CN109066814B - Control method and system for secondary frequency modulation of energy storage device auxiliary thermal power generating unit - Google Patents

Control method and system for secondary frequency modulation of energy storage device auxiliary thermal power generating unit Download PDF

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CN109066814B
CN109066814B CN201810998991.5A CN201810998991A CN109066814B CN 109066814 B CN109066814 B CN 109066814B CN 201810998991 A CN201810998991 A CN 201810998991A CN 109066814 B CN109066814 B CN 109066814B
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CN109066814A (en
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章雷其
赵波
张雪松
徐珂
林达
李志浩
汪湘晋
冯怿彬
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Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
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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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • 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 invention discloses a control method and a system for assisting secondary frequency modulation of a thermal power generating unit by using an energy storage device. The control system adopted by the invention comprises a power control module based on the charge state of the energy storage device and a time lag compensation module based on the Smith predictor. The control system receives a secondary frequency modulation instruction from a power grid, active power feedback of a thermal power generating unit, and feedback of the charge state and output active power of an energy storage device; according to the feedback data, the control system determines the active power required to be output by the energy storage device by adopting a state of charge method based on the energy storage device; after a Smith predictor is adopted to compensate time lag existing in the auxiliary frequency modulation system, the control system obtains instruction power, the instruction is sent to the energy storage device through communication equipment, and the generated power of the thermal power generating unit is compensated by utilizing the quick response characteristic of the energy storage device; the auxiliary frequency modulation system comprises a control system and an energy storage device. The method can improve the dynamic performance of the thermal power generating unit participating in the frequency modulation of the power system and obtain higher frequency modulation benefit.

Description

Control method and system for secondary frequency modulation of energy storage device auxiliary thermal power generating unit
Technical Field
The invention belongs to the field of energy storage control, relates to control of an energy storage device, and particularly relates to a control method and a control system for assisting secondary frequency modulation of a thermal power generating unit by the energy storage device.
Background
In recent years, renewable energy sources are connected to a power grid in a large scale, uncertainty in the power grid is increasing day by day, and higher requirements are made on frequency modulation of a power system. The traditional thermal power generating unit is weak in frequency modulation capability, the climbing rate is only 2% of rated capacity/minute of the unit generally, and meanwhile, frequent and rapid adjustment can increase abrasion and coal consumption of the thermal power generating unit and endanger the safety of the unit and a power grid.
Compared with a thermal power generating unit, the energy storage device has the capacity of millisecond full power output and high response speed, so that the energy storage device can be used as an auxiliary element, the capacity of the thermal power generating unit participating in secondary frequency modulation of a power grid is improved, and higher frequency modulation benefit is obtained. The energy storage device assists the thermal power generating unit to participate in secondary frequency modulation of the power grid, so that the energy storage device is widely concerned in recent years, and a plurality of engineering projects are implemented on the ground.
The energy storage auxiliary frequency modulation system needs to consider two problems in an important way: 1) the charge state of the energy storage device needs to be kept within a reasonable range, and energy storage deep charging and deep discharging are avoided; 2) the auxiliary frequency modulation system of the energy storage device has a plurality of links containing time lag, such as signal measurement, control execution, data transmission and the like, and the time lag in the links is accumulated to generate important influence on the performance of the auxiliary frequency modulation system. Therefore, it is necessary to design a control strategy to reduce the influence of the time lag on the system performance.
Disclosure of Invention
In order to improve the performance of the conventional energy storage device for assisting the secondary frequency modulation of the thermal power generating unit, the invention provides a control method and a control system for assisting the secondary frequency modulation of the thermal power generating unit by using the energy storage device, so as to reduce the influence of time lag on the system performance, improve the dynamic performance of an auxiliary frequency modulation system and obtain higher frequency modulation benefit.
Therefore, the invention adopts the following technical scheme: the control method and the system for the secondary frequency modulation of the thermal power generating unit assisted by the energy storage device comprise a power control module based on the charge state of the energy storage device and a time lag compensation module based on a Smith predictor, and the control method comprises the following steps:
1) the control system receives AGC secondary frequency modulation instructions from a power grid, thermal power unit output active power feedback, energy storage device charge state and output active power feedback through a data acquisition device, and the AGC secondary frequency modulation instructions, the thermal power unit output active power feedback and the energy storage device charge state and output active power feedback are respectively recorded as PAGC，PGEN，SOC，PESS(ii) a According to the feedback data, the control system determines the active power P required to be output by energy storage by adopting a method based on the state of charge of the energy storage devicecmd,0；
2) Adopting a Smith predictor to compensate the time lag of the auxiliary frequency modulation system, and obtaining the instruction power P by the control systemcmdThe command power is sent to the energy storage device through the data transmission device, and the command power is output by the energy storage device;
the auxiliary frequency modulation system comprises a control system and an energy storage device.
