A method, system, storage medium and computing device for compiling power generation and transmission plan

Abstract

The present invention discloses a method, system, storage medium and computing device for compiling a power generation and transmission plan. The present invention solves a power generation and transmission plan optimization model based on the constraints of a receiving end of a multi-terminal flexible direct current transmission system, the current operating status of the multi-terminal flexible direct current transmission system and power prediction data of accessed new energy sources, with the goal of minimizing the total cost of wind and solar power abandonment of new energy sources, operation of pumped storage units, power injection into AC lines at the sending end of the multi-terminal flexible direct current transmission system and power output, obtains an optimal power generation and transmission pre-plan, sends the optimal power generation and transmission pre-plan to the receiving end of the multi-terminal flexible direct current transmission system, performs safety verification, and generates a power generation and transmission plan, thereby maximizing the consumption of new energy sources at the lowest cost and ensuring the safe operation of the flexible direct current grid.

Description

Technical Field

[0001] The present invention relates to a method, system, storage medium and computing equipment for compiling a power generation and transmission plan, and belongs to the technical field of power system dispatching automation. Background Art

[0002] As a next-generation DC transmission technology, Flexible DC transmission offers advantages such as the ability to power passive networks, immunity to commutation failures, the elimination of inter-converter station communication requirements, and the ease of configuring multi-terminal DC systems. With Flexible DC transmission, the sending and receiving ends can connect to weak AC systems, unaffected by power fluctuations caused by renewable energy output fluctuations. This allows for the infeed of weak AC systems at multiple locations, providing flexible operation.

[0003] Pumped-storage power stations can start and stop quickly and have flexible operation and adjustment. Building pumped-storage power stations of appropriate sizes in the power system can give full play to the complementarity between pumped-storage power stations and photovoltaic and wind power operations, and reduce the impact of large-scale random grid connection of new energy on the power system.

[0004] Therefore, the power generation and transmission system composed of wind and solar energy, pumped storage power stations and multi-terminal flexible direct current grids is a very effective new model for solving the problem of large-scale new energy transmission and consumption. However, this power generation and transmission system does not yet have a corresponding power generation and transmission plan formulation method to promote the consumption of new energy. Summary of the Invention

[0005] The present invention provides a method, system, storage medium and computing device for compiling a power generation and transmission plan, which solve the problems disclosed in the background technology.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A method for compiling a power generation and transmission plan, comprising:

[0008] Receive the constraints of the receiving end of the multi-terminal flexible direct current transmission system in the jurisdiction and the new energy power forecast data connected to the sending end of the multi-terminal flexible direct current transmission system;

[0009] Based on the constraints of the receiving end of the multi-terminal flexible direct current transmission system and the forecast data of the renewable energy power connected to the sending end of the multi-terminal flexible direct current transmission system, a preset power generation and transmission plan optimization model is solved to obtain a power generation and transmission pre-plan. The power generation and transmission plan optimization model considers the output operation constraints of the renewable energy units, the operation constraints of the pumped storage units, the operation constraints of the reservoir, and the operation constraints of the multi-terminal flexible direct current transmission system, with the goal of minimizing the total cost of renewable energy curtailment, pumped storage unit operation, and the injection and output power of the AC lines at the sending end of the multi-terminal flexible direct current transmission system.

[0010] The power generation and transmission plan is sent to the receiving end of the multi-terminal flexible direct current transmission system for safety verification and generation of the power generation and transmission plan.

[0011] The constraints on the receiving end of the multi-terminal flexible direct current transmission system include the maximum power demand in each planning period and the minimum power demand in each planning period.

[0012] The objective function of the power generation and transmission plan optimization model is:

[0013]

[0014] Where F is the objective function, W is the total number of renewable energy units connected to the multi-terminal flexible direct current transmission system, T is the number of optimization period periods, Δp(w,t) is the wind and solar power curtailment of renewable energy unit w in period t, C(w,t) is the unit power cost of wind and solar power curtailment of renewable energy unit w in period t, K is the total number of pumped storage units connected to the multi-terminal flexible direct current transmission system, and C gen (k,t) is the startup cost of pumped storage unit k in period t, C pm (k,t) is the startup cost of pumped storage unit k in period t, A is the number of converter stations at the sending end of the multi-terminal DC transmission system, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a, t) is the power value output by converter station a to the sending-end AC line during period t, and C(a, t) is the unit power cost injected or transmitted by converter station a during period t.

[0015] The output operation constraints of new energy units are:

[0016] Δp(w,t)≥0

[0017] p(w,t)+Δp(w,t)≤p fore (w,t)

[0018] Among them, Δp(w,t) is the wind and solar power curtailment of the new energy unit w in period t, p(w,t) is the power generation plan of the new energy unit w in period t, and p fore (w,t) is the power forecast data of the new energy unit w in the period t.

[0019] The operating constraints of the pumped storage unit are:

[0020] p(k,t)=p gen (k,t)-p pm (k,t)

[0021]

[0022] Pmin(k,t)·I gen (k,t)≤p gen (k,t)≤Pmax(k,t)·I gen (k,t)

[0023]

[0024]

[0025] y pm (k,t)+z pm (k,t)≤1

[0026] I gen (k,t)-I gen (k,t-1)=y gen (k,t)-z gen (k,t)

[0027] y gen (k,t)+z gen (k,t)≤1

[0028]

[0029]

[0030] Where p(k,t) is the total power of pumped storage unit k in period t, p gen (k,t) is the power generation of pumped storage unit k in period t, p pm (k, t) is the pumping power of pumped storage unit k in period t, M is the total number of pumping power points of the pumped storage unit, is the power of pumped storage unit k at the mth pumping power point, Pmin(k,t) is the lower limit of the power generation of pumped storage unit k in period t, and Pmax(k,t) is the upper limit of the power generation of pumped storage unit k in period t;

[0031] I pm (k,m,t) is a 0 / 1 variable, indicating whether the pumped storage unit k operates at the mth pumping power point during period t; I pm (k,m,t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is operating at the mth pumping power point during the t-1 period; I gen (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the period t; I gen (k, t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the t-1 period; y pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the shutdown state to the pumping state during the period t; z pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the pumping state to the shutdown state during the period t; y gen (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k switches from shutdown state to power generation state during period t; z gen(k, t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the generating state to the shutdown state during the period t.

