CN105095982A - Electric automobile participation power grid frequency modulation scheduling method based on driving model - Google Patents

Abstract

The invention discloses an electric automobile participation power grid frequency modulation scheduling method based on a driving model. The electric automobile participation frequency modulation total capacity is calculated by coordinating the tracking frequency modulation signal precision and the total revenue of electric automobiles, so that the total revenue of electric automobiles is maximum while the power grid frequency is stabilized. And then, based on the available capacity range of the electric automobiles, the total capacity obtained through calculation is fairly distributed to the electric automobiles participated the frequency modulation, so that the electric power demand of the electric automobiles can be met, the electric automobile users' travelling demands at any time are met, and more users are stimulated to participate into the frequency modulation service.

Description

A kind of electric automobile based on running model participates in power grid frequency modulation dispatching method

Technical field

The invention belongs to dispatching of power netwoks technical field, more specifically say, relate to a kind of electric automobile based on running model and participate in power grid frequency modulation dispatching method.

Background technology

The advantage of electric automobile in environmental protection, is that orthodox car is incomparable, receives mondial extensive concern.Along with the development of battery apparatus, Driving technique, impel electric automobile develop rapidly.A large amount of electric automobile access electrical network, brings huge challenge to the load-taking capacity of electrical network, have impact on the safe operation of electrical network.Along with the technical development of electric automobile charging/discharging apparatus is ripe gradually, electric automobile being included in dispatching of power netwoks becomes new research tendency.

Batteries of electric automobile can quick responsive electricity grid frequency needs at short notice, by the scheduling to a large amount of electric automobile, electrical network can be helped to improve its operation characteristic.The domestic and international Research of Scheduling Method for the service of electric automobile participation frequency modulation is more, but the optimization solution technique study that the dispatching method of consideration user vehicle running model and electric automobile participate in paying the utmost attention in power grid frequency modulation scheduling process the traveling demand of electric automobile user is less.In the electric automobile scheduling process of frequency modulation service, mostly ignore the feature of electric automobile mobility to participating at electrical network, and just ensure the electrical demand of electric automobile when electric automobile accesses the whole schduling cycle end cycle of electrical network for a long time.Such when electric automobile will be caused to leave before dispatching cycle terminates, battery electric quantity can not ensure the demand of reach under electric automobile, and this will affect the daily life of electric automobile user.

Summary of the invention

The object of the invention is to overcome the deficiencies in the prior art, a kind of electric automobile based on running model is provided to participate in power grid frequency modulation dispatching method, on the basis meeting electric automobile trip requirements electricity, increase electric automobile cluster income as much as possible, reduce significantly to use certain batteries of electric automobile.

For achieving the above object, a kind of electric automobile based on running model of the present invention participates in power grid frequency modulation dispatching method, it is characterized in that, comprises the following steps:

(1) the expectation SOC of each electric automobile, is calculated _exp

(1.1), by the electric automobile access charging pile in control center's monitoring administration;

(1.2), control center according to the running data of each electric automobile, calculate the expectation SOC of every platform electric automobile respectively _exp;

(2), control center determines the current state of every platform electric automobile

When scheduling starts, the current SOC of control center by every platform electric automobile and the expectation SOC of this electric automobile _expcompare, if SOC≤SOC _exp, this electric automobile is in charged state, then within the scope of battery useful capacity, carry out rapid rate charging to electric automobile, and enters the scheduling of next round; If SOC > is SOC _exp, this electric automobile is in and participates in frequency modulation state, and enters step (3);

(3), control center dispatches being in the electric automobile participating in frequency modulation state

(3.1), the per interval T of electrical network sends FM signal to control center, and control center, according to the current SOC of FM signal and electric automobile, organizes batteries of electric automobile capacity to follow the tracks of FM signal;

Control center by coordinating the precision of electric automobile total revenue and tracking FM signal, is calculated the total volume R of the electric automobile participating in frequency modulation again by formula (1) ~ (6) _opt(t);

