CN107732936A - A kind of fast frequency based on temperature control load adjusts double-deck control system - Google Patents
A kind of fast frequency based on temperature control load adjusts double-deck control system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/008—Circuit arrangements for ac mains or ac distribution networks involving trading of energy or energy transmission rights
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The present invention relates to a kind of fast frequency based on temperature control load to adjust double-deck control system, is connected with dispatching of power netwoks server, including：Virtual Access Gateway C units, for reporting overall adjustment capacity, and the dispatch command issued by period 1 responsive electricity grid dispatch server to dispatching of power netwoks server, generate clustered control order；Load aggregation server, respond the clustered control order successively using the period 1 as interval, generate temperature control load control signal；Temperature control loading module, and the temperature control load control signal is responded, realize quick regulation；The multiple Load aggregation servers of Virtual Access Gateway C unit cooperatives, realize top level control, and the Load aggregation server realizes lower floor's control with second round to temperature control loading module.Compared with prior art, the present invention can effectively improve the AGC response performances of ACL clusters, improve response speed and precision.
Description
Technical Field
The invention relates to a power grid control technology, in particular to a rapid frequency adjustment double-layer control system based on a temperature control load.
Background
With the increasing of the random renewable energy ratio of wind power, photovoltaic and the like in a power grid, the climbing rate and the high-frequency fluctuation component of the net load of a power system are increased continuously. In such a background, the following problems may exist in the following situation in which only the conventional AGC set is relied upon to ensure the frequency quality of the system. Firstly, enough AGC reserve capacity needs to be reserved in the system, so that the operation efficiency of the system is reduced, and the loss of an AGC unit is also aggravated by frequent adjustment; secondly, the response time of the conventional AGC unit is tens of seconds, and the high-frequency fluctuation component in the net load is difficult to track quickly. The scarcity of rapid response resources becomes an important factor influencing the safe operation of a high-proportion renewable energy power system.
In order to solve the problem of rapid AGC resource shortage in the system, the united states Federal Energy Regulatory Commission (FERC) issued act 755 in 2011, which allows energy storage resources to participate in the frequency modulation market and obtain high compensation by accurately tracking AGC signals. However, although energy storage costs decrease year by year, its investment remains huge. If the existing resources of the demand side can be used for replacing stored energy to provide the rapid AGC service, the method has important practical significance.
Modern buildings have a large thermal inertia. With proper control, the total power of a cluster of air-conditioning, heat pump, thermally Controlled Loads (TCLs) can be quickly changed without affecting user comfort. By utilizing the characteristic, researchers find that TCL can be converted into a large-scale AGC resource. Although the existing research verifies the capability of TCL cluster to track AGC signal and shows great potential in participating AGC, the existing research still has the following problems in view of the characteristics of small monomer capacity, large quantity and scattered positions of TCL: (1) In view of the feasibility, the control period for TCL clusters is currently typically 1min. This makes the TCL cluster unable to track the fast AGC signal (period is typically 4 s), and its response speed is even worse than that of the conventional AGC set. Although some research results adopt fast TCL cluster control with a period of 4s in simulation, the fast TCL cluster control has high communication and control cost in practical use. (2) Some of the prior published documents require the user to provide the TCL and the model and parameters of the building to the control center. This, in addition to presenting user privacy concerns, also creates high implementation costs in view of the size of the TCL. (3) Although there is a method without TCL model information, this method generally uses a centralized control structure and a direct load control means, which has information security risk and high requirement for real-time communication.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a fast frequency adjustment dual-layer control system based on temperature controlled loads.
The purpose of the invention can be realized by the following technical scheme:
a quick frequency adjustment double-layer control system based on temperature control load is connected with a power grid dispatching server and comprises:
the virtual AGC unit is used for reporting the total regulation capacity to the power grid dispatching server, responding to a dispatching instruction issued by the power grid dispatching server according to a first period and generating a cluster control command;
the load aggregation servers are provided with a plurality of servers, sequentially respond to the cluster control command at intervals of a first period and generate temperature control load control signals;
the temperature control load modules report load state information to the load aggregation servers and respond to the temperature control load control signals to realize rapid adjustment, and each load aggregation server is connected with at least one temperature control load module;
the virtual AGC unit coordinates a plurality of load aggregation servers to realize upper-layer control, the load aggregation servers realize lower-layer control on the temperature control load modules at a second period, wherein the second period is N times of the first period, and N is the number of the load aggregation servers.
Further, the dispatching instruction is a high-frequency component signal generated after a regional control error signal sent by the power grid dispatching server passes through a low-pass filter.
Further, the load aggregation server has a response state and a hold state, and generates the temperature control load control signal only in response to the cluster control command in the response state, wherein the duration of the hold state is a second period.
Further, during the first period, one and only one load aggregation server enters a response state.
Further, the temperature control load module comprises a community concentrator and a plurality of temperature control loads connected with the community concentrator, and the community concentrator performs characteristic aggregation on the connected temperature control loads and uploads the aggregated temperature control loads to the load aggregation server.
Further, the temperature control loads connected with the same load aggregation server are provided with a timer, and based on the timer, the temperature control loads simultaneously respond to the temperature control load control signals sent by the load aggregation server after a preset delay.