As a supplement to the above technical solution, in step 1), the active power P required to be output by the energy storage device is determined by using a method based on the state of charge of the energy storage devicecmd,0The process of (2) is as follows: first, its intermediate power is obtained:
Pcmd,1＝PAGC-PGEN，
then, continue to Pcmd,1Obtaining P by amplitude limiting operationcmd,0The amplitude limiting interval is related to the state of charge of the energy storage device.
As a supplement to the above technical solution, the state of charge of the energy storage device is divided into three intervals, respectively a low interval [ SOC ]low1,SOCup1]Middle zone [ SOC ]low2,SOCup2]And high interval [ SOClow3,SOCup3]The amplitude limiting interval of the active power output by the low interval energy storage device is [ -P ]max,Pmax/k1]The amplitude limiting interval of the active power output by the energy storage device in the middle area is [ -P ]max,Pmax]The amplitude limiting interval of the active power output by the high interval energy storage device is [ -P ]max/k2,Pmax](ii) a Therein, SOClow1<SOCup1<SOClow2<SOCup2<SOClow3<SOCup3To determine the parameters of the state-of-charge interval, PmaxFor storing maximum charge-discharge power, k1Is a low range charge-discharge amplitude limit control coefficient, k2And the high interval charging and discharging amplitude limiting control coefficient.
In addition to the above technical solutions, k1And k2Receiving according to auxiliary frequencyAnd optimizing and calculating the benefit maximization target by adopting a heuristic algorithm.
As a supplement to the above technical solution, the control system adopts a hysteresis control method when switching between different states of charge.
As a complement to the above technical solution, the hysteresis control method includes:
the control system defaults that the SOC is in a middle interval, after the auxiliary frequency modulation system is started, the control system can determine the interval where the SOC of the energy storage device is in a hysteresis mode, namely when the condition that the SOC is in the middle interval and the SOC is in the middle interval is met<SOCup1When the SOC is in the middle interval and the SOC is in the low interval>SOClow3When the SOC is in the low interval and the SOC is in the high interval>SOClow2When the SOC is in the high interval and the SOC is in the low interval, the low interval is switched to the middle interval, and when the SOC is in the high interval and the SOC is satisfied<SOCup2It switches from the high interval to the middle interval.
As a supplement to the technical scheme, the Smith predictor is adopted to compensate the time lag of the auxiliary frequency modulation system to obtain a power instruction P of the energy storage devicecmd：
Figure BDA0001781766920000031
Wherein s is Laplace operator, KPAnd KIProportional and integral parameters, P, for proportional-integral controllersfeedbackIn order to contain the compensation power feedback quantity, tau is the equivalent time lag of the auxiliary frequency modulation system, and H(s) is the equivalent transfer function of the auxiliary frequency modulation system.
The invention has the beneficial effects that: by dividing the charge state of the energy storage device into three intervals, the energy storage device can execute different charge and discharge amplitude limiting values in different intervals, the charge state of the energy storage device can be kept in a reasonable range, and k can be optimized simultaneously1And k2Parameters to obtain maximum frequency modulation gain. According to the invention, the time lag compensation module based on the Smith predictor is introduced, so that the dynamic performance of the auxiliary frequency modulation system can be improved, and higher frequency modulation benefit can be obtained.
Drawings
FIG. 1 is a schematic diagram of an auxiliary frequency modulation system (including an energy storage device and a control system) according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of power control based on the state of charge of the energy storage device in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a skew compensation module based on a Smith predictor according to an embodiment of the invention;
fig. 4 is a comparison graph of simulation results of secondary frequency modulation of a thermal power generating unit without auxiliary frequency modulation of an energy storage device and with frequency modulation of the energy storage device in the embodiment of the invention (the upper graph is a simulation result graph of secondary frequency modulation of the thermal power generating unit without auxiliary frequency modulation of the energy storage device, the dotted line is an AGC instruction, and the solid line is active power output of the thermal power generating unit;
fig. 5 is a diagram of the change of SOC of the energy storage device in one day according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of examples of the present invention, and not all examples. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The complete structure of the auxiliary frequency modulation system is shown in fig. 1, and comprises an energy storage device and a control system. The energy storage device mainly comprises an energy storage battery and an inverter. The control system comprises a power control module based on the charge state of the energy storage device and a time lag compensation module based on a Smith predictor, and receives a secondary frequency modulation instruction P from the power gridcmdFeedback P of thermal power generating unit and energy storage deviceGEN，SOC，PESS. The difference between the secondary frequency modulation instruction and the active power output by the thermal power generating unit is the active power required to be output by the energy storage device and is recorded as Pcmd,1。
Pcmd,1＝PAGC-PGEN，
In the formation of Pcmd,1Then, the energy storage device needs to be subjected to amplitude limiting operation according to the charge state of the energy storage device.
