CN104253470A - Electric automobile and grid interacted and coordinated orderly charging control method - Google Patents

Abstract

The invention discloses an electric automobile and grid interacted and coordinated orderly charging control method. Multi-level multi-object control strategies are adopted, and electric automobile orderly charging and charging and discharging control strategies are divided into multiple levels according to different control main bodies and control objects. When an electric automobile is under the control of a plurality of main bodies to realize the control object at each level, each level is constrained by the control objects at an upper level and a lower level. When all control levels exist at the same time, the control ranges and the control objects of all levels have a mutually constrained relationship. The orderly charging control method disclosed by the invention can realize electric automobile orderly charging and grid interaction, reduce the adverse influence of the electric automobile to the grid and can promote the popularization and application of electric automobile charging facilities by supporting the operation of the grid by using the charging flexibility and adjustability features and the energy storage capacity of the electric automobile. The method is simple to operate, is convenient to manage, has excellent performance and is convenient and practical to use for electric automobile and grid interacted and coordinated orderly charging control.

Description

The orderly charge control method that electric automobile and electrical network interaction are coordinated

Technical field

The present invention relates to a kind of electric automobile and the interactive orderly charge control method coordinated of electrical network.

Background technology

The electric automobile of scale application will produce deep effect to electrical network.On the one hand, the charging electric vehicle not adding management and control will make network load peak value increase, and reduce electric network reliability and operational efficiency, and electric automobile has the double attribute of controllable burden and energy-storage units on the other hand, is the utilizable valuable source of following electrical network.Current China electrical network Distribution Network Frame is weak, and automaticity is low, and scheduling means fall behind, and to being extensively distributed in electricity consumption side, electric automobile that randomness is strong manages and challenge to the ability of power network monitoring, communication and control.See clearly the impact of electric automobile on electrical network; intelligent power grid technology is utilized to make electric automobile become the organic moiety of electrical network; in electric automobile infrastructure construction and planning, consider the interaction of electric automobile and electrical network, be under electric automobile scale application prospect, the countermeasure that should take.

Under electric automobile scale application; its charge requirement will have a negative impact to electrical network; as charging electric vehicle demand may increase network load peak; even can exceed the ability to bear of localized power distribution net; electrical network needs adding new capacity, transforms corresponding equipment for power transmission and distribution, and operation of power networks efficiency is reduced.Charging electric vehicle facility also can bring the problem such as harmonic wave, voltage fluctuation, affects the public quality of power supply.Utilize intelligent power grid technology, electrical network can manage charging electric vehicle, charging electric vehicle is avoided to cause adverse effect to electrical network, the flexibility of charging electric vehicle also can be utilized to improve the operational efficiency of electrical network simultaneously, after considering that the bidirectional energy of electric automobile and electrical network changes (V2G) long term, electric automobile, also as distributed energy storage unit, improves stability and the economy of electrical network.

The interactive approach of electric automobile and electrical network is not yet reached common understanding, and along with going deep into of research and carrying out of demonstration project, the interactive use-case of electric automobile and electrical network is also in the middle of constantly enriching.The interactive target of electric automobile and electrical network, pattern and control method also have pending exploration.Electric automobile charges in order and receives extensive concern at home and abroad with electrical network interaction technique; research is in starting and exploratory stage both at home and abroad generally; urgently study in the interaction mode, control strategy etc. of scale electric automobile and electrical network, for theory and engineer applied basis are established in extensive electric automobile and electrical network interaction.

Summary of the invention

The object of this invention is to provide a kind of electric automobile and the interactive orderly charge control method coordinated of electrical network, with realize electric automobile charge in order and with the interaction of electrical network, reduce electric automobile to the adverse effect of electrical network, utilize the flexible tunable characteristic of charging electric vehicle and energy storage capacity to support operation of power networks simultaneously.

In order to realize above object, the technical solution adopted in the present invention is: the orderly charge control method that a kind of electric automobile and electrical network interaction are coordinated, the method adopts the multiobject control mode of multi-layer, described level comprises regional power grid management level successively according to priority, power distribution network management level, integrated management layer, local energy management level and user management layer, wherein, the control of regional power grid management level is in regional power grid, guided by the discharge and recharge of electricity price signal to electric automobile, help realizes power supply and demand balance, or be polymerized by the charging and discharging capabilities of halfpace to dispersion electric automobile, participate in the management and running of the Wide Area Power.

Described regional power grid management level are minimum for target with the wind-powered electricity generation amount of abandoning caused because of peak shaving off-capacity, and set up target function, the power bound of constraints from electric automobile entirety and the energy requirement of entirety, the Controlling model of this level is as follows:

$\min =[z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}(p_{\mathrm{wj}}+p_{\mathrm{Gj}}-p_{\mathrm{lj}}-p_{\mathrm{EVj}})\mathrm{\Δt}]$

$\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj}}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\\ -p_{\mathrm{wj}}\≤p_{\mathrm{Gj}}-p_{\mathrm{lj}}-p_{\mathrm{EVj}}\≤0\end{array}\right.$

P _gjfor the plan of normal power supplies is exerted oneself, in an expression jth period regional power grid, normal power supplies totally exerts oneself;

P _wjfor the predicted value of wind power, in an expression jth period regional power grid, each wind energy turbine set totally exerts oneself;

P _ljfor predicted load, represent the total load in a jth period regional power grid;

P _eVjoverall power dispatching command for regional power grid management system in a jth period to electric automobile;

E _eVnfor the electric energy total amount that electric automobile is required in n calculation interval;

Δ t is calculation interval length;

N is calculation interval quantity;

P _eVMjrepresent the overall power upper limit of electric automobile in the jth period;

P _eVmjrepresent the overall power lower limit of electric automobile in the jth period.

