1891 results about "Frequency regulation" patented technology

The invention provides a task load scheduling optimization method and system for distributed network nodes, and the method comprises the steps: determining a task transmission path between the distributed network nodes according to historical task congestion data and a real-time link load prediction result; adjusting a modulation coding strategy in a task transmission process according to the channel quality parameter on the task transmission path to obtain an adjusted modulation coding strategy; according to an energy consumption demand corresponding to the adjusted modulation coding strategy, combining load distribution of each communication link and each node on the task transmission path to generate a voltage frequency adjustment instruction corresponding to the distributed network node; performing collaborative optimization on the task transmission path, the channel quality parameter and the voltage frequency regulation instruction to generate a task load scheduling strategy; according to the invention, through collaborative optimization of dynamic path selection, adaptive modulation coding adjustment and precise energy consumption regulation, the transmission reliability, energy efficiency balance and system stability of the distributed network in a high dynamic environment are improved.

The invention relates to the technical field of power generation equipment control, and discloses an intelligent control method and system for a hydroelectric generating set speed regulator, and the method comprises the steps: employing an introduction variable structure and variable parameter control technology, and dynamically adjusting the control parameters of a power closed loop and an opening closed loop; real-time calculation and feedback control are carried out, and a speed regulator responds to a power grid frequency modulation Operating data of key parts of the speed regulator are collected in real time through a sensor, feature extraction and mode recognition are conducted on the data in combination with an artificial intelligence algorithm, and the operating state and potential faults of the speed regulator are recognized; constructing a fault tree model based on the speed regulator state monitoring parameters, carrying out hierarchical analysis on the speed regulator, and positioning the specific position and reason of the fault; and verifying and optimizing the fault diagnosis result, and generating a targeted fault processing suggestion. The system comprises a dynamic adjustment module, a state evaluation module and a fault analysis module. According to the invention, the operation efficiency and safety of the hydroelectric generating set speed regulator in a complex power grid environment are obviously improved.

Disclosed are a second-level optimal control method and apparatus for joint frequency regulation of heterogeneous load resources, and an electronic device, a storage medium, a computer program product and a computer program. The method comprises: establishing a standardized operation model for heterogeneous load resources; on the basis of parameters of the standardized operation model for the resources and historical frequency regulation signal data of a frequency regulation market, predicting frequency regulation signal distribution and price distribution over a future time period; solving an optimal operation model involving the joint participation of multiple heterogeneous resources in energy and frequency regulation markets, in order to determine a baseline energy output and a frequency regulation capacity; constructing an optimal decomposition problem of load resources and performing variable substitution, and calculating the marginal cost and adjustable range of power adjustment for each resource; and in response to receiving a frequency regulation signal sent by a power grid, starting dispatching from the resource having the lowest marginal regulation cost, and updating the power of each load-side resource until power adjustment requirements are met.

Disclosed in the present invention are a method and system for full-range participation of energy storage charging and discharging in power grid frequency regulation. The method comprises: collecting operating power and frequency data of a power grid, so as to construct a full-range droop coefficient; setting constraints for an upper limit value and a lower limit value of a frequency dead band; obtaining an actual output power instruction value by means of a constraint function constructed on the basis of a theoretical power instruction value and a charging / generated power rated value, and controlling the power grid to operate on the basis of the actual output power instruction value; setting a hysteresis range on a power instruction of an energy storage system, and when a power demand of the power grid exceeds an upper limit threshold value of the hysteresis range, switching the energy storage system from a charging mode to a discharging mode; and when the power demand of the power grid is lower than a lower limit threshold value of the hysteresis range, switching the energy storage system from the discharging mode to the charging mode. In the present invention, when the frequency of the power grid is increased, generated power is reduced until power is absorbed from the power grid, and when the frequency of the power grid is reduced, the absorption of power from the power grid is reduced until electrical power is delivered to the power grid, thus achieving full-range participation of energy storage in power grid frequency regulation control, and satisfying regulation requirements of power grids.