$\underset{R_{\mathrm{opt}}\left(t\right)}{\max }U\left(t\right)=\left\{\begin{array}{c}\mathrm{\α}{P}_{\mathrm{reg}}\left(t\right)R_{\mathrm{opt}}\left(t\right)+\mathrm{\β}{P}_{\mathrm{cha}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\γ}{(R_{\mathrm{opt}}\left(t\right)-|\mathrm{XS}\left(t\right)\left|\right)}^2,X=-1\\ \mathrm{\α}{P}_{\mathrm{reg}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\β}{P}_{\mathrm{cha}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\γ}{(R_{\mathrm{opt}}\left(t\right)-|\mathrm{XS}\left(t\right)\left|\right)}^2,X=1\end{array}\right.---\left(1\right)$

$\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}_{\mathrm{opt}}^n\left(t\right)=R_{\mathrm{opt}}\left(t\right)---\left(2\right)$

|R _opt(t)-XS(t)|≤0.03*|XS(t)|(3)

${\mathrm{SOC}}^n\left(t\right)-R_{\mathrm{opt}}^n\left(t\right)\≥{\mathrm{SOC}}_{\exp }^n---\left(4\right)$

${\mathrm{SOC}}^n\left(t\right)+R_{\mathrm{opt}}^n\left(t\right)\≤{\mathrm{SOC}}_{\max }^n---\left(5\right)$

${\mathrm{PR}}_{\min }^n\≤{\mathrm{PR}}_{\mathrm{opt}}^n\left(t\right)\≤{\mathrm{PR}}_{\max }^n---\left(6\right)$

Wherein U (t) is the electric automobile total revenue participating in frequency modulation; R _optt () is the electric automobile total volume that t participates in frequency modulation; it is the capacity that t n-th electric automobile participates in frequency modulation; N represents that control center's scheduling participates in the electric automobile quantity of frequency modulation; P _reg(t) and P _chat () is frequency regulation capacity price and node electricity price; α, β, γ are weight coefficient; XS (t) represents FM signal, and X represents the positive and negative value of FM signal, and as X=1, electric automobile participates in the service of lowering, and as X=-1, electric automobile participates in the service of raising; SOC ⁿt () represents the battery SOC state of n-th electric automobile t; represent the battery SOC state that n-th electric automobile is expected; represent the maximal value of n-th batteries of electric automobile effective range; represent that n-th electric automobile t can participate in the performance number of frequency modulation service discharge and recharge; with represent minimum value and the maximal value of n-th electric automobile charge-discharge electric power respectively;

(3.2), the total volume that step (3.1) calculated of control center is according to the scope of batteries of electric automobile active volume, through type (7) ~ (12) dispensed gives every platform electric automobile, after being assigned, the number percent that the capacity participating in frequency modulation in every platform electric automobile accounts for active volume is minimum;

$\underset{R^n\left(t\right)}{\min }J\left(t\right)=\underset{n=1}{\overset{N}{\mathrm{\Σ}}}\left|\frac{{\mathrm{SOC}}^n\left(t\right)-{\mathrm{SOC}}^n(t-1)}{{\mathrm{SOC}}_{\max }^n-{\mathrm{SOC}}_{\exp }^n}\right|---\left(\text{7}\right)$

$\underset{n=1}{\overset{N}{\mathrm{\Σ}}}|{\mathrm{SOC}}^n\left(t\right)-{\mathrm{SOC}}^n(t-1)|=\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}^n\left(t\right)---\left(8\right)$

$\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}^n\left(t\right)=R_{\mathrm{opt}}\left(t\right)---\left(9\right)$

${\mathrm{SOC}}_{\exp }^n\≤{\mathrm{SOC}}^n\left(t\right)-R^n\left(t\right)---\left(10\right)$

${\mathrm{SOC}}^n\left(t\right)+R^n\left(t\right)\≤{\mathrm{SOC}}_{\max }^n---\left(11\right)$

${\mathrm{PR}}_{\min }^n\≤{\mathrm{PR}}^n\left(t\right)\≤{\mathrm{PR}}_{\max }^n---\left(12\right)$

Wherein, J (t) represents that electric automobile participates in frequency regulation capacity and accounts for active volume number percent sum; R ⁿt () represents that t control center distributes to the capacity that n-th electric automobile participates in frequency modulation; SOC ⁿ(t) and SOC ⁿ(t-1) n-th electric automobile t and the battery SOC state in t-1 moment is represented; represent the maximal value of n-th batteries of electric automobile effective range; PR ⁿt () represents that n-th electric automobile t participates in the performance number of frequency modulation service discharge and recharge;

(3.3), control center is by total volume R _optt () is assigned after, terminates this scheduling, and return step (2), waiting receive the FM signal in T+1 moment after, carry out next round scheduling.

