CN107979100B - Power-type energy storage frequency regulating duty division methods based on quadratic programming - Google Patents
Power-type energy storage frequency regulating duty division methods based on quadratic programming 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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in 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
- H02J3/28—Arrangements for balancing of the load in a network by storage of energy
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Abstract
The power-type energy storage frequency regulating duty division methods based on quadratic programming that the invention discloses a kind of, this method is according to the essential information and its real time status information of variable frequency power source, using the output power of quadratic programming optimization variable frequency power source, the accurate tracking to domain error signal is realized.Meanwhile when causing tracking failure for objective factor (such as frequency modulation underpower), the minimum of tracking error is realized using linear programming method.The present invention makes full use of the quick-reaction capability of energy storage device, carries out accurate tracking to the greatest extent to the frequency modulation frequency modulation signal of system, improves the fm capacity of power grid.In addition, this method can also maintain the state of charge of battery energy storage near setting value, guarantee its residue can charging and discharging capabilities, increase its service life；Conventional motors are also effectively reduced simultaneously in frequency-modulating process because of equipment loss caused by frequently climbing.
Description
Technical field
The present invention relates to electric grid secondary frequency control technology field, especially a kind of power-type energy storage based on quadratic programming
Frequency regulating duty division methods.
Background technique
With the deterioration of global energy shortage and climatic environment, the development of new energy has become the weight of various countries' concern at this stage
Point.Generation of electricity by new energy has fluctuation and uncertainty, and this kind of fitful power does not have inertia, meeting after large-scale grid connection
Reduce power grid inertia, and then brings pressure to power grid frequency modulation.The frequency regulation capacity of conventional power source has been difficult to meet power grid frequency modulation
Demand, and conventional power source will consider the restriction of responding power amplitude Yu reversing speed in unit allocation.Above situation is equal
Phenomena such as will lead to long response time lag and adjusting appearance delay, reversed and deviation (hyperharmonic less stress), and to FM signal
Inaccuracy response.
Energy storage participates in electric grid secondary frequency modulation, has the following characteristics that (1) fast response time, can expire within millisecond-second
Power output；(2) accurate control, can any power points in rated power keep stablizing output.Research shows that extensive storage
Energy battery has had power grid frequency modulation ability.
Secondary system frequency modulation under participating in electric system for energy storage at present is mainly all based on fixed divisions of responsibility
Method, this division methods are unable to satisfy the real-time change that renewable energy permeates lower state of charge.In addition some methods do not have
The ability of battery energy storage quick response frequency modulation demand is given full play to, likewise, some methods have ignored battery energy storage charge shape again
State variation, not can guarantee battery energy storage residue can charging and discharging capabilities.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of power-type energy storage frequency regulating duty based on quadratic programming
Division methods can reduce the frequency fluctuation of power grid, improves power grid and resists load disturbance ability.
In order to solve the above technical problems, the present invention provides the power-type energy storage frequency regulating duty division side based on quadratic programming
Method includes the following steps:
(1) essential information for participating in each variable frequency power source of frequency modulation frequency modulation is obtained；Include: variable frequency power source power it is maximum partially
Shifting amount Pmin、Pmax；The threshold limit value R of the creep speed of variable frequency power sourcemin、Rmax, creep speed is the front and back double sampling time
The change rate R of power offset values；The power reference value P of variable frequency power sourceb；The efficiency for charge-discharge η of energy storagec、ηd；The best lotus of energy storage
Electricity condition SvState and the electricity limit value S for allowing to reachmin、Smax；The initial quantity of electricity S of energy storage0；
(2) determine that configuration target is that all disadvantage index summations for participating in frequency modulation frequency modulation power supply are minimum；Frequency modulation frequency modulation is
Unite disadvantage target function DI, expression formula are as follows:
Wherein, I indicates all cluster tools for participating in frequency modulation frequency modulation, and G indicates all generating set set, and B indicates all
The set of energy storage, I=G+B, k represent k-th of sampling instant, and i represents i-th of equipment for participating in frequency modulation frequency modulation；WithIt indicates
The charge power deviant of energy storage,Indicate energy storage discharge power deviant, it is specified that
For two kinds of variable frequency power sources of generator and energy storage, different disadvantage target function expression formulas is selected；To generator,ik
Generator power offset power a reference value bring disadvantage is indicated, with constant coefficient aiIt measures；To energy storage,ikFirst item represents energy storage
Power excursion bring disadvantage, with constant coefficient aiMeasure its weight；Section 2 represents state-of-charge and deviates brought disadvantage,
With constant coefficient biMeasure its weight；
(3) the ACE signal for obtaining system, is translated into power signal PACE；
(4) disadvantage function DI is determinedikConstraint condition, including equality constraint and inequality constraints condition；Wherein, etc.
