CN116388233B - Heterogeneous flexible load participation power system load frequency control method - Google Patents

Heterogeneous flexible load participation power system load frequency control method Download PDF

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CN116388233B
CN116388233B CN202310658272.XA CN202310658272A CN116388233B CN 116388233 B CN116388233 B CN 116388233B CN 202310658272 A CN202310658272 A CN 202310658272A CN 116388233 B CN116388233 B CN 116388233B
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CN116388233A (en
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黄崇鑫
金宸
邹花蕾
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Nanjing University of Posts and Telecommunications
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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
    • H02J3/24—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
    • H02J3/003—Load forecast, e.g. methods or systems for forecasting future load demand
    • 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]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/30—Systems integrating technologies related to power network operation and communication or information technologies for improving the carbon footprint of the management of residential or tertiary loads, i.e. smart grids as climate change mitigation technology in the buildings sector, including also the last stages of power distribution and the control, monitoring or operating management systems at local level
    • Y02B70/3225—Demand response systems, e.g. load shedding, peak shaving
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S20/00—Management or operation of end-user stationary applications or the last stages of power distribution; Controlling, monitoring or operating thereof
    • Y04S20/20—End-user application control systems
    • Y04S20/222—Demand response systems, e.g. load shedding, peak shaving

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Supply And Distribution Of Alternating Current (AREA)

Abstract

The invention provides a method for controlling load frequency of a heterogeneous flexible load participating in a power system, and belongs to the field of power systems. The control method comprises the following steps: s1: establishing a frequency modulation model of a switch control type load group and a continuous control type load group; s2: establishing a continuous state space model of a multi-region power system containing heterogeneous flexible loads; s3: converting the continuous state space model of the multi-region power system into a discrete state space model; s4: establishing a multi-region power system distributed prediction model based on the discrete state space model; s5: and (3) carrying out rolling model solving by using a mixed model predictive control algorithm, and calculating an optimal control solution sequence meeting constraint conditions. According to the invention, the heterogeneous flexible load participates in the distributed prediction model of the multi-region power system, and the optimal frequency modulation strategy meeting the operation constraint is obtained by iteratively solving the prediction model, so that the stable operation of the power system is ensured.

Description

Heterogeneous flexible load participation power system load frequency control method
Technical Field
The invention relates to the technical field of power systems, in particular to the field of auxiliary frequency modulation service of a flexible load participating in a power system, and provides a heterogeneous flexible load participating in the power system load frequency control method.
Background
The method greatly develops new energy power represented by wind energy and solar energy, promotes high-proportion renewable energy grid-connected consumption, and is an important target for constructing a novel power system in China. Renewable energy sources such as wind power, photovoltaic and the like have typical randomness and intermittence, so that the frequency stabilization of an electric power system faces challenges. With the large-scale access of renewable energy sources to a power grid and the continuous increase of peak loads, frequency modulation by only relying on a traditional unit is neither economical nor practical. Therefore, development of new fm resources is needed to overcome the disadvantages of slow response speed and low efficiency of the conventional fm method.
In recent years, the specific gravity of flexible loads with dual characteristics of source and charge such as electric automobiles, temperature control loads, energy storage batteries and the like with bidirectional interaction capability with a power grid is in a continuous rising trend; the adjustable characteristics of the load side are attracting extensive attention from students at home and abroad. However, in the current research of the flexible load participating in the frequency adjustment of the power system, most of the research is focused on the control of one type or the same type of flexible load participating in the frequency adjustment of the power system, and little consideration is given to the control of different types of flexible loads participating in the frequency adjustment of the power system together.
In view of the foregoing, it is necessary to provide a method for controlling the load frequency of a power system by using heterogeneous flexible loads to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a method for controlling the load frequency of a heterogeneous flexible load participating in a power system, which is used for establishing a distributed prediction model of the heterogeneous flexible load participating in a multi-region power system, obtaining an optimal frequency modulation strategy meeting operation constraint through iteratively solving the prediction model, and ensuring the stable operation of the power system.