Described power distribution network management level guide according to the operational objective of power distribution network electric automobile discharge and recharge and control, and by the direct management of electric automobile charging station under setting circuit, reach the target of line load peak valley balance; Target function is according to the minimum foundation of variance of setting circuit each moment load, and equally in controlling the power of charging station, meet bound power limit and the need for electricity of charging station, the control mathematical model of this level is:

$\min \{z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{[p_{\mathrm{lj}}+p_{\mathrm{EVj}}-\frac{1}{n}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}(p_{\mathrm{lj}}+p_{\mathrm{EVj}})]}^2\}$

$s.t.\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj}}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\end{array}\right.$

P _ljthe average power of load under expression this circuit of a jth period;

P _eVjpower dispatching order for power distribution network management level in a jth period to charging station;

E _eVnfor the electric energy that charging station is required in n calculation interval;

Δ t is calculation interval length;

N is calculation interval quantity;

P _eVMjfor the power upper limit of electric automobile charging station in the jth period;

P _eVmjfor the lower limit of electric automobile charging station in the jth period.

Described integrated management layer receives power distribution network management level to the charge and discharge control order of its entirety, charge-discharge electric power is distributed to each electric automobile of administration, under the restriction of certain gross power, distribution to each user power limits: when there being N number of child user in system, the current forward gross power of system is restricted to p _s+, reverse gross power is restricted to p _s-, the charge-discharge power demand of each child user is respectively p ₁, p ₂, p ₃... p _n, when or time, the demand of child user is restricted, and now carries out power division according to the priority of user, realizes carrying out coordination configuration to the charge power of each child user.

The priority of each electric automobile user is defined as:

${\mathrm{PRI}}_i=\left\{\begin{array}{c}\frac{\frac{B_i({\mathrm{SOC}}_{\mathrm{endi}}-{\mathrm{SOC}}_{0i})}{T_{\mathrm{endi}}-T_0}}{\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\frac{B_k({\mathrm{SOC}}_{\mathrm{endk}}-{\mathrm{SOC}}_{0k})}{T_{\mathrm{endk}}-T_0},T_{\mathrm{endi}}>T_0}\\ 0,T_{\mathrm{endi}}\≤T_0\end{array}\right.$

Wherein, T ₀for current time;

B _iit is the rated capacity of i-th electric automobile power battery;

T _endiit is i-th electric automobile expection departure time;

SOC _0ibe i-th initial state-of-charge of electric automobile;

SOC _endibe i-th electric automobile target state-of-charge;

The span of this priority is 0 ~ 1, and value shows that more greatly the priority of charging is higher, and the priority of simultaneously discharging is lower; The power limit of each vehicle is drawn by the product of priority and system total power limit value, that is:

p _li+＝PRI _i×p _s+

p _li-＝(1-PRI _i)×p _s-

Wherein, p _li+for charge power limit value, p _li-for discharge power limit value.

Described local energy management level realize the coordinated operation of electric automobile and other loads and power supply, and control objectives, the while of ensureing the local quality of power supply, at utmost meets the charge requirement of electric automobile user.

The micro-grid system that setting local energy management level manage includes Wind turbines, photovoltaic, electric automobile charging station and life load, the local target at utmost utilizing renewable energy power generation is realized in order to electric automobile management of charging and discharging, set up the control mode of micro-grid system to electric automobile charging station, the Controlling model of this level is as follows:

$\min (z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}|p_{\mathrm{wj}}+p_{\mathrm{pvj}}-p_{\mathrm{EVj}}-p_{\mathrm{lj}}\left|\mathrm{\Δt}\right)$

$s.t.\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj}}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\end{array}\right.$

P _wjfor the average output power of Wind turbines in the jth period;

P _pvjfor the average output power of photovoltaic system in the jth period;

P _ljfor jth period average power of load in micro-grid system except charging station;

P _eVjfor a micro-grid system jth period is to the power dispatching order of charging station;

E _eVnfor the electric energy that charging station is required in n calculation interval;

Δ t is calculation interval length; ;

N is calculation interval quantity;

P _eVMjfor the power upper limit of electric automobile charging station in the jth period;

P _eVmjfor the lower limit of electric automobile charging station in the jth period.

The control objectives of described user management layer is the charge requirement of guarantee user and reduces charging expense, and this layer utilizes vehicle-mounted or non-vehicle intelligent terminal to realize the charging process optimum management of electric automobile; The interface that charging-discharging controller controls charging and discharging vehicle as user, realize expectation charging interval that user presets, target state-of-charge parameter, final charge and discharge control order can be assigned by charging-discharging controller and perform to vehicle-mounted charge-discharge machine; Electric automobile user, according to the traveling demand of the information received in conjunction with self, makes a choice and Response Decision to various information according to hierarchy of users control mode.

When electric automobile user makes discharge and recharge decision-making according to the information received, comprise the following two kinds control mode:

(1) if electric automobile does not allow to electrical network feedback electric energy, only according to the charge power of constraints decision-making calculation interval, control objectives is charging network minimal, and the Mathematical Modeling of its control strategy is:

$\min (z=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}(p_i{\mathrm{\ζ}}_{\mathrm{li}}+c_{i+}(p_i-P_{+}){\mathrm{\λ}}_i)\mathrm{\Δt})$

$s.t.\left\{\begin{array}{c}0\≤p_i\≤P_C\\ \underset{i=1}{\overset{N}{\mathrm{\Σ}}}{p}_i=\frac{N({\mathrm{SOC}}_{\mathrm{end}}-{\mathrm{SOC}}_0)B}{T_{\mathrm{end}}-T_{\mathrm{plugin}}}\end{array}\right.$

$c_{i+}=\left\{\begin{array}{c}0,p_i-P_{i+}\≤0\\ 1,p_i-P_{i+}>0\end{array}\right.$

(2) if electric automobile allows to electrical network feedback electric energy, carry out charging or the size of electric discharge and charge-discharge electric power at each calculation interval according to constraints decision-making, control objectives is user's total expenditure network minimal, the cost brought comprising electric discharge causes battery life to lose; Ignore the impact of the factor such as charge-discharge electric power, charge and discharge process on battery life herein, battery life lost and is approximately: c _bfor the battery price of unit capacity; k _lfor battery life-cycle cycle-index; Simultaneously in order to avoid overcharging and discharging, the SOC of whole process battery should remain on setting range [SOC _min, SOC _max] within, the Mathematical Modeling of its control strategy is:

$\min (z=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}(k_{i+}{p}_i{\mathrm{\ζ}}_{\mathrm{li}}+k_{i-}{p}_i({\mathrm{\ζ}}_{2i}-{\mathrm{\ζ}}_B)+c_{i+}(p_i-P_{i+}){\mathrm{\λ}}_i+c_{i-}(P_{i-}-p_i){\mathrm{\λ}}_i)\mathrm{\Δt})$

$\left\{\begin{array}{c}\left|p_i\right|\≤P_C\\ {\mathrm{SOC}}_{\min }\≤{\mathrm{SOC}}_i\≤{\mathrm{SOC}}_{\max }\\ {\mathrm{SOC}}_i={\mathrm{SOC}}_{i-1}+\frac{p_i\mathrm{\Δt}}{B}\\ \underset{i=1}{\overset{N}{\mathrm{\Σ}}}{p}_i=\frac{N({\mathrm{SOC}}_{\mathrm{end}}-{\mathrm{SOC}}_0)B}{T_{\mathrm{end}}-T_{\mathrm{plugin}}}\end{array}\right.$

$c_{i+}=\left\{\begin{array}{c}0,p_i-P_{i+}\≤0\\ 1,p_i-P_{i+}>0\end{array};\right.c_{i-}=\left\{\begin{array}{c}0,P_{i-}-p_i\≤0\\ 1,P_{i-}-p_i>0\end{array}\right.$

$k_{i+}=\left\{\begin{array}{c}0,p_i\≤0\\ 1,p_i>0\end{array};\right.k_{i-}=\left\{\begin{array}{c}0,p_i>0\\ 1,p_i\≤0\end{array}\right.$

Wherein, Δ t is calculation interval length;

N is calculation interval quantity;

P _ifor electric automobile is at the charge-discharge electric power of calculation interval i;

T _pluginfor the moment of electric automobile access electrical network;

T _endfor the electric automobile expection departure time;

SOC ₀for the initial state-of-charge of electrokinetic cell;

SOC _iit is the state-of-charge at the end of i-th calculation interval;

SOC _endfor target state-of-charge;

P _cfor the minimum value of electrically-charging equipment and Vehicular charger Power Limitation;

ζ _1ifor the charging electricity price of each calculation interval;

ζ _2ifor the electric discharge electricity price of each calculation interval;

P _i+for the charge power of each calculation interval limits;

P _i-for the discharge power of each calculation interval limits;

λ _ifor day part runs counter to the penalty coefficient of charge-discharge electric power restriction;

B is electric automobile power battery capacity.

The orderly charge control method that electric automobile of the present invention and electrical network interaction are coordinated devises multi-layer multi objective control strategy, and electric automobile charges in order and charge and discharge control strategy is multiple level according to the different demarcation of control subject and control objectives.When electric automobile receives the control of multiple main body to realize the control objectives of each level, each level will be subject to the constraint of higher level and subordinate's control objectives.When each control level exists simultaneously, there is mutual restriction relation in the scope that each layer controls, the target of control.Control level higher, the physical object related to is wider, requires also higher to electrical network level of intelligence.

Orderly charge control method of the present invention realizes electric automobile and charges in order and the interaction of electrical network, reduce electric automobile to the adverse effect of electrical network, utilize the flexible tunable characteristic of charging electric vehicle and energy storage capacity to support operation of power networks simultaneously, the promotion and application of charging electric vehicle facility can be promoted.The method design is ingenious, function admirable, and convenient and practical controls for electric automobile and interactive orderly charging of coordinating of electrical network, simple to operate, convenient management.

Accompanying drawing explanation

Fig. 1 is embodiment of the present invention system hlerarchy schematic diagram;

Fig. 2 is the interactive configuration diagram of embodiment of the present invention electric automobile and microgrid energy management system;

Fig. 3 is the interactive configuration diagram of embodiment of the present invention electric automobile and power distribution network EMS;

Fig. 4 is the interactive configuration diagram of embodiment of the present invention electric automobile and regional power grid dispatching patcher;

Fig. 5 is embodiment of the present invention regional power grid management level;

Fig. 6 is embodiment of the present invention power distribution network management level;

Fig. 7 is embodiment of the present invention integrated management layer;

Fig. 8 is embodiment of the present invention local energy management level;

Fig. 9 is embodiment of the present invention vehicle user management level.

Embodiment

Below in conjunction with accompanying drawing and specific embodiment, the present invention is described further.

The present invention starts with from the impact of electric automobile on electrical network, analyzes the interaction relationship of electric automobile and electrical network.On this basis, under the background of demand response technology, in conjunction with charging scenarios and the control model of electric automobile, propose the interactive control objectives of electric automobile and electrical network, according to control objectives, establish the interactive framework of electric automobile and electrical network, and information model is established to electric automobile user, intermediate management platform, power distribution network management platform, design the control strategy of each level.

System hlerarchy of the present invention as shown in Figure 1, relates to the interactive framework of three class electric automobiles and electrical network and five level sequential charging control systems.Three class electric automobiles and the interactive framework of electrical network comprise electric automobile and local energy management system coordination and interaction framework, electric automobile and the interactive framework of distribution management system, electric automobile and the interactive framework of power network dispatching system.The method adopts the multiobject control mode of multi-layer, described five levels comprise regional power grid management level, power distribution network management level, integrated management layer, local energy management level and user management layer successively according to priority, and orderly charging that electric automobile and electrical network interaction are coordinated controls finally to realize electric automobile and the interactive and orderly Charge Management of electrical network by the multiobject control mode of multi-layer.

The electric automobile of the present embodiment and local energy management system system mutual, with electric automobile directly with the interaction of micro-capacitance sensor management system for such as shown in Fig. 2, directly accept the management of microgrid energy management system, charge requirement (is comprised target SOC by electric automobile user, time departure etc.) information notification microgrid energy management system, energy management system of micro-grid assigns real time charging power instruction according to the running status of self and optimisation strategy to electric automobile, or according to generating and the power consumption prediction of micro-grid system, the charging plan of each electric automobile in computing system, assign and perform to electric automobile.Electric automobile participates in the operational management of micro-grid system as controllable burden.When in micro-grid system, the capacity of electric automobile reaches certain level, electric automobile also can be used as energy-storage units and supports micro-grid system.When system grid connection, electric automobile can accept meritorious, the idle control command of energy management system of micro-grid, and the exchange power between help system and electrical network is in controlled range.When micro-grid system is from net, electric automobile can gather this ground voltage, frequency signal, carries out from dynamic response it, and help micro-grid system to realize stable operation, now electric automobile also can accept the dispatch command of energy management system of micro-grid simultaneously.