[0032] The reservoir operation constraints are:

[0033]

[0034]

[0035] Q gen (k,t)=QV gen (k,t)·p gen (k,t)

[0036]

[0037] C gen (k,t)=Cost gen (k)·y gen (k,t)

[0038] C pm (k,t)=Cost pm (k)·y pm (k,t)

[0039] Among them, V up (j,t) is the storage capacity of reservoir j in period t, V up (j,t-1) is the storage capacity of reservoir j in the t-1 period, α k is the water loss rate of pumped storage unit k owned by reservoir j in the pumping state, Q pm (k,t) is the pumping capacity of pumped storage unit k in period t, Q gen (k,t) is the water consumption of pumped storage unit k during period t, QV pm (k,m,t) is the pumping rate of pumped storage unit k at the mth pumping power point in period t, QV gen (k,t) is the water consumption rate per unit power generated by pumped storage unit k in period t, p gen (k,t) is the power generation of pumped storage unit k in period t, is the minimum storage capacity of reservoir j, is the maximum storage capacity of reservoir j, C gen (k,t) is the cost of converting the pumped storage unit k from the shutdown state to the power generation state during period t, Cost gen (k) is the startup cost of a single power generation of pumped storage unit k, C pm (k,t) is the cost of switching the pumped storage unit k from shutdown state to pumping state during period t. pm (k) is the single pumping startup cost of pumped storage unit k;

[0040] I pm (k,m,t) is a 0 / 1 variable, indicating whether the pumped storage unit k is operating at the mth pumping power point during period t; y pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the shutdown state to the pumping state during the period t; y gen (k, t) is a 0 / 1 variable, indicating whether the pumped storage unit k switches from the shutdown state to the generating state during the period t.

[0041] The operating constraints of the multi-terminal flexible direct current transmission system are:

[0042]

[0043] P min (a,t)≤p(a,t)≤P max (a,t)

[0044] Ramp down (a,t)·H(t)≤p(a,t)-p(a,t-1)≤Ramp up (a,t)·H(t)

[0045] P min (d,t)≤p(d,t)≤P max (d,t)

[0046] Ramp down (d,t)·H(t)≤p(d,t)-p(d,t-1)≤Ramp up (d,t)·H(t)

[0047]

[0048] 0≤Δp + (a,t)≤Δp max (a,t)

[0049] 0≤Δp - (a,t)≤Δp max (a,t)

[0050]

[0051]

[0052] Where A is the number of converter stations at the sending end of the MTDC system, p(a,t) is the power injected by converter station a during period t, p(a,t-1) is the power injected by converter station a during period t-1, β(a) is the network loss coefficient of the injected power at converter station a, D is the number of converter stations at the receiving end of the MTDC system, p(d,t) is the power outflow from converter station d during period t, p(d,t-1) is the power outflow from converter station d during period t-1, P max (a,t) is the maximum injection power limit of converter station a during period t, P min (a,t) is the minimum injection power limit of converter station a during period t, P max (d,t) is the maximum power demand of converter station d during period t, P min (d,t) is the minimum power demand of converter station d in period t, Ramp down (a, t) is the lower limit of the power increase rate of converter station a, Ramp up (a, t) is the upper limit of the power increase rate of converter station a, H(t) is the length of time of period t, Ramp down (d,t) is the lower limit of the power increase rate of converter station d, Ramp up (d,t) is the upper limit of the power increase rate of converter station d, p(w,t) is the power generation plan of new energy unit w in period t, p(k,t) is the total power of pumped storage unit k in period t, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a,t) is the power value output by converter station a to the sending end AC line during period t, Δp max (a, t) is the AC line power flow limit connected to converter station a, N is the number of feasible states of converter station d, P d,n is the power value of converter station d in feasible state n; I(n,d,t) is a 0 / 1 variable, indicating whether the output power of converter station d is in feasible state n during time period t.

[0053] A power generation and transmission plan compilation system, comprising:

[0054] The first receiving module receives the constraints of the receiving end of the multi-terminal flexible direct current transmission system in the jurisdiction and the power forecast data of the renewable energy connected to the sending end of the multi-terminal flexible direct current transmission system;

[0055] Power generation and transmission pre-planning module: Based on the constraints of the receiving end of the multi-terminal flexible direct current transmission system and the forecast data of the renewable energy power connected to the sending end of the multi-terminal flexible direct current transmission system, a preset power generation and transmission plan optimization model is solved to obtain the power generation and transmission pre-plan. The power generation and transmission plan optimization model considers the output operation constraints of renewable energy units, the operation constraints of pumped storage units, the operation constraints of reservoirs, and the operation constraints of the multi-terminal flexible direct current transmission system, with the goal of minimizing the total cost of renewable energy curtailment, pumped storage unit operation, and the total cost of power injection and output from the AC lines at the sending end of the multi-terminal flexible direct current transmission system.

[0056] The first sending module: sends the power generation and transmission plan to the receiving end of the multi-terminal flexible direct current transmission system for safety verification and generation of the power generation and transmission plan.