Further, in the lower-layer control, the load aggregation server adjusts the temperature control load module based on a distributed control method of a market mechanism, and the temperature control load control signal generated by the load aggregation server is the clearing price p of the load aggregation server * The temperature-controlled load receives the clearing price p * Later and self bid price p bid Comparison is carried out, p bid Lower than p * The corresponding temperature control load is closed, otherwise, the corresponding temperature control load is opened.
Further, the lower layer control may also adopt other methods to adjust the temperature control load module.
Further, each of the load aggregation servers has a virtual energy storage model, and for a load aggregation server j, the virtual energy storage model is represented as:
where VSOC is the virtual SOC value, P dmax And P cmax Respectively representing the maximum discharge power and the maximum charge power of the virtual stored energy.
Further, when the reported capacity is asymmetric, the up-regulation capacity and the down-regulation capacity reported by the virtual AGC set to the grid scheduling server are respectively represented as:
when the reported capacity is the symmetric capacity, the total adjustment capacity C reported by the virtual AGC unit to the power grid dispatching server is represented as:
in the formula (I), the compound is shown in the specification,in order to adjust the capacity as a whole,in order to down-regulate the capacity as a whole,in order to ideally adjust the capacity up,in order to ideally down-regulate the capacity,to account for the ramp rate limited capacity of upshifts,to account for the ramp rate limited turndown capacity,to account for the limited upturn capacity of the virtual SOC,to account for the turndown capacity of the virtual SOC limit.
Further, in the upper-layer control, the cluster control command generated by the virtual AGC machine set is an adjustment power allocation command, and the adjustment power allocation command for the load aggregation server j is represented as:
in the formula, P reg,j [k]Adjusting the actual power, R, of the server j for the load aggregation at time k reg,max [k-1]、 R reg,min [k-1]Respectively the upper and lower limits, P, of the regulation power ratio of the load aggregation server j at the moment of k-1 Σ,j [k]The total rated power of the temperature control load of the load aggregation server j at the moment k,the adjusted power desired value of server j is aggregated for time k,
compared with the prior art, the invention has the following beneficial effects:
1. in the upper-layer control, a virtual AGC unit coordinates a plurality of load aggregation servers to respond AGC signals in turn, so that the response speed and the accuracy are improved; in the lower-layer control, the load aggregation server performs distributed control on the large-scale temperature control load by using the virtual price signal, so that the control cost is reduced.
2. The invention solves the problem of scarcity of rapid AGC resources in a high-proportion renewable energy power system, reduces the control cost of large-scale temperature control load, improves the response performance of the temperature control load to rapid AGC signals, and adopts an incentive policy of compensating according to the response performance, so that a user obtains higher economic benefit.
3. According to the invention, each temperature control load simultaneously responds to the control signal after the preset delay according to the self timer, so that the response precision of the temperature control load cluster is improved.
4. The invention utilizes a distributed control strategy based on a market mechanism, and broadcasts a virtual price signal to the temperature control load through the load aggregation server to respond to an AGC command, so that the model and parameter information of the temperature control load are not required to be collected in the control, and the direct switching control right of the temperature control load exposed to the outside by a user is also not required.
5. The invention has two advantages that the clearing price generated by the load aggregation server is the only control signal sent by the load aggregation server to the temperature control loads, and firstly, the load aggregation server does not need to appoint the switch or the set value of each temperature control load, thereby greatly simplifying the downlink control; and secondly, external application cannot directly control the temperature control load switch, and the information security risk is low.
6. The invention corrects the adjusting power of the load aggregation servers, ensures the balance of the adjusting power of each load aggregation server and improves the control stability.
7. The invention provides the estimation method of the adjusting capacity of the virtual AGC unit, so that the virtual AGC unit can ensure good response effect and improve the obtainable economic benefit.
Drawings
FIG. 1 is a schematic diagram of slow and fast AGC signals;
FIG. 2 is a schematic structural diagram of a dual-layer control system according to the present invention;
FIG. 3 is a graph of the effect of synchronization error on the ramp rate of the load aggregation server response power;
FIG. 4 is a schematic illustration of a rendering and virtual energy storage model parameter definition;
FIG. 5 is a schematic diagram of a regulated power distribution strategy;
FIG. 6 is a schematic diagram of a modulated capacity considering VSOC limits, where (a) is a schematic diagram of a modulated capacity and (b) is a schematic diagram of a modulated capacity;
FIG. 7 is a ACL rated power distribution plot;
FIG. 8 is a RegD signal ramp rate probability density T location-scale distribution fit;
FIG. 9 is a graph of ambient temperature change;
FIG. 10 is a graph of capacity (asymmetry) and response power for different ambient temperatures;
FIG. 11 is a plot of VSOC variation at different ambient temperatures;
FIG. 12 is T o VSOC at 25 ℃, no VSOC constraints;
FIG. 13 is T o =25 ℃, response power without VSOC constraints;
FIG. 14 shows the capacity (symmetry) and response effect of the virtual AGC unit scheme;
FIG. 15 shows the capacity (symmetry) versus response for a single aggregator approach;
FIG. 16 is a comparison of target regulation power and response power at 25 ℃;
FIG. 17 is p per hour cap And p mileage A graph;
fig. 18 is a comparison of normalized reported modulation capacity and response performance indicators.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 2, the present invention provides a temperature control load-based fast frequency adjustment dual-layer control system, which is connected to a power grid dispatching server and includes a virtual AGC set, a load aggregation server, and a temperature control load module. The virtual AGC unit is used for reporting the total regulation capacity to the power grid dispatching server, responding to a dispatching instruction issued by the power grid dispatching server according to a first period and generating a cluster control command; a plurality of load aggregation servers are arranged, one load aggregation server corresponds to one aggregation quotient and sequentially responds to the cluster control command at intervals of a first period to generate a temperature control load control signal; the temperature control load modules report load state information to the load aggregation servers and respond to the temperature control load control signals to realize rapid adjustment, and each load aggregation server is connected with at least one temperature control load module. The virtual AGC unit coordinates a plurality of load aggregation servers to realize upper-layer control, the load aggregation servers realize lower-layer control on the temperature control load module at a second period, the second period is N times of the first period, and N is the number of the load aggregation servers.