Electric automobile and distribution management system interaction as shown in Figure 3, mutual by orderly charging management system and distribution management system, the power distribution network operating index that charging electric vehicle can be avoided to cause is out-of-limit, and can realize the optimizing operation of power distribution network; Power distribution network grasps the estimation of network each node real-time status, each node subsequent period load prediction results (a few days ago, ultra-short term), power distribution network possesses the mode to user's Charge Management, such as by dynamic electricity price, each user is guided, real-time release to the capacity limit of each user, support that each user capacity is bidded.The orderly charging system of above-mentioned electric automobile can be considered a Virtual User of power distribution network, makes response to the management of power distribution network.The electrically-charging equipment being positioned at the different node of power distribution network is managed concentratedly by it, arranges the charging process of each electric automobile.User inquires about charged state, setting charge target by end application to orderly charging management system.The functions such as orderly charging management system possesses each Vehicular charging state acquisition, each vehicle real time charging controls, subsequent period charge requirement prediction (a few days ago, ultra-short term).

As shown in Figure 4, some electric automobiles, by forming considerable schedulable power supply (load) after integrated management, are similar to the virtual power station (VPP) of distributed power source herein for electric automobile and power network dispatching system interaction.Electric automobile after integrated management can provide various assistant service to electrical network, as: spinning reserve, frequency adjustment, peak load are stabilized.It is dispersion electrically-charging equipment, the charging station management system of target that the object of electric automobile integrated management system management comprises with unique user, and electric automobile user agency plant, wherein, the intermediate system of certain dispersion user managed by electric automobile user agency plant vial.System mode and information of forecasting are reported power network dispatching system by electric automobile integrated management system, and dispatching of power netwoks assigns dispatch command to integrated management system.Under Power Market, integrated management system participates in bidding of assisted hatching, obtains the operational plan of system next stage.Now, electric automobile integrated management system need to possess the status monitoring of electric automobile and fill (putting) electric control, entire system fills the coordination control strategy function between prediction and multiple object of changing electric requirement forecasting and variable capacity.

Above-mentioned zone administration of power networks layer as shown in Figure 5, hierarchy management object is regional power grid, electric automobile, by large-scale management of filling electrical changing station or third party's management platform participation regional power grid dispatching patcher, for electrical network provides various service, realizes system stability and optimizing operation.The control strategy of above-mentioned level is the integrated management that regional power grid passes through from generating to electricity consumption link, realizes safety and stability and the optimizing operation of electrical network.In the control strategy of existing regional power grid, need to consider that electric automobile etc. is positioned at the scheduling of the controllable resources of user side.In regional power grid, can be guided by the discharge and recharge of electricity price signal to electric automobile, help to realize power supply and demand balance, also be polymerized by the charging and discharging capabilities of halfpace to dispersion electric automobile, participate in the management and running of the Wide Area Power.

In regional power grid, large-scale electric automobile is after cohesively managed, multiple assistant service can be provided to electrical network, as peak regulation, frequency modulation etc., consider the regional power grid with high wind-powered electricity generation permeability herein, by the coordinated scheduling of electric automobile and wind-powered electricity generation, reach and improve regional power grid and to dissolve the object of wind-powered electricity generation ability.

Minimum for target with the wind-powered electricity generation amount of abandoning caused because of peak shaving off-capacity, set up target function, the power bound of constraints from electric automobile entirety and the energy requirement of entirety.Model is as follows:

$\min =[z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}(p_{\mathrm{wj}}+p_{\mathrm{Gj}}-p_{\mathrm{lj}}-p_{\mathrm{EVj}})\mathrm{\Δt}]$

$\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj}}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\\ -p_{\mathrm{wj}}\≤p_{\mathrm{Gj}}-p_{\mathrm{lj}}-p_{\mathrm{EVj}}\≤0\end{array}\right.,j=1...n$

Wherein, p _eVjfor variable; p _wjfor the predicted value of wind power; p _gjfor the plan of normal power supplies is exerted oneself; p _ljfor predicted load.

The parameter related in model is as follows:

P _gjfor totally exerting oneself of normal power supplies in a jth period regional power grid, unit: kW;

P _wjfor totally exerting oneself of each wind energy turbine set in a jth period regional power grid; Unit: kW;

P _ljfor the total load in a jth period regional power grid; Unit: kW;

P _eVjoverall power dispatching command for regional power grid management system in a jth period to electric automobile, unit: kW (p _eVjfor timing represents charging station can from Systemic absorption power, for representing time negative that charging station can send power to system);

E _eVnfor the electric energy total amount that electric automobile is required in n calculation interval, unit: kWh

Δ t is calculation interval length, unit: h;

N is calculation interval quantity;

P _eVMjfor the overall power upper limit of electric automobile in the jth period;

P _eVmjfor the overall power lower limit of electric automobile in the jth period.

As shown in Figure 6, the management object of level is the distribution network in somewhere to power distribution network management level, and the target of this layer is network " obstruction " problem that minimizing electric automobile causes, and improves the utilance of distribution facility, reduces via net loss etc.The control strategy of above-mentioned level is reliability in order to ensure power distribution network and operational efficiency, and power distribution network manages Demand-side, as direct load controls and demand response.Electric automobile can include the category of dsm in, distribution management system grasps the running status of power distribution network by electric distribution network data collection and monitoring (SCADA), grasped the state information of electric automobile by senior measurement system or other modes, the operational objective according to power distribution network guides electric automobile discharge and recharge and controls.The control strategy of distribution management system to electric automobile is subject to the constraint of every operating index of power distribution network, also relates to the coordination with other controllable burdens and power supply.