The power signal P that formula constraint condition is obtained according to step (3)ACEDetermine, inequality constraints condition by variable frequency power source basic letter
The current state-of-charge of breath and energy storage determines；
(5) quadratic programming optimization method is utilized, the smallest target of disadvantage index summation DI based on frequency modulation frequency modulation power supply obtains
To a kind of divisions of responsibility scheme；
(6) according to the calculated result of step (5), if calculating failure, changing configuration target is that frequency modulation frequency modulation tracking misses
It is poor minimum, using linear programming method, obtain a kind of divisions of responsibility scheme；
(7) according to the calculated result of step (5) and step (6), the quantity of state of variable frequency power source and each parameter of function are updated,
If frequency modulation frequency modulation continues, return step (3).
Preferably, in step (2), the disadvantage target function form of variable frequency power source is quadratic function form, uses variable frequency power source
Power offset square indicates power excursion bring disadvantage, square indicates that electricity is inclined with energy storage state of charge offset
Move bring disadvantage, total disadvantage index square is indicated with this two, and respectively with two coefficient measurements with device-dependent
Its shared weight.
Preferably, in step (2), when carrying out the power configuration of variable frequency power source, consider following restrictive conditions, and about
It is embodied in beam condition and disadvantage target function expression formula: considering maximum, the minimum value of the power excursion of variable frequency power source；It examines
Consider maximum, the minimum value of the creep speed of variable frequency power source；The limit value for considering the state-of-charge of energy storage, on state-of-charge reaches
Charge and discharge are not continued to when lower limit；The efficiency for charge-discharge for considering energy storage, gives each energy storage charge and discharge efficiency in essential information,
When disadvantage index calculates, influence of the different efficiency for charge-discharges to system configuration result is considered.
Preferably, in step (5), when sampling the calculating failure of quadratic programming function, change configuration target is tracking error
E is minimum；Using linear programming function, divisions of responsibility scheme when tracking error E minimum is sought；The tracking error E expression formula by
Following formula determines:
Preferably, in step (7), after calculating every time, according to last time calculating as a result, real-time update quadratic programming letter
Several constraint condition, inequality constraints condition are updated with following formula:
For generating set:
For energy storage:
The invention has the benefit that a kind of power-type energy storage frequency regulating duty based on quadratic programming proposed by the invention
Division methods carry out real-time tracking to the ACE signal of system, reduce power grid using the quick-reaction capability of energy storage device
Frequency fluctuation, improve power grid resist load disturbance ability；The ACE signal of real-time acquisition system, real-time update energy storage are charged
Status information, while required parameters are calculated to function according to the data of last computation and are updated；Utilize quadratic programming
Function carries out optimization collocation to the responsibility of each variable frequency power source, and when calculating failure, and the target of change configuration in time utilizes line
Property planning function further calculate, configuration target both ensure that the minimum of power excursion, in turn ensure the state-of-charge of energy storage
Offset minimizes, and can reduce equipment running wastage, extends service life of equipment, guarantees the state-of-charge of energy storage in best lotus
Near electricity condition, the energy storage device service life can be extended, meanwhile, the needs that conventional motors are frequently climbed are decreased, it is reduced
Mechanical wear is conducive to extend device lifetime.
