Generated power control method, device and equipment of slope type gravity energy storage system, storage medium and program product

Abstract

The invention relates to a generation power control method, device and equipment of a slope type gravity energy storage system, a storage medium and a program product, and relates to the technical field of gravity energy storage. By adopting the method, the generated power stability of the slope type gravity energy storage system can be improved. The method comprises the following steps: according to power generation request power and unit output power of the slope type gravity energy storage system, determining the current demand number of generator sets; the current generator set is a power generation device comprising two rails; selecting a target number of trucks to be in place on a high-altitude platform of the slope type gravity energy storage system according to the demand number of the current generator set; in response to a power generation starting signal of the slope type gravity energy storage system, according to the truck acceleration control principle, a variable parameter mode is adopted, and the truck is controlled to slide down at wrong time; responding to a power generation stop signal of the slope type gravity energy storage system, and when it is recognized that all the truck slides down and stops on the low-altitude platform of the slope type gravity energy storage system, power generation is ended.

Description

Technical Field

[0001] The present application relates to the field of gravity energy storage technology, and in particular to a method, device, computer equipment, computer-readable storage medium, and computer program product for controlling power generation of a slope-type gravity energy storage system. Background Art

[0002] Slope gravity energy storage technology is a new type of energy storage method. This technology converts electrical energy into gravitational potential energy through a slope gravity energy storage system and uses it as a form of energy storage. Gravity energy storage can not only achieve long-term energy storage, but also quickly release energy when needed, thereby enhancing the peak-shaving capacity of the power grid.

[0003] Traditionally, ramp-type gravity energy storage systems typically consist of a single track and employ a single-channel control strategy to control the downward movement of a load-carrying vehicle. However, due to the discrete power characteristics and time lag of this single-channel control strategy, current gravity energy storage technology suffers from low power stability. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product for controlling the power generation of a slope-type gravity energy storage system in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for controlling power generation of a slope-type gravity energy storage system, comprising:

[0006] Obtaining a requested power generation value for the ramp-type gravity energy storage system, and determining a current required number of generator sets based on the requested power generation value and the unit output power of the ramp-type gravity energy storage system; the current generator set is a power generation device comprising two tracks;

[0007] According to the current required number of generator sets, a target number of trucks are selected and positioned on the high altitude platform of the slope-type gravity energy storage system;

[0008] In response to a power generation start signal for the slope-type gravity energy storage system, the load vehicle is controlled to slide down in a staggered manner according to the load vehicle acceleration control principle and in a variable parameter mode;

[0009] In response to a power generation stop signal for the slope-type gravity energy storage system, power generation is terminated when it is recognized that the truck has completely slid down and stopped at a low-altitude platform of the slope-type gravity energy storage system.

[0010] In one embodiment, the method further comprises:

[0011] The descent process of the truck is divided into an acceleration stage, a uniform speed stage and a deceleration stage; the gain item parameters of the controller in the acceleration stage and the deceleration stage are determined respectively; the controller outputs in the acceleration stage and the deceleration stage are obtained respectively according to the controller input and the gain item parameters; and according to the controller output, each truck is controlled to slide according to the acceleration stage, the uniform speed stage and the deceleration stage.

[0012] In one embodiment, controlling the load vehicle to slide down at an offset time includes:

[0013] According to the preset time difference, during the acceleration phase, different current generator sets slide the load-carrying vehicle on one track at staggered times; when it is identified that the load-carrying vehicle that has already descended enters the target position, the load-carrying vehicle on another track is lowered by the current generator set.

[0014] In one embodiment, before controlling the load vehicle to slide down at an offset time, the method further includes:

[0015] According to the gain item parameters of the controller in the deceleration stage, the time period information and speed change information of the truck in the deceleration stage are obtained; according to the time period information and the speed change information, the travel distance of the truck in the deceleration stage is determined; according to the travel distance and the preset end point of the truck, the target position is determined.

