CN114336774A - Wind power plant AGC and primary frequency modulation coordinated control method and system considering energy storage - Google Patents

Wind power plant AGC and primary frequency modulation coordinated control method and system considering energy storage Download PDF

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CN114336774A
CN114336774A CN202111388573.2A CN202111388573A CN114336774A CN 114336774 A CN114336774 A CN 114336774A CN 202111388573 A CN202111388573 A CN 202111388573A CN 114336774 A CN114336774 A CN 114336774A
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energy storage
frequency modulation
power plant
primary frequency
wind
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CN114336774B (en
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刘庆伏
王森
王雪璐
冯笑丹
王宏伟
冯翔宇
吕建波
张运泽
袁志国
杜洋
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Huaneng Renewables Corp Ltd
Beijing Huaneng Xinrui Control Technology Co Ltd
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Huaneng Renewables Corp Ltd
Beijing Huaneng Xinrui Control Technology Co Ltd
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    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract

The invention relates to a wind power plant AGC and primary frequency modulation coordinated control method and system considering energy storage. The method comprises the following steps: s1, performing active power output instruction coordination on a wind power plant considering energy storage; s2, primary frequency modulation control; and S3, carrying out AGC control on the wind power plant considering energy storage. According to the method and the system for coordinated control of the wind power plant AGC and the primary frequency modulation considering energy storage, the wind power plant considering energy storage can coordinate and respond to the primary frequency modulation and the wind power plant AGC, and safe coordinated operation of a power system and a wind power plant is guaranteed.

Description

Wind power plant AGC and primary frequency modulation coordinated control method and system considering energy storage
Technical Field
The invention relates to the technical field of wind power generation, in particular to a coordinated control method and system for AGC and primary frequency modulation of a wind power plant considering energy storage.
Background
In recent years, wind power is connected to a power system on a large scale, and the frequency modulation capability of a traditional unit is further weakened. Therefore, wind farms are required to participate in power system frequency modulation. At present, an Automatic Generation Control (AGC) mode is mostly adopted in a wind power plant, and when the wind power plant participates in primary frequency modulation of a power system, performance requirements different from those of AGC are often met, so that the primary frequency modulation needs to be coordinated with automatic generation control.
In the prior art, the Chinese patent application publication No. CN109066790A discloses a wind farm primary frequency modulation and AGC coordination control method based on farm control, the grid-connected point frequency of a wind farm which is centrally accessed through real-time monitoring of grid-connected operation is monitored, when the grid-connected point frequency exceeds a set primary frequency modulation dead zone, a primary frequency modulation power target value PPFR of an energy management platform after primary frequency modulation action is calculated according to a droop frequency adjustment control method and system of the wind farm power, a primary frequency modulation measurement and control system redistributes a new primary frequency modulation power target value PPFR to each wind generating set through an energy management platform, the wind generating sets adjust output according to instructions, and the integral primary frequency modulation function of the wind farm is realized, so that the primary frequency modulation of the wind farm can be coordinated with the wind farm AGC control. The Chinese patent application publication No. CN113285493A discloses a primary frequency modulation and AGC coordination control method for a new energy station, wherein a set of primary frequency modulation system is added in the new energy station to realize the station-level primary frequency modulation function and realize the coordination control of the primary frequency modulation system and AGC; when a primary frequency modulation function of the new energy station is put into use and the system frequency exceeds a dead zone, simultaneously, under the condition of AGC input, according to a selected primary frequency modulation and AGC coordinated control method and system, active power adjustment is executed, an active power target value instruction is issued to a wind power SCADA system or a photovoltaic data acquisition network and then corresponds to a wind power generator set or a photovoltaic power generation unit; and if the AGC is not put into use, executing according to the frequency modulation active instruction. The Chinese patent application publication No. CN113489028A discloses a wind power plant primary frequency modulation control method and a control system, according to a scheduling instruction and measurement information in a wind power plant, the active power output of a wind turbine generator is adjusted through a primary frequency modulation host, an active power automatic control system (AGC system) and an energy management platform, and the primary frequency modulation function of the wind power plant is realized, so that the grid connection requirement of the wind power plant is met. However, the above prior art does not provide a clear definition of a clear command coordination system and does not perform optimal active power output allocation, and therefore, the command coordination definition cannot be conveniently realized, and optimal active power output allocation cannot be performed on primary frequency modulation and AGC.
