CN107453381B - Electric car cluster power regulating method and system based on two stages cross-over control - Google Patents
Electric car cluster power regulating method and system based on two stages cross-over control Download PDFInfo
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Classifications
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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
- H02J3/28—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
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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
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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
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/48—Controlling the sharing of the in-phase component
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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
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/50—Controlling the sharing of the out-of-phase component
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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
- 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]
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Abstract
The present invention relates to a kind of electric car cluster power regulating methods and system based on two stages cross-over control, the following steps are included: 1) establish the mixing of electric car cluster active reactive controls and pessimistic concurrency control, the objective function and its constraint condition that active reactive optimal control is carried out to electric car cluster are determined；2) objective function and its constraint condition that active optimization is carried out to electric car cluster are established；3) charge period of electric car cluster is divided into several power control periods；4) objective function of active power controller is solved, obtains active power optimum results；5) objective function and its constraint condition to the grid-connected idle work optimization of electric car cluster are established；6) objective function of idle work optimization is solved, obtains wattles power economic equivalent result；7) step 4)~6 are repeated), active optimization and idle work optimization are carried out to electric car cluster within each power control period.It the composite can be widely applied to electric car cluster power regulation.
Description
Technical field
The present invention relates to the power regulating methods and system of a kind of electric car cluster, are based on two ranks especially with regard to one kind
The electric car cluster power regulating method and system of section cross-over control.
Background technique
In order to reduce the consumption to petroleum resources, alleviate problem of environmental pollution, effective method is being sought by each side, cleans
The use of the energy attracts widespread attention.Wherein, electric car replacing oil by electricity can be realized " zero-emission " and " low noise
Sound " gradually substitutes conventional fuel oil automobile, becomes the important means for solving energy consumption and environmental pollution.But electronic vapour
Vehicle needs to access power grid and charges, and on the one hand increases the load of power grid, to the safety of power supply and demand balance and electric system
Stability brings challenges；The another aspect electric car stop charging time is long, if can be carried out suitable regulation, has as movement
Battery energy storage participates in the potentiality that power grid is adjusted.A wide range of popularization and construction of the electric car charging and conversion electric facility in power distribution network are electricity
Electrical automobile charge control provides the foundation, and power electronic equipment is as between electric car energy-storage battery and distribution network line
Interface ensure that the rapidity and flexibility of the control of electric car charge power.Meanwhile with the construction of intelligent distribution system,
User demand response technology is by its bidirectional communication network, advanced measurement technology and advanced DSS, to user power utilization
Model is adjusted, and directly management or guidance user changes itself electric energy consumption behavior, promotes the optimization balance of supply and demand two sides, real
Show reliable power grid, safety, economy, efficient, the environmental-friendly and safe efficient operation of use.To the electronic of extensive access power grid
Automobile carries out a kind of important control means and resource form that charge power control is user demand response technology, electric car collection
The grid-connected battery energy management of group also can be considered a kind of virtual energy storage system, stabilizes distribution type renewable energy access power grid and causes
Power swing, further increase the value in terms of economy and environment brought by clean energy resource.Therefore, how meet it is electronic
It is the controllable resources that power grid provides that electric car rechargeable energy is made full use of while user vehicle demand, how to be directed to electronic vapour
The grid-connected feature of vehicle cluster promotes regulation level and economic and environmental benefit, will become intelligence and match electricity consumption and electric car cutting-in control
The middle critical issue for needing to solve.
Nowadays, it has been working on both at home and abroad from the charge power how quantitative technical standpoint research adjusts electric car and is
Power grid provides a variety of ancillary services.Such as: propose the evaluation method of electric car charging load and to grid power quality shadow
Loud analysis and assessment method establishes the electric car cutting-in control model comprising automobile user and power distribution network framework；It will
The controller of electric car cluster is interacted as temporary location with power grid, proposes multilayer control structure to reduce control difficulty and lead to
Letter burden；Establishing with electric car charge-discharge electric power is the energy-optimised scheduling model for controlling variable, using intelligent optimization algorithm
The Optimal Scheduling for solving multiple target more periods realizes peak load shifting by the adjusting to electric car power, and reduction is matched
Net operating cost improves the economic and environmental benefits such as new energy consumption.But electric car individual capacity is small and widely distributed, user
Demand is different, and extensive electric car centralized optimization call duration time is long, calculates magnanimity, and existing research still lacks to electronic vapour
Effective solution of vehicle cluster grid-connected complete modeling and centralized control difficult problem.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of electric car cluster function based on two stages cross-over control
Rate adjusting method and system realize the quick control of the electric car cluster dispersed greatly to amount by two stages cross-over control mode
System and global optimization, solve the unordered charging bring power quality problem of a large amount of electric cars, and provide idle branch for power grid
It holds.
To achieve the above object, the present invention takes following technical scheme: a kind of electronic vapour based on two stages cross-over control
Vehicle cluster power regulating method, it is characterised in that the following steps are included: 1) establishing the mixing control of electric car cluster active reactive
And pessimistic concurrency control, and the objective function and its about that active reactive optimal control is carried out to electric car cluster is determined according to the model
Beam condition；2) it based on the objective function for carrying out active reactive optimal control to electric car cluster, establishes to electric car cluster
Carry out the objective function and its constraint condition of active optimization control；3) charge period of electric car cluster is divided into several EV
Power control period TC, every EV power control period TC are divided into EV charge power optimization period TP and EV the Reactive-power control period again
Two stages of TQ；4) current EV charge power optimization period TP in, according to the active optimization of foundation control objective function and
Its constraint condition optimizes scheduling to the active power of all vehicles in electric car cluster, obtains in electric car cluster
The active power regulation result of each electric car；5) objective function for carrying out idle work optimization grid-connected to electric car cluster is established,
And in the electric car cluster according to obtained in electric car electrically-charging equipment operation characteristic and step 4) each electric car it is active
Power regulation is as a result, establish the Reactive-power control constraint condition of decoupled active and reactive degree；6) in current EV Reactive-power control period TQ,
According to the objective function of the idle work optimization of foundation and Reactive-power control constraint condition, idle work optimization is carried out to electric car cluster, is obtained
The reactive power adjusted result of each electric car in electric car cluster；7) step 4)~6 are repeated), in each EV charge power
Optimize in period TP and active optimization is carried out to electric car cluster, in each EV Reactive-power control period TQ, to electric car cluster
Idle work optimization is carried out, until all EV power control period TC of electric car cluster terminate.
