CN115149580A - Wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay - Google Patents

Wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay Download PDF

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CN115149580A
CN115149580A CN202211036541.0A CN202211036541A CN115149580A CN 115149580 A CN115149580 A CN 115149580A CN 202211036541 A CN202211036541 A CN 202211036541A CN 115149580 A CN115149580 A CN 115149580A
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matrix
region
power
delay
vector
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曾伟
窦晓波
陈拓新
熊俊杰
辛建波
余侃胜
赵伟哲
李佳
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State Grid Corp of China SGCC
Southeast University
Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
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State Grid Corp of China SGCC
Southeast University
Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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
    • H02J3/241—The oscillation concerning frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/28—Arrangements for balancing of the load in a network by storage of energy
    • H02J3/32—Arrangements for balancing of the load in a network by storage of energy using batteries with converting means
    • 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
    • H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
    • H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/22—The renewable source being solar energy
    • H02J2300/24—The renewable source being solar energy of photovoltaic origin
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • H02J2300/28—The renewable source being wind energy

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Abstract

The invention discloses a wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay, which comprises the following steps of: establishing an equipment model; establishing a tie line and a frequency response model; establishing a state space equation model; carrying out system delay margin calculation; establishing a linear matrix inequality; based on the state of the power grid, solving a robust control law; and a robust controller is established, and control instructions are transmitted to the wind, light, water, fire and power storage station. The invention has the beneficial effects that: after the scheme is adopted, the method can be used for adjusting the system frequency aiming at the uncertain fluctuation of the new energy station access and the load power and the communication delay existing in the process of the new energy participating in the secondary frequency modulation, the influence of the change on the new energy unit participating in the secondary frequency modulation of the power grid is effectively reduced, and the frequency modulation performance of the system is integrally improved.

Description

Wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay
Technical Field
The invention belongs to the technical field of power grid frequency control, and particularly relates to a wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay.
Background
The traditional secondary frequency modulation of the power system means that a generator set provides enough adjustable capacity and a certain adjusting rate, and the frequency is tracked in real time under the allowable adjusting deviation so as to meet the requirement of system frequency stability. The secondary frequency modulation can realize the frequency adjustment without difference and can monitor and adjust the power of the tie line. With the continuous development of energy technology, the proportion of new energy, stored energy and other resources accessing a power grid gradually increases, and the frequency modulation situation of the power grid needs to be improved by effectively controlling and utilizing the new energy due to the change of frequency caused by a large amount of active power transmitted to the power grid.
However, the renewable power generation has strong uncertainty and volatility, and the current renewable energy power prediction accuracy cannot meet the operation requirement, so that the safety and quality of the power grid frequency graph are seriously affected. The frequency is one of important indexes for measuring the quality of the electric energy, and reflects the basic state of the active power supply and demand balance in the power system. Frequency anomalies would have extremely serious consequences for the safe operation of the generator and system and for the user. Therefore, the frequency is an important factor for safe and stable operation of the power system, and must be effectively controlled. At present, most of traditional frequency modulation units are thermal power units and hydroelectric power units, and the units have certain inherent defects, for example, when participating in secondary frequency modulation, in the face of accessing a large number of well-injection type new energy stations and stored energy into a power grid, frequency control operation of the traditional power grid faces various more complex problems.
Therefore, the scheduling method which can consider the peak regulation capability of a fan, photovoltaic, hydroelectric and energy storage and reasonably select a new energy unit to participate in system peak regulation so as to ensure the economical efficiency and reliability of the operation of the power system is very significant is needed to solve the problems that the wind power plant is influenced by wind speed, the load fluctuation is frequent, the communication delay and other various uncertain factors exist in the secondary frequency modulation of the existing power grid. The key to solve the problems is to establish a combined secondary frequency modulation method considering uncertainty delay and a robust collaborative frequency modulation model covering five types of energy sources of wind, light, water, fire and storage.
Aiming at the new energy participating in frequency modulation, single station level control is mainly used at present, automatic power generation control and local frequency signals of a power grid are used as the basis, control design is carried out through a local traditional classical control theory of the station, and the effects of realizing power distribution, reducing frequency deviation, improving power grid inertia, improving the safe and stable operation capability of the power grid and the like are achieved.
In the face of access of a large number of well-spraying type new energy stations and stored energy into a power grid, frequency control operation of a traditional power grid faces various more complex problems, the current secondary frequency modulation scheme generally only considers the use of a special communication line for signal transmission, and does not fully consider the problem that inevitable communication delay exists in secondary frequency modulation of a large number of frequency modulation resources such as the new energy stations and the stored energy along with the continuous promotion of electric power marketization, and the frequency control operation of the new energy stations and the stored energy participating in the secondary frequency modulation of the power grid is not beneficial to the stable operation of the frequency of the whole power grid.
Disclosure of Invention
The invention aims to provide a wind, light, water, fire and storage robust combined secondary frequency modulation method considering uncertainty delay, overcomes the defect that the frequency stability is kept under the condition that the current renewable energy is accessed into a power grid, considers the synergistic effect of wind, light, water, fire and storage, sets a robust performance index aiming at the problem of regional power grid frequency after new energy is connected to the power grid, can effectively enhance the robust performance of system frequency, reduces the frequency modulation problem caused by large-scale photovoltaic grid connection and load uncertainty fluctuation, and ensures the safe and stable operation of the power grid frequency.
The technical scheme of the invention is as follows: a wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay comprises the following steps: establishing a secondary frequency modulation state space model of the system, defining the marginal delay of the system, and effectively enhancing the delay-resistant robust performance of the frequency modulation of the system by setting the robust performance index considering the delay; the method comprises the following steps:
step 1, establishing a frequency modulation model of each device of the wind, light, water and fire storage;
step 2, establishing a tie line and a frequency response model;
step 3, integrating the step 1 and the step 2, and establishing a frequency modulation state space equation model considering delay;
step 4, calculating the system delay margin;
step 5, setting robust performance indexes considering delay, and establishing a linear matrix inequality;
step 6, solving a robust control law based on the state of the power grid; and a robust controller is established, and control instructions are transmitted to the wind, light, water, fire and power storage station.