How to overcome the technical problem that a wind power plant participates in primary frequency modulation and wind power plant AGC is not coordinated, a plurality of wind power units and energy storage devices in the wind power plant are coordinated to uniformly participate in primary frequency modulation and wind power plant AGC of an electric power system, stable operation of the wind power units and the electric power system is guaranteed, and the technical problem to be solved urgently is formed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a wind power plant AGC and primary frequency modulation coordinated control method and system considering energy storage, which specifically adopts the following technical scheme:
a wind power plant AGC and primary frequency modulation coordinated control method considering energy storage comprises the following steps:
s1, performing active power output instruction coordination on a wind power plant considering energy storage;
s2, primary frequency modulation control;
and S3, carrying out AGC control on the wind power plant considering energy storage.
Further, in the step s1, performing active power instruction coordination on the wind farm considering energy storage, the active power instruction is as follows:
Ins＝Φ(t)Pf ref+(1-Φ(t))Pp ref
phi (t) represents a primary frequency modulation state variable, and when the wind power plant receives a primary frequency modulation command, the phi (t) is 1, and the value of the primary frequency modulation is updated to 0; pf refRepresenting the primary frequency-modulated reference power, Pp refRepresenting the wind farm auto-generated reference power.
Further, the step s2. primary frequency modulation control includes:
when a primary frequency modulation command is received at the moment t, phi (t) is 1, and the active output command Ins responded by the wind power plant is P no matter whether an AGC command of the wind power plant is received or notf ref；
At this time, the wind farm control target considering energy storage is as follows: the actual active output and power reference value deviation of the wind power plant are ensured to tend to 0 as soon as possible, namely:
Figure BDA0003367890970000021
Figure BDA0003367890970000031
Figure BDA0003367890970000032
Figure BDA0003367890970000033
wherein J represents an optimization objective function; i represents the total number of wind turbines;
Figure BDA0003367890970000034
and
Figure BDA0003367890970000035
respectively representing the active output of the wind power plant considering energy storage at the moment t-1 and the active control instruction at the moment t;
Figure BDA0003367890970000036
and
Figure BDA0003367890970000037
respectively representing the output power of the wind turbine generator i at the time t-1 and the distributed active control instruction at the time t;
Figure BDA0003367890970000038
and
Figure BDA0003367890970000039
an active control command representing the output power of the energy storage device at the t-1 moment and the distribution of the energy storage device at the t moment; j is a function of1And j2Determining the two weight parameters by an expert scoring method; resfRepresenting a primary frequency modulation response time;
Figure BDA00033678909700000310
representing the ramp rate of the wind turbine i.
Further, the step s2. the primary frequency modulation control further includes:
establishing primary frequency modulation active increment constraint of a wind power plant;
establishing active output constraint of a wind power plant;
establishing a climbing rate constraint of the wind turbine generator;
establishing upper and lower limit constraints of charge and discharge power of the energy storage device;
establishing a state of charge constraint of the energy storage device;
a response time constraint is established.
Further, the primary frequency modulation active increment constraint of the wind power plant is as follows:
Figure BDA00033678909700000311
wherein the content of the first and second substances,
Figure BDA00033678909700000312
andP frespectively representing the active power increasing upper limit and the active power increasing lower limit of the primary frequency modulation;
the active output constraint of the wind power plant is as follows:
Figure BDA00033678909700000313
wherein the content of the first and second substances,P w,iand
Figure BDA00033678909700000314
respectively representing the upper and lower active output limits u of the wind turbine generatori(t)∈[0,1]The state variable is a state variable, and the value of the state variable is 1, which indicates that the wind turbine generator i can participate in frequency modulation, and the value of the state variable is 0, which indicates that the wind turbine generator i cannot participate in frequency modulation;
the climbing rate constraint of the wind turbine generator is as follows:
Figure BDA0003367890970000041
wherein, DeltaP w,iAnd
Figure BDA0003367890970000042
respectively representing the allowable lower limit and the allowable upper limit of the climbing rate of the wind turbine generator i;
the charging and discharging power upper and lower limits of the energy storage device are constrained as follows:
Figure BDA0003367890970000043
Figure BDA0003367890970000044
wherein, PrIs the rated power of the energy storage device,
Figure BDA0003367890970000045
and
Figure BDA0003367890970000046
respectively the charging and discharging power and the power regulating quantity of the energy storage device at the moment t;
the state of charge constraints of the energy storage device are as follows:
Figure BDA0003367890970000047
Figure BDA0003367890970000048
wherein S isb(t) is the state of charge of the energy storage device at time t, λtIs the duration of a time period, bSand
Figure BDA0003367890970000049
the maximum value and the minimum value of the energy storage device are respectively;
the response time constraint is:
0<resf≤Tf
Tfindicating the time of the primary frequency modulation.