Goal of the invention of the present invention is achieved in that

The electric automobile that the present invention is based on running model participates in power grid frequency modulation dispatching method, calculate electric automobile by the total revenue of coordinating to follow the tracks of FM signal precision and electric automobile and participate in frequency modulation total volume, while electric power grid frequency stabilization, make electric automobile total revenue maximum.Then, according to electric automobile active volume scope, the total volume fair allocat that calculates is given the electric automobile participating in frequency modulation, the extraordinary like this demand electricity meeting electric automobile, facilitate the trip requirements at any time of electric automobile user, more user can be encouraged to participate in frequency modulation service.

Meanwhile, the electric automobile that the present invention is based on running model participates in power grid frequency modulation dispatching method and also has following beneficial effect:

(1), the present invention by coordinating electric automobile total revenue and FM signal tracking accuracy, on the basis of electric power grid frequency stabilization, achieve the maximization of electric automobile total revenue;

(2), according to the difference of electric automobile active volume distribute frequency regulation capacity to electric automobile, not only meet electric automobile user and travel demand, also reduce the significantly use to a certain batteries of electric automobile, protect battery simultaneously.

Accompanying drawing explanation

Fig. 1 is the process flow diagram of the electric automobile participation power grid frequency modulation dispatching method that the present invention is based on running model;

Fig. 2 is in the present invention, electric automobile cluster track FM signal figure;

Fig. 3 is in contrast case, electric automobile cluster track FM signal figure;

Fig. 4 is in the present invention, electric automobile electricity variation diagram in time;

Fig. 5 is in contrast case, electric automobile electricity variation diagram in time.

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described, so that those skilled in the art understands the present invention better.Requiring particular attention is that, in the following description, when perhaps the detailed description of known function and design can desalinate main contents of the present invention, these are described in and will be left in the basket here.

Embodiment

Fig. 1 is the process flow diagram of the electric automobile participation power grid frequency modulation dispatching method that the present invention is based on running model.

In the present embodiment, as shown in Figure 1, the electric automobile that the present invention is based on running model participates in power grid frequency modulation dispatching method, comprises the following steps:

The running data of S1, reading electric automobile

In the present invention, the electric automobile in control center's monitoring administration all adopts electric automobile of travelling frequently, and when electric automobile stops being linked into charging pile into charging station, control center may be read into the running data of electric automobile and current SOC;

S2, the energy input E of every kilometer when calculating electric automobile during traveling _m

E _m＝E·η

Wherein, E represents electric automobile standard power consumption values, and η represents batteries of electric automobile discharging efficiency;

Day demand electricity D when S3, calculating electric automobile during traveling _e

D _E＝M _d*E _m

Wherein, M _dfor the day operating range of electric automobile, can obtain by averaging to the running data of electric automobile in one month;

The expectation SOC of S4, calculating electric automobile _exp

SOC _exp＝SOC _η*20％+D _E/C+E _m*1/C

Wherein, SOC _ηfor the useful capacity of batteries of electric automobile, C represents battery total capacity, can read in the product description of battery; In the present embodiment, the useful capacity scope of batteries of electric automobile of travelling frequently is 20% ~ 95%;

S5, control center determine the current state of every platform electric automobile

When scheduling starts, the current SOC of control center by every platform electric automobile and the expectation SOC of this electric automobile _expcompare, if SOC≤SOC _exp, this electric automobile is in charged state, then within the scope of battery useful capacity, carry out rapid rate charging to electric automobile, and enters the scheduling of next round; If SOC > is SOC _exp, this electric automobile is in and participates in frequency modulation state, and enters step S6; The current state of all electric automobiles is determined with this;

S6, control center dispatch being in the electric automobile participating in frequency modulation state

S6.1), the per interval T of electrical network sends FM signal to control center, and control center according to the current SOC of FM signal and electric automobile, organizes batteries of electric automobile capacity to follow the tracks of FM signal again;

Control center by coordinating the precision of electric automobile total revenue and tracking FM signal, is calculated the total volume R of the electric automobile participating in frequency modulation again by formula (1) ~ (6) _opt(t);

