Distributed gravity energy storage system and method for enhancing robustness

Abstract

The invention discloses a distributed gravity energy storage system with enhanced robustness. The distributed gravity energy storage system comprises a gravity energy storage module group, a sub-control system and an EMS center, the sub-control system is in signal connection with the gravity energy storage module and the EMS center. The gravity energy storage module comprises a lifting device, a gravity block and a permanent magnet motor, the lifting device is connected with the gravity block through a steel cable, and the permanent magnet motor is in power connection with the lifting device; the sub-control system comprises a main control unit, a redundancy control unit and a communication link, and the main control unit and the redundancy control unit are connected in parallel through the communication link; the EMS center comprises a signal data acquisition module, a data analysis module and a control output module. The distributed gravity system has the beneficial effects that timely switching and isolation of the main control unit and the redundant loop are completed by using the working property of the electrical logging relay, and the system robustness of the distributed gravity system is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of a distributed gravity energy storage system, in particular to a distributed gravity energy storage system with enhanced robustness, belonging to the technical field of new energy and power system control. Background Art

[0002] With the rapid development of renewable energy technology, the importance of energy storage systems has become increasingly prominent. As a new type of energy storage technology, gravity energy storage is crucial to system performance due to its excellent stability and reliability. Gravity energy storage is a mechanical energy storage method. Its energy storage medium is mainly divided into water and solid substances. The energy storage medium is raised and lowered based on the height difference to realize the charging and discharging process of the energy storage system. Gravity energy storage systems generally include a main control system, a sub-control system and an energy storage module. However, when a sub-control system fails, it often has an adverse effect on the entire system and affects the energy storage efficiency.

[0003] Chinese patent CN117639015B discloses a linear motor gravity energy storage device for abandoned mines and a method for coordinated control of multiple energy storage blocks. The device adopts coordinated control of multiple energy storage blocks to achieve coordinated work between multiple sub-controllers. Although the present invention solves the problem of space occupied by energy storage modules, it does not provide a practical solution for the monitoring and related protection of the control system. The system safety has not been improved and there are still safety hazards.

[0004] Therefore, developing a distributed gravity energy storage system that can monitor the operating status of the sub-control system in real time, quickly disconnect the fault circuit for power-off protection when a sub-control system fails, analyze the cause of the fault and switch to the backup circuit is of great significance to improving the robustness of the system. Summary of the invention

[0005] Purpose of the invention: In view of the deficiencies in the prior art, the present invention provides a distributed gravity energy storage system and method with enhanced robustness. The present invention continuously monitors the internal conditions of the system by setting up monitoring equipment such as power fault monitors, CPU fault monitors, memory error monitors, temperature sensors, and vibration meters, and uses the working properties of electrical measuring relays to complete timely switching and isolation of the main control unit and redundant circuits.

[0006] Technical solution: A distributed gravity energy storage system with enhanced robustness, comprising a gravity energy storage module group, a sub-control system and an EMS center; the sub-control system is connected to the gravity energy storage module by signal, and the EMS center is connected to the sub-control system by signal;

[0007] The gravity energy storage module group includes at least two gravity energy storage modules, and a single gravity energy storage module includes a lifting device, a gravity block and a permanent magnet motor, the lifting device is connected to the gravity block through a steel cable, and the permanent magnet motor is connected to the lifting device by power;

[0008] The sub-control system is designed as an independent modular system. There are at least two sub-control systems. A single sub-control system controls a single gravity energy storage module. The sub-control system includes a main control unit, a redundant control unit and a communication link. The main control unit and the redundant control unit are connected in parallel via the communication link.

[0009] The EMS center includes a signal data acquisition module, a data analysis module and a control output module; the signal data acquisition module, the data analysis module and the control output module are signal-connected in sequence.

[0010] Preferably, in order to monitor the operating status data of each component inside the system in real time, the signal data acquisition module includes a power fault monitor, a CPU fault monitor, a memory error monitor, a temperature sensor and a vibration meter which are respectively connected to the data analysis module by signal.

[0011] Preferably, in order to classify the collected information, the data analysis module includes a hardware status assessment module and an environment analysis module;

[0012] The hardware status assessment module is signal-connected to the power supply fault monitor, the CPU fault monitor, and the memory error monitor;

[0013] The environmental analysis module is connected to the temperature sensor and the vibration meter signal.

