Comprehensive energy base coordination frequency modulation method and device

Abstract

The embodiment of the invention provides a coordinated frequency modulation method and device for an integrated energy base. The method comprises the following steps: constructing a multi-region interconnection system model; constructing a cascade coordination frequency modulation controller composed of an outer ring main controller and an inner ring auxiliary controller; according to a predetermined optimization index, constructing a multi-objective optimization function used for setting parameters of the cascade coordinated frequency modulation controller; optimizing the parameters of the cascade coordinated frequency modulation controller according to the multi-objective optimization function by adopting a preset optimization algorithm to obtain an optimal parameter set; and according to the performance characteristics of various power units, distributing output instructions of the cascade coordinated frequency modulation controller corresponding to the optimal parameter set to various power units, and performing frequency modulation on the energy base. According to the method provided by the invention, different responsibilities are set for different power units in the frequency modulation process according to the characteristics of the different power units, and the output is adjusted in a targeted manner, so that the frequency coordination in one power supply area and among different power supply areas is realized.

Description

Technical Field

[0001] This disclosure relates to the field of power system control technology, and in particular to a method and apparatus for coordinated frequency regulation of an integrated energy base. Background Technology

[0002] Currently, the penetration rate of new energy sources (such as photovoltaic and wind power) continues to increase, and the synergy of multiple energy sources has become the main power supply mode for integrated energy bases. However, due to the use of multiple power units for power supply, the frequency stability control at the energy unit end faces key challenges. On the one hand, the significant intermittency and randomness of photovoltaic and wind power lead to a significant reduction in system inertia, making it difficult for traditional load frequency control methods to cope with wide-range power disturbances. On the other hand, existing control methods are mostly single proportional-integral-derivative (PID) or simple cascade structures, which cannot take into account the different response characteristics of multiple different power units, easily causing overload of a single energy source or waste of frequency regulation resources. Therefore, there is an urgent need for a coordinated frequency regulation method covering multiple energy units, which can accurately match the characteristics of multiple different energy sources, ensure frequency stability under complex disturbance scenarios, and improve energy utilization and operational economy. Summary of the Invention

[0003] This disclosure provides a method and apparatus for coordinated frequency regulation of an integrated energy base, which provides a method for coordinated frequency regulation of power generating units covering multiple energy sources, so as to perform frequency regulation control according to the characteristics of multiple different energy sources in the same area.

[0004] In view of the above problems, in a first aspect, the present disclosure provides a method for coordinated frequency regulation of an integrated energy base, comprising: Based on the coupling relationship between the dynamic regulation transfer function of various power generating units, the system frequency deviation model, and the tie-line power deviation model, a multi-regional interconnected system model is constructed. Based on the aforementioned multi-region interconnected system model, a cascaded coordinated frequency modulation controller consisting of an outer loop main controller and an inner loop secondary controller is constructed. Based on predetermined optimization indices, a multi-objective optimization function is constructed to tune the parameters of the cascade coordinated frequency modulation controller; A preset optimization algorithm is used to optimize the parameters of the cascade coordinated frequency modulation controller according to the multi-objective optimization function to obtain the optimal parameter set; Based on the performance characteristics of various power generating units, the output commands of the cascade coordinated frequency control controller corresponding to the optimal parameter set are distributed to various power generating units to regulate the frequency of the energy base.

[0005] In conjunction with the first aspect, in one possible implementation, the various types of power generating units include: thermal power units, hydropower units, photovoltaic units, wind power units, and energy storage units; The dynamic adjustment transfer function of the thermal power unit is: ;in, This refers to the reheat coefficient of thermal power plants. The turbine time constant of the thermal power unit. Let be the time constant of the reheat unit of the thermal power unit. The time constant of the governor of the thermal power unit; The transfer function characterizing the power response characteristics of thermal power units; For the Laplace transform operator; The dynamic adjustment transfer function of the hydroelectric generator is: ;in, The turbine time constant of the hydroelectric generator unit. The time constant of the regulating knob of the hydroelectric generator unit; The transfer function characterizing the power response of a hydroelectric generator unit; The dynamic adjustment transfer function of the photovoltaic unit is: ;in, The photovoltaic gain constant is... The photovoltaic time constant of the photovoltaic unit; The transfer function characterizing the power response of a photovoltaic unit; The dynamic adjustment transfer function of the wind turbine is: ;in, Let be the wind power gain constant. Let be the wind power time constant of the wind turbine. This represents the wind speed disturbance. The transfer function characterizing the power response of a wind turbine generator; The dynamic adjustment transfer function of the energy storage unit is: ;in, The energy storage time constant of the energy storage unit; The transfer function characterizing the power response of an energy storage unit; The system frequency deviation model is as follows: ;in, Let be the system's inertial gain constant; The system's inertial time constant; This represents the total output deviation of each power unit; For system load disturbance; This represents the total frequency deviation within the power supply area. The output deviation of photovoltaic units within the power supply area; The output deviation of wind turbine units within the power supply area; The tie-line power deviation model is as follows: ;in, The tie-line time constant, and These are the frequency deviations of the power supply areas at both ends of the tie line; This refers to the power deviation of the tie lines between power supply areas.

[0006] In conjunction with the first aspect, in one possible implementation, the cascaded coordinated frequency modulation controller is used to correct the regional control deviation of the power supply area based on the transfer function of the main controller of the outer loop main controller and the transfer function of the secondary controller of the inner loop secondary controller, respectively, and to obtain the total output command of the frequency modulation controller. The regional control deviation of the power supply area is: ;in, For the first Regional control deviation of each power supply area; For the first Power deviation of the tie line in each power supply area; For the first Frequency deviation coefficient for each power supply area; For the first Frequency deviation in each power supply area.

[0007] In conjunction with the first aspect, in one possible implementation, the outer loop main controller is used to correct the main frequency between energy bases in each power supply area through a main controller transfer function. The main controller transfer function is: ;in, For tilt control gain; For tilt control order; It is the fractional integral gain; For fractional integrals; It is the fractional-order differential gain; It is the fractional order of the differential; The main controller transfer function is used to describe the mapping relationship between the regional control deviation and the global steady-state adjustment command; This is the Laplace transform operator.

[0008] In conjunction with the first aspect, in one possible implementation, the inner loop secondary controller is used to suppress frequency fluctuations in each power supply area through a secondary controller transfer function; The transfer function of the secondary controller is: ;in, The gain is controlled proportionally. The gain is controlled by the derivative. These are the filter coefficients; For the Laplace transform operator; This is a transfer function for the secondary controller, used to describe the mapping relationship between the output of the primary controller and the dynamic correction command.