Further, in step 1, the device model specifically includes:
a hydroelectric-thermal power unit model comprising:
a speed regulator model:
Figure 886486DEST_PATH_IMAGE001
（1）
in the formula,. DELTA.P gi Is a regioniThe position variation of the speed regulator valve of the thermal power generating unit,sin order to be a differential operator, the system is,T gi is a regioniThe time constant of the speed regulator of the thermal power generating unit,α Gi is a regioniPower signal distribution coefficient, delta, of thermal power generating unitsP ci Is a regioniThe control signals of the system are sent to the system,R gi is a regioniSag factor, Δ, of thermal power generating unitsf i Is a regioniFrequency of (a)u Gi A control signal of the thermal power generating unit is obtained;
the turbine model is as follows:
Figure 147834DEST_PATH_IMAGE002
（2）
in the formula,. DELTA.P mi For the output power variation of the regional thermal power generating unit,sin order to be a differential operator, the system is,T chi is a regioniThermal power plant turbine time constant, ΔP gi Is a regioniThe position variation of a speed regulator of the thermal power generating unit;
for the wind power station model, a variable-speed wind turbine generator is adopted to participate in system frequency regulation, and the simplified model is expressed as follows:
Figure 521047DEST_PATH_IMAGE003
（3）
in the formula (I), the compound is shown in the specification,sin order to be a differential operator, the system is,
Figure 57202DEST_PATH_IMAGE004
indicating areaiThe variation of the rotating speed of the rotor of the fan,J ti is a regioniThe comprehensive inertia coefficient of the fan is obtained,N gi is a regioniThe ratio of the fan to the gear box,
Figure 950202DEST_PATH_IMAGE005
indicating areaiVariation of pitch angle of fanAmount, Δu Wi Indicating areaiA control signal of the wind power station is sent,α Wi is a regioniPower signal distribution coefficient, delta, of a wind farmP ci Is a regioniSystem control signal, Δv mi Is a regioniThe wind speed variation of (2);
wherein, the first and the second end of the pipe are connected with each other,
Figure 116873DEST_PATH_IMAGE005
can be expressed as follows:
Figure 728114DEST_PATH_IMAGE006
（4）
in the formula (I), the compound is shown in the specification,sin order to be a differential operator, the system is,T gi indicating areaiThe mechanical torque of the fan is changed,
Figure 802380DEST_PATH_IMAGE007
andK ii indicating areaiFan blowerPIThe proportional and integral coefficients of the controller,K ci which is indicative of the correction factor(s),
Figure 612204DEST_PATH_IMAGE008
indicating areaiThe variation of the rotating speed of the fan generator;
the photovoltaic power station active power reduction is adopted to participate in system frequency adjustment, the photovoltaic power station is equivalent to a first-order inertia link, and a dynamic response model is as follows:
Figure 933464DEST_PATH_IMAGE009
（5）
in the formula,. DELTA.P iPV Is a regioniThe photovoltaic power station outputs the variation of the active power,sin order to be a differential operator, the method comprises the following steps of,T iPV is a regioniResponse time constant, Δ, of photovoltaic plantu iPV Indicating areaiA control signal of the photovoltaic station is sent,α iPV is a regioniPhotovoltaic plant power signal distribution coefficient, ΔP ci Is a regioniA system control signal;
for the energy storage power station, the transfer function in the energy storage power station is equivalent to a first-order inertia link as follows:
Figure 805301DEST_PATH_IMAGE010
（6）
in the formula,. DELTA.P iBESS Is a regioniThe energy storage power station outputs the variation of active power,sin order to be a differential operator, the method comprises the following steps of,T iBESS representing the response time constant, Δ, of the energy storage plantu Bi Is a regioniA control signal of the energy storage power station,α Bi distribution of coefficient, delta, for power signals of energy-storage power stationsP ci Is a regioniA system control signal;
state of charge of energy storage batterySOCThe operating state and the regulation and control capability of the energy storage unit are estimated by adopting an ampere-hour integration methodSOCThe calculation formula is as follows:
Figure 886521DEST_PATH_IMAGE011
（7）
in the formula (I), the compound is shown in the specification,SOC i (t) representstState of charge for a time energy storage power stationSOC，SOC i0 For initial state of charge of energy-storage power stationSOC，
Figure 957376DEST_PATH_IMAGE012
For the power loss factor of the energy storage power station,P iBESS is a regioniThe energy storage power station outputs active power,E icap, is a regioniRated capacity of the energy storage power station.
Further, in step 2, after the frequency modulation model of each device is established, the tie line model is established as follows:
Figure 262587DEST_PATH_IMAGE013
（8）
in the formula,. DELTA.P tie,i Is an implantation regioniThe total tie-line power of (a),Nis the number of regions, ΔP tie,ij Is a regioniAndjthe power of the interconnect tie-line of (a),sin order to be a differential operator, the method comprises the following steps of,T ij is a regioniAnd areajInterconnection gain, Δf i And Δf j Are respectively regionsiAndjfrequency of (a)ACE i In order to control the error for the region,
Figure 97688DEST_PATH_IMAGE014
as a frequency deviation factor, ΔP ci Is a regioniThe control signals of the system are sent to the system,
Figure 717019DEST_PATH_IMAGE015
is a regioniA communication delay;
establishing a regional power grid frequency response model, wherein the rotation inertia and load model comprises the following steps:
Figure 704698DEST_PATH_IMAGE016
（9）
in the formula (I), the compound is shown in the specification,
Figure 180810DEST_PATH_IMAGE017
are respectively regionsiThe frequency of (a) of (b) is,sin order to be a differential operator, the system is,M i is a regioniThe coefficient of inertia is a function of the mass of the motor,D i is a regioniDamping coefficient, ΔP mi Is a regioniVariation of output power, delta, of thermal power generating unitP wi Is a regioniVariation of output power, delta, of wind turbineP iPV Is a regioniVariation of output power, delta, of a photovoltaic power stationP iBESS Is a regioniOutput active power variation, delta, of energy storage power stationP di Is a regioniAmount of change in load, ΔP tie,i Is an implantation regioniTotal tie line power.