This sentences certain 10kV circuit is example, and distribution management system, by the direct management of electric automobile charging station under this circuit, reaches the target of line load peak valley balance.Target function can according to the minimum foundation of variance of 10kV circuit each moment load, and equally in controlling the power of charging station, should meet bound power limit and the need for electricity of charging station, control strategy Mathematical Modeling is:

$\min \{z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{[p_{\mathrm{lj}}+p_{\mathrm{EVj}}-\frac{1}{n}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}(p_{\mathrm{lj}}+p_{\mathrm{EVj}})]}^2\}$

$s.t.\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj},j=1...n}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\end{array}\right.$

Wherein, p _eVjfor variable, p _ljfor known quantity, predicting the outcome from this node load.

P _ljfor the average power of load under a jth period 10kV circuit, unit: kW;

P _eVjpower dispatching order for distribution management system in a jth period to charging station, unit: kW, (p _eVjfor timing represents charging station can from Systemic absorption power, for representing time negative that charging station can send power to system);

E _eVnfor charging station in n calculation interval to required electric energy, unit: kWh;

Δ t is calculation interval length, unit: h;

N is calculation interval quantity;

P _eVMjfor the power upper limit of electric automobile charging station in the jth period;

P _eVmjfor the lower limit of electric automobile charging station in the jth period.

As shown in Figure 7, hierarchy management object is that multiple filling changes electric facility and electric automobile user to integrated management layer, and this level, by filling electrical changing station supervisory control system or the realization of third party's management platform, realizes maximum revenue by respectively filling the coordinated management of changing electric facility or user.The control strategy of above-mentioned level is that this layer receives superior system (power distribution network management level) to the charge and discharge control order of its entirety, charge-discharge electric power is distributed to each electric automobile of administration, the target maximum degree comprising many electric automobile discharge and recharge cooperation control performs higher level's control command, at utmost meets the charge requirement of each electric automobile user.In control procedure, electric automobile accesses, exits, and the state of each control object is in constantly change, and therefore coordination control strategy should carry out in real time, dynamically.

When carrying out integrated management to the electric automobile of some and electrically-charging equipment, there is the Harmonic Control of many electric automobiles.Under the restriction of certain gross power, the distribution to each user power limits: when there being N number of child user in system, the current forward gross power of system is restricted to p _s+, reverse gross power is restricted to p _s-, (putting) electrical power requirements of filling of each child user is respectively p ₁, p ₂, p ₃... p _n(p _irepresent charging during > 0, otherwise be electric discharge).When or time, the demand of child user will be restricted, and now, should carry out power distribution strategies carry out coordination configuration to the charge power of each child user according to the priority of user.

When the available power of system can not meet the demand of all vehicles, can distribute according to the power of certain priority rule to each electric automobile.The priority of each electric automobile user is defined as:

${\mathrm{PRI}}_i=\left\{\begin{array}{c}\frac{\frac{B_i({\mathrm{SOC}}_{\mathrm{endi}}-{\mathrm{SOC}}_{0i})}{T_{\mathrm{endi}}-T_0}}{\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\frac{B_k({\mathrm{SOC}}_{\mathrm{endk}}-{\mathrm{SOC}}_{0k})}{T_{\mathrm{endk}}-T_0}}\\ 0,T_{\mathrm{endi}}\≤T_0\end{array}\right.,T_{\mathrm{endi}}>T_0$

Wherein, T ₀for current time;

B _iit is the rated capacity of i-th electric automobile power battery;

T _endiit is i-th electric automobile expection departure time;

SOC _0ibe i-th initial state-of-charge of electric automobile;

SOC _endibe i-th electric automobile target state-of-charge;

The span of this priority is 0 ~ 1, and value shows that more greatly the priority of charging is higher, and the priority of simultaneously discharging is lower.The power limit of each vehicle is drawn by the product of priority and system total power limit value, that is:

p _li+＝PRI _i×p _s+

p _li-＝(1-PRI _i)×p _s-

Wherein p _li+for charge power limit value, p _li-for discharge power limit value.

As shown in Figure 8, hierarchy management object is electric automobile under local distribution facility and other power supplys or load to local energy management level, and this layer realizes the coordinated operation of electric automobile and other loads and power supply, is performed by the EMS of this locality.Its control objectives, the while of ensureing the local quality of power supply, at utmost meets the charge requirement of electric automobile user.

This sentences a micro-grid system comprising Wind turbines, photovoltaic, electric automobile charging station and life load is example, realize the local target at utmost utilizing renewable energy power generation in order to electric automobile management of charging and discharging, set up the control strategy of micro-grid system to electric automobile charging station.

The control objectives of micro-grid system is at utmost to utilize local renewable energy power generation, also the electricity carried to public electric wire net and consume from public electric wire net can be extended to minimum, system controls except the bound power limit that should meet charging station the power of charging station, also should provide enough electric energy to charging station.Set up system control model thus as follows:

$\min (z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}|p_{\mathrm{wj}}+p_{\mathrm{pvj}}-p_{\mathrm{EVj}}-p_{\mathrm{lj}}\left|\mathrm{\Δt}\right)$

$s.t.\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj},j=1...n}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\end{array}\right.$

Wherein, p is only had _eVjfor variable, other are known quantity, from the predicted power of each power supply and load.

Parameter in Policy model is as follows:

P _wjfor the average output power of Wind turbines in the jth period, unit: kW;

P _pvjfor the average output power of photovoltaic system in the jth period, unit: kW;

P _ljfor the average power of load (except charging station) in a jth period micro-grid system, unit: kW;

P _eVjfor a micro-grid system jth period is to the power dispatching order of charging station, unit: kW;

(p _eVjfor timing represents charging station can from Systemic absorption power, for representing time negative that charging station can send power to system);

E _eVnfor charging station in n calculation interval to required electric energy, unit: kWh;

Δ t is calculation interval length, unit: h;

N is calculation interval quantity;

P _eVMjfor the power upper limit of electric automobile charging station in the jth period;

P _eVmjfor the lower limit of electric automobile charging station in the jth period.

