CN112290584B - Rural wind-solar-diesel-storage micro-grid frequency control method and device and terminal equipment - Google Patents
Rural wind-solar-diesel-storage micro-grid frequency control method and device and terminal equipment Download PDFInfo
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Abstract
The invention is suitable for the technical field of micro-grid control, and provides a frequency control method, a device and terminal equipment for a rural wind-solar-diesel-storage micro-grid, wherein the method comprises the following steps: acquiring structural data of a target microgrid, and calculating transmission delay corresponding to the target microgrid according to the structural data; establishing a closed-loop response characteristic set of a frequency control system of the target microgrid according to the transmission delay; acquiring a performance index of the target microgrid, and calculating a frequency deviation index of a frequency control system of the target microgrid according to the performance index; and with the frequency deviation minimum as a target, solving the optimal solution of the decision variable of the closed-loop response characteristic set based on a preset constraint condition, and taking the optimal solution of the decision variable as a target control signal. The frequency control method for the rural wind-solar-diesel-energy-storage micro-grid can fully consider the influence of time delay on frequency control in the signal transmission process, accurately calculate the decision variable in the frequency control process and improve the stability of frequency control.
Description
Technical Field
The invention belongs to the technical field of micro-grid control, and particularly relates to a frequency control method, a frequency control device and terminal equipment for a rural wind-solar-diesel-energy-storage micro-grid.
Background
The rural wind, light and diesel oil storage micro-grid is a micro-grid system comprising a wind driven generator, a photovoltaic power generation array, a diesel generator and an energy storage battery, can efficiently generate power by utilizing the complementary characteristic of wind energy and solar energy, and adjusts and supplements the micro-grid system through the energy storage battery and the diesel generator, thereby realizing stable and reliable electric energy supply. In the control process of the rural wind, light, diesel and energy storage micro grid, a diesel generator and an energy storage battery are generally used as active power sources which can be flexibly adjusted. Specifically, when the frequency of the microgrid system is deviated due to imbalance of power supply and demand, the output power of the diesel generator and the output power of the energy storage battery are usually adjusted to realize the rebalancing of the active power at the rated frequency point.
However, each device in the rural wind, light, diesel and energy storage microgrid is often distributed loosely, and information exchange between the controller and each device generally cannot adopt a special line form to perform point-to-point communication, but information transmission is realized in a manner that all devices share a wireless channel. When a plurality of devices share a wireless channel, the problems of uncertain time delay of information transmission and data packet loss exist, so that the stability margin of a frequency control system is reduced, the frequency damping is weakened, even frequency out-of-limit accidents occur, and the stability of the control process is poor. At present, in the control research of the rural wind, light, diesel and energy storage micro-grid, a delay margin calculation method and a delay dependent controller design method are generally used. In the delay margin calculation method, the parameters of a controller with stable frequency are determined firstly, and then the maximum delay upper bound which can ensure that the frequency deviation does not exceed the limit is calculated. The method is limited by the preset control parameters, so that the optimal dynamic performance of frequency control under the condition of transmission delay cannot be realized. For a controller design method depending on time delay, a control parameter is designed according to transmission time delay, bounded variable time delay is often simplified into constant time delay, and the influence of the variable time delay on the dynamic characteristic of a frequency control system is ignored. Therefore, the existing control method is difficult to accurately determine the controlled decision variable, and the stability of the control process is poor.
Disclosure of Invention
In view of this, the embodiment of the invention provides a rural wind-solar-diesel-storage microgrid networked frequency control method, a device and a terminal device, so as to solve the problem of poor stability of a microgrid control process in the prior art.
The first aspect of the embodiment of the invention provides a frequency control method for a rural wind, solar and diesel oil storage micro-grid, which comprises the following steps:
acquiring structural data of a target microgrid, and calculating transmission delay corresponding to the target microgrid according to the structural data;
establishing a closed-loop response characteristic set of a frequency control system corresponding to the target microgrid according to the transmission delay;
acquiring a performance index of the target microgrid, and calculating a frequency deviation index of a frequency control system of the target microgrid according to the performance index;
and with the frequency deviation index minimum as a target, solving the optimal solution of the decision variable of the closed-loop response characteristic set based on a preset constraint condition, and taking the optimal solution of the decision variable as a target control signal.