Further, in the step 3, the previously established regional power grid frequency response model including the wind power photovoltaic plant, the hydro-thermal power generation unit and the energy storage power station is expressed as a state space equation in the form as follows:
Figure 253939DEST_PATH_IMAGE018
（10）
in the formula (I), the compound is shown in the specification,
Figure 129491DEST_PATH_IMAGE019
is a vector of the overall state of the system,Ais a matrix of the whole system and is,A d is a parameter matrix of the delay state of the overall system,
Figure 768414DEST_PATH_IMAGE020
to account for the delayed overall state vector of the system,Bis an integral control matrix and is characterized by that,
Figure 884269DEST_PATH_IMAGE021
is the vector for controlling the whole system,
Figure 179115DEST_PATH_IMAGE022
in the form of an overall perturbation matrix,
Figure 655096DEST_PATH_IMAGE023
the disturbance vector of the whole system is obtained;
the overall vector contains the following specific quantities:
Figure 351787DEST_PATH_IMAGE024
（11）
in the formula (I), the compound is shown in the specification,
Figure 638543DEST_PATH_IMAGE025
the state vector of the variation of the rotating speed of the fan rotor is represented,
Figure 420686DEST_PATH_IMAGE026
a state vector representing the variation of the fan generator speed,
Figure 434778DEST_PATH_IMAGE027
indicating areaiState vector of variation of pitch angle of fan, deltaP m State vector representing variation of output power of thermal power generating unit, deltaP g State vector representing the variation of position of regulating valve of thermal power generating unitP BESS State vector, delta, representing the variation of the output active power of the energy storage plantSOCRepresenting the state of charge, Δ, of an energy storage power stationfRepresenting the frequency state vector of each region,
Figure 251555DEST_PATH_IMAGE028
indicating the area control error integral state vector, ΔP tie A total tie-line power state vector representing the implanted region,Trepresenting the sign of the transpose of the vector,
Figure 709213DEST_PATH_IMAGE029
indicating areaiOf the system overall control vector, Δu W Representing control vectors, Δ, of wind power plant control signalsu G Representing control vectors, Δ, of thermal power generating unitsu B Representing the control vector of the control signal of the energy storage power station,
Figure 713072DEST_PATH_IMAGE030
representing the overall disturbance vector, Δ, of the systemP d Representing disturbance vector, Δ, of load variationv m Representing a wind speed disturbance vector.
The characteristic equation of the overall system is then as follows:
Figure 530855DEST_PATH_IMAGE031
（12）
in the formula (I), the compound is shown in the specification,
Figure 733298DEST_PATH_IMAGE032
the function of the characteristic equation is represented,sin order to be a differential operator, the system is,τfor the system communication delay vector, det represents determinant,Ito representThe matrix of the unit is formed by a matrix of units,Ais a matrix of the whole system, and the system,A d is a parameter matrix of the overall system delay state,nfor the number of characteristic polynomials,
Figure 361856DEST_PATH_IMAGE033
are the frequency domain coefficients of the characteristic polynomial.
Further, in the step 4, the delay margin value is obtained through the root of the system characteristic equation (12) on the imaginary axisτ ∗ ；
Figure 118591DEST_PATH_IMAGE034
（13）
In the formula (I), the compound is shown in the specification,
Figure 490797DEST_PATH_IMAGE035
for the fundamental frequency, im represents taking the imaginary part of the complex number, re represents taking the real part of the complex number,
Figure 276DEST_PATH_IMAGE036
represents an integer value that is,
Figure 534157DEST_PATH_IMAGE037
，
Figure 778187DEST_PATH_IMAGE038
is the non-delayed term coefficient of the system characteristic equation,
Figure 688506DEST_PATH_IMAGE039
delay term coefficients which are system characteristic equations;
considering the system control outputs and initial conditions, the system model can be expressed in the following standard form:
Figure 583649DEST_PATH_IMAGE040
（14）
in the formula (I), the compound is shown in the specification,
Figure 288431DEST_PATH_IMAGE041
is the direction of a state variableMeasurement of
Figure 816496DEST_PATH_IMAGE042
The differential of (a) is determined,Ais a matrix of the whole system and is,A d is a parameter matrix of the delay state of the overall system,
Figure 530505DEST_PATH_IMAGE043
to account for the delayed overall state vector of the system,Bis an integral control matrix and is characterized by that,
Figure 765308DEST_PATH_IMAGE044
is the vector for controlling the whole system,B ω in the form of an overall perturbation matrix,ω(t) The overall disturbance vector of the system is the disturbance vector, z(t) In order to control the output vector,Cin order to output the matrix for the state,D ω in order to perturb the output matrix,Din order to control the output matrix,C d for delayed state output matrix, initial conditions
Figure 155838DEST_PATH_IMAGE045
In that
Figure 108882DEST_PATH_IMAGE046
Is a continuous micro-initiable function.
Further, in the step 5, for the standard form system model (14), the delay is not determined
Figure 361003DEST_PATH_IMAGE047
Is a time-varying continuous differentiable initial function and satisfies the following conditions:
Figure 715892DEST_PATH_IMAGE048
（15）
in the formula (I), the compound is shown in the specification,τ ∗ for the delay margin value calculated directly,h 1 、h 2 andμis a constant number of times that the number of the first,
Figure 277323DEST_PATH_IMAGE049
delay for communication
Figure 514401DEST_PATH_IMAGE050
The differential of (a) is determined,
Figure 937309DEST_PATH_IMAGE051
indicating that the differential has an upper bound.
For a given scalar quantityγ>0, the performance of the system is defined as the following linear quadratic form:
Figure 146704DEST_PATH_IMAGE052
（16）
in the formula (I), the compound is shown in the specification,
Figure 833032DEST_PATH_IMAGE053
for the defined linear quadratic function,z(t) In order to control the output vector,ω(t) For the overall disturbance vector of the system, the superscript T represents transposition.
The following matrix inequality is defined:
Figure 557405DEST_PATH_IMAGE054
（17）
wherein, the first and the second end of the pipe are connected with each other,
Figure 400596DEST_PATH_IMAGE055
（18）
in the formula, the superscript T denotes transpose,h 1 andh 2 the number of the symbols representing the constant number,
Figure 730077DEST_PATH_IMAGE056
representing the transpose of the symmetric block of the matrix,W 1 ，W 2 in the case of an unknown matrix, the matrix,Iis a standard type matrix, and the matrix is a standard type matrix,Y j 、M j 、W j and are all unknown matrixes,
Figure 384044DEST_PATH_IMAGE057
is a matrixW j The inverse of the matrix of (a) is,j=1，2；
Ais a matrix of the whole system, and the system,L、Vin the case of an unknown matrix, the matrix,Bis an integral control matrix and is provided with a plurality of control matrixes,R i in the case of an unknown matrix, the matrix,i=1，2，3；A d is a parameter matrix of the delay state of the overall system,
Figure 533397DEST_PATH_IMAGE058
in the form of an overall perturbation matrix,
Figure 180279DEST_PATH_IMAGE059
，γfor the constants and scalars given earlier, M 3 in order to be an unknown matrix, the matrix,Cin order to output the matrix for the state,
Figure 364266DEST_PATH_IMAGE060
in order to perturb the output matrix,C d in order to output the matrix for the delay state,Dto control the output matrix;
the unknown matrix is obtained by solving a formula (18) through a matrix inequality solver, and the control gain parameter is K=VL -1 I.e. system global control vectoru(t)=VL -1 x(t) A controller for wind-fire storage combined with secondary frequency modulation, whereinx(t) Is the system global state vector.