TABLE 1 symbolic definition and description of partial system variables in the drawings of the present invention
Symbol Definitions and explanations
PAGC Secondary frequency modulation instruction of power grid
PGEN Thermal power unit output active power feedback
PESS Energy storage device output active power feedback
SOC Energy storage device state of charge feedback
SOClow1,SOCup1 Upper and lower ranges of low region of SOC of energy storage device
SOClow2,SOCup2 Middle area upper and lower range in energy storage device SOC
SOClow3,SOCup3 Upper and lower ranges of SOC high interval of energy storage device
Pcmd,0 Power command intermediate value of energy storage device
Pcmd Energy storage device power command
Pmax Maximum charge and discharge power of energy storage device
Pfeedback With compensation for power feedback
H(s) Equivalent transfer function of auxiliary frequency modulation system
τ Auxiliary frequency modulation system equivalent time lag
s Laplacian operator
Power control based on the state of charge of the energy storage device is shown in fig. 2. The state of charge of the energy storage device is divided into three intervals, namely a low interval (SOC)low1,SOCup1]Middle zone [ SOC ]low2,SOCup2]And high interval [ SOClow3,SOCup3]The amplitude limiting interval of the active power output by the low interval energy storage device is [ -P ]max,Pmax/k1]The amplitude limiting interval of the active power output by the energy storage device in the middle area is [ -P ]max,Pmax]In high region, energy storage deviceThe output active power amplitude limiting interval is [ -P ]max/k2,Pmax]. Wherein the SOClow1<SOCup1<SOClow2<SOCup2<SOClow3<SOCup3For determining the parameters of the state of charge interval, PmaxIs the maximum charge-discharge power, k, of the energy storage device1Is a low range charge-discharge amplitude limit control coefficient, k2Is a high range charge-discharge amplitude limit control coefficient, k1And k2And according to the auxiliary frequency modulation profit maximization target, optimizing and calculating by adopting a heuristic algorithm.
The control system defaults that the SOC is in a middle interval, after the auxiliary frequency modulation system is started, the control system can determine the interval where the SOC of the energy storage device is in a hysteresis mode, namely when the condition that the SOC is in the middle interval and the SOC is in the middle interval is met<SOCup1When the SOC is in the middle interval and the SOC is in the low interval>SOClow3When the SOC is in the low interval and the SOC is in the high interval>SOClow2When the SOC is in the high interval and the SOC is in the low interval, the low interval is switched to the middle interval, and when the SOC is in the high interval and the SOC is satisfied<SOCup2It switches from the high interval to the middle interval. k is a radical of1And k2The charge-discharge amplitude limiting control coefficient (more than or equal to 1) has the physical meaning that when the SOC is in a low interval, the maximum charge power is unchanged, and the maximum discharge power is reduced, so that the energy storage device has auxiliary frequency modulation capability and can restore the SOC to a middle interval; when the SOC is in a high interval, the maximum discharge power is unchanged, and the maximum charging power is reduced, so that the energy storage device has auxiliary frequency modulation capability and can restore the SOC to a middle interval.
In the formation of Pcmd,0Then, the smith predictor is used to compensate the time lag of the auxiliary fm system, so that the system obtains better dynamic performance, and the structure is shown in fig. 3. Instruction PcmdThe obtaining method is as follows:
Figure BDA0001781766920000061
wherein s is Laplace operator, KPAnd KIProportional and integral parameters, P, of the controllerfeedbackIn order to contain the compensation power feedback quantity, tau is the equivalent time lag of the auxiliary frequency modulation system, and H(s) is the transfer function of the auxiliary frequency modulation system.
Taking the energy storage device to assist the secondary frequency modulation of a thermal power generating unit with 300MW installed capacity as an example, simulation verification is carried out, and the energy storage configuration is 9MW/4.5 MWh. Other parameters required for the simulation are listed in table 2.
