142results about "Active/predictive/anticipative control" patented technology

The invention discloses a fan operation real-time dynamic adjustment control method and system based on environmental data. The method comprises the steps that multi-dimensional dynamic parameters of the environment where a fan is located are collected in real time based on a distributed sensor network; constructing a dynamic coupling prediction model, inputting the dynamic coupling prediction model into a bidirectional verification module based on multi-dimensional dynamic parameters, and obtaining an environment state prediction matrix in a future time window; based on the environment state prediction matrix, a combined adjustment instruction set of the fan pitch angle, the yaw angle and the generator torque is obtained, and the instruction set comprises main strategy parameters and an emergency tolerance interval; based on an incremental learning mechanism, model parameters are dynamically updated according to the deviation between actual environment parameters and predicted values, and the updating period is adaptively adjusted along with the change of turbulence intensity. The method has the advantages that accurate prediction and optimal control of the fan in a complex environment are achieved, the limitation that a traditional data driving model lacks physical interpretability is broken through, and the running stability and efficiency of the fan are improved.

The invention relates to the technical field of wind energy control systems, and discloses a wind power energy-saving control method and system based on big data analysis, and the system comprises a data collection and transmission layer, a data storage and management layer, a data analysis and prediction layer, an intelligent control layer, and an equipment full life cycle management layer. The data acquisition and transmission layer further comprises multi-source data acquisition system construction, edge computing data preprocessing and data transmission network construction. According to the intelligent control strategy, by means of a distributed cooperative control algorithm and an intelligent variable-pitch variable-speed control algorithm, the fan blade angle, the rotating speed and the power output are dynamically adjusted according to the real-time meteorological data, the power grid load requirement and the fan running state, wind power output is smoother through accurate regulation and control, and the wind power output efficiency is improved. The impact on the power grid caused by power fluctuation is effectively reduced, the wind power acceptance capability of the power grid is remarkably improved, and the stability and reliability of the operation of the power grid are guaranteed.

The invention provides a variable pitch control method and system of a wind generating set and the wind generating set. The variable pitch control method comprises the steps that wind speed data at the wind coming side of an impeller of the wind generating set and at the position away from the impeller by a preset distance in the current control period are determined; determining an estimated pitch angle of the current control period based on the wind speed data of the current control period; comparing the estimated pitch angle of the current control period with the reference pitch angle of the previous control period, and taking the comparison result as the reference pitch angle of the current control period; and on the basis of the reference pitch angle of the current control period, blade pitch variation of the wind generating set is controlled. According to the variable pitch control method of the wind generating set and the wind generating set, the problem that the reduction effect of the fatigue load of the whole machine is poor due to control hysteresis is solved, blade variable pitch can be controlled in advance, and the limit load and the fatigue load of the whole machine are better reduced.

The present disclosure relates to a method (100) for controlling a wind turbine (10) having a plurality of actuators (364). The method (100) comprises receiving operational data (366) of the wind turbine (10) and determining an operational state of the wind turbine (10). The method (100) comprises using a control model (370) to predict potential operational states depending on operation of the actuators (364) over a finite period of time. The control model (370) comprises an aeroelastic model (371) to determine loads (375) based on operational data (366). The control model (370) further comprises a strength calculation module (372) to calculate secondary load parameters (374) from the loads (375), constraints being defined for the secondary load parameters. The method (100) comprises optimizing a cost function over an optimization period of time, subject to the constraints, to determine an optimum trajectory comprising commands for the actuators (364). Finally, the method (100) comprises using the first commands of the optimum trajectory to control the actuators (364). The disclosure also relates to a controller (360) for a wind turbine (10) configured to implement such method (100).

The invention relates to the field of wind power generation, and discloses a wind power generation control system and method. The data acquisition module is used for acquiring front three-dimensional wind field information detected by the laser radar, near-field wind speed and direction information measured by the ultrasonic sensor, regional wind regime data issued by the meteorological satellite and operation parameters of the wind generating set. According to the invention, through multi-source information fusion, wind regime accurate perception is realized, power generation stability is improved from the source, through multi-source fusion of the laser radar, the ultrasonic sensor and meteorological satellite data, a three-dimensional wind regime perception system is constructed, wind speed and wind direction changes can be predicted in advance, wind regime measurement errors are reduced, and power generation efficiency is improved. The problem of power generation fluctuation caused by wind energy intermittency is solved from the source, and accurate data support is provided for dynamic adjustment of the pitch angle.