Further, the step s3 of performing AGC control on the wind farm considering energy storage includes:
when the wind power plant receives the AGC command at the moment t and the primary frequency modulation response is finished, the phi (t) state is updated to 0, and at the momentThe active output instruction Ins which is responded by the wind power plant is Pp ref；
At the moment, the control target of the wind power plant is to ensure that the actual power and the power reference value deviation tend to 0 as soon as possible, namely:
Figure BDA00033678909700000410
Figure BDA00033678909700000411
Figure BDA00033678909700000412
Figure BDA00033678909700000413
wherein J represents an optimization objective function; i represents the total number of wind turbines;
Figure BDA0003367890970000051
and
Figure BDA0003367890970000052
respectively representing the active output of the wind power plant considering energy storage at the moment t-1 and the active control instruction at the moment t;
Figure BDA0003367890970000053
and
Figure BDA0003367890970000054
respectively representing the output power of the wind turbine generator i at the time t-1 and the distributed active control instruction at the time t;
Figure BDA0003367890970000055
and
Figure BDA0003367890970000056
an active control command representing the output power of the energy storage device at the t-1 moment and the distribution of the energy storage device at the t moment; j is a function of1And j2Determining the two weight parameters by an expert scoring method; respRepresents the AGC response time;
Figure BDA0003367890970000057
representing the ramp rate of the wind turbine i.
Further, the step s3 of performing AGC control on the wind farm considering energy storage further includes:
establishing active output constraint of a wind power plant;
establishing a climbing rate constraint of the wind turbine generator;
establishing upper and lower limit constraints of charge and discharge power of the energy storage device;
establishing a state of charge constraint of the energy storage device;
a response time constraint is established.
Further, the active output constraint of the wind power plant is as follows:
Figure BDA0003367890970000058
wherein the content of the first and second substances,P w,iand
Figure BDA0003367890970000059
respectively representing the upper and lower active output limits u of the wind turbine generatori(t)∈[0,1]The state variable is a state variable, and the value of the state variable is 1, which indicates that the wind turbine generator i can participate in frequency modulation, and the value of the state variable is 0, which indicates that the wind turbine generator i cannot participate in frequency modulation;
the climbing rate constraint of the wind turbine generator is as follows:
Figure BDA00033678909700000510
wherein, DeltaP w,iAnd
Figure BDA00033678909700000511
respectively representing wind turbine generator iA ramp rate allowance lower limit and an upper limit;
the charging and discharging power upper and lower limits of the energy storage device are constrained as follows:
Figure BDA00033678909700000512
Figure BDA00033678909700000513
wherein, PrIs the rated power of the energy storage device,
Figure BDA00033678909700000514
and
Figure BDA00033678909700000515
respectively the charging and discharging power and the power regulating quantity of the energy storage device at the moment t;
the state of charge constraints of the energy storage device are as follows:
Figure BDA0003367890970000061
Figure BDA0003367890970000062
wherein S isb(t) is the state of charge of the energy storage device at time t, λtIs the duration of a time period, Sb，
Figure BDA0003367890970000063
The maximum value and the minimum value of the energy storage device are respectively;
0<resp≤Tp
Tpindicating the AGC response time.