Vehicle (user) level be the bottom of interactive framework and execution level as shown in Figure 9, management object is electric automobile itself, its target be ensure user charge requirement and reduce charging expense.This layer utilizes vehicle-mounted or non-vehicle intelligent terminal to realize the charging process optimum management of electric automobile.The control strategy of this level is completed by vehicle-mounted or non-vehicle intelligent terminal, the interface that charge controller controls charging and discharging vehicle as user, realize the parameter such as expectation charging interval, target state-of-charge (SOC) that user presets, final charge and discharge control order can be assigned by charging-discharging controller and perform to vehicle-mounted charge-discharge machine.The information that electric automobile user receives may comprise: electricity price information, award and punishment information, charge-discharge electric power restriction, discharge and recharge time restriction etc.These information may come from different main bodys, and electric automobile user, according to the traveling demand of these information in conjunction with self, makes a choice and Response Decision to various information.The constraint that the electric automobile user demand of travelling is brought comprises: journey time, target state-of-charge (SOC) etc. next time.The decision-making of electric automobile user simultaneously also will be subject to the constraint of power battery management system (BMS), need to be grasped the state of battery, ensure the safety of charge and discharge process.

When electric automobile user makes discharge and recharge decision-making according to the information received, in order to describe the charging and discharging state of whole process, whole charging process is divided into the impartial period, the information that electric automobile user receives within certain period is identical, and charging and discharging state does not change.

(1) consider that electric automobile does not allow to electrical network feedback electric energy, only according to the charge power of constraints decision-making calculation interval, control objectives is charging network minimal.The Mathematical Modeling of control strategy is:

$\min (z=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}(p_i{\mathrm{\ζ}}_{\mathrm{li}}+c_{i+}(p_i-P_{+}){\mathrm{\λ}}_i)\mathrm{\Δt})$

$s.t.\left\{\begin{array}{c}0\≤p_i\≤P_C\\ \underset{i=1}{\overset{N}{\mathrm{\Σ}}}{p}_i=\frac{N({\mathrm{SOC}}_{\mathrm{end}}-{\mathrm{SOC}}_0)B}{T_{\mathrm{end}}-T_{\mathrm{plugin}}}\end{array}\right.,i=1~N$

$c_{i+}=\left\{\begin{array}{c}0,p_i-P_{i+}\≤0\\ 1,p_i-P_{i+}>0\end{array}\right.$

(2) electric automobile allows to electrical network feedback electric energy, carry out charging or the size of electric discharge and charge-discharge electric power at each calculation interval according to constraints decision-making, control objectives is user's total expenditure network minimal, the cost brought comprising electric discharge causes battery life to lose.Ignore the impact of the factor such as charge-discharge electric power, charge and discharge process on battery life herein, battery life lost and is approximately: unit: unit/kWh, wherein C _bfor the battery price of unit capacity; k _lfor battery life-cycle cycle-index.Meanwhile, in order to avoid overcharging and discharging, the SOC of whole process battery should keep going up within limits, is set to [SOC herein _min, SOC _max], the Mathematical Modeling of its control strategy is:

$\min (z=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}(k_{i+}{p}_i{\mathrm{\ζ}}_{\mathrm{li}}+k_{i-}{p}_i({\mathrm{\ζ}}_{2i}-{\mathrm{\ζ}}_B)+c_{i+}(p_i-P_{i+}){\mathrm{\λ}}_i+c_{i-}(P_{i-}-p_i){\mathrm{\λ}}_i)\mathrm{\Δt})$

$s.t.\left\{\begin{array}{c}\left|p_i\right|\≤P_C\\ {\mathrm{SOC}}_{\min }\≤{\mathrm{SOC}}_i\≤{\mathrm{SOC}}_{\max }\\ {\mathrm{SOC}}_i={\mathrm{SOC}}_{i-1}+\frac{p_i\mathrm{\Δt}}{B}\\ \underset{i=1}{\overset{N}{\mathrm{\Σ}}}{p}_i=\frac{N({\mathrm{SOC}}_{\mathrm{end}}-{\mathrm{SOC}}_0)B}{T_{\mathrm{end}}-T_{\mathrm{plugin}}}\end{array}\right.,i=1~N$

$c_{i+}=\left\{\begin{array}{c}0,p_i-P_{i+}\≤0\\ 1,p_i-P_{i+}>0\end{array};\right.c_{i-}=\left\{\begin{array}{c}0,P_{i-}-p_i\≤0\\ 1,P_{i-}-p_i>0\end{array}\right.$

$k_{i+}=\left\{\begin{array}{c}0,p_i\≤0\\ 1,p_i>0\end{array};\right.k_{i-}=\left\{\begin{array}{c}0,p_i>0\\ 1,p_i\≤0\end{array}\right.$

Parameter in Policy model is as follows: Δ t is calculation interval length, unit: h;

N is calculation interval quantity;

P _ifor electric automobile is at the charge-discharge electric power of calculation interval i, unit: kW, (p _ifor timing represents charging, for representing electric discharge time negative);

T _pluginfor the moment of electric automobile access electrical network;

T _endfor the electric automobile expection departure time;

SOC ₀for the initial state-of-charge of electrokinetic cell;

SOC _iit is the state-of-charge at the end of i-th calculation interval;

SOC _endfor target state-of-charge;

P _cfor the minimum value of electrically-charging equipment and Vehicular charger Power Limitation, unit: kW;

ζ _1ifor the charging electricity price of each calculation interval, unit: unit/kWh;

ζ _2ifor the electric discharge electricity price of each calculation interval, unit: unit/kWh;

P _i+for the charge power of each calculation interval limits, unit: kW;

P _i-for the discharge power of each calculation interval limits, unit: kW;

λ _ifor day part runs counter to the penalty coefficient of charge-discharge electric power restriction, unit: unit/kWh (if in certain period, charge power p _i> P ₊, then punishment cost is: λ _i(p _i-P ₊) Δ t, discharge as the same);

B is electric automobile power battery capacity, unit: kWh.

The orderly charge control method that electric automobile of the present invention and electrical network interaction are coordinated devises multi-layer multi objective control strategy, and electric automobile charges in order and charge and discharge control strategy is multiple level according to the different demarcation of control subject and control objectives.When electric automobile receives the control of multiple main body to realize the control objectives of each level, each level will be subject to the constraint of higher level and subordinate's control objectives.When each control level exists simultaneously, there is mutual restriction relation in the scope that each layer controls, the target of control.Control level higher, the physical object related to is wider, requires also higher to electrical network level of intelligence.In the different frameworks of electric automobile from electrical network interaction, the control level related to is also different.

