

[0120] (7)

[0121] Conversely, insufficient system power ( When this condition is met, only DESS with a higher SOC is allowed to discharge, and the power is adjusted as follows:

[0122] (8)

[0123] In the formula, This refers to the rated power of the energy storage power station.

[0124] When the frequency exceeds the dead zone (e.g.) At frequencies below 100 Hz, energy storage prioritizes frequency regulation response and superimposes SOC regulation power in the same direction as the frequency regulation. For example, during frequency drops (Hz), In the following scenario, if the SOC adjustment requirement is discharge (SOC is higher than the average), then the total output is:

[0125] (9)

[0126] In the formula, This represents the amount of power regulation that the i-th energy storage unit needs to undertake during one frequency regulation process. This indicates the power adjustment ratio coefficient.

[0127] It should be noted that in equation (9), the SOC adjustment part is a normalization process based on equation (8), that is... Scale the SOC correction factor of all units to between 0 and 1, and then... Controlling the overall adjustment range. This ensures the relative fairness of power allocation, and will not "eat up" too much adjustment power due to excessive SOC deviation of a certain unit. In practical applications, it is more conducive to avoiding overshoot and power imbalance between units. That is, Equation (8) is a theoretical / ideal level allocation: power is linearly proportional to SOC deviation, while Equation (9) is an improved engineering implementation. It introduces normalization and scaling factors on the basis of Equation (8), which is more robust and more suitable for actual cluster operation.

[0128] If there is a directional conflict, only FM power will be output:

[0129] (10)

[0130] Similar logic applies to scenarios with increasing frequency.

[0131] Therefore, the calculation expression for SOC adjustment under the improved engineering implementation can be obtained as follows:

[0132] (11)

[0133] In the formula, This indicates the SOC consistency adjustment power during consistent charging and discharging. For system frequency deviation, The local information is shown in equation (3).

[0134] Consistent regulation of energy storage power stations needs to consider two aspects: the timing of action and the magnitude of the regulation frequency. Regarding the timing of action, it is set that consistency adjustment is performed when the SOC adjustment direction of the energy storage power station is the same as the adjustable direction of the system power; otherwise, no action is taken. For example, when the frequency increases within the dead zone... At this time, the system's power generation is slightly greater than the load consumption, resulting in a net power surplus. This indicates that the SOC of the i-th energy storage power station needs to be reduced for discharge. However, this operation will worsen the net power surplus situation, potentially causing the frequency to exceed the dead zone range, resulting in inter-power station circulating current and unnecessary power loss. Therefore, this energy storage power station will not perform consistent operation within the dead zone. Only when the consistent operation condition is met ( The energy storage power station will only perform consistency control output when the condition is met; otherwise, it will not operate.

[0135] In this embodiment, a restricted SOC regulation function is introduced within the dead zone range to utilize the rapid response characteristics of energy storage to smooth out small frequency fluctuations and reduce the burden on traditional units. Specifically, the dynamic constraint coefficient designed by equation (5) By limiting the adjustment power to within 10% of the rated power, "SOC fine-tuning in frequency modulation standby mode" is achieved, which avoids frequency disturbance and improves resource utilization.

[0136] In one embodiment of the present invention, in the collaborative control strategy, when the distributed energy storage power station participates in frequency regulation, the frequency regulation power is determined based on the adaptive droop coefficient. When the SOC is outside the lower limit of the safe range, discharging is prohibited and the adaptive droop coefficient is set to 0. When the SOC is outside the upper limit of the safe range, charging is prohibited and the adaptive droop coefficient is set to 0. When the SOC is within the safe range, the adaptive droop coefficient increases linearly with the SOC.

[0137] In this embodiment, the droop coefficient Dynamically adjusted based on the SOC range. For example, when At this time, discharge is prohibited and parallel placement is required. ;when hour, It increases linearly with SOC, specifically: .when Charging and placing simultaneously is prohibited. Furthermore, the charging and discharging power limits are achieved through a dynamic constraint coefficient λ, ensuring that the State of Charge (SOC) remains within the safe range of 0.2 to 0.8.

[0138] This embodiment proposes an adaptive droop control strategy that allows for dynamic adjustment of the output response intensity based on the current SOC state of each energy storage unit, thereby avoiding overcharging and discharging under extreme SOC conditions.

[0139] The following comparative experiment illustrates the method of this invention. In the comparative experiment designed by this invention, the traditional method employs a fixed proportional coefficient droop control mechanism and ensures that the energy storage SOC does not exceed the limit through simple amplitude limiting, lacking the ability to coordinate energy between energy storage units. The method proposed in this invention, however, integrates three key mechanisms: first, a consensus protocol based on the Laplace matrix, ensuring that the SOC states of multiple energy storage units gradually converge; second, adaptive droop control, allowing dynamic adjustment of the output response intensity based on the current SOC state of each energy storage unit, thereby avoiding overcharging and discharging under extreme SOC conditions; and third, the introduction of dynamic dead-zone control, avoiding unnecessary frequent adjustments when frequency disturbances are small, improving system economy and stability.