[0057] The objective function of the power generation and transmission plan optimization model is:

[0058]

[0059] Where F is the objective function, W is the total number of renewable energy units connected to the multi-terminal flexible direct current transmission system, T is the number of optimization period periods, Δp(w,t) is the wind and solar power curtailment of renewable energy unit w in period t, C(w,t) is the unit power cost of wind and solar power curtailment of renewable energy unit w in period t, K is the total number of pumped storage units connected to the multi-terminal flexible direct current transmission system, and C gen (k,t) is the startup cost of pumped storage unit k in period t, C pm (k,t) is the startup cost of pumped storage unit k in period t, A is the number of converter stations at the sending end of the multi-terminal DC transmission system, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a, t) is the power value output by converter station a to the sending-end AC line during period t, and C(a, t) is the unit power cost injected or transmitted by converter station a during period t.

[0060] A method for compiling a power generation and transmission plan, comprising:

[0061] Generate constraints based on the power balance of the managed power grid;

[0062] Send the constraints to the higher-level regulatory agency;

[0063] Receive power generation and transmission plans from higher-level regulatory agencies;

[0064] Conduct safety verification of power generation and transmission plans based on power generation and consumption plans within the scope of regulation;

[0065] If the safety check is passed, the power generation and transmission plan will be issued to the station as the formal dispatching plan.

[0066] If the safety check fails, adjust the constraints until the safety check passes.

[0067] A power generation and transmission plan compilation system, comprising:

[0068] Constraint generation module: generates constraints based on the power balance of the managed power grid;

[0069] The second sending module: sends the constraint conditions to the upper-level regulatory agency;

[0070] The second receiving module: receives the power generation and transmission plan sent by the upper-level regulatory agency;

[0071] Verification module: performs safety verification on power generation and transmission plans based on the power generation and consumption plans within the scope of regulation and management;

[0072] Dispatching module: If the safety check is passed, the power generation and transmission plan will be distributed to the station as the formal dispatching plan.

[0073] It also includes an adjustment module, which adjusts the constraint conditions if the safety check fails and sends the adjusted constraint conditions to the receiving end sending module.

[0074] A computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions that, when executed by a computing device, cause the computing device to perform a method for compiling a power generation and transmission plan.

[0075] A computing device includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for executing a method for compiling a power generation and transmission plan.

[0076] The beneficial effects achieved by the present invention are as follows: Based on the constraints of the receiving end of the multi-terminal flexible direct current transmission system and the power prediction data of the connected new energy, the present invention solves a power generation and transmission plan optimization model with the goal of minimizing the total cost of new energy curtailment, wind and solar power curtailment, operation of pumped storage units, power injection into the AC lines at the sending end of the multi-terminal flexible direct current transmission system, and output power, obtains the optimal power generation and transmission pre-plan, sends the optimal power generation and transmission pre-plan to the receiving end of the multi-terminal flexible direct current transmission system, performs safety verification, and generates a power generation and transmission plan, thereby achieving maximum new energy consumption at the lowest cost and ensuring the safe operation of the flexible direct current power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 Flowchart of the methodology for preparing generation and transmission plans. DETAILED DESCRIPTION

[0078] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0079] like Figure 1 As shown, a method for compiling a power generation and transmission plan includes a method of a higher-level regulatory agency and a method of a receiving end of a multi-terminal flexible direct current transmission system;

[0080] The sending-end method of the multi-terminal flexible direct current transmission system includes the following steps:

[0081] Step 1: Receive the constraints of the receiving end of the multi-terminal flexible direct current transmission system in the jurisdiction and the power forecast data of the renewable energy connected to the sending end of the multi-terminal flexible direct current transmission system;

[0082] Step 2: Based on the constraints of the receiving end of the multi-terminal flexible direct current transmission system and the forecast data of the renewable energy power connected to the sending end of the multi-terminal flexible direct current transmission system, a preset power generation and transmission plan optimization model is solved to obtain a power generation and transmission preliminary plan. The power generation and transmission plan optimization model considers the output operation constraints of the renewable energy units, the operation constraints of the pumped storage units, the operation constraints of the reservoir, and the operation constraints of the multi-terminal flexible direct current transmission system, with the goal of minimizing the total cost of renewable energy curtailment, pumped storage unit operation, and the power injection and output of the AC lines at the sending end of the multi-terminal flexible direct current transmission system.

[0083] Step 3: Send the power generation and transmission plan to the receiving end of the multi-terminal flexible direct current transmission system for safety verification and generate the power generation and transmission plan.

[0084] The receiving end method of a multi-terminal flexible direct current transmission system includes the following steps:

[0085] 1) Generate constraints based on the power balance of the managed power grid;

[0086] 2) Send the constraints to the higher-level regulatory agency;

[0087] 3) Receive power generation and transmission plans from the upper-level regulatory agency;

[0088] 4) Conduct safety verification of power generation and transmission plans based on the power generation and consumption plans within the scope of regulation and control;

[0089] 5) If the safety check is passed, the power generation and transmission plan will be issued to the station as the formal dispatching plan.

[0090] The above method is applicable to the grid control agency in the dispatch plan preparation stage. According to the constraints of the receiving end of the multi-terminal flexible direct current transmission system and the power forecast data of the connected renewable energy, the method solves the power generation and transmission plan optimization model with the goal of minimizing the total cost of renewable energy curtailment of wind and solar power, operation of pumped storage units, power injection and output of AC lines at the sending end of the multi-terminal flexible direct current transmission system, obtains the optimal power generation and transmission pre-plan, sends the optimal power generation and transmission pre-plan to the receiving end of the multi-terminal flexible direct current transmission system for safety verification, and generates a power generation and transmission plan, thereby achieving the maximum consumption of renewable energy under the condition of minimum cost and ensuring the safe operation of the flexible direct current grid.