In the step 1), the mixing of electric car cluster active reactive controls and pessimistic concurrency control, and to electric car collection
Group carries out the objective function of active reactive optimal control and its method for building up of constraint condition, comprising the following steps: 1.1) basis
Automobile user demand and power grid user side apparatus power regulation target establish electric car cluster and pessimistic concurrency control；1.2) sharp
With the Reactive-power control ability of electric vehicle charge interface power electronic equipment, add in the electric car cluster and pessimistic concurrency control of foundation
Enter electric car cluster no-power compensation function, obtains the mixing of electric car cluster active reactive controls and pessimistic concurrency control；1.3) root
Control according to the electric car cluster active reactive mixing of foundation and pessimistic concurrency control, obtains carrying out active reactive to electric car cluster
The objective function of optimal control；1.4) point according to topological structure of electric and typical load curve combination electric car in power grid
Cloth situation calculates the operation of power networks state of extensive electric car access, and then obtains the objective function of active reactive optimal control
The operation of power networks constraint that need to meet and grid power equilibrium constraint；1.5) according to electric car vehicle, battery capacity, user
Down time and electrically-charging equipment rated capacity parameter calculate batteries of electric automobile state, controllable range of capacity and electric car and fill
Electric load, and then the batteries of electric automobile energy storage constraint and charging that the need for obtaining the objective function of active reactive optimal control meet
Power constraints.
In the step 1), the objective function that active reactive optimal control is carried out to electric car cluster are as follows:
In formula, RijThe impedance of route between i-th of node of power grid and j-th of node；N is grid nodes number；Iij(t)
For the line current of t moment；F (X) is total network loss in the T period；X be optimized variable and system state variables, and:
In formula,For the charge power namely active power of electric car t moment；It is mentioned for electric car
The reactive power regulated quantity of confession；K is the number of the electric car in electric car cluster；
The bound for objective function of the active reactive optimal control includes operation of power networks constraint condition, grid power
Equilibrium constraint and batteries of electric automobile energy storage constraint and charge power constraint condition；
Wherein, the operation of power networks constraint condition are as follows:
Vmin≤|Vi(t)|≤Vmaxi∈N；
In formula, ViIt (t) is the amplitude of the voltage of node i, VmaxAnd VminThe respectively upper and lower limit of voltage deviation；Imax(t)
For capacity of trunk limitation；
The grid power equilibrium constraint are as follows:
In formula,WithRespectively generated output；WithRespectively load active power and nothing
Function power；Vi(t) and δi(t) be respectively node i voltage amplitude and phase angle；Vj(t) and δj(t) it is respectively and i adjacent node
The voltage magnitude and phase angle of j；YijAnd θijThe respectively amplitude and phase angle of node admittance matrix；
The batteries of electric automobile energy storage constraint and charge power constraint condition are respectively as follows:
In formula, CbatFor battery capacity, CeffFor the charge efficiency of electrically-charging equipment；It is kth electricity at access node i
The initial cell energy storage state of electrical automobile；SOCminAnd SOCmaxFor by when electric car charging complete battery energy storage up and down
Limit；SOCi,kIt (t) is the battery capacity of kth electric car at access node i.
In the step 2), the objective function of active power controller and its building for constraint condition are carried out to electric car cluster
Cube method, comprising the following steps:
2.1) according to power grid basic load, electric car charging load and distributed power generation, to electric car cluster into
The objective function of row active reactive power control carries out equivalent-simplification, obtains carrying out active optimization control to electric car cluster
Objective function:
In formula, F1It (X) is the net load quadratic sum comprising electric car and distributed power generation； Respectively
The load and distributed power generation of access node i；For the charging load of kth electric car；KiAt access node i
Electric car quantity；
2.2) according to the rated output power of electric car electrically-charging equipment, the charge power and grid requirements of different automobile types
Access load range, obtain the active power regulation range constraint condition that need to meet of objective function of active optimization control:
In formula,WithRespectively the rated output power of electric car electrically-charging equipment and different automobile types are set most
Big charge power；Pi,minAnd Pi,maxThe respectively load range that is set according to grid requirements of electric car cluster access point.
In the step 4), according to the objective function and its constraint condition of the control of the active optimization of foundation, to electric car
The method that the charge power of all vehicles optimizes scheduling in cluster, comprising the following steps: 4.1) by the active optimization of foundation
The objective function of control is decomposed, and the upper layer optimization aim for realizing total charging Load Regulation in dispatching of power netwoks level is obtained
Function, and for tracking the objective function for adjusting lower layer's tracing control of each electric car charge power；4.2) according to upper
Layer optimization object function and grid load curve carry out upper layer and optimize to obtain total charging load target of electric car cluster；
4.3) total charging load target of the electric car cluster according to obtained in lower layer's tracing control objective function and step 4.2),
Active power regulation is carried out to each electric car in electric car cluster using dispersion optimization method, obtains electric car cluster
Interior each electric car meets the active power regulation result that upper layer is always charged under load target in charge period.