Detailed description of the invention
Fig. 1 is method flow schematic diagram of the invention.
Fig. 2 be battery energy storage and conventional motors shared secondary system frequency modulation operation curve in the embodiment of the present invention, with
Track error curve and energy storage state of charge change curve schematic diagram.
Specific embodiment
As shown in Figure 1, a kind of power-type energy storage frequency regulating duty division methods based on quadratic programming, include the following steps:
Step 1: obtaining the essential information for participating in each apparatus of frequency modulation frequency modulation, comprising:
1) the power maximum offset P of variable frequency power sourcemin、Pmax。
2) the threshold limit value R of the creep speed of variable frequency power sourcemin、Rmax.Creep speed is front and back double sampling temporal power
The change rate R of deviant.
3) the power reference value P of variable frequency power sourceb
4) the efficiency for charge-discharge η of energy storagec、ηd。
5) the best state-of-charge S of energy storagevState and the electricity limit value S for allowing to reachmin、Smax。
6) the initial quantity of electricity S of energy storage0。
Wherein, type of device is divided into two major classes, conventional electric power generation unit G and energy storage B.
As above-mentioned all parameter addition subscript i, expression is the essential information of i-th of variable frequency power source.
Step 2: determining that configuration target is that all disadvantage index summations for participating in frequency modulation frequency modulation power supply are minimum.Frequency modulation frequency modulation
System disadvantage target function DI, expression formula are as follows:
Wherein, I indicates all cluster tools for participating in frequency modulation frequency modulation, and G indicates all generating set set, and B indicates all
The set of energy storage.I=G+B.
K represents k-th of sampling instant, and i represents i-th of equipment for participating in frequency modulation frequency modulation.
DIikIndicate i-th of variable frequency power source in the disadvantage index of k-th of sampling instant, ∑i∈IDIikIndicate all frequency modulation electricity
Disadvantage index summation of the source in k-th of sampling instant.
PkiIndicate that i-th of variable frequency power source in k-th of sampling instant, deviates power reference valuePerformance number.Work as Pki> 0,
Illustrate that operation power at this time is higher than power reference value Pb；Work as Pki< 0 illustrates operation power at this time lower than power reference value
Pb。
In order to distinguish the charging and discharging two states of energy storage, the power of energy storage is further defined.WithIt indicates
The charge power deviant of energy storage,Indicate the discharge power deviant of energy storage.Regulation
Therefore, any energy storage device at any time, power offset values PkiOnly a kind of definition effectively, works as power offset values
Greater than 0, then it is defined as discharge condition,When power offset values be less than or equal to 0, then be defined as charging shape
State,
For the charge efficiency of energy storage,For the discharging efficiency of energy storage.
The best charge level for indicating i-th of generating equipment, is generally taken as the half of energy storage maximum electricity.
SkiIndicate i-th of generating equipment in the state-of-charge of k-th of sampling instant.
Sk+1,iIndicate i-th of generating equipment, state of charge after k-th of sampling instant, as kth+1
The state of charge of sampling instant.
For two kinds of variable frequency power sources of generator and energy storage, different disadvantage function expressions is selected.
The corresponding disadvantage target function DI of generatorik, indicate disadvantage brought by generator power offset power a reference value,
Power excursion size is indicated in the form of quadratic function, with constant coefficient aiMeasure its disadvantage.Same equipment, aiFor a constant.
The corresponding disadvantage target function DI of energy storageik, first item represents disadvantage brought by energy storage power excursion, with secondary letter
Number form formula indicates power excursion size, with constant coefficient aiMeasure its disadvantage weight；Section 2 represents state-of-charge offset and is brought
Disadvantage, with constant coefficient biMeasure its disadvantage weight.To same equipment, aiAnd biFor a constant.
