CN111598391A - Electric vehicle dispatching method and dispatching system - Google Patents

Electric vehicle dispatching method and dispatching system Download PDF

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CN111598391A
CN111598391A CN202010292515.9A CN202010292515A CN111598391A CN 111598391 A CN111598391 A CN 111598391A CN 202010292515 A CN202010292515 A CN 202010292515A CN 111598391 A CN111598391 A CN 111598391A
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郭松
邱泽晶
肖楚鹏
潘爱强
刘哲
雷霆
吴丹
蒋前
李文庆
胡文博
余梦
徐辰冠
胡锦
刘政
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Wuhan Energy Efficiency Evaluation Co Ltd Of State Grid Electric Power Research Institute
State Grid Corp of China SGCC
State Grid Shanghai Electric Power Co Ltd
State Grid Electric Power Research Institute
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State Grid Corp of China SGCC
State Grid Shanghai Electric Power Co Ltd
State Grid Electric Power Research Institute
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Abstract

The invention discloses an electric vehicle dispatching method and a dispatching system.A dispatching center establishes an electric power operation cost function according to a feedback result of each regional agent module and solves the function by taking the lowest operation dispatching cost of an electric power system as a target so as to obtain a load command value of each regional agent module and transmit the load command value of each regional agent module to each regional agent module; each regional agent module performs service invitation on the electric vehicle controlled by the regional agent module, then solves the received load command value by taking the equivalent load fluctuation variance sum of the power system as the minimum objective function according to the service invitation result, the power balance constraint, the electric vehicle charging and discharging constraint and the like to obtain the charging and discharging command and the like of the electric vehicle, and starts from the essential characteristic of source network charging and discharging balance, the electric vehicle is taken as movable load and energy storage equipment, and the source network charging and discharging balance is realized by scheduling the charging and discharging of the electric vehicle.

Description

Electric vehicle dispatching method and dispatching system
Technical Field
The invention relates to the technical field of electric automobile dispatching, in particular to an electric automobile dispatching method and system.
Background
Under the condition that the problems of energy crisis, environmental pollution and the like are more serious, the prohibition sale schedule of the fuel vehicles is set by each country in sequence, and the fuel vehicles can be completely quitted from the market before 2050 in China. However, with the popularization of electric vehicles, the power load of the electric vehicles has a considerable influence on the planning and operation of the power grid and the operation of the power market.
The charging load has a more complex characteristic due to the influence of many factors. For a single vehicle, the charging load of the vehicle is mainly influenced by factors such as the trip demand of a user, the practical habits of the user, the characteristics of equipment and the like; in the case of a regional power system, the charging load is also affected by the number of electric vehicles and the sophistication of charging equipment. Moreover, due to uncertainty and mutual difference of user requirements and user behaviors, the charging load has certain randomness and dispersity, so that under the condition that the electric automobile adopts a random charging mode, the phenomenon of 'peak-to-peak' of the power grid load may occur, the standby of power system equipment is insufficient, the peak-to-valley difference and the peak-to-valley difference rate are increased, the operation safety of the power grid is seriously affected due to the consequences of unbalanced loads of power transmission equipment in a family, and the reduction of the quality of electric energy on the power distribution grid side, the aggravation of line loss, the aggravation of equipment loads and the like are also caused.
Disclosure of Invention
The invention aims to provide an electric vehicle dispatching method and a dispatching system, which are based on the essential characteristic of source network charge balance, take an electric vehicle as movable load and energy storage equipment, and realize source network charge balance by dispatching charging and discharging of the electric vehicle.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention specifically comprises the following steps:
an electric vehicle dispatching method comprises the following steps:
s1: the dispatching center establishes an electric power operation cost function according to the feedback result of each regional agent module and solves the function by taking the lowest operation dispatching cost of the electric power system as a target so as to obtain a load command value of each regional agent module;
s2: the dispatching center transmits the load command value of each regional agent module to each regional agent module;
s3: each regional agent module performs service invitation on the electric vehicle controlled by the regional agent module, and then solves the received load command value by taking the sum of equivalent load fluctuation variances of the power system as the minimum as an objective function according to the service invitation result, the power balance constraint, the electric vehicle charging and discharging constraint and the battery allowance constraint so as to obtain the charging and discharging command of the electric vehicle;
s5: and each regional agent module sends the charging and discharging commands of the electric automobile to each electric automobile and distributes corresponding charging piles to each electric automobile.