[0140] To verify the control effect, a frequency (freq) quality index is defined. (Root Mean Square Value of Frequency Deviation) and SOC Consistency Index :

[0141] (12)

[0142] The experiment uses a simplified single-region system frequency model for time-domain simulation, with the total system inertia set as follows: The damping coefficient is Dead zone frequency difference set to The energy storage system comprises four parallel distributed energy storage units, each with an equal capacity (10 pu) and rated power (0.5 pu). Initial State of Charge (SOC) is set to 0.4, 0.6, 0.8, and 0.5, respectively, to simulate the distributed response capability under different initial conditions. The total simulation time is 1000 seconds with a step size of 1 second. A load disturbance of +0.1 pu is introduced at the 200th second to examine the response performance of the two methods after the system disturbance.

[0143] Regarding control parameters, the consistency control weight in the method proposed in this invention is set as follows: The parameters of the SOC deviation PI controller are set as follows: , The adaptive droop control has a base value of 1.0 and a coefficient of 1.0 to ensure that the dynamic response capability can be demonstrated at different SOC levels.

[0144] The simulation results mainly focus on the following three dimensions: (1) Frequency response curve, which measures the speed and magnitude of the system's frequency recovery after a disturbance, such as Figure 4 As shown; (2) SOC dynamic process, observe the SOC change path and distribution trend of the energy storage unit under different control strategies, such as Figure 5As shown; (3) SOC consistency index, that is, the maximum difference in SOC between energy storage units at any time, to evaluate the fairness and coordination of energy dispatch, such as Figure 6 As shown. In addition, the output curves of each energy storage unit were also plotted to observe the power response characteristics of the energy storage system before and after load disturbance, such as... Figure 7 As shown. Furthermore, according to the evaluation metrics, the method proposed in this invention has: RMS (Root Mean Square) (freq) = 0.2162, average SOC difference = 0.1801; the traditional method has: RMS (freq) = 1.5495, average SOC difference = 0.2051. Here, "Proposed" represents the method proposed in this invention, and "Traditional" represents the traditional method being compared.

[0145] The experimental results above demonstrate that, compared to traditional energy storage frequency regulation control methods, this invention exhibits significant advantages in both technical performance and application effectiveness. Regarding control effectiveness, the distributed SOC consensus algorithm significantly reduces the SOC differences among multiple energy storage power stations, effectively preventing overcharging and over-discharging issues at individual stations, and substantially improving the overall frequency regulation capability and resource utilization of the energy storage cluster.

[0146] In terms of frequency regulation performance, this invention breaks through the traditional dead-zone limitation and significantly improves system frequency stability through an innovative dynamic regulation mechanism. Especially in scenarios with high penetration of new energy sources, the system's ability to suppress high-frequency small fluctuations is significantly enhanced, effectively reducing the regulation burden on traditional units.

[0147] In terms of engineering applicability, the distributed control architecture of this invention has advantages such as low communication requirements and high reliability. Adaptive parameter design significantly simplifies system configuration and maintenance. Practical applications show that this scheme can achieve fast response and efficient convergence, with all performance indicators outperforming traditional control methods.

[0148] Furthermore, this invention creatively combines frequency regulation services with energy storage status management, effectively extending the lifespan of energy storage devices while ensuring grid frequency quality. This technological and economic benefit further highlights the comprehensive advantages of this invention, providing an innovative solution for the stable operation of new power systems.

[0149] This invention proposes a method for frequency regulation and SOC balancing of energy storage clusters by combining a distributed consensus algorithm, dynamic dead-zone adjustment, and a dual-objective collaborative mechanism to solve the problems of state imbalance and resource utilization in multi-power station collaborative scenarios. Besides discrete iterative protocols, continuous-time consensus algorithms can also be used to achieve global SOC convergence. For the dead-zone adjustment constraint mechanism, a fuzzy logic controller can be used to replace the piecewise function, dynamically generating the adjustment power limit value through fuzzy rules of SOC deviation. At the objective collaboration level, a game theory weight allocation strategy can also be introduced to dynamically optimize the output weight based on the Nash equilibrium solution. Although these alternative solutions differ in algorithm implementation, parameter configuration, or computational logic, they all achieve three core functions: autonomous SOC balancing without a central node, activation and utilization of resources within the dead zone, and dynamic collaboration between frequency regulation demand and state adjustment. Ultimately, this achieves the technical effect of improving cluster frequency regulation capability and extending equipment lifespan, and thus falls within the protection scope of this invention.