Simplification of a formula:
To energy storage device, disadvantage target function DIikThere are two variable, Sk+1,iWith(or).However variable Sk+1,i
And about(or) function, so below according to Sk+1,iWith(or) relational expression, to DIikFurtherization
Letter.
To energy storage device, have:
The time interval at Δ t expression double sampling moment.Formula expression, the state-of-charge of next sampling instant energy storage,
Equal to the state-of-charge of this sampling instant, the charge value of consumption (increase) in this sampling time section is subtracted.So updating
When subsequent time state-of-charge, when needing to know the performance number and a upper sampling that the upper each energy storage of a sampling instant is distributed
The state-of-charge at quarter.
Hereinafter, above formula is substituted into the DI of energy storage by weikIn expression formula, obtain
So far, obtain with(or) be unique independent variable disadvantage target function DIik。
When indicating that i-th of energy storage device is in charged state, disadvantage function expression two-term coefficient；Indicate i-th
When a equipment is in discharge condition, function expression two-term coefficient.To same equipment, the two coefficients are a constant.
When indicating that i-th of energy storage device is in charged state, disadvantage function expression Monomial coefficient；Indicate i-th
When a equipment is in discharge condition, disadvantage function expression Monomial coefficient.To same equipment, the two coefficients are by energy storage
The current state-of-charge of equipment determines.
γkiFor disadvantage function expression constant term coefficient, to same equipment, the coefficient is by the current charged shape of energy storage device
State determines.
The disadvantage target function DI of gen-setikIt need not carry out abbreviation.
Step 3: obtaining the ACE signal (partial region control error signal) of system, be translated into power signal PACE。
Step 4: determining the constraint condition of disadvantage function.
Equality constraint:
It indicates the power summation in all variable frequency power source additional issues (subtracting hair) of k-th of sampling instant, k-th of sampling should be equal to
The ACE signal at moment corresponds to performance number, illustrates that ACE signal is tracked at this time.
Inequality constraints are as follows:
For all variable frequency power sources:
Indicate that i-th of generating equipment in k-th of sampling instant, deviates the performance number p of power reference valueki, should be in the equipment
In the limits of power offset values.
Indicate i-th of generating equipment, it, should climbing in the equipment in the change rate of the power offset values of kth time sampling instant
In the limits of slope.
For energy storage device, in addition to having 1), 2) outside two inequality constraints, it is also contemplated that the constraint of state-of-charge:
Indicate i-th of energy storage device, the state of charge in kth time sampling instant should be in the electricity limit value of the equipment
In range.
Abbreviation is carried out to all inequality constraints conditions below, all inequality constraints conditions are unified in an inequality
In:
2) constraint can turn to
3) constraint can turn to
I.e.
To sum up, for gen-set:
For energy storage device:
Step 5: utilizing quadratic programming function, ask kth time sampling instant, all disadvantages for participating in frequency modulation frequency modulation power supply refer to
When marking summation DI minimum, the power offset values P of each variable frequency power sourcekiTo get having arrived a kind of divisions of responsibility side based on this target
Case.
If total number of devices is N.
1) quadratic term matrix H is determined
For energy storage device: the coefficient of corresponding position by αiIt is changed to ai。
2) first order vector f is determined
For energy storage device, due to that of not no beta coefficient, so the β of corresponding positionk1It is changed to 0.3) equation is determined
The coefficient matrix of constraint
Aeq=[1...1]
4) right-hand-side vector of equality constraint is determined
5) bound constrained lb under independent variable is determined
Wherein, for generator:
For energy storage:
6) bound constrained ub on independent variable is determined
Wherein, for generator:
For energy storage:
7) quadratic programming function is substituted into, each generating equipment power offset values P of kth time sampling instant is calculatedki。
8) judge whether quadratic programming calculates success.If calculated successfully, step 7 is arrived；If calculating failure, arrive
Step 6.
