Power coordination control method of hybrid energy storage assisted black start system and related device

Abstract

The present application belongs to the technical field of power system restoration control, and discloses a power coordination control method of a hybrid energy storage auxiliary black start system and related devices. The method obtains the total active power demand of the black start system, decomposes it into three time scale components of fundamental wave, medium frequency and high frequency, dynamically allocates it to lithium batteries and super capacitors, and then corrects the allocated power based on temperature, operation time and rated parameters. Finally, the frequency change rate and the DC voltage change rate are calculated according to the actual power instruction and the system parameters, and the controller outputs the control quantity. The method overcomes the contradiction between the energy and the power density of a single power source, cooperatively improves the response speed and the continuous power supply capacity, effectively suppresses the voltage frequency instability risk caused by the load input, and significantly improves the reliability and efficiency of the black start through the improved hybrid energy storage coordination control.

Description

Technical Field

[0001] This invention belongs to the field of power system restoration control technology, and particularly relates to a power coordination control method and related devices for a hybrid energy storage-assisted black start system. Background Technology

[0002] As power systems evolve towards higher proportions of renewable energy and greater electronic power, their resilience to disturbances has decreased, and the risk of large-scale power outages remains a real concern. Black start, as a core technology for rapid power restoration after a complete power outage, directly impacts socio-economic order and public safety through its reliability and efficiency. Currently, black start technology primarily relies on single energy storage devices (such as batteries or flywheel energy storage) or traditional generator sets (such as diesel generators or hydroelectric generators) to construct a black start power source. This involves gradually activating critical transmission lines and load centers to restore the entire power system.

[0003] Existing black-start technologies face several pressing issues: First, solutions relying on single energy storage devices or traditional generator sets have inherent limitations. Single energy storage devices often struggle to balance energy density and power density, while traditional generator sets suffer from slow start-up speeds and high pollution emissions. Second, there is a significant conflict between response speed and continuous power supply capability. Prioritizing start-up response speed often fails to meet long-term continuous power supply demands, while neglecting it results in an inability to quickly respond to system black-start commands. Third, the impact of load input during black-start can easily lead to voltage and frequency instability. Due to the low system inertia and weak anti-interference capability in the initial stage of black-start, the sudden connection of loads can disrupt the system's power balance, causing voltage drops, frequency fluctuations, and in severe cases, black-start failure. Furthermore, although hybrid energy storage systems (combining different types of energy storage devices) are considered an effective direction for improving black-start performance due to their complementary advantages, current coordinated control strategies for hybrid energy storage participation in black-start are still imperfect. They cannot fully leverage the synergistic effects of different energy storage devices and are unable to effectively solve the aforementioned problems of response speed, continuous power supply, and voltage and frequency instability.

[0004] It is evident that existing black start technologies suffer from several drawbacks: reliance on a single power source, a significant contradiction between response speed and sustained capacity, insufficient capacity to handle load surges, and a lack of coordinated control for hybrid energy storage. Consequently, the reliability and efficiency of black start are difficult to guarantee. Summary of the Invention

[0005] This invention provides a power coordination control method and related device for a hybrid energy storage-assisted black start system. This method can effectively solve the problems of existing black start technologies, which rely on a single power source, have prominent contradictions between response speed and continuous capacity, insufficient load impact response capabilities, and lack of hybrid energy storage coordination control, resulting in difficulties in ensuring the reliability and efficiency of black start.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A power coordination control method for a hybrid energy storage-assisted black start system, wherein the black start system is operated with the assistance of a hybrid energy storage system; wherein the hybrid energy storage system is composed of a lithium battery and a supercapacitor, and the power coordination control method includes:

[0008] Obtain the total active power requirement of the black-start system;

[0009] The total active power demand is decomposed into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component.

[0010] The fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component are dynamically allocated to the lithium battery and supercapacitor to obtain the battery-allocated power and the supercapacitor-allocated power.

[0011] The battery power allocation and supercapacitor power allocation are corrected based on battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters to obtain the actual battery power command and the actual supercapacitor power command.

[0012] Based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system, the frequency change rate and DC voltage change rate are calculated so that the controller can output the power coordination control quantity of the black start system according to the frequency change rate and DC voltage change rate.

[0013] Furthermore, the process of decomposing the total active power demand into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component includes:

[0014] The total active power demand is decomposed into multiple time scales, outputting the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component. The specific decomposition formula is as follows:

[0015]

[0016]

[0017]

[0018]

[0019] In the formula, This indicates the total active power demand; Indicates the fundamental power component; Indicates the intermediate frequency fluctuation component; Indicates high-frequency fluctuation components; Indicates the weight of the fundamental component; Indicates the fundamental frequency integral window; Represents the integral variable; Indicates the fundamental frequency time constant; Indicates the weight of the intermediate frequency component; Indicates the intermediate frequency integration window; represents the intermediate frequency time constant; t represents the current time; e represents the natural constant.

[0020] Furthermore, the dynamic allocation of the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component to the lithium battery and supercapacitor includes:

[0021] The current state of charge of the battery and the state of charge of the supercapacitor are obtained through the battery management system.

[0022] Based on an allocation strategy that considers energy storage response characteristics, state of charge (SOC), and lifetime factors, and combining the SOC of the battery and the supercapacitor, the fundamental power component, mid-frequency fluctuation component, and high-frequency fluctuation component are dynamically allocated to the lithium battery and the supercapacitor, outputting the battery-allocated power and the supercapacitor-allocated power. The specific formulas are as follows:

[0023]

[0024] In the formula, Indicates the battery's power distribution; This indicates the power distribution of the supercapacitor; Indicates the fundamental power component; Indicates the intermediate frequency fluctuation component; Indicates high-frequency fluctuation components; Indicates the intermediate frequency component distribution coefficient; Indicates the battery SOC impact coefficient; Indicates the battery's state of charge; This represents the SOC (State of Charge) influence coefficient of a supercapacitor. Indicates the state of charge of the supercapacitor; The supercapacitor efficiency coefficient is represented by t; t represents the current time.

[0025] The specific calculation formula for the intermediate frequency component allocation coefficient is as follows:

[0026]

[0027] In the formula, Indicates the steepness of the Sigmoid function; This represents the SOC difference threshold.