Preferably, the method further includes step S6, that is: and each electric automobile updates the charging and discharging plan according to the received charging and discharging command and the charging pile information and transmits the updated charging and discharging plan to the corresponding regional agent module.
Preferably, in step S1, the objective function when the power system operation scheduling cost is the lowest is:
Figure BDA0002450964130000021
wherein: f1Scheduling costs for power system operation; t is the number of scheduling time segments; pgen(t) generating capacity of the power system in unit time t; y (t) is the rotation standby power consumption of the power system in unit time t;
Figure BDA0002450964130000022
and
Figure BDA0002450964130000023
the total charge capacity and the total discharge capacity of the electric automobile are respectively.
Preferably, in step S3, the objective function when the sum of the equivalent load fluctuation variances of the power system is minimum is:
Figure BDA0002450964130000024
wherein: f2The sum of variance of equivalent load fluctuation of the power system is shown; t is the number of scheduling time segments; pload(t) is electrical load for residential, commercial or industrial areas;
Figure BDA0002450964130000025
and
Figure BDA0002450964130000026
charging power and discharging power of the stationary battery, respectively; pmeanThe calculation method is as follows:
Figure BDA0002450964130000027
preferably, in step S3, the power balance constraint is that the real-time balance relationship is satisfied between the power absorbed by the electric vehicle from the power grid, the charging consumed power, the discharging provided power and the background load during any scheduling period t, that is:
Figure BDA0002450964130000031
in the formula:
Figure BDA0002450964130000032
Figure BDA0002450964130000033
pg(t) generating capacity of a power supply system generator set i in the current unit time;
Figure BDA0002450964130000034
and
Figure BDA0002450964130000035
are respectively a scheduling management areaCharging power of all electric vehicles i participating in electric power auxiliary service
Figure BDA0002450964130000036
Sum of (2) and discharge power
Figure BDA0002450964130000037
The sum of (a);
Figure BDA0002450964130000038
and
Figure BDA0002450964130000039
charging power v of all stationary battery packs i participating in power-assisted services for dispatch management areas respectivelyi(t) sum and discharge power xi(t) sum of (d).
Preferably, the generated energy of the generator set i of the power supply system in the current unit time meets the economic dispatching constraint of the generator set, that is, the generated energy of the generator g in the unit time during operation cannot be lower than the lowest rated generated energy, and meets the following formula:
Figure BDA00024509641300000310
the generated energy of generator g can not be higher than the maximum rated generating capacity in unit time when operation, satisfies the formula:
Figure BDA00024509641300000311
the increasing or decreasing output of the generator g in unit time during operation needs to be within the range of the ascending climbing rate and the descending climbing rate, and the following formula is satisfied:
Figure BDA00024509641300000312
the rotation reserve capacity of generator g can not be higher than the biggest online unit capacity to the system possesses enough reserve capacity to deal with the power shortage when guaranteeing that certain unit breaks down to stop using in the electric power system, satisfies the formula:
Figure BDA00024509641300000313
total rotation reserve capacity can not be less than predetermined rotation reserve volume among the electric power system, satisfies the formula:
Figure BDA00024509641300000314
the generated energy of generator g can not be the negative value in unit interval when operation, satisfies the formula:
Figure BDA00024509641300000315
Figure BDA00024509641300000316
preferably, the charging power and the discharging power of the fixed battery satisfy the fixed battery pack operation constraint, that is:
Figure BDA0002450964130000041
the discharge capacity of the fixed battery cannot exceed the residual electric quantity of the battery in the current unit time, and the formula is satisfied:
Figure BDA0002450964130000042
the fixed battery charging capacity cannot exceed the difference between the rated capacity and the battery residual capacity in the current unit time, and the following formula is satisfied:
Figure BDA0002450964130000043
the residual capacity of the fixed battery in the current unit time cannot exceed the rated capacity of the battery pack, and the following formula is satisfied:
Figure BDA0002450964130000044
the fixed battery charge and discharge can not be negative, and the formula is satisfied:
Figure BDA0002450964130000045
in the formula: q. q.si(t) is the remaining capacity of the battery pack i in the current unit time, qi(t-1) is the remaining capacity of the battery pack i in the previous unit time, vi(t) the current charge amount of the battery pack i per unit time, xi(t) is the discharge amount of the battery pack i in the previous unit time, ρiIs the rated capacity of battery i.