$\underset{R_{\mathrm{opt}}\left(t\right)}{\max }U\left(t\right)=\left\{\begin{array}{c}\mathrm{\α}{P}_{\mathrm{reg}}\left(t\right)R_{\mathrm{opt}}\left(t\right)+\mathrm{\β}{P}_{\mathrm{cha}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\γ}{(R_{\mathrm{opt}}\left(t\right)-|\mathrm{XS}\left(t\right)\left|\right)}^2,X=-1\\ \mathrm{\α}{P}_{\mathrm{reg}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\β}{P}_{\mathrm{cha}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\γ}{(R_{\mathrm{opt}}\left(t\right)-|\mathrm{XS}\left(t\right)\left|\right)}^2,X=1\end{array}\right.---\left(1\right)$

$\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}_{\mathrm{opt}}^n\left(t\right)=R_{\mathrm{opt}}\left(t\right)---\left(2\right)$

|R _opt(t)-XS(t)|≤0.03*|XS(t)|(3)

${\mathrm{SOC}}^n\left(t\right)-R_{\mathrm{opt}}^n\left(t\right)\≥{\mathrm{SOC}}_{\exp }^n---\left(4\right)$

${\mathrm{SOC}}^n\left(t\right)+R_{\mathrm{opt}}^n\left(t\right)\≤{\mathrm{SOC}}_{\max }^n---\left(5\right)$

${\mathrm{PR}}_{\min }^n\≤{\mathrm{PR}}_{\mathrm{opt}}^n\left(t\right)\≤{\mathrm{PR}}_{\max }^n---\left(6\right)$

Wherein U (t) is the electric automobile total revenue participating in frequency modulation; R _optt () is the electric automobile total volume that t participates in frequency modulation; it is the capacity that t n-th electric automobile participates in frequency modulation; N represents that control center's scheduling participates in the electric automobile quantity of frequency modulation; P _reg(t) and P _chat () is frequency regulation capacity price and node electricity price; α, β, γ are weight coefficient; XS (t) represents FM signal, and X represents the positive and negative value of FM signal, and as X=1, electric automobile participates in the service of lowering, and as X=-1, electric automobile participates in the service of raising; SOC ⁿt () represents the battery SOC state of n-th electric automobile t; represent the battery SOC state that n-th electric automobile is expected; represent the maximal value of n-th batteries of electric automobile effective range; represent that n-th electric automobile t can participate in the performance number of frequency modulation service discharge and recharge; with represent minimum value and the maximal value of n-th electric automobile charge-discharge electric power respectively;

S6.2), control center is by step S6.3) total volume that calculates is according to the scope of batteries of electric automobile active volume, through type (7) ~ (12) dispensed gives every platform electric automobile, after being assigned, the number percent that the capacity participating in frequency modulation in every platform electric automobile accounts for active volume is minimum;

$\underset{R^n\left(t\right)}{\min }J\left(t\right)=\underset{n=1}{\overset{N}{\mathrm{\Σ}}}\left|\frac{{\mathrm{SOC}}^n\left(t\right)-{\mathrm{SOC}}^n(t-1)}{{\mathrm{SOC}}_{\max }^n-{\mathrm{SOC}}_{\exp }^n}\right|---\left(\text{7}\right)$

$\underset{n=1}{\overset{N}{\mathrm{\Σ}}}|{\mathrm{SOC}}^n\left(t\right)-{\mathrm{SOC}}^n(t-1)|=\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}^n\left(t\right)---\left(8\right)$

$\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}^n\left(t\right)=R_{\mathrm{opt}}\left(t\right)---\left(9\right)$

${\mathrm{SOC}}_{\exp }^n\≤{\mathrm{SOC}}^n\left(t\right)-R^n\left(t\right)---\left(10\right)$

${\mathrm{SOC}}^n\left(t\right)+R^n\left(t\right)\≤{\mathrm{SOC}}_{\max }^n---\left(11\right)$

${\mathrm{PR}}_{\min }^n\≤{\mathrm{PR}}^n\left(t\right)\≤{\mathrm{PR}}_{\max }^n---\left(12\right)$

Wherein, J (t) represents that electric automobile participates in frequency regulation capacity and accounts for active volume number percent sum; R ⁿt () represents that t control center distributes to the capacity that n-th electric automobile participates in frequency modulation; SOC ⁿ(t) and SOC ⁿ(t-1) n-th electric automobile t and the battery SOC state in t-1 moment is represented; represent the maximal value of n-th batteries of electric automobile effective range; PR ⁿt () represents that n-th electric automobile t participates in the performance number of frequency modulation service discharge and recharge;