In the step 4.1), the upper layer optimization object function are as follows:
In formula, G (Y) is to minimize load fluctuation；Y is optimized variableThat is electric car cluster always charges load
Target value；For meter and the load average value of electric car charging；For the charge power of kth electric car；For
Network load, and:
The objective function of lower layer's tracing control are as follows:
In formula, H (Z) is the target value of total charging loadWith the practical charge power of electric carBetween
Difference；Z is optimized variable
In the step 4.3), according to lower layer's tracing control objective function and total charging load mesh of electric car cluster
Mark, the method that active power regulation is carried out to electric car cluster using dispersion optimization method, comprising the following steps:
When total charging load target of electric car cluster 4.3.1) being evenly distributed to the charging of each electric car setting
Section, and according to the bound constraint condition of active power, the initial value of each electric car charge power curve is calculated:
4.3.2 it) according to the initial value of each electric car charge power curve, calculates each electronic in current electric car cluster
Difference between automobile charge power summation and total charging load target value:
In formula, m indicates the number of iterations；For the charge power for the kth electric car that last iteration obtains；Kv=
Ki× N is electric car sum；
4.3.3) the difference according to obtained in step 4.3.2), to the charge power of each electric car in electric car cluster
Curve optimizes respectively, and is updated according to the charge power optimized variable of each electric car to its charge power curve；
The objective function that the charge power of each electric car in electric car cluster is optimized are as follows:
In formula,For the kth electric car charge power optimized variable that current iteration acquires, andFor
4.3.4 after) judgement updates in electric car cluster between each charge power summation and total charging load target value
Whether difference meets the condition of convergence, i.e. whether difference is less than the boundary value of setting or reaches the maximum number of iterations of setting: if not
Meet, then return step 4.3.2), carry out next iteration；If satisfied, then iteration terminates, result is exported.
In the step 5), the objective function of the grid-connected idle work optimization of electric car cluster and building for Reactive-power control constraint condition
Cube method, comprising the following steps: 5.1) according in idle work optimization period TQ electric car electrically-charging equipment Reactive-power control amount and connect
The operation of power networks state variable for entering electric car charging load, establishes the objective function of the grid-connected idle work optimization of electric car；5.2)
According to the chargometer of each electric car in electric car cluster obtained in electric car electrically-charging equipment operation characteristic and step 4)
It draws, establishes the Reactive-power control constraint condition that the objective function of idle work optimization need to meet；5.3) according to the objective function peace treaty of foundation
Beam condition carries out idle work optimization to electric car cluster, and the reactive power for obtaining each electric car in electric car cluster adjusts knot
Fruit.
In the step 5), the objective function of the idle work optimization of foundation are as follows:
In formula, F2It (X) is total network loss of t moment, optimized variable X is the reactive power that electric car provides
The constraint condition of the idle work optimization are as follows:
In formula,For the rated capacity of electric car electrically-charging equipment；Cos θ indicates minimum power when charging equipment work
Factor；The t moment active power optimal solution provided is controlled for the first stage, and
In formula, PvmaxFor the active power maximum value of electric car.
A kind of electric car cluster power regulating system based on two stages cross-over control suitable for the method, it is special
Sign is: comprising:
Grid-connected model construction module, for constructing the mixing of electric car cluster active reactive controls and pessimistic concurrency control, and root
The objective function and its constraint condition that active reactive optimal control is carried out to electric car cluster are obtained according to described and pessimistic concurrency control；
Active optimization objective function constructs module, for carrying out the mesh of active reactive optimal control based on electric car cluster
The objective function and its constraint condition that active optimization is carried out to electric car cluster is calculated in scalar functions；
Charge period division module includes active power for the charge period of electric car cluster to be divided into several
It adjusts the period and reactive power adjusts the electric car charge power of adjusting period period two and optimizes the period；
Active power optimization module, for having within each active power regulation period according to electric car cluster
The objective function and its constraint condition of function optimization carry out active power regulation to electric car cluster；
Idle work optimization objective function constructs module, for establishing the objective function for carrying out idle work optimization to electric car cluster
And its constraint condition；
Wattles power economic equivalent module carries out nothing according to electric car cluster for adjusting in the period in each reactive power
The objective function and its constraint condition of function optimization carry out reactive power adjusting to electric car cluster.
The invention adopts the above technical scheme, which has the following advantages: 1 is of the invention by the active nothing of electric car cluster
Function mixing control is decomposed into active power optimization and idle work optimization, and active power controller realization matches with power grid local load,
Peak load shifting is realized under conditions of meeting user demand, guarantees the economic security operation of power grid；Reactive Power Control it is main
Target is voltage and reactive power optimization, considers that electrically-charging equipment regulating power is realized on the basis of realizing first stage active optimization
Idle work optimization effectively reduces control complexity by two stages cross-over control mode.2, the present invention in the first stage active
The power control period, according to charging load with active reactive Hybrid Control Model simplify it is equivalent, for electronic in cluster
Automobile charging load management establishes electric car cluster and pessimistic concurrency control, avoids topological structure of electric and models relevant complexity
Degree.3, the present invention is in the Reactive power control of second stage, by avoiding multi-period Optimized model to electric motor car cluster
Relevant complexity.To significantly reduce control difficulty and communications burden, answered for the reality of electric car cluster cutting-in control
With providing effective means.Thus, the present invention can be widely applied to the grid-connected power control field of electric car cluster.
Detailed description of the invention
Fig. 1 is the charge power adjusting method flow chart of the electric car cluster the present invention is based on two stages cross-over control；
Fig. 2 is the schematic diagram that electric car active reactive mixing of the present invention is adjusted；
Fig. 3 (a) is the schematic diagram of electric car cluster charging Load Regulation of the present invention；
Fig. 3 (b) is the schematic diagram of electric car cluster Reactive-power control of the present invention；
Fig. 4 is that electric car charge power of the present invention is adjusted and energy state schematic diagram；
Fig. 5 is the line loss schematic diagram of the grid-connected power regulation of electric car cluster of the present invention；
Fig. 6 is the voltage deviation schematic diagram of the grid-connected power regulation of electric car cluster of the present invention.
