The increase of new energy permeability increases the complexity of power system frequency control. Frequency regulation assisted by energy storage can alleviate this problem to some extent. However,due to the security and economic constraints of energy storage operation,frequency regulation measures need to be more targeted. In this paper,a primary frequency regulation method of power grid assisted by energy storage based on frequency response characteristics is proposed. Firstly,based on the model of frequency regulation assisted by energy storage,the frequency modulation integrated control method of auxiliary energy storage with inertia and droop is selected. Through the correlation analysis of rate of change of frequency and frequency deviation to frequency modulation requirements,frequency regulation demand zoning rules based on frequency response characteristics are designed. Then,according to the partition judgment corresponding to different frequency modulation requirements,the energy storage active power output mode is dynamically adjusted to respond to the uncertainty of frequency modulation requirements. On this basis,aiming at the contradictory relationship between frequency modulation demand and energy storage output demand,energy storage output strength and its cycle life,the multi-objective optimization problem is designed and solved to balance. Finally,the simulation results verify that the proposed method can effectively reduce the depth of charge and discharge of energy storage on the basis of ensuring the frequency modulation effect of power grid.