[0028] Furthermore, the correction of battery power allocation and supercapacitor power allocation based on battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters includes:

[0029] Obtain battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters;

[0030] The battery power allocation and supercapacitor power allocation are corrected by combining battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters, respectively, and the actual battery power command and supercapacitor power command are output. The specific correction formula is as follows:

[0031]

[0032] In the formula, Indicates the actual power output of the battery; This indicates the actual power command of the supercapacitor; Indicates the battery's power distribution; This indicates the power distribution of the supercapacitor; Indicates the battery temperature correction factor; This represents the temperature correction factor for the supercapacitor, obtained based on an empirical formula; T represents temperature. Indicates the aging correction factor; Indicates the battery's rated parameters; This represents the rated parameters of the supercapacitor; t represents the current time.

[0033] Wherein, saturation function Defined as:

[0034]

[0035] In the formula, Represents a symbolic function;

[0036] Among them, battery temperature correction factor The calculation formula is as follows:

[0037]

[0038] In the formula, Indicates the battery temperature sensitivity coefficient; Indicates the battery temperature impact index; Indicates the optimal battery temperature;

[0039] Aging Correction Factor The calculation formula is as follows:

[0040]

[0041] In the formula, Indicates the battery aging rate coefficient; Indicates the battery's rated cycle life; This indicates the number of cycles the battery has been used.

[0042] Furthermore, the calculation of the frequency change rate and DC voltage change rate based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system includes:

[0043] Obtain the actual power command of the battery, the actual power command of the supercapacitor, the pre-collected total output power of the inverter, and the frequency deviation and voltage deviation of the hybrid energy storage system;

[0044] Based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-collected total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system, the frequency change rate and DC voltage change rate are calculated. The specific calculation formulas are as follows:

[0045]

[0046] In the formula, Indicates frequency deviation; Indicates the rated angular frequency; Represents the system's inertial constant; Indicates the reference power; Indicates generator output; Indicates the actual power output of the battery; This indicates the actual power command of the supercapacitor; This indicates the total active power demand; Indicates the load damping coefficient; Indicates the DC bus voltage; Indicates DC bus capacitance; Indicates the efficiency of the battery converter; Indicates the efficiency of the supercapacitor converter; Indicates inverter efficiency; This indicates the total output power of the inverter;

[0047] Among them, frequency deviation It is obtained by subtracting the current system frequency from the rated frequency;

[0048] The total power output of the inverter The calculation is based on voltage deviation, and the specific calculation formula is as follows:

[0049]

[0050] In the formula, Indicates reference power; These all represent different frequency control parameters; Indicates voltage control parameters; Represents the integral variable; Indicates voltage deviation, where:

[0051]

[0052] In the formula, Indicates the reference voltage.

[0053] Furthermore, the calculation of the frequency change rate and DC voltage change rate based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system includes:

[0054] In the current control cycle, the frequency change rate is multiplied by the time interval and added to the frequency deviation of the previous control cycle to obtain a new frequency deviation prediction value; the DC voltage change rate is multiplied by the time interval and added to the voltage deviation of the previous control cycle to obtain a new voltage deviation prediction value.

[0055] The frequency compensation power value is obtained by performing proportional, integral, and derivative processing based on the new frequency deviation prediction value; the voltage compensation power value is obtained by performing proportional and derivative processing based on the new voltage deviation prediction value.

[0056] Based on the total compensation power obtained by adding the frequency compensation power value and the voltage compensation power value, and combined with the real-time state of charge of the battery and the supercapacitor, the compensation power undertaken by the lithium battery and the supercapacitor is dynamically allocated to obtain the compensation power allocated to the battery and the compensation power allocated to the supercapacitor.

[0057] The power coordination control quantity of the black start system is calculated based on the compensation power allocated to the battery and the compensation power allocated to the supercapacitor. This power coordination control quantity includes the final power of the battery and the final power of the supercapacitor. The specific calculation formula is as follows:

[0058] Battery final power = battery actual power + battery allocated compensation power;

[0059] The final power of the supercapacitor = the power of the supercapacitor + the compensation power allocated by the supercapacitor.

[0060] Furthermore, the step of performing proportional, integral, and derivative processing based on the new frequency deviation prediction value to obtain the frequency compensation power value includes:

[0061] The new frequency deviation is multiplied by a first preset scaling factor to generate a first frequency compensation power value.

[0062] The cumulative value of all historical frequency deviations is multiplied by the first preset integral coefficient to generate the second frequency compensation power value.

[0063] The difference between the new frequency deviation and the frequency deviation of the previous cycle is multiplied by the first preset differential coefficient to generate the third frequency compensation power value.

[0064] The first frequency compensation power value, the second frequency compensation power value, and the third frequency compensation power value are added together to obtain the frequency compensation power value.

[0065] The process of performing proportional and derivative processing based on the new voltage deviation prediction value to obtain the voltage compensation power value includes:

[0066] The new voltage deviation prediction value is multiplied by the second preset scaling factor to generate the first voltage compensation power value.

[0067] The cumulative value of all historical voltage deviations is multiplied by the second preset integral coefficient to generate the second voltage compensation power value.

[0068] The voltage compensation power value is obtained by adding the first voltage compensation power value and the second preset integral coefficient.

[0069] A power coordination control system for a hybrid energy storage-assisted black start system, wherein the black start system is operated with the assistance of a hybrid energy storage system; wherein the hybrid energy storage system is composed of a lithium battery and a supercapacitor, and the power coordination control system for the hybrid energy storage-assisted black start system includes:

[0070] The data acquisition module is used to obtain the total active power requirement of the black-start system;

[0071] The decomposition module is used to decompose the total active power demand into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component.

[0072] The dynamic allocation module is used to dynamically allocate the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component to the lithium battery and supercapacitor to obtain the battery allocation power and the supercapacitor allocation power.

[0073] The correction module is used to correct the battery power allocation and the supercapacitor power allocation based on the battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters and supercapacitor rated parameters, so as to obtain the actual battery power command and the actual supercapacitor power command.

[0074] The command output module is used to calculate the frequency change rate and DC voltage change rate based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency deviation and voltage deviation of the hybrid energy storage system. This allows the controller to output the power coordination control quantity of the black start system based on the frequency change rate and DC voltage change rate.

[0075] A power coordination control device for a hybrid energy storage-assisted black start system includes:

[0076] Memory, used to store computer programs;

[0077] A processor is used to implement the power coordination control method of the hybrid energy storage-assisted black start system described above when executing the computer program.

[0078] A computer-readable storage medium storing a computer program, which, when executed by a processor, is used to implement the power coordination control method of the hybrid energy storage assisted black start system described above.