In the present embodiment, if frequency modulation total volume is R, control center dispatches 3 electric automobiles and participates in frequency modulation, and the ratio of the active volume of 3 electric automobiles is 3:2:1, and so more frequency regulation capacity can be distributed to the larger electric automobile of active volume by control center.If first electric automobile, under the minimum state of electric quantity change rate, absorbs whole frequency regulation capacities, so just this part capacity is all distributed to this car; If this car is under the minimum state of electric quantity change rate, can not absorb whole frequency regulation capacities, so residual capacity be distributed to second car, the same first car of capacity assigning process, whole assigning process by that analogy.

S6.3), control center is by total volume R _optt () is assigned after, terminates this scheduling, and return step S5, waiting receive the FM signal in T+1 moment after, carry out next round scheduling.

Example

Choose 10 travel frequently electric automobile and EV1 ~ EV10, its battery capacity, initial SOC, expect that SOC and charging, participation chirp rate variation range are as shown in table 1.

Table 1

Fig. 2 is in the present invention, electric automobile cluster track FM signal figure.

Fig. 3 is in contrast case, electric automobile cluster track FM signal figure.

In the present embodiment, by calculating electric automobile cluster income, embody superiority-inferiority of the present invention, specific as follows:

Electric automobile cluster income In is:

$\begin{array}{c}\mathrm{In}=\mathrm{\α}\underset{t=1}{\overset{H}{\mathrm{\Σ}}}{P}_{\mathrm{reg}}\left(t\right)\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}^n\left(t\right)-\mathrm{\β}\underset{t=1}{\overset{H}{\mathrm{\Σ}}}{P}_{\mathrm{cha}}\left(t\right)\underset{n=1}{\overset{N}{\mathrm{\Σ}}}X\left(t\right)\·R^n\left(t\right)\\ -\underset{t=1}{\overset{H}{\mathrm{\Σ}}}{P}_{\mathrm{cha}}\left(t\right)\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{C}^n\left(t\right)-\mathrm{\γ}{(\underset{n=1}{\overset{N}{\mathrm{\Σ}}}{R}^n\left(t\right)-\mathrm{XS}\left(t\right))}^2\end{array}---\left(13\right)$

Wherein, R ⁿ(t) and C ⁿt () represents that t n-th electric automobile participates in power grid frequency modulation capacity and charge capacity respectively; N represents that control center's scheduling participates in the electric automobile quantity of frequency modulation; H represents the All Time scope of control center's scheduling electric automobile; P _reg(t) and P _chat () is frequency regulation capacity price and node electricity price; α, β, γ are weight coefficient; XS (t) represents FM signal; X represents the positive and negative value of FM signal, and as X=1, electric automobile participates in the service of lowering, and as X=-1, electric automobile participates in the service of raising.In formula, last is electrical network and control center is failed to the income punishment of tenacious tracking FM signal, and utilizing electric automobile to participate in frequency modulation load capacity the difference of capacity of perfect tracking FM signal can not carry out punishment calculating.

In the present invention, as shown in Figure 2, electric automobile participates in frequency modulation load curve and FM signal curve almost overlaps, then the difference of electric automobile participation frequency modulation load capacity value and FM signal value is very little, less on the impact of electric automobile total revenue.In the present embodiment, within the dispatching cycle choosing H=12 hour, carried out a schduling cycle every 5 minutes, calculating electric automobile total revenue according to formula (13) is $ 2.2491.

In contrast case, as shown in Figure 3, it is larger that electric automobile participation frequency modulation meets deviation between capacity curve and FM signal curve, the difference that during each scheduling, FM signal value and electric automobile participate between frequency regulation capacity value is very large, to cause punishing that entry value is larger in income calculation process, electric automobile total revenue is lower, and total revenue is $ 2.107.

Fig. 4 is in the present invention, electric automobile electricity variation diagram in time.

Fig. 5 is in contrast case, electric automobile electricity variation diagram in time.

In contrast case, as shown in Figure 5, between 4-5 hour and the 10.5th hours, the SOC of three electric automobiles have decreased to and expects below SOC, if at this moment user has suddenly the demand of trip, just there will be battery electric quantity and can not ensure the range demands that user is basic.