[0016] In one embodiment, the gain term parameters include a proportional gain and an integral gain; and obtaining the controller outputs of the acceleration phase and the deceleration phase respectively according to the controller input and the gain term parameters includes:

[0017] The controller input, the proportional gain and the integral gain are input into a preset control signal calculation model to obtain the control signals corresponding to each stage output by the control signal calculation model; based on the control signals, the controller outputs of the acceleration stage, the uniform speed stage and the deceleration stage are obtained.

[0018] In one embodiment, the method further comprises:

[0019] The acceleration setting value of the truck and the acceleration actual value measured by the acceleration sensor are obtained; and an error signal is obtained according to the acceleration setting value and the acceleration actual value as the controller input.

[0020] In a second aspect, the present application further provides a power generation control device for a slope-type gravity energy storage system, comprising:

[0021] a demand determination module, configured to obtain a power generation request for the ramp-type gravity energy storage system and determine the current required number of generator sets based on the power generation request and the unit output power of the ramp-type gravity energy storage system; the current generator set is a power generation device comprising two tracks;

[0022] A power generation preparation module is used to select a target number of trucks to be positioned on the high-altitude platform of the slope-type gravity energy storage system according to the current required number of generator sets;

[0023] A power generation start module, configured to respond to a power generation start signal for the slope-type gravity energy storage system, and control the load vehicle to slide down in a staggered manner according to the load vehicle acceleration control principle and in a variable parameter mode;

[0024] The power generation termination module is configured to respond to a power generation stop signal for the slope-type gravity energy storage system and terminate power generation when it is recognized that the truck has completely slid down and stopped at a low-altitude platform of the slope-type gravity energy storage system.

[0025] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0026] Obtain the requested power generation for the slope-type gravity energy storage system, and determine the current required number of generator sets based on the requested power generation and the unit output power of the slope-type gravity energy storage system; the current generator set is a power generation device comprising two tracks; based on the current required number of generator sets, select a target number of trucks to be positioned on the high-altitude platform of the slope-type gravity energy storage system; in response to a power generation start signal for the slope-type gravity energy storage system, control the trucks to slide down at staggered times based on the truck acceleration control principle and adopting a variable parameter mode; in response to a power generation stop signal for the slope-type gravity energy storage system, terminate power generation when it is identified that all the trucks have slid down and stopped on the low-altitude platform of the slope-type gravity energy storage system.

[0027] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0028] Obtain the requested power generation for the slope-type gravity energy storage system, and determine the current required number of generator sets based on the requested power generation and the unit output power of the slope-type gravity energy storage system; the current generator set is a power generation device comprising two tracks; based on the current required number of generator sets, select a target number of trucks to be positioned on the high-altitude platform of the slope-type gravity energy storage system; in response to a power generation start signal for the slope-type gravity energy storage system, control the trucks to slide down at staggered times based on the truck acceleration control principle and adopting a variable parameter mode; in response to a power generation stop signal for the slope-type gravity energy storage system, terminate power generation when it is identified that all the trucks have slid down and stopped on the low-altitude platform of the slope-type gravity energy storage system.

[0029] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0030] Obtain the requested power generation for the slope-type gravity energy storage system, and determine the current required number of generator sets based on the requested power generation and the unit output power of the slope-type gravity energy storage system; the current generator set is a power generation device comprising two tracks; based on the current required number of generator sets, select a target number of trucks to be positioned on the high-altitude platform of the slope-type gravity energy storage system; in response to a power generation start signal for the slope-type gravity energy storage system, control the trucks to slide down at staggered times based on the truck acceleration control principle and adopting a variable parameter mode; in response to a power generation stop signal for the slope-type gravity energy storage system, terminate power generation when it is identified that all the trucks have slid down and stopped on the low-altitude platform of the slope-type gravity energy storage system.