[0009] In conjunction with the first aspect, in one possible implementation, the optimization indicators include: dynamic performance indicators and economic indicators; The step of constructing a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency modulation controller based on predetermined optimization indices includes: Based on the aforementioned dynamic performance indicators and economic indicators, dynamic performance objective functions and economic objective functions are constructed respectively; And according to the preset weights, a multi-objective optimization function is obtained based on the dynamic performance objective function and the economic objective function; Wherein, the dynamic performance objective function is ;in, It is a time variable; For the first Power supply area Temporal regional control deviation; For dynamic performance indicators; The economic objective function is: ;in, The output loss coefficient of the cascaded coordinated frequency modulation controller; For the first The total output command of the cascaded coordinated frequency modulation controller for each power supply area; This is the adjustment cost coefficient for thermal power units; This is the energy storage regulation cost coefficient for the energy storage unit. For the first Output deviation of thermal power units in each power supply area; For the first Output deviation of energy storage units in each power supply area; Economic indicators.

[0010] The multi-objective optimization function is: ;in, As the weight of dynamic performance indicators, As the weight of economic indicators, This refers to the overall performance indicators.

[0011] In conjunction with the first aspect, in one possible implementation, the preset optimization algorithm is the lemur optimization algorithm; The method employs a preset optimization algorithm to optimize the parameters of the cascade coordinated frequency modulation controller according to the multi-objective optimization function, thereby obtaining an optimal parameter set, including: An optimization variable set is constructed based on the key parameters of the cascaded coordinated frequency modulation controller; Multiple lemur individuals are obtained by mapping the set of optimization variables, and a lemur population matrix is ​​constructed; where each lemur individual corresponds to a set of values ​​in the set of optimization variables. Using the free risk rate rule, iterative calculations are performed based on the total performance index of each lemur individual until the convergence criterion of the lemur algorithm is met, thus obtaining the optimal parameter set; wherein, the total performance index of each lemur individual is calculated based on the values ​​of the set of optimization variables corresponding to each lemur individual.

[0012] In conjunction with the first aspect, in one possible implementation, the step of distributing the total output command of the cascade coordinated frequency regulation controller corresponding to the optimal parameter set to various types of power generating units, based on the performance characteristics of each type of power generating unit, to regulate the frequency of the energy base includes: The cascaded coordinated frequency modulation controller is updated according to the optimal parameter set, and a new total output command is obtained according to the updated cascaded coordinated frequency modulation controller. Based on the dynamic response characteristics and capacity constraints of various types of power generating units, the allocation ratio coefficient of each unit is determined, wherein the allocation ratio coefficient is used to determine the distribution ratio of the total output command on each power generating unit; The output deviation of each power unit is determined based on the aforementioned ratio coefficient; The output deviation is updated to the multi-region interconnected system model to change the total output command of the cascade coordinated frequency modulation controller.

[0013] In conjunction with the first aspect, in one possible implementation, the total output command of the cascaded coordinated frequency modulation controller... ;in, For the first The comprehensive disturbance term for each power supply area; For the first Regional control deviation of each power supply area; For the first Frequency deviation of each power supply area; The transfer function for the secondary controller describes the mapping relationship between the output of the primary controller and the dynamic correction command; The main controller transfer function is used to describe the mapping relationship between the regional control deviation and the global steady-state adjustment command; This is the Laplace transform operator.

[0014] A second aspect of this disclosure provides a coordinated frequency modulation device for an integrated energy base, comprising: The model building module is used to construct a multi-regional interconnected system model based on the coupling relationship between the dynamic regulation transfer function of various power units, the system frequency deviation model, and the tie-line power deviation model. The controller construction module is used to construct a cascaded coordinated frequency modulation controller consisting of an outer loop main controller and an inner loop secondary controller based on the multi-region interconnection system model. The function construction module is used to construct a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency modulation controller based on a predetermined optimization index. The optimization module is used to optimize the parameters of the cascaded coordinated frequency modulation controller according to the multi-objective optimization function using a preset optimization algorithm to obtain the optimal parameter set; The allocation module is used to allocate the output commands of the cascade coordinated frequency control controller corresponding to the optimal parameter set to various types of power generating units according to their performance characteristics, so as to regulate the frequency of the energy base.

[0015] The beneficial effects of the embodiments disclosed herein include: This disclosure provides a method and apparatus for coordinated frequency regulation of an integrated energy base, comprising: constructing a multi-regional interconnected system model based on the coupling relationship between the dynamic adjustment transfer function of various types of power generating units, the system frequency deviation model, and the tie-line power deviation model; constructing a cascade coordinated frequency regulation controller consisting of an outer-loop main controller and an inner-loop secondary controller based on the multi-regional interconnected system model; constructing a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency regulation controller according to predetermined optimization indicators; using a preset optimization algorithm to optimize the parameters of the cascade coordinated frequency regulation controller according to the multi-objective optimization function to obtain an optimal parameter set; and distributing the output commands of the cascade coordinated frequency regulation controller corresponding to the optimal parameter set to various types of power generating units according to the performance characteristics of different types of power generating units, thereby regulating the frequency of the energy base. The method provided in this disclosure sets different responsibilities for different power generating units during the frequency regulation process according to the characteristics of different power generating units, and adjusts their output accordingly, thereby achieving frequency coordination within a power supply area and between different power supply areas. Attached Figure Description

[0016] Figure 1 A flowchart illustrating a coordinated frequency regulation method for an integrated energy base, provided as an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a coordinated frequency modulation device for an integrated energy base, provided in an embodiment of this disclosure. Detailed Implementation

[0017] This disclosure provides a method and apparatus for coordinated frequency regulation of an integrated energy base. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.

[0018] This disclosure provides a method for coordinated frequency regulation of an integrated energy base, such as... Figure 1 As shown, it can be implemented as follows: S101. Based on the dynamic regulation transfer function of various power generating units, the coupling relationship between the system frequency deviation model and the tie-line power deviation model, construct a multi-region interconnected system model; S102. Based on the multi-region interconnection system model, construct a cascade coordinated frequency modulation controller consisting of an outer ring main controller and an inner ring secondary controller; S103. Based on the predetermined optimization index, construct a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency modulation controller; S104. Using a preset optimization algorithm, the parameters of the cascade coordinated frequency modulation controller are optimized according to the multi-objective optimization function to obtain the optimal parameter set; S105. Based on the performance characteristics of various power generating units, the total output command of the cascade coordinated frequency control controller corresponding to the optimal parameter set is distributed to various power generating units to regulate the frequency of the energy base.

[0019] In this embodiment, each integrated energy base is located within a different power supply area. Each power supply area may include an energy supply side and an electricity consumption side. The energy supply side includes different power generating units, and the electricity consumption side includes various local electricity loads within the power supply area. Each power supply area can be an independent control unit of the power system, and each area contains a complete power system for energy supply and load consumption. Power exchange between different power consumption areas can be achieved through interconnection lines.