The invention discloses a yaw wind error compensation method and system based on wind measurement data, and relates to the technical field of wind power generation equipment control, and the method comprises the steps: setting a wind measurement point position, and collecting an original wind field data set; calculating an incoming flow and a cabin wind direction angle according to the original wind field data set; performing deviation calculation to obtain a yaw wind error angle; triggering a dual-channel compensation module, accumulating errors, constructing an error queue, and performing batch compensation to obtain a compensation result; yawing control parameters are called, the cabin attitude is analyzed according to the compensation result, the yawing control parameters are updated, and self-adaptive compensation of yawing to the wind error is achieved. The technical problems that in the operation process of the wind driven generator, due to wake flow, terrain, turbulent flow and other environmental factors and equipment loss, a traditional yaw system cannot accurately detect the wind direction and compensate the wind alignment error, the power generation efficiency is low, and the potential safety hazard of equipment is large are solved, and the purposes of accurately improving the wind alignment precision of a wind wheel and improving the power generation efficiency are achieved. The power generation efficiency is obviously improved; and the equipment operation safety is enhanced.

The invention discloses a wind field dynamic optimization method and system based on real-time data adaptive regulation and control, and relates to the technical field of wind field optimization, and the method comprises the steps: obtaining wind field environment data and wind turbine generator state data, mapping the data to a state space model, and carrying out the alignment in the same time step; the method comprises the following steps: constructing a wind field dynamic optimization target, calculating uncertainty, dynamic importance and a target collaborative contribution rate, constructing a fuzzy analytic hierarchy process matrix, solving to obtain a weight of the wind field dynamic optimization target, and constructing a dynamic optimization target function; constructing a wind field constraint, solving a dynamic optimization objective function, generating an optimal control parameter set, inputting a safety barrier function for verification, and performing dynamic optimization of the wind field after verification is passed. By constructing a wind field dynamic optimization target, power coordination optimization in the whole field range is achieved, and wake flow damage is reduced; a safety barrier function and a fault-tolerant control mechanism are introduced, and the overall optimization efficiency and reliability of the wind power plant are improved.

The present invention discloses a method and system for coordinated optimization of pitch control of an offshore wind farm, belonging to the technical field of wind power generation. It includes: obtaining power control signals and load reduction control signals of each wind turbine cluster; generating pitch control instructions based on the power control signal and load reduction control signal and transmitting them to the corresponding pitch action actuator for pitch control based on the preset optimal control target; the power control signal is determined by processing the wind turbine parameters and wind speed data of the offshore wind farm by the operation processing unit with the maximum output power of the offshore wind farm as the control target; the load reduction control signal is generated by the single-machine controller of the wind turbine cluster using the key features that affect the power output of the wind turbine, combined with the dynamic linear time-invariant model of the wind turbine. The coordinated control of the offshore wind farm is realized, while taking into account fatigue management and power optimization; the problem that the traditional wind turbine pitch control strategy is difficult to achieve coordinated control of the wind farm is overcome.

The invention discloses a wind power generation system with a self-adaptive compensation function. The wind power generation system comprises a wind power generator, an energy storage device, a self-adaptive compensation controller and a power grid connection module, the self-adaptive compensation controller comprises a real-time monitoring module, a prediction analysis module, a self-adaptive compensation decision module and a control execution module, and the real-time monitoring module obtains operation parameters of the wind power generator and state parameters of the energy storage device; the predictive analysis module predicts and analyzes the wind power change trend and the power grid load demand, the self-adaptive compensation decision module generates control instructions of the wind driven generator and the energy storage device, the control execution module adjusts the operation state of the wind driven generator, and meanwhile the charging and discharging process of the energy storage device is controlled. By monitoring the states of the wind power and the power grid in real time, applying an intelligent algorithm to predict and analyze, and combining with an energy storage technology, self-adaptive compensation of wind power generation fluctuation is realized, the stability and reliability of wind power generation are improved, and adverse effects on the power grid are reduced.