The beneficial effects of the invention are: after the scheme is adopted, the method can be used for adjusting the system frequency aiming at the uncertain fluctuation of the access and load power of the new energy station and the communication delay existing in the process of the new energy participating in the secondary frequency modulation, and the like. When the wind power station and the photovoltaic station are connected to a power grid, although active output can be carried out to participate in frequency adjustment, the active output cannot be stably output due to the influence of environmental uncertainty such as wind speed/illumination, the influence of the change of the active output on the participation of a new energy unit in the secondary frequency adjustment of the power grid can be effectively reduced, and the frequency adjustment performance of a system is integrally improved. Secondly, the invention provides a delay margin calculation technology, which can directly settle the delay margin through a characteristic equation based on a state space equation description system and can effectively avoid a complex analysis and solution process. The invention also carries out control design based on a robust control theory and solves the control parameters based on the linear matrix inequality, thereby reducing the solving complexity and ensuring the optimal control parameters.
Drawings
FIG. 1 is a flow chart of wind, light, water, fire and storage combined secondary frequency modulation control design.
Fig. 2 is a graph showing the frequency change before and after the zone 1 control according to the present invention.
Fig. 3 is a graph showing the frequency change before and after the zone 2 control according to the present invention.
Detailed Description
As shown in fig. 1 to fig. 3, the present invention is implemented and operated as follows, and a wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay may be expressed as follows:
step 1, establishing a frequency modulation model of each device of the wind, light, water and fire storage; such as: wind generating sets, photovoltaic power stations, hydropower stations, traditional thermal power generating units, energy storage power stations and the like;
step 2, establishing a tie line and a frequency response model;
step 3, integrating the step 1 and the step 2, and establishing a frequency modulation state space equation model considering delay;
step 4, calculating the system delay margin;
step 5, setting robust performance indexes considering delay and establishing a linear matrix inequality;
step 6, solving a robust control law based on the state of the power grid; and a robust controller is established, and control instructions are transmitted to the wind, light, water, fire and power storage station.
In the step 1, the equipment model specifically includes:
a hydroelectric thermal power unit model comprising:
a speed regulator model:
Figure 985872DEST_PATH_IMAGE061
（1）
in the formula,. DELTA.P gi Is a regioniThe position variation of the speed regulator valve of the thermal power generating unit,sin order to be a differential operator, the system is,T gi is a regioniThe time constant of the speed regulator of the thermal power generating unit,α Gi is a regioniPower signal distribution coefficient, delta, of thermal power generating unitsP ci Is a regioniThe control signals of the system are sent to the system,R gi is a regioniSag factor, Δ, of thermal power generating unitsf i Is a regioniFrequency of (a)u Gi A control signal of the thermal power generating unit is obtained;
the turbine model is as follows:
Figure 356941DEST_PATH_IMAGE002
（2）
in the formula,. DELTA.P mi For the output power variation of the regional thermal power generating unit,sin order to be a differential operator, the system is,T chi is a regioniThermal power plant turbine time constant, ΔP gi Is a regioniThe position variation of a speed regulator of the thermal power generating unit;
for the wind power station model, a variable-speed wind turbine generator is adopted to participate in system frequency regulation, and the simplified model is expressed as follows:
Figure 558247DEST_PATH_IMAGE062
（3）
in the formula (I), the compound is shown in the specification,sin order to be a differential operator, the system is,
Figure 846008DEST_PATH_IMAGE004
indicating areaiThe variation of the rotating speed of the fan rotor,J ti is a regioniThe comprehensive inertia coefficient of the fan is obtained,N gi is a regioniThe ratio of the fan to the gear box,
Figure 638515DEST_PATH_IMAGE005
indicating areaiAngular variation of fan pitchAmount, Δu Wi Indicating areaiA control signal of the wind power station is sent,α Wi is a regioniPower signal distribution coefficient, delta, of a wind farmP ci Is a regioniSystem control signal, Δv mi Is a regioniThe wind speed variation of (2);
wherein the content of the first and second substances,
Figure 28039DEST_PATH_IMAGE063
can be expressed as follows:
Figure 767456DEST_PATH_IMAGE064
（4）
in the formula (I), the compound is shown in the specification,sin order to be a differential operator, the system is,T gi indicating areaiThe mechanical torque of the fan is changed,
Figure 660457DEST_PATH_IMAGE007
andK ii indicating areaiFan blowerPIThe proportional and integral coefficients of the controller,K ci which is indicative of the correction factor(s),
Figure 341974DEST_PATH_IMAGE065
indicating areaiThe variation of the rotating speed of the fan generator;
the photovoltaic power station is adopted to actively reduce and participate in system frequency adjustment, the photovoltaic power station is equivalent to a first-order inertia link, and a dynamic response model is as follows:
Figure 687636DEST_PATH_IMAGE066
（5）
in the formula,. DELTA.P iPV Is a regioniThe photovoltaic power station outputs the variation of the active power,sin order to be a differential operator, the system is,T iPV is a regioniResponse time constant, Δ, of photovoltaic plantu iPV Indicating areaiA control signal of the photovoltaic station is sent,α iPV is a regioniPhotovoltaic station power signal distribution coefficient, ΔP ci Is a regioniA system control signal;
for the energy storage power station, the transfer function in the energy storage power station is equivalent to a first-order inertia link as follows:
Figure 230744DEST_PATH_IMAGE067
（6）
in the formula,. DELTA.P iBESS Is a regioniThe energy storage power station outputs the variation of active power,sin order to be a differential operator, the method comprises the following steps of,T iBESS representing the response time constant, Δ, of the energy storage plantu Bi Is a regioniA control signal of the energy storage power station,α Bi for distributing the coefficient, delta, to the power signal of the energy-storing power stationP ci Is a regioniA system control signal;
state of charge of energy storage batterySOCThe operating state and the regulation and control capacity of the energy storage unit are estimated by adopting an ampere-hour integration methodSOCThe calculation formula is as follows:
Figure 978251DEST_PATH_IMAGE068
（7）
in the formula (I), the compound is shown in the specification,SOC i (t) representstState of charge for a time energy storage power stationSOC，SOC i0 For initial state of charge of energy-storage power stationSOC，
Figure 378140DEST_PATH_IMAGE012
For the power loss factor of the energy storage power station,P iBESS is a regioniThe energy storage power station outputs active power,E icap, is a regioniRated capacity of the energy storage power station.