[0014] Preferably, in order to lock and isolate the failed circuit of the main control unit and convert it to a redundant control loop, the control output module includes a locking program module, and the locking program module is signal-connected to the recovery operation module;

[0015] The locking program module includes a loop isolation unit and a redundant switching unit, the loop isolation unit and the redundant switching unit are linearly connected, the loop isolation unit includes a magnetic relay unit, and the magnetic relay unit is linearly connected to the main control unit; the magnetic relay unit is arranged at the entrance of the power circuit of each main control unit.

[0016] Preferably, in order to transmit the failure circuit information to the EMS center and display the failure location information, the control output module further includes an alarm indication module, the alarm indication module includes a fault location unit, an audible and visual alarm, and a fault display unit;

[0017] The fault location unit includes an oscilloscope, which is arranged in each individual sub-control system and is connected to the control output module signal; the oscilloscope monitors each node in the circuit in real time, and when the electric wave signal mutates or disappears, the location of the fault point can be determined;

[0018] The sound and light alarm is connected to the control output module signal;

[0019] The fault display unit is connected with the data analysis module and the oscilloscope signal.

[0020] A method for enhancing the robustness of a distributed gravity energy storage system, characterized in that it comprises the following steps:

[0021] S1 status monitoring: monitors and collects the operating status data of each component in the system through five status detection monitors: power fault monitor, CPU fault monitor, memory error monitor, temperature sensor and vibration meter;

[0022] The power failure monitor determines that the power supply is operating abnormally when the system voltage value deviates from the system nominal voltage value by ±15% and the duration of this state exceeds the system preset time threshold of 15S according to the power supply voltage change value in the monitoring system;

[0023] The CPU fault monitor monitors the CPU operating frequency and determines according to the CPU frequency currently used by the system that when the CPU frequency used by the system exceeds the rated value and the duration of this state exceeds the system preset time threshold of 20S, the CPU is determined to be operating abnormally.

[0024] The memory error monitor monitors the memory read and write speed and determines whether the memory is normal based on the memory read and write speed used by the current system; when the memory read and write speed is lower than the standard range of the model and the duration of this state exceeds the system preset time threshold of 20S, the memory read and write is determined to be abnormal.

[0025] The temperature sensor determines whether the internal temperature of the system is within the rated range by monitoring the internal temperature of the system; when the internal temperature of the system exceeds 125°C and the duration of this state exceeds the system preset time threshold of 20S, the internal temperature of the system is determined to be abnormal.

[0026] The vibration meter monitors the vibration amplitude inside the system. When the vibration amplitude inside the system exceeds the system set threshold of 4.9m / s 2 When the state lasts for more than 10 seconds, the system is judged to have abnormal vibration.

[0027] S2 Data Analysis: Classify the collected data through the hardware status assessment module and the environment analysis module;

[0028] The hardware status assessment module includes a power failure monitor, a CPU failure monitor, and a memory error monitor;

[0029] The environmental analysis module includes a temperature sensor and a vibration meter;

[0030] S3 fault locking and redundant circuit switching: identify the analysis data in S2, locate the failed main control unit through the fault location unit; then transmit the fault information to the data analysis module through the fault location unit; switch between the main control unit and the redundant control circuit according to the relay control switch;

[0031] S4 notification and module replacement: When replacing a failed circuit, replace the new main control unit. After passing the self-test, switch to the main control unit and disconnect the redundant circuit. In the event of failure of the main control unit, the relay drives the switch to switch to the redundant circuit and sends an electrical signal, which is transmitted to the notification unit by the fault identification module to trigger an alarm. After the alarm, the circuit is manually disconnected and a new sub-control system module is replaced. Then, the system test is performed. After the test is correct, the system test unit restarts to restore the control output module. If there is no abnormality, the EMS center resumes real-time monitoring of the sub-control system operation status, cuts off the redundant control unit circuit, and collects and analyzes the replaced sub-control system data.