In the upper-layer control, the virtual AGC unit coordinates a plurality of temperature control load aggregators to make the temperature control load aggregators respond to the quick AGC signals in turn, thereby improving the response speed and the accuracy. Based on the control scheme, an estimation method of the adjustment capacity of the virtual AGC unit is deduced. In the lower-layer control, in order to reduce the control cost of large-scale temperature control load, the community concentrator is used for carrying out regional aggregation on the temperature control load firstly, and the slow control with the period of 1min is adopted for the temperature control load, so that the control cost is reduced. In addition, the invention adopts a distributed control method based on a market mechanism, can complete control without collecting model parameters of temperature control load, and has better information security. Without loss of generality, the present invention will be analyzed with Air Conditioning Load (ACL) as an example.
1. Fast frequency adjustment assistance service
The dispatching instruction received by the virtual AGC unit is a high-frequency component signal generated after an area control error signal sent by a power grid dispatching server passes through a low-pass filter.
Before the U.S. FERC promulgated 755, the gain of AGC resources was only dependent on the tuning capacity, and was not related to the tracking accuracy and tuning mileage, which apparently failed to encourage fast AGC resources to participate in the FM market. To this end, FERC sets out a policy of performance-for-performance compensation (pay-for-performance) in response. The following takes the PJM FM market in the United states as an example to illustrate the specific implementation method.
Scheduling typically signals an Area Control Error (ACE) with a period of 4s. The PJM decomposes ACE into a low frequency component RegA and a high frequency component RegD using a low pass filter, as shown in fig. 1. The conventional unit only responds to the RegA, so that the unit adjustment loss is reduced; and the fast AGC resource responds to the high frequency component to improve the performance of the frequency adjustment. Meanwhile, since the high-frequency component has an average value of 0 in a certain time, the capacity requirement for non-power generation type resources such as energy storage can be remarkably reduced.
In the U.S. PJM FM market, the gains that a fast AGC resource can obtain are divided into capacity gainsAnd adjusting mileage revenueSetting the regulation capacity reported by AGC resources as C, and the prices ($/MWh) of capacity income and mileage income as p respectively cap And p mileage Then the gain is calculated as follows:
in the formula, S PJM In response to the effectiveness index, M ratio Is a mileage ratio.
To calculate S PJM First, the following coefficients are defined:
(1) Tracking accuracy coefficient S prec ：
Where Reg is the normalized frequency adjustment signal (i.e., regD signal); res is the normalized unit response power; k is d The number of sampling points in an evaluation period (generally 1 h); n represents the number of samples in the evaluation period for which the control signal is not 0.
(2) Correlation coefficient S of response corr And a delay coefficient S delay ：
In the formula (I), the compound is shown in the specification,
wherein, K w Indicates the number of sampling points, δ, within a 5min window k Denotes that S corr +S delay Offset when maximum value is taken:
in order to ensure the response effect of the rapid AGC resource, the PJM has higher requirement on the tracking precision coefficient, and S is used prec The threshold value is defined to be 0.75, and a response effect index S is formed PJM The calculation formula is as follows:
is easy to know, S PJM ∈[0,1]The closer to 1, the better the response.
The calculation formula for the adjustment mileage is as follows:
the mileage of the RegD signal is about 3 times that of RegA. The PJM defines the ratio of the two as the mileage ratio:
from the above, the following conclusions can be drawn:
(1) The fast AGC resource can gain about 3 times more gain by responding to the RegD signal than to the RegA signal.
(2) However, the fast AGC resource needs to ensure that the tracking accuracy exceeds 0.75, otherwise, the response capability index S thereof PJM The correlation coefficient and the delay coefficient are not included any more, thereby seriously affecting the yield thereof.
(3) The AGC resources need to be accurately estimated and reported with the adjustment capacity. If the reported regulation capacity exceeds the actual regulation capacity, the response capacity index S of the regulation capacity is influenced PJM 。
2. System principle and overall structure
In order to improve the AGC response performance of the ACL cluster while maintaining the 1min control period, a two-layer control structure as shown in fig. 2 is proposed.