The présent disclosure relates to a method (100) for controlling a wind turbine (10) having a plurality of actuators (364). The method (100) comprises receiving operational data (366) of the wind turbine (10) and determining an operational state of the wind turbine (10). The method (100) comprises using a control model (370) to predict potential operational states depending on operation of the actuators (364) over a finite period of time. The control model (370) comprises an aeroelastic model (371) to détermine loads (375) based on operational data (366). The control model (370) further comprises a strength calculation module (372) to calculate secondary load parameters (374) from the loads (375), constraints being defined for the secondary load parameters. The method (100) comprises optimizing a cost function over an optimization period of time, subject to the constraints, to détermine an optimum trajectory comprising commands for the actuators (364). Finally, the method (100) comprises using the first commands of the optimum trajectory to control the actuators (364). The disclosure also relates to a controller (360) for a wind turbine (10) configured to implement such method (100).

A method for optimizing control of a wind turbine includes receiving, via a control system, a condition of the wind turbine. The method also includes estimating a current state of the wind turbine using the condition. The method further includes calculating, via a model implemented by the control system, a linearized representation of operation of the wind turbine for a future time interval after the current state. The method further includes defining an optimization problem to be solved. The method also includes determining a pitch adjustment factor for modifying a current state of the wind turbine. The method further includes calculating, via the optimization solver, an optimized pitch parameter of a rotor blade of the wind turbine. The method also includes adjusting a pitch parameter of the rotor blade to an optimized pitch parameter to improve the control.

The invention discloses a wind power plant multi-target yaw control method considering power load comprehensive benefits, and belongs to the technical field of wind power generation. The whole wind power plant wake flow modeling considering the yaw state is carried out by analyzing the wake flow model, the inflow data of each fan in the wind power plant is determined, and the total power and the average life of the wind power plant are rapidly and accurately predicted by combining the fan power, the thrust coefficient curve and the S-N curve of the transition section pipe node. Single fan power optimization and fan fatigue life optimization with power constraint are integrated, a two-stage multi-target control optimization system is established, and positioning of an optimal yaw combination of each stage is accelerated by establishing a Bayesian machine learning network and utilizing efficient and accurate power and life prediction data. According to the method, the optimal yaw strategy considering the power load comprehensive benefit can be accurately and efficiently provided according to the real-time wind speed data, and the load is reduced to the maximum extent and the service life of the fan is prolonged while the power generation requirement of the wind power plant is met.

The invention discloses a floating type draught fan power control method and device based on wave interval estimation and a medium, and relates to the technical field of draught fan control. The method comprises the steps that an observed value of a state variable at the current moment and a predicted value of a control input quantity at the previous moment are obtained; determining an estimated value of wave interference at the current moment; determining a predicted value of the wave interference at the next moment based on the estimated values of the wave interference at the current moment and the previous moment by using a wave interference predictor; using a state predictor to determine a predicted value of a state variable at the next moment based on the observed value of the state variable at the current moment and a predicted value of wave interference at the next moment, and using a time delay controller to determine a predicted value of a control input quantity at the current moment; and controlling the floating fan at the current moment by using the predicted value of the control input quantity at the current moment. According to the invention, accurate compensation and control of wave interference are realized.

The invention discloses a self-adaptive control method and system for a wind generating set in a low voltage ride through process, and the method comprises the steps: S1, collecting the operation data of the wind generating set in real time, the operation data comprising the rotating speed of a generator and a low voltage ride through process flag bit; s2, judging whether the flag bit in the low-voltage ride-through process is true or not; if so, switching the unit control system from a conventional power generation control mode to a low voltage ride through control mode; otherwise, maintaining the unit in the conventional power generation control mode; in the low-voltage ride-through control mode, transmission chain resistance-increasing self-adaptive control, variable-pitch response self-adaptive control and advanced variable-pitch self-adaptive control are executed in parallel; and S3, according to the final resistance increasing torque, the superposed variable pitch rate and the self-adaptive advanced variable pitch value, comprehensive control over the unit is executed. On the premise that blade clearance and load safety are ensured, unit power fluctuation in the low-voltage ride-through process can be reduced, and unit operation stability and safety are improved.