[0032] Preferably, in order to accurately locate the failed main control unit, the S3 fault location method specifically uses a tracking method;

[0033] S3.1 Tracking method: The tracking method is based on the principle of circuit connectivity, and continuously monitors the radio wave signals in the system. When there is a sudden change or change in the radio wave signal, the signal is tracked near the fault radio wave signal point, and the location of the fault point is determined by observing the change in the signal;

[0034] Preferably, in order to display the location information of the failed main control circuit, the fault location unit in S3 transmits the fault information to the data analysis module, specifically:

[0035] S3.2 Data analysis and display: The specific location of the failed system is displayed on the display through the fault display unit to provide a location reference;

[0036] Preferably, in order to achieve locking and isolation of the main control unit failure circuit and conversion to the redundant control circuit, the S3 main control unit and the redundant control circuit are controlled by a magnetic relay unit, specifically:

[0037] S3.3 loop power switching: the contactor coil of the main control unit goes to the normally open contact of the relay, and the contactor coil of the redundant control loop goes to the normally closed contact of the relay;

[0038] When there is power in the main control unit circuit, the relay is energized, the normally open contact is closed, the main circuit is turned on, the normally closed contact is disconnected, and the redundant control circuit does not work; when the main control unit fails, that is, the main circuit is powered off, the relay is also powered off, the normally open contact returns to the initial disconnected state, the main circuit is disconnected, and the contactor in the redundant control circuit starts working through the normally closed contact of the relay.

[0039] Preferably, in order to ensure the normal operation of the control loop of the skin care main control unit, the recovery process in S4 is specifically as follows:

[0040] S4.1 Main control system recovery: When the sub-control system module is replaced and tested without error, the main control unit circuit is energized, the circuit is energized, the relay is re-engaged, the normally open contact is closed, the main circuit is turned on, and the normally closed contact is disconnected. At this time, the redundant control circuit does not participate in the work; the system resumes normal operation and working status.

[0041] Beneficial effects: The present invention continuously monitors the internal conditions of the system by setting up monitoring devices such as power fault monitors, CPU fault monitors, memory error monitors, temperature sensors and vibration meters, and uses the working properties of electrical measuring relays to complete timely switching and isolation of the main control unit and redundant circuits, thereby enhancing the robustness of the distributed gravity system. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 It is the system principle diagram of the present invention;

[0044] Figure 2 It is the principle diagram of the EMS center y of the present invention;

[0045] Figure 3 It is the principle diagram of the locking procedure of the present invention;

[0046] Figure 4 The invention provides a switching circuit between the main control unit and the redundant control unit. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0050] like Figure 1-3 As shown, a distributed gravity energy storage system with enhanced robustness includes a gravity energy storage module group, a sub-control system and an EMS center; the sub-control system is connected to the gravity energy storage module by signal, and the EMS center is connected to the sub-control system by signal;

[0051] The gravity energy storage module group includes at least two gravity energy storage modules, and a single gravity energy storage module includes a lifting device, a gravity block and a permanent magnet motor, the lifting device is connected to the gravity block through a steel cable, and the permanent magnet motor is connected to the lifting device by power;

[0052] The sub-control system is designed as an independent modular system. There are at least two sub-control systems. A single sub-control system controls a single gravity energy storage module. The sub-control system includes a main control unit, a redundant control unit and a communication link. The main control unit and the redundant control unit are connected in parallel via the communication link.

[0053] The EMS center includes a signal data acquisition module, a data analysis module and a control output module; the signal data acquisition module, the data analysis module and the control output module are signal-connected in sequence.

[0054] Preferably, in order to monitor the operating status data of each component inside the system in real time, the signal data acquisition module includes a power fault monitor, a CPU fault monitor, a memory error monitor, a temperature sensor and a vibration meter which are respectively connected to the data analysis module by signal.

[0055] In order to classify the collected information, the data analysis module includes a hardware status assessment module and an environment analysis module;

[0056] The hardware status assessment module is signal-connected to the power supply fault monitor, the CPU fault monitor, and the memory error monitor;

[0057] The environmental analysis module is connected to the temperature sensor and the vibration meter signal.

[0058] In order to lock and isolate the failed circuit of the main control unit and convert it to a redundant control loop, the control output module includes a locking program module, and the locking program module is signal-connected to the recovery operation module;

[0059] The locking program module includes a loop isolation unit and a redundant switching unit, the loop isolation unit and the redundant switching unit are linearly connected, the loop isolation unit includes a magnetic relay unit, and the magnetic relay unit is linearly connected to the main control unit; the magnetic relay unit is arranged at the entrance of the power circuit of each main control unit.