In order to achieve the above purpose, the invention provides a method for controlling the load frequency of a heterogeneous flexible load participating in a power system, which comprises the following steps:
s1: dividing the heterogeneous flexible load group into a switch control type load group and a continuous control type load group based on the dynamic characteristics and the regulation types of the heterogeneous flexible load, and respectively establishing frequency modulation models of the switch control type load group and the continuous control type load group;
s2: establishing a continuous state space model of a multi-region power system containing heterogeneous flexible loads; the continuous state space model of the multi-region power system containing heterogeneous flexible loads is as follows:
wherein ,is area->Frequency deviation of (2); />Is the regional inertia coefficient; />Is a regional damping coefficient; />The output power variation of the steam turbine; />Is->Power of group continuous control type load; />Is->The switching state of the group switch control type load; />Is->Power of the group switch controlled load; />The power deviation of the connecting line between the current area and the adjacent area is obtained; />Is a load disturbance; />Integrating the partial output for the PI regulator; />Integrating the coefficients for the PI regulator; />Is a regional frequency deviation coefficient; />The output power variation of the speed regulator; />Is the time constant of the speed regulator; />For allocation to conventional unitsReference frequency modulation power; />The difference adjustment coefficient is the primary frequency adjustment of the traditional unit; />Time constant of the steam turbine; />Is->Reference frequency modulation power of group continuous control type load; />Is->Time constant of group continuous control type load; />Is area->Frequency deviation of (2); />Is area->Area->Is a tie-line synchronization coefficient of (a);
s3: converting the multi-region power system continuous state space model into a discrete state space model;
s4: based on frequency modulation constraint of a traditional unit and a heterogeneous flexible load group and a power system load frequency control target, a multi-region power system distributed prediction model is established on the basis of the discrete state space model; the method for establishing the multi-region power system distributed prediction model on the basis of the discrete state space model comprises the following steps:
s41: establishing an objective function of heterogeneous flexible loads participating in frequency adjustment of a multi-region power system;
s42: establishing a multi-region power system distributed prediction model according to the operation constraint condition of each frequency modulation resource and the frequency modulation objective function, wherein the multi-region power system distributed prediction model comprises discrete and continuous control quantities;
the objective function is:
wherein ,，/> and />Respectively outputting a weighting matrix, a weighting matrix of continuous control quantity and a weighting matrix of integer control quantity; />For predicting the time domain +.>To control the time domain; />Is at->Time of day system output->At the position ofPrediction of time of day->Output for system->At->A reference value for time; />Is at->The continuous control quantity of the time is +.>Prediction of time of day->Is at->Time to integer control variable is +.>Predicting time;
the multi-region power system distributed prediction model is as follows:
wherein ,representing continuous control input constraints +.>Andrepresentation->Minimum and maximum values; />A value constraint representing an integer control amount;representing constraints of the output-> and />Respectively->Minimum and maximum values of (2);
s5: and (3) carrying out rolling model solving by using a mixed model predictive control algorithm, and calculating an optimal control solution sequence meeting constraint conditions.
As a further improvement of the present invention, the frequency modulation model of the switch control type load group is:
wherein ,the number of the load is controlled by a switch; />The total frequency modulation power of the load group is controlled by a switch;is->Group switch control type load participates in the frequency modulation power; />Is->Switching states of group-switch-controlled loads, wherein +.>，/>Indicate->Group switch controlled load does not participate in frequency regulation, < >>Indicate the input->Group switch controlled load,/->Indicating excision of +.>Group switch controlled load;
the frequency modulation model of the continuous control type load group is as follows:
wherein ,the load quantity is continuously controlled; />Is->Actual frequency modulation power of the group continuous control type load; />Is->Frequency modulation reference power of group continuous control type load; />Is->Time constant of group continuous control type load; />The total frequency modulation power of the continuous control type load group.
As a further improvement of the present invention, in step S2, the continuous state space model of the multi-region power system including the heterogeneous flexible load is: and establishing a continuous state space model of the multi-region power system containing heterogeneous flexible loads by combining the mathematical models of the switch control type load group and the continuous control type load group and the generator equivalent model.