In the step 2, after the frequency modulation model of each device is established, the tie line model is established as follows:
Figure 460365DEST_PATH_IMAGE069
（8）
in the formula,. DELTA.P tie,i Is an implantation regioniThe total tie-line power of (a),Nis the number of regions, ΔP tie,ij Is a regioniAndjthe power of the interconnect link of (a),sin order to be a differential operator, the system is,T ij is a regioniAnd areajInterconnection gain, Δf i And Δf j Are respectively regionsiAndjfrequency of (a)ACE i In order to control the error for the region,
Figure 807164DEST_PATH_IMAGE014
as a frequency deviation factor, ΔP ci Is a regioniThe control signal of the system is sent to the computer,
Figure 674757DEST_PATH_IMAGE015
is a regioniA communication delay;
establishing a frequency response model of the regional power grid, wherein the rotation inertia and load model comprises the following steps:
Figure 448809DEST_PATH_IMAGE070
（9）
in the formula (I), the compound is shown in the specification,
Figure 18331DEST_PATH_IMAGE071
are respectively regionsiThe frequency of (a) of (b) is,sin order to be a differential operator, the system is,M i is a regioniThe coefficient of inertia is determined by the measured value of the mass,D i is a regioniDamping coefficient, ΔP mi Is a regioniVariation of output power, delta, of thermal power generating unitP wi Is a regioniVariation of output power, delta, of wind turbineP iPV Is a regioniVariation of output power, delta, of a photovoltaic power stationP iBESS Is a regioniOutput active power variation, delta, of energy storage power stationP di Is a regioniAmount of change in load, ΔP tie,i Is an implantation regioniTotal tie line power.
4 in the step 3, the previously established regional power grid frequency response model including the wind power photovoltaic station, the hydroelectric power generation set and the energy storage power station is expressed as a state space equation form as follows:
Figure 903241DEST_PATH_IMAGE072
（10）
in the formula (I), the compound is shown in the specification,
Figure 625341DEST_PATH_IMAGE073
is the vector of the whole state of the system,Ais a matrix of the whole system and is,A d is a parameter matrix of the delay state of the overall system,
Figure 101452DEST_PATH_IMAGE074
to account for the delayed overall state vector of the system,Bis an integral control matrix and is characterized by that,
Figure 627112DEST_PATH_IMAGE021
the vector is controlled by the whole system,
Figure 846872DEST_PATH_IMAGE075
in the form of an overall perturbation matrix,
Figure 689057DEST_PATH_IMAGE023
the disturbance vector of the whole system is obtained;
the overall vector contains the following specific quantities:
Figure 273753DEST_PATH_IMAGE076
（11）
in the formula (I), the compound is shown in the specification,
Figure 99758DEST_PATH_IMAGE025
the state vector of the variation of the rotating speed of the fan rotor is represented,
Figure 575738DEST_PATH_IMAGE077
a state vector representing the variation of the fan generator speed,
Figure 6851DEST_PATH_IMAGE078
indicating areaiFan pitch angle delta state of change vector, deltaP m State vector representing variation of output power of thermal power generating unit, deltaP g State vector representing the variation of position of regulating valve of thermal power generating unitP BESS State vector, delta, representing the variation of active power output by an energy storage plantSOCRepresenting the state of charge, Δ, of an energy storage power stationfRepresenting the frequency state vector of each region,
Figure 293607DEST_PATH_IMAGE079
indicating the regional control error integral state vector, ΔP tie A total tie-line power state vector representing the implant region,Twhich represents the sign of the transposition of the vector,
Figure 341328DEST_PATH_IMAGE029
indicating areaiOf the system overall control vector, Δu W Representing control vectors, Δ, of wind power plant control signalsu G Representing control vectors, Δ, of thermal power generating unitsu B Representing the control vector of the control signal of the energy storage power station,
Figure 89842DEST_PATH_IMAGE080
representing the overall disturbance vector, Δ, of the systemP d Disturbance vector, Δ, representing the amount of load variationv m Representing the wind speed disturbance vector.
The characteristic equation of the overall system is as follows:
Figure 883182DEST_PATH_IMAGE081
（12）
in the formula (I), the compound is shown in the specification,
Figure 75260DEST_PATH_IMAGE082
the function of the characteristic equation is represented,sin order to be a differential operator, the system is,τfor the system communication delay vector, det represents determinant,Ithe unit matrix is represented by a matrix of units,Aas a whole systemThe system matrix is a matrix of the system,A d is a parameter matrix of the overall system delay state,nfor the number of characteristic polynomials,
Figure 344698DEST_PATH_IMAGE033
are the frequency domain coefficients of the characteristic polynomial.
Solving the delay margin value through the root of the system characteristic equation (12) on the imaginary axisτ ∗ ；
Figure 709951DEST_PATH_IMAGE083
（13）
In the formula (I), the compound is shown in the specification,
Figure 630503DEST_PATH_IMAGE035
for the fundamental frequency, im denotes the imaginary part of the complex number, re denotes the real part of the complex number,
Figure 993482DEST_PATH_IMAGE036
represents an integer value of the number of bits of the digital signal,
Figure 546954DEST_PATH_IMAGE084
，
Figure 653582DEST_PATH_IMAGE038
is the non-delayed term coefficient of the system characteristic equation,
Figure 179372DEST_PATH_IMAGE039
delay term coefficients which are system characteristic equations;
considering the system control outputs and initial conditions, the system model can be expressed in the following standard form:
Figure 228100DEST_PATH_IMAGE085
（14）
in the formula (I), the compound is shown in the specification,
Figure 206551DEST_PATH_IMAGE041
as state variable vectors
Figure 116869DEST_PATH_IMAGE042
The differential of (a) is obtained by differentiating,Ais a matrix of the whole system, and the system,A d is a parameter matrix of the delay state of the overall system,
Figure 497166DEST_PATH_IMAGE086
to account for the delayed overall state vector of the system,Bis an integral control matrix and is provided with a plurality of control matrixes,
Figure 716795DEST_PATH_IMAGE044
the vector is controlled by the whole system,B ω is an overall disturbance matrix and is characterized in that,ω(t) The disturbance vector of the whole system is obtained, z(t) In order to control the output vector,Cin order to output the matrix for the state,D ω in order to perturb the output matrix,Din order to control the output matrix,C d for delayed state output matrix, initial conditions
Figure 244860DEST_PATH_IMAGE087
In that
Figure 693290DEST_PATH_IMAGE088
Is a continuous micro-initiable function.