A second aspect of the embodiments of the present invention provides a frequency control device for a rural wind, photovoltaic and diesel oil storage microgrid, including:
the transmission delay calculation module is used for acquiring structural data of the target microgrid and calculating transmission delay corresponding to the target microgrid according to the structural data;
a closed-loop response characteristic set establishing module, configured to establish a closed-loop response characteristic set of the frequency control system corresponding to the target piconet according to the transmission delay;
the frequency deviation index calculation module is used for acquiring the performance index of the target microgrid and calculating the frequency deviation index of a frequency control system of the target microgrid according to the performance index;
and the target control signal calculation module is used for solving the optimal solution of the decision variable of the closed-loop response characteristic set based on a preset constraint condition by taking the minimum frequency deviation index as a target, and taking the optimal solution of the decision variable as a target control signal.
A third aspect of an embodiment of the present invention provides a terminal device, including: comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the method as described above when executing said computer program.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, which stores a computer program, characterized in that, when the computer program is executed by a processor, the computer program implements the steps of the method as described above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the embodiment of the invention provides a frequency control method for a rural wind-solar-diesel-energy storage micro-grid, which comprises the steps of obtaining structural data of a target micro-grid, and calculating transmission delay corresponding to the target micro-grid according to the structural data; establishing a closed-loop response characteristic set of a frequency control system corresponding to the target microgrid according to the transmission delay; acquiring a performance index of the target microgrid, and calculating a frequency deviation index of a frequency control system of the target microgrid according to the performance index; and with the frequency deviation index minimum as a target, solving the optimal solution of the decision variable of the closed-loop response characteristic set based on a preset constraint condition, and taking the optimal solution of the decision variable as a target control signal. The method for controlling the frequency of the rural wind, light, firewood and storage micro-grid provided by the embodiment of the invention can fully consider the influence of time delay on frequency control in the signal transmission process, accurately calculate the decision variable in the frequency control process and improve the stability of frequency control of the rural wind, light, firewood and storage micro-grid.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a frequency control method for a rural area wind, light, firewood and storage micro grid provided by an embodiment of the invention;
fig. 2 is a schematic diagram comparing a frequency control method of a rural wind, solar, diesel and energy storage micro grid provided by an embodiment of the invention with a control method in the prior art;
fig. 3 is a schematic diagram of a frequency control device for a rural wind, solar, diesel and energy storage micro grid provided by an embodiment of the invention;
fig. 4 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
In a rural wind-solar-diesel-energy storage micro-grid, the renewable energy and the load demand have uncertain fluctuation, and in order to ensure that the real-time supply and demand balance of active power in a target micro-grid is realized at a rated frequency point, the operation state of the target micro-grid needs to be monitored at any time, and the active output of a diesel generator and an energy storage battery is adjusted.
Referring to fig. 1, an embodiment of the present invention provides a frequency control method for a rural wind, photovoltaic, diesel and energy storage microgrid, including:
s101: acquiring structural data of a target microgrid, and calculating transmission delay corresponding to the target microgrid according to the structural data;
optionally, the data transmission condition of the target microgrid is abstractly modeled into a tree topology according to the structural data of the target microgrid, and the transmission delay corresponding to the target microgrid is calculated on the basis of the tree topology.
In one embodiment of the invention, the structure data comprises: the method comprises the following steps of (1) data packet length, link transmission rate, data transmission distance, data packet average arrival amount and data packet average forwarding amount in a target microgrid;
in one embodiment of the present invention, S101 includes:
calculating serial time delay corresponding to the target microgrid according to the length of the data packet and the link transmission rate;
calculating the propagation delay corresponding to the target microgrid according to the transmission distance;
calculating the queuing delay corresponding to the target microgrid according to the average arrival quantity of the data packets and the average forwarding quantity of the data packets;
and calculating the sum of the serial delay, the propagation delay and the queuing delay to obtain the transmission delay.
In this embodiment, a specific formula for calculating the serial delay is as follows:
in the formula (1), τ 1 For serial delay, Q is the network number of the frequency control system corresponding to the target microgrid, l packet For packet length, C q The transmission rate of the data packet between the q-th level networks.
Specifically, the serial delay is a delay generated from a first byte of a data packet sent by a source node to a last byte of the data packet received by a destination node, and is directly proportional to the length of the data packet and inversely proportional to the transmission rate of the data packet in a link.
In this embodiment, a specific formula for calculating the propagation delay is as follows:
in the formula (2), τ 2 For propagation delay, L Σ For transmission distance, C 0 Is the propagation speed of electromagnetic waves in air.
In this embodiment, the propagation delay is a propagation delay of a data packet from a source node to a destination node, and the propagation delay is proportional to a transmission distance and inversely proportional to a propagation speed of an electromagnetic wave in the air.
In this embodiment, the serial delay and propagation delay are constant for a known target piconet.