[0031] The power generation control method, device, computer equipment, computer-readable storage medium and computer program product of the above-mentioned slope-type gravity energy storage system first determine the current required number of generator sets based on the power generation request power and the unit output power of the slope-type gravity energy storage system, and then select a target number of trucks to be positioned on the high-altitude platform of the slope-type gravity energy storage system based on the current required number of generator sets. Then, based on the acceleration control principle of the truck and using a variable parameter mode, the trucks on multiple tracks are controlled to slide down at staggered times, and power generation is terminated when it is identified that all the trucks have slid down and stopped on the low-altitude platform of the slope-type gravity energy storage system. This application increases the number of tracks of the slope-type gravity energy storage system and superimposes the power of multiple channels on each other by adopting a multi-channel control strategy and staggered start-up method, thereby reducing the power fluctuation rate and power loss rate, while improving the power generation stability of the slope-type gravity energy storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 This is a diagram of an application environment of a method for controlling power generation of a slope-type gravity energy storage system in one embodiment;

[0034] Figure 2 1 is a flow chart of a method for controlling power generation of a slope-type gravity energy storage system according to an embodiment;

[0035] Figure 3 A schematic flow chart of the steps of descending a truck in stages according to one embodiment;

[0036] Figure 4 is a schematic diagram showing changes in acceleration, vehicle speed, power, and time during the energy release process in one embodiment;

[0037] Figure 5 is a schematic diagram of the acceleration control principle of a truck in one embodiment;

[0038] Figure 6 is a schematic diagram showing changes in acceleration, vehicle speed, power, and time during the energy release process in another embodiment;

[0039] Figure 7 A schematic diagram of dual-track power superposition in one embodiment;

[0040] Figure 8 A schematic diagram of four-track power superposition in one embodiment;

[0041] Figure 9 This is a structural block diagram of a power generation control device for a slope-type gravity energy storage system in one embodiment;

[0042] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0044] Current gravity energy storage technology still has the problem of insufficient power generation stability, which is specifically manifested in its power discreteness and time lag characteristics, the lack of output power stability, the urgent need to optimize the power curve, the simple multi-track power superposition control method, the large fluctuation of multi-track power superposition output power, and the need for multiple tracks to reduce power fluctuations.

[0045] In response to the problems with power output of gravity energy storage technology, this application uses the speed and acceleration of the truck as detection quantities to control the generator set and performs multi-track coordinated control, which solves the problem of large output power fluctuations caused by the superposition of multi-track power and ensures stable output of generated power.

[0046] The power generation control method of the slope type gravity energy storage system provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the slope gravity energy storage system mainly includes a high-altitude platform, a low-altitude platform, a track connecting the two platforms, a truck, a generator set, a transmission mechanism, and a control terminal. The control terminal can be, but is not limited to, various personal computers, laptops, smartphones, and tablet computers.

[0047] In one embodiment, Figure 2 As shown, a method for controlling the power generation of a slope type gravity energy storage system is provided. Figure 1 The control terminal in the example is used to illustrate the process, including the following steps:

[0048] Step S201, obtaining the requested power generation for the slope-type gravity energy storage system, and determining the required number of current generator sets according to the requested power generation and the unit output power of the slope-type gravity energy storage system; the current generator set is a power generation device comprising two tracks.

[0049] It should be noted that in this embodiment, the power on the two tracks is superimposed to achieve stable power output. The power generation device including the two tracks is a generator set. The unit output power during stable output is , the total number of generator sets in the slope gravity energy storage system is , the number of orbits is The total number of trucks is .

[0050] The power generation request is ( , A positive integer not greater than ).

[0051] Specifically, the control terminal obtains the power generation request for the ramp-type gravity energy storage system, and calculates the current required number of generator sets according to the power generation request and the unit output power of the ramp-type gravity energy storage system.

[0052] Step S202 : According to the current required number of generator sets, a target number of trucks are selected and positioned on the high altitude platform of the slope-type gravity energy storage system.

[0053] It should be noted that since the generator sets are composed of two tracks, the target number of trucks is twice the current required number of generator sets. , the number of low altitude platform trucks is , then the number of trucks on the high altitude platform Greater than The corresponding quantity is , when insufficient, .

[0054] Specifically, the control terminal determines a target number based on the current required number of generator sets, and selects the target number of trucks to be positioned on the high-altitude platform of the slope-type gravity energy storage system.