A frequency regulation control method and apparatus, a device, and a storage medium. The method comprises: according to the frequency at a current moment and the calibration frequency of a wind / photovoltaic grid-connected system, determining the frequency deviation value at the current moment and, according to the frequency at the current moment and the frequency at the previous moment, obtaining a frequency deviation change rate (S110); if the absolute value of the frequency deviation value is greater than the absolute value of a preset frequency regulation threshold value, then, according to the frequency deviation value and the frequency deviation change rate, determining inertia response power (S120); according to the frequency deviation value, the preset frequency regulation threshold value, and a preset system maximum frequency deviation, determining droop response power (S130); according to the state of charge of battery energy storage, the inertia response power, and the droop response power, determining battery energy storage target charging and discharging power (S140); and, according to the battery energy storage target charging and discharging power, regulating the frequency of the system (S150).

The invention relates to the technical field of signal analysis, and discloses a primary frequency modulation large disturbance signal peak value analysis method, which comprises the following steps: collecting a primary frequency modulation large disturbance signal and carrying out filtering processing of multi-band noise separation; performing multi-scale decomposition on the filtered disturbance signal, extracting a dynamic entropy of a multi-scale signal sequence, and performing dynamic entropy denoising on the disturbance signal to obtain a denoised disturbance signal; and calculating a potential peak position of the denoised disturbance signal, and carrying out multi-condition verification on the potential peak position to obtain peak information for frequency modulation disturbance analysis. Based on spectrum energy distribution, specific wavelet bases are selected for different noise frequency bands for noise reduction, the wavelet noise reduction performance is improved, the energy distribution complexity and the structure complexity of the disturbance signals on different scales are extracted, the dynamic characteristics of the disturbance signals are captured more comprehensively, the noise reduction precision is improved, and the noise reduction efficiency is improved. And the accuracy of wind power integration fault identification and equipment life monitoring in the peak value analysis process is improved.

The invention discloses a collaborative optimization scheduling method and system considering energy storage frequency modulation reserve. The method comprises the following steps: acquiring basic data of a power system; based on the basic data, a collaborative optimization scheduling model considering energy storage frequency modulation reserve is established, and the collaborative optimization scheduling model takes the minimum sum of the coal consumption cost, the unit start-stop cost and the wind curtailment cost of the thermal power generating unit as a scheduling target under multiple constraint conditions; the multiple constraint conditions comprise a lithium battery power constraint, a charging and discharging state constraint, an SOC constraint, a frequency modulation response constraint, a frequency safety constraint, a frequency modulation standby constraint, a flywheel energy recovery constraint, a thermal power generating unit operation constraint and a power balance constraint; solving the collaborative optimization scheduling model to obtain an optimal scheduling scheme of the power system; by comprehensively utilizing the advantages of a traditional unit, flywheel energy storage and lithium battery energy storage, the safety and operation economy of the system during frequency disturbance are improved.

The invention relates to the technical field of power system frequency, and discloses a thermal power generating unit-energy storage coupling frequency modulation system for improving power grid frequency stability, which comprises a thermal power generating unit module, an energy storage system module, an energy management and distribution control module and a communication and monitoring module. The thermal power generating unit provides a frequency stabilization basis through inertia response and power regulation, and the energy storage system compensates frequency deviation in a quick response mode. And the energy management module dynamically adjusts the power distribution proportion between the thermal power generating unit and the energy storage system based on the optimized objective function to realize efficient collaborative frequency modulation. The output power and the state of charge of the energy storage system are controlled by constraint conditions. The communication and monitoring module collects power grid frequency, load fluctuation and energy storage state data in real time, generates frequency modulation control signals and issues the frequency modulation control signals to each module. By combining the stability of the thermal power generating unit and the quick response characteristic of the energy storage system, the response speed and the adjustment precision of power grid frequency adjustment are remarkably improved, and meanwhile the frequency adjustment cost is reduced.