As a further improvement of the present invention, in step S3, the continuous state space model of the multi-region power system is converted into a discrete state space model by using a zero-order sample-hold discretization method; the method comprises the following steps:
s31: the multi-zone power system continuous state space is represented in a general form as:
wherein ,，/>，/>，/> and />Respectively represent area->State vectors, continuous control vectors, integer control vectors, load disturbance vectors, and output vectors; />Representing adjacent area +.>State vectors of (2); matrix->，/>，/>，/> and />Respectively represent area->A state matrix, a continuous control input matrix, a switch-type control input matrix, a system disturbance matrix and an output matrix; />Representation area->And area->A state interaction matrix between the two;
s32: to be used forFor the sampling period, discretizing a continuous state space model of the multi-region power system,
wherein ,，/>，/>，，/>，/>。
as a further improvement of the present invention, in step S5, the model solving is performed by using a hybrid model predictive control algorithm, and an optimal control solution sequence satisfying the constraint condition is calculated, including the following steps:
s51: solving the prediction model to obtain the slaveStart time to->Optimal control sequence of time of day and />；
S52: extracting a first set of control quantities from an optimal control sequence and />As frequency modulation reference fingerAllocating the flexible load to a traditional unit and heterogeneous flexible load and executing the flexible load;
s53: in the first placeThe optimization time period is further advanced, real-time measurement data are updated at the same time, and the prediction model is solved again, so that the rolling optimization control of the frequency of the multi-region power system is realized.
The beneficial effects of the invention are as follows: according to the heterogeneous flexible load participation power system load frequency control method, a switching control type load group and a frequency modulation model of a continuous control type load group are established, a multi-region power system continuous state space model containing heterogeneous flexible loads is established on the basis, the multi-region power system continuous state space model is converted into a discrete state space model, a multi-region power system distributed prediction model is established on the basis of the discrete state space model, a rolling model is solved by utilizing a mixed model prediction control algorithm, and an optimal control solution sequence meeting constraint conditions is calculated, so that when large load fluctuation occurs, frequency recovery can be achieved quickly by fully utilizing frequency modulation resources of a power source side and a load side, frequency control precision can be improved, frequency modulation effect of a power system is improved, and technical support is provided for heterogeneous flexible loads to participate in power system frequency adjustment.
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FIG. 1 is a flow chart of a control method of the present invention.
Fig. 2 is a schematic diagram of the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 2, the invention discloses a method for controlling load frequency of a heterogeneous flexible load participating in a power system, which comprises the following steps:
s1: establishing a frequency modulation model of a switch control type load group and a continuous control type load group;
s2: establishing a continuous state space model of a multi-region power system containing heterogeneous flexible loads;
s3: converting the multi-region power system continuous state space model into a discrete state space model;
s4: establishing a multi-region power system distributed prediction model based on the discrete state space model;
s5: and (3) carrying out rolling model solving by using a mixed model predictive control algorithm, and calculating an optimal control solution sequence meeting constraint conditions.
Specifically, in step S1, the method for establishing the frequency modulation model of the switch control type load group and the continuous control type load group includes: based on the dynamic characteristics and the regulation types of heterogeneous flexible loads participating in load frequency control, the heterogeneous flexible load groups participating in frequency regulation are divided into a switch control type load group and a continuous control type load group, frequency modulation models of the switch control type load group and the continuous control type load group are respectively built, and the modeling process is as follows:
step S11: the frequency modulation model of the switch controlled load group can be expressed as:
wherein ,the number of the load is controlled by a switch; />The total frequency modulation power of the load group is controlled by a switch;is->Group switch control type load participates in the frequency modulation power; />Is->Switching states of group-switch-controlled loads, wherein +.>，/>Indicate->Group switch controlled load does not participate in frequency regulation, < >>Indicate the input->Group switch controlled load,/->Indicating excision of +.>Group switch controlled load;
step S12: the frequency modulation model of the continuously controlled load group can be expressed as:
wherein ,the load quantity is continuously controlled; />Is->Actual frequency modulation power of the group continuous control type load; />Is->Frequency modulation reference power of group continuous control type load; />Is->Time constant of group continuous control type load; />The total frequency modulation power of the continuous control type load group.