[0055] Step S203 , in response to the power generation start signal for the slope type gravity energy storage system, the truck is controlled to slide down in a staggered manner according to the truck acceleration control principle and in a variable parameter mode.

[0056] Among them, the acceleration control principle of the truck mainly ensures that the truck moves forward smoothly under different external interferences by comprehensively adjusting the power output of the engine group, the transmission shifting and the braking system, avoiding excessive wear and insufficient power.

[0057] Specifically, the control terminal responds to the power generation start signal for the slope type gravity energy storage system, controls different generator sets to start the descending truck at staggered times according to the truck acceleration control principle and adopts a variable parameter mode.

[0058] Step S204 , in response to the power generation stop signal for the slope type gravity energy storage system, when it is recognized that all the trucks have slid down and stopped at the low altitude platform of the slope type gravity energy storage system, the power generation is terminated.

[0059] Specifically, the control terminal generates a power generation end signal in response to the power generation stop signal for the slope type gravity energy storage system when it recognizes that all the trucks have slid down and stopped at the low altitude platform of the slope type gravity energy storage system.

[0060] In the power generation control method of the above-mentioned slope-type gravity energy storage system, the current required number of generator sets is first determined based on the power generation request power and the unit output power of the slope-type gravity energy storage system. Then, based on the current required number of generator sets, a target number of trucks are selected to be positioned on the high-altitude platform of the slope-type gravity energy storage system. Then, based on the acceleration control principle of the truck and a variable parameter mode, the trucks on multiple tracks are controlled to slide down at staggered times, and when it is identified that all the trucks have slid down and stopped on the low-altitude platform of the slope-type gravity energy storage system, power generation is terminated. This application increases the number of tracks of the slope-type gravity energy storage system and superimposes the power of multiple channels on each other by adopting a multi-channel control strategy and staggered start-up method, thereby reducing the power fluctuation rate and power loss rate, while improving the power generation stability of the slope-type gravity energy storage system.

[0061] In one embodiment, Figure 3 As shown, the method of the present application also includes the following steps:

[0062] Step S301 : Divide the descent process of the truck into an acceleration phase, a constant speed phase, and a deceleration phase; and determine the gain parameters of the controller in the acceleration phase and the deceleration phase respectively.

[0063] Step S302 : obtaining controller outputs in the acceleration phase and the deceleration phase respectively according to the controller input and the gain term parameters.

[0064] Step S303: According to the controller output, each truck is controlled to slide down according to the acceleration phase, the constant speed phase and the deceleration phase.

[0065] It should be noted that during the energy storage process, the truck is driven uphill by the driving force generated by the motor. And various driving resistances, including rolling resistance , air resistance , slope resistance , and acceleration resistance ; Perform force analysis on the slope direction:

[0066]

[0067] Right now .

[0068] In the above formula, is the rolling friction coefficient, is the carrying weight of the truck, is the acceleration due to gravity, is the slope angle, is the air resistance coefficient, is the frontal area, is the air density, It is the relative speed between the car and the air. When the ambient wind speed is small, it can be approximately regarded as the car speed. is the acceleration of the car.

[0069] During the energy release process, the truck relies on its own gravity to go downhill, and is also affected by various driving resistances and the traction generated by the generator. , perform force analysis on the slope direction:

[0070]

[0071] Right now .

[0072] Regardless of the energy storage process or the energy release process, the power on a single track can be approximately regarded as the driving force / traction force of the motor / generator ( or ) and speed The product of:

[0073]

[0074] In order to ensure the stable power generation demand during the energy release process, the following requirements must be met: 1. The stable output power stage must be the traction force of the generator Constant, and the power of the motor 1. It is unchanged, that is, there is a stage where the truck runs at a constant speed; 2. It is necessary to ensure that the distance the truck moves at a constant speed on the slope is as long as possible, that is, the time of the truck's acceleration and deceleration stages is short; 3. It is necessary to ensure that the truck can reduce its speed when it is about to run to the bottom of the slope to reduce the impact on the low-altitude platform and protect the generator and transmission mechanism. In summary, when a truck runs uphill or downhill, it will be divided into three stages, namely the acceleration stage, the constant speed stage and the deceleration stage. The acceleration of the truck and speed Satisfies the following relationship:

[0075]

[0076]

[0077] In the above formula, is the acceleration during acceleration, is the acceleration time period, is the speed during uniform running, is a uniform speed time period, is the acceleration during deceleration, This is the deceleration time period.

