CN110635473B - Decentralized-centralized coordination control method and system for emergency demand response - Google Patents

Decentralized-centralized coordination control method and system for emergency demand response Download PDF

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CN110635473B
CN110635473B CN201910836001.2A CN201910836001A CN110635473B CN 110635473 B CN110635473 B CN 110635473B CN 201910836001 A CN201910836001 A CN 201910836001A CN 110635473 B CN110635473 B CN 110635473B
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CN110635473A (en
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谢小荣
王路平
李浩志
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Tsinghua 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
    • 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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H02J3/14—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by switching loads on to, or off from, network, e.g. progressively balanced loading
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/30—Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
    • Y02B70/3225—Demand response systems, e.g. load shedding, peak shaving
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
    • Y04S20/20—End-user application control systems
    • Y04S20/222—Demand response systems, e.g. load shedding, peak shaving

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Abstract

The invention discloses a distributed-centralized coordination control method and a system for emergency demand response, wherein the method comprises the following steps: calculating actual load shedding values and actual load shedding time values of the distributed EDR control substations according to the bus voltage frequency change rate, the filter function and the unit step response curve of the distributed EDR control substations, and generating control commands of the distributed EDR control substations according to the actual values; and calculating the load-shedding estimation value of each distributed type EDR control substation and the distributed type load-shedding time estimation value according to the filter function, the unit step response curve and the frequency change rate of the bus where the control center is located, calculating the load-shedding amount of each centralized type EDR control substation, and generating a centralized type EDR control command according to the load-shedding amount of each centralized type EDR control substation. The method can obtain the information of the whole power grid, has high adaptability to the change of the operation mode of the power grid, has low construction cost and is convenient for market popularization.

Description

Decentralized-centralized coordination control method and system for emergency demand response
Technical Field
The invention relates to the technical field of power system stabilization and control, in particular to a distributed-centralized coordination control method and system for emergency demand response.
Background
Along with the construction and operation of a high-capacity ultrahigh-voltage direct-current line, the equivalent moment of inertia of a multi-direct-current feed receiving-end power grid is continuously reduced, and if a direct-current blocking fault occurs, the frequency of the power grid falls remarkably within a few seconds, so that the short-term frequency stability problem of a power system is caused. The access of a high-proportion intermittent new energy source unit causes the operation mode of the power grid to change more frequently, thereby putting higher requirements on the adaptability of a control means.
Emergency Demand Response (EDR) is a new power grid short-term frequency stabilization control means, acquires a control right of a load by signing a contract with a user, and performs economic compensation according to the load amount actually cut off in an Emergency. Because the selected load is generally not high in sensitivity to power failure, the method is high in user friendliness and low in cost, and is widely valued and increasingly applied at home and abroad.
The existing emergency demand response technology has two modes of scattered decision and centralized decision. The distributed decision mode does not need a high-speed communication network, has low construction cost, can not acquire the information of the whole network, and has poor adaptability to the change of the operation mode of the power grid. The centralized decision mode needs a high-speed communication network to send a load control command, so the construction cost is high in the early stage and the market popularization is difficult. There is a need to develop decentralized-centralized coordinated control methods and systems for emergency demand response that combine the advantages of both decentralized and centralized decision-making modes.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a decentralized-centralized coordination control method for emergency demand response, which can obtain information of the whole grid, has high adaptability to changes of the operation mode of the power grid, is low in construction cost, and is convenient for market popularization.
Another object of the present invention is to propose a decentralized-centralized coordinated control system of emergency demand response.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a distributed-centralized coordination control method for emergency demand response, including:
acquiring a current operation mode of a power grid, historical disturbance data and a current EDR resource condition, generating a unit step response curve according to the current operation mode of the power grid, the historical disturbance data and the current EDR resource condition, and coordinating control parameters and a filter function;
acquiring the bus voltage frequency change rate of a distributed EDR control substation, generating a first disturbance moment frequency change rate according to the bus voltage frequency change rate of the distributed EDR control substation, the filter function and the unit step response curve, calculating the actual load shedding value and the actual distributed load shedding time value of each distributed EDR control substation according to the first disturbance moment frequency change rate and the coordination control parameter, and generating control commands of each distributed EDR control substation according to the actual load shedding value and the actual distributed load shedding time value of each distributed EDR control substation;
acquiring the frequency change rate of a bus where a control center is located, generating a second disturbance moment frequency change rate according to the filter function, the unit step response curve and the frequency change rate of the bus where the control center is located, calculating the load-shedding estimation value and the distributed load-shedding time estimation value of each distributed type EDR control substation according to the second disturbance moment frequency change rate and the coordination control parameter, calculating the load-shedding amount of each centralized type EDR control substation according to the load-shedding estimation value and the distributed load-shedding time estimation value of each distributed type EDR control substation, and generating a centralized type EDR control command according to the load-shedding amount of each centralized type EDR control substation.
