CN107732936B - Quick frequency adjustment double-layer control system based on temperature control load - Google Patents

Quick frequency adjustment double-layer control system based on temperature control load Download PDF

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CN107732936B
CN107732936B CN201710885153.2A CN201710885153A CN107732936B CN 107732936 B CN107732936 B CN 107732936B CN 201710885153 A CN201710885153 A CN 201710885153A CN 107732936 B CN107732936 B CN 107732936B
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load
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capacity
temperature control
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CN107732936A (en
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姚垚
张沛超
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Shanghai Jiaotong University
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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
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • 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
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
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Abstract

The invention relates to a temperature control load-based rapid frequency adjustment double-layer control system, which 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 server responds to the cluster control commands at intervals of a first period in sequence and generates temperature control load control signals; the temperature control load module responds to the temperature control load control signal to realize rapid adjustment; the virtual AGC unit coordinates a plurality of load aggregation servers to realize upper-layer control, and the load aggregation servers realize lower-layer control on the temperature control load modules at a second period. Compared with the prior art, the invention can effectively improve the AGC response performance of the ACL cluster and improve the response speed and precision.

Description

Quick frequency adjustment double-layer control system based on temperature control load
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
Along with the increasing of random renewable energy resource ratio such as wind power, photovoltaic and the like in a power grid, the climbing rate and high-frequency fluctuation components of the net load of a power system are increased continuously. In such a background, the following problems may exist in the following aspects of ensuring the frequency quality of the system by only relying on the conventional AGC set. 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 set is tens of s, and it is difficult to quickly track the high-frequency fluctuation component in the payload. 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 rapid AGC service, the method has important practical significance.
Modern buildings have a large thermal inertia. With proper control, the total power of air conditioning, heat pump, etc. controlled loads (TCLs) clusters 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 1 min. This makes the TCL cluster unable to track the fast AGC signal (period is typically 4s), and its response speed is even worse than that of the conventional AGC set. Although some research results employ fast TCL cluster control with a period of 4s in the simulation, this may result in high communication and control costs in practical use. (2) Some of the prior art disclosures require the user to provide the TCL and the building models and parameters 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 load.
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 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.
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, there is one and only one load aggregation server entering 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 load connected with the same load aggregation server is provided with a timer, and the temperature control load control signal sent by the load aggregation server is responded simultaneously after a preset delay based on the timer.
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 serves for load aggregationClearing price p of the vessel*Receiving said clearing price p by a temperature-controlled load*Later and self bid price pbidComparison is carried out, pbidLower than p*The corresponding temperature control load is closed when the temperature control load is closed, and the corresponding temperature control load is opened when the temperature control load is not closed.
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:
Figure GDA0001540188380000031
where VSOC is the virtual SOC value, PdmaxAnd PcmaxRespectively 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:
Figure GDA0001540188380000032
Figure GDA0001540188380000033
when the reported capacity is the symmetric capacity, the total regulated capacity C reported to the power grid dispatching server by the virtual AGC unit is represented as:
Figure GDA0001540188380000034
in the formula (I), the compound is shown in the specification,
Figure GDA0001540188380000035
in order to adjust the capacity as a whole,
Figure GDA0001540188380000036
in order to down-regulate the capacity as a whole,
Figure GDA0001540188380000037
in order to ideally adjust the capacity up,
Figure GDA0001540188380000038
in order to ideally down-regulate the capacity,
Figure GDA0001540188380000039
to account for the ramp rate limited upturn capacity,
Figure GDA00015401883800000310
to account for the ramp rate limited turndown capacity,
Figure GDA00015401883800000311
to account for the limited upturn capacity of the virtual SOC,
Figure GDA00015401883800000312
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:
Figure GDA00015401883800000313
in the formula, Preg,j[k]Adjusting the actual power, R, of the server j for the load aggregation at time kreg,max[k-1]、Rreg,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, PΣ,j[k]The total rated power of the temperature control load of the load aggregation server j at the moment k,
Figure GDA00015401883800000314
the adjusted power desired value of server j is aggregated for time k,
Figure GDA0001540188380000041
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.