The invention relates to the field of power system frequency stability control, and discloses a virtual synchronous machine energy storage frequency modulation method and system based on model prediction and adaptive control, and the method comprises the steps: constructing a prediction model of a virtual synchronous machine, wherein a virtual inertia coefficient and a virtual damping coefficient are included; designing a cost function, wherein the cost function is a weighted sum of squares of the frequency increment and the input power increment; solving the optimal control sequence by using quadratic programming, and further correcting the input power of the VSG in real time; and in combination with the dynamic characteristics of the energy storage device, the virtual inertia coefficient and the damping coefficient are adaptively adjusted according to the frequency deviation and the frequency change rate. The method focuses on the combination of model prediction control and adaptive control, is applied to the energy storage frequency modulation of the virtual synchronous machine, and aims to effectively solve the problem of frequency stability caused by the access of high-proportion renewable energy to a power system.

The invention discloses a control system and method for a thermal power generating unit and flywheel energy storage to cooperatively participate in power grid frequency modulation and a power grid frequency modulation method. According to the method, a low-pass filtering algorithm is abandoned, a tracking differentiator is used for decomposing a primary frequency modulation instruction of the thermal power generating unit, and decomposed low-frequency power components are distributed to the thermal power generating unit; high-frequency power components are distributed to the flywheel for energy storage, action times and output abrasion of the thermal power generating unit are reduced, and the service life of the unit is prolonged. A gain coefficient which adaptively changes along with the state of charge (SOC) and frequency deviation is introduced into the decomposed high-frequency power component, so that accurate matching requirements are facilitated, the energy utilization efficiency is improved, the frequency fluctuation of a power grid is better stabilized, and the quality of the power grid is improved; and meanwhile, a Logistic function for preventing the flywheel from being overcharged and overdischarged is introduced to restrain the theoretical response power of flywheel energy storage, deep charging and discharging of the flywheel are avoided, and therefore the loss of the flywheel is reduced.

The invention relates to the technical field of energy storage frequency modulation, in particular to a prediction method and system for an energy storage frequency modulation instruction, and the method comprises the steps: decomposing a frequency modulation instruction sequence Pt through VMD, and obtaining a plurality of IMF subsequences; according to the total area Sii of the current IMF sub-sequence and the test group error Wi, judging whether the current IMF sub-sequence is a false sequence or not by using an activation function; and improving the IMF sub-sequence of which the judgment result is false, and performing prediction output of a frequency modulation instruction by utilizing the improved IMF sub-sequence. The method has the advantages that false sequences possibly generated in the variational mode decomposition process can be effectively recognized and improved. According to the method, the false sequence can be accurately found out and processed by calculating the area defined by the adjacent data points in the subsequences and the X axis, the prediction error is reduced, and the prediction precision is improved. In addition, a false sequence is optimized by means of generating a random sequence, performing mirror image transformation and the like, and the response speed and the frequency modulation efficiency of the system are further improved.

The embodiment of the invention provides a flywheel energy storage system energy management method and system, electronic equipment and a storage medium. The method comprises the following steps: acquiring flywheel data, power grid data and maximum allowable charging and discharging power in real time; constructing a multi-objective optimization function according to the flywheel data, the power grid data and the maximum allowable charging and discharging power of the flywheel; and dynamically adjusting a weight coefficient of the multi-objective optimization function according to a power grid response effect, and generating an optimal flywheel charging and discharging power instruction in real time by adopting a model prediction control algorithm. According to the embodiment of the invention, through the model prediction control algorithm, the real-time flywheel state and the power grid demand data are combined, the charging and discharging power instruction is dynamically optimized, the charging and discharging switching loss is reduced, and the comprehensive efficiency of the system is improved; flywheel mechanical stress constraint is carried out in real time, flywheel fatigue damage is reduced, and the service life of the flywheel is prolonged; by adding the power grid frequency deviation and the load tracking penalty term, the frequency modulation demand of the power grid can be quickly responded.