In the upper control layer, the role of the virtual AGC unit is defined, the virtual AGC unit is used for shielding the complexity of large-scale ACL control to the scheduling, and external characteristics of a quasi-conventional AGC unit are provided, such as the capability of reporting the total regulation capacity to the scheduling and responding to a RegD signal issued by the scheduling. The role of the virtual AGC unit can be borne by a third-party flexible resource provider or a scheduling self.
In the lower layer control, the invention uses the air conditioning load aggregator (aggregator for short) to implement distributed control on the large-scale ACL with 1min as a period. Aggregators work in two states: (1) the response state is as follows: receiving and responding to a new control signal when the last control period is finished; (2) a holding state: and after the response state is finished, the ACL in the whole cluster autonomously operates, and the total load of the cluster tracks the control signal and keeps unchanged within 1min. During which the aggregator no longer responds to the control signal until the next moment of response.
If the virtual AGC unit responds to the RegD signal in a period of 4s, the virtual AGC unit is responsible for summoning 15 aggregators with similar scales during initialization, and the virtual AGC unit is enabled to respond to the RegD signal in sequence at intervals of 4s by setting a timer of the virtual AGC unit. In any one RegD signal period, one and only one aggregator enters the responsive state, while the remaining aggregators are all in the holding state. Thus, the RegD signal is shared by all aggregators, while the changed part (compared to the previous RegD signal) is responded to by the aggregator entering the response state. This is equivalent to "modulating" a fast signal with a period of 4s with 15 slow signals with a period of 1min.
In fig. 2, the communication period is 1min except that the communication period between the scheduling unit and the virtual AGC unit is 4s (same as that of the conventional unit). In order to integrate ACL of a wide area by an aggregator, a concentrator (CC) is provided in each community (such as residential and commercial communities) to aggregate and upload local ACL characteristics, and to issue control signals of the aggregator. With such an architecture, the virtual AGC group can significantly reduce the control cost for large-scale ACLs. As can also be seen from fig. 2, as long as the virtual AGC units are located in the same AGC control area, the virtual AGC units can be flexibly configured via the community concentrator-aggregator without being limited by the geographical area.
The inconsistency in network delays can cause the ACLs of the same aggregator to receive and respond to control signals asynchronously, thereby introducing control errors. To this end, the invention proposes that all ACLs of the same aggregator must be timed to a predetermined delay T according to their own timer delay And then simultaneously responds to the control signal. Assume that the clock synchronization error of each ACL is [ - δ, δ]And if the ACLs are uniformly distributed in the interval and the parameters of the ACLs are the same, the actual response power of the aggregator has the climbing rate shown in FIG. 3. In order to control the synchronization error within 1s, a hierarchical networked time synchronization system including a virtual AGC set, an aggregator and an ACL may be formed based on a mature Network Time Protocol (NTP) with power grid scheduling as a time service source. It should be noted that, no consideration has been given to the influence of the inconsistency of network delay on the response accuracy of the ACL cluster.
3. Control strategy for load aggregation server
The present invention refers to the power when the ACL is not involved in external control as baseline power (baseline load). The basic principle of controlling the ACL cluster is to change the total load of the cluster around the reference power by using the thermal inertia of the building on the premise of not affecting the comfort of users, so as to achieve the specific control purpose.
In order to avoid the need of collecting models and parameter information of ACLs in control and the need of direct on-off control right of ACLs exposed by a user, the invention utilizes a distributed control strategy based on a market mechanism, which is provided by a method for stabilizing microgrid tie line power fluctuation based on air conditioning load of market control (Yao 22426with over-spangle, china Motor engineering report, 2017.DOI: 10.13334/j.0258-8013. PCSEE.162178), and a virtual price signal is broadcasted to the ACLs by a aggregator to respond to AGC commands.
3.1 distributed control based on market mechanisms
(1) Air conditioner load bidding strategy
In order to quantitatively describe the current adjustment capability of the ACL and the comfort of the user and sufficiently reflect the personalized setting of the room temperature by the user, an air conditioner room temperature state (state of air temperature with air-conditioner, SOA) is defined. Taking a refrigeration air conditioner as an example:
in the formula, T set Setting a room temperature value for a user; t is max 、T min The upper and lower limits of the room temperature allowed by the user; t is air Is the current room temperature.
The easy-to-know SOA is E-1, and the closer the value is to 0, the higher the comfort level of the user is; and a value close to 1 or-1 indicates that the room temperature is close to the allowable upper limit or lower limit.
Let ACL bid as follows:
BID＝([p bid ,q bid ],s) (11)
in the formula, the bid price p bid The range is a random number and is used for avoiding the problem that the scaling values are equal due to the accuracy limitation of the air conditioner temperature sensor; bid capacity q bid Taking the rated power of ACL; s is additional information indicating an operating state when the air conditioner is thrown (1 indicates that the air conditioner is on, and 0 indicates off).
(2) Discharge mode of aggregator
And each community concentrator collects the bidding information of the local ACL and uploads the bidding information to the aggregator. The aggregator collects bid information for all subordinate concentrators. Since the bid price reflects the urgency of the air conditioner to be turned on, demand curves are aggregated in the order of the bid price from high to low, as shown in fig. 4.