The invention also relates to a wind farm AGC and primary frequency modulation coordinated control system considering energy storage, which is used for realizing the method, and is characterized in that the system comprises:
the coordination module is used for carrying out active output instruction coordination on the wind power plant considering energy storage;
the frequency modulation control module is used for carrying out primary frequency modulation control;
and the AGC module is used for carrying out AGC control on the wind power plant considering energy storage.
The invention also relates to a computer-readable storage medium, on which a computer program is stored, characterized in that: the program when executed by the processor implements the wind farm AGC and primary frequency modulation coordinated control method as described above with consideration of energy storage.
According to the wind power plant AGC and primary frequency modulation coordination control method and system considering energy storage, the wind power plant can rapidly coordinate primary frequency modulation instructions and AGC instructions, the priority response of primary frequency modulation is guaranteed, the safe and stable operation of a power grid is guaranteed, meanwhile, the optimal wind power plant active output distribution can be realized, and the economic operation of a power system and a wind power plant is guaranteed.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby. It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Wind power plant AGC and primary frequency modulation coordination control method and system considering energy storage
Referring to the attached figure 1, the wind power plant AGC and primary frequency modulation coordinated control method considering energy storage aims at achieving a more stable and rapid frequency modulation effect of a wind power plant through coordination of AGC and primary frequency modulation instructions and achieving the stabilization and coordination of the wind power plant and the frequency of a power system under the condition that self constraint conditions of a wind turbine generator and an energy storage device are met.
(1) Active power output command coordination
Considering the response of the energy-storing wind power plant to the active power output instruction, namely:
Ins＝Φ(t)Pf ref+(1-Φ(t))Pp ref (1)
wherein Ins represents an instruction to be responded by the wind power plant, phi (t) represents a primary frequency modulation state variable, and phi (t) is 1 when the wind power plant receives the primary frequency modulation instruction, and the value of the primary frequency modulation completion is updated to 0; pf refRepresenting the primary frequency-modulated reference power, Pp refRepresenting the wind farm auto-generated reference power.
(2) Primary frequency modulation control
When a primary frequency modulation command is received at the moment t, phi (t) is 1, and no matter whether a wind power plant AGC command is received or not, a wind power plant response command Ins is Pf ref；
At this time, the wind power plant control target of energy storage is considered to ensure that the actual active output and the power reference value deviation of the wind power plant tend to 0 as soon as possible, namely:
Figure BDA0003367890970000071
Figure BDA0003367890970000072
Figure BDA0003367890970000073
Figure BDA0003367890970000074
wherein J represents an optimization objective function, I represents the total number of wind turbines,
Figure BDA0003367890970000075
and
Figure BDA0003367890970000076
the active output of the wind power plant at the moment t-1 and the active control command at the moment t are considered respectively.
Figure BDA0003367890970000081
And
Figure BDA0003367890970000082
respectively representing the output power of the wind turbine generator i at the moment t-1 and the distributed active control instruction at the moment t,
Figure BDA0003367890970000083
and
Figure BDA0003367890970000084
active control commands, j, representing the output power of the energy storage device at time t-1 and the distribution at time t1And j2For two weight parameters, res is determined by expert scoringfWhich represents the response time of the primary frequency modulation,
Figure BDA0003367890970000085
representing the ramp rate of the wind turbine i.
In order to prevent the instability of the system caused by the rapid loading of the primary frequency modulation, the active increment of the primary frequency modulation of the wind power plant meets the following constraint:
Figure BDA0003367890970000086
wherein the content of the first and second substances,
Figure BDA0003367890970000087
andP frespectively representing the upper and lower limits of the active power increase of the primary frequency modulation.
Wind power plant active output constraint:
Figure BDA0003367890970000088
wherein the content of the first and second substances,P w,iand
Figure BDA0003367890970000089
respectively representing the upper and lower active output limits u of the wind turbine generatori(t)∈[0,1]The state variable is a state variable, and the value of the state variable is 1, which indicates that the wind turbine generator i can participate in frequency modulation, and the value of the state variable is 0, which indicates that the wind turbine generator i cannot participate in frequency modulation.