The distributed-centralized coordination control method for emergency demand response of the embodiment of the invention utilizes the distributed decision and the centralized decision to carry out the coordination control of emergency demand response at the same time, can obtain the information of the whole network, has high adaptability to the change of the operation mode of the power grid, has low construction cost and is convenient for market popularization.
In addition, the distributed-centralized coordination control method for emergency demand response according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the S1 further includes:
s11, generating the unit step response curve according to the current operation mode of the power grid and the historical disturbance data;
s12, generating the coordination control parameter according to the unit step response curve and the current EDR resource condition;
s13, generating the filter function according to the historical disturbance data; the filtering function is a high-order elliptic low-pass filter transfer function, and the debugging principle of the parameters of the high-order elliptic low-pass filter is a corresponding parameter when the oscillation component of the frequency change rate of each bus in the historical disturbance data is filtered.
Further, in one embodiment of the present invention, the unit step response curve is:
Figure BDA0002192177070000021
wherein G(s) is a system frequency response model transfer function.
Further onIn one embodiment of the present invention, the coordination control parameter includes: a frequency variation threshold value and a distributed EDR response factor, the frequency variation threshold value f'TComprises the following steps:
Figure BDA0002192177070000022
wherein f isnIs the power frequency; pbaseThe rated power sum of an online generator set capable of providing the rotational inertia is obtained; delta PTIn order to be the threshold value of the power shortage,
Figure BDA0002192177070000031
fTas a system frequency stability threshold, HΣIs the system equivalent inertia constant;
the distributed EDR response factor lambdakComprises the following steps:
Figure BDA0002192177070000032
wherein, PEDR_kFor corresponding to the current switchable load capacity, P, of the distributed EDR control substationEDRTotal amount of all distributed EDR loads, p, currently available for responseresThe proportions are reserved for the centralized control substation,
Figure BDA0002192177070000033
Pcenis a centralized EDR capacity.
Further, in an embodiment of the present invention, the S2 further includes:
filtering the bus voltage frequency change rate of the distributed EDR control substation through the filter function, generating a mode curve according to the filter function and the unit step response curve, and generating the first disturbance moment frequency change rate according to the mode curve and the filtered bus voltage frequency change rate of the distributed EDR control substation;
the S3 further includes:
and filtering the frequency change rate of the bus where the control center is located through the filtering function, and generating the second disturbance moment frequency change rate according to the mode curve and the filtered frequency change rate of the bus where the control center is located.
Further, in an embodiment of the present invention, characterized in that,
the mode curve is:
m(t)＝L-1{Gf(s)}*u′(t)
where u' (t) is the derivative of the unit step response curve u (t);
the bus voltage frequency change rate of the filtered distributed EDR control substation is as follows:
f′K(t)＝L-1{Gf(s)}*f′k(t)
wherein, f'k(t) is the bus voltage frequency rate of change of the distributed EDR control substation;
the first disturbance moment frequency change rate is:
Figure BDA0002192177070000034
wherein, TsIs the interval of sampling points, TswIs the sampling window length, tintFor the controller start-up time, t0Is a disturbance moment, the starting moment of the controller is f'k(t) being first below a frequency rate of change start threshold f'thThe time of day.
Further, in one embodiment of the present invention, the distributed EDR control substation control commands include: the actual load shedding value of each distributed type EDR control substation is as follows:
Figure BDA0002192177070000041
wherein, f'TIs a change of frequencyChange the threshold value, λkIn order to be a distributed EDR response factor,
Figure BDA0002192177070000044
the frequency change rate at the first disturbance moment;
the actual value of the distributed load shedding time is as follows:
tk＝tint+Tsw+Δt
wherein, tintFor the controller start-up time, TswThe length of the sampling window, and the delta t is the calculation and action delay.
Further, in an embodiment of the present invention, a frequency change rate of a bus where the filtered control center is located is:
f′C(t)＝L-1{Gf(s)}*f′c(t)
wherein, f'c(t) is the frequency change rate of the bus where the control center is located;
the second disturbance moment frequency change rate is:
Figure BDA0002192177070000042
further, in an embodiment of the present invention, the load shedding estimation value of each distributed EDR control substation is:
Figure BDA0002192177070000043
the distributed load shedding time estimate is:
t′k＝tc＝t′int+Tsw+Δt+Δτ
wherein, tcIs a centralized EDR load cutting time of t'intFor the controller start-up time, TswΔ τ is a conservative margin for the sampling window length.