The AGC power provided by the aggregator is defined as the amount of change on the basis of the reference power. At time k, the reference power of the aggregation quotient j is P base,j [k]The AGC power to be supplied is P reg,j [k]Then the control target power of the aggregator should be:
P ctr,j [k]＝P base,j [k]-P reg,j [k] (12)
it should be noted that the AGC adjustment signal and the target adjustment power both follow the power supply definition, i.e., an up adjustment is equivalent to decreasing the load, and vice versa to increasing the load.
In FIG. 4, the aggregator finds the demand curve and the control target power P ctr The intersection point of (a) is obtained, the clearing price p is obtained * And broadcast to the ACL. Obviously, this price is only a control signal.
(3) Air conditioner load response mode
Each ACL bids the price p on the premise of not damaging the upper and lower allowable limits of the room temperature bid And p * Comparison, p bid Lower than p * When the switch is turned off, otherwise, the switch is turned on. Due to the clearing price p * The method has the advantages that firstly, the aggregator does not need to designate a switch or a set value of each ACL, and downlink control is greatly simplified; and secondly, external application cannot directly control an ACL switch, so that the information security risk is low.
The control period of the bidding and responding process is 1min.
3.2 virtual energy storage model of air conditioner load cluster
By using fig. 4, the virtual energy storage model of the aggregator is easily and visually obtained, so that the complex microscopic dynamic model of the ACL in the cluster is hidden, and a macroscopic model capable of quantitatively representing the adjustability of the aggregator is formed. For the aggregator j, the virtual energy storage model is expressed as:
in the above equation, VSOC is a virtual SOC value used to measure the overall room temperature state of the ACL cluster, and is defined as follows:
wherein N is j The total number of ACLs under aggregator j.
P dmax And P cmax Respectively representing the maximum discharge power and the maximum charge power of the virtual stored energy. Wherein the maximum discharge power is a power consumption that allows a reduction on the reference power; and the maximum charging power is the power consumption allowed to increase above the reference power. Accordingly, the maximum charge and discharge power of the virtual energy storage model may be defined:
in the formula, P Σ,j The total rated power of the ACL of the aggregator j can be obtained by summing the bidding capacity of the ACL in the aggregator.
4. Control strategy and regulation capacity of virtual AGC unit
4.1, adjusting Power distribution policy
Let P REG And the target regulation power of the virtual AGC unit is obtained by multiplying the normalized regulation signal RegD by the regulation capacity C reported by the virtual AGC unit. If the virtual AGC unit includes N =15 aggregators, the total reference power is:
target regulation power P REG Is shared by all aggregatorsAnd sequentially responding. In FIG. 5, P is responded to by aggregator j at time k REG [k](ii) a After 4s, P is responded to by the aggregator j +1 REG [k+1](ii) a And so on. If the virtual AGC unit can accurately track the target adjusting power, the following requirements are met:
at time k, the desired value for the aggregate j to regulate power is:
however, the above equation does not take into account the balance of adjusting the power distribution among the aggregators. In fig. 5, it is assumed that the aggregator j responds to a very large 4s ramp signal P at time k ramp,j [k]Then equation (18) has no ability to restore the balance between the aggregators at a later time. Such a situation continues to occur, which may result in excessive regulation power being undertaken by some aggregators and affect user comfort. Thus, the aggregator regulated power is modified.
First, the ratio of the regulated power assumed by the aggregator j to its total rated power is defined as the regulated power ratio:
in order to distribute the total regulating power as evenly as possible among the aggregators, the regulating power ratio of each aggregator is limited to be close to the average value, and an upper limit and a lower limit of the regulating power ratio are formed:
wherein, L is the adjusting power balance coefficient.
The result of equation (18) is limited accordingly, resulting in an actual regulated power for aggregator j:
in the formula (I), the compound is shown in the specification,
the above equation limits the actual ramp rate of aggregator j to make it likely not equal to P REG 4s ramp rate P ramp,j [k]。
4.2 adjusting capacity of virtual AGC unit
As can be seen from the formula (1), the AGC adjusting capacity of the virtual AGC unit is not only an important basis for scheduling and checking the tracking precision of the virtual AGC unit, but also a main basis for calculating economic compensation. Therefore, the virtual AGC set needs to reasonably estimate its adjustment capability. The invention provides three adjustment capacity estimation indexes: ideal regulation capacity, regulation capacity considering a hill climbing rate limit, and regulation capacity considering a VSOC limit.
(1) Ideal capacity of regulation
Obviously, the regulation capacity of the virtual AGC group is firstly influenced by the total rated power P Σ The limitation of (2):
from the equations (12), (16) and (17), the regulation capacity is also influenced by the reference power P BASE The limit of (2). The present invention refers to the regulation capacity considering only these two constraints as the ideal regulation capacity. The ideal capacity-up and ideal capacity-down can be obtained by the following equations:
(2) Capacity modulation considering ramp rate limitation
In fig. 5, N aggregators responded to the RegD signal sequentially within 1min. Thus, the actual climbing rates of all the aggregators are added to obtain the climbing rate of the virtual AGC unit (if no special description exists, the climbing rates in the invention all refer to 1min climbing rates).