Preferably, the charging and discharging of the electric vehicle is constrained such that each electric vehicle battery is subjected to an upper limit of charging power, and the following constraint conditions are satisfied:
Figure BDA0002450964130000046
Figure BDA0002450964130000047
in the formula:
Figure BDA0002450964130000048
for the charging power of the ith electric vehicle,
Figure BDA0002450964130000049
for the allowable maximum charging power of the ith electric vehicle,
Figure BDA00024509641300000410
for the allowable minimum charging power of the ith electric vehicle,
Figure BDA00024509641300000411
for the discharge power of the ith electric vehicle
Figure BDA00024509641300000412
Allowable maximum discharge power for ith electric vehicle
Figure BDA00024509641300000413
Is the allowable minimum discharge power of the ith electric vehicle.
Preferably, the battery remaining power constraint is:
Figure BDA00024509641300000414
wherein S (t +1) is the residual capacity of the battery of the electric automobile in the time period of t +1, ηCAnd ηDFor the charging and discharging efficiency of electric vehicles, Sdr(t) is a travel power amount for a period t.
Wherein the battery power should be kept within a certain range according to the user travel schedule:
Figure BDA0002450964130000051
in the formula: sminIndicating a minimum power requirement to meet the user' S requirements, SmaxRepresents the maximum capacity allowed by the electric vehicle.
As a preferred option of the above scheme, the charging power of the electric vehicle satisfies a distributed control algorithm, specifically:
firstly, initializing charging power:
Figure BDA0002450964130000052
calculating a control signal:
Figure BDA0002450964130000053
③ update the iterative charging power for each responding electric vehicle as follows
Figure BDA0002450964130000054
And feeds back the result to the corresponding regional agent.
Figure BDA0002450964130000055
Fourthly, updating the iteration times k to enable k to be k + 1;
and fifthly, when the iteration frequency reaches a preset value or the error of two adjacent iterations is smaller than a certain value, the iteration operation is terminated, otherwise, the steps from the second step to the fourth step are repeated.
In the above formula: i is the ith electric automobile:
Figure BDA0002450964130000056
charging power for the ith electric vehicle at time t, rk(t) is a control signal broadcasted at time t, and the regional agent k at time G' (t) receives the load demand of the upper layer scheduling plan.
The invention also discloses a dispatching system of the electric automobile, which comprises a dispatching center and a plurality of regional agent modules, wherein the dispatching center is used for establishing a power operation cost function according to the feedback result of each regional agent module, solving the function by taking the lowest operation dispatching cost of the power system as a target so as to obtain the load command value of each regional agent module and transmitting the load command value of each regional agent module to each regional agent module; each regional agent module is used for inviting service to the electric vehicle managed and controlled by the regional agent module, and then solving the received load command value by taking the equivalent load fluctuation variance of the power system as the minimum as an objective function according to the service inviting result, the power balance constraint, the electric vehicle charge-discharge constraint and the battery allowance constraint so as to obtain the charge-discharge command of the electric vehicle; each regional agent module is also used for sending the charging and discharging commands of the electric automobiles to the electric automobiles and distributing corresponding charging piles to the electric automobiles.
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses an electric automobile dispatching method, which starts from the essence that an electric automobile is not only a power load but also a peak-shaving energy storage device, and balances the fluctuation of a power grid by dispatching a large number of electric automobiles to participate in the regulation process of a power system, thereby increasing the economic benefits of the society, the power grid and an owner.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understandable, the following specific preferred embodiments are described in detail.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention with reference to the preferred embodiments is as follows:
the invention provides an electric automobile dispatching method, which comprises the following steps:
s1: the dispatching center establishes an electric power operation cost function according to the feedback result of each regional agent module and solves the function by taking the lowest operation dispatching cost of the electric power system as a target so as to obtain a load command value of each regional agent module;
s2: the dispatching center transmits the load command value of each regional agent module to each regional agent module;
s3: each regional agent module performs service invitation on the electric vehicle controlled by the regional agent module, and then solves the received load command value by taking the sum of equivalent load fluctuation variances of the power system as the minimum as an objective function according to the service invitation result, the power balance constraint, the electric vehicle charging and discharging constraint and the battery allowance constraint so as to obtain the charging and discharging command of the electric vehicle;
s5: and each regional agent module sends the charging and discharging commands of the electric automobile to each electric automobile and distributes corresponding charging piles to each electric automobile.