Further, in an embodiment of the present invention, the centralized EDR control command includes a load amount to be switched and a centralized load switching time of each centralized EDR control substation, and the load amount to be switched calculation method of each centralized EDR control substation is to solve the following optimization problem:
min∑ciΔPRi
Figure BDA0002192177070000051
wherein, Δ PRiFor each centralized EDR control substation the load, ciIn order to correspond to the unit load control cost of the substation,
Figure BDA0002192177070000052
Δ f (t) is the upper limit of the switchable load of the corresponding substation:
Figure BDA0002192177070000053
wherein, Δ PHSThe amount of power deficit at the moment of disturbance received by the control center.
In order to achieve the above object, another embodiment of the present invention provides an emergency demand response decentralized-centralized coordination control system, including:
the coordination control module is used for acquiring the current operation mode of the power grid, historical disturbance data and the current EDR resource condition, generating a unit step response curve, coordinating control parameters and a filter function according to the current operation mode of the power grid, the historical disturbance data and the current EDR resource condition;
the distributed decision module is used for acquiring the bus voltage frequency change rate of the distributed EDR control substation, generating a first disturbance moment frequency change rate according to the bus voltage frequency change rate of the distributed EDR control substation, the filter function and the unit step response curve, calculating the actual load switching value and the actual distributed load switching-off time value of each distributed EDR control substation according to the first disturbance moment frequency change rate and the coordination control parameter, and generating control commands of each distributed EDR control substation according to the actual load switching value and the actual distributed load switching-off time value of each distributed EDR control substation;
the centralized decision module is used for acquiring the frequency change rate of a bus where the control center is located, generating a second disturbance moment frequency change rate according to the filter function, the unit step response curve and the frequency change rate of the bus where the control center is located, calculating the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation according to the second disturbance moment frequency change rate and the coordination control parameter, calculating the load shedding amount of each centralized EDR control substation according to the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation, and generating a centralized EDR control command according to the load shedding amount of each centralized EDR control substation.
The distributed-centralized coordination control system for emergency demand response of the embodiment of the invention utilizes the distributed decision and the centralized decision to simultaneously carry out the coordination control of emergency demand response, has low construction cost and high adaptability to the change of the operation mode of the power grid, can obtain the information of the whole power grid, and is convenient for market popularization.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a distributed-centralized coordination control method for emergency demand response according to an embodiment of the present invention;
FIG. 2 is a flow chart of an emergency demand response decentralized-centralized coordination control method according to another embodiment of the present invention;
FIG. 3 is a timing diagram of frequency rate of change estimation at the moment of a disturbance according to one embodiment of the present invention;
fig. 4 is a diagram illustrating an application scenario of the decentralized-centralized coordination control system for emergency demand response according to an embodiment of the present invention;
fig. 5 is a block diagram of a decentralized-centralized coordinated control system for emergency demand response according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Hereinafter, a distributed-centralized coordination control method and system for emergency demand response according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, a distributed-centralized coordination control method of emergency demand response proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 1 is a flowchart of a distributed-centralized coordination control method for emergency demand response according to an embodiment of the present invention.
As shown in fig. 1, the distributed-centralized coordination control method for emergency demand response includes the following steps:
in step S1, the current operation mode of the power grid, the historical disturbance data, and the current EDR resource condition are obtained, a unit step response curve is generated according to the current operation mode of the power grid, the historical disturbance data, and the current EDR resource condition, and the control parameters and the filter function are coordinated.
Further, S1 further includes:
s11, generating a unit step response curve according to the current operation mode of the power grid and historical disturbance data;
s12, generating coordination control parameters according to the unit step response curve and the current EDR resource condition;
and S13, generating a filter function according to the historical disturbance data.
As shown in fig. 2, the distributed-centralized coordination control method for emergency demand response is implemented by a distributed-centralized coordination control system for emergency demand response, which is composed of a coordination control module, a distributed decision module and a centralized decision module, and is respectively built in the distributed EDR control substation and the control center of the control center. In fig. 2, the dashed arrows indicate slow communication lines, i.e., the control center and the distributed EDR control substation are connected by a slow communication line with a lower cost.