[0079] Compared with the prior art, the present invention has the following beneficial effects:

[0080] This invention provides a power coordination control method for a hybrid energy storage-assisted black start system. The hybrid energy storage system consists of lithium batteries and supercapacitors. This method obtains the total active power demand of the black start system, decomposes it into three time-scale components (fundamental, intermediate frequency, and high frequency), and dynamically allocates them to the lithium batteries and supercapacitors. The allocated power is then corrected based on temperature, operating time, and rated parameters. Finally, the frequency change rate and DC voltage change rate are calculated based on the actual power command and system parameters, providing control outputs to the controller. The multi-time-scale decomposition leverages the complementary advantages of lithium batteries' high energy density, suitable for handling steady-state fundamental components, and supercapacitors' high power density, suitable for handling fluctuating components. Dynamic allocation and parameter correction optimize the component operating state, preventing overload and aging. The feedback mechanism calculates the change rate in real time, allowing the controller to quickly adjust the power output, enhancing the system's dynamic response capability. This method overcomes the contradiction between the energy and power density of a single power source, synergistically improving response speed and continuous power supply capability, effectively suppressing the risk of voltage and frequency instability caused by load input, and significantly improving the reliability and efficiency of black start through improved hybrid energy storage coordination control. Attached Figure Description

[0081] Figure 1 A flowchart of a power coordination control method for a hybrid energy storage-assisted black start system provided in an embodiment of the present invention;

[0082] Figure 2 This is a schematic diagram of the power coordination control system of a hybrid energy storage-assisted black start system provided in an embodiment of the present invention. Detailed Implementation

[0083] To further understand the content of this invention, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0084] The technical terms used in this invention are explained below:

[0085] SOC stands for State of Charge, which indicates the state of charge.

[0086] This embodiment provides a power coordination control method for a hybrid energy storage-assisted black start system, namely, a hybrid energy storage-assisted black start control method based on multi-timescale power decomposition and dynamic state correction. This method can give full play to the synergistic effect of different energy storage devices and effectively solve problems such as response speed, continuous capability and voltage frequency instability.

[0087] like Figure 1 As shown, this embodiment provides a power coordination control method for a hybrid energy storage-assisted black start system, wherein the hybrid energy storage system consists of a lithium battery and a supercapacitor. The specific power coordination control method includes:

[0088] Obtain the total active power requirement of the black-start system;

[0089] The total active power demand is decomposed into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component.

[0090] The fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component are dynamically allocated to the lithium battery and supercapacitor to obtain the battery-allocated power and the supercapacitor-allocated power.

[0091] The battery power allocation and supercapacitor power allocation are corrected based on battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters to obtain the actual battery power command and the actual supercapacitor power command.

[0092] Based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system, the frequency change rate and DC voltage change rate are calculated so that the controller can output the power coordination control quantity of the black start system according to the frequency change rate and DC voltage change rate.

[0093] The coordination control method provided in this embodiment will be further explained below:

[0094] Step 1: Data Acquisition and Initialization

[0095] After the black boot system is powered on, the black boot control host is started.

[0096] Read the initialization parameters of the hybrid energy storage system, specifically including: battery rated capacity C. bat rated (Unit: kWh), Rated Capacity C of Supercapacitorsc rated (Unit: kF), Maximum continuous power of battery P bat max (Unit: kW) and the maximum instantaneous power P of the supercapacitor sc max (Unit: kW)

[0097] For example, the initial state, including the initial state of charge (SOC) of the battery, is read through the battery management system and the supercapacitor manager. bat (0) Initial State of Charge (SOC) of Supercapacitor sc (0) Initial temperature T of each battery bat (0) and the initial temperature T of the supercapacitor sc (0).

[0098] Load the expected load switching sequence of the black start system from the energy management system or preset plan to obtain the expected total active power demand at each moment within a future period (e.g., 300 seconds). .

[0099] In this embodiment, the control parameters are initialized, and the specific parameters are set as follows:

[0100] Fundamental time constant τ base =20s, intermediate frequency time constant τ mid =2s; assign fundamental component weight α base =0.9, mid-frequency component weight α mid =0.1; Battery SOC influence coefficient β bat =0.2, the influence coefficient β of supercapacitor SOC sc =0.1; Sigmoid function steepness γ=10; SOC difference threshold ΔSOC th =0.2.

[0101] To facilitate storage, a data buffer is also established in this embodiment to store historical power data and intermediate calculation results.

[0102] Step 2: Online Real-Time Power Demand Decomposition

[0103] In each control cycle (e.g., Δt = 0.1 seconds), the total active power demand of the system at the current moment is measured in real time through a power transmitter or synchronous phasor measurement unit connected in parallel to the system bus. This value is the actual measured value and serves as the basis for all subsequent calculations.

[0104] The power demand during the black start process is decomposed into three components according to the time constant. This facilitates the subsequent matching of energy storage units with different response speeds. The specific formula is as follows:

[0105]

[0106] in:

[0107]

[0108]

[0109]

[0110] In the formula, This represents the total active power demand, in kW, and the predicted and measured values ​​of the black start load. Represents the fundamental power component, in kW; Indicates the mid-frequency fluctuation component, kW; Represents high-frequency fluctuation components, kW; The weight of the fundamental component is preferably 0.85 to 0.95. Indicates the fundamental integral window, s, ; Represents the integral variable; The fundamental time constant is expressed in seconds, which, according to the starting characteristics of large motors, is 10~30s. The weight of the intermediate frequency component is preferably 0.05 to 0.15. Indicates the intermediate frequency integration window, s. ; The value represents the intermediate frequency time constant, s, which is typically 1~5s according to load characteristics; t represents the current time; and e represents the natural constant.

[0111] Step 3, Dynamic Power Allocation:

[0112] The current state of charge (SOC) of the battery and the supercapacitor is read through the battery management system. In this step, an allocation strategy considering energy storage response characteristics, SOC, and lifespan is employed. Combining the SOC of the battery and the supercapacitor, the fundamental power component, mid-frequency fluctuation component, and high-frequency fluctuation component are dynamically allocated to the lithium battery and the supercapacitor, outputting the allocated power for the battery and the allocated power for the supercapacitor. The specific allocation formula is as follows:

[0113]

[0114] In the formula, Indicates the battery's power distribution; This indicates the power distribution of the supercapacitor; Indicates the fundamental power component; Indicates the intermediate frequency fluctuation component; Indicates high-frequency fluctuation components; This represents the intermediate frequency component allocation coefficient, with a value ranging from 0 to 1; This represents the battery SOC influence coefficient, determined experimentally, with a value ranging from 0.1 to 0.3. This indicates the battery's state of charge, which is obtained in real time through measurement by the battery management system, and its value ranges from 0.2 to 0.9. The SOC (State of Charge) factor of the supercapacitor is determined experimentally and ranges from 0.05 to 0.15. This indicates the state of charge of the supercapacitor, which is obtained in real time through the battery management system, and the value ranges from 0.1 to 0.9. Indicates the efficiency coefficient of a supercapacitor; = ;in, For rated efficiency, This represents the power loss coefficient of a supercapacitor.