As a further preferable scheme, the method further comprises a step S6, namely: and each electric automobile updates the charging and discharging plan according to the received charging and discharging command and the charging pile information and transmits the updated charging and discharging plan to the expected corresponding regional agent module, so that each regional agent module can timely acquire the charging and discharging plan of each electric automobile in the agent region.
In step S1, the objective function when the power system operation scheduling cost is the lowest is:
Figure BDA0002450964130000071
wherein: f1Scheduling costs for power system operation; t is the number of scheduling time periods, the default value is 24, and the duration of each time period is 1 hour; pgen(t) generating capacity of the power system in unit time t; y (t) is the rotation standby power consumption of the power system in unit time t;
Figure BDA0002450964130000072
and
Figure BDA0002450964130000073
the total charge capacity and the total discharge capacity of the electric automobile are respectively.
In step S3, the objective function when the sum of the equivalent load fluctuation variances of the power system is minimum is:
Figure BDA0002450964130000074
wherein: f2The sum of variance of equivalent load fluctuation of the power system is shown; t is the number of scheduling time periods, the default value is 24, and the duration of each time period is 1 hour; pload(t) is electrical load for residential, commercial or industrial areas;
Figure BDA0002450964130000075
and
Figure BDA0002450964130000076
charging power and discharging power of the stationary battery, respectively; pmeanThe calculation method is as follows:
Figure BDA0002450964130000077
preferably, in step S3, the power balance constraint is that the real-time balance relationship is satisfied between the power absorbed by the electric vehicle from the power grid, the charging consumed power, the discharging provided power and the background load during any scheduling period t, that is:
Figure BDA0002450964130000078
in the formula:
Figure BDA0002450964130000079
Figure BDA00024509641300000710
pg(t) generating capacity of a power supply system generator set i in the current unit time;
Figure BDA00024509641300000711
and
Figure BDA00024509641300000712
charging power of all electric vehicles i participating in electric power auxiliary service for dispatching management area respectively
Figure BDA00024509641300000713
Sum of (2) and discharge power
Figure BDA00024509641300000714
The sum of (a);
Figure BDA00024509641300000715
and
Figure BDA00024509641300000716
charging power v of all stationary battery packs i participating in power-assisted services for dispatch management areas respectivelyi(t) sum and discharge power xi(t) sum of (d).
The generated energy of the generator set i of the power supply system in the current unit time meets economic scheduling constraint of the generator set, namely the generated energy of the generator g in the unit time cannot be lower than the lowest rated generated energy when the generator g operates, and meets the following formula:
Figure BDA00024509641300000717
the generated energy of generator g can not be higher than the maximum rated generating capacity in unit time when operation, satisfies the formula:
Figure BDA0002450964130000081
the increasing or decreasing output of the generator g in unit time during operation needs to be within the range of the ascending climbing rate and the descending climbing rate, and the following formula is satisfied:
Figure BDA0002450964130000082
the rotation reserve capacity of generator g can not be higher than the biggest online unit capacity to the system possesses enough reserve capacity to deal with the power shortage when guaranteeing that certain unit breaks down to stop using in the electric power system, satisfies the formula:
Figure BDA0002450964130000083
total rotation reserve capacity can not be less than predetermined rotation reserve volume among the electric power system, satisfies the formula:
Figure BDA0002450964130000084
the generated energy of generator g can not be the negative value in unit interval when operation, satisfies the formula:
Figure BDA0002450964130000085
Figure BDA0002450964130000086
the charging power and the discharging power of the fixed battery meet the fixed battery pack operation constraint, namely:
Figure BDA0002450964130000087
the discharge capacity of the fixed battery cannot exceed the residual electric quantity of the battery in the current unit time, and the formula is satisfied:
Figure BDA0002450964130000088
the fixed battery charging capacity cannot exceed the difference between the rated capacity and the battery residual capacity in the current unit time, and the following formula is satisfied:
Figure BDA0002450964130000089
the residual capacity of the fixed battery in the current unit time cannot exceed the rated capacity of the battery pack, and the following formula is satisfied:
Figure BDA00024509641300000810
the fixed battery charge and discharge can not be negative, and the formula is satisfied:
Figure BDA00024509641300000811
in the formula: q. q.si(t) is the remaining capacity of the battery pack i in the current unit time, qi(t-1) is the remaining capacity of the battery pack i in the previous unit time, vi(t) the current charge amount of the battery pack i per unit time, xi(t) is the discharge amount of the battery pack i in the previous unit time, ρiIs the rated capacity of battery i.