In the above step 5, for the standard-form system model (14), the delay is not determined
Figure 193672DEST_PATH_IMAGE047
Is a time-varying continuous micro-initial function and satisfies the following conditions:
Figure 334935DEST_PATH_IMAGE048
（15）
in the formula (I), the compound is shown in the specification,τ ∗ for the delay margin value calculated directly,h 1 、h 2 and
Figure 537246DEST_PATH_IMAGE089
is a constant number of times that the number of the first,
Figure 54946DEST_PATH_IMAGE049
delay for communication
Figure 144256DEST_PATH_IMAGE050
The differential of (a) is determined,
Figure 721999DEST_PATH_IMAGE090
indicating that the differential has an upper bound.
For a given scalar quantityγ>0, the performance of the system is defined as the following linear quadratic form:
Figure 146027DEST_PATH_IMAGE091
（16）
in the formula (I), the compound is shown in the specification,
Figure 936260DEST_PATH_IMAGE092
for the defined linear quadratic function,
Figure 207972DEST_PATH_IMAGE093
in order to control the output vector,
Figure 691037DEST_PATH_IMAGE094
for the overall disturbance vector of the system, superscript T represents transposition;
the following matrix inequalities are defined:
Figure 618673DEST_PATH_IMAGE095
（17）
wherein, the first and the second end of the pipe are connected with each other,
Figure 461864DEST_PATH_IMAGE097
（18）
in the formula, the superscript T denotes transpose,h 1 andh 2 the number of the symbols representing the constant number,
Figure 791345DEST_PATH_IMAGE056
representing the transpose of a block of symmetry of the matrix,W 1 ，W 2 in the case of an unknown matrix, the matrix,Iis a standard type matrix and is characterized in that,Y j 、M j 、W j and are all unknown matrixes,
Figure 445312DEST_PATH_IMAGE057
is a matrixW j The inverse of the matrix of (a) is,j=1，2；
Ais a matrix of the whole system, and the system,L、Vin the case of an unknown matrix, the matrix,Bis an integral control matrix and is characterized by that,R i in order to be an unknown matrix, the matrix,i=1，2，3；A d is a parameter matrix of the delay state of the overall system,
Figure 594664DEST_PATH_IMAGE058
in the form of an overall perturbation matrix,
Figure 241546DEST_PATH_IMAGE059
，γfor the constants and scalars given earlier,M 3 in the case of an unknown matrix, the matrix,Cin order to output the matrix for the state,
Figure 425534DEST_PATH_IMAGE060
in order to perturb the output matrix,C d in order to output the matrix for the delay state,Dto control the output matrix;
the unknown matrix is obtained by solving a formula (18) through a matrix inequality solver, and the control gain parameter is K=VL -1 I.e. system global control vectoru(t)=VL -1 x(t) A controller for wind-fire storage combined with secondary frequency modulation, whereinx(t) Is the system global state vector.

Claims (6)

1. A wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay is characterized in that: establishing a secondary frequency modulation state space model of the system, defining the marginal delay of the system, and effectively enhancing the delay-resistant robust performance of the frequency modulation of the system by setting the robust performance index considering the delay; the method comprises the following steps:
step 1, establishing a frequency modulation model of each device of the wind, light, water and fire storage;
step 2, establishing a tie line and a frequency response model;
step 3, integrating the step 1 and the step 2, and establishing a frequency modulation state space equation model considering delay;
step 4, calculating the system delay margin;
step 5, setting robust performance indexes considering delay and establishing a linear matrix inequality;
step 6, solving a robust control law based on the state of the power grid; and a robust controller is established, and control instructions are transmitted to the wind, light, water, fire and power storage station.
2. The wind, light, water, fire and storage combined secondary frequency modulation method considering the uncertainty delay as claimed in claim 1, wherein: in step 1, the equipment model specifically comprises:
a hydroelectric thermal power unit model comprising:
a speed regulator model:
Figure 539922DEST_PATH_IMAGE001
（1）
in the formula,. DELTA.P gi Is a regioniThe position variation of the speed regulator valve of the thermal power generating unit,sin order to be a differential operator, the method comprises the following steps of,T gi is a regioniThe time constant of the speed regulator of the thermal power generating unit,α Gi is a regioniPower signal distribution coefficient, delta, of thermal power generating unitsP ci Is a regioniThe control signals of the system are sent to the system,R gi is a regioniSag factor, Δ, of thermal power generating unitsf i Is a regioniFrequency of (a)u Gi A control signal of the thermal power generating unit is obtained;
the turbine model is as follows:
Figure 425839DEST_PATH_IMAGE002
（2）
in the formula,. DELTA.P mi Is the output power variable quantity of the regional thermal power generating unit,sin order to be a differential operator, the method comprises the following steps of,T chi is a regioniThermal power plant turbine time constant, ΔP gi Is a regioniThe position variation of a speed regulator of the thermal power generating unit;
for the wind power station model, a variable-speed wind turbine generator is adopted to participate in system frequency regulation, and the simplified model is expressed as follows:
Figure 627144DEST_PATH_IMAGE003
（3）
in the formula (I), the compound is shown in the specification,sin order to be a differential operator, the method comprises the following steps of,
Figure 462376DEST_PATH_IMAGE004
indicating areaiThe variation of the rotating speed of the rotor of the fan,J ti is a regioniThe comprehensive inertia coefficient of the fan is obtained,N gi is a regioniThe ratio of the fan gearbox to the fan gearbox,
Figure 661407DEST_PATH_IMAGE005
indicating areaiVariation of pitch angle, Δ, of fanu Wi Indicating areaiA control signal of the wind power station is sent,α Wi is a regioniPower signal distribution coefficient, delta, of a wind farmP ci Is a regioniSystem control signal, Δv mi Is a regioniThe wind speed variation of (2);
wherein the content of the first and second substances,
Figure 300199DEST_PATH_IMAGE006
can be expressed as follows:
Figure 836354DEST_PATH_IMAGE007
（4）
in the formula (I), the compound is shown in the specification,sin order to be a differential operator, the system is,T gi indicating areaiThe mechanical torque of the fan is changed,
Figure 96450DEST_PATH_IMAGE008
andK ii indicating areaiFan blowerPIThe proportional and integral coefficients of the controller,K ci which is indicative of the correction factor(s),
Figure 731962DEST_PATH_IMAGE009
indicating areaiThe variation of the rotating speed of the fan generator;
the photovoltaic power station is adopted to actively reduce and participate in system frequency adjustment, the photovoltaic power station is equivalent to a first-order inertia link, and a dynamic response model is as follows:
Figure 343203DEST_PATH_IMAGE010
（5）
in the formula,. DELTA.P iPV Is a regioniThe photovoltaic power station outputs the variation of the active power,sin order to be a differential operator, the system is,T iPV is a regioniResponse time constant, Δ, of photovoltaic plantu iPV Indicating areaiA control signal of the photovoltaic station is sent,α iPV is a regioniPhotovoltaic station power signal distribution coefficient, ΔP ci Is a regioniA system control signal;
for the energy storage power station, the transfer function in the energy storage power station is equivalent to a first-order inertia link as follows:
Figure 417470DEST_PATH_IMAGE011
（6）
in the formula,. DELTA.P iBESS Is a regioniThe energy storage power station outputs the variation of active power,sin order to be a differential operator, the system is,T iBESS representing the response time constant, Δ, of the energy storage plantu Bi Is a regioniA control signal of the energy storage power station,α Bi to storeEnergy station power signal distribution coefficient, ΔP ci Is a regioniA system control signal;
state of charge of energy storage batterySOCThe operating state and the regulation and control capability of the energy storage unit are estimated by adopting an ampere-hour integration methodSOCThe calculation formula is as follows:
Figure 679824DEST_PATH_IMAGE012
（7）
in the formula (I), the compound is shown in the specification,SOC i (t) representstState of charge for a time energy storage power stationSOC，SOC i0 For initial state of charge of energy-storage power stationSOC，
Figure 282974DEST_PATH_IMAGE013
For the power loss coefficient of the energy storage power station,P iBESS is a regioniThe energy storage power station outputs active power,E icap, is a regioniRated capacity of the energy storage power station.
3. The wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay as claimed in claim 2, wherein: in step 2, after the frequency modulation model of each device is established, the tie line model is established as follows:
Figure 115932DEST_PATH_IMAGE014
（8）
in the formula,. DELTA.P tie,i Is an implantation regioniThe total tie-line power of (a),Nis the number of regions, ΔP tie,ij Is a regioniAndjthe power of the interconnect link of (a),sin order to be a differential operator, the method comprises the following steps of,T ij is a regioniAnd areajInterconnection gain, Δf i And Δf j Are respectively regionsiAndjfrequency of (a)ACE i In order to control the error for the region,
Figure 993890DEST_PATH_IMAGE015
as a frequency deviation factor, ΔP ci Is a regioniThe control signals of the system are sent to the system,
Figure 861483DEST_PATH_IMAGE016
is a regioniA communication delay;
establishing a frequency response model of the regional power grid, wherein the rotation inertia and load model comprises the following steps:
Figure 619223DEST_PATH_IMAGE017
（9）
in the formula (I), the compound is shown in the specification,
Figure 205056DEST_PATH_IMAGE018
are respectively regionsiThe frequency of (a) of (b) is,sin order to be a differential operator, the method comprises the following steps of,M i is a regioniThe coefficient of inertia is determined by the measured value of the mass,D i is a regioniDamping coefficient, ΔP mi Is a regioniVariation of output power, delta, of thermal power generating unitsP wi Is a regioniVariation of output power, delta, of wind turbineP iPV Is a regioniVariation of output power, delta, of a photovoltaic power stationP iBESS Is a regioniVariation of output active power, delta, of energy storage power stationP di Is a regioniAmount of change in load, ΔP tie,i Is an implantation regioniTotal tie line power.
4. The wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay as claimed in claim 3, wherein: in step 3, expressing the previously established regional power grid frequency response model containing the wind power photovoltaic station, the water-fire power generator set and the energy storage power station as a state space equation form as follows:
Figure 89967DEST_PATH_IMAGE019
（10）
in the formula (I), the compound is shown in the specification,
Figure 812066DEST_PATH_IMAGE020
is a vector of the overall state of the system,Ais a matrix of the whole system, and the system,A d is a parameter matrix of the delay state of the overall system,
Figure 740708DEST_PATH_IMAGE021
to account for the delayed overall state vector of the system,Bis an integral control matrix and is provided with a plurality of control matrixes,
Figure 813837DEST_PATH_IMAGE022
is the vector for controlling the whole system,
Figure 236860DEST_PATH_IMAGE023
in the form of an overall perturbation matrix,
Figure 344624DEST_PATH_IMAGE024
the disturbance vector of the whole system is obtained;
the overall vector contains the following specific quantities:
Figure 178588DEST_PATH_IMAGE026
（11）
in the formula (I), the compound is shown in the specification,
Figure 739013DEST_PATH_IMAGE027
the state vector of the variation of the rotating speed of the fan rotor is shown,
Figure 965726DEST_PATH_IMAGE028
a state vector representing the variation of the fan generator speed,
Figure 662418DEST_PATH_IMAGE029
indicating areaiPitch angle of fanVariation state vector, ΔP m State vector representing variation of output power of thermal power generating unit, deltaP g State vector representing the variation of position of regulating valve of thermal power generating unitP BESS State vector, delta, representing the variation of the output active power of the energy storage plantSOCRepresenting the state of charge, Δ, of an energy storage power stationfRepresenting the frequency state vector of each region,
Figure 480332DEST_PATH_IMAGE030
indicating the regional control error integral state vector, ΔP tie A total tie-line power state vector representing the implanted region,Trepresenting the sign of the transpose of the vector,
Figure 511742DEST_PATH_IMAGE031
indicating areaiOf the system overall control vector, Δu W Representing control vectors, Δ, of wind power plant control signalsu G Representing control vectors, Δ, of thermal power generating unitsu B Represents the control vector of the control signal of the energy storage power station,
Figure 542146DEST_PATH_IMAGE032
representing the overall disturbance vector, Δ, of the systemP d Representing disturbance vector, Δ, of load variationv m Representing the wind speed disturbance vector:
the characteristic equation of the overall system is as follows:
Figure 93345DEST_PATH_IMAGE033
（12）
in the formula (I), the compound is shown in the specification,
Figure 285423DEST_PATH_IMAGE034
the function of the characteristic equation is represented,sin order to be a differential operator, the system is,τfor the system communication delay vector, det represents determinant,Ithe unit matrix is represented by a matrix of units,Ais a matrix of the whole system, and the system,A d is a parameter matrix of the overall system delay state,nfor the number of characteristic polynomials,
Figure 804129DEST_PATH_IMAGE035
are the frequency domain coefficients of the characteristic polynomial.