If calculated successfully, function status return value exitflag returns to 1, illustrates the case where meeting each constraint condition
Under, a kind of divisions of responsibility method can be found, so that frequency modulation frequency modulation power supply disadvantage index summation at this time is minimum.
If calculating failure, function status return value exitflag returns to 0, and explanation, which can not find one kind, to be met simultaneously
The divisions of responsibility method of equality constraint and inequality constraints.
Step 6: change configuration target.
1) it is minimum from frequency modulation frequency modulation power supply disadvantage index summation DI that target will be configured, become frequency modulation frequency modulation tracking error E most
It is small, a kind of divisions of responsibility scheme is obtained based on the target after change.It is specific as follows:
The formula needs to meet inequality constraints obtained in step 5.Should it meet:
1. bound constrained lb under independent variable
Wherein, for generator:
For energy storage:
2. bound constrained ub on independent variable
Wherein, for generator:
For energy storage:
Constraint condition lb, ub that can have directly been obtained using step 5, without calculating again.
This formula explanation, configuration target become, meet each device service condition limitation in the case where, as accurately as possible with
Track ACE signal.Electric system loss can be minimized when ACE signal acutely shakes or occur rank.
2) linear programming function is utilized, asks kth time sampling instant, when frequency modulation frequency modulation tracking error E minimum, each frequency modulation
The power offset values P of power supplyki.Wherein, the inequality constraints condition of linear programming is consistent with lb, ub in step 5, coefficient to
Amount is fixed as.
F=[1 ... 1]
Step 7: carrying out the update of parameter and quantity of state
1) electricity is updated
The power offset values P obtained using step 5 or step 6ki, update the state of charge of energy storage.More new formula is as follows:
2) if system does not require to terminate to configure, return step 3, according to obtained Sk+1,iAnd Pki, update kth+1 time
The parameters of sampling instant function；The ACE signal of+1 sampling instant of kth is obtained, the calculating of k+1 sampling instant is carried out.
Assuming that there are four variable frequency power sources to carry out frequency modulation frequency modulation, wherein two generating sets, two energy storage.It is respectively set four
The climbing limit value of a variable frequency power source are as follows:1: ± 40,2: ± 30,1: ± 30,2: ± 30.The capacity of energy storage is set as B1: 20, B2: 5, with
On be per unit value.Given area error signal ACE, Fig. 2 (a) are the power excursion scheme of configuration, it can be seen that in generator
When climbing cannot accurately track ACE signal, energy storage can accordingly contribute, and in order to guarantee that the state-of-charge of energy storage maintains most
Near good state, generator can steady tracking ACE signal when, energy storage can charge in time, rise electricity.Fig. 2 (b) is imitative
The tracking error of true period ACE signal illustrates to may be implemented accurately to track during this it can be found that being approximately zero.Fig. 2 (c)
For the state-of-charge of two energy storage, it is seen that energy storage power output stage electricity decline, the last charging stage again with go up, finally
It maintains near best state-of-charge (being set as 0.5 in this example), always without significantly off-target state-of-charge.
Although the present invention is illustrated and has been described with regard to preferred embodiment, it is understood by those skilled in the art that
Without departing from scope defined by the claims of the present invention, variations and modifications can be carried out to the present invention.