The invention discloses a secondary frequency modulation optimization control method under a low-load working condition, relates to the technical field of power grid resource optimization, and is used for solving the problem that a control strategy under the low-load working condition is not fully considered in the prior art. The current load interval is recognized, and control parameter correction is conducted on the unit located in the low load interval; calculating a total output power reference value; carrying out calculation by adopting a self-adaptive optimization algorithm, and carrying out power fine distribution to obtain an optimal charging and discharging instruction of each energy storage unit; and the output power is adjusted in real time through double-closed-loop control. The invention further discloses a secondary frequency modulation optimization control device under the low-load working condition, electronic equipment and a computer storage medium. By dynamically correcting the control parameters of the low-load thermal power generating unit and cooperatively distributing the hybrid energy storage power in combination with the adaptive optimization algorithm, the safety and economical efficiency of the energy storage system are guaranteed.

The invention provides an optical storage parallel network control method, which comprises the following steps: calculating the current load rate percentage of each residual unit according to the connection relation and electrical path information of the residual units after isolation; evaluating the available margin capacity and the frequency regulation bearing capacity of the remaining units, matching the available margin capacity and the frequency regulation bearing capacity with a specific power value and a frequency regulation requirement which need to be compensated, and determining a feasible unit combination scheme for fault recovery; generating a power redistribution list and a frequency adjustment responsibility distribution table according to the direct current bus connection mode of the optimal unit recombination, and obtaining an output power set value and a frequency adjustment parameter of each unit after adjustment; and extracting the continuous power supply time value of the optical storage parallel network, updating the total power supply capacity value of the optical storage parallel network, and maintaining the continuous power output and frequency stability after the fault of the optical storage parallel network.

The invention discloses an intelligent energy storage system multi-target hierarchical scheduling method and system oriented to source network load storage cooperation, and belongs to the technical field of energy storage system optimization control. The method comprises three levels of day-ahead layer multi-objective game optimization, intra-day layer rolling correction optimization and real-time layer adaptive droop control. The day-ahead layer establishes three objective functions of economy, environmental protection and smoothness, and solves and outputs a day-ahead charging and discharging power plan by using a Nash negotiation algorithm. And the intra-day layer obtains ultra-short-term prediction data of the source load, performs rolling correction on the day-ahead plan by adopting a model prediction control method, and outputs a corrected real-time power instruction. The real-time layer collects power grid frequency deviation and a battery health state value, calculates an adaptive droop coefficient according to the health state value, and superposes and outputs primary frequency modulation response power and a real-time power instruction. According to the invention, source network load storage collaborative optimization is realized through multi-time scale hierarchical scheduling, and the service life of an energy storage system is prolonged through adaptive droop control based on health state perception.

The invention discloses a radio frequency power adjusting system, an adjusting method thereof and semiconductor process equipment. The adjusting system comprises an interference monitoring module which obtains a time domain signal of radio frequency power in a reaction cavity and obtains interference data based on frequency domain characteristics of the time domain signal; the adaptive control module takes the interference data as a state input variable, updates an action output variable by learning an optimal strategy, and determines an optimal action output variable based on an objective function of interference suppression and energy consumption, and the action output variable comprises a frequency regulation variable, an amplitude regulation variable and a pulse width regulation variable; and the feedback adjusting module is used for dynamically adjusting a plurality of process parameters in the reaction cavity based on the optimal action output variable so as to enable the process parameters to reach the target process parameter range. According to the invention, the radio frequency power density in the reaction cavity can be adaptively adjusted, and the optimal dynamic balance between interference suppression and energy consumption is realized, so that the radio frequency interference suppression effect, the process stability and the equipment efficiency are improved.

The invention discloses a grid-connected inverter control method based on second-order linear active disturbance rejection, and particularly relates to the field of grid-connected inverter control. Voltage and frequency error signals between the output side of the inverter and the power grid are obtained, a pre-synchronization control model is constructed, and voltage amplitude and frequency synchronization is achieved; a second-order linear active-disturbance-rejection controller is introduced in the frequency synchronization control process, an extended state observer is adopted to estimate the output frequency, the frequency change rate and a disturbance term, and a state error feedback control law is combined to generate a frequency regulation control quantity, so that accurate frequency control is realized; after grid connection, a dual-channel LADRC power regulation controller is constructed, and decoupling tracking control is carried out on active power and reactive power; meanwhile, on the basis of fast Fourier transform processing as a stable grid-connected state criterion, the method has the advantages of being high in control precision, high in anti-interference capability, good in current waveform quality, high in adaptability and the like, and is suitable for various grid-connected application scenes.