[0091] In the power generation and transmission system, each receiving end of the multi-terminal flexible direct current transmission system (mainly the grid control agency at the receiving end, hereinafter referred to as "receiving end") generates the receiving end constraint conditions of the multi-terminal flexible direct current transmission system according to the power balance of the grid it controls. These mainly include the maximum power demand in each planning period (generally every 15 minutes), the minimum power demand in each planning period, the maximum power receiving range within the planning period, and the minimum power receiving range within the planning period.

[0092] Each receiving end will send the constraints to the upper-level regulatory agency. For example, the receiving end of the Shanghai multi-terminal flexible direct current transmission system and the receiving end of the Jiangsu multi-terminal flexible direct current transmission system will send the constraints to the East China regulatory system.

[0093] In the upper-level regulatory agency, a power generation and transmission plan optimization model is pre-set. This module takes into account the output operation constraints of new energy units, the operation constraints of pumped storage units, the operation constraints of reservoirs, and the operation constraints of multi-terminal flexible direct current transmission systems, with the goal of minimizing the total cost of new energy wind and solar power curtailment, pumped storage unit operation, and the total cost of power injection and output of AC lines at the sending end of the multi-terminal flexible direct current transmission system.

[0094] The power generation and transmission plan optimization model can be expressed as follows:

[0095] Objective function:

[0096]

[0097] Where F is the objective function, W is the total number of renewable energy units connected to the multi-terminal flexible direct current transmission system, T is the number of optimization period periods, Δp(w,t) is the wind and solar power curtailment of renewable energy unit w in period t, C(w,t) is the unit power cost of wind and solar power curtailment of renewable energy unit w in period t, K is the total number of pumped storage units connected to the multi-terminal flexible direct current transmission system, and C gen (k,t) is the startup cost of pumped storage unit k in period t, C pm (k,t) is the startup cost of pumped storage unit k in period t, A is the number of converter stations at the sending end of the multi-terminal DC transmission system, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp -(a, t) is the power value output by converter station a to the sending-end AC line during period t, and C(a, t) is the unit power cost injected or transmitted by converter station a during period t.

[0098] Constraints:

[0099] 1. Output operation constraints of new energy units;

[0100] The formula can be expressed as:

[0101] Δp(w,t)≥0

[0102] p(w,t)+Δp(w,t)≤p fore (w,t)

[0103] Among them, p(w,t) is the power generation plan of the new energy unit w in the t period, p fore (w, t) is the power forecast data of the new energy unit w in the period t (i.e., the power forecast data of the new energy connected to the sending end of the multi-terminal flexible direct current transmission system).

[0104] 2. Operation constraints of pumped storage units;

[0105] The two operating states of a pumped-storage unit can be virtualized as a virtual generator and a virtual motor, respectively. The virtual generator has the same characteristics as a conventional hydropower unit, consuming water from the upper reservoir of the pumped-storage station to generate electricity; the virtual motor draws power from the grid, pumping water from the lower reservoir of the pumped-storage station to the upper reservoir.

[0106] When the pumped storage unit is pumping water, its pumping power can be output at several fixed power points according to the design parameters of the pumped storage unit; when the pumped storage unit is generating electricity, its output can vary within the maximum and minimum power range.

[0107] Therefore, the operating power and status of the pumped storage unit can be expressed by the following constraints:

[0108] p(k,t)=p gen (k,t)-p pm (k,t)

[0109]

[0110] Pmin(k,t)·I gen (k,t)≤p gen (k,t)≤Pmax(k,t)·I gen (k,t)

[0111]

[0112]

[0113] ypm (k,t)+z pm (k,t)≤1

[0114] I gen (k,t)-I gen (k,t-1)=y gen (k,t)-z gen (k,t)

[0115] y gen (k,t)+z gen (k,t)≤1

[0116] Among them, p(k,t) is the total power of pumped storage unit k in period t, p gen (k,t) is the power generation of pumped storage unit k in period t, p pm (k, t) is the pumping power of pumped storage unit k in period t, M is the total number of pumping power points of the pumped storage unit (the pumped storage unit can only pump water at a limited number of fixed power points when it is pumping), is the power of pumped storage unit k at the mth pumping power point, Pmin(k,t) is the lower limit of the power generation of pumped storage unit k in period t, and Pmax(k,t) is the upper limit of the power generation of pumped storage unit k in period t.

[0117] The pumped storage unit needs to be shut down for several minutes when switching between the power generation state and the pumping state. Therefore, during the planning phase, the pumped storage unit needs to be shut down for a limited period of time when switching between the power generation state and the pumping state. Therefore, the operating state transition constraints of the pumped storage unit are as follows:

[0118]

[0119]

[0120] Among them, I pm (k,m,t) is a 0 / 1 variable, indicating whether the pumped storage unit k operates at the mth pumping power point during period t; I pm (k,m,t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is operating at the mth pumping power point during the t-1 period; I gen (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the period t; I gen (k, t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the t-1 period; y pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the shutdown state to the pumping state during the period t; z pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the pumping state to the shutdown state during the period t; y gen(k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k switches from shutdown state to power generation state during period t; z gen (k, t) is a 0 / 1 variable indicating whether pumped storage unit k switched from generating to shutting down during period t. For all the above 0 / 1 variables, 0 generally indicates no and 1 indicates yes.