And (3) restraining the climbing rate of the wind turbine generator:
Figure BDA00033678909700000810
wherein, DeltaP w,iAnd
Figure BDA00033678909700000811
respectively representing the allowable lower limit and the allowable upper limit of the climbing rate of the wind turbine generator i.
And (3) restricting the upper and lower limits of the charging and discharging power of the energy storage device:
Figure BDA00033678909700000812
Figure BDA00033678909700000813
wherein, PrIs the rated power of the energy storage device,
Figure BDA00033678909700000814
and
Figure BDA00033678909700000815
respectively is the charging and discharging power and the power regulating quantity of the energy storage device at the moment t.
State of charge constraints of the energy storage device:
Figure BDA00033678909700000816
Figure BDA00033678909700000817
wherein S isb(t) is the state of charge of the energy storage device at time t, λtIs the duration of a time period, bSand
Figure BDA00033678909700000818
respectively the maximum and minimum of the energy storage device.
The response time constraint:
0<resf≤Tf (13)
Tfrepresenting the time constraint of the primary modulation.
(3) AGC control
When the wind power plant receives the AGC command at the moment t and primary frequency modulation response is completed, the phi (t) state is updated to be 0, and the wind power plant response command Ins is Pp ref；
At the moment, the control target of the wind power plant is to ensure that the actual power and the power reference value deviation tend to 0 as soon as possible, namely:
Figure BDA0003367890970000091
Figure BDA0003367890970000092
Figure BDA0003367890970000093
Figure BDA0003367890970000094
wherein J represents an optimization objective function, I represents the total number of wind turbines,
Figure BDA0003367890970000095
and
Figure BDA0003367890970000096
the active output of the wind power plant at the moment t-1 and the active control command at the moment t are considered respectively.
Figure BDA0003367890970000097
And
Figure BDA0003367890970000098
respectively representing the output power of the wind turbine generator i at the moment t-1 and the distributed active control instruction at the moment t,
Figure BDA0003367890970000099
and
Figure BDA00033678909700000910
active control commands, j, representing the output power of the energy storage device at time t-1 and the distribution at time t1And j2For two weight parameters, res is determined by expert scoringpWhich is indicative of the AGC response time,
Figure BDA00033678909700000911
representing the ramp rate of the wind turbine i.
Wind power plant active output constraint:
Figure BDA00033678909700000912
wherein the content of the first and second substances,P w,iand
Figure BDA00033678909700000913
respectively representing the upper and lower active output limits u of the wind turbine generatori(t)∈[0,1]The state variable is a state variable, and the value of the state variable is 1, which indicates that the wind turbine generator i can participate in frequency modulation, and the value of the state variable is 0, which indicates that the wind turbine generator i cannot participate in frequency modulation.
And (3) restraining the climbing rate of the wind turbine generator:
Figure BDA00033678909700000914
wherein, DeltaP w,iAnd
Figure BDA0003367890970000101
respectively representing the allowable lower limit and the allowable upper limit of the climbing rate of the wind turbine generator i.
And (3) restricting the upper and lower limits of the charging and discharging power of the energy storage device:
Figure BDA0003367890970000102
Figure BDA0003367890970000103
wherein, PrIs the rated power of the energy storage device,
Figure BDA0003367890970000104
and
Figure BDA0003367890970000105
respectively is the charging and discharging power and the power regulating quantity of the energy storage device at the moment t.
State of charge constraints of the energy storage device:
Figure BDA0003367890970000106
Figure BDA0003367890970000107
wherein S isb(t) is the state of charge of the energy storage device at time t, λtIs the duration of a time period, bS，
Figure BDA0003367890970000108
respectively the maximum and minimum of the energy storage device.
The response time constraint:
0<resp≤Tp (24)
Tprepresenting the AGC response time constraint.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A wind power plant AGC and primary frequency modulation coordinated control method considering energy storage is characterized by comprising the following steps:
s1, performing active power output instruction coordination on a wind power plant considering energy storage;
s2, primary frequency modulation control;
and S3, carrying out AGC control on the wind power plant considering energy storage.