Specific embodiment
Of the invention is described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of electric car cluster power regulation side based on two stages cross-over control proposed by the present invention
Method, comprising the following steps:
1) mixing of electric car cluster active reactive controls and pessimistic concurrency control is established, and is determined according to the model to electronic vapour
The objective function and its constraint condition of vehicle cluster progress active reactive optimal control；
2) objective function based on the active reactive optimal control in step 1) is established active to the progress of electric car cluster
The objective function and its constraint condition of optimal control；
3) charge period of electric car cluster is divided into several EV (electric car) power control period TC, every EV
Power control period TC is divided into EV charge power optimization two stages of period TP and EV Reactive-power control period TQ again；
4) in first stage, i.e., in current EV charge power optimization period TP, according to the control of the active optimization of foundation
Objective function and its constraint condition optimize scheduling to the active power of all vehicles in electric car cluster, obtain electronic
In automobile cluster each electric car active power regulation as a result, i.e. each electric car charging plan；
5) objective function for carrying out idle work optimization grid-connected to electric car cluster is established, and according to electric car electrically-charging equipment
The active power regulation of each electric car is as a result, establish active nothing in electric car cluster obtained in operation characteristic and step 4)
The Reactive-power control constraint condition of function decoupling degree；
6) in second stage, i.e., in current EV Reactive-power control period TQ, according to the objective function of the idle work optimization of foundation
And Reactive-power control constraint condition, idle work optimization is carried out to power grid automobile cluster, obtains each electric car in electric car cluster
Reactive power adjusted result；
7) step 4)~6 are repeated), electric car cluster is carried out in each EV charge power optimization period TP active excellent
Change, in EV Reactive-power control period TQ, idle work optimization is carried out to electric car cluster, until all EV function of electric car cluster
Rate control time TC terminates.
Above-mentioned steps 1) in, the mixing of electric car cluster active reactive controls and pessimistic concurrency control, and to electric car collection
Group carries out the objective function of active reactive optimal control and its method for building up of constraint condition, comprising the following steps:
1.1) according to automobile user demand and power grid user side apparatus power regulation target, electric car cluster is established
And pessimistic concurrency control.
1.2) as shown in Fig. 2, using electric vehicle charge interface power electronic equipment Reactive-power control ability, in foundation
Electric car cluster no-power compensation function is added in electric car cluster and pessimistic concurrency control, it is mixed to obtain electric car cluster active reactive
Close control and pessimistic concurrency control.
1.3) controlled according to the mixing of the electric car cluster active reactive of foundation and pessimistic concurrency control, obtains to electric car collection
Group carries out the objective function of active reactive optimal control.
To the target that electric car cluster carries out active reactive optimal control be make the charging load of electric car cluster with
Grid load curve matches, and realizes the effect of peak load shifting, while providing no-power compensation function and further increasing power supply quality
It is lost with distribution network line is reduced, thus, obtain the objective function for carrying out active reactive optimal control are as follows:
In formula, RijThe impedance of route between i-th of node of power grid and j-th of node；N is grid nodes number；Iij(t)
For the line current of t moment；F (X) is total network loss in the T period；X be optimized variable and system state variables, and:
In formula,For the charge power namely active power of electric car t moment；It is mentioned for electric car
The reactive power regulated quantity of confession；K indicates the number of the electric car in electric car cluster.
1.4) distribution situation according to topological structure of electric and typical load curve combination electric car in power grid calculates
The operation of power networks state of extensive electric car access, and then the electricity that the objective function for obtaining active reactive optimal control need to meet
Net operation constraint and grid power equilibrium constraint.
Wherein, operation of power networks constraint condition are as follows:
Vmin≤|Vi(t)|≤Vmax i∈N (3)
In formula, ViIt (t) is the amplitude of the voltage of node i, VmaxAnd VminThe respectively upper and lower limit of voltage deviation；Imax(t)
For capacity of trunk limitation.
Grid power equilibrium constraint are as follows:
In formula,WithRespectively generated output；WithRespectively load active power and nothing
Function power；Vi(t) and δi(t) be respectively node i voltage amplitude and phase angle；Vj(t) and δj(t) it is respectively and i adjacent node
The voltage magnitude and phase angle of j；YijAnd θijThe respectively amplitude and phase angle of node admittance matrix.
1.5) according to electric car vehicle, battery capacity, the parameters meter such as user's down time and electrically-charging equipment rated capacity
Batteries of electric automobile state, controllable range of capacity and electric car charging load are calculated, and then obtains active reactive optimal control
The batteries of electric automobile energy storage constraint and charge power constraint condition that the need of objective function meet.
Wherein, batteries of electric automobile energy storage constraint and charge power constraint condition are respectively as follows:
In formula, CbatFor battery capacity, CeffFor the charge efficiency of electrically-charging equipment；It is kth electricity at access node i
The initial cell energy storage state of electrical automobile；SOCi,kIt (t) is the battery capacity of kth electric car at access node i；
SOCminAnd SOCmaxFor by the bound of battery energy storage when electric car charging complete, be generally set by the user the off-network time and from
SOC limitation when net additionally needs and guarantees that battery energy storage is without departing from battery capacity range at any time.Charge power it is adjustable
Adjusting range is limited by the rated capacity of charging equipment:
In formula, PfminAnd PfmaxFor the bound of charging equipment adjustable extent, and present invention assumes that charging equipment only has
Charge function does not consider that bidirectional power is adjusted.
Above-mentioned steps 2) in, the objective function of active power controller and its building for constraint condition are carried out to electric car cluster
Cube method, comprising the following steps:
It 2.1), will be to electric car cluster according to power grid basic load, electric car charging load and distributed power generation
The objective function for carrying out active reactive power control carries out equivalent-simplification, obtains carrying out active optimization control to electric car cluster
Objective function.
Since that is established in step 1) carries out the objective function of active reactive optimal control in reality to electric car cluster
Border is difficult when calculating, so the present invention carries out equivalent-simplification to it.According to the radial topological structure of low and medium voltage distribution network and
Route R/X realizes the target of reduction network loss by adjusting active power distribution, can be equivalent to and reduce load wave than high characteristic
Dynamic, real power control reaches by making electric car charging load match with grid load curve and reduces power distribution network in step 1)
The target of line loss.