The invention belongs to the technical field of wind power generation control, and relates to a wind turbine variable pitch control method based on load prediction feedforward compensation, which comprises the following steps: firstly, analyzing the frequency spectrum of a wind speed and a load signal, and distinguishing the current interference as periodic load interference or instantaneous load interference according to discrete peak detection, a cross-power spectrum and an energy ratio; then analyzing the lateral energy ratio and multiband energy distribution of the wind wheel shaft to determine the direction of periodic load interference or the intensity change amplitude of instantaneous load interference; generating a corresponding feed-forward compensation signal; generating a synchronous reverse sine compensation signal for periodic load interference; for the instantaneous load interference, generating a filtering compensation signal in direct proportion to the intensity change amplitude of the instantaneous load interference; and finally, fusing the feedforward signal subjected to amplitude limiting and speed limiting processing with a power feedback signal, and outputting an integrated pitch angle instruction. According to the method, through distinguishing and corresponding compensation of the load types, the active inhibition capability of the variable pitch system on the complex load is improved.

The invention relates to the field of efficiency optimization, and discloses a wind turbine generator power generation efficiency optimization method and system based on wind direction and wind speed monitoring, which are used for realizing long-term stable and efficient operation of a wind turbine generator. Comprising the following steps: acquiring an original wind speed and wind direction sequence by using a sensor, generating an enhanced standardized wind speed sequence containing turbulence intensity characteristics and a standardized wind direction sequence containing variable quantity characteristics through calculation, outputting a standardized wind speed and wind direction prediction sequence, and combining turbulence intensity correction to improve prediction precision and practicability. A continuous differentiable energy capture efficiency curved surface is constructed, a yaw angle instruction sequence and a pitch angle instruction sequence are obtained through analysis in the gradient direction of the curved surface, global optimization control is achieved, and instructions can be dynamically adjusted to adapt to wind regime changes. According to the method, the fan wind power efficiency evaluation report can be generated, and the power generation efficiency is optimized according to the fan wind power efficiency evaluation report.

The embodiment of the invention provides a wind turbine generator blade clearance control system and method. The system comprises a strain measurement module which comprises a plurality of optical fiber strain sensors arranged on the inner surface of a wind turbine generator blade at intervals and is used for measuring the strain of the blade; the distance calculation module is used for calculating a predicted distance between the tip of the blade and the tower according to the strain of the blade, the current azimuth angle of the blade, the rotating speed of a wind wheel, the wind speed, the static distance between the tip of the blade and the tower, the length of the blade and the pitch angle of a cabin; the interference judgment module is used for judging whether the blade and the tower drum have interference risks or not according to the predicted distance; and the variable pitch control module is used for carrying out independent variable pitch control adjustment on the pitch angle of the blade when the interference risk exists between the blade and the tower drum. The embodiment of the invention is not influenced by environmental factors, and has the capability of protecting the blades from interference with the tower drum in all-weather operation; the independent variable pitch is used for achieving blade clearance protection control, and the generating capacity loss can be effectively reduced.

The invention discloses a distributed model prediction control method for an offshore front-end speed regulation type wind turbine generator, and belongs to the technical field of new energy power generation. According to the method, an overall control task is decomposed into three parallel subsystems including a variable pitch subsystem, a hydraulic variable torque speed regulation subsystem and an excitation subsystem, and local discrete prediction models are established respectively. And in each sampling period, rolling optimization of each subsystem is executed in parallel, and future prediction tracks of the rotating speed and the terminal voltage of the generator are introduced as global consistency variables. And by constructing an augmented Lagrangian cost function based on an alternating direction multiplier method and performing iterative solution, driving each local prediction trajectory to converge to a globally consistent optimal trajectory. And finally, outputting a first instruction of an optimal control sequence obtained after iterative convergence to each execution mechanism, and realizing cooperative control of the three subsystems, thereby rapidly and smoothly satisfying frequency and voltage synchronization conditions at the same time before grid connection, effectively inhibiting coupling interference and wind speed fluctuation, and improving grid connection quality and operation reliability.

The invention discloses a control method of an offshore wind power system, and relates to the technical field of offshore wind power generation control, and the offshore wind power system comprises a wind generating set, a converter, a vibration and stress sensor and a controller. According to the invention, the technical problem of how to effectively suppress the key structure load while ensuring the power output is solved. According to the technical scheme, the method is characterized in that a front wind speed sequence is previewed through a cabin type laser radar, and loads of a tower drum and blades are collected in real time; establishing a parameterized state space model, and performing online identification and state estimation on aerodynamic parameters and unmodeled dynamics by adopting an unscented Kalman filter algorithm; in each control period, taking power tracking and load suppression as multiple targets, and based on the updated model and the preview wind speed, solving a finite time domain optimal control problem; and finally, the optimal pitch angle and generator torque increment instruction is analyzed and executed. The method is mainly used for improving the service life and stability of the offshore wind turbine generator.