From equation (21), it can be derived that the maximum upward and downward climbing rates of the aggregator j at time k are:
in the following, taking the maximum upward ramp rate as an example, how the formula affects the ramp rate of the virtual AGC unit is analyzed. Assuming each aggregate power rating P Σ,j And (3) substituting the formulas (17), (19), (20) and (22) into a formula (24) similarly and unchangeably within 1min, and summing the formula (24) for 1min according to the following formula to obtain an estimated value of the maximum upward climbing rate of the virtual AGC unit:
in the formula, operatorFor returning an integer not exceeding N, defined as follows:
in equation (26), the first term depends on the target regulation power P REG I.e. affected by the RegD signal, is a random term; the second term depends on the virtual AGC set itself. Assuming that the RegD signal is continuously increasing within 1min from time k, the first term is greater than 0, so LxP can be set Σ Climbing energy as virtual AGC unitA conservative estimate of the force. According to similar analysis, the conservative estimated value of the downward climbing rate of the virtual AGC unit is equal to L multiplied by P Σ 。
The grade-climbing rate distribution of the RegD signal can be estimated from historical data. Under a certain confidence coefficient, the upper limit of the absolute value of the normalized RegD climbing rate is R RegD Then the virtual AGC unit estimates the regulation capacity considering the limitation of the climbing rate according to the following formula
In the above formula, a conservative estimated value of the climbing rate of the virtual AGC unit is adopted on the right side of the equation, so that an estimated value of the adjusting capacity is smaller. But this may better guarantee the accuracy of the response.
(3) Capacity modulation taking into account VSOC limitations
There is no up/down capability when the VSOC of each aggregator reaches +/-1, so the virtual AGC set must ensure that the VSOC of each aggregator is within a reasonable range while responding to the scheduling signal.
Based on the ideal modulation capacity, the broken line of FIG. 6 is designed for estimating the modulation capacity considering VSOCIn the figure, S max Represents the maximum VSOC value, S, among all aggregators min Represents a minimum VSOC value; s. the ±1 、S ±2 Four thresholds.
(4) Reporting AGC adjusted capacity
In the three estimated values of the regulation capacity, the ideal regulation capacity reflects the physical regulation limit of the ACL cluster, is mainly related to the scale of the ACL cluster and the ambient temperature, and is asymmetrical; the regulation capacity considering the climbing rate limitation is used for ensuring the balance of power distribution among aggregators, and the value of the regulation capacity is related to the statistical characteristic of the responded RegD signal and has symmetry; the tuning capacity, which takes account of the VSOC limit, only works when the aggregator's VSOC is approaching a threshold, whose value is influenced by the user comfort setting, and is asymmetric. The regulation capacity reported to the dispatching by the virtual AGC unit is determined according to the following formula and is updated once per hour:
most of frequency modulation markets in the United states such as PJM require that the adjustment capacity has symmetry, and at the moment, the adjustment capacity of the virtual AGC unit is reported according to the following formula:
5. simulation analysis
Simulation example
In this embodiment, simulation is performed by taking Air Conditioning Load (ACL) as an example, 15 load aggregation servers are set, each load aggregation server belongs to one aggregator, and the ACL for each load aggregation server to participate in control is 500, so that the virtual AGC unit includes 7500 air conditioners in total.
The ACL adopts a second-order ETP model, the simulation step length, the data updating and recording period are 2s, and the RegD signal period is 4s. Maximum communication delay T from grid dispatching to ACL delay Take 10s and 2s for the maximum ACL synchronization error delta. The main parameter settings of the ACL are shown in tables 1-3. Where N (avg, std) represents a normal distribution and U (a, b) represents a uniform distribution.
TABLE 1 ACL Main parameter settings
Each ACL power rating is selected based on the thermal parameters of the house. According to table 1, the ACL rated power distribution in the example is shown in fig. 7, and the total rated power is about 21.5MW.
TABLE 2 ACL controller Main parameter settings
TABLE 3 virtual AGC Unit control parameters
This example analyzes the normalized RegD signal of PJM from 2016 for 3 months to 2017 for 2 months, and obtains the probability density distribution of its ramp rate, as shown in fig. 8.
As can be seen from the figure, the distribution of the 1min slope rate of the RegD signal has good symmetry. The distribution can be well fitted by utilizing the T location-scale distribution, and the probability density function is as follows:
parameter fitting gave v =10.42, μ =0.0001589, σ =0.1967. When the confidence level is taken as 0.85, the confidence interval is [ -0.3065]. Accordingly, R in the formula (28) RegD When 0.31MW/min is selected and L =0.1 is substituted into the formula (28), the adjustment capacity Cramp UP/DN ≈ 0.32P considering the climbing rate limit Σ I.e. about 32% of the total rated power of the ACL.
5.2 Effect of ambient temperature on AGC Regulation Capacity
The reference power of the ACL cluster is influenced by the ambient temperature, and the adjusting capacity of the virtual AGC unit is further influenced. In this embodiment, three scenes (the ambient temperature change curves are shown in fig. 9) with the daily average ambient temperature of 25 ℃, 30 ℃ and 35 ℃ are respectively taken, and the influence of the ambient temperature on the capacity adjustment of the virtual unit is simulated and analyzed.