[0115] The specific calculation formula for the intermediate frequency component allocation coefficient is as follows:

[0116]

[0117] In the formula, This represents the steepness of the Sigmoid function, determined by the response, and ranges from 5 to 20. This represents the SOC difference threshold, which is obtained based on the capacity ratio and ranges from 0.1 to 0.3.

[0118] In this step, the decomposed power components are allocated to different energy storage units, and dynamic adjustments are made considering the real-time SOC status to optimize system performance and lifespan.

[0119] Step 4: Correction of actual output based on operational constraints:

[0120] First, read the temperature sensor data, namely the battery temperature and the supercapacitor temperature; query the battery's cumulative running time; and obtain the device's rated parameters, namely the battery's rated parameters and the supercapacitor's rated parameters.

[0121] Calculate the correction factor:

[0122] Battery temperature correction factor The calculation formula is as follows:

[0123]

[0124] In the formula, Indicates the battery temperature sensitivity coefficient; Indicates the battery temperature impact index; Indicates the optimal battery temperature;

[0125] Among them, the optimal battery temperature =25℃, battery temperature sensitivity coefficient =0.01; Battery temperature effect index =1.5; The above formula is derived from fitting test data of the discharge capacity of a certain type of lithium iron phosphate battery at different temperatures.

[0126] Aging Correction Factor The calculation formula is as follows:

[0127]

[0128] In the formula, This represents the battery aging rate coefficient (e.g., 0.0001). Indicates the battery's rated cycle life (e.g., 5000 hours); This indicates the cycle time the battery has been used; the factor is simply linearized to handle the impact of capacity decay on maximum output capability.

[0129] The battery power allocation and supercapacitor power allocation are corrected by combining battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters, respectively, and the actual battery power command and supercapacitor power command are output. The specific correction formula is as follows:

[0130]

[0131] In the formula, Indicates the actual power output of the battery; This indicates the actual power command of the supercapacitor; Indicates the battery's power distribution; This indicates the power distribution of the supercapacitor; Indicates the battery temperature correction factor; This represents the temperature correction factor for the supercapacitor, obtained based on an empirical formula; T represents temperature. Indicates the aging correction factor; Indicates the battery's rated parameters; This represents the rated parameters of the supercapacitor; t represents the current time.

[0132] Wherein, saturation function Defined as:

[0133]

[0134] In the formula, Represents a symbolic function;

[0135] In this step, ensure that the final power command issued to the energy storage converter is... and It will not exceed the instantaneous safety limit of the equipment and takes into account the impact of the actual operating environment, making it a key bridge from theoretical control to safety engineering applications.

[0136] Step 5: Voltage and Frequency Coordination Control and Command Issuance:

[0137] First, measure the current system frequency and DC bus voltage; then set the current system frequency... The frequency deviation is calculated by subtracting the rated frequency from the actual frequency. Where, assuming the rated frequency is 50Hz, then Voltage deviation based on With reference voltage The difference is calculated to obtain the result. .

[0138] Next, we calculate the total power demand of the inverter, that is, the total power output of the inverter. The specific calculation formula is as follows:

[0139]

[0140] In the formula, Indicates reference power; These all represent different frequency control parameters, in kW / Hz; This indicates the voltage control parameter, kW / V; This represents the integration variable. In the formula, The first is the basis for load demand, and the last three are the adjustment quantities used to stabilize frequency and voltage.

[0141] , According to the system inertia constant (e.g., 3 seconds) and damping coefficient (e.g., 1.5% load / Hz) are determined using classical power system controller tuning methods (such as trial and error or pole placement).

[0142] A dynamic voltage-frequency model of a black-start system supported by hybrid energy storage is constructed. The formulas for calculating the rate of frequency change and the rate of DC voltage change are as follows:

[0143]

[0144] In the formula, Indicates frequency deviation, in Hz; Indicates the rated angular frequency, in rad / s; The constant of inertia of the system is represented by s; Represents reference power, VA; Indicates generator output, in kW; Indicates the actual power output of the battery; This indicates the actual power command of the supercapacitor; This indicates the total active power demand; This represents the load damping coefficient, in kW / Hz; This represents the DC bus voltage, in V; This represents the DC bus capacitance, expressed in F. Indicates the efficiency of the battery converter; Indicates the efficiency of the supercapacitor converter; Indicates inverter efficiency; This represents the total output power of the inverter, expressed in kW.

[0145] For example, after outputting the frequency change rate and DC voltage change rate, the specific control flow is as follows:

[0146] First, discrete integral calculations are performed on the rate of change of frequency and the rate of change of DC voltage:

[0147] In the current control cycle, the frequency change rate is multiplied by the time interval and added to the frequency deviation of the previous control cycle to obtain a new frequency deviation prediction value; the DC voltage change rate is multiplied by the time interval and added to the voltage deviation of the previous control cycle to obtain a new voltage deviation prediction value.

[0148] In this embodiment, when the system starts, the frequency deviation and voltage deviation are initialized to zero, and the calculation results of each cycle are stored in the historical data buffer for subsequent analysis and control.

[0149] For example, the control system adopts a dual-loop controller design. Based on the predicted frequency deviation and voltage deviation, two parallel controllers are designed and run, specifically performing the following steps:

[0150] Based on the new frequency deviation prediction value, proportional, integral, and derivative processing is performed to obtain the frequency compensation power value; based on the new voltage deviation prediction value, proportional and derivative processing is performed to obtain the voltage compensation power value, as follows:

[0151] 1. Frequency recovery controller, consisting of three parts:

[0152] Proportional control section: Multiply the new frequency deviation by the first preset proportional coefficient to generate the first frequency compensation power value;

[0153] Integral control section: Multiply the cumulative value of all historical frequency deviations by the first preset integral coefficient to generate the second frequency compensation power value;

[0154] Differential control section: The difference between the new frequency deviation and the frequency deviation of the previous cycle is multiplied by the first preset differential coefficient to generate the third frequency compensation power value;

[0155] The first frequency compensation power value, the second frequency compensation power value, and the third frequency compensation power value are added together to obtain the frequency compensation power value.