2. The method for controlling coordination of AGC and primary frequency modulation of wind power plant considering energy storage according to claim 1, wherein in the step S1, coordination of active output instructions is performed on the wind power plant considering energy storage, and the active output instructions are as follows:
Ins＝Φ(t)Pf ref+(1-Φ(t))Pp ref
wherein Φ (t) representsThe primary frequency modulation state variable is represented by phi (t) as 1 when the wind power plant receives a primary frequency modulation command, and the value of the primary frequency modulation state variable is updated to 0 after primary frequency modulation; pf refRepresenting the primary frequency-modulated reference power, Pp refRepresenting the wind farm auto-generated reference power.
3. The wind farm AGC and primary frequency modulation coordinated control method considering energy storage according to claim 2, wherein the step S2. primary frequency modulation control comprises:
when a primary frequency modulation command is received at the moment t, phi (t) is 1, and the active output command Ins responded by the wind power plant is P no matter whether an AGC command of the wind power plant is received or notf ref；
At this time, the wind farm control target considering energy storage is as follows: the actual active output and power reference value deviation of the wind power plant are ensured to tend to 0 as soon as possible, namely:
Figure FDA0003367890960000011
Figure FDA0003367890960000012
Figure FDA0003367890960000013
Figure FDA0003367890960000014
wherein J represents an optimization objective function; i represents the total number of wind turbines;
Figure FDA0003367890960000015
and
Figure FDA0003367890960000016
respectively representing the active output of the wind power plant considering energy storage at the moment t-1 and the active control instruction at the moment t;
Figure FDA0003367890960000017
and
Figure FDA0003367890960000018
respectively representing the output power of the wind turbine generator i at the time t-1 and the distributed active control instruction at the time t;
Figure FDA0003367890960000021
and
Figure FDA0003367890960000022
an active control command representing the output power of the energy storage device at the t-1 moment and the distribution of the energy storage device at the t moment; j is a function of1And j2Determining the two weight parameters by an expert scoring method; resfRepresenting a primary frequency modulation response time;
Figure FDA0003367890960000023
representing the ramp rate of the wind turbine i.
4. The wind farm AGC and primary frequency modulation coordinated control method considering energy storage according to claim 3, wherein the step S2. primary frequency modulation control further comprises:
establishing primary frequency modulation active increment constraint of a wind power plant;
establishing active output constraint of a wind power plant;
establishing a climbing rate constraint of the wind turbine generator;
establishing upper and lower limit constraints of charge and discharge power of the energy storage device;
establishing a state of charge constraint of the energy storage device;
a response time constraint is established.
5. The wind farm AGC and primary frequency modulation coordinated control method considering energy storage according to claim 4, characterized in that:
the primary frequency modulation active increment constraint of the wind power plant is as follows:
Figure FDA0003367890960000024
wherein the content of the first and second substances,
Figure FDA0003367890960000025
andP frespectively representing the active power increasing upper limit and the active power increasing lower limit of the primary frequency modulation;
the active output constraint of the wind power plant is as follows:
Figure FDA0003367890960000026
wherein the content of the first and second substances,P w,iand
Figure FDA0003367890960000027
respectively representing the upper and lower active output limits u of the wind turbine generatori(t)∈[0,1]The state variable is a state variable, and the value of the state variable is 1, which indicates that the wind turbine generator i can participate in frequency modulation, and the value of the state variable is 0, which indicates that the wind turbine generator i cannot participate in frequency modulation;
the climbing rate constraint of the wind turbine generator is as follows:
Figure FDA0003367890960000028
wherein, DeltaP w,iAnd
Figure FDA0003367890960000029
respectively representing the allowable lower limit and the allowable upper limit of the climbing rate of the wind turbine generator i;
the charging and discharging power upper and lower limits of the energy storage device are constrained as follows:
Figure FDA00033678909600000210
Figure FDA0003367890960000031
wherein, PrIs the rated power of the energy storage device,
Figure FDA0003367890960000032
and
Figure FDA0003367890960000033
respectively the charging and discharging power and the power regulating quantity of the energy storage device at the moment t;
the state of charge constraints of the energy storage device are as follows:
Figure FDA0003367890960000034
Figure FDA0003367890960000035
wherein S isb(t) is the state of charge of the energy storage device at time t, λtIs the duration of a time period, bSand
Figure FDA0003367890960000036
the maximum value and the minimum value of the energy storage device are respectively;
the response time constraint is:
0<resf≤Tf
Tfindicating the time of the primary frequency modulation.