[0078] In one embodiment, the gain term parameters include a proportional gain and an integral gain. In the above embodiment, the controller outputs in the acceleration phase, the constant speed phase, and the deceleration phase are obtained according to the controller input and the gain term parameters, which specifically includes the following steps:

[0079] The controller input, proportional gain and integral gain are input into the preset control signal calculation model to obtain the control signals corresponding to each stage of the control signal calculation model output; based on the control signals, the controller outputs of the acceleration stage, uniform speed stage and deceleration stage are obtained.

[0080] To further explain, during the energy storage process, the driving force of the motor satisfies the following formula:

[0081]

[0082] In the above formula, is the output torque of the motor, is the transmission ratio of the transmission system, is the mechanical efficiency of the transmission system, is the transmission structure radius.

[0083] During the energy release process, the inclination angle of the truck on the track remains unchanged, and the rolling friction coefficient between the track and the truck wheels can also be regarded as a constant value, so the slope resistance , rolling resistance Can be regarded as a constant value, air resistance Although it is strongly related to the speed of the car and the speed of the wind, due to the traction of the generator Slope resistance and rolling resistance The influence can be ignored compared to the above, so the traction force of the generator Acceleration of the truck It can be approximately regarded as a positive linear relationship; if only the traction force of the generator is controlled To change 、 Acceleration of time The change of acceleration , vehicle speed and power Changes with time Figure 4 shown.

[0084] In fact, trucks usually need to be stored on high-altitude platforms or low-altitude platforms, so in addition to the fixed-angle track in the middle, there are two shorter curved tracks connected. Vertical height from trolley to platform bottom Functional relationship , thus obtaining the length of the truck traveling during the power generation process:

[0085]

[0086] The acceleration of the truck is closely related to the change of force. The driving force of the motor is Mainly the output torque of the motor Impact, slope resistance , friction resistance Mainly affected by slope angle Impact, air resistance Mainly affected by vehicle speed Influence, that is, it is mainly affected by acceleration. In summary, the main factors affecting acceleration are the output torque of the motor , slope angle . Get the output expressions of acceleration, output torque and slope angle:

[0087]

[0088] Also because Figure 4 Medium power 、 There are sudden changes at any time, which will affect the actual output power quality. Under the premise of ensuring the power quality, the acceleration control principle of the truck is established. Figure 5 As shown, the input of the PI controller is the acceleration set value and the measured acceleration value The error signal , the output of the PI controller is the control signal of the motor The output of the PI controller is the sum of the proportional and integral parts, which is used to regulate the system:

[0089]

[0090] In the above formula, is the proportional gain, is the integral gain; at the same time, the motor will also be affected by the interference signal The interference signal here is the slope angle changes, thereby changing the driving force, changing the movement state of the truck, and affecting the power output.

[0091] The PI control of acceleration can adopt the mode of variable parameters; in the acceleration stage When the acceleration setting value = , the gain term of the PI controller is 、 , acceleration At a speed of 0.2 When the acceleration becomes ; When the speed reaches 0.9 When the acceleration setting value = , the gain term of the PI controller is 、 , acceleration At speeds up to The acceleration becomes 0 when When the acceleration setting value = , the gain term of the PI controller is 、 , acceleration At speeds up to 0.8 When the acceleration becomes ; When the speed reaches 0.1 When the acceleration setting value = , the gain term of the PI controller is 、 , acceleration When the velocity reaches 0, the acceleration becomes 0. , vehicle speed ,power Changes with time Figure 6 shown.