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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 allocation 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 an ACL rated power distribution diagram;
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 ToVSOC without VSOC constraints at 25 ℃;
FIG. 13 is ToResponse power without VSOC constraint condition at 25 ℃;
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 hourcapAnd pmileageA graph;
fig. 18 is a comparison of normalized reported modulation capacity and response effectiveness 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, and the temperature control load is subjected to slow speed control with the period of 1min, 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 No. 755, the gain of AGC resources was dependent only on the tuning capacity, and was independent of its tracking accuracy, 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 4 s. The PJM decomposes the 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 gains
Figure GDA0001540188380000061
And adjusting mileage revenue
Figure GDA0001540188380000062
Setting the regulation capacity reported by AGC resources as C, and the price ($/MWh) of capacity income and mileage income as p respectivelycapAnd pmileageThen the gain is calculated as follows:
Figure GDA0001540188380000063
in the formula, SPJMIn response to the effectiveness index, MratioIs a mileage ratio.
To calculate SPJMFirst, the following coefficients are defined:
(1) tracking accuracy coefficient Sprec：
Figure GDA0001540188380000064
Where Reg is the normalized frequency adjustment signal (i.e., RegD signal); res is the normalized unit response power; kdThe 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 responsecorrAnd a delay coefficient Sdelay：
Figure GDA0001540188380000071
In the formula (I), the compound is shown in the specification,
Figure GDA0001540188380000072
Figure GDA0001540188380000073
wherein, KwIndicates the number of sampling points, δ, within a 5min windowkDenotes that Scorr+SdelayOffset when maximum value is taken:
Figure GDA0001540188380000074
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 usedprecThe threshold value is defined to be 0.75, and a response effect index S is formedPJMThe calculation formula is as follows:
Figure GDA0001540188380000075
is easy to know, SPJM∈[0,1]The closer the value is to 1, the better the response effect。
The calculation formula for the adjustment mileage is as follows:
Figure GDA0001540188380000076
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:
Figure GDA0001540188380000077
from the above, the following conclusions can be drawn:
(1) the fast AGC resource can gain approximately 3 times the gain in response to the RegD signal as compared to the response 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 thereofPJMThe 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 influencedPJM。
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, the role of the virtual AGC unit is defined, which is used for shielding the complexity of large-scale ACL control to the scheduling, and providing the external characteristics of the quasi-conventional AGC unit, such as being capable of reporting the total regulation capacity to the scheduling and responding to the 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: response state: receiving and responding to a new control signal when the last control period is finished; keeping 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 1 min. 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 responsible for the response 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 1 min.
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 enable the aggregator to integrate the ACL in a wide area, a concentrator (CC) is provided in each community (such as residential and commercial communities) to aggregate and upload the characteristics of the local ACL, 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. For this purpose, the invention proposes that all ACLs of the same aggregator need to be timed according to their own timer at a predetermined delay TdelayAnd 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 Network Time Protocol (NTP) may be used, with the grid scheduling as a time service source, groupThe hierarchical network time synchronization system containing the virtual AGC unit, the aggregator and the ACL is formed. It should be noted that, no consideration has been given to the influence of the inconsistency of network delay on the accuracy of ACL cluster response.
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 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 exposing direct on-off control rights of the ACLs to the outside by users, the invention utilizes a distributed control strategy based on a market mechanism, which is proposed by a method for stabilizing microgrid connecting line power fluctuation based on air conditioning load of market control (Yao 22426Zhang Peipenger, China Motor engineering report, 2017, DOI: 10.13334/j.0258-8013.pcsee.162178), and responds to AGC commands by broadcasting virtual price signals to the ACLs through aggregators.