[0150] Based on the same inventive concept, this application also provides a consensus algorithm-based energy storage cluster frequency regulation and SOC equalization device for implementing the consensus algorithm-based energy storage cluster frequency regulation and SOC equalization method described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in the following embodiments of the consensus algorithm-based energy storage cluster frequency regulation and SOC equalization device can be found in the limitations of the consensus algorithm-based energy storage cluster frequency regulation and SOC equalization method described above, and will not be repeated here.

[0151] Please see Figure 8 This invention also provides a frequency regulation and SOC equalization device for energy storage clusters based on a consensus algorithm, comprising:

[0152] The data acquisition module is used to acquire the frequency deviation of the regional power grid and the real-time state of charge of each distributed energy storage power station.

[0153] The SOC balancing module is used to exchange information on the real-time state of charge of each distributed energy storage station in the distributed control network based on the consensus algorithm, and to determine the SOC adjustment direction of each distributed energy storage station.

[0154] The strategy selection module is used to switch the corresponding cooperative control strategy according to the frequency regulation range where the frequency deviation is located and the SOC adjustment direction. Specifically, if it is within the frequency regulation dead zone, the cooperative control strategy is to only allow distributed energy storage power stations to perform SOC adjustment in the direction consistent with the power margin of the grid; if it is outside the frequency regulation dead zone, the cooperative control strategy is to give priority to distributed energy storage power stations in participating in frequency regulation and perform SOC adjustment in the direction consistent with the power margin of the system, provided that the frequency regulation requirements are met.

[0155] The strategy execution module is used to enable each distributed energy storage power station to perform operations according to the collaborative control strategy, thereby achieving collaborative control that ensures consistency between the primary frequency regulation of the power grid and the SOC of the distributed energy storage power station.

[0156] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0157] Reference Figure 9 The present invention also provides a computer device, including: a memory and a processor, and a computer program stored in the memory. When the computer program is executed on the processor, it implements the energy storage cluster frequency regulation and SOC equalization method based on the consensus algorithm as described in any of the above methods.

[0158] The computer device may be a desktop computer, laptop, handheld computer, or cloud server, etc. This computer device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 9 The examples of computer devices are merely examples and do not constitute a limitation on computer devices. They may include more or fewer components than shown in the illustration, or combinations of certain components, or different components. For example, they may also include input / output devices, network access devices, etc.

[0159] The processor referred to can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0160] In some embodiments, the memory may be an internal storage unit of the computer device, such as a hard drive or RAM. In other embodiments, the memory may be an external storage device of the computer device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory may include both internal and external storage units of the computer device. The memory is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of the computer program. The memory can also be used to temporarily store data that has been output or will be output.

[0161] This invention also provides a computer-readable storage medium storing a computer program thereon. When the computer program is run by a processor, it implements the energy storage cluster frequency regulation and SOC equalization method based on the consensus algorithm as described in any of the above methods.

[0162] In this embodiment, if the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0163] This invention provides a computer program product, including a computer program that, when executed by a processor, implements the energy storage cluster frequency regulation and SOC equalization method based on the consensus algorithm as described in any of the above methods.

[0164] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0165] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0166] In the embodiments disclosed in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0167] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for frequency modulation and SOC equalization of energy storage clusters based on consensus algorithm, characterized in that, The method comprises the following steps: obtaining a frequency deviation of a regional power grid and real-time state of charge (SOC) of each distributed energy storage station; based on a consensus algorithm, performing information interaction on the real-time SOC of each distributed energy storage station in a distributed control network, and determining the SOC adjustment direction of each distributed energy storage station; switching a corresponding cooperative control strategy according to a frequency regulation interval in which the frequency deviation is located and the SOC adjustment direction; if in a frequency regulation dead zone, the cooperative control strategy is to allow only the distributed energy storage station to perform SOC adjustment consistent with the direction of power margin of the power grid; if outside the frequency regulation dead zone, the cooperative control strategy is that the distributed energy storage station preferentially participates in frequency regulation and performs SOC adjustment consistent with the direction of system power margin on the premise of meeting the frequency regulation demand; making each distributed energy storage station perform operation according to the cooperative control strategy, so as to realize cooperative control of power grid primary frequency regulation and SOC consistency of the distributed energy storage station.