[0060] In order to transmit the failure circuit information to the EMS center and display the failure location information, the control output module also includes an alarm indication module, which includes a fault location unit, an audible and visual alarm, and a fault display unit;

[0061] The fault location unit includes an oscilloscope, which is arranged in each individual sub-control system and is connected to the control output module signal; the oscilloscope monitors each node in the circuit in real time, and when the electric wave signal mutates or disappears, the location of the fault point can be determined;

[0062] The sound and light alarm is connected to the control output module signal;

[0063] The fault display unit is connected with the data analysis module and the oscilloscope signal.

[0064] A method for enhancing the robustness of a distributed gravity energy storage system, characterized in that it comprises the following steps:

[0065] S1 status monitoring: monitors and collects the operating status data of each component in the system through five status detection monitors: power fault monitor, CPU fault monitor, memory error monitor, temperature sensor and vibration meter;

[0066] The power failure monitor determines that the power supply is operating abnormally when the system voltage value deviates from the system nominal voltage value by ±15% and the duration of this state exceeds the system preset time threshold of 15S according to the power supply voltage change value in the monitoring system;

[0067] The CPU fault monitor monitors the CPU operating frequency and determines according to the CPU frequency currently used by the system that when the CPU frequency used by the system exceeds the rated value and the duration of this state exceeds the system preset time threshold of 20S, the CPU is determined to be operating abnormally.

[0068] The memory error monitor monitors the memory read and write speed and determines whether the memory is normal based on the memory read and write speed used by the current system; when the memory read and write speed is lower than the standard range of the model and the duration of this state exceeds the system preset time threshold of 20S, the memory read and write is determined to be abnormal.

[0069] The temperature sensor determines whether the internal temperature of the system is within the rated range by monitoring the internal temperature of the system; when the internal temperature of the system exceeds 125°C and the duration of this state exceeds the system preset time threshold of 20S, the internal temperature of the system is determined to be abnormal.

[0070] The vibration meter monitors the vibration amplitude inside the system. When the vibration amplitude inside the system exceeds the system set threshold of 4.9m / s 2 When the state lasts for more than 10 seconds, the system is judged to have abnormal vibration.

[0071] S2 Data Analysis: Classify the collected data through the hardware status assessment module and the environment analysis module;

[0072] The hardware status assessment module includes a power failure monitor, a CPU failure monitor, and a memory error monitor;

[0073] The environmental analysis module includes a temperature sensor and a vibration meter;

[0074] S3 fault locking and redundant circuit switching: identify the analysis data in S2, locate the failed main control unit through the fault location unit; then transmit the fault information to the data analysis module through the fault location unit; switch between the main control unit and the redundant control circuit according to the relay control switch;

[0075] S4 notification and module replacement: When replacing a failed circuit, replace the new main control unit. After passing the self-test, switch to the main control unit and disconnect the redundant circuit. In the event of failure of the main control unit, the relay drives the switch to switch to the redundant circuit and sends an electrical signal, which is transmitted to the notification unit by the fault identification module to trigger an alarm. After the alarm, the circuit is manually disconnected and a new sub-control system module is replaced. Then, the system test is performed. After the test is correct, the system test unit restarts to restore the control output module. If there is no abnormality, the EMS center resumes real-time monitoring of the sub-control system operation status, cuts off the redundant control unit circuit, and collects and analyzes the replaced sub-control system data.