Further, in step S2, the continuous state space model of the multi-region power system including the heterogeneous flexible load is: and establishing a continuous state space model of the multi-region power system containing heterogeneous flexible loads by combining the mathematical models of the switch control type load group and the continuous control type load group and the generator equivalent model.
The continuous state space model of the multi-region power system containing heterogeneous flexible loads is as follows:
wherein ,is area->Frequency deviation of (2); />Is the regional inertia coefficient; />Is a regional damping coefficient; />The output power variation of the steam turbine; />Is->Power of group continuous control type load; />Is->The switching state of the group switch control type load; />Is->Power of the group switch controlled load; />The power deviation of the connecting line between the current area and the adjacent area is obtained; />Is a load disturbance; />Integrating the partial output for the PI regulator; />Integrating the coefficients for the PI regulator; />Is a regional frequency deviation coefficient; />The output power variation of the speed regulator; />Is the time constant of the speed regulator; />Frequency modulation power is allocated to the reference of the traditional unit; />The difference adjustment coefficient is the primary frequency adjustment of the traditional unit; />Time constant of the steam turbine; />Is->Reference frequency modulation power of group continuous control type load; />Is->Time constant of group continuous control type load; />Is area->Frequency deviation of (2); />Is area->Area->Is used for the link synchronization coefficient of the computer system.
Further, in step S3, the continuous state space model of the multi-region power system is converted into a discrete state space model by using a zero-order sample-and-hold discretization method. The model conversion process comprises the following steps:
step S31: the multi-zone power system continuous state space is represented in a general form as:
wherein ,，/>，/>，/> and />Respectively represent area->State vectors, continuous control vectors, integer control vectors, load disturbance vectors, and output vectors; />Representing adjacent area +.>State vectors of (2); matrix->，/>，/>，/> and />Respectively represent area->State matrix and continuous control input matrix of (a)The system comprises a switching type control input matrix, a system disturbance matrix and an output matrix; />Representation area->And area->A state interaction matrix between the two;
state variablesExpressed as:
continuously controlled load group input vectorExpressed as:
switch control type load group input vectorExpressed as:
disturbance vectorExpressed as:
output vectorExpressed as:
step S32: to be used forFor a sampling period, discretizing a continuous state space model of the multi-region power system, the formed discrete state space model of the multi-region power system can be expressed as:
wherein ,，/>，/>，，/>，/>。
further, in step S4, the establishing a multi-region power system distributed prediction model based on the discrete state space model is as follows: based on frequency modulation constraint of a traditional unit and a heterogeneous flexible load group and a power system load frequency control target, a multi-region power system distributed prediction model is established on the basis of a discrete state space model.
The operation constraint conditions of the traditional frequency modulation unit are as follows:
wherein , and />The lower limit and the upper limit of the climbing speed of the frequency modulation unit are respectively set; /> and />Respectively the minimum value and the maximum value of the frequency modulation power of the traditional unit.
The continuous control type load group frequency modulation constraint conditions are as follows:
wherein , and />Respectively +.>The lower and upper limits of the group continuous control type load frequency modulation power.
The switch control type load group frequency modulation constraint conditions are as follows:
wherein ,indicate->Group switch controlled load does not participate in frequency regulation, < >>Indicate the input->Group switch controlled load,/->Indicating excision of +.>Group switch controlled load.
Frequency modulation constraint and power system load frequency control targets based on a traditional unit and heterogeneous flexible load group, and a multi-region power system distributed prediction model is built on the basis of a discrete state space model, and the method comprises the following steps:
step S41: and establishing an objective function of heterogeneous flexible loads participating in frequency regulation of the multi-region power system. The objective function is:
wherein ,，/> and />Respectively outputting a weighting matrix, a weighting matrix of continuous control quantity and a weighting matrix of integer control quantity; />For predicting the time domain +.>To control the time domain; />Is at->Time of day system output->At the position ofPrediction of time of day->Output for system->At->A reference value for time; />Is at->The continuous control quantity of the time is +.>Prediction of time of day->Is at->The control variable for the integer type at the moment is +.>And predicting the moment.