As shown in fig. 2, the coordination control module includes a system frequency response update sub-module and a coordination control parameter calculation sub-module. And the system frequency response updating submodule updates the system frequency response model according to the current power grid operation mode, namely the starting condition and the load level of the generator. The transfer function g(s) of the system frequency response model is:
Figure BDA0002192177070000071
wherein HΣThe system equivalent inertia constant is obtained by accumulating and calculating the inertia constants (per unit value) of the online thermal power generating unit and the online hydroelectric generating unit; gΣ(s) the transfer function of the equivalent primary frequency modulation response model of the system is obtained by accumulating and calculating the primary frequency modulation response transfer functions of the on-line thermal power generating unit and the on-line hydroelectric generating unit; gL(s) is a transfer function of the system equivalent load model, and satisfies the following conditions:
Figure BDA0002192177070000072
wherein, PLFor the current grid load level, KL1And KL2Respectively static load adjustment coefficient and dynamic load adjustment coefficient, TLThe dynamic load equivalent time constant is obtained by historical disturbance data fitting. The unit step response curve of the system is:
Figure BDA0002192177070000073
as shown in fig. 2, the coordination control parameter calculation submodule is based on the systemAnd (3) calculating a coordination control parameter by using a unit step response curve sent by the frequency response model updating submodule and the current EDR resource condition (namely the switchable load quantity of each substation). The coordination control parameter comprises a frequency change rate threshold value f'TAnd distributed EDR response factor λk. The frequency change rate threshold value satisfies:
Figure BDA0002192177070000074
wherein f isnIs the power frequency; pbaseThe rated power sum of an online generator set capable of providing the rotational inertia is obtained; hΣIs the system equivalent inertia constant; delta PTThe power shortage threshold value satisfies the following conditions:
Figure BDA0002192177070000075
wherein f isTIs the system frequency stability threshold (i.e., the lowest frequency value that can be tolerated).
The distributed EDR response factor of the kth distributed EDR control substation meets the following conditions:
Figure BDA0002192177070000076
wherein, PEDR_kThe current switchable load capacity of the corresponding distributed EDR control substation; pEDRThe total amount of all distributed EDR loads which can be responded currently; p is a radical ofresThe proportion is reserved for the centralized control substation, and the following requirements are met:
Figure BDA0002192177070000081
wherein, PcenIs a centralized EDR capacity.
In step S2, a bus voltage frequency change rate of the distributed EDR control sub-station is obtained, a first disturbance time frequency change rate is generated according to the bus voltage frequency change rate, a filter function, and a unit step response curve of the distributed EDR control sub-station, actual load shedding values and actual distributed load shedding time values of each distributed EDR control sub-station are calculated according to the first disturbance time frequency change rate and a coordination control parameter, and control commands of each distributed EDR control sub-station are generated according to the actual load shedding values and the actual distributed load shedding time values of each distributed EDR control sub-station.
Further, S2 further includes:
and filtering the bus voltage frequency change rate of the distributed EDR control substation through a filter function, generating a mode curve according to the filter function and the unit step response curve, and generating a first disturbance moment frequency change rate according to the mode curve and the filtered bus voltage frequency change rate of the distributed EDR control substation.
As shown in fig. 2, the decentralized decision module comprises a disturbance moment frequency change rate estimation sub-module and a local distributed EDR strain gauge sub-module.
The disturbance moment frequency change rate estimation submodule measures the bus voltage frequency change rate f 'according to the bus where the distributed EDR control substation is located'k(t) judging whether it is lower than a starting threshold value f'th，f′thThe selection principle is that a smaller absolute value is obtained as far as possible on the premise of avoiding false operation, so that the frequency change rate of the disturbance moment estimates the starting moment t of the submoduleintAs close as possible to the disturbance time t0If the result is yes, the frequency change rate of the system inertia center at the disturbance time (hereinafter, simply referred to as the disturbance time frequency change rate) is estimated.
To f'k(t) low-pass filtering with a filter transfer function of Gf(s), the order is not lower than 12, the cut-off frequency is about 1Hz, and the selection principle is that a larger value is selected as far as possible on the premise of filtering the oscillation component of the frequency change rate. The mode curve can be obtained according to the unit step response curve transmitted by the coordination control module:
m(t)＝L-1{Gf(s)}*u′(t) (8)
where u' (t) is the derivative of the unit step response curve u (t).
Wherein the filter function GfAnd(s) is a transfer function of a high-order elliptical low-pass filter, and the debugging principle of filter parameters is that oscillation components of the frequency change rate of each bus in historical disturbance data are just filtered out.