[0156] 2. Voltage recovery controller, consisting of two parts:

[0157] Proportional control section: Multiply the new voltage deviation prediction value by the second preset proportional coefficient to generate the first voltage compensation power value;

[0158] Integral control section: Multiply the cumulative value of all historical voltage deviations by a second preset integral coefficient to generate a second voltage compensation power value;

[0159] The voltage compensation power value is obtained by adding the first voltage compensation power value and the second preset integral coefficient. A positive value indicates that the system needs additional power support, while a negative value indicates that the system has excess power and needs to absorb the excess power.

[0160] Based on the total compensation power obtained by adding the frequency compensation power value and the voltage compensation power value, and combined with the real-time state of charge of the battery and the supercapacitor, the compensation power undertaken by the lithium battery and the supercapacitor is dynamically allocated to obtain the compensation power allocated to the battery and the compensation power allocated to the supercapacitor.

[0161] Specifically, in this embodiment, an adaptive allocation mechanism based on energy storage state is also introduced, which is implemented as follows:

[0162] The allocation ratio is dynamically adjusted based on the real-time state of charge of the battery and the supercapacitor: the difference in state of charge between the battery and the supercapacitor is calculated; the difference is mapped to an allocation coefficient through a sigmoid function; when the allocation coefficient is close to 1, the battery undertakes most of the compensation power; when the allocation coefficient is close to 0, the supercapacitor undertakes most of the compensation power.

[0163] The power coordination control quantity of the black start system is calculated based on the compensation power allocated by the battery and the compensation power allocated by the supercapacitor; wherein, the power coordination control quantity of the black start system includes the final power command of the battery and the final power command of the supercapacitor.

[0164] Battery final power = battery actual power + battery allocated compensation power;

[0165] The final power of the supercapacitor = the power of the supercapacitor + the compensation power allocated by the supercapacitor.

[0166] For example, a safety check is required before sending the final power command to the energy storage converter. The specific safety check is implemented as follows:

[0167] First, the power limiting stage:

[0168] Check if the power of each energy storage unit exceeds its maximum allowable value: if it exceeds the maximum discharge power, the command will be limited to the maximum discharge power; if it exceeds the maximum charging power, the command will be limited to the maximum charging power; if it exceeds the charging and discharging limits at the same time, stricter limiting measures will be adopted and an alarm will be triggered.

[0169] Second, SOC protection:

[0170] Check if the state of charge (SOC) of the energy storage unit is within a safe range: If the SOC is close to the upper limit and the command is to discharge, appropriately reduce the discharge power; if the SOC is close to the lower limit and the command is to charge, appropriately reduce the charging power; set different SOC protection ranges.

[0171] Warning zone: Used for minor power limiting;

[0172] Protected areas: used to significantly limit power;

[0173] Emergency zone: Used to stop charging and discharging.

[0174] Third, temperature protection:

[0175] Check if the energy storage unit temperature is normal: If the temperature is within the optimal range: operate normally; if the temperature is high but not exceeding the limit: reduce the power proportionally; if the temperature exceeds the safety limit: stop operation and trigger an alarm.

[0176] For example, this embodiment also provides an implementation process for instruction execution and actual response measurement, as follows:

[0177] The system first enters the command execution and actual response measurement phase. Power commands are sent to the energy storage converter through a pre-defined communication network. Battery power commands sent to the battery side use a "power value + direction" format, while supercapacitor power commands sent to the supercapacitor side use the same format. In this embodiment, industrial Ethernet is selected as the communication protocol to ensure the real-time performance and reliability of command transmission. After one control cycle, the actual system measurement process is initiated. The system frequency is acquired using a frequency measurement device with an accuracy of ±0.01 Hz, the DC bus voltage is acquired using a voltage sensor with an accuracy of ±0.5%, and the actual output power of the battery and supercapacitor is collected using a power transmitter with an accuracy of ±1%. Simultaneously, the latest state of charge of both the battery management system and the supercapacitor manager is read and updated to provide data support for subsequent control adjustments.

[0178] After completing the actual response measurement, the error analysis and parameter adjustment phase begins. First, the predicted error is calculated, specifically the frequency error and voltage error. The frequency error is the difference between the actual frequency deviation and the predicted frequency deviation, and the voltage error is the difference between the actual voltage deviation and the predicted voltage deviation. Based on the calculated errors, an adaptive parameter adjustment strategy is implemented: if the error remains within a small range, it indicates that the current control parameters are suitable for the system's operating state, and the existing control parameters are maintained; if the error remains large, it indicates that the current parameters cannot meet the control accuracy requirements, and the controller parameters are slightly adjusted to optimize the control effect; if the error increases sharply, an emergency parameter adjustment procedure is immediately initiated, and the corresponding fault information is recorded to provide a basis for subsequent fault diagnosis.

[0179] After parameter adjustment, the system enters the steady-state judgment and operating mode switching stage. Preset conditions are used to determine if the system has entered a quasi-steady state. The system is considered to have entered a quasi-steady state when all four conditions are met simultaneously: the absolute value of the frequency deviation is less than 0.05 Hz for 5 seconds, the absolute value of the voltage deviation is less than 5 volts for 5 seconds, the absolute value of the frequency change rate is less than 0.1 Hz per second, and the absolute value of the voltage change rate is less than 10 volts per second. Based on the system's steady-state state, the corresponding operating mode is switched: when the system is unstable, a fast response mode is used, with a short control cycle of 1 millisecond and a high control gain to quickly suppress fluctuations; once the system enters a stable state, it switches to a stable operating mode, using a normal control cycle of 10 milliseconds and a standard control gain to balance control efficiency while ensuring control accuracy; if the system maintains stable operation for a long time, it can switch to an energy-saving mode, appropriately relaxing control accuracy requirements and reducing the energy consumption of the control system itself.

[0180] Throughout the system's operation, a continuous disturbance detection and emergency response process is implemented, monitoring various disturbance signals in real time. These include load surges (with a threshold of 50 kW, meaning a change in power demand exceeding 50 kW is considered a load surge), generator anomalies (triggered when the actual power output deviates from the command by more than a set threshold), energy storage failures (covering communication interruptions, protection actions, and performance degradation), and network disturbances (determined when frequency or voltage suddenly fluctuates beyond the normal range). Upon detection of any of these disturbances, emergency response measures are immediately implemented: rapidly switching to a fast response mode to improve response speed, activating a pre-set emergency control scheme to adjust power output, increasing power reserve margin to cope with potentially larger disturbances, and meticulously recording the disturbance event's occurrence time, type, and system status for subsequent analysis and optimization.