S42: and establishing a multi-region power system distributed prediction model according to the operation constraint condition of each frequency modulation resource and the frequency modulation objective function, wherein the multi-region power system distributed prediction model comprises discrete and continuous control quantities.
The multi-zone power system distributed prediction model may be expressed as:
wherein ,representing continuous control input constraints +.>Andrepresentation->Minimum and maximum values; />A value constraint representing an integer control amount;representing constraints of the output-> and />Respectively->Is a minimum and a maximum of (a).
Further, in step S5, the model solving is performed by using a hybrid model predictive control algorithm, and an optimal control solution sequence satisfying the constraint condition is calculated, including the following steps:
s51: solving the prediction model to obtain the slaveStart time to->Optimal control sequence of time of day and />；
S52: extracting a first set of control quantities from an optimal control sequence and />As a frequency modulation reference instruction, distributing the frequency modulation reference instruction to a traditional unit and heterogeneous flexible loads and executing the frequency modulation reference instruction;
s53: in the first placeThe optimization time period is further advanced, real-time measurement data are updated at the same time, and the prediction model is solved again, so that the rolling optimization control of the frequency of the multi-region power system is realized.
In summary, according to the heterogeneous flexible load participation power system load frequency control method, the switch control type load group and the continuous control type load group are established, the continuous state space model of the multi-region power system containing the heterogeneous flexible load is established on the basis, the continuous state space model of the multi-region power system is converted into the discrete state space model, the distributed prediction model of the multi-region power system is established on the basis of the discrete state space model, the rolling model is solved by utilizing the mixed model prediction control algorithm, the optimal control solution sequence meeting the constraint condition is calculated, the heterogeneous flexible load participation power system frequency control method is selected, and when the power system fluctuates, frequency recovery can be realized quickly by fully utilizing frequency modulation resources of a power source side and a load side. Meanwhile, the coupling relation of the multi-region power system is considered, a distributed mixed MPC control method is selected, the frequency control precision is improved, the frequency modulation effect of the power system is improved, and technical support can be provided for heterogeneous flexible loads to participate in the frequency adjustment of the power system.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.

Claims (5)

1. The heterogeneous flexible load participation power system load frequency control method is characterized by comprising the following steps of:
s1: dividing the heterogeneous flexible load group into a switch control type load group and a continuous control type load group based on the dynamic characteristics and the regulation types of the heterogeneous flexible load, and respectively establishing frequency modulation models of the switch control type load group and the continuous control type load group; s2: establishing a continuous state space model of a multi-region power system containing heterogeneous flexible loads; the continuous state space model of the multi-region power system containing heterogeneous flexible loads is as follows:
wherein ,is area->Frequency deviation of (2); />Is the regional inertia coefficient; />Is a regional damping coefficient; />The output power variation of the steam turbine; />Is->Power of group continuous control type load; />Is->The switching state of the group switch control type load; />Is->Power of the group switch controlled load; />The power deviation of the connecting line between the current area and the adjacent area is obtained; />Is a load disturbance; />Integrating the partial output for the PI regulator; />Integrating the coefficients for the PI regulator; />Is a regional frequency deviation coefficient; />The output power variation of the speed regulator; />Is the time constant of the speed regulator;frequency modulation power is allocated to the reference of the traditional unit; />The difference adjustment coefficient is the primary frequency adjustment of the traditional unit; />Time constant of the steam turbine; />Is->Reference frequency modulation power of group continuous control type load; />Is->Time constant of group continuous control type load; />Is area->Frequency deviation of (2); />Is area->Area->Is a tie-line synchronization coefficient of (a);
s3: converting the multi-region power system continuous state space model into a discrete state space model;
s4: based on frequency modulation constraint of a traditional unit and a heterogeneous flexible load group and a power system load frequency control target, a multi-region power system distributed prediction model is established on the basis of the discrete state space model; the method for establishing the multi-region power system distributed prediction model on the basis of the discrete state space model comprises the following steps:
s41: establishing an objective function of heterogeneous flexible loads participating in frequency adjustment of a multi-region power system;
s42: establishing a multi-region power system distributed prediction model according to the operation constraint condition of each frequency modulation resource and the frequency modulation objective function, wherein the multi-region power system distributed prediction model comprises discrete and continuous control quantities;
the objective function is:
wherein ,，/> and />Respectively outputting a weighting matrix, a weighting matrix of continuous control quantity and a weighting matrix of integer control quantity; />For predicting the time domain +.>To control the time domain; />Is at->Time of day system output->At the position ofPrediction of time of day->Output for system->At->A reference value for time; />Is at->The continuous control quantity of the time is +.>Prediction of time of day->Is at->Time to integer control variable is +.>Predicting time;
the multi-region power system distributed prediction model is as follows:
wherein ,representing continuous control input constraints +.> and />Representation->Minimum and maximum values; />A value constraint representing an integer control amount;representing constraints of the output-> and />Respectively->Minimum and maximum values of (2);
s5: and (3) carrying out rolling model solving by using a mixed model predictive control algorithm, and calculating an optimal control solution sequence meeting constraint conditions.
2. The heterogeneous flexible load participation power system load frequency control method of claim 1, wherein:
the frequency modulation model of the switch control type load group is as follows:
wherein ,the number of the load is controlled by a switch; />The total frequency modulation power of the load group is controlled by a switch;is->Group switch control type load participates in the frequency modulation power; />Is->Switching states of group-switch-controlled loads, wherein +.>，/>Indicate->Group switch controlled load does not participate in frequency regulation, < >>Indicate the input->Group switch controlled load,/->Indicating excision of +.>Group switch controlled load;
the frequency modulation model of the continuous control type load group is as follows:
wherein ,the load quantity is continuously controlled; />Is->Actual frequency modulation power of the group continuous control type load; />Is->Frequency modulation reference power of group continuous control type load; />Is->Time constant of group continuous control type load; />The total frequency modulation power of the continuous control type load group.
3. The method for controlling the load frequency of a heterogeneous flexible load-involved power system according to claim 1, wherein in step S2, the continuous state space model of the multi-region power system including the heterogeneous flexible load is: and establishing a continuous state space model of the multi-region power system containing heterogeneous flexible loads by combining the mathematical models of the switch control type load group and the continuous control type load group and the generator equivalent model.
4. The heterogeneous flexible load participation power system load frequency control method according to claim 1, wherein in step S3, the multi-region power system continuous state space model is converted into a discrete state space model by using a zero-order sample-and-hold discretization method; the method comprises the following steps:
s31: the multi-zone power system continuous state space is represented in a general form as:
wherein ,，/>，/>，/> and />Respectively represent area->State vectors, continuous control vectors, integer control vectors, load disturbance vectors, and output vectors; />Representing adjacent area +.>State vectors of (2); matrix->，/>，/>，/> and />Respectively represent area->A state matrix, a continuous control input matrix, a switch-type control input matrix, a system disturbance matrix and an output matrix; />Representation area->And area->A state interaction matrix between the two;
s32: to be used forFor the sampling period, discretizing a continuous state space model of the multi-region power system,
wherein ,，/>，/>，/>，/>，/>。
5. the heterogeneous flexible load participation power system load frequency control method of claim 1, wherein: in step S5, the model solving is performed by using a hybrid model predictive control algorithm, and an optimal control solution sequence satisfying the constraint condition is calculated, including the following steps:
s51: solving the prediction model to obtain the slaveStart time to->Optimal control sequence of time of day and />；
S52: extracting a first set of control quantities from an optimal control sequence and />As frequency modulation parameterThe test instruction is distributed to the traditional unit and heterogeneous flexible load and executed;
s53: in the first placeThe optimization time period is further advanced, real-time measurement data are updated at the same time, and the prediction model is solved again, so that the rolling optimization control of the frequency of the multi-region power system is realized.
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