[0092] In one embodiment, in the above step S203, controlling the load vehicle to slide down at an offset time specifically includes the following steps:

[0093] According to the preset time difference, different current generator sets will slide down the truck on one track at staggered times during the acceleration phase; when it is recognized that the truck that has already been lowered has entered the target position, the current generator set will slide down the truck on the other track.

[0094] Specifically, under actual working conditions, due to the slope length, single track operation power generation does not meet the actual power generation needs, and it takes a while to run after the single track operation ends, so in this embodiment, the power of two tracks is alternately superimposed to achieve stable power output. Figure 7 As shown, (a) shows the total power curve, and (b) shows the power of the two tracks.

[0095] Further explanation: During the energy release process, the PI controller parameters of acceleration a are determined as follows: The set value of the acceleration stage is and the set value of the deceleration phase The value should satisfy ( , ),and , get the parameters and .in, and The minimum and maximum values ​​of the driving force of the generator during normal operation. When the truck moves at a constant speed, the forces are balanced. According to the single track power requirement, . Let the dual-rail power coupling condition satisfy Figure 7 As shown, the second track The time period is the same as the first track The time period basically coincides with that of the first embodiment, and the simulation debugging is performed in combination with the mode of changing parameters in the above embodiment to obtain the parameters and .

[0096] For example, the power generation request output power is For example, the time period when power superposition fluctuation occurs is staggered, and the preset time difference between the start-up time of the two generator sets is , Slightly larger than the above deceleration stage The power superposition is as follows: Figure 8 shown.

[0097] In one embodiment, before controlling the load vehicle to slide down at an offset time, the following steps are specifically included:

[0098] According to the gain item parameters of the controller in the deceleration stage, the time period information and speed change information of the truck in the deceleration stage are obtained; according to the time period information and speed change information, the driving distance of the truck in the deceleration stage is determined; according to the driving distance and the preset end point of the truck, the target position is determined.

[0099] Specifically, because The moment is when the current power generation truck starts to decelerate and the moment when the power generation truck starts to accelerate, so it is necessary to determine After the PI controller parameters are determined, the simulation estimates the deceleration stage. Time and speed changes , calculate the distance traveled during the deceleration phase , when the truck is at a distance from the end point The position is the target position.

[0100] In one embodiment, the method of the present application further includes the following steps:

[0101] The acceleration setting value of the truck and the actual acceleration value measured by the acceleration sensor are obtained; and an error signal is obtained according to the acceleration setting value and the actual acceleration value, which is used as the controller input.

[0102] Specifically, because Figure 4 Medium power 、 There are sudden changes at any time, which will affect the actual output power quality. Under the premise of ensuring the power quality, the acceleration control principle of the truck is established. Figure 5 As shown, the input of the PI controller is the acceleration set value and the measured acceleration value The error signal , the output of the PI controller is the control signal of the motor The output of the PI controller is the sum of the proportional and integral parts, which is used to regulate the system:

[0103]

[0104] In the above formula, is the proportional gain, is the integral gain; at the same time, the motor will also be affected by the interference signal The interference signal here is the slope angle changes, thereby changing the driving force, changing the movement state of the truck, and affecting the power output.

[0105] As an application example, a method for controlling the power generation of a slope-type gravity energy storage system in a specific embodiment is provided. By superimposing the power on two tracks, a stable power output is achieved. The devices on the two tracks are used as a generator set. The power output during stable operation is , the total number of generator sets in the slope gravity energy storage system is , the number of tracks of the slope gravity energy storage system , the total number of trucks , specifically including the following steps:

[0106] Step 1: Get the power generation start signal and request power generation ( , A positive integer not greater than ), and the number of trucks on the high altitude platform is obtained as , the number of low altitude platform trucks is .

[0107] Step 2: Select the corresponding number of trucks to be put in place (the number of trucks for high altitude platforms Greater than The corresponding quantity is , when insufficient, ), in the acceleration phase, different generator sets start the descending load vehicle at staggered times to reduce power fluctuations, and in the operation phase, the load vehicle on the other track of the same generator set is kept away from the end point. Start when

[0108] Step 3: When the number of trucks on the high-altitude platform is 0, and no truck is in place to start descending, or when a power generation stop signal is received, wait for all trucks on the track to descend to the low-altitude platform and power generation ends, otherwise return to step 2.