The respective regulation capacities of the virtual AGC units at different ambient temperatures are shown in fig. 10. Meanwhile, the target regulation power P is also formed in the figure REG And the actual responsePower P R Curve (c) of (d).
As can be seen from fig. 10, there is a significant asymmetry in the adjustment capacity of the virtual AGC unit. In the summer scene of the embodiment, the higher the outdoor temperature is, the larger the ACL reference power is, the larger the ideal up-regulation capacity of the virtual machine set is, and the smaller the ideal down-regulation capacity is.
When T is o When the ACL cluster reference power is low at 25 ℃, the up-regulation capacity is limited mainly by the desired regulation capacity, and the down-regulation capacity is limited mainly by the hill-climbing rate. In the scene, because the air temperature is low at night, the air conditioner load is basically not generated, and therefore the virtual AGC unit only has the capacity reduction; when T is o When the temperature is not less than 30 ℃, the reference power in the noon time period is larger, so that the up-regulation capacity and the down-regulation capacity are restricted by the climbing rate and are symmetrical; when T is o =35 ℃, the turndown capacity is limited by the ideal turndown capacity due to the increase in the reference power during the noon time.
The VSOC of all the aggregators for each ambient temperature scenario varies as shown in fig. 11. As can be seen from the figure, when T o At the temperature of 25 ℃, the VSOC is greatly reduced because the virtual AGC unit only bears the down-regulation power within 0-4 h and 20-24 h. During period 2 min <, 0.5, according to figure 6,the constraint plays a role in limiting the down-regulation capacity, so that the falling speed of the VSOC is slowed down, and the out-of-limit condition is avoided. It can also be seen from FIG. 11 that at other times and T o In the scene of 35 ℃ and 30 ℃, the VSOC of the ACL cluster is close to the ideal value and has small fluctuation. The important reason is that the ACL cluster is made to respond only to the fast component RegD, and the mean value of the RegD signal is 0 in this embodiment, so that the total injection energy of the ACL cluster is balanced, thereby well ensuring the comfort of the user.
At T o In the case of 25 ℃, if not taking into accountConstraints, VSOC and response Power at this time are shown in FIG. 12, graphShown at 13. It can be seen that in the time period of 5. Meanwhile, most air conditioners cannot be kept on within 1min, and AGC signals are difficult to accurately track.
5.3AGC response and economic benefit comparison
For convenience of description, the present embodiment is simply referred to as a virtual AGC set scheme, and a scheme of controlling a single aggregator response AGC signal with a period of 1min in the prior art is simply referred to as a single aggregator scheme. To make the comparison have a clear standard, the AGC response effect and economic benefit are calculated according to the American PJM frequency modulation market rule. At this time, the AGC resource needs to report the adjustment capacity per hour according to equation (30) to satisfy the symmetry requirement.
The AGC regulation capacity is first analyzed. Fig. 14 and fig. 15 show the adjustment capacity and AGC response of the above two schemes, respectively. It should be noted that, because the single aggregator scheme does not need to consider the equilibrium between aggregators, the ramp rate constraint is reducedComparing fig. 14 and fig. 15, it can be seen that the adjustment capacity of the single aggregator solution is slightly larger than that of the virtual AGC set solution as a whole due to the reduction of one adjustment capacity constraint condition; comparing fig. 10 and fig. 14, it can be seen that the symmetry requirement reduces the regulation capacity reported by the ACL cluster.
The AGC response effect is analyzed below. FIG. 16 is a graph showing T o By way of example, the target regulated power and the actual response power for the time period of 12. It can be seen intuitively that the virtual AGC unit scheme of the embodiment can track the target regulation power well, and if the target power change rate exceeds the maximum ramp rate of the unit, the response power can gradually approach the target power. Whereas the tracking accuracy of the single aggregator solution is significantly worse.
The response effect was quantitatively evaluated by the following equation (1). Volume profit price p cap And mileage earning price p mileage The 7 month data from the PJM, fig. 17. FIG. 18 compares two protocols at various ambient temperaturesRegulation capacity C and response effect index S PJM . For ease of illustration of the regulation capability, the regulation capacity in the figure is relative to the total ACL cluster rated power P Σ The normalized value of (a). In the figure, scheme 1 refers to a virtual AGC unit scheme, and scheme 2 refers to a single aggregator scheme.
Table 4 shows the S of the two protocols at each ambient temperature prec 、S PJM 、M ratio Daily average of the index and daily total revenue. The daily average in the table only covers the time periods when the conditioning capacity is not 0.
The above results are combined to see that:
(1) Tracking accuracy coefficient S of single aggregator scheme prec The daily average value of (A) is only about 0.57, which is far smaller than the scheme. Due to S prec Response effectiveness index S of too low, single aggregator solution PJM The average value is less than 0.2, which is only about 1/5 of the present solution (maintained at about 0.95). From the economic benefit perspective, although the regulating capacity of the scheme is slightly lower than that of a single-polymer scheme, the benefit can reach more than 3.7 times of that of the latter, and the economic benefit is very remarkable. Although a single aggregator solution may choose to respond to a slow RegA signal to improve tracking accuracy, it is based on the mileage ratio M ratio The yield is still very low as shown in formula (1) only about 1/3 of the RegD signal.