In case of the present invention, as shown in Figure 4, due to the difference of electric automobile initial quantity of electricity level, within first one or two hour, may be in charged state, electricity does not reach expects SOC.After electricity exceedes expectation SOC, the state of charge of electric automobile just remains at expects more than SOC, and in this case, no matter when user leaves, and electric automobile electricity can ensure the basic trip requirements of user all the time.

Secondly, as shown in Figure 5, electric automobile there will be the electricity from about 90%, puts the electricity to less than 30%, makes the peak-valley difference of electric automobile SOC reach more than 50%.And in the present invention, as shown in Figure 4, although within some period, electric automobile electric quantity change is comparatively large, its SOC maintains all the time and expects more than SOC, thus the peak-valley difference of electric automobile SOC still remains on less than 50%.

Known by contrasting two case study on implementation, when considering the running model of electric automobile user, the scheduling of control center to electric automobile capacity maintains more than Expected energy, this ensure that the demand of electric automobile user, when no matter user leave the traveling demand that can ensure that it is basic, and therefrom obtain more income.Case of the present invention also makes batteries of electric automobile in use, and the peak-valley difference of battery SOC reduces, and decreases deeply filling of battery and deeply puts, protection battery life.

Although be described the illustrative embodiment of the present invention above; so that those skilled in the art understand the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various change to limit and in the spirit and scope of the present invention determined, these changes are apparent, and all innovation and creation utilizing the present invention to conceive are all at the row of protection in appended claim.

Claims (3)

1. the electric automobile based on running model participates in a power grid frequency modulation dispatching method, it is characterized in that, comprises the following steps:

(1) the expectation SOC of each electric automobile, is calculated _exp

(1.1), by the electric automobile access charging pile in control center's monitoring administration;

(1.2), control center according to the running data of each electric automobile, calculate the expectation SOC of every platform electric automobile respectively _exp;

(2), control center determines the current state of every platform electric automobile

When scheduling starts, the current SOC of control center by every platform electric automobile and the expectation SOC of this electric automobile _expcompare, if SOC < is SOC _exp, this electric automobile is in charged state, then within the scope of battery useful capacity, carry out rapid rate charging to electric automobile, and enters the scheduling of next round; If SOC > is SOC _exp, this electric automobile is in and participates in frequency modulation state, and enters step (3);

(3), control center dispatches being in the electric automobile participating in frequency modulation state

(3.1), the per interval T of electrical network sends FM signal to control center, and control center organizes batteries of electric automobile capacity to follow the tracks of FM signal according to the current SOC of FM signal and electric automobile;

Control center by coordinating the precision of electric automobile total revenue and tracking FM signal, is calculated the total volume R of the electric automobile participating in frequency modulation again by formula (1) ~ (6) _opt(t);

$\underset{R_{\mathrm{opt}}\left(t\right)}{\max }U\left(t\right)=\left\{\begin{array}{c}\mathrm{\&alpha;}{P}_{\mathrm{reg}}\left(t\right)R_{\mathrm{opt}}\left(t\right)+\mathrm{\&beta;}{P}_{\mathrm{cha}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\&gamma;}{(R_{\mathrm{opt}}\left(t\right)-|\mathrm{XS}\left(t\right)\left|\right)}^2.X=-1\\ \mathrm{\&alpha;}{P}_{\mathrm{reg}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\&beta;}{P}_{\mathrm{cha}}\left(t\right)R_{\mathrm{opt}}\left(t\right)-\mathrm{\&gamma;}{(R_{\mathrm{opt}}\left(t\right)-|\mathrm{XS}\left(t\right)\left|\right)}^2,X=1\end{array}\right.----\left(1\right)$

$\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}{R}_{\mathrm{opt}}^n\left(t\right)=R_{\mathrm{opt}}\left(t\right)---\left(2\right)$

|R _opt(t)-XS(t)|≤0.03*|XS(t)|(3)

${\mathrm{SOC}}^n\left(t\right)=R_{\mathrm{opt}}^n\left(t\right)\&GreaterEqual;{\mathrm{SOC}}_{\exp }^n---\left(4\right)$

${\mathrm{SOC}}^n\left(t\right)=R_{\mathrm{opt}}^n\left(t\right)\&le;{\mathrm{SOC}}_{\max }^n---\left(5\right)$