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 user for the room temperature, an air-conditioning room temperature State (SOA) is defined. Taking a refrigeration air conditioner as an example:
Figure GDA0001540188380000091
in the formula, TsetSetting a room temperature value for a user; t ismax、TminThe upper and lower limits of the room temperature allowed by the user; t isairIs 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＝([pbid,qbid],s) (11)
in the formula, the bid price pbidThe rand 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 qbidTaking 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 Pbase,j[k]The AGC power to be supplied is Preg,j[k]Then the control target power of the aggregator should be:
Pctr,j[k]＝Pbase,j[k]-Preg,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 PctrThe intersection point of (a) is obtained the clearing price p*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 temperaturebidAnd p*Comparison, pbidLower than p*When the switch is turned off, otherwise, the switch is turned on. Due to the clearing price p*Is the only control signal sent by the aggregator to each ACL, so that the method has two advantages, one is that the aggregator does not need to specify the switch or each ACLThe downlink control is greatly simplified by setting values; and secondly, external application cannot directly control an ACL switch, and the information security risk is low.
The control period of the bidding and responding process is 1 min.
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 intuitively 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 represented as:
Figure GDA0001540188380000101
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:
Figure GDA0001540188380000102
wherein N isjThe total number of ACLs under aggregator j.
PdmaxAnd PcmaxRespectively 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 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:
Figure GDA0001540188380000111
in the formula, PΣ,jThe 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 PREGAnd the power is adjusted for the target of the virtual AGC unit, and the power is obtained by multiplying the normalized adjusting signal RegD and the adjusting capacity C reported by the virtual AGC unit. If the virtual AGC unit includes N ═ 15 aggregation quotients, the total reference power is:
Figure GDA0001540188380000112
target regulation power PREGAre commonly assumed by all aggregators and respond sequentially. In FIG. 5, P is responded to by aggregator j at time kREG[k](ii) a After 4s, P is responded to by the aggregator j +1REG[k+1](ii) a And so on. If the virtual AGC unit can accurately track the target adjusting power, the following requirements are met:
Figure GDA0001540188380000113
at time k, the desired value for the aggregate j to regulate power is:
Figure GDA0001540188380000114
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 kramp,j[k]Equation (18) does not have the ability to restore the balance between 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:
Figure GDA0001540188380000115
in order to distribute the total regulated power as evenly as possible among the aggregators, the regulated power ratio of each aggregator is limited to be close to the average value, and an upper limit and a lower limit of the regulated power ratio are formed:
Figure GDA0001540188380000121
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:
Figure GDA0001540188380000122
in the formula (I), the compound is shown in the specification,
Figure GDA0001540188380000123
the above equation limits the actual ramp rate of aggregator j to make it likely not equal to P REG4s climbing rate Pramp,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 tuning capacity, tuning capacity that accounts for ramp rate limitations, and tuning capacity that accounts for VSOC limitations.
(1) Ideal capacity of regulation
Obviously, the regulation capacity of the virtual AGC group is firstly influenced by the total rated power PΣThe limitation of (2):
Figure GDA0001540188380000124
as can be seen from the equations (12), (16) and (17), the control capacity is also determined by the reference power PBASEThe limit of (2). The present invention refers to the regulation capacity considering only these two constraints as the ideal regulation capacity. Ideal up-regulation capacity and ideal down-regulation capacityCan be obtained by the following formula:
Figure GDA0001540188380000125
(2) capacity modulation considering ramp rate limitation
In fig. 5, N aggregators responded to the RegD signal sequentially within 1 min. 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:
Figure GDA0001540188380000131
Figure GDA0001540188380000132
in the following, the maximum upward climbing rate is taken as an example, and how the formula affects the climbing rate of the virtual AGC unit is analyzed. Assuming each aggregate power rating PΣ,jAnd (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:
Figure GDA0001540188380000133
in the formula, operator
Figure GDA0001540188380000134
For returning integers not exceeding N, defined as follows:
Figure GDA0001540188380000135
in equation (26), the first term depends on the target pitchSaving power PREGI.e. affected by the RegD signal, is a random term; the second term depends on the virtual AGC group 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 setΣThe method is used as conservative estimation of the climbing capability of the virtual AGC unit. According to similar analysis, the conservative estimated value of the downward climbing rate of the virtual AGC unit is equal to L multiplied by PΣ。
The ramp rate distribution of the RegD signal can be estimated from historical data. The upper limit of the absolute value of the normalized RegD climbing rate is R under a certain confidence coefficientRegDThen the virtual AGC unit estimates the regulation capacity considering the limitation of the climbing rate according to the following formula
Figure GDA0001540188380000136
Figure GDA0001540188380000137
In the above formula, the conservative estimated value of the slope climbing rate of the virtual AGC unit is adopted on the right side of the equation, so that the 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.