To realize the quick control to large number of electric car, the load curve phase of charging load and access area is considered
Matching, Optimal Operation Model does not include topological structure of electric, using day part electric car charge power as optimized variable, realizes flat
The target of slipstream test curve: by the reasonable layout of electric car cluster charging load, reduce the negative of the power grid in charge period
Lotus variation, reduces peak-valley difference, improves operation of power networks condition, thus the objective function of active power controller are as follows:
In formula, F1(X) it is the net load quadratic sum comprising electric car and distributed power generation, reflects load fluctuation feelings
Condition； The respectively load and distributed power generation of access node i；For the charging of kth electric car
Load；KiFor the electric car quantity at access node i.
2.2) according to the rated output power of electric car electrically-charging equipment, the charge power and grid requirements of different automobile types
Access load range, obtain the active power regulation range constraint condition that need to meet of objective function of active optimization control:
In formula,WithRespectively the rated output power of electric car electrically-charging equipment and different automobile types are set most
Big charge power；Pi,minAnd Pi,maxThe respectively load range that is set according to grid requirements of electric car cluster access point.
Above-mentioned steps 4) in, according to the objective function and its constraint condition of the active power controller of foundation, to electric car
The method that the charge power of all vehicles optimizes scheduling in cluster, comprising the following steps:
4.1) objective function by the active optimization control established in step 2) decomposes, and obtains in dispatching of power netwoks
Level realizes the upper layer optimization object function of total charging Load Regulation, and adjusts each electric car charge power for tracking
Lower layer's tracing control objective function.
More faster to make to calculate, the present invention decomposes the objective function that active optimization controls, and upper layer optimization is real
Load fluctuation is now minimized, lower layer's tracking is realizedThen dual-layer optimization result can with it is above-mentioned active excellent
Change equivalent, and its constraint condition is consistent with the bound for objective function of active power controller in step 3).
Wherein, the objective function of upper layer optimization are as follows:
In formula, G (Y) is to minimize load fluctuation；Y is optimized variableIndicate the electronic vapour of participation dispatching of power netwoks
Vehicle cluster always charges the target value of load；For meter and the load average value of electric car charging；For the electronic vapour of kth
The charge power of vehicle；For network load, the summation of the access load and distributed generation resource in above-mentioned formula (11) is indicated,
That is:
The objective function of lower layer's tracing control are as follows:
In formula, H (Z) is the target value of total charging loadWith the practical charge power of electric carBetween
Difference；Z is optimized variable
4.2) it according to upper layer optimization object function (14) and grid load curve, carries out upper layer and optimizes to obtain electric car
Total charging load target of cluster
4.3) total charging of the electric car cluster according to obtained in lower layer's tracing control objective function and step 4.2)
Load targetActive power regulation is carried out to electric car cluster using dispersion optimization method, obtains electric car collection
Each electric car meets the active power regulation result that upper layer is always charged under load target in charge period in group.
Above-mentioned steps 4.3) in, optimized variable in the objective function of the tracking of the lower layer as shown in formula (17)Include
Charge power of all electric cars in day part, is denoted as PEV,k(t)=[PEV,1(t),…,PEV,k(t),…PEV,Ki×N(t)]T,
Although the problem is convex double optimization problem, but when electric car quantity is larger, centralized optimization method solves difficult.For drop
Low computation complexity has the characteristics that weak coupling according to the optimization problem, i.e., each electric car is excellent using dispersion optimization method
Change variable PEV,k(t) it decouples in constraint, is only coupled in objective function each other, filling for itself can be separately optimized in each electric car
Electrical power, while mutually coordinating with electric car cluster charge power general objective, the identical effect of centralized optimization is reached by iteration,
Each electric car P is iteratively solved every timeEV,k(t) the small-scale optimization problem constituted with coordination information reduces and calculates the time.
According to total charging load target of lower layer's tracing control objective function and electric car cluster, optimized using dispersion
The method that method carries out active power regulation to electric car cluster, comprising the following steps:
When total charging load target of electric car cluster 4.3.1) being evenly distributed to the charging of each electric car setting
Section, and according to the bound constraint condition of active power, the initial value of each electric car charge power curve is calculated:
4.3.2 it) according to the initial value of each electric car charge power curve, calculates each electronic in current electric car cluster
Difference between automobile charge power summation and total charging load target value:
In formula, m indicates the number of iterations；For the charge power for the kth electric car that last iteration obtains；Kv=
Ki× N is electric car sum, which plans to obtain and day part charge power using each car charging of last iteration
Difference
4.3.3) the difference according to obtained in step 4.3.2), to the charge power of each electric car in electric car cluster
Curve optimizes respectively, and is updated according to the charge power optimized variable of each electric car to its charge power curve.
The objective function that the charge power of each electric car in electric car cluster is optimized are as follows:
In formula,For the kth electric car charge power optimized variable that current iteration acquires, andFor
4.3.4 after) judgement updates in electric car cluster between each charge power summation and total charging load target value
Whether difference meets the condition of convergence, i.e. whether difference is less than the boundary value of setting or reaches the maximum number of iterations of setting.If no
Meet, then return step 4.3.2), carry out next iteration；If satisfied, then iteration terminates, result is exported.
Above-mentioned steps 5) in, the objective function of the grid-connected idle work optimization of electric car cluster and building for Reactive-power control constraint condition
Cube method, comprising the following steps:
5.1) it is filled according to the electric car electrically-charging equipment Reactive-power control amount in idle work optimization period TQ with access electric car
The operation of power networks state variable of electric load, establishes the objective function of the grid-connected idle work optimization of electric car.
The Reactive-power control ability being had according to electric car electrically-charging equipment is excellent with the reactive power provided at access point
Change variable, reduces grid net loss.Idle work optimization is the second stage of above-mentioned two stages active reactive cross-over control, electronic in implementation
On the basis of automobile charge power Optimized Operation, reactive power control is carried out within each period, optimization problem only considers single
Period is to simplify solution procedure.The objective function of the grid-connected idle work optimization of electric car are as follows:
In formula, F2It (X) is total network loss of t moment, optimized variable X is the reactive power that electric car provides
5.2) each electronic in the electric car cluster according to obtained in electric car electrically-charging equipment operation characteristic and step 4)
The Reactive-power control constraint condition that the objective function of idle work optimization need to meet is established in the charging plan of automobile.