[0109] The beneficial effects brought about by the above embodiment are as follows:

[0110] 1) The specific operation of the multi-channel control strategy is to adopt a staggered start-up method to allow the power of multiple channels to be superimposed on each other. Increasing the number of channels can effectively reduce the power fluctuation rate. At the same time, the power loss rate decreases with the increase in the number of channels. Increasing the number of channels can effectively improve the system's external output power performance.

[0111] 2) Using the devices on two tracks as one generator set, the energy release and power generation strategy of multiple units in staggered time can avoid the problem of large output power fluctuations caused by the superposition of multiple track power, and ensure stable power output.

[0112] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0113] Based on the same inventive concept, the embodiments of the present application also provide a power generation control device for a ramp-type gravity energy storage system for implementing the power generation control method for the ramp-type gravity energy storage system involved above. The implementation solution provided by this device is similar to the implementation solution described in the above method. Therefore, the specific limitations of the power generation control device for one or more ramp-type gravity energy storage systems provided below can be found in the limitations of the power generation control method for the ramp-type gravity energy storage system above, and will not be repeated here.

[0114] In an exemplary embodiment, Figure 9 As shown, a power generation control device for a slope-type gravity energy storage system is provided, comprising:

[0115] Demand determination module 901 is used to obtain the power generation request for the ramp-type gravity energy storage system and determine the current required number of generator sets based on the power generation request and the unit output power of the ramp-type gravity energy storage system; the current generator set is a power generation device comprising two tracks;

[0116] The power generation preparation module 902 is used to select a target number of trucks to be positioned on the high altitude platform of the slope-type gravity energy storage system according to the current required number of generator sets;

[0117] The power generation start module 903 is used to respond to the power generation start signal for the slope type gravity energy storage system, and control the load vehicle to slide down in a staggered manner according to the load vehicle acceleration control principle and the variable parameter mode;

[0118] The power generation end module 904 is used to respond to the power generation stop signal for the slope type gravity energy storage system and end power generation when it is recognized that all the trucks have slid down and stopped at the low altitude platform of the slope type gravity energy storage system.

[0119] In one embodiment, the power generation control device of the slope-type gravity energy storage system also includes a descent control module, which is used to divide the descent process of the truck into an acceleration stage, a uniform speed stage, and a deceleration stage; determine the gain item parameters of the controller in the acceleration stage and the deceleration stage respectively; obtain the controller output of the acceleration stage and the deceleration stage respectively according to the controller input and the gain item parameters; and control each truck to slide according to the acceleration stage, the uniform speed stage, and the deceleration stage according to the controller output.

[0120] In one embodiment, the power generation start-up module 903 is also used to, according to a preset time difference, have different current generator sets slide down the truck on one track at staggered times during the acceleration phase; when it is identified that the truck that has already descended has entered the target position, the current generator set slides down the truck on another track.

[0121] In one embodiment, the power generation control device of the slope-type gravity energy storage system also includes a position determination module, which is used to obtain the time period information and speed change information of the truck in the deceleration stage based on the gain item parameters of the controller in the deceleration stage; determine the driving distance of the truck in the deceleration stage based on the time period information and the speed change information; and determine the target position based on the driving distance and the preset end point of the truck.

[0122] In one embodiment, the descent control module is also used to input the controller input, proportional gain and integral gain into a preset control signal calculation model to obtain the control signals corresponding to each stage of the control signal calculation model output; and obtain the controller output of the acceleration stage and the deceleration stage according to the control signal.

[0123] In one embodiment, the power generation control device of the slope-type gravity energy storage system further includes an input acquisition module for acquiring the acceleration setting value of the truck and the actual acceleration value measured by the acceleration sensor; an error signal is obtained based on the acceleration setting value and the actual acceleration value as a controller input.