[0020] The frequency regulation method disclosed herein first requires the construction of multiple sub-models tailored to the energy characteristics of an integrated energy base. This process necessitates the separate modeling of the dynamic regulation transfer functions for different types of power generating units. Simultaneously, it requires the establishment of a system frequency deviation model and a tie-line power deviation model to describe the load disturbance response within the region and the dynamic behavior of power exchange between regions via tie lines. Finally, based on the coupling relationships between the sub-models, the models of the various generating units are linked with the power grid model to form a multi-regional interconnected system model capable of reflecting the characteristics of coordinated operation of multiple energy sources.

[0021] Based on the constructed multi-region interconnected system model, a cascaded coordinated frequency modulation controller can be designed. Structurally, this controller consists of an outer-loop main controller and an inner-loop secondary controller connected in series. The controller adopts an architecture combining outer-loop main control and inner-loop secondary control. Specifically, the outer loop uses a Tilted Fractional-Order Integral-Derivative (TFOID) control strategy, while the inner loop uses a cascaded proportional-derivative (PDN+1) control structure with a filter. In this architecture, the outer-loop main controller can focus on calculating global power balance and eliminating control errors in different power supply areas; the inner-loop secondary controller focuses on rapid local frequency correction and suppressing high-frequency interference. The combination of the inner and outer loops achieves effective coordination between global regulation and local correction, avoiding the problem of a single controller being unable to regulate complex power systems with multiple energy forms.

[0022] To improve the performance of the designed cascaded coordinated frequency modulation controller, a reasonable multi-objective optimization function needs to be constructed to guide the tuning of the controller parameters. When constructing this function, multiple requirements are considered based on pre-determined optimization indices. This embodiment selects two core objectives for constructing the optimization function. The first is the dynamic performance objective, which aims to minimize the fluctuations in system frequency deviation, tie-line power deviation, and regional control error to ensure the speed and stability of the frequency modulation process and guarantee power quality. The second is the economic objective, which aims to minimize the total output power of the controller and the overall cost of multi-energy source regulation. By balancing these two objectives in a pre-defined optimization algorithm, the optimal parameter set that balances these two performance indicators can be found.

[0023] Finally, the cascaded coordinated frequency control controller is configured using the aforementioned optimal parameter set to obtain a total output command based on the performance characteristics of various power generating units. Based on this total output command, the output deviation of each type of power generating unit within each region can be determined, and a corresponding output deviation can be allocated to each power generating unit, thereby achieving frequency regulation across the entire energy base.

[0024] In summary, this method assigns different responsibilities to power generating units of different energy sources during frequency regulation based on their characteristics, and adjusts the output of different types of units accordingly. This method can achieve frequency coordination within a power supply area and between different power supply areas.

[0025] In another embodiment provided in this disclosure, the various types of power generating units include: thermal power units, hydropower units, photovoltaic units, wind power units, and energy storage units; The dynamic adjustment transfer function of the thermal power unit is: ;in, This refers to the reheat coefficient of thermal power plants. The turbine time constant of the thermal power unit. Let be the time constant of the reheat unit of the thermal power unit. The time constant of the governor of the thermal power unit; The transfer function characterizing the power response characteristics of thermal power units; For the Laplace transform operator; The dynamic adjustment transfer function of the hydroelectric generator is: ;in, The turbine time constant of the hydroelectric generator unit. The time constant of the regulating knob of the hydroelectric generator unit; The transfer function characterizing the power response of a hydroelectric generator unit; The dynamic adjustment transfer function of the photovoltaic unit is: ;in, The photovoltaic gain constant is... The photovoltaic time constant of the photovoltaic unit; The transfer function characterizing the power response of a photovoltaic unit; The dynamic adjustment transfer function of the wind turbine is: ;in, Let be the wind power gain constant. Let be the wind power time constant of the wind turbine. This represents the wind speed disturbance. The transfer function characterizing the power response of a wind turbine generator; The dynamic adjustment transfer function of the energy storage unit is: ;in, The energy storage time constant of the energy storage unit; The transfer function characterizing the power response of an energy storage unit; The system frequency deviation model is as follows: ;in, Let be the system's inertial gain constant; The system's inertial time constant; This represents the total output deviation of each power unit; For system load disturbance; This represents the total frequency deviation within the power supply area. The output deviation of photovoltaic units within the power supply area; The output deviation of wind turbine units within the power supply area; The tie-line power deviation model is as follows: ;in, The tie-line time constant, and These are the frequency deviations of the power supply areas at both ends of the tie line; This refers to the power deviation of the tie lines between power supply areas.

[0026] In this embodiment of the disclosure, when constructing a multi-regional interconnected system model, the hysteresis response characteristics of the thermal power unit during frequency regulation can be simulated by setting specific reheat coefficients, turbine time constants, reheat unit time constants, and governor time constants, based on the transfer function of the thermal power unit. This is done by setting specific reheat coefficients, turbine time constants, reheat unit time constants, and governor time constants. As the baseload frequency regulation power source, thermal power undertakes the task of maintaining the system's steady-state frequency; therefore, a third-order model of the governor, turbine, and reheat system can be used. Specifically, the dynamic regulation transfer function of the thermal power unit... This is the reheat coefficient for thermal power plants, used to reflect the impact of the reheater on power gain. This coefficient can be a dimensionless number with a value of 0.5. This is the turbine time constant of a thermal power unit, which can be used to describe the response delay of the thermal power unit caused by the steam volume effect. Its value can be 10 seconds. This represents the reheat unit time constant for thermal power units, and its value can be 0.3 seconds. is the time constant of the governor of the thermal power unit, used to describe the response speed of the governor, and can take a value of 0.08 seconds; in the transfer function This is the Laplace operator, used to transform a dynamic process in the time dimension into an algebraic equation in the complex frequency domain. This function can reflect the characteristic of thermal power units having a slow response but good steady-state performance.

[0027] For hydroelectric generating units, the dynamic behavior of the unit is described using the turbine time constant and the regulating knob time constant, reflecting its unique response speed and characteristics. Hydropower, as a medium-term frequency regulation power source, is responsible for smoothing medium-frequency disturbances in the power grid; a second-order model combining the regulating knob and the turbine can be used. Specifically, the dynamic regulation transfer function of the hydroelectric generating unit... is the turbine time constant of the hydropower unit, used to describe the response time of the turbine unit under the influence of water flow inertia, and can be 0.5 seconds; The time constant of the regulating knob of the hydropower unit is used to describe the response time of the mechanical structure of the turbine in the hydropower unit, and its value can be 0.2 seconds.