The invention relates to the technical field of electric power system regulation and control, and particularly discloses an electric power active balance control method for coupling multi-element energy storage of a coal power unit, which is used for solving the problem that the existing static active safety margin evaluation method cannot evaluate the safety of the coal power unit under the complex working conditions of high wind power penetration, large disturbance, system inertia decline and the like. The method solves the problems that multi-stage frequency response cannot be accurately described, online self-adaptive power distribution and continuous smooth scheduling are lacked, and consequently frequency drop is large, recovery is slow and output suddenly changes, and comprises the steps of building a collaborative characteristic model, calculating dominant characteristics on line, optimizing scheduling in a segmented mode and updating parameters in a closed loop. According to the method, by constructing a hierarchical inertia and multi-stage frequency modulation collaborative model, and adopting multi-scale online feature extraction and adaptive power distribution, segmented gradient optimization scheduling and closed-loop online parameter updating, quick response, smooth connection and accurate optimization of frequency support and economic scheduling in a wind power high-permeability scene are realized.

The invention relates to the field of power system automatic control and new energy grid-connected operation, and provides an energy storage-containing new energy field station frequency modulation optimization method based on deep reinforcement learning. The method comprises the following steps: firstly, establishing a frequency response model containing an energy storage new energy field station, constructing a frequency modulation problem into a Markov decision process, and defining a state space containing a charge state and frequency deviation, an action space taking a charge and discharge power instruction as an element, and a multi-target reward function fusing a frequency regulation effect and charge state management; and then designing an intelligent agent network based on a long short-term memory network and an improved soft actor-commentator algorithm, constructing an online training framework with priority experience playback and a sliding time window, and realizing adaptive optimization of the strategy. And finally, generating a robust frequency modulation instruction in real time based on the trained model. Simulation shows that the frequency long-term regulation and control capability and the intelligent level can be remarkably improved, and the frequency modulation performance and the frequency modulation margin are effectively coordinated.

The invention discloses a method for preventing power reverse peak regulation by coupling primary frequency modulation and virtual inertia of a network-forming type fan, and the method effectively prevents power reverse peak regulation by dynamically decoupling the coupling effect of primary frequency modulation and virtual inertia and adjusting an amplitude limiting threshold value based on a real-time working condition. The adaptive amplitude limiting control strategy adjusts an amplitude limiting threshold value in real time according to parameters such as power grid frequency deviation, frequency change rate and fan operation state, optimizes fan power output, and avoids excessive power fluctuation. The virtual inertia compensation module simulates inertia response of a traditional generator set, provides extra inertia support and stabilizes frequency fluctuation of a power grid. The hierarchical control architecture realizes the balance of virtual inertia and frequency modulation control through the synergistic effect of an upper decision layer and a bottom execution layer, and avoids the phenomenon of reverse peak regulation of power. The control strategy not only improves the frequency modulation response speed and precision, but also enhances the adaptive capacity of the fan to the frequency fluctuation of the power grid, and has important application value and wide market prospect.

The invention relates to the technical field of energy storage equipment regulation and control, in particular to an energy storage frequency control method and device based on charge estimation and dynamic scheduling, and the method comprises the following steps: initializing an initial energy storage estimated value of an energy storage system; monitoring the power grid frequency in real time and identifying the frequency deviation event type; calculating a current-round global active power regulation target; constructing an energy storage unit response prediction model, and predicting the charge state change process of the energy storage unit under the current power; updating the residual energy storage estimated value of each energy storage system; judging whether a fault critical state of over-limit or under-limit state of charge exists or not; executing the control strategy to enable the charge state of the energy storage system to return to the safety interval; and circulating monitoring is carried out to realize energy storage frequency control. Through combination of charge state estimation, modeling prediction energy storage unit response and an automatic control strategy, self-adaptive and closed-loop frequency regulation control of the heterogeneous energy storage system in a complex power environment is realized.