[0181] To ensure the effective implementation of this control method, the control parameters should be tuned according to the following guidelines: For the frequency controller, first set both the integral and derivative coefficients to zero. Then, gradually increase the proportional coefficient and observe the system response until slight oscillations occur. At this point, reduce the proportional coefficient to 80% of the value at which the oscillations disappear as the base proportional coefficient. Next, gradually increase the integral coefficient until the system steady-state error is reduced to an acceptable range. Finally, slightly increase the derivative coefficient to improve the system response speed while avoiding noise amplification. For the voltage controller, first calculate the base proportional coefficient based on the DC bus capacitance value. The specific formula is: proportional coefficient = capacitance value × rated voltage ÷ (2 × desired response time). Set the integral coefficient to one-tenth of the base proportional coefficient, and then fine-tune it during actual system operation to ensure that the voltage recovery time meets the design requirements. For the sigmoid function slope coefficient of power distribution, select a value between 10 and 20. Set the state-of-charge difference threshold to 0.1 to 0.3. Finally, determine the optimal parameter combination through simulation or experiment.

[0182] For example, during system operation, a robust anomaly handling and security mechanism must be implemented. For communication failures, the following process is adopted: First, detect whether a communication failure has occurred. If so, further determine whether the failure type is a single-point or multi-point failure. If it is a single-point failure, the healthy energy storage unit assumes all power output within its capacity. If it is a multi-point failure, immediately activate the backup communication channel. If the backup channel cannot be activated, switch to local protection mode. If the healthy unit's capacity is insufficient or the protection mode cannot maintain system stability, initiate a load shedding procedure, record fault information, and issue an alarm signal. For model mismatch issues, different strategies are adopted based on the degree of mismatch: for mild mismatch, increase feedback control weights and reduce model prediction weights; for moderate mismatch, switch to a backup control strategy and record system operating data for subsequent model correction; for severe mismatch, immediately shut down for inspection to prevent system instability.

[0183] System startup and shutdown must follow strict management procedures. Before startup, the following checks must be completed: Confirm that the state of charge (SOC) of all energy storage units meets the minimum requirements, with batteries exceeding 30% SOC and supercapacitors exceeding 20% ​​SOC; all communication links are tested and found to be normal, with no signal interruptions or delays; all measuring devices have been calibrated to ensure measurement accuracy meets requirements; the generator is ready; and control parameters have been correctly loaded and verified. The startup steps are as follows: send a startup command to the system, start the data acquisition system to ensure real-time data acquisition, load initial control parameters, start the main loop of the control algorithm, and monitor the startup process throughout to ensure normal operation of each component. System shutdown requires any of the following conditions: the system has been restored to grid power, an external stop command has been received, the energy storage system's SOC is too low to maintain normal operation, or an unrecoverable fault has occurred. The shutdown steps are as follows: smoothly reduce the output of the energy storage units to zero to avoid power surges impacting the system; disconnect the energy storage system from the grid; save relevant data throughout the operation; shut down the control system; and generate an operation report including runtime, control effect, and fault records.

[0184] During system operation, comprehensive data management and analysis are performed. Real-time data recording uses a sampling frequency of 100 Hz, recording all measured values ​​(system frequency, DC bus voltage, actual power of each energy storage unit, etc.), all calculated values ​​(frequency prediction, voltage prediction, power command values, etc.), and all status flags (current operating mode, fault status, parameter adjustment status, etc.). Simultaneously, all important events are recorded, including operating mode switching events, fault alarm events, control parameter adjustment events, and external command reception events. Statistical analysis reports are generated regularly, covering system frequency qualification rate, DC bus voltage qualification rate, energy storage unit utilization rate, and statistics on the number and type of faults, providing data support for optimized system operation and maintenance.

[0185] like Figure 2 As shown, this embodiment also provides a power coordination control system for a hybrid energy storage-assisted black start system, including: a data acquisition module for acquiring the total active power demand of the black start system;

[0186] The decomposition module is used to decompose the total active power demand into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component.

[0187] The dynamic allocation module is used to dynamically allocate the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component to the lithium battery and supercapacitor to obtain the battery allocation power and the supercapacitor allocation power.

[0188] The correction module is used to correct the battery power allocation and the supercapacitor power allocation based on the battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters and supercapacitor rated parameters, so as to obtain the actual battery power command and the actual supercapacitor power command.

[0189] The command output module is used to calculate the frequency change rate and DC voltage change rate based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency deviation and voltage deviation of the hybrid energy storage system. This allows the controller to output the power coordination control quantity of the black start system based on the frequency change rate and DC voltage change rate.

[0190] The present invention also provides a power coordination control device for a hybrid energy storage assisted black start system, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the power coordination control method of the hybrid energy storage assisted black start system.

[0191] The present invention also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the power coordination control method for the hybrid energy storage assisted black start system.

[0192] When the processor executes the computer program, it implements the power coordination control steps of the hybrid energy storage-assisted black start system described above. For example, it obtains the total active power demand of the black start system; decomposes the total active power demand into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component; dynamically allocates the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component to the lithium battery and supercapacitor to obtain the battery allocation power and supercapacitor allocation power; corrects the battery allocation power and supercapacitor allocation power based on the battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters to obtain the battery actual power command and supercapacitor actual power command; and calculates the frequency change rate and DC voltage change rate based on the battery actual power command, supercapacitor actual power command, pre-collected inverter output total power, frequency deviation, and voltage deviation of the hybrid energy storage system, so that the controller can output the power coordination control quantity of the black start system according to the frequency change rate and DC voltage change rate.

[0193] Exemplarily, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing preset functions, wherein the instruction segments describe the execution process of the computer program in the power coordination control device of the hybrid energy storage assisted black start system. For example, the computer program can be divided into a data acquisition module, a decomposition module, a dynamic allocation module, a correction module, and an instruction output module, with the following specific functions: The data acquisition module is used to acquire the total active power demand of the black start system;

[0194] The decomposition module is used to decompose the total active power demand into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component.

[0195] The dynamic allocation module is used to dynamically allocate the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component to the lithium battery and supercapacitor to obtain the battery allocation power and the supercapacitor allocation power.

[0196] The correction module is used to correct the battery power allocation and the supercapacitor power allocation based on the battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters and supercapacitor rated parameters, so as to obtain the actual battery power command and the actual supercapacitor power command.