[0028] Based on this, the photovoltaic and wind turbine models are modeled as first-order inertial models with specific gains and time constants to participate in conditional frequency modulation when the frequency deviation exceeds a certain range. The wind turbine model can also incorporate wind speed disturbances to simulate the output power fluctuations of the wind turbine under changes in the natural environment and their random impact on the system frequency. Specifically, in the dynamic regulation transfer function of the wind turbine... This is the wind power gain constant, which can be 0.7 m / s; The wind power time constant of the wind turbine reflects the lag time from when the wind turbine blades are propelled by the wind to when they output electrical power. The value can be 0.2 seconds. The wind speed disturbance can be obtained by stochastic process simulation.

[0029] In the dynamic regulation transfer function of photovoltaic units This is the photovoltaic gain constant, which can take a value of 0.8 watts; is the photovoltaic time constant of the photovoltaic unit, which can be 0.2 seconds.

[0030] The model for energy storage units can leverage their unique energy storage time constant to demonstrate their responsiveness as a rapidly regulating resource. Energy storage units can handle high-frequency disturbances in the system and can be modeled as a first-order inertial model. The dynamic regulation transfer function of the energy storage unit... This is the energy storage time constant of the energy storage unit, and its value can be 0.1 seconds.

[0031] The aforementioned dynamic adjustment transfer function can reflect the response of different types of power generating units from the start of adjustment to the completion of adjustment. The Laplace operator can be used to transform the time-varying physical characteristics of various power generating units into an algebraic expression in the complex frequency domain, thereby describing the complete process of different power generating units from the start of adjustment, transient changes to entering steady state.

[0032] This allows for the construction of a system frequency deviation model that reflects the output and disturbances of each unit within a power supply area. The system inertial gain constant can be 10 Hz; The system's inertial time constant can be 2 seconds. The total output deviation of each power unit can be obtained through simulation based on the transfer function of each unit. This refers to the load disturbance of the system, characterizing the fluctuation of electrical load within the power supply area. and These represent the output deviations of photovoltaic units and wind turbine units, respectively. This formula can characterize the output deviation of an energy base composed of various units within a power supply area, and the resulting system frequency deviation within that area. .

[0033] The tie-line power deviation model can describe the physical mechanism of power flow between two power supply areas. Among them, The tie-line time constant can be 0.5 seconds. and These represent the frequency deviations of the power supply areas at both ends of the tie line. By reflecting the phase difference in frequency between the two areas, the flow of power between them can be characterized.

[0034] In another embodiment provided in this disclosure, the cascaded coordinated frequency modulation controller is used to correct the regional control deviation of the power supply area according to the main controller transfer function of the outer loop main controller and the secondary controller transfer function of the inner loop secondary controller, respectively, and to obtain the total output command of the frequency modulation controller. The regional control deviation of the power supply area is: ;in, For the first Regional control deviation of each power supply area; For the first Power deviation of the tie line in each power supply area; For the first Frequency deviation coefficient for each power supply area; For the first Frequency deviation in each power supply area.

[0035] In this embodiment of the disclosure, the overall power deviation and frequency deviation of the power supply area can be reflected by the regional control deviation. Specifically, For the first The regional control deviation of each power supply area, measured in pu·Hz, can be used as the main input of the outer loop of the cascade coordinated frequency modulation controller; for the first... The tie-line power deviation of each power supply area, in pu, reflects the power exchange imbalance between the area and the interconnected area. It can be calculated based on the tie-line power deviation model of the two-area interconnection system. For the first The frequency deviation coefficient for each power supply area, in units of pu / Hz, can be 0.02. This value reflects the sensitivity of the power supply area to frequency deviation. For the first The frequency deviation of each power supply area can be calculated based on the system frequency deviation model.

[0036] In another embodiment provided in this disclosure, the outer ring main controller is used to correct the main frequency between energy bases in each power supply area through the main controller transfer function; The main controller transfer function is: ;in, For tilt control gain; For tilt control order; It is the fractional integral gain; For fractional integrals; It is the fractional-order differential gain; It is the fractional order of the differential; The main controller transfer function is used to describe the mapping relationship between the regional control deviation and the global steady-state adjustment command; This is the Laplace transform operator.

[0037] In this embodiment of the disclosure, For tilt control gain, this value can be adapted to the governor time constant in the dynamic regulation transfer function of the thermal power unit. This value can be a dimensionless number, ranging from 1 to 10. This value can be used to adjust the valve action response of the thermal power unit. Increasing the size will make the thermal power control valves more sensitive and operate more frequently; if Reducing the speed will decrease the sensitivity of the thermal power plant's control valve, causing the steady-state response of the speed governor to lag.

[0038] This value represents the tilt control order and can be adapted to the turbine time constant in the dynamic regulation transfer function of the thermal power unit. It can be a dimensionless number, ranging from 1 to 1.5. This value can be used to adjust the low-frequency gain change rate of the thermal power unit, increasing... The value of can make the gain change in the low-frequency band more gradual.

[0039] This is the fractional integral gain, a value that adapts to the turbine time constant of the hydropower unit. The turbine is the core component for power output regulation in a hydropower unit, and its time constant determines the unit's response speed. The core function of the fractional integral gain is to suppress the steady-state error of the main frequency in the power supply area. This value can be a dimensionless number, ranging from 1 to 8.

[0040] This is the fractional integral order, a value that can be adapted to the time constant of the regulating knob in a hydroelectric generator. This value can be a dimensionless number, ranging from 0.5 to 1, used to balance the speed of the integral action in the transfer function with overshoot suppression, and to avoid high-frequency oscillations caused by the time constant of the hydroelectric regulating knob. In application, The larger the value, the faster the system responds, but the greater the risk of overshoot.

[0041] This is the fractional-order differential gain, used to adjust the output of thermal and hydropower units in advance by monitoring the changing trend of regional control deviations. This allows the thermal and hydropower units to respond earlier and prevents the system frequency deviation from widening. This value can be a dimensionless number, ranging from 1 to 5.

[0042] This is the fractional derivative order, used to suppress high-frequency noise caused by power output deviation of photovoltaic units and wind speed disturbance of wind turbine units. This value can be a dimensionless number, ranging from 0.5 to 1.

[0043] via the Laplace operator right After performing the Laplace transform, It can be used as the main input of the outer loop controller, and passed through the main controller transfer function. The global steady-state control command is then obtained from the output of the outer loop controller. This command is primarily used to maintain long-term frequency stability within the power supply area and to correct for low-to-medium frequency disturbances such as slow load changes. It is mainly adapted to the response characteristics of thermal power units and hydropower units. The global steady-state control command can then be input into the secondary controller for adjustment against high-frequency disturbances.