Therefore, the frequency change rate of the disturbance moment measured by the kth distributed EDR control substation is as follows:
Figure BDA0002192177070000091
wherein, TsIs the interval of sampling points, TswIs the sampling window length, tintFor the controller start-up time, t0Is disturbance time, the controller starts at the time f'k(t) being first below a frequency rate of change start threshold f'thThe timing of (1) is set to | f 'as small as possible without causing malfunction'thL thereby ensuring tintVery close to t0And the frequency change rate function after filtering satisfies the following conditions:
f′K(t)＝L-1{Gf(s)}*f′k(t) (10)
the action sequence of the disturbance moment frequency change rate estimation is shown in fig. 3, and whether an unfiltered signal is used when the calculation is started or not is judged, and a filtered signal is used when the disturbance moment frequency change rate estimation is performed.
As shown in fig. 2, the local distributed EDR strain gauge sub-module calculates local strain according to the disturbance time frequency change rate estimation value sent by the disturbance time frequency change rate estimation sub-module and the coordination control parameter sent by the coordination control module. The load shedding amount of the kth distributed EDR control substation is as follows:
Figure BDA0002192177070000092
excision time:
tk＝tint+Tsw+Δt (12)
wherein, Δ t is the calculation and action delay.
Specifically, after the local load to be cut is obtained through the dispersion decision module, the load is cut according to the calculated load to be cut.
In step S3, a frequency change rate of a bus where the control center is located is obtained, a second disturbance time frequency change rate is generated according to a filter function, a unit step response curve, and the frequency change rate of the bus where the control center is located, a load shedding estimated value and a distributed load shedding time estimated value of each distributed EDR control substation are calculated according to the second disturbance time frequency change rate and a coordination control parameter, a load shedding amount of each centralized EDR control substation is calculated according to the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation, and a centralized EDR control command is generated according to the load shedding amount of each centralized EDR control substation.
The load-shedding estimation value of each distributed type EDR control substation calculated by the centralized decision module is an estimation value, the load-shedding amount of each centralized type EDR control substation is calculated according to the load-shedding estimation value of each distributed type EDR control substation, the load-shedding amount of each centralized type EDR control substation is informed to the control center, and load shedding is carried out according to the load-shedding amount of each centralized type EDR control substation.
Further, S3 further includes:
and filtering the frequency change rate of the bus where the control center is located through a filtering function, and generating a second disturbance moment frequency change rate according to the mode curve and the filtered frequency change rate of the bus where the control center is located.
As shown in fig. 2, the centralized decision module includes a distributed EDR ablation condition estimation sub-module and load shedding amount calculation sub-modules of the centralized EDR control substations. The distributed EDR (enhanced data Rate) cutting condition estimation submodule adopts a disturbance moment frequency change rate estimation method which is the same as that of the distributed decision module according to the local bus frequency change rate (namely the frequency change rate measured by the bus where the control center is located), so that the parameters of the filter are kept consistent, and the disturbance moment frequency change rate measured by the control center is kept
Figure BDA0002192177070000104
Satisfy the requirement of
Figure BDA0002192177070000105
The resection quantity of the kth distributed EDR control substation is estimated as follows:
Figure BDA0002192177070000101
the excision time was:
t′k＝tc＝t′int+Tsw+Δt+Δτ (14)
where Δ τ is a conservative margin to reduce the error, t'intFor the controller start-up time, TswIs the sampling window length, tcThe EDR load is removed for a centralized time.
And the load amount calculation submodule of each centralized EDR control substation calculates the load amount of each centralized EDR control substation according to the estimated distributed EDR cutting condition (including substation load cutting amount and cutting time). The time domain function of the system frequency can be written as:
Figure BDA0002192177070000106
wherein,
Figure BDA0002192177070000107
for disturbing the grid frequency at the moment, usable in engineering applications
Figure BDA0002192177070000108
Instead, Δ PHSFor controlling the amount of power deficit, Δ P, at the moment of disturbance received by the centreRiThe load should be cut for the ith centralized EDR control substation. The calculation of the amount of load that the centralized EDR control substation should shed can be constrained to be an optimization problem:
Figure BDA0002192177070000102
wherein，ΔPRiFor each centralized EDR control substation the load, ciIn order to correspond to the unit load control cost of the substation,
Figure BDA0002192177070000103
is the upper limit of the switchable load of the corresponding substation.
By the method, the laying of lines can be reduced, the construction cost is reduced, two control modes of decentralized decision and centralized decision are adopted, the adaptability to the change of the operation mode of the power grid is high, and the market popularization is facilitated.