[0121] 3. Reservoir operation constraints;

[0122] The operating principle of a pumped storage unit shows that it uses the water volume of the upper and lower reservoirs as the medium for power conversion. Because the capacity of the lower reservoir of a pumped storage power station is generally much larger than that of the upper reservoir, the upper reservoir capacity constraint is the primary consideration in planning. For the upper reservoir of a pumped storage unit, the water volume increase and decrease operation can be constrained as follows:

[0123]

[0124]

[0125] Q gen (k,t)=QV gen (k,t)·p gen (k,t)

[0126]

[0127] Among them, V up (j,t) is the storage capacity of reservoir j in period t, V up (j,t-1) is the storage capacity of reservoir j in the t-1 period, α k is the water loss rate of pumped storage unit k owned by reservoir j in the pumping state, Q pm (k,t) is the pumping capacity of pumped storage unit k in period t, Q gen (k,t) is the water consumption of pumped storage unit k during period t, QV pm (k,m,t) is the pumping rate of pumped storage unit k at the mth pumping power point in period t, QV gen (k,t) is the water consumption rate per unit power generated by pumped storage unit k in period t, p gen (k,t) is the power generation of pumped storage unit k in period t, is the minimum storage capacity of reservoir j, is the maximum storage capacity of reservoir j, C gen (k,t) is the cost of converting the pumped storage unit k from the shutdown state to the power generation state during period t, Cost gen (k) is the startup cost of single power generation of pumped storage unit k; I pm (k,m,t) is a 0 / 1 variable, indicating whether the pumped storage unit k is operating at the mth pumping power point during period t. Generally, 0 indicates no and 1 indicates yes.

[0128] In addition to the pumping and power generation losses (already included in the reservoir losses and pumping and power generation losses), other costs of the pumped storage unit during operation include state conversion costs, namely:

[0129] C gen (k,t)=Cost gen (k) y gen (k,t)

[0130] C pm (k,t)=Cost pm (k) y pm (k,t)

[0131] Among them, C pm (k,t) is the cost of switching the pumped storage unit k from shutdown state to pumping state during period t. pm (k) is the single pumping startup cost of pumped storage unit k; y pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the shutdown state to the pumping state during the period t; y gen (k, t) is a 0 / 1 variable that indicates whether pumped storage unit k switched from shutdown to generating state during period t. For all the above 0 / 1 variables, 0 generally indicates no and 1 indicates yes.

[0132] 4. Operational constraints of multi-terminal flexible direct current transmission systems;

[0133] From the perspective of planning, the generation and transmission plan of the multi-terminal flexible direct current transmission system should maximize the absorption of new energy and ensure the safe operation of the multi-terminal flexible direct current grid. In addition to considering the initial operating state constraints, it is also necessary to consider the power balance of the multi-terminal flexible direct current transmission system and the safe operation constraints of the converter station.

[0134] The initial operating state constraint is a well-known constraint, and the current operating state of the transmission system is used as the initial state constraint condition of each device when the plan is compiled.

[0135] Operational constraints mainly include:

[0136] The injection power of each sending-end converter station and the output power of each receiving-end converter station in the multi-terminal flexible DC transmission system are balanced and meet the power regulation constraints of the converter stations, that is:

[0137]

[0138] P min (a,t)≤p(a,t)≤P max (a,t)

[0139] Ramp down (a,t)·H(t)≤p(a,t)-p(a,t-1)≤Rampup (a,t)·H(t)

[0140] P min (d,t)≤p(d,t)≤P max (d,t)

[0141] Ramp down (d,t)·H(t)≤p(d,t)-p(d,t-1)≤Ramp up (d,t)·H(t)

[0142] Where A is the number of converter stations at the sending end of the MTDC system, p(a,t) is the power injected by converter station a during period t, p(a,t-1) is the power injected by converter station a during period t-1, β(a) is the network loss coefficient of the injected power at converter station a, D is the number of converter stations at the receiving end of the MTDC system, p(d,t) is the power outflow from converter station d during period t, p(d,t-1) is the power outflow from converter station d during period t-1, P max (a,t) is the maximum injection power limit of converter station a during period t, P min (a,t) is the minimum injection power limit of converter station a during period t, P max (d,t) is the maximum power demand of converter station d during period t, P min (d,t) is the minimum power demand of converter station d in period t, Ramp down (a, t) is the lower limit of the power increase rate of converter station a, Ramp up (a, t) is the upper limit of the power increase rate of converter station a, H(t) is the length of time period t (such as 15 minutes), Ramp down (d,t) is the lower limit of the power increase rate of converter station d, Ramp up (d,t) is the upper limit of the power increase rate at converter station d.

[0143] For the AC sending-end converter station of a multi-terminal flexible DC transmission system, the power injected into the converter station is composed of the output of the new energy units and pumped storage units connected to the converter station, and the power injected or outflowed from the sending-end AC grid connected to the converter station, that is:

[0144]

[0145] 0≤Δp + (a,t)≤Δp max (a,t)

[0146] 0≤Δp - (a,t)≤Δp max (a,t)

[0147] Among them, p(w,t) is the power generation plan of the new energy unit w in period t, p(k,t) is the total power of the pumped storage unit k in period t, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a,t) is the power value output by converter station a to the sending end AC line during period t, Δp max (a, t) is the AC line power flow limit connected to converter station a. For converter stations without AC regulation function, this parameter value is 0.

[0148] For the receiving-end power grid of a multi-terminal flexible DC transmission system, large fluctuations in the flexible DC power have a significant impact on the stable operation of the receiving-end power grid units. Therefore, the output power of the receiving-end converter station of the multi-terminal flexible DC transmission system mostly adopts a fixed-power stepped segmented operation mode, that is, the output power is relatively stable within each segment. The output fluctuations of the renewable energy connected to the multi-terminal flexible DC transmission system are smoothed by the AC grid connected to the sending-end converter station to ensure the relative stability of the flexible DC transmission power. Therefore, the output power of the receiving-end converter station of the multi-terminal flexible DC transmission system can be modeled according to multiple feasible states, namely:

[0149] p(d,t)∈{P d,1 ,P d,2 ...P d,n ...,P d,N}

[0150] Where N is the number of feasible states of converter station d, P d,n is the power value of the feasible state n of converter station d.