[0197] The command output module is used to calculate the frequency change rate and DC voltage change rate based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency deviation and voltage deviation of the hybrid energy storage system. This allows the controller to output the power coordination control quantity of the black start system based on the frequency change rate and DC voltage change rate.

[0198] The power coordination control device of the hybrid energy storage-assisted black start system can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The power coordination control device of the hybrid energy storage-assisted black start system may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above are examples of the power coordination control device of the hybrid energy storage-assisted black start system and do not constitute a limitation on the power coordination control device of the hybrid energy storage-assisted black start system. It may include more components than described above, or combine certain components, or different components. For example, the power coordination control device of the hybrid energy storage-assisted black start system may also include input / output devices, network access devices, buses, etc.

[0199] The processor referred to can be a Central Processing Unit (CPU), or 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. The general-purpose processor can be a microprocessor, or any conventional processor. The processor is the control center for power coordination control of the hybrid energy storage-assisted black start system, connecting various parts of the power coordination control equipment of the entire hybrid energy storage-assisted black start system via various interfaces and lines.

[0200] The memory can be used to store the computer program and / or modules. The processor implements various functions of the power coordination control device of the hybrid energy storage assisted black start system by running or executing the computer program and / or modules stored in the memory and calling the data stored in the memory.

[0201] The memory may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function (such as sound playback, image playback, etc.). The data storage area may store data created based on the use of the mobile phone (such as audio data, phonebook, etc.). Furthermore, the memory may include high-speed random access memory and non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0202] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the power coordination control method for a hybrid energy storage assisted black start system.

[0203] If the modules / units integrated into the power coordination control system of the hybrid energy storage assisted black start system are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0204] Based on this understanding, the present invention can implement all or part of the power coordination control method for the aforementioned hybrid energy storage-assisted black start system, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of the power coordination control method for the aforementioned hybrid energy storage-assisted black start system. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or a preset intermediate form, etc.

[0205] The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0206] It should be noted that the content contained in the computer-readable storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0207] In summary, this embodiment provides a power coordination control method for a hybrid energy storage-assisted black start system, which has the following significant advantages compared to traditional black start power coordination control methods:

[0208] This invention significantly improves the performance of a hybrid energy storage-assisted black start system through a multi-timescale power decomposition and dynamic coordination control mechanism. The specific steps include: first, decomposing the total active power demand into fundamental, intermediate frequency, and high frequency components, and achieving initial dynamic allocation based on the characteristic differences between lithium batteries and supercapacitors (lithium batteries handle the steady-state fundamental component, while supercapacitors handle the fluctuating component); second, dynamically correcting the power allocation by incorporating real-time temperature, state of charge, aging degree, and rated parameters of the batteries and supercapacitors, optimizing the component operating point, and preventing overload; finally, combining the inverter output power, system frequency, and voltage deviation, calculating the frequency change rate and DC voltage change rate, generating compensation power through predictive control, and redistributing it to the batteries and supercapacitors based on the energy storage state to form the final power command. This design fully integrates the complementary advantages of the energy density and power density of hybrid energy storage, ensuring rapid response to black start commands while maintaining long-term power supply capability. Through advanced prediction and dynamic correction, it effectively suppresses voltage and frequency instability caused by load input, systematically solving the problems of insufficient coordination and weak anti-interference capability in traditional solutions, and significantly improving the reliability and operating efficiency of black start.

[0209] The above embodiments are merely one of the implementation methods for achieving the technical solution of the present invention. The scope of protection claimed by the present invention is not limited to this embodiment, but also includes any variations, substitutions and other implementation methods that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention.

[0210] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the present invention.

Claims

1. A power coordination control method for a hybrid energy storage-assisted black start system, characterized in that, The black-start system is assisted by a hybrid energy storage system; wherein the hybrid energy storage system consists of lithium batteries and supercapacitors, and the power coordination control method includes: Obtain the total active power requirement of the black-start system; The total active power demand is decomposed into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component. The fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component are dynamically allocated to the lithium battery and supercapacitor to obtain the battery power allocation and the supercapacitor power allocation. The battery power allocation and supercapacitor power allocation are corrected based on battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters to obtain the actual battery power command and the actual supercapacitor power command. Based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system, the frequency change rate and DC voltage change rate are calculated so that the controller can output the power coordination control quantity of the black start system according to the frequency change rate and DC voltage change rate. The dynamic allocation of the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component to the lithium battery and supercapacitor includes: The battery state of charge and supercapacitor state of charge are obtained at the current moment through the battery management system. Based on an allocation strategy that considers energy storage response characteristics, state of charge (SOC), and lifetime factors, and combining the SOC of the battery and the supercapacitor, the fundamental power component, mid-frequency fluctuation component, and high-frequency fluctuation component are dynamically allocated to the lithium battery and the supercapacitor, outputting the battery-allocated power and the supercapacitor-allocated power. The specific formulas are as follows: In the formula, Indicates the battery's power distribution; This indicates the power distribution of the supercapacitor; Indicates the fundamental power component; Indicates the intermediate frequency fluctuation component; Indicates high-frequency fluctuation components; Indicates the intermediate frequency component distribution coefficient; Indicates the battery SOC impact coefficient; Indicates the battery's state of charge; This represents the SOC (State of Charge) influence coefficient of a supercapacitor. Indicates the state of charge of the supercapacitor; The supercapacitor efficiency coefficient is represented by t; t represents the current time. The specific calculation formula for the intermediate frequency component allocation coefficient is as follows: In the formula, Indicates the steepness of the Sigmoid function; This represents the SOC difference threshold.

2. The power coordination control method for a hybrid energy storage-assisted black start system according to claim 1, characterized in that, The process of decomposing the total active power demand into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component includes: The total active power demand is decomposed into multiple time scales, outputting the fundamental power component, intermediate frequency fluctuation component, and high frequency fluctuation component. The specific decomposition formula is as follows: In the formula, This indicates the total active power demand; Indicates the fundamental power component; Indicates the intermediate frequency fluctuation component; Indicates high-frequency fluctuation components; Indicates the weight of the fundamental component; Indicates the fundamental frequency integral window; Represents the integral variable; Indicates the fundamental frequency time constant; Indicates the weight of the intermediate frequency component; Indicates the intermediate frequency integration window; represents the intermediate frequency time constant; t represents the current time; e represents the natural constant.