In this embodiment, the queuing delay is calculated by using a queuing theory;
specifically, the formula for calculating the queuing delay is as follows:
in the formula (3), τ 3 For queuing delay, Q is the network stage number of the frequency control system corresponding to the target microgrid,
to average the queue wait delay.
In this embodiment, a specific formula of the average queuing delay time is as follows:
in the formula (4), ρ q Is the ratio of the average arrival quantity of the node q to the average forwarding rate, namely the working strength of the router node q in the target microgrid, rho q ＝λ q /μ q ,λ q Average packet arrival, μ, for node q q The average forwarding amount of the data packet for the node q.
In the embodiment, the calculation process of the average queuing delay applies an M/M/1 model in the queuing theory. Specifically, the average queuing delay time is the average queuing delay time of a plurality of data packets at the router node q in a first-in first-out manner, and the process that the data packets reach the node q meets the poisson distribution.
In this embodiment, the queuing delay is related to the state of the data packet arriving at each router node and the forwarding capability of the router node, and is embodied as a random variable.
In this embodiment, a specific formula for calculating the transmission delay is as follows:
τ ∑ ＝τ 1 +τ 2 +τ 3 (5)
in the formula (5), τ ∑ Is a transmission delay.
In this embodiment, by calculating the transmission delay, the range and the average value of the transmission delay of the target piconet can be quantitatively analyzed.
S102: establishing a closed-loop response characteristic set of a frequency control system corresponding to the target microgrid according to the transmission delay;
in one embodiment of the present invention, S102 includes:
s201: establishing a state space model of the frequency control system of the target microgrid, and converting the state space model into a discretization state space equation;
in this embodiment, a state variable X of the frequency control system of the target microgrid is defined:
X＝[Δf, ΔP m1 , …, ΔP mN , ΔP g1 , …, ΔP gN ] T (6)
in the formula (6), Δ f is a frequency deviation, N is the number of diesel generators, and Δ P mn (N =1,2, …, N) is the nth diesel generator output power deviation; delta P gn (N =1,2, …, N) is the governor valve opening increment corresponding to the nth diesel generator.
In an embodiment of the present invention, a state space model of the frequency control system of the target microgrid is:
in the formula (7), X (t) is a state variable of the frequency control system of the target microgrid at time t,
the first derivative of the state variable at the time t, u (t) is an instruction variable at the time t, w (t) is a disturbance variable at the time t, Y (t) is an output variable at the time t, A is a system matrix, B is a control matrix, H is a disturbance matrix, and C is an output matrix;
specifically, u (t) is a control center command value, w (t) = Δ P res -ΔP d ，ΔP res Is renewable energy of wind, light and the likeSource output fluctuation; delta P d And load increment of the target microgrid.
In the formula (8), M is the number of energy storage systems of the target microgrid, and N is the number of diesel generators of the target microgrid; k pn And T pn Inertia damping related parameters of the nth diesel generator of the target microgrid; t is gn And T tn Time constants of an nth speed regulator and an nth diesel generator are respectively set; r essm Droop coefficient, R, for the mth energy storage system n The droop coefficient of the nth diesel generator is shown; n =1,2, …, N; m =1,2, …, M.
In the formula (9), N is the number of diesel generators of the target microgrid; m is the number of energy storage systems of the target microgrid; alpha is alpha n Distributing coefficients for the frequency modulation task of the nth diesel generator; beta is a m Distributing coefficients for the frequency modulation task of the mth energy storage system; k pn And T pn Inertia damping related parameters of the nth diesel generator of the target microgrid are obtained; t is gn Is the speed regulator and time constant of the nth diesel generator; n =1,2, …, N; m =1,2, …, M.
K in formula (10) pn And T pn The inertia damping related parameters of the nth diesel generator in the target microgrid are obtained, and N is the number of the diesel generators in the target microgrid; n =1,2, …, N.
C＝[1 0 … 0 0 … 0] (11)
In this embodiment, the transmission delay needs to satisfy τ Σ ≤lT s And l belongs to N, wherein l is a system parameter of the frequency control system of the target microgrid. Transmission delay not satisfying the contractAnd the data packet under the bundling condition is lost and cannot participate in the generation of the control command.
In this embodiment, since the frequency control system of the target microgrid is essentially a sampling control system, the formula (7) needs to be discretized.