The invention provides a wind turbine generator variable pitch control method and device, a storage medium and terminal equipment, and relates to the technical field of wind turbine generator variable pitch control. The method comprises the steps that current wind resource information of the environment where a target wind turbine generator is located and current operation parameters of the target wind turbine generator are obtained; the wind resource information serves as input, and wind resource prediction information of the environment where the target wind turbine generator is located at the next unit moment is output through a preset wind resource prediction model; and the variable-pitch fatigue state of the target wind turbine generator is determined according to the operation parameters of the target wind turbine generator, and based on the variable-pitch fatigue state of the target wind turbine generator, the target wind turbine generator is controlled to execute the variable-pitch operation at the next unit moment at the first pitch angle, or the target wind turbine generator is controlled to execute the variable-pitch operation at the next unit moment at the second pitch angle. The service life of the blade and the variable pitch bearing can be effectively prolonged.

According to the variable-pitch control optimization method for the offshore wind turbine generator, flapping matrixes of three blades are converted into d-axis and q-axis signal components under a rotating coordinate system through extended Collmann transformation in combination with a dynamic compensation angle technology, a compensation angle delta is dynamically calculated through a pneumatic unbalance factor (delta a) and a mass unbalance factor (delta m), and the compensation angle delta is calculated through a dynamic balance factor (delta m). And the adaptability of a load unbalance state is obviously improved. And then, a robust controller based on a product perturbation model is adopted to generate a control signal in a dq domain, and the robustness of the system to complex wind conditions (such as turbulence and wind shearing) on the sea is enhanced by minimizing weighted norms of a sensitivity function and a complementary sensitivity function and optimizing parameters by using a DK iterative algorithm. And finally, the control signals are mapped back to the independent control quantity of each blade through anti-Collman transformation, and the blade angle is adjusted in real time by combining a closed-loop P I execution system.

The present disclosure relates to methods for determining a maximum power setpoint for a wind turbine comprising determining a temperature of one or more wind turbine components, and determining one or more component temperature errors by determining a difference between the temperatures of the wind turbine components and a corresponding threshold temperature for the components. The methods further comprise determining a present power output of the wind turbine and determining the maximum power setpoint at least partially based at least on the component temperature errors, and on a present power output of the wind turbine. The present disclosure further relates to methods for determining a setpoint reduction and to wind turbine control systems and wind turbines configured for such methods.

Wind turbine comprising a tower (2) supporting a nacelle (5) and a rotor (3) having a plurality of rotor blades (4) and an active noise reduction device (7), wherein the active noise reduction device (7) comprises at least one actuator (8), at least one unsteady pressure sensor (9) adapted to generate an output signal corresponding to a turbulent flow condition during operation of the rotor blades (4), at least one noise sensor (10) adapted to generate an output signal corresponding to a noise generated by the rotor blades (4) at the position of the noise sensor (10), wherein the unsteady pressure sensor (9) and the actuator (8) are arranged on at least one of the rotor blades (4) and the noise sensor (10) is arranged at the nacelle (5) and / or at the tower (2), wherein the control unit (11) is adapted to control the actuator (8) depending on the output signals of the unsteady pressure sensor (9) and the noise sensor (10) to emit an anti-noise signal at least partially reducing the noise generated by the rotor blades (4).

A method of correcting turbine underperformance includes calculating a power production curve using monitored data, detecting changes between the monitored data and a baseline power production curve, generating operability curves for paired operational variables from the monitored data, detecting changes between the operability curves and corresponding baseline operability curves, comparing the changes to a respective predetermined metric, and if the change exceeds the metric, providing feedback to a turbine control system identifying at least one of the paired operational variables for each paired variable in excess of the metric. A system and a non-transitory computer-readable medium are also disclosed.