TABLE 2 values of parameters required for simulation of the present invention
Parameter(s) Value taking
SOClow1,SOC up1 0,40％
SOClow2,SOCup2 50％,70％
SOClow3,SOCup3 80％,100％
k1,k2 30,15
Proportional integral controller, KP,KI 0.001,10
H(s) 1
τ 3s
Fig. 4 is a comparison graph of simulation results of secondary frequency modulation of a thermal power generating unit without auxiliary frequency modulation of an energy storage device and with auxiliary frequency modulation of the energy storage device, wherein a dotted line in the upper graph is an AGC instruction, and a solid line is active power output of the thermal power generating unit; in the lower graph, a dotted line is an AGC command, and a solid line is combined active power output of the thermal power generating unit and the energy storage device. It can be clearly seen that after the energy storage device provided by the invention is adopted to assist the secondary frequency modulation control method of the thermal power generating unit, the combined response speed, the steady-state precision and the response time of the thermal power generating unit and the energy storage device are obviously improved compared with those of a pure thermal power generating unit. Fig. 5 shows the SOC variation of the energy storage device in one day, and it can be seen that the SOC can be within a reasonable range, thereby verifying the effectiveness of the power control method based on the state of charge of the energy storage device.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (5)

1. The control method for assisting secondary frequency modulation of the thermal power generating unit by the energy storage device is characterized in that a control system adopted by the method comprises a power control module based on the charge state of the energy storage device and a time lag compensation module based on a Smith predictor, and the control method comprises the following steps:
1) the control system receives AGC secondary frequency modulation instructions from a power grid, thermal power unit output active power feedback, energy storage device charge state and output active power feedback through a data acquisition device, and the AGC secondary frequency modulation instructions, the thermal power unit output active power feedback and the energy storage device charge state and output active power feedback are respectively recorded as PAGC，PGEN，SOC，PESS(ii) a According to the feedback data, the control system determines the active power P required to be output by energy storage by adopting a method based on the state of charge of the energy storage devicecmd,0；
2) When using Smith predictor to auxiliary frequency modulation systemThe hysteresis is compensated, and the control system obtains the instruction power PcmdThe command power is sent to the energy storage device through the data transmission device, and the command power is output by the energy storage device; the auxiliary frequency modulation system comprises a control system and an energy storage device;
in the step 1), the active power P required to be output by the energy storage device is determined by adopting a method based on the state of charge of the energy storage devicecmd,0The process of (2) is as follows: first, its intermediate power is obtained:
Pcmd,1＝PAGC-PGEN，
then, continue to Pcmd,1Obtaining P by amplitude limiting operationcmd,0The amplitude limiting interval is related to the charge state of the energy storage device;
compensating the time lag of the auxiliary frequency modulation system by adopting a Smith predictor to obtain a power instruction P of the energy storage devicecmd：
Figure FDA0002688991580000011
Figure FDA0002688991580000012
Wherein s is Laplace operator, KPAnd KIProportional and integral parameters, P, for proportional-integral controllersfeedbackIn order to contain the compensation power feedback quantity, tau is the equivalent time lag of the auxiliary frequency modulation system, and H(s) is the equivalent transfer function of the auxiliary frequency modulation system.
2. The control method of claim 1, wherein the energy storage device state of charge is divided into three intervals, each interval being a low interval [ SOC [ ]low1,SOCup1]Middle zone [ SOC ]low2,SOCup2]And high interval [ SOClow3,SOCup3]The amplitude limiting interval of the active power output by the low interval energy storage device is [ -P ]max,Pmax/k1]In the middle area, the output active power amplitude limit of the energy storage deviceThe interval is [ -Pmax,Pmax]The amplitude limiting interval of the active power output by the high interval energy storage device is [ -P ]max/k2,Pmax](ii) a Therein, SOClow1<SOCup1<SOClow2<SOCup2<SOClow3<SOCup3To determine the parameters of the state-of-charge interval, PmaxFor storing maximum charge-discharge power, k1Is a low range charge-discharge amplitude limit control coefficient, k2And the high interval charging and discharging amplitude limiting control coefficient.
3. The control method of claim 2, wherein k is1And k2And according to the auxiliary frequency modulation profit maximization target, optimizing and calculating by adopting a heuristic algorithm.
4. The control method of claim 2, wherein the control system employs a hysteresis control method when switching between different states of charge.
5. The control method according to claim 4, wherein the hysteresis control method is:
the control system defaults that the SOC is in a middle interval, after the auxiliary frequency modulation system is started, the control system can determine the interval where the SOC of the energy storage device is in a hysteresis mode, namely when the condition that the SOC is in the middle interval and the SOC is in the middle interval is met<SOCup1When the SOC is in the middle interval and the SOC is in the low interval>SOClow3When the SOC is in the low interval and the SOC is in the high interval>SOClow2When the SOC is in the high interval and the SOC is in the low interval, the low interval is switched to the middle interval, and when the SOC is in the high interval and the SOC is satisfied<SOCup2It switches from the high interval to the middle interval.
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