[0044] In another embodiment provided in this disclosure, the inner loop secondary controller is used to suppress frequency fluctuations in each power supply area through a secondary controller transfer function; The transfer function of the secondary controller is: ;in, The gain is controlled proportionally. The gain is controlled by the derivative. These are the filter coefficients; For the Laplace transform operator; This is a transfer function for the secondary controller, used to describe the mapping relationship between the output of the primary controller and the dynamic correction command.

[0045] In this embodiment of the disclosure, This value represents the proportional control gain, which can be adapted to the energy storage time constant in the dynamic adjustment transfer function of the energy storage unit. It is used to adjust the response speed of the energy storage unit to fill the power gap caused by high-frequency disturbances in the power supply area. This value is dimensionless, ranging from 0.5 to 2.5, and increasing it... A value that can improve the response speed of the energy storage unit may lead to overshoot; reducing the value may improve the response speed of the energy storage unit. The value can avoid overshoot, but it will reduce the response speed of the energy storage unit and make it impossible to smooth out high-frequency fluctuations in time.

[0046] This is the differential control gain. This value can be used to prevent the energy storage unit from over-responding based on the output deviation of the photovoltaic unit and the changing trend of the wind speed disturbance of the wind turbine unit. This value is dimensionless and ranges from 0.1 to 1.2.

[0047] This is the filter coefficient, which can filter out random high-frequency noise generated by the transfer function of photovoltaic and wind turbine units, preventing noise from causing frequent fluctuations in controller commands. This value is dimensionless and ranges from 100 to 500.

[0048] The secondary controller uses the difference between the output of the primary controller (i.e., the global steady-state adjustment command) and the regional frequency deviation (i.e., () is the controlled variable, which is transferred through the secondary controller's transfer function. Then, a dynamic correction command is output. Based on the global steady-state adjustment command output by the main controller, the dynamic correction command provides adjustment commands for high-frequency interference within the power supply area according to the response characteristics of photovoltaic, wind power, and energy storage units. Furthermore, the total output command of the cascade coordinated frequency modulation controller can be obtained based on the dynamic correction command. .

[0049] In another embodiment provided in this disclosure, the optimization indicators include: dynamic performance indicators and economic indicators; The above step S103, "Constructing a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency modulation controller based on a predetermined optimization index," can be implemented as follows: Step 1: Based on the dynamic performance indicators and economic indicators, construct the dynamic performance objective function and the economic objective function respectively; Step 2: Based on the preset weights, obtain the multi-objective optimization function according to the dynamic performance objective function and the economic objective function; Wherein, the dynamic performance objective function is ;in, It is a time variable; For the first Power supply area Temporal regional control deviation; For dynamic performance indicators; The economic objective function is: ;in, The output loss coefficient of the cascaded coordinated frequency modulation controller; For the first The total output command of the cascaded coordinated frequency modulation controller for each power supply area; This is the adjustment cost coefficient for thermal power units; This is the energy storage regulation cost coefficient for the energy storage unit. For the first Output deviation of thermal power units in each power supply area; For the first Output deviation of energy storage units in each power supply area; For economic indicators.

[0050] The multi-objective optimization function is: ;in, As the weight of dynamic performance indicators, As the weight of economic indicators, This refers to the overall performance indicators.

[0051] In this embodiment, the optimization indicators can include two categories: dynamic performance indicators and economic indicators. The dynamic performance indicators employ the squared time multiplied by the absolute value of the error integral (ISTAE) to quantify the fluctuation of the system frequency and tie-line power within the power supply area, reflecting the frequency regulation response speed within the power supply area. The dynamic performance indicators can be obtained from a dynamic performance objective function, in which... This is a dynamic performance indicator, and the unit can be pu·Hz·s³. The smaller the value, the smaller the fluctuation of the system frequency and tie line power in the power supply area, and the better the frequency modulation response. It is a time variable, with the unit being seconds, used to characterize the time dimension of the frequency modulation process; For the first Power supply area The regional control deviation at any given time, measured in pu·Hz, reflects the imbalance of power and frequency in the power supply area.

[0052] Economic indicators are used to comprehensively consider controller output losses, governor operating losses in thermal power units, and deep charge-discharge life losses in energy storage units. These economic indicators can be obtained from an economic objective function. This is an economic indicator, with the unit being yuan. s, the smaller the value, the better the economic efficiency; This is the output loss factor of the cascaded coordinated frequency modulation controller, and its unit is yuan / (pu). s), which can take a value between 5 and 10, can be used to avoid the total output command of the cascaded coordinated frequency modulation controller. Too large, resulting in unnecessary losses; This is the adjustment cost coefficient for thermal power units, and the unit is yuan / (pu). s), which can be between 8 and 15, is used to reflect the operating loss of the thermal power unit commissioning device; This is the energy storage regulation cost coefficient for the energy storage unit, and the unit can be yuan / (pu²). s), with a value ranging from 20 to 30, is used to reflect the deep charge and discharge losses of the energy storage unit; For the first Output deviation of thermal power units in each power supply area; For the first The output deviation of energy storage units in each power supply area. By using an economic objective function, the cost of different unit operations during each frequency regulation process can be integrated into an economic indicator, thereby balancing the optimization objectives and avoiding energy overload or cost waste.

[0053] To integrate different optimization metrics into a single overall performance metric, we can assign appropriate weights to each metric, and then combine them to obtain the overall performance metric. .

[0054] The weight of each optimization indicator can be determined using the analytic hierarchy process (AHP). First, an objective importance judgment matrix can be constructed. The values ​​in the matrix can be determined based on engineering experience, and the rows in the matrix correspond to... , column corresponding In other words, dynamic performance indicators are significantly more important than economic indicators, and the importance of economic indicators is less than that of dynamic performance indicators. .

[0055] The weights of dynamic performance indicators can be obtained by solving the vector using the eigenvalue method. =0.8, the weight of economic indicators =0.2. And passed the consistency check formula. A consistency check is performed. In the consistency check formula, , is the largest eigenvalue of matrix A; , where is the order of the matrix; , is the stochastic consistency index corresponding to order 2. It is obtained through calculation. This satisfies the consistency requirements.

[0056] The final multi-objective optimization function can be obtained as follows: .

[0057] In another embodiment provided in this disclosure, the preset optimization algorithm is the lemur optimization algorithm; In step S104 above, "using a preset optimization algorithm to optimize the parameters of the cascade coordinated frequency modulation controller according to the multi-objective optimization function to obtain the optimal parameter set" can be implemented as follows: Step 1: Construct an optimization variable set based on the key parameters of the cascaded coordinated frequency modulation controller; Step 2: Based on the mapping of the set of optimization variables, obtain multiple lemur individuals and construct a lemur population matrix; where each lemur individual corresponds to a set of values ​​in the set of optimization variables; Step 3: Using the free risk rate rule, iterative calculations are performed based on the total performance index of each individual lemur until the convergence criterion of the lemur algorithm is met, thus obtaining the optimal parameter set; The overall performance index for each lemur individual is calculated based on the values ​​of the set of optimization variables corresponding to each lemur individual.