Claims (5)
1. a kind of power-type energy storage frequency regulating duty division methods based on quadratic programming, which comprises the steps of:
(1) essential information for participating in each device of frequency modulation frequency modulation is obtained；It include: the power maximum offset P of variable frequency power sourcemin、
Pmax；The threshold limit value R of the creep speed of variable frequency power sourcemin、Rmax, creep speed is front and back double sampling temporal power deviant
Change rate R；The power reference value P of variable frequency power sourceb；The efficiency for charge-discharge η of energy storagec、ηd；The best state-of-charge S of energy storagevShape
State and the electricity limit value S for allowing to reachmin、Smax；The initial quantity of electricity S of energy storage0；
(2) determine that configuration target is that all disadvantage index summations for participating in frequency modulation frequency modulation power supply are minimum；The system of frequency modulation frequency modulation is bad
Gesture target function DI, expression formula are as follows:
Wherein, I indicates all power supply set for participating in frequency modulation frequency modulation, and G indicates all generating set set, and B indicates all energy storage
Set, I=G+B, k represent k-th of sampling instant, and i represents i-th of equipment for participating in frequency modulation frequency modulation；WithIndicate energy storage
Charge power deviant,Indicate energy storage discharge power deviant, it is specified that
For two kinds of variable frequency power sources of generator and energy storage, different disadvantage function expressions is selected；To generator, DIikIndicate hair
Power of motor offset power a reference value bring disadvantage, with constant coefficient aiIt measures；To energy storage, DIikFirst item represents energy storage power
Bring disadvantage is deviated, with constant coefficient aiMeasure its weight；Section 2 represents state-of-charge and deviates brought disadvantage, with normal system
Number biMeasure its weight；
(3) the ACE signal for obtaining system, is translated into power signal PACE；
(4) disadvantage function DI is determinedikConstraint condition, including equality constraint and inequality constraints condition；Wherein, equation is about
The power signal P that beam condition is obtained according to step (3)ACEDetermine, inequality constraints condition by equipment initial essential information and work as
Preceding state-of-charge determines；
(5) quadratic programming optimization method is utilized, the smallest target of disadvantage index summation DI based on frequency modulation frequency modulation power supply obtains one
Kind divisions of responsibility scheme；
(6) according to the calculated result of step (5), if calculating failure, change configuration target be frequency modulation frequency modulation tracking error most
It is small, using linear programming method, obtain a kind of divisions of responsibility scheme；
(7) according to the calculated result of step (5) and step (6), the quantity of state of variable frequency power source and each parameter of function are updated, if
Frequency modulation frequency modulation continues, then return step (3).
2. the power-type energy storage frequency regulating duty division methods based on quadratic programming as described in claim 1, which is characterized in that step
Suddenly in (2), the disadvantage target function form of variable frequency power source is quadratic function form, with the table of squares of variable frequency power source power offset
Show power excursion bring disadvantage, square indicates that electricity deviates bring disadvantage with energy storage state of charge offset, total is bad
Gesture index square is indicated with this two, and with two, with variable frequency power source, related coefficient measures weight shared by it respectively.
3. the power-type energy storage frequency regulating duty division methods based on quadratic programming as described in claim 1, which is characterized in that step
Suddenly in (2), when carrying out the power configuration of variable frequency power source, consider following restrictive conditions, and in constraint condition and disadvantage index letter
It is embodied in number expression formula: considering maximum, the minimum value of the power excursion of variable frequency power source；Consider the creep speed of variable frequency power source
Maximum, minimum value；The limit value for considering the state-of-charge of energy storage, charge and discharge is not continued to when state-of-charge reaches upper and lower bound
Electricity；The efficiency for charge-discharge for considering energy storage, gives each energy storage charge and discharge efficiency in essential information, when disadvantage index calculates, examines
Consider influence of the different efficiency for charge-discharges to system configuration result.
4. the power-type energy storage frequency regulating duty division methods based on quadratic programming as described in claim 1, which is characterized in that step
Suddenly in (5), when sampling the calculating failure of quadratic programming function, change configuration target is tracking error E minimum；Utilize linear programming
Function seeks divisions of responsibility scheme when tracking error E minimum；The tracking error E expression formula is determined by following formula:
5. the power-type energy storage frequency regulating duty division methods based on quadratic programming as described in claim 1, which is characterized in that step
Suddenly in (7), after calculating every time, according to last time calculating as a result, the constraint condition of real-time update quadratic programming function, inequality
Constraint condition is updated with following formula:
For generating set:
For energy storage:
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