[0151] The output power constraint of the AC receiving-end converter station in a multi-terminal flexible DC transmission system can be expressed as:

[0152]

[0153]

[0154] Where I(n,d,t) is a 0 / 1 variable, indicating whether the output power of converter station d is in feasible state n during period t. Generally, 0 indicates no and 1 indicates yes.

[0155] The upper-level regulatory agency receives the constraints of the receiving end of the multi-terminal flexible direct current transmission system in its jurisdiction, the current operating status of the multi-terminal flexible direct current transmission system, and the forecast data of the renewable energy power connected to the sending end of the multi-terminal flexible direct current transmission system, and uses a mixed integer programming algorithm to solve the power generation and transmission plan optimization model to obtain the power generation and transmission preliminary plan.

[0156] The upper-level regulatory agency will send the power generation and transmission plan to the receiving end of the multi-terminal flexible direct current transmission system. The receiving end will conduct a safety check on the power generation and transmission plan based on the power generation and consumption plan within the regulation range. If the safety check passes, the power generation and transmission plan will be sent to the station as the formal scheduling plan, and the station will implement the power generation and transmission plan. If the safety check fails, the constraints will be adjusted and the above process will be repeated until the safety check passes.

[0157] The above method solves the power generation and transmission plan optimization model based on the receiving-end constraints, the current operating status of the multi-terminal flexible DC transmission system, and the power forecast data of the connected renewable energy, obtains the optimal power generation and transmission pre-plan, and coordinates and optimizes it with the receiving-end AC power grid dispatch plan. Through the coordination of wind, solar, pumped storage and multi-terminal flexible DC power grid operations, the flexibility of the multi-terminal flexible DC power grid and the regulation characteristics of the pumped storage units are fully utilized to maximize the absorption of renewable energy and ensure the safe operation of the flexible DC power grid.

[0158] Based on the same technical solution, the present invention also discloses a software system corresponding to the above method, namely a power generation and transmission plan compilation system, including a higher-level control mechanism system and a multi-terminal flexible direct current transmission system receiving end system;

[0159] Among them, the upper-level regulatory agency system includes:

[0160] The first receiving module: receives the constraints of the receiving end of the multi-terminal flexible direct current transmission system in the jurisdiction and the new energy power forecast data connected to the sending end of the multi-terminal flexible direct current transmission system.

[0161] Power generation and transmission pre-planning module: Based on the constraints of the receiving end of the multi-terminal flexible direct current transmission system, the current operating status of the multi-terminal flexible direct current transmission system and the power forecast data of the renewable energy connected to the sending end of the multi-terminal flexible direct current transmission system, the preset power generation and transmission plan optimization model is solved to obtain the power generation and transmission pre-plan; among them, the power generation and transmission plan optimization model takes into account the output operation constraints of the renewable energy units, the operation constraints of the pumped storage units, the operation constraints of the reservoirs and the operation constraints of the multi-terminal flexible direct current transmission system, and aims to minimize the total cost of renewable energy curtailment, pumped storage unit operation, and the total cost of power injection and output of the AC lines at the sending end of the multi-terminal flexible direct current transmission system.

[0162] The objective function of the power generation and transmission plan optimization model is:

[0163]

[0164] Where F is the objective function, W is the total number of renewable energy units connected to the multi-terminal flexible direct current transmission system, T is the number of optimization period periods, Δp(w,t) is the wind and solar power curtailment of renewable energy unit w in period t, C(w,t) is the unit power cost of wind and solar power curtailment of renewable energy unit w in period t, K is the total number of pumped storage units connected to the multi-terminal flexible direct current transmission system, and C gen (k,t) is the startup cost of pumped storage unit k in period t, C pm(k,t) is the startup cost of pumped storage unit k in period t, A is the number of converter stations at the sending end of the multi-terminal DC transmission system, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a, t) is the power value output by converter station a to the sending-end AC line during period t, and C(a, t) is the unit power cost injected or transmitted by converter station a during period t.

[0165] The first sending module: sends the power generation and transmission plan to the receiving end of the multi-terminal flexible direct current transmission system for safety verification and generation of the power generation and transmission plan.

[0166] The receiving end system of the multi-terminal flexible direct current transmission system includes:

[0167] Constraint generation module: generates constraints based on the power balance of the managed power grid;

[0168] The second sending module: sends the constraint conditions to the upper-level regulatory agency;

[0169] The second receiving module: receives the power generation and transmission plan sent by the upper-level regulatory agency;

[0170] Verification module: performs safety verification on power generation and transmission plans based on the power generation and consumption plans within the scope of regulation and management;

[0171] Dispatching module: If the safety check is passed, the power generation and transmission plan will be distributed to the station as the formal dispatching plan.

[0172] Adjustment module: If the safety check fails, adjust the constraint conditions and send the adjusted constraint conditions to the receiving end sending module.

[0173] In the above system, the data processing flow and method of each module are consistent and will not be repeated here.

[0174] Based on the same technical solution, the present invention also discloses a computer-readable storage medium storing one or more programs, wherein the one or more programs include instructions, which, when executed by a computing device, enable the computing device to execute a method for compiling a power generation and transmission plan.

[0175] Based on the same technical solution, the present invention also discloses a computing device, including one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing a method for preparing a power generation and transmission plan.