2. The method of claim 1, wherein, The distributed control network is constructed based on an undirected graph communication topology, performs information interaction on the real-time SOC of each distributed energy storage station, and determines the SOC adjustment direction of each distributed energy storage station, comprising: each distributed energy storage station updates its own SOC value according to a discrete consensus iteration formula, the discrete consensus iteration formula being: wherein, and SoCi, i, k+1 and SoCi, i, k represent the state of charge of the i-th distributed energy storage at the k+1 time and the k time, respectively, SoCi, i, k represents the state of charge of the i-th distributed energy storage at the k time, represents a consistency coefficient, represents a communication weight coefficient, represents a set of neighbor nodes of node i, represents an index of a neighbor node; the local information of the distributed energy storage station to be interacted at k time is determined as: In the formula, is the local information of the ith distributed energy storage station at time k. If , it is determined that the SOC needs to be raised, and if , it is determined that the SOC needs to be lowered.

3. The method of claim 1, wherein, when in the frequency regulation dead zone, the cooperative control strategy comprises: if the power grid has a net power surplus and the SOC needs to be raised, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are both positive, and only the distributed energy storage station is charged consistently; if the power grid has a net power surplus and the SOC needs to be lowered, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are inconsistent, and the distributed energy storage station is not operated; if the power grid has a net power deficiency and the SOC needs to be raised, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are inconsistent, and the distributed energy storage station is not operated; if the power grid has a net power deficiency and the SOC needs to be lowered, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are both negative, and only the distributed energy storage station is discharged consistently.

4. The method of claim 1, wherein, when outside the frequency regulation dead zone, the cooperative control strategy comprises: if the power grid has a net power surplus and the SOC needs to be raised, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are both positive, and the distributed energy storage station participates in frequency regulation and is charged consistently; if the power grid has a net power surplus and the SOC needs to be lowered, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are inconsistent, and only the distributed energy storage station participates in frequency regulation; if the power grid has a net power deficiency and the SOC needs to be raised, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are inconsistent, and only the distributed energy storage station participates in frequency regulation; if the power grid has a net power deficiency and the SOC needs to be lowered, it is determined that the direction of power margin of the power grid and the SOC adjustment direction are both negative, and the distributed energy storage station participates in frequency regulation and is discharged consistently.

5. The method of claim 3 or 4, wherein, In the cooperative control strategy, the total output of the distributed energy storage station is: In the formula, is the total output of the i-th distributed energy storage power station, is the adaptive droop coefficient of the i-th distributed energy storage power station, is the frequency deviation, is the SOC consistency regulation power in consistent charging and discharging.

6. The method of claim 5, wherein, In the cooperative control strategy, when the distributed energy storage power station performs consistent charging and discharging, the SOC consistency adjustment power is dynamically adjusted according to the charging and discharging constraint coefficient to ensure that the SOC is maintained in the safe interval, and the charging and discharging constraint coefficient is: In the formula, represents the charge-discharge constraint coefficient, represents the adjustment power proportionality coefficient, represents the attenuation factor, represents the maximum droop coefficient.

7. The method of claim 5, wherein, In the cooperative control strategy, when the distributed energy storage power station participates in frequency modulation, the frequency modulation power is determined based on the adaptive droop coefficient, when the SOC is outside the lower limit of the safe interval, discharging is prohibited and the adaptive droop coefficient is set to 0, when the SOC is outside the upper limit of the safe interval, charging is prohibited and the adaptive droop coefficient is set to 0, and when the SOC is within the safe interval, the adaptive droop coefficient increases linearly with the SOC.

8. A frequency modulation and SOC equalization device for energy storage clusters based on a consensus algorithm, characterized in that, Comprise: The data acquisition module is used for acquiring the frequency deviation of the regional power grid and the real-time state of charge of each distributed energy storage power station; The SOC balancing module is used for information interaction of the real-time state of charge of each distributed energy storage power station in the distributed control network based on a consistency algorithm, and determining the SOC adjustment direction of each distributed energy storage power station; The strategy selection module is used for switching the corresponding cooperative control strategy according to the frequency deviation interval and the SOC adjustment direction; wherein, if in the frequency modulation dead zone, the cooperative control strategy is only to allow the distributed energy storage power station to perform the SOC adjustment consistent with the power margin direction of the power grid; if outside the frequency modulation dead zone, the cooperative control strategy is that the distributed energy storage power station preferentially participates in frequency modulation, and performs the SOC adjustment consistent with the system power margin direction on the premise of meeting the frequency modulation demand; The strategy execution module is used for executing the operation of each distributed energy storage power station according to the cooperative control strategy, so as to realize the cooperative control of the power grid primary frequency modulation and the SOC consistency of the distributed energy storage power station.

9. A computer device, comprising: The device comprises a processor and a memory: The memory is used for storing a computer program and sending instructions of the computer program to the processor; The processor executes the method according to the instructions of the computer program.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the method according to any one of claims 1-7. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the method according to any one of claims 1-7.

Images