The discretized state space equation is:
in the formula (12), X (k) is a discrete state variable of the frequency control system of the target microgrid at a sampling point k, X (k + 1) is a discrete state variable of the frequency control system of the target microgrid at a sampling point k +1, u (k) is a discrete command variable of the sampling point k, w (k) is a discrete disturbance variable of the sampling point k,
T s for a discretized sampling period, Y (k) is the discrete output variable for k sample points.
S202: the calculating a closed-loop response characteristic set corresponding to the target microgrid based on the transmission delay and the discretization state space equation comprises:
in l ∈ N + From said calculation of the generalized state-space equation from the discretized state-space equation:
the generalized state space equation is:
in the formula (13), the reaction mixture is,
is p r An augmented state variable at the sampling instant, W (p) r ) Is p r Extended perturbation variation of sampling instantsAmount, X T (p r-i ) Is p r-i Transposed matrix of discrete state variables at sampling instants, w T (p r+i ) Is p r+i A transposed matrix of discrete disturbance variables at the sampling moment, i =0,1,2 … l, wherein l is a system parameter of the frequency control system of the target microgrid;
calculating a closed-loop response characteristic set corresponding to the target microgrid according to the generalized state space equation:
the closed loop response characteristic set is as follows:
in the formula (14), the compound represented by the formula (I),
is p r The augmented state variable, phi, of the next sampling instant to the sampling instant ζ Is a first coefficient matrix and Λ is a second coefficient matrix.
The closed loop response characteristic of the frequency control system of the target microgrid has 2 l And (4) seed preparation.
In particular, the method comprises the following steps of,
equation (15), i.e., the first coefficient matrix, ζ =0,1, …, l; d max ＝τ Σ /T s (ii) a E is a discrete system matrix, F is a discrete control matrix, K is a feedback matrix, i.e. a decision variable, Ψ j J =1,2, …, l for the summing coefficient.
In the first matrix of coefficients, the coefficients of the first matrix,
in the first coefficient matrix, the value set of the summation coefficient is as follows:
arrow "↓" represents [ ψ 1 ,ψ 2 ,…,ψ l ]Values are taken from the same column.
In particular, for a set of summation coefficients, when 1 ＝D max ζ +1, corresponding ψ 2 ＝D max Zeta +2, and so on, psi l ＝D max Zeta + l. Similarly, when psi 1 ＝D max ζ +2, corresponding ψ 2 ＝D max Zeta +3, and so on, psi l ＝D max -ζ+l+1。
In this embodiment, the closed-loop response characteristic set of the frequency control system considering delay and packet loss takes bounded random delay as a switching decision quantity, and a relationship between transmission delay and frequency deviation dynamic response can be made clear.
Data transmission in the frequency control system of the target microgrid comprises state quantity uploading and control instruction issuing, and in the embodiment, the time delay in the state quantity uploading process and the time delay in the control instruction issuing process are equivalent to single-side time delay.
S103: acquiring a performance index of the target microgrid, and calculating a frequency deviation index of a frequency control system of the target microgrid according to the performance index;
in an embodiment of the present invention, the performance index of the target piconet includes: the maximum frequency deviation absolute value, the frequency deviation peak time and the steady-state time of the target microgrid under the change of step loads;
in one embodiment of the present invention, S103 includes:
calculating the frequency deviation index according to the maximum frequency deviation absolute value, the frequency deviation peak time, the steady state time and a frequency deviation index calculation formula;
the frequency deviation index calculation formula is as follows:
in the formula (17), J is the frequency deviation index, J 1 Is the absolute value of the maximum frequency deviation, J 2 For the peak time of the frequency deviation, J 3 Is the steady state time; j. the design is a square 1n Is a maximum frequency deviation reference value, J 2n Is the frequency deviation peak time reference value, J 3n Is a steady state time reference value; sigma 1 、σ 2 、σ 3 Are the weight coefficients.
Specifically, the steady-state time is the time during which the frequency deviation decays and remains at 2% of the peak value of the frequency deviation.
In the present embodiment, by defining the frequency deviation index, the frequency variation of the frequency control system in the case of the transmission delay can be quantitatively evaluated.
S104: and with the frequency deviation index minimum as a target, solving the optimal solution of the decision variable of the closed-loop response characteristic set based on a preset constraint condition, and taking the optimal solution of the decision variable as a target control signal.
In an embodiment of the present invention, before S104, the method further includes:
and calculating the constraint condition according to the Lyapunov stability function of the frequency control system of the target microgrid.
In this embodiment, the constraint condition is a constraint condition for closed-loop gradual stabilization of the frequency control system.
Specifically, the lyapunov stability function V (p) of the frequency control system of the target microgrid r ) Comprises the following steps:
in the formula (18), omega k Is a symmetric positive definite matrix.