Constraint condition is the degree of coupling constraint of electric car active reactive mixing control, is shown below:
In formula,For the rated capacity of electric car electrically-charging equipment, when indicating while active power and reactive power being provided
The capacity-constrained of power device.When considering running wastage, formula (23) conversion are as follows:
In formula, SR,kFor the limitation of charging equipment of electric automobile working capacity；For the running wastage of power device；T moment charge power optimal solution is provided for first stage control, and
In formula, PvmaxFor the active power maximum value of electric car, it is no more than electric car and electrically-charging equipment both sides sets
Specified charge power determined in two-stage control implementation procedure by the optimal solution of first stage.
In formula, cos θ indicates minimum power factor when charging equipment work, indicates power grid to the output work of grid-connection device
Rate limitation.When considering running wastage, formula (26) is converted to following formula:
In formula, tan θ is that the power factor of grid-connection device constrains；For the running wastage of power device.
5.3) idle work optimization is carried out to electric car cluster according to the objective function of foundation and constraint condition, obtains electronic vapour
The reactive power adjusted result of each electric car in vehicle cluster.
Electric car cluster power regulating method based on above-mentioned two stages cross-over control, the present invention also propose a kind of be applicable in
In the electric car cluster power regulating system based on two stages cross-over control of this method comprising:
Grid-connected model construction module, for constructing the mixing of electric car cluster active reactive controls and pessimistic concurrency control, and root
According to this, simultaneously pessimistic concurrency control obtains objective function and its constraint condition that active reactive optimal control is carried out to electric car cluster；
Active optimization objective function constructs module, for carrying out the mesh of active reactive optimal control based on electric car cluster
The objective function and its constraint condition that active optimization is carried out to electric car cluster is calculated in scalar functions；
Charge period division module includes active power for the charge period of electric car cluster to be divided into several
It adjusts the period and reactive power adjusts the electric car charge power of adjusting period period two and optimizes the period；
Active power optimization module, for having within each active power regulation period according to electric car cluster
The objective function and its constraint condition of function optimization carry out active power regulation to electric car cluster；
Idle work optimization objective function constructs module, for establishing the objective function for carrying out idle work optimization to electric car cluster
And its constraint condition；
Wattles power economic equivalent module carries out nothing according to electric car cluster for adjusting in the period in each reactive power
The objective function and its constraint condition of function optimization carry out reactive power adjusting to electric car cluster.Below with specific example
To verify the feasibility provided by the invention based on two stages cross-over control electric car cluster power conditioning technology.Choose 33 sections
Point typical distribution net simultaneously accesses multiple types electric car in different nodes, sets grid-connected electric car sum as 300, wherein
Each half of the two kinds of electric car of Tesla Roadster and Nissan Leaf is randomly distributed in 6 nodes and obtains from feeder line
It takes charge power and reactive power is provided and carry out reactive power optimization.It sets electric car charging scenarios to charge as family, in evening
Electric car is according to the berthing time of user and departure time and electricity in the upper 6 points charge periods to 6: 12 hours of morning
State computation electric car charging load in pond is about the 10%~15% of total load, under unordered charge condition, this part electricity
Electrical automobile charges load will be with basic load curve combining, peak value and power supply quality generation adverse effect to power grid.
It is the basic load that electric car accesses 33 Node power distribution systems in the present embodiment as shown in Fig. 3 (a), Fig. 3 (b),
The networking of electric car is set, the off-network time, the data fits normal distribution such as mileage travelled bring energy content of battery consumption is electronic
Automobile charging load is about 12.5% by calculating accounting.In the case where not controlling charging situation, electric car access is charged, and gained fills
Electric load curve is compared with charge power control situation.The distribution network of electric car access is powered by Bulk Supply Substation, upper layer
Power grid is conveyed to the active power of distribution by Bulk Supply Substation, shown in reactive power such as attached drawing 3 (b).A large amount of electric car chargings
Load increases the peak load of power grid, and by the Optimized Operation to electric car cluster rechargeable energy, peak load is reduced
24.8%, the charging load of electric car was elapsed backward to the underload period, realized the target of smooth load curve.Electric car
Cluster provides Reactive-power control at access point, advanced optimize distribution power distribution, Bulk Supply Substation conveying reactive power and
Apparent energy is all accordingly reduced, and is conducive to the operating cost for reducing power grid, improves the economic effect of electric car charge power control
Benefit.It is respectively 3.7MWh and 2.9MWh using total network loss before and after the electric car cluster power regulation, network loss reduces 21%,
Realize the optimization aim for minimizing loss.
It is adjusted and energy state schematic diagram as shown in figure 4, carrying out charge power to electric car cluster for the present invention.In figure
The charging plan of each electric car is provided by power control algorithm, different according to the parameter of each electric car, is entirely being filled
Charging plan and energy content of battery SOC variation in the electric period, guarantee that all vehicles are all satisfied grid-connected time set by user and electricity
The demands such as pond SOC.
It as shown in Figure 5, Figure 6, is the voltage deviation schematic diagram of the grid-connected power regulation of electric car cluster.It can from figure
Out, the application of electric car cluster power control techniques significantly reduces voltage deviation and line loss, and electric car charging is negative
Voltage deviation is limited within 10% after lotus introduces power grid, and peak line loss reduces 37.4%, so that node voltage and line
Road electric current is not out-of-limit, guarantees the safe and stable operation and power supply quality of power grid.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all
It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude
Except protection scope of the present invention.