The charging and discharging of the electric automobile are restricted in a way that each battery of the electric automobile is subjected to an upper limit of charging power to meet the following restriction conditions:
Figure BDA0002450964130000091
Figure BDA0002450964130000092
in the formula:
Figure BDA0002450964130000093
for the charging power of the ith electric vehicle,
Figure BDA0002450964130000094
for the allowable maximum charging power of the ith electric vehicle,
Figure BDA0002450964130000095
for the allowable minimum charging power of the ith electric vehicle,
Figure BDA0002450964130000096
for the discharge power of the ith electric vehicle
Figure BDA0002450964130000097
Allowable maximum discharge power for ith electric vehicle
Figure BDA0002450964130000098
Is the allowable minimum discharge power of the ith electric vehicle.
The battery remaining capacity constraint is:
Figure BDA0002450964130000099
wherein S (t +1) is the residual capacity of the battery of the electric automobile in the time period of t +1, ηcAnd ηDFor the charging and discharging efficiency of electric vehicles, Sdr(t) is a travel power amount for a period t.
Wherein the battery power should be kept within a certain range according to the user travel schedule:
Figure BDA00024509641300000910
in the formula: sminIndicating a minimum power requirement to meet the user' S requirements, SmaxRepresents the maximum capacity allowed by the electric vehicle.
The charging power of the electric automobile meets a distributed control algorithm, and specifically comprises the following steps:
firstly, initializing charging power:
Figure BDA00024509641300000911
calculating a control signal:
Figure BDA00024509641300000912
③ update the iterative charging power for each responding electric vehicle as follows
Figure BDA00024509641300000913
And feeds back the result to the corresponding regional agent.
Figure BDA00024509641300000914
Fourthly, updating the iteration times k to enable k to be k + 1;
and fifthly, when the iteration frequency reaches a preset value or the error of two adjacent iterations is smaller than a certain value, the iteration operation is terminated, otherwise, the steps from the second step to the fourth step are repeated.
In the above formula: i is the ith electric automobile:
Figure BDA0002450964130000101
charging power for the ith electric vehicle at time t, rk(t) is a control signal broadcasted at time t, and the regional agent k at time G' (t) receives the load demand of the upper layer scheduling plan.
The invention also discloses a dispatching system of the electric automobile, which comprises a dispatching center and a plurality of regional agent modules, wherein the dispatching center is used for establishing a power operation cost function according to the feedback result of each regional agent module, solving the function by taking the lowest operation dispatching cost of the power system as a target so as to obtain the load command value of each regional agent module and transmitting the load command value of each regional agent module to each regional agent module; each regional agent module is used for inviting service to the electric vehicle managed and controlled by the regional agent module, and then solving the received load command value by taking the equivalent load fluctuation variance of the power system as the minimum as an objective function according to the service inviting result, the power balance constraint, the electric vehicle charge-discharge constraint and the battery allowance constraint so as to obtain the charge-discharge command of the electric vehicle; each regional agent module is also used for sending the charging and discharging commands of the electric automobiles to the electric automobiles and distributing corresponding charging piles to the electric automobiles.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims (11)

1. The electric vehicle dispatching method is characterized by comprising the following steps:
s1: the dispatching center establishes an electric power operation cost function according to the feedback result of each regional agent module and solves the function by taking the lowest operation dispatching cost of the electric power system as a target so as to obtain a load command value of each regional agent module;
s2: the dispatching center transmits the load command value of each regional agent module to each regional agent module;
s3: each regional agent module performs service invitation on the electric vehicle controlled by the regional agent module, and then solves the received load command value by taking the sum of equivalent load fluctuation variances of the power system as the minimum as an objective function according to the service invitation result, the power balance constraint, the electric vehicle charging and discharging constraint and the battery allowance constraint so as to obtain the charging and discharging command of the electric vehicle;
s5: and each regional agent module sends the charging and discharging commands of the electric automobile to each electric automobile and distributes corresponding charging piles to each electric automobile.