The invention provides a new energy station control parameter dynamic evaluation method, which comprises the following steps: according to a frequency dynamic response process after a system is disturbed, retaining a nonlinear link corresponding to an influence frequency in each unit of multivariate heterogeneous frequency modulation resources and corresponding parameters, and constructing a system multi-machine frequency response model; based on a system multi-machine frequency response model, determining the frequency change rate of the system at the disturbed moment; determining a virtual inertia control parameter of the new energy station based on the frequency change rate; based on the virtual inertia control parameters and a system multi-machine frequency response model, determining the maximum frequency deviation after the system is disturbed; and determining a primary frequency modulation control parameter of the new energy station based on the maximum frequency deviation and the virtual inertia control parameter. The evaluation result can provide engineering guidance for new energy station control parameter configuration, support controller optimization and active support strategy landing, improve frequency response under various working conditions, and improve the safety and stability level of the system.

The invention relates to the field, particularly discloses a reinforcement learning strategy for peak-valley arbitrage of an industrial and commercial energy storage power station participating in frequency modulation, relates to the field of energy storage system optimization operation, and aims to solve the problem that a charging and discharging plan favorable for realizing long-term profit is difficult to make due to the fact that multiple parameters are unknown in advance in the actual operation process of the industrial and commercial energy storage power station. The invention discloses an industrial and commercial energy storage power station peak-valley arbitrage reinforcement learning strategy considering frequency modulation. According to the strategy, an income settlement mechanism is defined, and peak-valley arbitrage charging expenditure, peak-valley arbitrage discharging income, daily demand difference expenditure, primary frequency modulation compensation and frequency modulation power purchase expenditure are quantified; constructing a scheduling optimization model which takes the optimal daily income of the peak-valley arbitrage of the energy storage power station as a target and takes power limitation, countercurrent prevention, charge state circulation and the like as constraints; designing an optimization strategy and defining a state space, an action space and a reward function; according to the user net load predicted by the long-short-term memory model, the energy storage charging and discharging power is solved by adopting a near-end strategy optimization reinforcement learning algorithm; and loading the trained model to execute the strategy. The strategy not only can broaden income sources of industrial and commercial energy storage power stations, but also can realize efficient utilization of the industrial and commercial energy storage power stations and quality and efficiency improvement of commercial income.

The invention provides a load frequency control method for a multi-region combined power system considering wind power integration, and the method comprises the following steps: building a combined state space model of the multi-region combined power system, comprising a state space sub-model of a wind power region, a state space sub-model of a thermal power region and tie line power deviation constraint relationships among the regions; a combined control topology of the multi-area combined power system is established, the combined control topology comprises a sub-control topology of a wind power area, a sub-control topology of a thermal power area and a tie line power deviation feedback topology, and the tie line power deviation feedback topology comprises feedback devices which are the total number of the wind power area and the thermal power area; and controlling equipment in the wind power area and the thermal power area to carry out power grid load frequency adjustment by using a control instruction output by the combined control topology. According to the technical scheme, dynamic response speed characteristics of wind power and thermal power and comprehensive frequency modulation requirements are considered, and optimal load frequency adjustment is carried out on the multi-region power system.

The invention relates to the technical field of power electronic driving control, in particular to a driving system and method for an ultrasonic air pump, and the system comprises a control signal generation module which is used for generating a control signal; the voltage superposition driving module is coupled to the control signal generation module and is used for superposing and lifting the driving voltage according to the control signal and executing reversing operation, and the reversing operation comprises forward driving and reverse driving; the driving frequency adjusting module is coupled to the control signal generating module and is used for adjusting the driving frequency and speed of the ultrasonic air pump based on the control signal; and the working circuit protection module is coupled to the voltage superposition driving module and is used for setting dead time between forward driving and reverse driving to prevent short circuit. According to the invention, the dependence of the ultrasonic air pump on an independent high-voltage power supply and how to realize high-voltage alternating driving through voltage superposition and avoid the risk of bridge arm direct connection and resonance mismatch under the constraint of a low-voltage power supply are effectively solved.