[0058] In this embodiment, the preset optimization algorithm can be the lemur optimization algorithm. This algorithm can optimize the parameters of the cascaded coordinated frequency modulation controller according to a multi-objective optimization function, thereby obtaining the optimal parameter set. The lemur optimization algorithm is an intelligent optimization algorithm for global parameter optimization. Its core logic is to simulate the group behavior of lemurs and quickly find the optimal solution by balancing local exploration and global development.

[0059] The set of optimized variables is determined based on the key parameters of the cascaded coordinated frequency modulation controller, and can include 8 core key parameters, specifically: Among them, tilt control gain The value range is [1, 10]; tilt control order The value range is [1, 1.5]; fractional integral gain The range of values ​​for is [1, 8]; the fractional integral order is... The value range is [0.5, 1]; fractional differential gain The range of values ​​for is [1, 5]; the fractional order of the differential. The value range is [0.5, 1]; proportional control gain The value range is [0.5, 2.5]; the filter coefficient The value range is [100, 500].

[0060] A set of eight parameters in the optimization variable set can be mapped to a single lemur individual. Based on the lemur population size setting, multiple lemur individuals can be randomly mapped to form a lemur population. In this disclosure, the lemur population size can be set. And the initial lemur population matrix is ​​obtained as shown in equation (1).

[0061] (1) In equation (1), This is a population position matrix, where each row corresponds to a single lemur individual (i.e., the values ​​of a set of optimization variables). For example, It can represent the first The 8th optimization variable for the lemur (i.e., the filter coefficient) ).

[0062] Furthermore, iterative optimization can be performed based on the free risk rate rule, with the overall performance index of the multi-objective optimization function as the metric during the optimization process. As a fitness function.

[0063] First, the fitness of each lemur individual in the initial lemur population matrix is ​​calculated using the overall performance index. To characterize the overall performance, the optimization variables corresponding to each individual lemur can be substituted into the multi-region interconnected system model and the cascade coordinated frequency modulation controller for simulation calculations. The simulation results... A smaller value indicates better fitness. The above simulation calculations can be performed in software such as Matlab or Simulink.

[0064] The position update rule for individual lemurs in a lemur population can adopt the free risk rate rule, the formula for which is: In the formula for calculating the free risk rate, For the first The free risk rate in the next iteration, and the upper limit of the free risk rate. Lower bound of the free risk rate Maximum number of iterations , This represents the current iteration number.

[0065] Based on the free risk rate of the current iteration, update the position of the individual lemur in the lemur population matrix using the following formula (2).

[0066] (2) in, For the first The first lemur individual 1 variable The position of the next iteration; For the first The local optimal position of each variable (i.e., the historical optimal parameters of a certain lemur individual). For the first The global optimal position of each variable (i.e., the historical optimal parameter among all lemur individuals). It is a uniform random number, with a value range of [0,1]. This value can be used to control the probability of exploration and development.

[0067] The free risk rate is linearly reduced from 0.9 to 0.1 during the iteration process. In each iteration, each lemur individual explores towards the lemur with the highest current fitness or develops in the vicinity based on the current free risk rate. Fitness is recalculated after each iteration. This continues until a convergence criterion is met. In this disclosure, the convergence criterion is the global optimum found after 15 consecutive iterations. The change is less than or reach =100. When convergence is achieved, the algorithm can stop its optimization and output the optimal parameter set. .

[0068] In another embodiment provided in this disclosure, the above step S105, "allocating the total output command of the cascade coordinated frequency regulation controller corresponding to the optimal parameter set to various types of power generating units according to the performance characteristics of various types of power generating units, and performing frequency regulation on the energy base," can be implemented as follows: Step 1: Update the cascaded coordinated frequency modulation controller according to the optimal parameter set, and obtain the new total output command according to the updated cascaded coordinated frequency modulation controller; Step 2: Based on the dynamic response characteristics and capacity constraints of various types of power generating units, determine the allocation ratio coefficient for each unit, wherein the allocation ratio coefficient is used to determine the distribution ratio of the total output command on each power generating unit; Step 3: Determine the output deviation of each power unit based on the aforementioned ratio coefficient; Step 4: Update the output deviation to the multi-region interconnected system model to change the total output command of the cascade coordinated frequency modulation controller.

[0069] In this embodiment of the disclosure, firstly, based on the optimal parameter set... The corresponding key parameters in the cascaded coordinated frequency modulation controller are updated to obtain a new total output command.

[0070] Furthermore, based on the dynamic response characteristics and capacity constraints of different types of power generating units, and considering their role in frequency regulation, the allocation ratio coefficient for each type of unit can be predetermined. For example, thermal power units have a slower response speed and can play a major steady-state role during frequency regulation; therefore, the allocation ratio coefficient for thermal power units... The value can range from 0.35 to 0.45; the energy storage unit has a fast response speed and can perform deep charging and discharging, and can issue high-frequency emergency frequency modulation commands; the energy storage unit's ratio coefficient The value can range from 0.25 to 0.35; photovoltaic units and wind turbine units only participate in regulation when the system frequency deviation exceeds a certain threshold, and the matching ratio coefficient of photovoltaic units... The ratio coefficient of wind turbine units The values ​​are all between 0.05 and 0.1, thus avoiding affecting maximum power tracking.

[0071] This allows for the calculation of the output deviation of each unit separately, such as the output deviation of the energy storage unit. ;in, For the first The energy storage output deviation of each power supply area can be expressed in pu. This is the maximum output of the energy storage unit, measured in PU. It can be set to 0.2. Setting this value can help avoid overcharging and over-discharging of the energy storage unit. This is a saturation function. When the input to the function is greater than 1, the output is 1, and when the input to the function is less than -1, the output is -1.

[0072] Power output deviation of thermal power units ;in, For the first The output deviation of thermal power units in each power supply area can be expressed in pu.

[0073] Wind turbine output deviation ;in, For the first The output deviation of wind turbines in each power supply area can be expressed in pu.

[0074] Output deviation of photovoltaic units ;in, For the first The output deviation of photovoltaic units in each power supply area can be expressed in pu.

[0075] Each unit can adjust its output based on the calculated output deviation to compensate for this deviation and thus regulate the frequency within the power supply area.

[0076] Meanwhile, the calculated output deviation can also be used to update the total output deviation in the multi-region interconnected system model, thereby obtaining a new total output command and realizing a closed loop from command allocation to command update.