According to the equation (18), when the sampling time is represented by p r Is changed into p r+1 In the case of the target microgrid, the function increment Δ V of the lyapunov stability function of the frequency control system is:
for the function increment Δ V of the Lyapunov stability function to be less than zero, i.e.
It is ensured that the matrix inequality (20) holds.
In the formula (20), Ω k1 And Ω k2 Is a symmetric positive definite matrix, i.e.
In this embodiment, equation (20) is used as a constraint condition, and the frequency deviation index provided by equation (17) is used as an optimization target, and an optimal solution of the feedback matrix K, that is, an optimal solution of the decision variable, is calculated to obtain a target control signal.
The method for controlling the frequency of the rural wind, solar and diesel energy storage micro-grid provided by the embodiment of the invention can fully consider the influence of time delay on frequency control in the signal transmission process and improve the stability of frequency control.
In this embodiment, the problem of solving the frequency control system of the target microgrid is converted into a constraint optimization problem, so that the dynamic performance of frequency deviation damping of the rural wind, light and diesel storage microgrid under active power imbalance and time-varying delay can be improved.
In a specific example, table 1 lists a rural wind, solar, diesel and energy storage microgrid control method and an existing sliding film control method provided by the embodiment of the invention, and H ∞ Control method comparison data.
TABLE 1
Fig. 2 shows a rural wind, light, diesel and energy storage microgrid control method, an existing sliding film control method and an H-mode microgrid control method provided by the embodiment of the invention ∞ A comparison of control methods. Referring to fig. 2 and table 1, the rural wind, solar, diesel and energy storage microgrid control method provided by the embodiment of the invention fully considers optimization of frequency damping dynamic performance, maximum frequency deviation ratio sliding mode control and H ∞ The control method is 4.76% and 9.09% smaller, the peak time is respectively 7.89% and 12.5% shorter than that of the two existing algorithms, and the steady-state time is 2.86% and 3.77% shorter than that of the other two existing algorithms. Therefore, the rural wind-solar-diesel-storage micro-grid frequency control method provided by the embodiment of the invention can ensure that the frequency control system of the target micro-grid gradually stabilizes the random delay and the new energy output/load demand fluctuation, further inhibit the frequency change rate, shorten the frequency fluctuation time and improve the operation reliability of the rural wind-solar-diesel-storage micro-grid.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.
Referring to fig. 3, an embodiment of the present invention provides a frequency control device 100 for a rural wind, light, diesel and energy storage microgrid, including:
the transmission delay calculation module 110 is configured to obtain structural data of a target microgrid, and calculate a transmission delay corresponding to the target microgrid according to the structural data;
a closed-loop response characteristic set establishing module 120, configured to establish a closed-loop response characteristic set of the frequency control system corresponding to the target piconet according to the transmission delay;
a frequency deviation index calculation module 130, configured to obtain a performance index of the target microgrid, and calculate a frequency deviation index of a frequency control system of the target microgrid according to the performance index;
and a target control signal calculation module 140, configured to use the minimum frequency deviation index as a target, solve an optimal solution of a decision variable of the closed-loop response characteristic set based on a preset constraint condition, and use the optimal solution of the decision variable as a target control signal.
The frequency control device for the rural wind, solar, firewood and energy storage micro-grid provided by the embodiment of the invention can fully consider the influence of time delay on frequency control in the signal transmission process, and improve the stability of frequency control; meanwhile, the problem of solving the frequency control system of the target microgrid is converted into a constraint optimization problem, and the dynamic performance of frequency deviation damping of the rural wind-solar-diesel-energy storage microgrid under active power unbalance and time-varying delay can be improved.
In this embodiment, the configuration data includes: the method comprises the following steps of (1) data packet length, link transmission rate, data transmission distance, data packet average arrival quantity and data packet average forwarding quantity in a target microgrid;
the transmission delay calculation module 110 includes:
the serial delay calculating unit is used for calculating the serial delay corresponding to the target microgrid according to the length of the data packet and the link transmission rate;
the propagation delay calculating unit is used for calculating the propagation delay corresponding to the target microgrid according to the transmission distance;
and the queuing delay calculating unit is used for calculating the queuing delay corresponding to the target microgrid according to the average arrival amount of the data packets and the average forwarding amount of the data packets:
and the transmission delay calculating unit is used for calculating the sum of the serial delay, the propagation delay and the queuing delay to obtain the transmission delay.