Fig. 4 shows an application scenario of a typical distributed-centralized coordination control system for emergency demand response, in which a dashed arrow represents a slow communication line with lower cost, and a solid arrow represents a fiber-optic communication line with higher cost. The following takes this as an example to describe a specific embodiment of the present invention:
1. the control center is connected to the EMS/WAMS system, provides the real-time operation mode and historical disturbance data of the current power grid for the coordination control module, the coordination control module updates the system frequency response model according to the real-time operation mode and the historical disturbance data, generates coordination control parameters and a system unit step response curve, transmits the coordination control parameters and the system unit step response curve to each distributed EDR control substation through slow communication, and transmits the coordination control parameters and the system unit step response curve to the centralized decision module through optical fiber communication.
2. The distributed EDR control substation is arranged on each main bus and comprises a distributed decision module and aggregated emergency demand response loads, and a distributed decision mode is adopted. When the distributed decision module monitors that the frequency change rate of the local bus is lower than a starting threshold value f'intAnd calculating local load shedding, and shedding the emergency demand response load aggregated by the substation through the direct load control device.
3. The control center continuously monitors the frequency change rate of the bus where the control center is located if the frequency change rate is lower than a starting threshold value f'intAnd estimating the load shedding condition of the distributed EDR control substation, calculating the load shedding amount of the centralized control substation, and transmitting the command to the centralized control substation through optical fiber communication.
4. The centralized control substation is arranged near the control center and delays for a period of time to execute after receiving the command of the control center (ensuring that the control sequence is behind the distributed EDR control substation).
According to the distributed-centralized coordination control method for the emergency demand response, provided by the embodiment of the invention, the distributed decision and the centralized decision are utilized to carry out the coordination control of the emergency demand response at the same time, the construction cost is low, the adaptability to the change of the operation mode of the power grid is high, the information of the whole power grid can be obtained, and the market popularization is facilitated.
Next, a distributed-centralized cooperative control system of emergency demand response proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 5 is a schematic structural diagram of a decentralized-centralized coordinated control system for emergency demand response according to an embodiment of the present invention.
As shown in fig. 5, the decentralized-centralized coordinated control system for emergency demand response includes: a coordination control module 100, a decentralized decision module 200 and a centralized decision module 300.
And the coordination control module 100 is configured to acquire a current operation mode of the power grid, historical disturbance data, and a current EDR resource condition, and generate a unit step response curve, a coordination control parameter, and a filter function according to the current operation mode of the power grid, the historical disturbance data, and the current EDR resource condition.
And the distributed decision module 200 is used for acquiring the bus voltage frequency change rate of the distributed EDR control substation, generating a first disturbance moment frequency change rate according to the bus voltage frequency change rate, the filter function and the unit step response curve of the distributed EDR control substation, calculating the actual load shedding value and the actual distributed load shedding time value of each distributed EDR control substation according to the first disturbance moment frequency change rate and the coordination control parameter, and generating control commands of each distributed EDR control substation according to the actual load shedding value and the actual distributed load shedding time value of each distributed EDR control substation.
The centralized decision module 300 is configured to obtain a frequency change rate of a bus where the control center is located, generate a second disturbance time frequency change rate according to a filter function, a unit step response curve, and the frequency change rate of the bus where the control center is located, calculate a load shedding estimated value and a distributed load shedding time estimated value of each distributed EDR control substation according to the second disturbance time frequency change rate and a coordination control parameter, calculate a load shedding amount of each centralized EDR control substation according to the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation, and generate a centralized EDR control command according to the load shedding amount of each centralized EDR control substation.
Further, the coordination control module 100 further includes: a system frequency response updating sub-module 101 and a coordination control parameter calculation sub-module 102.
And the system frequency response updating submodule 101 is used for generating a unit step response curve according to the current operation mode of the power grid and historical disturbance data.
And the coordination control parameter calculation submodule is used for generating coordination control parameters according to the unit step response curve and the current EDR resource condition.
The dispersion decision module 200 includes: a disturbance moment frequency change rate estimation sub-module 201 and a local distributed EDR strain shear meter sub-module 202.
The disturbance moment frequency change rate estimation submodule 201 is used for generating a first disturbance moment frequency change rate according to the bus voltage frequency change rate, the filter function and the unit step response curve of the distributed EDR control substation.
The local distributed EDR stress-shear amount operator module 202 is used for calculating the actual load-shear value and the actual distributed load-removal time value of each distributed EDR control substation according to the frequency change rate of the first disturbance moment and the coordination control parameter, and generating the control command of each distributed EDR control substation according to the actual load-shear value and the actual distributed load-removal time value of each distributed EDR control substation.