[0176] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0177] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0178] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0180] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A method for compiling a power generation and transmission plan, characterized in that: include: Receive the constraints of the receiving end of the multi-terminal flexible direct current transmission system in the jurisdiction and the forecast data of the renewable energy power connected to the sending end of the multi-terminal flexible direct current transmission system; wherein, the constraints of the receiving end of the multi-terminal flexible direct current transmission system are generated according to the power balance of the power grid regulated by the receiving end of the multi-terminal flexible direct current transmission system; Based on the constraints of the receiving end of the multi-terminal flexible direct current transmission system and the forecast data of the renewable energy power connected to the sending end of the multi-terminal flexible direct current transmission system, a preset power generation and transmission plan optimization model is solved to obtain a power generation and transmission pre-plan. The power generation and transmission plan optimization model considers the output operation constraints of the renewable energy units, the operation constraints of the pumped storage units, the operation constraints of the reservoir, and the operation constraints of the multi-terminal flexible direct current transmission system, with the goal of minimizing the total cost of renewable energy curtailment, pumped storage unit operation, and the injection and output power of the AC lines at the sending end of the multi-terminal flexible direct current transmission system. Send the power generation and transmission plan to the receiving end of the multi-terminal flexible direct current transmission system for safety verification and generation of the power generation and transmission plan; The operating constraints of the above pumped storage units are: p(k,t)=p gen (k,t)-p pm (k,t) Pmin(k,t)·I gen (k,t)≤p gen (k,t)≤Pmax(k,t)·I gen (k,t) y pm (k,t)+z pm (k,t)≤1 I gen (k,t)-I gen (k,t-1)=y gen (k,t)-z gen (k,t) y gen (k,t)+z gen (k,t)≤1 Where p(k,t) is the total power of pumped storage unit k in period t, p gen (k,t) is the power generation of pumped storage unit k in period t, p pm (k, t) is the pumping power of pumped storage unit k in period t, M is the total number of pumping power points of the pumped storage unit, is the power of pumped storage unit k at the mth pumping power point, Pmin(k,t) is the lower limit of the power generation of pumped storage unit k in period t, and Pmax(k,t) is the upper limit of the power generation of pumped storage unit k in period t; I pm (k,m,t) is a 0 / 1 variable, indicating whether the pumped storage unit k operates at the mth pumping power point during period t; I pm (k,m,t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is operating at the mth pumping power point during the t-1 period; I gen (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the period t; I gen (k, t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the t-1 period; y pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the shutdown state to the pumping state during the period t; z pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the pumping state to the shutdown state during the period t; y gen (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k switches from shutdown state to power generation state during period t; z gen (k, t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the generating state to the shutdown state during the period t.

2. A method for compiling a power generation and transmission plan according to claim 1, characterized in that: The receiving-end constraints of the multi-terminal flexible direct current transmission system include the maximum power demand in each planning period and the minimum power demand in each planning period.

3. A method for compiling a power generation and transmission plan according to claim 1, characterized in that: The objective function of the power generation and transmission plan optimization model is: Where F is the objective function, W is the total number of renewable energy units connected to the multi-terminal flexible direct current transmission system, T is the number of optimization period periods, Δp(w,t) is the wind and solar power curtailment of renewable energy unit w in period t, C(w,t) is the unit power cost of wind and solar power curtailment of renewable energy unit w in period t, K is the total number of pumped storage units connected to the multi-terminal flexible direct current transmission system, and C gen (k,t) is the startup cost of pumped storage unit k in period t, C pm (k,t) is the startup cost of pumped storage unit k in period t, A is the number of converter stations at the sending end of the multi-terminal DC transmission system, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a, t) is the power value output by converter station a to the sending-end AC line during period t, and C(a, t) is the unit power cost injected or transmitted by converter station a during period t.

4. A method for compiling a power generation and transmission plan according to claim 1, characterized in that: The output operation constraints of new energy units are: Δp(w,t)≥0 p(w,t)+Δp(w,t)≤p fore (w,t) Among them, Δp(w,t) is the wind and solar power curtailment of the new energy unit w in period t, p(w,t) is the power generation plan of the new energy unit w in period t, and p fore (w,t) is the power forecast data of the new energy unit w in the period t.

5. A method for compiling a power generation and transmission plan according to claim 1, characterized in that: The reservoir operation constraints are: Q gen (k,t)=QV gen (k,t)·p gen (k,t) C gen (k,t)=Cost gen (k)·y gen (k,t) C pm (k,t)=Cost pm (k)·y pm (k,t) Among them, V up (j,t) is the storage capacity of reservoir j in period t, V up (j,t-1) is the storage capacity of reservoir j in the t-1 period, α k is the water loss rate of pumped storage unit k owned by reservoir j in the pumping state, Q pm (k,t) is the pumping capacity of pumped storage unit k in period t, Q gen (k,t) is the water consumption of pumped storage unit k during period t, QV pm (k,m,t) is the pumping rate of pumped storage unit k at the mth pumping power point in period t, QV gen (k,t) is the water consumption rate per unit power generated by pumped storage unit k in period t, is the minimum storage capacity of reservoir j, is the maximum storage capacity of reservoir j, C gen (k,t) is the cost of converting the pumped storage unit k from the shutdown state to the power generation state during period t, Cost gen (k) is the startup cost of a single power generation of pumped storage unit k, C pm (k,t) is the cost of switching the pumped storage unit k from shutdown state to pumping state during period t. pm (k) is the single pumping startup cost of pumped storage unit k.