5. The wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay as claimed in claim 4, wherein: in step 4, the delay margin value is solved through the root of the system characteristic equation (12) on the virtual axisτ ∗ ；
Figure 169382DEST_PATH_IMAGE036
（13）
In the formula (I), the compound is shown in the specification,
Figure 840666DEST_PATH_IMAGE037
for the fundamental frequency, im represents taking the imaginary part of the complex number, re represents taking the real part of the complex number,
Figure 469225DEST_PATH_IMAGE038
represents an integer value that is,
Figure 694801DEST_PATH_IMAGE039
，
Figure 581854DEST_PATH_IMAGE040
is the non-delayed term coefficient of the system characteristic equation,
Figure 842065DEST_PATH_IMAGE041
delay term coefficients which are system characteristic equations;
considering the system control outputs and initial conditions, the system model can be expressed in the following standard form:
Figure 641525DEST_PATH_IMAGE042
（14）
in the formula (I), the compound is shown in the specification,
Figure 885556DEST_PATH_IMAGE043
as state variable vectors
Figure 45142DEST_PATH_IMAGE044
The differential of (a) is determined,Ais a matrix of the whole system, and the system,A d is a parameter matrix of the overall system delay state,
Figure 222176DEST_PATH_IMAGE045
to account for the delayed overall state vector of the system,Bis an integral control matrix and is provided with a plurality of control matrixes,
Figure 926958DEST_PATH_IMAGE046
is the vector for controlling the whole system,B ω in the form of an overall perturbation matrix,ω(t) The disturbance vector of the whole system is obtained, z(t) In order to control the output vector,Cin order to output the matrix for the state,D ω in order to perturb the output matrix,Din order to control the output matrix,C d for delayed state output matrix, initial conditions
Figure 658285DEST_PATH_IMAGE047
In that
Figure 372294DEST_PATH_IMAGE048
Is a continuous micro-initiable function.
6. The wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay as claimed in claim 5, wherein: in step 5, the delay is not determined for the standard form system model (14)
Figure 121944DEST_PATH_IMAGE049
Is a time-varying continuous differentiable initial function and satisfies the following conditions:
Figure 239769DEST_PATH_IMAGE050
（15）
in the formula (I), the compound is shown in the specification,
Figure 192813DEST_PATH_IMAGE051
for the delay margin value calculated directly,h 1 、h 2 and
Figure 444934DEST_PATH_IMAGE052
is a constant number of times that the number of the first,
Figure 783511DEST_PATH_IMAGE053
delay for communication
Figure 95675DEST_PATH_IMAGE054
The differential of (a) is determined,
Figure 801594DEST_PATH_IMAGE055
indicating that the differential has an upper bound:
for a given scalar quantityγ>0, the performance of the system is defined as the following linear quadratic form:
Figure 857406DEST_PATH_IMAGE056
（16）
in the formula (I), the compound is shown in the specification,
Figure 316069DEST_PATH_IMAGE057
for the defined linear quadratic function,
Figure 799134DEST_PATH_IMAGE058
in order to control the output vector,
Figure 726770DEST_PATH_IMAGE059
for the overall disturbance vector of the system, superscript T represents transposition;
the following matrix inequality is defined:
Figure 320693DEST_PATH_IMAGE060
（17）
wherein the content of the first and second substances,
Figure 899442DEST_PATH_IMAGE061
（18）
in the formula, the superscript T denotes transpose,h 1 andh 2 the number of the symbols representing the constant number,
Figure 553409DEST_PATH_IMAGE062
representing the transpose of the symmetric block of the matrix,W 1 ，W 2 in the case of an unknown matrix, the matrix,Iis a standard type matrix, and the matrix is a standard type matrix,Y j 、M j 、W j are all unknown matrices and are all used as a matrix,
Figure 702761DEST_PATH_IMAGE063
is a matrixW j The inverse of the matrix of (a) is,j=1，2；
Ais a matrix of the whole system, and the system,L、Vin order to be an unknown matrix, the matrix,Bis an integral control matrix and is provided with a plurality of control matrixes,R i in the case of an unknown matrix, the matrix,i=1，2，3；A d is a parameter matrix of the overall system delay state,
Figure 100376DEST_PATH_IMAGE064
is an overall disturbance matrix and is characterized in that,μ，γfor a given constant and a given scalar quantity,M 3 in the case of an unknown matrix, the matrix,Cin order to output the matrix for the state,
Figure 533631DEST_PATH_IMAGE065
in order to perturb the output matrix,C d in order to output the matrix for the delay state,Dto control the output matrix;
the unknown matrix is obtained by solving a formula (18) through a matrix inequality solver, and the control gain parameter is
Figure 358499DEST_PATH_IMAGE066
I.e. system global control vectoru(t)=VL -1 x(t) A controller for wind-fire storage combined with secondary frequency modulation, whereinx(t) Is the system global state vector.
CN202211036541.0A 2022-08-29 2022-08-29 Wind, light, water, fire and storage combined secondary frequency modulation method considering uncertainty delay Pending CN115149580A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115296309A (en) * 2022-10-09 2022-11-04 国网江西省电力有限公司电力科学研究院 Wind, light, water, fire and storage combined secondary frequency modulation method based on real-time inertia estimation
CN116526511A (en) * 2023-05-19 2023-08-01 东北电力大学 Method for controlling load frequency of multi-source cooperative participation system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115296309A (en) * 2022-10-09 2022-11-04 国网江西省电力有限公司电力科学研究院 Wind, light, water, fire and storage combined secondary frequency modulation method based on real-time inertia estimation
CN115296309B (en) * 2022-10-09 2023-02-14 国网江西省电力有限公司电力科学研究院 Wind, light, water, fire and storage combined secondary frequency modulation method based on real-time inertia estimation
CN116526511A (en) * 2023-05-19 2023-08-01 东北电力大学 Method for controlling load frequency of multi-source cooperative participation system
CN116526511B (en) * 2023-05-19 2024-03-08 东北电力大学 Method for controlling load frequency of multi-source cooperative participation system

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