Claims (10)
1. a kind of electric car cluster power regulating method based on two stages cross-over control, it is characterised in that including following step
It is rapid:
1) mixing of electric car cluster active reactive controls and pessimistic concurrency control is established, and is determined according to the model to electric car collection
Group carries out the objective function and its constraint condition of active reactive optimal control；
2) it based on the objective function for carrying out active reactive optimal control to electric car cluster, establishes and electric car cluster is carried out
The objective function and its constraint condition of active optimization control；
3) charge period of electric car cluster is divided into several EV power control period TC, every EV power control period TC
It is divided into EV charge power optimization two stages of period TP and EV Reactive-power control period TQ again；
4) in current EV charge power optimization period TP, according to the objective function of the active optimization of foundation control and its constraint item
Part optimizes scheduling to the active power of all vehicles in electric car cluster, obtains each electronic vapour in electric car cluster
The active power regulation result of vehicle；
5) objective function for carrying out idle work optimization grid-connected to electric car cluster is established, and is run according to electric car electrically-charging equipment
The active power regulation of each electric car is as a result, establish active reactive solution in electric car cluster obtained in characteristic and step 4)
The Reactive-power control constraint condition of coupling degree；
6) in current EV Reactive-power control period TQ, item is constrained according to the objective function of the idle work optimization of foundation and Reactive-power control
Part carries out idle work optimization to electric car cluster, obtains the reactive power adjusted result of each electric car in electric car cluster；
7) step 4)~6 are repeated), active optimization is carried out to electric car cluster in each EV charge power optimization period TP,
In each EV Reactive-power control period TQ, idle work optimization is carried out to electric car cluster, until all EV power of electric car cluster
Control time TC terminates.
2. the electric car cluster power regulating method based on two stages cross-over control, feature exist as described in claim 1
In: in the step 1), the mixing of electric car cluster active reactive controls and pessimistic concurrency control, and electric car cluster is carried out
The objective function of active reactive optimal control and its method for building up of constraint condition, comprising the following steps:
1.1) according to automobile user demand and power grid user side apparatus power regulation target, it is grid-connected to establish electric car cluster
Model；
1.2) utilize electric vehicle charge interface power electronic equipment Reactive-power control ability, foundation electric car cluster simultaneously
Electric car cluster no-power compensation function is added in pessimistic concurrency control, obtains the grid-connected mould of electric car cluster active reactive mixing control
Type；
1.3) according to the electric car cluster active reactive of foundation mixing control and pessimistic concurrency control, obtain to electric car cluster into
The objective function of row active reactive optimal control；
1.4) distribution situation according to topological structure of electric and typical load curve combination electric car in power grid calculates big rule
The operation of power networks state of mould electric car access, and then the power grid fortune that the objective function for obtaining active reactive optimal control need to meet
Row constraint and grid power equilibrium constraint；
1.5) it according to electric car vehicle, battery capacity, user's down time and electrically-charging equipment rated capacity parameter, calculates electronic
Automobile batteries state, controllable range of capacity and electric car charging load, and then obtain the target letter of active reactive optimal control
The batteries of electric automobile energy storage constraint and charge power constraint condition that several need meet.
3. the electric car cluster power regulating method based on two stages cross-over control, feature exist as described in claim 1
In: in the step 1), the objective function that active reactive optimal control is carried out to electric car cluster are as follows:
In formula, RijThe impedance of route between i-th of node of power grid and j-th of node；N is grid nodes number；Iij(t) be t when
The line current at quarter；F (X) is total network loss in the T period；X be optimized variable and system state variables, and:
In formula,For the charge power namely active power of electric car t moment；It is provided for electric car
Reactive power regulated quantity；K is the number of the electric car in electric car cluster；
The bound for objective function of the active reactive optimal control includes operation of power networks constraint condition, grid power balance
Constraint condition and batteries of electric automobile energy storage constraint and charge power constraint condition；
Wherein, the operation of power networks constraint condition are as follows:
Vmin≤|Vi(t)|≤Vmaxi∈N；
In formula, ViIt (t) is the amplitude of the voltage of node i, VmaxAnd VminThe respectively upper and lower limit of voltage deviation；ImaxIt (t) is route
Capacity limit；
The grid power equilibrium constraint are as follows:
In formula, Pi G(t) andRespectively generated output；Pi L(t) andRespectively load active power and idle function
Rate；Vi(t) and δi(t) be respectively node i voltage amplitude and phase angle；Vj(t) and δjIt (t) is respectively with i adjacent node j's
Voltage magnitude and phase angle；YijAnd θijThe respectively amplitude and phase angle of node admittance matrix；KiFor the electric car at access node i
Quantity；
The batteries of electric automobile energy storage constraint and charge power constraint condition are respectively as follows:
In formula, CbatFor battery capacity, CeffFor the charge efficiency of electrically-charging equipment；It is the electronic vapour of kth at access node i
The initial cell energy storage state of vehicle；SOCminAnd SOCmaxFor by the bound of battery energy storage when electric car charging complete；
SOCi,kIt (t) is the battery capacity of kth electric car at access node i.
4. the electric car cluster power regulating method based on two stages cross-over control, feature exist as described in claim 1
In: in the step 2), the objective function of active power controller and its foundation side of constraint condition are carried out to electric car cluster
Method, comprising the following steps:
2.1) according to power grid basic load, electric car charging load and distributed power generation, have to electric car cluster
The objective function of function Reactive Power Control carries out equivalent-simplification, obtains the target that active optimization control is carried out to electric car cluster
Function:
In formula, F1It (X) is the net load quadratic sum comprising electric car and distributed power generation；Pi L(t)、Pi GIt (t) is respectively to access
The load and distributed power generation of node i；For the charging load of kth electric car；KiIt is electronic at access node i
Automobile quantity；N is grid nodes number；
2.2) connecing according to the rated output power of electric car electrically-charging equipment, the charge power of different automobile types and grid requirements
Enter load range, obtain the active power regulation range constraint condition that the objective function of active optimization control need to meet:
In formula,WithThe respectively rated output power of electric car electrically-charging equipment and the maximum of different automobile types setting fills
Electrical power；Pi,minAnd Pi,maxThe respectively load range that is set according to grid requirements of electric car cluster access point.