[0077] This disclosure also designs four typical scenarios to verify the effectiveness of the above method under complex operating conditions. One scenario simulates a step load disturbance in the power grid, which can be verified by setting... At that time, a power load of 0.05 pu was put into power supply area 1. Secondly, it simulates the random disturbance of solar and wind turbine generators. It can set the simulation of photovoltaic power fluctuations (for example, set the photovoltaic power fluctuations as white noise with a variance of 0.01 pu²), and set the wind turbine generator fluctuations as... Thirdly, it involves simulating parameter perturbations within the power supply area, such as setting the system inertial gain. The fluctuation is And the energy storage time constant of the energy storage unit The fluctuation is Fourth, it simulates superimposed disturbances, that is, superimposed simulation of the above three types of situations.

[0078] Furthermore, the multi-region interconnected system model and the cascade coordinated frequency modulation controller can be simulated under the above simulation scenario, and evaluated in combination with the following formulas (3) and (4).

[0079] (3) (4) in, For example, the variables to be evaluated obtained through simulation. and MSE stands for Mean Square Error, and its unit is Hz² / pu². This value reflects the degree of fluctuation. If this value meets the following conditions... If the peak value is ≤0.02Hz, the evaluation is passed. Peak is the absolute value of the peak value, and the unit is Hz / pu. This value can reflect the system safety under extreme conditions. If the value satisfies Peak(Δf)≤0.02Hz, the evaluation is passed. The simulation time can be set to 50 seconds.

[0080] During the evaluation process, a multi-region interconnected system model and a cascaded coordinated frequency modulation controller can be loaded into simulation software such as Matlab or Simulink, and the aforementioned scenarios can be set up respectively. Simulations are then performed for each scenario, and the results are recorded. and and the output curves of various power generating units. If the obtained indicators (e.g., and If the requirements are not met, the Lemur algorithm needs to be used to re-optimize and verify the results; if the requirements are met in all scenarios, the verification and evaluation can be passed.

[0081] In yet another embodiment provided in this disclosure, the total output command of the cascaded coordinated frequency modulation controller is... ;in, For the first The comprehensive disturbance term for each power supply area; For the first Regional control deviation of each power supply area; For the first Frequency deviation of each power supply area; The transfer function for the secondary controller describes the mapping relationship between the output of the primary controller and the dynamic correction command; The main controller transfer function is used to describe the mapping relationship between the regional control deviation and the global steady-state adjustment command; This is the Laplace transform operator.

[0082] In this embodiment of the disclosure, This refers to the total output command of the cascaded coordinated frequency modulation controller for the i-th power supply zone, and the unit can be pu. For the first The comprehensive disturbance term for each power supply area, measured in PU, integrates the system's load disturbances. Wind speed disturbance Corresponding wind power deviation and photovoltaic power disturbance wait.

[0083] This disclosure also provides a coordinated frequency regulation device for an integrated energy base, such as Figure 2 As shown, it includes: Model building module 201 is used to build a multi-region interconnected system model based on the coupling relationship between the dynamic regulation transfer function of various power units, the system frequency deviation model and the tie-line power deviation model. The controller construction module 202 is used to construct a cascade coordinated frequency modulation controller consisting of an outer loop main controller and an inner loop secondary controller based on the multi-region interconnection system model. The function construction module 203 is used to construct a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency modulation controller based on a predetermined optimization index. The optimization module 204 is used to optimize the parameters of the cascaded coordinated frequency modulation controller according to the multi-objective optimization function using a preset optimization algorithm to obtain the optimal parameter set; The allocation module 205 is used to allocate the output commands of the cascade coordinated frequency control controller corresponding to the optimal parameter set to various types of power generating units according to the performance characteristics of various types of power generating units, so as to regulate the frequency of the energy base.

[0084] In another embodiment provided in this disclosure, the function construction module 203 is further configured to construct a dynamic performance objective function and an economic objective function based on the dynamic performance index and the economic index, respectively; and obtain a multi-objective optimization function based on the dynamic performance objective function and the economic objective function according to a preset weight.

[0085] In another embodiment provided in this disclosure, the optimization module 204 is further configured to construct an optimization variable set based on the key parameters of the cascaded coordinated frequency modulation controller; map multiple lemur individuals based on the optimization variable set to construct a lemur population matrix; wherein each lemur individual corresponds to a set of values ​​in the optimization variable set; and perform iterative calculations based on the total performance index of each lemur individual using the free risk rate rule until the convergence judgment condition of the lemur algorithm is reached to obtain the optimal parameter set.

[0086] In another embodiment provided in this disclosure, the allocation module 205 is further configured to update the cascade coordinated frequency control controller according to the optimal parameter set, and obtain a new total output command according to the updated cascade coordinated frequency control controller; determine the allocation ratio coefficient of each unit according to the dynamic response characteristics and capacity constraints of various types of power units, wherein the allocation ratio coefficient is used to determine the allocation ratio of the total output command on each power unit; determine the output deviation of each power unit based on the allocation ratio coefficient; and update the output deviation to the multi-region interconnection system model to change the total output command of the cascade coordinated frequency control controller.

[0087] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0088] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0089] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0090] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0091] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A method for coordinated frequency regulation of an integrated energy base, characterized in that, include: Based on the coupling relationship between the dynamic regulation transfer function of various power generating units, the system frequency deviation model, and the tie-line power deviation model, a multi-regional interconnected system model is constructed. Based on the aforementioned multi-region interconnected system model, a cascaded coordinated frequency modulation controller consisting of an outer loop main controller and an inner loop secondary controller is constructed. Based on predetermined optimization indices, a multi-objective optimization function is constructed to tune the parameters of the cascade coordinated frequency modulation controller; A preset optimization algorithm is used to optimize the parameters of the cascade coordinated frequency modulation controller according to the multi-objective optimization function to obtain the optimal parameter set; Based on the performance characteristics of various power generating units, the output commands of the cascade coordinated frequency control controller corresponding to the optimal parameter set are distributed to various power generating units to regulate the frequency of the energy base.