Above embodiment only understands core concept of the present invention for helping; the present invention can not be limited with this; for those skilled in the art; every according to thought of the present invention; the present invention is modified or equivalent replacement; any change done in specific embodiments and applications, all should be included within protection scope of the present invention.

Claims (9)

1. an electric automobile and the interactive orderly charge control method coordinated of electrical network, it is characterized in that: the method adopts the multiobject control mode of multi-layer, described level comprises regional power grid management level successively according to priority, power distribution network management level, integrated management layer, local energy management level and user management layer, wherein, the control of regional power grid management level is in regional power grid, guided by the discharge and recharge of electricity price signal to electric automobile, help realizes power supply and demand balance, or be polymerized by the charging and discharging capabilities of halfpace to dispersion electric automobile, participate in the management and running of the Wide Area Power.

2. electric automobile according to claim 1 and the interactive orderly charge control method coordinated of electrical network, it is characterized in that: described regional power grid management level are minimum for target with the wind-powered electricity generation amount of abandoning caused because of peak shaving off-capacity, set up target function, the power bound of constraints from electric automobile entirety and the energy requirement of entirety, the Controlling model of this level is as follows:

$\min =[z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}(p_{\mathrm{wj}}+p_{\mathrm{Gj}}-p_{\mathrm{lj}}-p_{\mathrm{EVj}})\mathrm{\Δt}]$ $\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj}}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\\ -p_{\mathrm{wj}}\≤p_{\mathrm{Gj}}-p_{\mathrm{lj}}-p_{\mathrm{EVj}}\≤0\end{array}\right.$

P _gjfor the plan of normal power supplies is exerted oneself, in an expression jth period regional power grid, normal power supplies totally exerts oneself;

P _wjfor the predicted value of wind power, in an expression jth period regional power grid, each wind energy turbine set totally exerts oneself;

P _ljfor predicted load, represent the total load in a jth period regional power grid;

P _eVjoverall power dispatching command for regional power grid management system in a jth period to electric automobile;

E _eVnfor the electric energy total amount that electric automobile is required in n calculation interval;

Δ t is calculation interval length;

N is calculation interval quantity;

P _eVMjrepresent the overall power upper limit of electric automobile in the jth period;

P _eVmjrepresent the overall power lower limit of electric automobile in the jth period.

3. electric automobile according to claim 1 and the interactive orderly charge control method coordinated of electrical network, it is characterized in that: described power distribution network management level guide according to the operational objective of power distribution network electric automobile discharge and recharge and control, by the direct management of electric automobile charging station under setting circuit, reach the target of line load peak valley balance; Target function is according to the minimum foundation of variance of setting circuit each moment load, and equally in controlling the power of charging station, meet bound power limit and the need for electricity of charging station, the control mathematical model of this level is:

$\min \{z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{[p_{\mathrm{lj}}+p_{\mathrm{EVj}}-\frac{1}{n}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}(p_{\mathrm{lj}}+p_{\mathrm{EVj}})]}^2\}$

$s.t.\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj}}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\end{array}\right.$

P _ljthe average power of load under expression this circuit of a jth period;

P _eVjpower dispatching order for power distribution network management level in a jth period to charging station;

E _eVnfor the electric energy that charging station is required in n calculation interval;

Δ t is calculation interval length;

N is calculation interval quantity;

P _eVMjfor the power upper limit of electric automobile charging station in the jth period;

P _eVmjfor the lower limit of electric automobile charging station in the jth period.

4. electric automobile according to claim 1 and the interactive orderly charge control method coordinated of electrical network, it is characterized in that: described integrated management layer receives power distribution network management level to the charge and discharge control order of its entirety, charge-discharge electric power is distributed to each electric automobile of administration, under the restriction of certain gross power, distribution to each user power limits: when there being N number of child user in system, the current forward gross power of system is restricted to p _s+, reverse gross power is restricted to p _s-, the charge-discharge power demand of each child user is respectively p ₁, p ₂, p ₃... p _n, when or time, the demand of child user is restricted, and now carries out power division according to the priority of user, realizes carrying out coordination configuration to the charge power of each child user.

5. electric automobile according to claim 4 and the interactive orderly charge control method coordinated of electrical network, it is characterized in that, the priority of each electric automobile user is defined as:

${\mathrm{PRI}}_i=\left\{\begin{array}{c}\frac{\frac{B_i({\mathrm{SOC}}_{\mathrm{endi}}-{\mathrm{SOC}}_{0i})}{T_{\mathrm{endi}}-T_0}}{\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\frac{B_k({\mathrm{SOC}}_{\mathrm{endk}}-{\mathrm{SOC}}_{0k})}{T_{\mathrm{endk}}-T_0},T_{\mathrm{endi}}>T_0}\\ 0,T_{\mathrm{endi}}\≤T_0\end{array}\right.$

Wherein, T ₀for current time;

B _iit is the rated capacity of i-th electric automobile power battery;

T _endiit is i-th electric automobile expection departure time;

SOC _0ibe i-th initial state-of-charge of electric automobile;

SOC _endibe i-th electric automobile target state-of-charge;

The span of this priority is 0 ~ 1, and value shows that more greatly the priority of charging is higher, and the priority of simultaneously discharging is lower; The power limit of each vehicle is drawn by the product of priority and system total power limit value, that is:

p _li+＝PRI _i×p _s+

p _li-＝(1-PRI _i)×p _s-

Wherein, p _li+for charge power limit value, p _li-for discharge power limit value.

6. electric automobile according to claim 1 and the interactive orderly charge control method coordinated of electrical network, it is characterized in that: described local energy management level realize the coordinated operation of electric automobile and other loads and power supply, control objectives, the while of ensureing the local quality of power supply, at utmost meets the charge requirement of electric automobile user.