The broken line of FIG. 6 was designed based on the ideal tuning capacity to estimate the tuning capacity considering VSOC
Figure GDA0001540188380000138
In the figure, SmaxRepresents the maximum VSOC value, S, among all aggregatorsminRepresents a minimum VSOC value; s±1、S±2Four 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:
Figure GDA0001540188380000141
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:
Figure GDA0001540188380000142
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.
And 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 4 s. Maximum communication delay T from grid dispatching to ACLdelayTake 10s and ACL maximum synchronization error δ take 2 s. The main parameter settings for ACLs 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
Figure GDA0001540188380000143
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 21.5 MW.
TABLE 2 ACL controller Main parameter settings
Figure GDA0001540188380000151
TABLE 3 virtual AGC Unit control parameters
Figure GDA0001540188380000152
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:
Figure GDA0001540188380000153
parameter fitting results in v being 10.42, μ being 0.0001589, and σ being 0.1967. When the confidence level is 0.85, the confidence interval is [ -0.3065,0.3068 [ ]]. Accordingly, R in the formula (28)RegDWhen 0.31MW/min is used and L ═ 0.1 is substituted into formula (28), the control capacity Cramp UP/DN ≈ 0.32P considering the restriction of the climbing rate can be obtainedΣI.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 curve is 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 adjustment capacities of the virtual AGC units at different ambient temperatures are shown in fig. 10. At the same timeThe target regulated power P is also shownREGAnd the actual response power PRCurve (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 this 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 group is, and the smaller the ideal down-regulation capacity is.
When T isoAt 25 ℃, the ACL cluster reference power is small, so the up-regulation capacity is limited mainly by the wanted regulation capacity, and the down-regulation capacity is limited mainly by the ramp rate constraint. 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 isoWhen the temperature is 30 ℃, the reference power is larger in the noon period, so that the up-regulation capacity and the down-regulation capacity are restricted by the climbing rate and are symmetrical; when T isoAt 35 c, the turndown capacity is limited by the ideal turndown capacity due to the increase in reference power during midday hours.
The VSOC of all aggregators for each ambient temperature scenario varies as shown in fig. 11. As can be seen, when T isoWhen the temperature is 25 ℃, the VSOC is greatly reduced because the virtual AGC unit only bears the down-regulated power within 0-4 h and 20-24 h. In the period of 2:00 to 7:00, Smin<0.5, according to figure 6,
Figure GDA0001540188380000161
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 ToIn the scene of 30 ℃ and 35 ℃, the VSOC of the ACL cluster is around the ideal value and the fluctuation is not large. The important reason is that in the embodiment, the ACL cluster only responds to the fast component RegD, and the average value of the RegD signal is 0, so that the total injection energy of the ACL cluster is balanced, and the user comfort is well ensured.