[0076] In order to accurately locate the failed main control unit, the S3 fault location method specifically uses a tracking method;

[0077] S3.1 Tracking method: The tracking method is based on the principle of circuit connectivity, and continuously monitors the radio wave signals in the system. When there is a sudden change or change in the radio wave signal, the signal is tracked near the fault radio wave signal point, and the location of the fault point is determined by observing the change in the signal;

[0078] In order to display the location information of the failed main control circuit, the fault location unit in S3 transmits the fault information to the data analysis module, specifically:

[0079] S3.2 Data analysis and display: The specific location of the failed system is displayed on the display through the fault display unit to provide a location reference;

[0080] like Figure 4 As shown, in order to achieve the locking and isolation of the main control unit failure circuit and convert it to the redundant control circuit, the S3 main control unit and the redundant control circuit are controlled by the magnetic suction relay unit, specifically:

[0081] S3.3 loop power switching: the contactor coil of the main control unit goes to the normally open contact of the relay, and the contactor coil of the redundant control loop goes to the normally closed contact of the relay;

[0082] When there is power in the main control unit circuit, the relay is energized, the normally open contact is closed, the main circuit is turned on, the normally closed contact is disconnected, and the redundant control circuit does not work; when the main control unit fails, that is, the main circuit is powered off, the relay is also powered off, the normally open contact returns to the initial disconnected state, the main circuit is disconnected, and the contactor in the redundant control circuit starts working through the normally closed contact of the relay.

[0083] In order to ensure the normal operation of the control loop of the skin care main control unit, the recovery process in S4 is specifically as follows:

[0084] S4.1 Main control system recovery: When the sub-control system module is replaced and tested without error, the main control unit circuit is energized, the circuit is energized, the relay is re-engaged, the normally open contact is closed, the main circuit is turned on, and the normally closed contact is disconnected. At this time, the redundant control circuit does not participate in the work; the system resumes normal operation and working status.

[0085] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0086] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distributed gravity energy storage system with enhanced robustness, Features: It includes a gravity energy storage module group, a sub-control system and an EMS center; the sub-control system is connected to the gravity energy storage module by signal, and the EMS center is connected to the sub-control system by signal; The gravity energy storage module group includes at least two gravity energy storage modules, and a single gravity energy storage module includes a lifting device, a gravity block and a permanent magnet motor, the lifting device is connected to the gravity block through a steel cable, and the permanent magnet motor is connected to the lifting device by power; The sub-control system is designed as an independent modular system. There are at least two sub-control systems. A single sub-control system controls a single gravity energy storage module. The sub-control system includes a main control unit, a redundant control unit and a communication link. The main control unit and the redundant control unit are connected in parallel via the communication link. The EMS center includes a signal data acquisition module, a data analysis module and a control output module; the signal data acquisition module, the data analysis module and the control output module are signal-connected in sequence.

2. A distributed gravity energy storage system with enhanced robustness according to claim 1, Features: The signal data acquisition module includes a power failure monitor, a CPU failure monitor, a memory error monitor, a temperature sensor and a vibration meter which are respectively connected to the data analysis module by signal.

3. A distributed gravity energy storage system with enhanced robustness according to claim 2, Features: The data analysis module includes a hardware status assessment module and an environment analysis module; The hardware status assessment module is signal-connected to the power supply fault monitor, the CPU fault monitor, and the memory error monitor; The environmental analysis module is connected to the temperature sensor and the vibration meter signal.

4. A distributed gravity energy storage system with enhanced robustness according to claim 3, Features: The control output module includes a locking program module, and the locking program module is signal-connected to the recovery operation module; The locking program module includes a loop isolation unit and a redundant switching unit, the loop isolation unit and the redundant switching unit are linearly connected, the loop isolation unit includes a magnetic relay unit, and the magnetic relay unit is linearly connected to the main control unit; the magnetic relay unit is arranged at the entrance of the power circuit of each main control unit.

5. A distributed gravity energy storage system with enhanced robustness according to claim 4, Features: The control output module also includes an alarm indication module, which includes a fault location unit, an audible and visual alarm, and a fault display unit; The fault location unit includes an oscilloscope, which is arranged in each individual sub-control system and is connected to the control output module signal; the oscilloscope monitors each node in the circuit in real time, and when the electric wave signal mutates or disappears, the location of the fault point can be determined; The sound and light alarm is connected to the control output module signal; The fault display unit is connected with the data analysis module and the oscilloscope signal.