6. The method for controlling coordination of AGC and primary frequency modulation of wind power plant considering energy storage according to claim 2, wherein said step S3. AGC control of wind power plant considering energy storage comprises:
when the wind power plant receives the AGC command at the moment t and primary frequency modulation response is completed, the phi (t) state is updated to be 0, and the active output command Ins responded by the wind power plant is Pp ref；
At the moment, the control target of the wind power plant is to ensure that the actual power and the power reference value deviation tend to 0 as soon as possible, namely:
Figure FDA0003367890960000037
Figure FDA0003367890960000038
Figure FDA0003367890960000039
Figure FDA00033678909600000310
wherein J represents an optimization objective function; i represents the total number of wind turbines;
Figure FDA00033678909600000311
and
Figure FDA00033678909600000312
respectively representing the active output of the wind power plant considering energy storage at the moment t-1 and the active control instruction at the moment t;
Figure FDA00033678909600000313
and
Figure FDA00033678909600000314
respectively represents the output work of the wind turbine generator i at the moment of t-1Active control commands of power and distribution at the time t;
Figure FDA0003367890960000041
and
Figure FDA0003367890960000042
an active control command representing the output power of the energy storage device at the t-1 moment and the distribution of the energy storage device at the t moment; j is a function of1And j2Determining the two weight parameters by an expert scoring method; respRepresents the AGC response time;
Figure FDA0003367890960000043
representing the ramp rate of the wind turbine i.
7. The method for controlling coordination of AGC and primary frequency modulation of wind power plant considering energy storage according to claim 6, wherein said step S3. AGC control of wind power plant considering energy storage further comprises:
establishing active output constraint of a wind power plant;
establishing a climbing rate constraint of the wind turbine generator;
establishing upper and lower limit constraints of charge and discharge power of the energy storage device;
establishing a state of charge constraint of the energy storage device;
a response time constraint is established.
8. The wind farm AGC and primary frequency modulation coordinated control method considering energy storage according to claim 7, characterized in that:
the active output constraint of the wind power plant is as follows:
Figure FDA0003367890960000044
wherein the content of the first and second substances,P w,iand
Figure FDA0003367890960000045
respectively representing the upper and lower active output limits u of the wind turbine generatori(t)∈[0,1]The state variable is a state variable, and the value of the state variable is 1, which indicates that the wind turbine generator i can participate in frequency modulation, and the value of the state variable is 0, which indicates that the wind turbine generator i cannot participate in frequency modulation;
the climbing rate constraint of the wind turbine generator is as follows:
Figure FDA0003367890960000046
wherein, DeltaP w,iAnd
Figure FDA0003367890960000047
respectively representing the allowable lower limit and the allowable upper limit of the climbing rate of the wind turbine generator i;
the charging and discharging power upper and lower limits of the energy storage device are constrained as follows:
Figure FDA0003367890960000048
Figure FDA0003367890960000049
wherein, PrIs the rated power of the energy storage device,
Figure FDA00033678909600000410
and
Figure FDA00033678909600000411
respectively the charging and discharging power and the power regulating quantity of the energy storage device at the moment t;
the state of charge constraints of the energy storage device are as follows:
Figure FDA0003367890960000051
Figure FDA0003367890960000052
wherein S isb(t) is the state of charge of the energy storage device at time t, λtIs the duration of a time period, bS，
Figure FDA0003367890960000053
the maximum value and the minimum value of the energy storage device are respectively;
0<resp≤Tp
Tpindicating the AGC response time.
9. Wind farm AGC and primary frequency modulation coordinated control system considering energy storage for implementing the method according to claims 1-8, characterized in that the system comprises:
the coordination module is used for carrying out active output instruction coordination on the wind power plant considering energy storage;
the frequency modulation control module is used for carrying out primary frequency modulation control;
and the AGC module is used for carrying out AGC control on the wind power plant considering energy storage.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implements a wind farm AGC and primary frequency modulation coordinated control method taking into account energy storage according to claims 1-8.
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