A kind of high-power wind turbine control method based on localization PLC, it includes: S1: central data processor reads unit operation history file from unit database, unit operation history file includes the historical failure data of unit and the ten-minute operation data of unit;S2: unit operation history file is split and cleaned, and the data of shutdown is eliminated;S3: from the historical failure data of unit, the occurrence frequency and occurrence time of each unit appearing overspeed, card paddle are counted;S4: according to the occurrence time of unit appearing overspeed, card paddle counted, the operation data of unit before and after corresponding time is inquired from the ten-minute operation data of unit and is carried out variable analysis;S5: central data processor transmits the key variable of each unit and variable operation threshold to the domestic PLC controller of unit, and the domestic PLC controller switches control according to the key variable of each unit and variable operation threshold the variable pitch strategy of unit.

The invention provides a variable pitch control method and system of a wind generating set and the wind generating set, and the variable pitch control method comprises the steps that the change trend of the rotating speed of a generator of the wind generating set is determined in response to the situation that the current output power of the wind generating set reaches the rated power; and on the basis of control strategies corresponding to the change trends, blade variable pitch of the wind generating set is controlled, different change trends correspond to different control strategies, and the control strategies comprise the first control strategy and the second control strategy. The problem that a variable-pitch load reduction scheme in the related technology is difficult to be suitable for the large-megawatt wind generating set is solved, the unit can effectively reduce the load under the rated power, and the safety and stability of unit operation are ensured.

The present disclosure provides a control method, device, and system for a wind turbine set, and a storage medium. The control method comprises: acquiring a preset value of a control parameter and a plurality of historical measurement signals of a wind turbine set in a historical time period; according to the preset value and the plurality of historical measurement signals, determining an estimated distribution parameter of a control signal at a current moment; and determining the control signal at the current moment according to the estimated distribution parameter of the control signal at the current moment.

The present invention discloses a method and system for dynamic optimization of a wind farm based on real-time data adaptive regulation, which relates to the technical field of wind farm optimization. The method includes: acquiring wind farm environmental data and wind turbine status data, mapping them to a state space model, and aligning them within the same time step; constructing a wind farm dynamic optimization objective, calculating the uncertainty degree, dynamic importance degree, and target collaborative contribution rate, constructing a fuzzy analytic hierarchy process matrix, solving to obtain the weight of the wind farm dynamic optimization objective, and constructing a dynamic optimization objective function; constructing wind farm constraints, solving the dynamic optimization objective function to generate an optimal control parameter set, inputting it into a safety barrier function for verification, and after passing the verification, performing wind farm dynamic optimization. By constructing a wind farm dynamic optimization objective, power coordination optimization within the entire field is achieved, and wake damage is reduced; by introducing a safety barrier function and a fault tolerance control mechanism, the overall optimization efficiency and reliability of the wind farm are improved.

The present invention discloses a yaw error compensation method and system based on wind measurement data, which relates to the field of wind power generation equipment control technology. The method includes: setting wind measurement points to collect original wind field data sets; calculating the incoming flow and the nacelle wind direction angle based on the original wind field data sets; performing deviation calculation to obtain the yaw error angle; triggering a dual-channel compensation module, accumulating errors to build an error queue and performing batch compensation to obtain compensation results; retrieving yaw control parameters, analyzing the nacelle attitude based on the compensation results, updating the yaw control parameters and realizing adaptive compensation of yaw error. The present invention solves the technical problem that during the operation of a wind turbine, due to environmental factors such as wake, terrain, turbulence, and the loss of the equipment itself, the traditional yaw system is unable to accurately detect wind direction and compensate for wind error, resulting in low power generation efficiency and great equipment safety risks. The present invention achieves the technical effect of accurately improving the wind rotor wind accuracy, significantly improving power generation efficiency, and enhancing equipment operation safety.

The present invention relates to wind turbine model-based control and estimation using accurate online models. A system for calculating estimated operating parameters and / or control commands for a wind turbine includes: a sensor that monitors a wind turbine; a control processor that implements a linearized evaluation to obtain a model of structural component dynamic behavior, fluid component dynamic behavior, and / or combined structural and fluid component dynamic behavior of wind turbine operation; and a module that performs operations using the linearized evaluation of the structural component dynamic behavior, fluid component dynamic behavior, and / or combined structural and fluid component dynamic behavior. The module is at least one of an estimation module and a multivariable control module. The estimation module generates a signal estimate of a turbine or fluid state. The multivariable control module determines an actuator command, the actuator command including a wind turbine command to maintain the operation of the wind turbine to a predetermined setting in real time. A method and a non-transitory medium are also disclosed.