In this embodiment, the closed-loop response characteristic set establishing module 120 includes:
the discretization state space equation establishing unit is used for establishing a state space model of the frequency control system of the target microgrid and converting the state space model into a discretization state space equation;
and the closed-loop response characteristic set calculating unit is used for calculating a closed-loop response characteristic set corresponding to the target microgrid based on the transmission delay and the discretization state space equation.
The state space model of the frequency control system of the target microgrid is as follows:
wherein X (t) is a state variable of the frequency control system of the target microgrid at the time t,
the first derivative of the state variable at the time t, u (t) is an instruction variable at the time t, w (t) is a disturbance variable at the time t, Y (t) is an output variable at the time t, A is a system matrix, B is a control matrix, H is a disturbance matrix, and C is an output matrix;
the discretized state space equation is:
wherein X (k) is a discrete state variable of the frequency control system of the target microgrid at a k sampling point, X (k + 1) is a discrete state variable of the frequency control system of the target microgrid at a k +1 sampling point, u (k) is a discrete instruction variable of the k sampling point, w (k) is a discrete disturbance variable of the k sampling point,
T s for a discretized sampling period, Y (k) is the discrete output variable for k sample points.
The closed-loop response characteristic set calculation unit includes:
the generalized state space equation calculating subunit is used for calculating a generalized state space equation according to the discretization state space equation;
the generalized state space equation is:
wherein,
is p r An augmented state variable at the sampling instant, W (p) r ) Is p r An augmented disturbance variable, X, at the sampling instant T (p r-i ) Is p r-i Transposed matrix of discrete state variables at sampling instants, w T (p r Is p + r A transposed matrix of discrete disturbance variables at + l sampling time, i =0,1,2 … l, l being a system parameter of the frequency control system of the target microgrid;
a closed-loop response characteristic set calculating subunit, configured to calculate, according to the generalized state space equation, a closed-loop response characteristic set corresponding to the target microgrid:
the closed loop response characteristic set is as follows:
wherein,
is p r The augmented state variable, phi, of the next sampling instant to the sampling instant ζ Is a first coefficient matrix, and Λ is a second coefficient matrix;
wherein K is a decision variable; d max ＝τ Σ /T s ，τ Σ ζ =0,1, …, l, Ψ for transmission delay j J =1,2, …, l for the summation coefficient.
In this embodiment, the performance index of the target piconet includes: the maximum frequency deviation absolute value, the frequency deviation peak time and the steady-state time of the target microgrid under the change of step loads;
in this embodiment, the frequency deviation indicator calculating module 130 is specifically configured to:
calculating the frequency deviation index according to the maximum frequency deviation absolute value, the frequency deviation peak time, the steady state time and a frequency deviation index calculation formula;
the frequency deviation index calculation formula is as follows:
wherein J is the frequency deviation index, J 1 Is the absolute value of the maximum frequency deviation, J 2 For the peak time of the frequency deviation, J 3 Is the steady state time; j is a unit of 1n Is a maximum frequency deviation reference value, J 2n Is the frequency deviation peak time reference value, J 3n Is a steady state time reference value; sigma 1 、σ 2 、σ 3 Are weight coefficients.
In this embodiment, the microgrid frequency control device further includes:
and the constraint condition calculation module is used for calculating the constraint condition according to the Lyapunov stability function of the frequency control system of the target microgrid.
Fig. 4 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 4, the terminal device 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40. The processor 40, when executing the computer program 42, implements the steps in the various embodiments described above, such as the steps 101 to 104 shown in fig. 1. Alternatively, the processor 40 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 42.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program 42 in the terminal device 4.