At ToIn the 25 ℃ scenario, provided that it is not taken into account
Figure GDA0001540188380000162
The constraints, VSOC and response power at this time are shown in fig. 12 and 13. It can be seen that in the period of 5: 00-6: 00, the VSOC of each aggregator reaches the lower limit, so that the down-regulation capacity of the virtual AGC unit is sharply reduced. 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 unit 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 meet 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 solution does not need to consider the equilibrium between aggregators, the ramp rate constraint is reduced
Figure GDA0001540188380000163
Comparing 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 ToThe target regulated power and the actual response power are given for the time period of 12:00 to 12:30, 25 deg.c as an example. It can be seen visually that the scheme of the virtual AGC unit 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 pcapAnd mileage earning price pmileageData of 7 months from PJM, fig. 17. Drawing (A)18 comparing the control capacity C and response effect index S of the two schemes at each ambient temperaturePJM. For ease of illustration of the regulation capability, the regulation capacity in the figure is relative to the total ACL cluster rated power PΣThe 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 temperatureprec、SPJM、MratioDaily 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 schemeprecThe daily average value of (A) is only about 0.57, which is far smaller than the scheme. Due to SprecResponse effectiveness index S of too low, single aggregator solutionPJMThe average value is less than 0.2, which is about 1/5 of the present solution (maintained at about 0.95). From the economic benefit, although the regulating capacity of the scheme is slightly lower than that of a single polymer scheme, the benefit can be more than 3.7 times that of the latter scheme, 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 MratioThe yield is still very low from equation (1) only about 1/3 of the RegD signal.
(2) At ToUnder three scenes of 25 ℃, 30 ℃, 35 ℃ and the like, the daily average values of the symmetrical regulating capacities (normalized) provided by the embodiment are 0.1204, 0.2120 and 0.3061 respectively.
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 (5)

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 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;
the load aggregation server has a response state and a holding state, and only responds to the cluster control command in the response state to generate a temperature control load control signal, wherein the duration of the holding state is a second period, and in the first period, one or only one load aggregation server enters the response state;
the temperature control load module comprises a community concentrator and a plurality of temperature control loads connected with the community concentrator, the community concentrator performs characteristic aggregation on the connected temperature control loads and uploads the aggregated temperature control loads to the load aggregation server, the temperature control loads connected with the same load aggregation server are provided with a timer, and based on the timer, the temperature control load module simultaneously responds to a temperature control load control signal sent by the load aggregation server after a preset delay;
in the upper-layer control, the cluster control command generated by the virtual AGC set is an adjustment power allocation command, and the adjustment power allocation command for the load aggregation server j is represented as:
Figure FDA0002745367830000011
in the formula, Preg,j[k]Adjusting the actual power, R, of the server j for the load aggregation at time kreg,max[k-1]、Rreg,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, PΣ,j[k]The total rated power of the temperature control load of the load aggregation server j at the moment k,
Figure FDA0002745367830000012
the adjusted power desired value of server j is aggregated for time k,
Figure FDA0002745367830000021
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 system of claim 1, wherein 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*Receiving said clearing price p by a temperature-controlled load*Later and self bid price pbidComparison is carried out, pbidLower than p*When the corresponding temperature control load is closed, otherwise, the corresponding temperature control load is opened。
4. 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:
Figure FDA0002745367830000022
where VSOC is the virtual SOC value, PdmaxAnd PcmaxRespectively representing the maximum discharge power and the maximum charge power of the virtual stored energy.
5. The temperature-controlled load-based fast frequency adjustment dual-layer control system according to claim 1, wherein when the reported capacity is asymmetric, the up-capacity and the down-capacity reported by the virtual AGC set to the grid dispatching server are respectively represented as:
Figure FDA0002745367830000023
Figure FDA0002745367830000024
when the reported capacity is the symmetric capacity, the total regulated capacity C reported to the power grid dispatching server by the virtual AGC unit is represented as:
Figure FDA0002745367830000025
in the formula (I), the compound is shown in the specification,
Figure FDA0002745367830000026
in order to adjust the capacity as a whole,
Figure FDA0002745367830000027
in order to down-regulate the capacity as a whole,
Figure FDA0002745367830000028
in order to ideally adjust the capacity up,
Figure FDA0002745367830000029
in order to ideally down-regulate the capacity,
Figure FDA00027453678300000210
to account for the ramp rate limited upturn capacity,
Figure FDA00027453678300000211
to account for the ramp rate limited turndown capacity,
Figure FDA00027453678300000212
to account for the limited upturn capacity of the virtual SOC,
Figure FDA00027453678300000213
to account for the turndown capacity of the virtual SOC limit.
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