5. the electric car cluster power regulating method based on two stages cross-over control, feature exist as described in claim 1
In: in the step 4), according to the objective function and its constraint condition of the control of the active optimization of foundation, in electric car cluster
The method that the charge power of all vehicles optimizes scheduling, comprising the following steps:
4.1) objective function that the active optimization of foundation controls is decomposed, is obtained for always being filled in the realization of dispatching of power netwoks level
The upper layer optimization object function that electric load is adjusted, and for tracking the lower layer's tracking control for adjusting each electric car charge power
The objective function of system；
4.2) it according to upper layer optimization object function and grid load curve, carries out upper layer and optimizes to obtain the total of electric car cluster
Charge load target；
4.3) total charging load of the electric car cluster according to obtained in lower layer's tracing control objective function and step 4.2)
Target carries out active power regulation to each electric car in electric car cluster using dispersion optimization method, obtains electronic vapour
Each electric car meets the active power regulation result that upper layer is always charged under load target in charge period in vehicle cluster.
6. the electric car cluster power regulating method based on two stages cross-over control as claimed in claim 5, is characterized in that:
In the step 4.1), the upper layer optimization object function are as follows:
In formula, G (Y) is to minimize load fluctuation；Y is optimized variableThat is the electric car cluster mesh that always charges load
Scale value；Kv=Ki× N is electric car sum, and N is grid nodes number, KiFor the electric car quantity at access node i；For
Meter and the load average value of electric car charging；For the charge power of kth electric car；For network load, and:
Pi LIt (t) is load active power；Pi GIt (t) is generated output；
The objective function of lower layer's tracing control are as follows:
In formula, H (Z) is the target value of total charging loadWith the practical charge power of electric carBetween difference
Value；Z is optimized variable
7. the electric car cluster power regulating method based on two stages cross-over control, feature exist as claimed in claim 5
In: in the step 4.3), according to total charging load target of lower layer's tracing control objective function and electric car cluster, adopt
The method that active power regulation is carried out to electric car cluster with dispersion optimization method, comprising the following steps:
4.3.1) total charging load target of electric car cluster is evenly distributed to the charge period of each electric car setting, and
According to the bound constraint condition of active power, the initial value of each electric car charge power curve is calculated:
4.3.2) according to the initial value of each electric car charge power curve, each electric car in current electric car cluster is calculated
Difference between charge power summation and total charging load target value:
In formula, m indicates the number of iterations；For the charge power for the kth electric car that last iteration obtains；Kv=Ki×N
For electric car sum, N is grid nodes number, KiFor the electric car quantity at access node i；
4.3.3) the difference according to obtained in step 4.3.2), to the charge power curve of each electric car in electric car cluster
It optimizes, and its charge power curve is updated respectively according to the charge power optimized variable of each electric car；
The objective function that the charge power of each electric car in electric car cluster is optimized are as follows:
In formula, Z is optimized variableFor the practical charge power of electric car；It is acquired for current iteration
Kth electric car charge power optimized variable, andFor
4.3.4 the difference after) judgement updates in electric car cluster between each charge power summation and total charging load target value
Whether the condition of convergence is met, i.e. whether difference is less than the boundary value of setting or reaches the maximum number of iterations of setting: if not satisfied,
Then return step 4.3.2), carry out next iteration；If satisfied, then iteration terminates, result is exported.
8. the electric car cluster power regulating method based on two stages cross-over control, feature exist as described in claim 1
In: in the step 5), the objective function of the grid-connected idle work optimization of electric car cluster and the foundation side of Reactive-power control constraint condition
Method, comprising the following steps:
5.1) it is born according to the electric car electrically-charging equipment Reactive-power control amount in idle work optimization period TQ with access electric car charging
The operation of power networks state variable of lotus, establishes the objective function of the grid-connected idle work optimization of electric car；
5.2) each electric car in the electric car cluster according to obtained in electric car electrically-charging equipment operation characteristic and step 4)
Charging plan, establish the Reactive-power control constraint condition that the objective function of idle work optimization need to meet；
5.3) idle work optimization is carried out to electric car cluster according to the objective function of foundation and constraint condition, obtains electric car collection
The reactive power adjusted result of each electric car in group.
9. the electric car cluster power regulating method based on two stages cross-over control, feature exist as described in claim 1
In: in the step 5), the objective function of the idle work optimization of foundation are as follows:
In formula, F2It (X) is total network loss of t moment, optimized variable X is the reactive power that electric car provides
The constraint condition of the idle work optimization are as follows:
In formula,For the rated capacity of electric car electrically-charging equipment；Cos θ indicates minimum power factor when charging equipment work；The t moment active power optimal solution provided is controlled for the first stage, and
In formula, PvmaxFor the active power maximum value of electric car.
10. a kind of electric car collection based on two stages cross-over control suitable for any one of such as claim 1~9 the method
Group's power regulating system, it is characterised in that: comprising:
Grid-connected model construction module, for constructing the mixing of electric car cluster active reactive controls and pessimistic concurrency control, and according to institute
It states and pessimistic concurrency control obtains the objective function and its constraint condition that carry out active reactive optimal control to electric car cluster；
Active optimization objective function constructs module, for carrying out the target letter of active reactive optimal control based on electric car cluster
The objective function and its constraint condition that active optimization is carried out to electric car cluster is calculated in number；
Charge period division module includes active power regulation for the charge period of electric car cluster to be divided into several
Period and reactive power adjust the electric car charge power optimization period for the period two adjusting the period；
Active power optimization module was used within each active power regulation period, active excellent according to carrying out to electric car cluster
The objective function and its constraint condition of change carry out active power regulation to electric car cluster；
Idle work optimization objective function construct module, for establishes to electric car cluster progress idle work optimization objective function and its
Constraint condition；
Wattles power economic equivalent module, it is idle excellent according to being carried out to electric car cluster for being adjusted in the period in each reactive power
The objective function and its constraint condition of change carry out reactive power adjusting to electric car cluster.
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