3. The power coordination control method for a hybrid energy storage-assisted black start system according to claim 1, characterized in that, The correction of battery power allocation and supercapacitor power allocation based on battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters includes: Obtain battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters; The battery power allocation and supercapacitor power allocation are corrected by combining battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters, and supercapacitor rated parameters, respectively, and the actual battery power command and supercapacitor power command are output. The specific correction formula is as follows: In the formula, Indicates the actual power output of the battery; This indicates the actual power command of the supercapacitor; Indicates the battery's power distribution; This indicates the power distribution of the supercapacitor; Indicates the battery temperature correction factor; This represents the temperature correction factor for the supercapacitor, obtained based on an empirical formula; T represents temperature. Indicates the aging correction factor; Indicates the battery's rated parameters; This represents the rated parameters of the supercapacitor; t represents the current time. Wherein, saturation function Defined as: In the formula, Represents a symbolic function; Among them, battery temperature correction factor The calculation formula is as follows: In the formula, Indicates the battery temperature sensitivity coefficient; Indicates the battery temperature impact index; Indicates the optimal battery temperature; Aging Correction Factor The calculation formula is as follows: In the formula, Indicates the battery aging rate coefficient; Indicates the battery's rated cycle life; This indicates the number of cycles the battery has been used.

4. The power coordination control method for a hybrid energy storage-assisted black start system according to claim 1, characterized in that, The frequency change rate and DC voltage change rate are calculated based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system, including: Obtain the actual power command of the battery, the actual power command of the supercapacitor, the pre-collected total output power of the inverter, and the frequency deviation and voltage deviation of the hybrid energy storage system; Based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-collected total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system, the frequency change rate and DC voltage change rate are calculated. The specific calculation formulas are as follows: In the formula, Indicates frequency deviation; Indicates the rated angular frequency; Represents the system's inertial constant; Indicates the reference power; Indicates generator output; Indicates the actual power output of the battery; This indicates the actual power command of the supercapacitor; This indicates the total active power demand; Indicates the load damping coefficient; Indicates the DC bus voltage; Indicates DC bus capacitance; Indicates the efficiency of the battery converter; Indicates the efficiency of the supercapacitor converter; Indicates inverter efficiency; This indicates the total output power of the inverter; Among them, frequency deviation It is obtained by subtracting the current system frequency from the rated frequency; The total power output of the inverter The calculation is based on voltage deviation, and the specific calculation formula is as follows: In the formula, Indicates reference power; These all represent different frequency control parameters; Indicates voltage control parameters; Represents the integral variable; Indicates voltage deviation, where: In the formula, Indicates the reference voltage.

5. The power coordination control method for a hybrid energy storage-assisted black start system according to claim 1, characterized in that, The frequency change rate and DC voltage change rate are calculated based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviations of the hybrid energy storage system, including: In the current control cycle, the frequency change rate is multiplied by the time interval and added to the frequency deviation of the previous control cycle to obtain a new frequency deviation prediction value; the DC voltage change rate is multiplied by the time interval and added to the voltage deviation of the previous control cycle to obtain a new voltage deviation prediction value. The frequency compensation power value is obtained by performing proportional, integral, and derivative processing based on the new frequency deviation prediction value; the voltage compensation power value is obtained by performing proportional and derivative processing based on the new voltage deviation prediction value. Based on the total compensation power obtained by adding the frequency compensation power value and the voltage compensation power value, and combined with the real-time state of charge of the battery and the supercapacitor, the compensation power undertaken by the lithium battery and the supercapacitor is dynamically allocated to obtain the compensation power allocated to the battery and the compensation power allocated to the supercapacitor. The power coordination control quantity of the black start system is calculated based on the compensation power allocated to the battery and the compensation power allocated to the supercapacitor. This power coordination control quantity includes the final power of the battery and the final power of the supercapacitor. The specific calculation formula is as follows: Battery final power = battery actual power + battery allocated compensation power; The final power of the supercapacitor = the power of the supercapacitor + the compensation power allocated by the supercapacitor.

6. The power coordination control method for a hybrid energy storage-assisted black start system according to claim 5, characterized in that, The process of performing proportional, integral, and derivative operations based on the new frequency deviation prediction value to obtain the frequency compensation power value includes: The new frequency deviation is multiplied by a first preset scaling factor to generate a first frequency compensation power value. The cumulative value of all historical frequency deviations is multiplied by the first preset integral coefficient to generate the second frequency compensation power value. The difference between the new frequency deviation and the frequency deviation of the previous cycle is multiplied by the first preset differential coefficient to generate the third frequency compensation power value. The first frequency compensation power value, the second frequency compensation power value, and the third frequency compensation power value are added together to obtain the frequency compensation power value. The process of performing proportional and derivative processing based on the new voltage deviation prediction value to obtain the voltage compensation power value includes: The new voltage deviation prediction value is multiplied by the second preset scaling factor to generate the first voltage compensation power value. The cumulative value of all historical voltage deviations is multiplied by the second preset integral coefficient to generate the second voltage compensation power value. The voltage compensation power value is obtained by adding the first voltage compensation power value and the second preset integral coefficient.

7. A power coordination control system for a hybrid energy storage-assisted black start system, used to implement the power coordination control method for the hybrid energy storage-assisted black start system according to any one of claims 1-6, characterized in that, The black-start system is assisted by a hybrid energy storage system; wherein, the hybrid energy storage system consists of lithium batteries and supercapacitors, and the power coordination control system of the hybrid energy storage-assisted black-start system includes: The data acquisition module is used to obtain the total active power requirement of the black-start system; The decomposition module is used to decompose the total active power demand into multiple time scales to obtain the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component. The dynamic allocation module is used to dynamically allocate the fundamental power component, intermediate frequency fluctuation component and high frequency fluctuation component to the lithium battery and supercapacitor to obtain the battery allocation power and the supercapacitor allocation power. The correction module is used to correct the battery power allocation and the supercapacitor power allocation based on the battery temperature, supercapacitor temperature, battery cumulative operating time, battery rated parameters and supercapacitor rated parameters, so as to obtain the actual battery power command and the actual supercapacitor power command. The command output module is used to calculate the frequency change rate and DC voltage change rate based on the actual power command of the battery, the actual power command of the supercapacitor, the pre-acquired total output power of the inverter, and the frequency and voltage deviation of the hybrid energy storage system. This allows the controller to output the power coordination control quantity of the black start system based on the frequency change rate and DC voltage change rate.

8. A power coordination control device for a hybrid energy storage-assisted black start system, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the power coordination control method for the hybrid energy storage-assisted black start system according to any one of claims 1-6 when executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it is used to implement the power coordination control method of the hybrid energy storage assisted black start system according to any one of claims 1-6.

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