The centralized decision module 300 includes: a distributed EDR cut-off condition estimation submodule 301 and a load amount calculation submodule 302 to be cut off for each centralized EDR control substation.
The distributed EDR shedding condition estimation sub-module 301 is used for calculating load shedding estimated values and distributed load shedding time estimated values of each distributed EDR control substation.
Each centralized EDR control substation load shedding amount calculation submodule 302 is configured to calculate a load shedding amount of each centralized EDR control substation according to the load shedding amount estimated value of each distributed EDR control substation and the distributed load shedding time estimated value.
It should be noted that the explanation of the foregoing embodiment of the distributed-centralized coordination control method for emergency demand response is also applicable to the apparatus of this embodiment, and is not repeated herein.
According to the distributed-centralized coordination control system for emergency demand response provided by the embodiment of the invention, the distributed decision and the centralized decision are utilized to carry out the coordination control of emergency demand response at the same time, so that the whole network information can be obtained, the adaptability to the change of the operation mode of the power grid is high, the construction cost is low, and the market popularization is facilitated.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A decentralized-centralized coordinated control method for emergency demand response, comprising the steps of:
s1, acquiring a current operation mode of a power grid, historical disturbance data and a current EDR resource condition, generating a unit step response curve according to the current operation mode of the power grid, the historical disturbance data and the current EDR resource condition, and coordinating control parameters and a filter function;
s2, acquiring the bus voltage frequency change rate of the distributed EDR control substation, generating a first disturbance moment frequency change rate according to the bus voltage frequency change rate of the distributed EDR control substation, the filter function and the unit step response curve, calculating the actual load shedding value and the actual distributed load shedding time value of each distributed EDR control substation according to the first disturbance moment frequency change rate and the coordination control parameter, and generating control commands of each distributed EDR control substation according to the actual load shedding value and the actual distributed load shedding time value of each distributed EDR control substation;
s3, obtaining the frequency change rate of the bus where the control center is located, generating a second disturbance moment frequency change rate according to the filter function, the unit step response curve and the frequency change rate of the bus where the control center is located, calculating the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation according to the second disturbance moment frequency change rate and the coordination control parameter, calculating the load shedding amount of each centralized EDR control substation according to the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation, and generating a centralized EDR control command according to the load shedding amount of each centralized EDR control substation.
2. The method according to claim 1, wherein the S1 further comprises:
s11, generating the unit step response curve according to the current operation mode of the power grid and the historical disturbance data;
s12, generating the coordination control parameter according to the unit step response curve and the current EDR resource condition;
s13, generating the filter function according to the historical disturbance data; the filtering function is a high-order elliptic low-pass filter transfer function, and the debugging principle of the parameters of the high-order elliptic low-pass filter is a corresponding parameter when the oscillation component of the frequency change rate of each bus in the historical disturbance data is filtered.
3. The method of claim 1,
the unit step response curve is:
Figure FDA0002699352770000011
wherein G(s) is a system frequency response model transfer function;
the coordination control parameters include: a frequency variation threshold value and a distributed EDR response factor, the frequency variation threshold value f'TComprises the following steps:
Figure FDA0002699352770000021
wherein f isnIs the power frequency; pbaseThe rated power sum of an online generator set capable of providing the rotational inertia is obtained; delta PTIn order to be the threshold value of the power shortage,
Figure FDA0002699352770000022
fTas a system frequency stability threshold, HΣIs the system equivalent inertia constant;
the distributed EDR response factor lambdakComprises the following steps:
Figure FDA0002699352770000023
wherein, PEDR_kFor corresponding to the current switchable load capacity, P, of the distributed EDR control substationEDRTotal amount of all distributed EDR loads, p, currently available for responseresThe proportions are reserved for the centralized control substation,
Figure FDA0002699352770000024
Pcenis a centralized EDR capacity.
4. The method of claim 1,
the S2 further includes:
filtering the bus voltage frequency change rate of the distributed EDR control substation through the filter function, generating a mode curve according to the filter function and the unit step response curve, and generating the first disturbance moment frequency change rate according to the mode curve and the filtered bus voltage frequency change rate of the distributed EDR control substation;
the S3 further includes:
and filtering the frequency change rate of the bus where the control center is located through the filtering function, and generating the second disturbance moment frequency change rate according to the mode curve and the filtered frequency change rate of the bus where the control center is located.