7. electric automobile according to claim 6 and the interactive orderly charge control method coordinated of electrical network, it is characterized in that: the micro-grid system that setting local energy management level manage includes Wind turbines, photovoltaic, electric automobile charging station and life load, the local target at utmost utilizing renewable energy power generation is realized in order to electric automobile management of charging and discharging, set up the control mode of micro-grid system to electric automobile charging station, the Controlling model of this level is as follows:

$\min (z=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}|p_{\mathrm{wj}}+p_{\mathrm{pvj}}-p_{\mathrm{EVj}}-p_{\mathrm{lj}}\left|\mathrm{\Δt}\right)$

$s.t.\left\{\begin{array}{c}{p}_{\mathrm{EVmj}}\≤p_{\mathrm{EVj}}\≤p_{\mathrm{EVMj}}\\ \underset{j=1}{\overset{n}{\mathrm{\Σ}}}{p}_{\mathrm{EVj}}\mathrm{\Δt}=E_{\mathrm{EVn}}\end{array}\right.$

P _wjfor the average output power of Wind turbines in the jth period;

P _pvjfor the average output power of photovoltaic system in the jth period;

P _ljfor jth period average power of load in micro-grid system except charging station;

P _eVjfor a micro-grid system jth period is to the power dispatching order of charging station;

E _eVnfor the electric energy that charging station is required in n calculation interval;

Δ t is calculation interval length; ;

N is calculation interval quantity;

P _eVMjfor the power upper limit of electric automobile charging station in the jth period;

P _eVmjfor the lower limit of electric automobile charging station in the jth period.

8. electric automobile according to claim 1 and the interactive orderly charge control method coordinated of electrical network, it is characterized in that: the control objectives of described user management layer is the charge requirement of guarantee user and reduces charging expense, and this layer utilizes vehicle-mounted or non-vehicle intelligent terminal to realize the charging process optimum management of electric automobile; The interface that charging-discharging controller controls charging and discharging vehicle as user, realize expectation charging interval that user presets, target state-of-charge parameter, final charge and discharge control order can be assigned by charging-discharging controller and perform to vehicle-mounted charge-discharge machine; Electric automobile user, according to the traveling demand of the information received in conjunction with self, makes a choice and Response Decision to various information according to hierarchy of users control mode.

9. electric automobile according to claim 8 and the interactive orderly charge control method coordinated of electrical network, is characterized in that: when electric automobile user makes discharge and recharge decision-making according to the information received, comprises the following two kinds control mode:

(1) if electric automobile does not allow to electrical network feedback electric energy, only according to the charge power of constraints decision-making calculation interval, control objectives is charging network minimal, and the Mathematical Modeling of its control strategy is:

$\min (z=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}(p_i{\mathrm{\ζ}}_{\mathrm{li}}+c_{i+}(p_i-P_{+}){\mathrm{\λ}}_i)\mathrm{\Δt})$

$s.t.\left\{\begin{array}{c}0\≤p_i\≤P_C\\ \underset{i=1}{\overset{N}{\mathrm{\Σ}}}{p}_i=\frac{N({\mathrm{SOC}}_{\mathrm{end}}-{\mathrm{SOC}}_0)B}{T_{\mathrm{end}}-T_{\mathrm{plugin}}}\end{array}\right.$

$c_{i+}=\left\{\begin{array}{c}0,p_i-P_{i+}\≤0\\ 1,p_i-P_{i+}>0\end{array}\right.$

(2) if electric automobile allows to electrical network feedback electric energy, carry out charging or the size of electric discharge and charge-discharge electric power at each calculation interval according to constraints decision-making, control objectives is user's total expenditure network minimal, the cost brought comprising electric discharge causes battery life to lose; Ignore the impact of the factor such as charge-discharge electric power, charge and discharge process on battery life herein, battery life lost and is approximately: c _bfor the battery price of unit capacity; k _lfor battery life-cycle cycle-index; Simultaneously in order to avoid overcharging and discharging, the SOC of whole process battery should remain on setting range [SOC _min, SOC _max] within, the Mathematical Modeling of its control strategy is:

$\min (z=\underset{i=1}{\overset{N}{\mathrm{\Σ}}}(k_{i+}{p}_i{\mathrm{\ζ}}_{\mathrm{li}}+k_{i-}{p}_i({\mathrm{\ζ}}_{2i}-{\mathrm{\ζ}}_B)+c_{i+}(p_i-P_{i+}){\mathrm{\λ}}_i+c_{i-}(P_{i-}-p_i){\mathrm{\λ}}_i)\mathrm{\Δt})$

$\left\{\begin{array}{c}\left|p_i\right|\≤P_C\\ {\mathrm{SOC}}_{\min }\≤{\mathrm{SOC}}_i\≤{\mathrm{SOC}}_{\max }\\ {\mathrm{SOC}}_i={\mathrm{SOC}}_{i-1}+\frac{p_i\mathrm{\Δt}}{B}\\ \underset{i=1}{\overset{N}{\mathrm{\Σ}}}{p}_i=\frac{N({\mathrm{SOC}}_{\mathrm{end}}-{\mathrm{SOC}}_0)B}{T_{\mathrm{end}}-T_{\mathrm{plugin}}}\end{array}\right.$

$c_{i+}=\left\{\begin{array}{c}0,p_i-P_{i+}\≤0\\ 1,p_i-P_{i+}>0\end{array};\right.c_{i-}=\left\{\begin{array}{c}0,P_{i-}-p_i\≤0\\ 1,P_{i-}-p_i>0\end{array}\right.$

$k_{i+}=\left\{\begin{array}{c}0,p_i\≤0\\ 1,p_i>0\end{array};\right.k_{i-}=\left\{\begin{array}{c}0,p_i>0\\ 1,p_i\≤0\end{array}\right.$

Wherein, Δ t is calculation interval length;

N is calculation interval quantity;

P _ifor electric automobile is at the charge-discharge electric power of calculation interval i;

T _pluginfor the moment of electric automobile access electrical network;

T _endfor the electric automobile expection departure time;

SOC ₀for the initial state-of-charge of electrokinetic cell;

SOC _iit is the state-of-charge at the end of i-th calculation interval;

SOC _endfor target state-of-charge;

P _cfor the minimum value of electrically-charging equipment and Vehicular charger Power Limitation;

ζ _1ifor the charging electricity price of each calculation interval;

ζ _2ifor the electric discharge electricity price of each calculation interval;

P _i+for the charge power of each calculation interval limits;

P _i-for the discharge power of each calculation interval limits;

λ _ifor day part runs counter to the penalty coefficient of charge-discharge electric power restriction;

B is electric automobile power battery capacity.