6. A method for enhancing the robustness of a distributed gravity energy storage system, Features: The following steps are involved: S1 status monitoring: monitors and collects the operating status data of each component in the system through five status detection monitors: power fault monitor, CPU fault monitor, memory error monitor, temperature sensor and vibration meter; The power failure monitor determines that the power supply is operating abnormally when the system voltage value deviates from the system nominal voltage value by ±15% and the duration of this state exceeds the system preset time threshold of 15S according to the power supply voltage change value in the monitoring system; The CPU fault monitor monitors the CPU operating frequency and determines according to the CPU frequency currently used by the system that when the CPU frequency used by the system exceeds the rated value and the duration of this state exceeds the system preset time threshold of 20S, the CPU operation is determined to be abnormal; The memory error monitor monitors the memory read and write speed and determines whether the memory is normal according to the memory read and write speed used by the current system; when the memory read and write speed is lower than the standard range of the model and the duration of this state exceeds the system preset time threshold of 20S, the memory read and write is determined to be abnormal; The temperature sensor monitors the internal temperature of the system to determine whether the internal temperature of the system is within the rated range; when the internal temperature of the system exceeds 125°C and the duration of this state exceeds the system preset time threshold of 20S, the internal temperature of the system is determined to be abnormal; The vibration meter monitors the vibration amplitude inside the system. When the vibration amplitude inside the system exceeds the system set threshold of 4.9m / s 2 , and when the duration of this state exceeds the system preset time threshold of 10S, it is determined that the system has abnormal vibration; S2 Data Analysis: Classify the collected data through the hardware status assessment module and the environment analysis module; The hardware status assessment module includes a power failure monitor, a CPU failure monitor, and a memory error monitor; The environmental analysis module includes a temperature sensor and a vibration meter; S3 fault locking and redundant circuit switching: identify the analysis data in S2, locate the failed main control unit through the fault location unit; then transmit the fault information to the data analysis module through the fault location unit; switch between the main control unit and the redundant control circuit according to the relay control switch; S4 notification and module replacement: When replacing a failed circuit, replace the new main control unit. After passing the self-test, switch to the main control unit and disconnect the redundant circuit. In the event of failure of the main control unit, the relay drives the switch to switch to the redundant circuit and sends an electrical signal, which is transmitted to the notification unit by the fault identification module to trigger an alarm. After the alarm, the circuit is manually disconnected and a new sub-control system module is replaced. Then, the system test is performed. After the test is correct, the system test unit restarts to restore the control output module. If there is no abnormality, the EMS center resumes real-time monitoring of the sub-control system operation status, cuts off the redundant control unit circuit, and collects and analyzes the replaced sub-control system data.

7. The method for enhancing the robustness of a distributed gravity energy storage system according to claim 6, Features: The S3 fault location method specifically uses a tracking method; S3.1 Tracking method: The tracking method is based on the principle of circuit connectivity, and continuously monitors the radio wave signals in the system. When there is a sudden change or change in the radio wave signal, the signal is tracked near the faulty radio wave signal point, and the location of the fault point is determined by observing the change in the signal.

8. The method for enhancing the robustness of a distributed gravity energy storage system according to claim 6, Features: The fault location unit in S3 transmits the fault information to the data analysis module, specifically: S3.2 Data analysis and display: The specific location of the failed system is displayed on the display through the fault display unit to provide a location reference.

9. The method for enhancing the robustness of a distributed gravity energy storage system according to claim 6, Features: The S3 main control unit and redundant control loop are controlled by a magnetic relay unit, specifically: S3.3 loop power switching: the contactor coil of the main control unit goes to the normally open contact of the relay, and the contactor coil of the redundant control loop goes to the normally closed contact of the relay; When there is power in the main control unit circuit, the relay is energized, the normally open contact is closed, the main circuit is turned on, the normally closed contact is disconnected, and the redundant control circuit does not work; when the main control unit fails, that is, the main circuit is powered off, the relay is also powered off, the normally open contact returns to the initial disconnected state, the main circuit is disconnected, and the contactor in the redundant control circuit starts working through the normally closed contact of the relay.

10. The method for enhancing the robustness of a distributed gravity energy storage system according to claim 6, Features: The recovery process in S4 is specifically as follows: S4.1 Main control system recovery: When the sub-control system module is replaced and tested without error, the main control unit circuit is energized, the circuit is energized, the relay is re-engaged, the normally open contact is closed, the main circuit is turned on, and the normally closed contact is disconnected. At this time, the redundant control circuit does not participate in the work; the system resumes normal operation and working status.

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