6. A method for compiling a power generation and transmission plan according to claim 1, characterized in that: The operating constraints of the multi-terminal flexible direct current transmission system are: P min (a,t)≤p(a,t)≤P max (a,t) Ramp down (a,t)·H(t)≤p(a,t)-p(a,t-1)≤Ramp up (a,t)·H(t) P min (d,t)≤p(d,t)≤P max (d,t) Ramp down (d,t)·H(t)≤p(d,t)-p(d,t-1)≤Ramp up (d,t)·H(t) 0≤Δp + (a,t)≤Δp max (a,t) 0≤Δp - (a,t)≤Δp max (a,t) Where A is the number of converter stations at the sending end of the MTDC system, p(a,t) is the power injected by converter station a during period t, p(a,t-1) is the power injected by converter station a during period t-1, β(a) is the network loss coefficient of the injected power at converter station a, D is the number of converter stations at the receiving end of the MTDC system, p(d,t) is the power outflow from converter station d during period t, p(d,t-1) is the power outflow from converter station d during period t-1, P max (a,t) is the maximum injection power limit of converter station a during period t, P min (a,t) is the minimum injection power limit of converter station a during period t, P max (d,t) is the maximum power demand of converter station d during period t, P min (d,t) is the minimum power demand of converter station d in period t, Ramp down (a, t) is the lower limit of the power increase rate of converter station a, Ramp up (a, t) is the upper limit of the power increase rate of converter station a, H(t) is the length of time of period t, Ramp down (d,t) is the lower limit of the power increase rate of converter station d, Ramp up (d,t) is the upper limit of the power increase rate of converter station d, p(w,t) is the power generation plan of new energy unit w in period t, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a,t) is the power value output by converter station a to the sending end AC line during period t, Δp max (a, t) is the AC line power flow limit connected to converter station a, N is the number of feasible states of converter station d, P d,n is the power value of converter station d in feasible state n; I(n,d,t) is a 0 / 1 variable, indicating whether the output power of converter station d is in feasible state n during time period t.

7. A power generation and transmission plan compilation system, characterized in that: include: The first receiving module receives the constraints of the receiving end of the multi-terminal flexible direct current transmission system in the jurisdiction and the power forecast data of the renewable energy connected to the sending end of the multi-terminal flexible direct current transmission system. The constraints of the receiving end of the multi-terminal flexible direct current transmission system are generated based on the power balance of the power grid controlled by the receiving end of the multi-terminal flexible direct current transmission system. Power generation and transmission pre-planning module: Based on the constraints of the receiving end of the multi-terminal flexible direct current transmission system and the forecast data of the renewable energy power connected to the sending end of the multi-terminal flexible direct current transmission system, a preset power generation and transmission plan optimization model is solved to obtain the power generation and transmission pre-plan. The power generation and transmission plan optimization model considers the output operation constraints of renewable energy units, the operation constraints of pumped storage units, the operation constraints of reservoirs, and the operation constraints of the multi-terminal flexible direct current transmission system, with the goal of minimizing the total cost of renewable energy curtailment, pumped storage unit operation, and the total cost of power injection and output from the AC lines at the sending end of the multi-terminal flexible direct current transmission system. The operating constraints of the above pumped storage units are: p(k,t)=p gen (k,t)-p pm (k,t) Pmin(k,t)·I gen (k,t)≤p gen (k,t)≤Pmax(k,t)·I gen (k,t) y pm (k,t)+z pm (k,t)≤1 I gen (k,t)-I gen (k,t-1)=y gen (k,t)-z gen (k,t) y gen (k,t)+z gen (k,t)≤1 Among them, p(k,t) is the total power of pumped storage unit k in period t, p gen (k,t) is the power generation of pumped storage unit k in period t, p pm (k, t) is the pumping power of pumped storage unit k in period t, M is the total number of pumping power points of the pumped storage unit, is the power of pumped storage unit k at the mth pumping power point, Pmin(k,t) is the lower limit of the power generation of pumped storage unit k in period t, and Pmax(k,t) is the upper limit of the power generation of pumped storage unit k in period t; I pm (k,m,t) is a 0 / 1 variable, indicating whether the pumped storage unit k operates at the mth pumping power point during period t; I pm (k,m,t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is operating at the mth pumping power point during the t-1 period; I gen (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the period t; I gen (k, t-1) is a 0 / 1 variable, indicating whether the pumped storage unit k is in the power generation state during the t-1 period; y pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the shutdown state to the pumping state during the period t; z pm (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the pumping state to the shutdown state during the period t; y gen (k,t) is a 0 / 1 variable, indicating whether the pumped storage unit k switches from shutdown state to power generation state during period t; z gen (k, t) is a 0 / 1 variable, indicating whether the pumped storage unit k changes from the generating state to the shutdown state during the period t; The first sending module: sends the power generation and transmission plan to the receiving end of the multi-terminal flexible direct current transmission system for safety verification and generation of the power generation and transmission plan.

8. A power generation and transmission plan compilation system according to claim 7, characterized in that: The objective function of the power generation and transmission plan optimization model is: Where F is the objective function, W is the total number of renewable energy units connected to the multi-terminal flexible direct current transmission system, T is the number of optimization period periods, Δp(w,t) is the wind and solar power curtailment of renewable energy unit w in period t, C(w,t) is the unit power cost of wind and solar power curtailment of renewable energy unit w in period t, K is the total number of pumped storage units connected to the multi-terminal flexible direct current transmission system, and C gen (k,t) is the startup cost of pumped storage unit k in period t, C pm (k,t) is the startup cost of pumped storage unit k in period t, A is the number of converter stations at the sending end of the multi-terminal DC transmission system, Δp + (a,t) is the power value injected by the sending end AC line at converter station a during period t, Δp - (a, t) is the power value output by converter station a to the sending-end AC line during period t, and C(a, t) is the unit power cost injected or transmitted by converter station a during period t.

9. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs include instructions that, when executed by a computing device, cause the computing device to perform any one of the methods according to claims 1 to 6.

10. A computing device, characterized in that include: One or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any one of the methods according to claims 1 to 6.

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