[0124] Each module in the power generation control device for the aforementioned ramp-type gravity energy storage system can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a computer device's memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0125] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 10 As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless communication, and the wireless communication can be achieved via Wi-Fi, a mobile cellular network, near-field communication (NFC), or other technologies. When executed by the processor, the computer program implements a method for controlling the power generation of a slope-type gravity energy storage system. The display unit of the computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0126] Those skilled in the art will understand that Figure 10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0127] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0128] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0129] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0130] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0131] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0132] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0133] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for controlling power generation of a slope-type gravity energy storage system, characterized in that: The method comprises: Obtaining a requested power generation value for the ramp-type gravity energy storage system, and determining a current required number of generator sets based on the requested power generation value and the unit output power of the ramp-type gravity energy storage system; the current generator set is a power generation device comprising two tracks; According to the current required number of generator sets, a target number of trucks are selected and positioned on the high altitude platform of the slope-type gravity energy storage system; In response to a power generation start signal for the slope-type gravity energy storage system, the load vehicle is controlled to slide down in a staggered manner according to the load vehicle acceleration control principle and in a variable parameter mode; In response to a power generation stop signal for the slope-type gravity energy storage system, power generation is terminated when it is recognized that the truck has completely slid down and stopped at a low-altitude platform of the slope-type gravity energy storage system.

2. The method according to claim 1, characterized in that The method further comprises: Dividing the descending process of the truck into an acceleration phase, a constant speed phase, and a deceleration phase; respectively determining gain term parameters of the controller in the acceleration phase and the deceleration phase; Obtaining controller outputs in the acceleration phase and the deceleration phase respectively according to the controller input and the gain term parameter; According to the controller output, each of the trucks is controlled to slide down according to the acceleration phase, the constant speed phase and the deceleration phase.

3. The method according to claim 2, characterized in that The controlling of the load vehicle to slide down at an offset time includes: According to a preset time difference, during the acceleration phase, different current generator sets are staggered to slide down the load vehicle on the track; When it is recognized that the lowered truck has entered the target position, the truck on the other track is lowered by the current generator set.

4. The method according to claim 3, characterized in that Before controlling the load vehicle to slide down at an offset time, the method further includes: obtaining time period information and speed change information of the truck during the deceleration phase according to a gain parameter of the controller during the deceleration phase; determining a travel distance of the truck during the deceleration phase based on the time period information and the speed change information; The target position is determined according to the travel distance and a preset end point of the truck.

5. The method according to claim 2, characterized in that The gain term parameters include a proportional gain and an integral gain; and obtaining the controller outputs of the acceleration phase and the deceleration phase respectively according to the controller input and the gain term parameters includes: Inputting the controller input, the proportional gain and the integral gain into a preset control signal calculation model to obtain control signals corresponding to each stage output by the control signal calculation model; The controller outputs in the acceleration phase and the deceleration phase are obtained according to the control signal.

6. The method according to claim 5, characterized in that The method further comprises: Obtaining a set acceleration value of the truck and an actual acceleration value measured by an acceleration sensor; An error signal is obtained according to the acceleration setting value and the acceleration measured value, and is used as the controller input.

7. A power generation control device for a slope-type gravity energy storage system, characterized in that: The device comprises: a demand determination module, configured to obtain a power generation request for the ramp-type gravity energy storage system and determine the current required number of generator sets based on the power generation request and the unit output power of the ramp-type gravity energy storage system; the current generator set is a power generation device comprising two tracks; A power generation preparation module is used to select a target number of trucks to be positioned on the high-altitude platform of the slope-type gravity energy storage system according to the current required number of generator sets; A power generation start module, configured to respond to a power generation start signal for the slope-type gravity energy storage system, and control the load vehicle to slide down in a staggered manner according to the load vehicle acceleration control principle and in a variable parameter mode; The power generation termination module is configured to respond to a power generation stop signal for the slope-type gravity energy storage system and terminate power generation when it is recognized that the truck has completely slid down and stopped at a low-altitude platform of the slope-type gravity energy storage system.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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