The terminal device 4 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of a terminal device 4 and does not constitute a limitation of terminal device 4 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the terminal device 4, such as a hard disk or a memory of the terminal device 4. The memory 41 may also be an external storage device of the terminal device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the terminal device 4. The memory 41 is used for storing the computer program and other programs and data required by the terminal device. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated module/unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (7)
1. A frequency control method for a rural wind-solar-diesel-energy-storage micro-grid is characterized by comprising the following steps:
acquiring structural data of a target microgrid, and calculating transmission delay corresponding to the target microgrid according to the structural data;
establishing a closed-loop response characteristic set of a frequency control system corresponding to the target microgrid according to the transmission delay;
acquiring a performance index of the target microgrid, and calculating a frequency deviation index of a frequency control system of the target microgrid according to the performance index;
with the frequency deviation index minimum as a target, solving an optimal solution of a decision variable of the closed-loop response characteristic set based on a preset constraint condition, and taking the optimal solution of the decision variable as a target control signal;
the establishing of the closed-loop response characteristic set of the frequency control system corresponding to the target microgrid according to the transmission delay comprises the following steps:
establishing a state space model of the frequency control system of the target microgrid, and converting the state space model into a discretization state space equation;
calculating a closed-loop response characteristic set corresponding to the target microgrid based on the transmission delay and the discretization state space equation;
the state space model of the frequency control system of the target microgrid is as follows:
wherein X (t) is a state variable of the frequency control system of the target microgrid at the time t,
is the first derivative of the state variable at the time t, u (t) is an instruction variable at the time t, w (t) is a disturbance variable at the time t, w (t) = Δ P res -ΔP d ，ΔP res Is the output fluctuation of wind and light renewable energy sources, delta P d The load increment of the target microgrid is shown, Y (t) is an output variable at the moment t, A is a system matrix, B is a control matrix, H is a disturbance matrix, and C is an output matrix;
wherein,
the method comprises the following steps that M is the number of energy storage systems of a target microgrid, and N is the number of diesel generators of the target microgrid; k pn And T pn Inertia damping related parameters of the nth diesel generator of the target microgrid; t is gn And T tn Time constants of an nth speed regulator and an nth diesel generator are respectively set; r essm Droop coefficient, R, for the mth energy storage system n The droop coefficient of the nth diesel generator is obtained; n =1,2, …, N; m =1,2, …, M;
α n distributing coefficients for the frequency modulation task of the nth diesel generator; beta is a m Distributing coefficients for the frequency modulation task of the mth energy storage system;
C＝[1 0…0 0…0]；
the discretized state space equation is:
wherein X (k) is a discrete state variable of the frequency control system of the target microgrid at a k sampling point, X (k + 1) is a discrete state variable of the frequency control system of the target microgrid at a k +1 sampling point, u (k) is a discrete instruction variable of the k sampling point, w (k) is a discrete disturbance variable of the k sampling point,
T s for a discretized sampling period, Y (k) is a discretized output variable of k sampling points;
the calculating a closed-loop response characteristic set corresponding to the target microgrid based on the transmission delay and the discretization state space equation comprises:
calculating a generalized state space equation according to the discretization state space equation;
the generalized state space equation is:
wherein,
is p r An augmented state variable at the sampling instant, W (p) r ) Is p r An augmented disturbance variable, X, at the sampling instant T (p r-i ) Is p r-i The transposed matrix of discrete state variables at the sampling instants,
is composed of
The transposed matrix of discrete disturbance variables at the sampling instants,
controlling system parameters of a system for the frequency of the target microgrid;
calculating a closed-loop response characteristic set corresponding to the target microgrid according to the generalized state space equation:
the closed loop response characteristic set is as follows:
wherein,
is p r An augmented state variable at a next sample time to the sample time,
is a first coefficient matrix, and Lambda is a second coefficient matrix;
wherein K is a decision variable; d max ＝τ Σ /T s ，τ Σ In order to delay the transmission of the data,
Ψ j in order to sum the coefficients of the coefficients,
i is an identity matrix and is a matrix of the identity,
is a matrix
The elements in the first row of (a) accumulate the starting sequence number of the item.
2. The rural wind, solar, diesel and energy storage microgrid frequency control method of claim 1, characterized in that the structural data comprises: the method comprises the following steps of (1) data packet length, link transmission rate, data transmission distance, average data packet arrival amount and average data packet forwarding amount in a target microgrid;
the calculating of the transmission delay corresponding to the target microgrid according to the structural data includes:
calculating serial time delay corresponding to the target microgrid according to the length of the data packet and the link transmission rate;
calculating the corresponding propagation delay of the target microgrid according to the data transmission distance;
calculating the queuing delay corresponding to the target microgrid according to the average arrival quantity of the data packets and the average forwarding quantity of the data packets;
and calculating the sum of the serial delay, the propagation delay and the queuing delay to obtain the transmission delay.
3. The rural wind, solar and diesel energy storage microgrid frequency control method according to claim 1, characterized in that the performance index of the target microgrid comprises: the maximum frequency deviation absolute value, the frequency deviation peak time and the steady-state time of the target microgrid under the change of step loads;
the calculating the frequency deviation index of the frequency control system of the target microgrid according to the performance index comprises:
calculating the frequency deviation index according to the maximum frequency deviation absolute value, the frequency deviation peak time, the steady state time and a frequency deviation index calculation formula;
the frequency deviation index calculation formula is as follows:
wherein J is the frequency deviation index, J 1 Is the absolute value of the maximum frequency deviation, J 2 For the peak time of the frequency deviation, J 3 Is the steady state time; j. the design is a square 1n Is a maximum frequency deviation reference value, J 2n Is the frequency deviation peak time reference value, J 3n Is a steady state time reference value; sigma 1 、σ 2 、σ 3 Are weight coefficients.