2. The electric vehicle dispatching method of claim 1, further comprising step S6 of: and each electric automobile updates the charging and discharging plan according to the received charging and discharging command and the charging pile information and transmits the updated charging and discharging plan to the corresponding regional agent module.
3. The electric vehicle dispatching method of claim 1, wherein in step S1, the objective function when the power system operation dispatching cost is the lowest is:
Figure FDA0002450964120000011
wherein: f1Scheduling costs for power system operation; t is the number of scheduling time segments; pgen(t) generating capacity of the power system in unit time t; y (t) is the rotation standby power consumption of the power system in unit time t;
Figure FDA0002450964120000012
and
Figure FDA0002450964120000013
the total charge capacity and the total discharge capacity of the electric automobile are respectively.
4. The electric vehicle dispatching method of claim 3, wherein in step S3, the objective function when the sum of the equivalent load fluctuation variances of the power system is minimum is:
Figure FDA0002450964120000014
wherein: f2The sum of variance of equivalent load fluctuation of the power system is shown; t is the number of scheduling time segments; pload(t) is electrical load for residential, commercial or industrial areas;
Figure FDA0002450964120000015
and
Figure FDA0002450964120000016
charging power and discharging power of the stationary battery, respectively; pmeanThe calculation method is as follows:
Figure FDA0002450964120000021
5. the electric vehicle dispatching method of claim 1, wherein in step S3, the power balance constraint is that the electric vehicle satisfies a real-time balance relationship between the power absorbed from the power grid, the charging consumed power, the discharging provided power and the background load during any dispatching time t, namely:
Figure FDA0002450964120000022
in the formula: pgen(t)＝∑g∈Gpg(t)，
Figure FDA0002450964120000023
Figure FDA0002450964120000024
pg(t) generating capacity of a power supply system generator set i in the current unit time;
Figure FDA0002450964120000025
and
Figure FDA0002450964120000026
charging power of all electric vehicles i participating in electric power auxiliary service for dispatching management area respectively
Figure FDA0002450964120000027
Sum of (2) and discharge power
Figure FDA0002450964120000028
The sum of (a);
Figure FDA0002450964120000029
and
Figure FDA00024509641200000214
charging power v of all stationary battery packs i participating in power-assisted services for dispatch management areas respectivelyi(t) sum and discharge power xi(t) sum of (d).
6. The electric automobile scheduling method of claim 5, wherein the power generation amount of the power supply system generator set i in the current unit time meets the economic scheduling constraint of the generator set, namely the power generation amount of the generator g in the unit time during operation cannot be lower than the lowest rated power generation amount, and meets the following requirements:
Figure FDA00024509641200000210
the generated energy of generator g can not be higher than the maximum rated generating capacity in unit time when operation, satisfies:
Figure FDA00024509641200000211
the increasing or decreasing output of the generator g in unit time during operation needs to be within the range of the ascending climbing rate and the descending climbing rate, and the following formula is satisfied:
Figure FDA00024509641200000212
the rotation reserve capacity of generator g can not be higher than the biggest online unit capacity to the system possesses enough reserve capacity to deal with the power shortage when guaranteeing that certain unit breaks down to stop using in the electric power system, satisfies the formula:
Figure FDA00024509641200000213
total rotation reserve capacity can not be less than predetermined rotation reserve volume among the electric power system, satisfies the formula:
Figure FDA0002450964120000031
the generated energy of generator g can not be the negative value in unit interval when operation, satisfies the formula:
Figure FDA0002450964120000032
Figure FDA0002450964120000033
7. the electric vehicle dispatching method of claim 5, wherein the charging power and the discharging power of the fixed battery meet fixed battery pack operating constraints, namely:
Figure FDA0002450964120000034
the discharge capacity of the fixed battery cannot exceed the residual electric quantity of the battery in the current unit time, and the formula is satisfied:
Figure FDA0002450964120000035
the fixed battery charging capacity cannot exceed the difference between the rated capacity and the battery residual capacity in the current unit time, and the following formula is satisfied:
Figure FDA0002450964120000036
the residual capacity of the fixed battery in the current unit time cannot exceed the rated capacity of the battery pack, and the following formula is satisfied:
Figure FDA0002450964120000037
the fixed battery charge and discharge can not be negative, and the formula is satisfied:
Figure FDA0002450964120000038
in the formula: q. q.si(t) is the remaining capacity of the battery pack i in the current unit time, qi(t-1) is the remaining capacity of the battery pack i in the previous unit time, vi(t) the current charge amount of the battery pack i per unit time, xi(t) is the discharge amount of the battery pack i in the previous unit time, ρiIs the rated capacity of battery i.