2. The method as described in claim 1, characterized in that, The various types of power generating units include: thermal power units, hydropower units, photovoltaic units, wind power units, and energy storage units; The dynamic adjustment transfer function of the thermal power unit is: ;in, This refers to the reheat coefficient of thermal power plants. The turbine time constant of the thermal power unit. Let be the time constant of the reheat unit of the thermal power unit. The time constant of the governor of the thermal power unit; The transfer function characterizing the power response characteristics of thermal power units; For the Laplace transform operator; The dynamic adjustment transfer function of the hydroelectric generator is: ;in, The turbine time constant of the hydroelectric generator unit. The time constant of the regulating knob of the hydroelectric generator unit; The transfer function characterizing the power response of a hydroelectric generator unit; The dynamic adjustment transfer function of the photovoltaic unit is: ;in, The photovoltaic gain constant is... The photovoltaic time constant of the photovoltaic unit; The transfer function characterizing the power response of a photovoltaic unit; The dynamic adjustment transfer function of the wind turbine is: ;in, Let be the wind power gain constant. Let be the wind power time constant of the wind turbine. This represents the wind speed disturbance. The transfer function characterizing the power response of a wind turbine generator; The dynamic adjustment transfer function of the energy storage unit is: ;in, The energy storage time constant of the energy storage unit; The transfer function characterizing the power response of an energy storage unit; The system frequency deviation model is as follows: ;in, Let be the system's inertial gain constant; The system's inertial time constant; This represents the total output deviation of each power unit; For system load disturbance; This represents the total frequency deviation within the power supply area. The output deviation of photovoltaic units within the power supply area; The output deviation of wind turbine units within the power supply area; The tie-line power deviation model is as follows: ;in, The tie-line time constant, and These are the frequency deviations of the power supply areas at both ends of the tie line; This refers to the power deviation of the tie lines between power supply areas.

3. The method as described in claim 1, characterized in that, The cascaded coordinated frequency modulation controller is used to correct the regional control deviation of the power supply area based on the transfer function of the main controller of the outer loop main controller and the transfer function of the secondary controller of the inner loop secondary controller, and to obtain the total output command of the frequency modulation controller. The regional control deviation of the power supply area is: ;in, For the first Regional control deviation of each power supply area; For the first Power deviation of the tie line in each power supply area; For the first Frequency deviation coefficient for each power supply area; For the first Frequency deviation in each power supply area.

4. The method as described in claim 3, characterized in that, The outer ring main controller is used to correct the main frequency between energy bases in each power supply area through the main controller transfer function; The main controller transfer function is: ;in, For tilt control gain; For tilt control order; It is the fractional integral gain; For fractional integrals; It is the fractional-order differential gain; It is the fractional order of the differential; The main controller transfer function is used to describe the mapping relationship between the regional control deviation and the global steady-state adjustment command; This is the Laplace transform operator.

5. The method as described in claim 3, characterized in that, The inner loop secondary controller is used to suppress frequency fluctuations in each power supply area through the secondary controller transfer function; The transfer function of the secondary controller is: ;in, The gain is controlled proportionally. The gain is controlled by the derivative. These are the filter coefficients; For the Laplace transform operator; This is a transfer function for the secondary controller, used to describe the mapping relationship between the output of the primary controller and the dynamic correction command.

6. The method as described in claim 1, characterized in that, The optimization indicators include: dynamic performance indicators and economic indicators; The step of constructing a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency modulation controller based on predetermined optimization indices includes: Based on the aforementioned dynamic performance indicators and economic indicators, dynamic performance objective functions and economic objective functions are constructed respectively; And according to the preset weights, a multi-objective optimization function is obtained based on the dynamic performance objective function and the economic objective function; Wherein, the dynamic performance objective function is ;in, It is a time variable; For the first Power supply area Temporal regional control deviation; For dynamic performance indicators; The economic objective function is: ;in, The output loss coefficient of the cascaded coordinated frequency modulation controller; For the first The total output command of the cascaded coordinated frequency modulation controller for each power supply area; This is the adjustment cost coefficient for thermal power units; This is the energy storage regulation cost coefficient for the energy storage unit. For the first Output deviation of thermal power units in each power supply area; For the first Output deviation of energy storage units in each power supply area; For economic indicators; The multi-objective optimization function is: ;in, As the weight of dynamic performance indicators, As the weight of economic indicators, This refers to the overall performance indicators.

7. The method as described in claim 1, characterized in that, The preset optimization algorithm is the lemur optimization algorithm; The method employs a preset optimization algorithm to optimize the parameters of the cascade coordinated frequency modulation controller according to the multi-objective optimization function, thereby obtaining an optimal parameter set, including: An optimization variable set is constructed based on the key parameters of the cascaded coordinated frequency modulation controller; Multiple lemur individuals are obtained by mapping the set of optimization variables, and a lemur population matrix is ​​constructed; where each lemur individual corresponds to a set of values ​​in the set of optimization variables. Using the free risk rate rule, iterative calculations are performed based on the total performance index of each lemur individual until the convergence criterion of the lemur algorithm is met, thus obtaining the optimal parameter set; wherein, the total performance index of each lemur individual is calculated based on the values ​​of the set of optimization variables corresponding to each lemur individual.

8. The method as described in claim 1, characterized in that, The process of allocating the total output command of the cascade coordinated frequency regulation controller corresponding to the optimal parameter set to various power generating units based on their performance characteristics, and regulating the frequency of the energy base, includes: The cascaded coordinated frequency modulation controller is updated according to the optimal parameter set, and a new total output command is obtained according to the updated cascaded coordinated frequency modulation controller. Based on the dynamic response characteristics and capacity constraints of various types of power generating units, the allocation ratio coefficient of each unit is determined, wherein the allocation ratio coefficient is used to determine the distribution ratio of the total output command on each power generating unit; The output deviation of each power unit is determined based on the aforementioned ratio coefficient; The output deviation is updated to the multi-region interconnected system model to change the total output command of the cascade coordinated frequency modulation controller.

9. The method as described in claim 6, characterized in that, The total output command of the cascaded coordinated frequency modulation controller ;in, For the first The comprehensive disturbance term for each power supply area; For the first Regional control deviation of each power supply area; For the first Frequency deviation of each power supply area; The transfer function for the secondary controller describes the mapping relationship between the output of the primary controller and the dynamic correction command; The main controller transfer function is used to describe the mapping relationship between the regional control deviation and the global steady-state adjustment command; This is the Laplace transform operator.

10. A coordinated frequency regulation device for an integrated energy base, characterized in that, include: The model building module is used to construct a multi-regional interconnected system model based on the coupling relationship between the dynamic regulation transfer function of various power units, the system frequency deviation model, and the tie-line power deviation model. The controller construction module is used to construct a cascaded coordinated frequency modulation controller consisting of an outer loop main controller and an inner loop secondary controller based on the multi-region interconnection system model. The function construction module is used to construct a multi-objective optimization function for tuning the parameters of the cascade coordinated frequency modulation controller based on a predetermined optimization index. The optimization module is used to optimize the parameters of the cascaded coordinated frequency modulation controller according to the multi-objective optimization function using a preset optimization algorithm to obtain the optimal parameter set; The allocation module is used to allocate the output commands of the cascade coordinated frequency control controller corresponding to the optimal parameter set to various types of power generating units according to their performance characteristics, so as to regulate the frequency of the energy base.

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