5. The method of claim 4,
the mode curve is:
Figure FDA0002699352770000031
where u' (t) is the derivative of the unit step response curve u (t);
the bus voltage frequency change rate of the filtered distributed EDR control substation is as follows:
Figure FDA0002699352770000032
wherein, f'k(t) is the bus voltage frequency rate of change of the distributed EDR control substation;
the first disturbance moment frequency change rate is:
Figure FDA0002699352770000033
wherein, TsIs the interval of sampling points, TswIs the sampling window length, tintFor the controller start-up time, t0Is a disturbance moment, the starting moment of the controller is f'k(t) being first below a frequency rate of change start threshold f'thThe time of day.
6. The method of claim 1, wherein each distributed EDR control substation control command comprises: the actual load shedding value of each distributed type EDR control substation is as follows:
Figure FDA0002699352770000034
wherein, f'TFor frequency variation of threshold value, λkIn order to be a distributed EDR response factor,
Figure FDA0002699352770000035
the frequency change rate at the first disturbance moment;
the actual value of the distributed load shedding time is as follows:
tk＝tint+Tsw+Δt
wherein, tintFor the controller start-up time, TswThe length of the sampling window, and the delta t is the calculation and action delay.
7. The method of claim 4,
the frequency change rate of the bus where the filtered control center is located is as follows:
Figure FDA0002699352770000036
wherein, f'c(t) is the frequency change rate of the bus where the control center is located;
the second disturbance moment frequency change rate is:
Figure FDA0002699352770000041
wherein, TsIs the interval of sampling points, TswIs the sampling window length, tintFor the controller start-up time, t0Is a disturbance moment, the starting moment of the controller is f'k(t) being first below a frequency rate of change start threshold f'thThe time of day.
8. The method of claim 1, wherein each distributed EDR control substation has a load shedding estimate of:
Figure FDA0002699352770000042
wherein λ iskIs a distributed EDR response factor, f'TIn order to change the threshold value for the frequency,
Figure FDA0002699352770000047
the frequency change rate at the second disturbance moment;
the distributed load shedding time estimate is:
t′k＝tc＝t′int+Tsw+Δt+Δτ
wherein, tcIs a centralized EDR load cutting time of t'intFor the controller start-up time, TswΔ τ is a conservative margin for the sampling window length.
9. The method according to claim 1, wherein the centralized EDR control command includes a load amount to be switched and a centralized load switching time of each centralized EDR control substation, and the load amount to be switched calculation method of each centralized EDR control substation is to solve the following optimization problem:
Figure FDA0002699352770000043
wherein, Δ PRiFor each centralized EDR control substation the load, ciIn order to correspond to the unit load control cost of the substation,
Figure FDA0002699352770000044
Δ f (t) is the upper limit of the switchable load of the corresponding substation:
Figure FDA0002699352770000045
wherein,
Figure FDA0002699352770000046
for disturbance of the grid frequency at the moment, fnIs power frequency, Δ PHSFor the amount of power deficit, t, at the moment of disturbance received by the control centre0For the moment of disturbance, Δ PRkIs the actual load value, t'kFor distributed load shedding time estimation, tcThe EDR load is removed for a centralized time.
10. A decentralized-centralized coordinated control system for emergency demand response, comprising:
the coordination control module is used for acquiring the current operation mode of the power grid, historical disturbance data and the current EDR resource condition, generating a unit step response curve, coordinating control parameters and a filter function according to the current operation mode of the power grid, the historical disturbance data and the current EDR resource condition;
the distributed decision module is used for acquiring the bus voltage frequency change rate of the distributed EDR control substation, generating a first disturbance moment frequency change rate according to the bus voltage frequency change rate of the distributed EDR control substation, the filter function and the unit step response curve, calculating the actual load switching value and the actual distributed load switching-off time value of each distributed EDR control substation according to the first disturbance moment frequency change rate and the coordination control parameter, and generating control commands of each distributed EDR control substation according to the actual load switching value and the actual distributed load switching-off time value of each distributed EDR control substation;
the centralized decision module is used for acquiring the frequency change rate of a bus where the control center is located, generating a second disturbance moment frequency change rate according to the filter function, the unit step response curve and the frequency change rate of the bus where the control center is located, calculating the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation according to the second disturbance moment frequency change rate and the coordination control parameter, calculating the load shedding amount of each centralized EDR control substation according to the load shedding estimated value and the distributed load shedding time estimated value of each distributed EDR control substation, and generating a centralized EDR control command according to the load shedding amount of each centralized EDR control substation.
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