8. The electric vehicle dispatching method according to claim 1, wherein the electric vehicle charging and discharging constraint is that each electric vehicle battery is subjected to an upper limit of charging power to meet the following constraint condition:
Figure FDA0002450964120000039
Figure FDA00024509641200000310
in the formula:
Figure FDA00024509641200000311
for the charging power of the ith electric vehicle,
Figure FDA00024509641200000312
for the allowable maximum charging power of the ith electric vehicle,
Figure FDA00024509641200000313
for the allowable minimum charging power of the ith electric vehicle,
Figure FDA00024509641200000314
for the discharge power of the ith electric vehicle
Figure FDA00024509641200000315
Allowable maximum discharge power for ith electric vehicle
Figure FDA00024509641200000316
Is the allowable minimum discharge power of the ith electric vehicle.
9. The electric vehicle dispatching method of claim 1, wherein the battery margin constraint is:
Figure FDA0002450964120000041
wherein S (t +1) is the residual capacity of the battery of the electric automobile in the time period of t +1, ηCAnd ηDFor the charging and discharging efficiency of electric vehicles, Sdr(t) is a travel power amount for a period t.
Wherein the battery power should be kept within a certain range according to the user travel schedule:
Figure FDA0002450964120000042
in the formula: sminIndicating a minimum power requirement to meet the user' S requirements, SmaxRepresents the maximum capacity allowed by the electric vehicle.
10. The electric vehicle dispatching method according to claim 7, wherein the charging power of the electric vehicle satisfies a distributed control algorithm, specifically:
firstly, initializing charging power:
Figure FDA0002450964120000043
calculating a control signal:
Figure FDA0002450964120000044
③ update the iterative charging power for each responding electric vehicle as follows
Figure FDA0002450964120000045
And feeds back the result to the corresponding regional agent.
Figure FDA0002450964120000046
Fourthly, updating the iteration times k to enable k to be k + 1;
and fifthly, when the iteration frequency reaches a preset value or the error of two adjacent iterations is smaller than a certain value, the iteration operation is terminated, otherwise, the steps from the second step to the fourth step are repeated.
In the above formula: i is the ith electric automobile:
Figure FDA0002450964120000047
charging power for the ith electric vehicle at time t, rk(t) is a control signal broadcasted at time t, and the regional agent k at time G' (t) receives the load demand of the upper layer scheduling plan.
11. The utility model provides a dispatch system of electric automobile which characterized in that: the system comprises a dispatching center and a plurality of regional agent modules, wherein the dispatching center is used for establishing a power operation cost function according to a feedback result of each regional agent module and solving the function by taking the lowest operation dispatching cost of a power system as a target so as to obtain a load command value of each regional agent module and transmit the load command value of each regional agent module to each regional agent module; each regional agent module is used for inviting service to the electric vehicle managed and controlled by the regional agent module, and then solving the received load command value by taking the equivalent load fluctuation variance of the power system as the minimum as an objective function according to the service inviting result, the power balance constraint, the electric vehicle charge-discharge constraint and the battery allowance constraint so as to obtain the charge-discharge command of the electric vehicle; each regional agent module is also used for sending the charging and discharging commands of the electric automobiles to the electric automobiles and distributing corresponding charging piles to the electric automobiles.
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