${\mathrm{PR}}_{\min }^n\&le;{\mathrm{PR}}_{\mathrm{opt}}^n\left(t\right)\&le;{\mathrm{PR}}_{\max }^n---\left(6\right)$

Wherein U (t) is the electric automobile total revenue participating in frequency modulation; R _optt () is the electric automobile total volume that t participates in frequency modulation; it is the capacity that t n-th electric automobile participates in frequency modulation; N represents that control center's scheduling participates in the electric automobile quantity of frequency modulation; P _reg(t) and P _chat () is frequency regulation capacity price and node electricity price; α, β, γ are weight coefficient; XS (t) represents FM signal, and X represents the positive and negative value of FM signal, and as X=1, electric automobile participates in the service of lowering, and as X=-1, electric automobile participates in the service of raising; SOC ⁿt () represents the battery SOC state of n-th electric automobile t; represent the battery SOC state that n-th electric automobile is expected; represent the maximal value of n-th batteries of electric automobile effective range; represent that n-th electric automobile t can participate in the performance number of frequency modulation service discharge and recharge; with represent minimum value and the maximal value of n-th electric automobile charge-discharge electric power respectively;

(3.2), the total volume that step (3.1) calculated of control center is according to the scope of batteries of electric automobile active volume, through type (7) ~ (12) dispensed gives every platform electric automobile, after being assigned, the number percent that the capacity participating in frequency modulation in every platform electric automobile accounts for active volume is minimum;

$\underset{R^n\left(t\right)}{\min }J\left(t\right)=\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}\left|\frac{{\mathrm{SOC}}^n\left(t\right)-{\mathrm{SOC}}^n(t-1)}{{\mathrm{SOC}}_{\max }^n-{\mathrm{SOC}}_{\exp }^n}\right|---\left(7\right)$

$\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}|{\mathrm{SOC}}^n\left(t\right)-{\mathrm{SOC}}^n(t-1)|=\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}{R}^n\left(t\right)---\left(8\right)$

$\underset{n=1}{\overset{N}{\mathrm{\&Sigma;}}}{R}^n\left(t\right)=R_{\mathrm{opt}}\left(t\right)---\left(9\right)$

${\mathrm{SOC}}_{\exp }^n\&le;{\mathrm{SOC}}^n\left(t\right)-R^n\left(t\right)---\left(10\right)$

${\mathrm{SOC}}^n\left(t\right)+R^n\left(t\right)\&le;{\mathrm{SOC}}_{\max }^n---\left(11\right)$

${\mathrm{PR}}_{\min }^n\&le;{\mathrm{PR}}^n\left(t\right)\&le;{\mathrm{PR}}_{\max }^n---\left(12\right)$

Wherein, J (t) represents that electric automobile participates in frequency regulation capacity and accounts for active volume number percent sum; R ⁿt () represents that t control center distributes to the capacity that n-th electric automobile participates in frequency modulation; SOC ⁿ(t) and SOC ⁿ(t-1) n-th electric automobile t and the battery SOC state in t-1 moment is represented; represent the maximal value of n-th batteries of electric automobile effective range; PR ⁿt () represents that n-th electric automobile t participates in the performance number of frequency modulation service discharge and recharge;

(3.3), control center is by total volume R _optt () is assigned after, terminates this scheduling, and return step (2), waiting receive the FM signal in T moment after, carry out next round scheduling.

2. the electric automobile based on running model according to claim 1 participates in power grid frequency modulation dispatching method, it is characterized in that, in described step (1.2), calculates the expectation SOC of electric automobile _expmethod be:

1) the energy input E of during electric automobile during traveling every kilometer, is calculated _m

E _m＝E·η

Wherein, E represents electric automobile standard power consumption values, and η represents batteries of electric automobile discharging efficiency;

2) day demand electricity D during electric automobile during traveling, is calculated _e

D _E＝M _d*E _m

Wherein, M _dfor the day operating range of electric automobile;

3) the expectation SOC of electric automobile, is calculated _exp

SOC _exp＝SOC _η*20％+D _E/C+E _m*1/C

Wherein, SOC _ηfor the useful capacity of batteries of electric automobile, C represents battery total capacity.

3. the electric automobile based on running model according to claim 1 participates in power grid frequency modulation dispatching method, and it is characterized in that, the useful capacity scope of described batteries of electric automobile is 20% ~ 95%.