4. The rural wind, solar, diesel and energy storage microgrid frequency control method of claim 1, wherein before the optimal solution of the decision variables of the closed-loop response characteristic set is found based on preset constraint conditions with the frequency deviation index as a target being minimum, the method further comprises:
and calculating the constraint condition according to the Lyapunov stability function of the frequency control system of the target microgrid.
5. The utility model provides a rural scene firewood stores up microgrid frequency control device which characterized in that includes:
the transmission delay calculation module is used for acquiring structural data of the target microgrid and calculating transmission delay corresponding to the target microgrid according to the structural data;
a closed-loop response characteristic set establishing module, configured to establish a closed-loop response characteristic set of the frequency control system corresponding to the target piconet according to the transmission delay;
the frequency deviation index calculation module is used for acquiring the performance index of the target microgrid and calculating the frequency deviation index of a frequency control system of the target microgrid according to the performance index;
the target control signal calculation module is used for solving the optimal solution of the decision variables of the closed-loop response characteristic set based on a preset constraint condition by taking the minimum frequency deviation index as a target, and taking the optimal solution of the decision variables as a target control signal;
the establishing of the closed-loop response characteristic set of the frequency control system corresponding to the target microgrid according to the transmission delay includes:
establishing a state space model of the frequency control system of the target microgrid, and converting the state space model into a discretization state space equation;
calculating a closed loop response characteristic set corresponding to the target microgrid based on the transmission delay and the discretization state space equation;
the state space model of the frequency control system of the target microgrid is as follows:
wherein X (t) is a state variable of the frequency control system of the target microgrid at the time t,
is the first derivative of the state variable at the time t, u (t) is an instruction variable at the time t, w (t) is a disturbance variable at the time t, w (t) = Δ P res -ΔP d ，ΔP res Is the output fluctuation of wind and light renewable energy sources, delta P d The load increment of the target microgrid is shown, Y (t) is an output variable at the moment t, A is a system matrix, B is a control matrix, H is a disturbance matrix, and C is an output matrix;
wherein,
wherein M is the number of energy storage systems of the target microgrid, and N is diesel oil of the target microgridThe number of generators; k is pn And T pn Inertia damping related parameters of the nth diesel generator of the target microgrid; t is gn And T tn Time constants of an nth speed regulator and an nth diesel generator are respectively set; r essm Droop coefficient, R, for the mth energy storage system n The droop coefficient of the nth diesel generator is shown; n =1,2, …, N; m =1,2, …, M;
α n distributing coefficients for the frequency modulation task of the nth diesel generator; beta is a m Distributing coefficients for the frequency modulation task of the mth energy storage system;
C＝[1 0…0 0…0]；
the discretized state space equation is:
wherein X (k) is a discrete state variable of the frequency control system of the target microgrid at a k sampling point, X (k + 1) is a discrete state variable of the frequency control system of the target microgrid at a k +1 sampling point, u (k) is a discrete instruction variable of the k sampling point, w (k) is a discrete disturbance variable of the k sampling point,
T s for a discretized sampling period, Y (k) is a discretized output variable of k sampling points;
the calculating a closed-loop response characteristic set corresponding to the target microgrid based on the transmission delay and the discretization state space equation comprises:
calculating a generalized state space equation according to the discretization state space equation;
the generalized state space equation is:
wherein,
is p r An augmented state variable at the sampling instant, W (p) r ) Is p r An augmented disturbance variable, X, at the sampling instant T (p r-i ) Is p r-i The transposed matrix of discrete state variables at the sampling instants,
is composed of
The transposed matrix of discrete disturbance variables at the sampling instants,
controlling system parameters of a system for the frequency of the target microgrid;
calculating a closed-loop response characteristic set corresponding to the target microgrid according to the generalized state space equation:
the closed loop response characteristic set is as follows:
wherein,
is p r An augmented state variable at a next sample time to the sample time,
is firstA coefficient matrix, wherein Λ is a second coefficient matrix;
wherein K is a decision variable; d max ＝τ Σ /T s ，τ Σ In order to delay the transmission of the data,
Ψ j in order to sum the coefficients of the coefficients,
i is a unit matrix, and the unit matrix is,
is a matrix
The elements in the first row of (a) add up the starting sequence number of the item.
6. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 4 when executing the computer program.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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