(2) At T o Under three scenes of 25 ℃, 30 ℃, 35 ℃ and the like, the daily average values of the symmetrical adjustment capacities (normalization) provided by the embodiment are respectively 0.1204, 0.2120 and 0.3061.
Simulation results show that under summer conditions (ambient temperature of about 35 ℃), the temperature control load cluster can provide symmetrical regulating capacity of about 30% of total rated power every day. The user revenue can be increased more than 3.7 times compared to a single aggregator approach. Meanwhile, the comfort of the user is well guaranteed.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The utility model provides a quick frequency adjustment double-deck control system based on control by temperature change load, is connected with electric wire netting dispatch server which characterized in that includes:
the virtual AGC unit is used for reporting the total regulation capacity to the power grid dispatching server, responding to a dispatching instruction issued by the power grid dispatching server according to a first period and generating a cluster control command;
the load aggregation servers are provided with a plurality of servers, sequentially respond to the cluster control command at intervals of a first period and generate temperature control load control signals;
the temperature control load modules report load state information to the load aggregation servers and respond to the temperature control load control signals to realize rapid adjustment, and each load aggregation server is connected with at least one temperature control load module;
the virtual AGC unit coordinates a plurality of load aggregation servers to realize upper-layer control, the load aggregation servers realize lower-layer control on the temperature control load modules at a second period, wherein the second period is N times of the first period, and N is the number of the load aggregation servers.
2. The temperature-controlled load-based fast frequency adjustment double-layer control system according to claim 1, wherein the scheduling command is a high-frequency component signal generated by a low-pass filter of a zone control error signal sent by a power grid scheduling server.
3. The temperature controlled load based fast frequency scaling two tier control system of claim 1, wherein said load aggregation server has a response state and a hold state, said load aggregation server generating temperature controlled load control signals only in response to said cluster control commands in said response state, said hold state having a duration of a second period.
4. The temperature controlled load based fast frequency adjustment two-tier control system of claim 3, wherein during said first period, there is one and only one load aggregation server entering a responsive state.
5. The temperature-controlled load-based dual-layer control system for fast frequency adjustment according to claim 1, wherein the temperature-controlled load module comprises a community concentrator and a plurality of temperature-controlled loads connected to the community concentrator, and the community concentrator performs characteristic aggregation on the connected temperature-controlled loads and uploads the aggregated temperature-controlled loads to the load aggregation server.
6. The dual-layer control system for fast frequency adjustment based on temperature controlled loads according to claim 5, wherein the temperature controlled loads connected to the same load aggregation server are provided with a timer, based on which the temperature controlled load control signals sent by the load aggregation server are simultaneously responded after a predetermined delay.
7. The temperature-controlled load-based fast frequency adjustment dual-layer control system according to claim 5, wherein in the lower-layer control, the load aggregation server adjusts the temperature-controlled load module based on a distributed control method of a market mechanism, and the temperature-controlled load control signal generated by the load aggregation server is the clearing price p of the load aggregation server * The temperature-controlled load receives the clearing price p * Bid price p of the post and self bid Comparison is carried out, p bid Lower than p * The corresponding temperature control load is closed, otherwise, the corresponding temperature control load is opened.
8. The temperature controlled load based fast frequency tuning two-level control system of claim 1, wherein each of the load aggregation servers has a virtual energy storage model, and for a load aggregation server j, the virtual energy storage model is represented as:
where VSOC is the virtual SOC value, P dmax And P cmax Respectively representing the maximum discharge power and the maximum charge power of the virtual stored energy.
9. The temperature control load-based fast frequency adjustment dual-layer control system according to claim 1, wherein when the reported capacity is asymmetric capacity, the up-capacity and the down-capacity reported by the virtual AGC unit to the grid scheduling server are respectively represented as:
when the reported capacity is the symmetric capacity, the total adjustment capacity C reported by the virtual AGC unit to the power grid dispatching server is represented as:
in the formula (I), the compound is shown in the specification,in order to adjust the capacity as a whole,in order to down-regulate the capacity as a whole,in order to ideally adjust the capacity up,in order to ideally down-regulate the capacity,to account for the ramp rate limited capacity of upshifts,to account for the ramp rate limited turndown capacity,to account for the limited upturn capacity of the virtual SOC,to account for the turndown capacity of the virtual SOC limit.
10. The temperature-controlled load-based fast frequency adjustment two-layer control system according to claim 1, wherein in the upper-layer control, the cluster control command generated by the virtual AGC machine set is an adjustment power allocation command, and the adjustment power allocation command for the load aggregation server j is represented as:
in the formula, P reg,j [k]Adjusting the actual power, R, of the server j for the load aggregation at time k reg,max [k-1]、R reg,min [k-1]Respectively the upper and lower limits of the regulation power ratio of the load aggregation server j at the moment of k-1, P Σ,j [k]The total rated power of the temperature control loads of the server j is aggregated for the load at time k,the adjusted power desired value of server j is aggregated for time k,
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