The invention provides a power supply control method for a prefabricated cabin type energy storage system, and the method comprises the steps: obtaining a turn-off signal trigger of a secondary output channel, and forming an initial voltage fluctuation data set; according to the initial voltage fluctuation data set, the influence degree of turn-off energy dissipation on a main output channel is analyzed, and specific parameters of a fluctuation interference source are determined; obtaining a turn-off frequency range of a secondary output channel and real-time data of response delay after turn-off, and judging an adaptive frequency adjustment interval; dynamically calibrating the voltage according to the judged frequency regulation interval to obtain a preliminarily stable voltage output curve; and through the final voltage stability regulation scheme, obtaining system response data after the secondary output channel is turned off, and determining voltage stability guarantee parameters under long-term operation.

The invention discloses a digital twinning-based power grid dynamic frequency adaptive regulation and control method, system, equipment and medium, and belongs to the technical field of power grid dynamic frequency regulation and control, and the method comprises the steps: collecting power grid operation data through a data collection device disposed at a physical power grid key node; transmitting power grid operation data to a digital twinning construction and operation platform, and synchronously updating a virtual power grid state in real time; a digital twinning construction and operation platform is used for obtaining the operation state and dynamic parameters of the power grid; predicting a frequency dynamic response track of the power grid in a disturbance or expected scene based on the power grid operation state and the dynamic parameters; adjusting control parameters of resources participating in frequency regulation and control according to the frequency dynamic response track; and issuing the control parameters to a corresponding device of the physical power grid for execution through the control instruction execution interface. The frequency dynamic quality of the power grid is remarkably improved, and the frequency stability margin and the overall operation safety are improved.

The invention provides a pumping method based on multi-agent reinforcement learning control, and belongs to the technical field of deep reinforcement learning. S2, feature extraction and fusion; s3, time sequence modeling; s4, generating an action; s5, carrying out environment interaction; s6, virtual experience generation; s7, experience pool management; s8, performing network training; and S9, performing closed-loop control. Discrete and continuous actions are controlled through the DQN and the DDPG respectively, collaborative optimization of start-stop and frequency adjustment of the water pump is achieved by combining the Critic network, and the problem that a traditional single agent cannot process a mixed action space is solved.

The invention provides a self-adaptive algorithm and system for improving frequency measurement precision and response speed of a speed regulator. The method comprises the following steps: Step 1, signal acquisition and preprocessing; step 2, dynamically adjusting filtering parameters, and suppressing power grid signal noise; 3, extracting frequency characteristics in real time, and improving the frequency measurement resolution; 4, a synchronous clock is adopted as a reference frequency source, a clock reference value is periodically and automatically corrected, and long-term drift is eliminated; 5, a nonlinear dynamic model of the hydroelectric generating set is constructed, the nonlinear relation between the valve opening degree and output of the speed regulator is compensated in real time, and the frequency modulation precision is improved; and step 6, outputting the instantaneous frequency. According to the scheme, through the self-adaptive frequency measurement algorithm, high-precision clock calibration, a hardware acceleration mechanism and a nonlinear compensation strategy, a multi-dimensional optimization system is constructed, high-precision frequency measurement is carried out, a rapid effect can be achieved, and a hydroelectric system has long-term stability and high adaptability.

The invention discloses a compressor frequency modulation method and device, a medium and an air conditioner, and the method comprises the steps: obtaining the current and target indoor temperatures, precisely predicting the total adjustment time and the total load, obtaining the equivalent compressor frequency meeting the load demand, and providing a reference frame for frequency adjustment; constructing a target function taking a frequency sequence as a variable on the basis, calculating a target frequency sequence through iterative optimization in combination with a limiting condition set on the basis of equivalent frequency, fully considering system inertia in the process, and estimating the target frequency sequence before the temperature is close to a target value; and then fast dynamic frequency modulation is performed according to at least one compressor frequency in the target frequency sequence. Therefore, according to the scheme, through advanced planning and dynamic adjustment, the temperature deviation can be quickly responded, the initial adjustment lag is reduced, and then the temperature overshoot phenomenon is reduced.