Rail potential constraint coordinated control method, device, electronic device and storage medium

Abstract

The present invention relates to the field of flexible direct current traction power supply technology, and in particular to a rail potential constraint collaborative control method, device, electronic device and storage medium, the method comprising: optimizing the energy of the current flexible direct current traction power supply system to obtain an initial converter voltage control instruction; when the converter voltage is the voltage control instruction of the traction station, if the rail potential exceeds the limit, the voltage control instruction of the rail potential is corrected and calculated based on the preset constraint conditions to obtain the corrected voltage control instruction; the initial converter voltage control instruction and the corrected voltage control instruction are solved by using a preset optimization model to obtain the target voltage control instruction, and the voltage of the traction station in the current flexible direct current traction power supply system is controlled. Thus, the existing problems of serious corrosion, high system energy consumption and long calculation time in the rail potential management method are solved, and the solution efficiency of the flexible direct current traction power supply system operation optimization algorithm is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible direct current traction power supply, and in particular to a rail potential constraint coordinated control method, device, electronic equipment and storage medium. Background Art

[0002] In urban rail transit, flexible DC traction power supply systems are widely used, and effective management of rail potential is one of the key factors to ensure the stable operation of flexible DC traction power supply systems. Rail potential refers to the potential difference between the track and the earth. If it is not controlled, excessive rail potential will cause a large amount of stray current to flow into the earth, which will cause corrosion problems on the track and surrounding metal structures. Therefore, reasonable control of rail potential is crucial for urban rail transit systems.

[0003] At present, the management of rail potential mainly adopts three methods: OVPD (Overvoltage Protection Device), rail potential suppression control and multi-objective optimization.

[0004] However, although the OVPD device can constrain the rail potential, it will cause a large amount of stray current to be injected into the ground, causing serious corrosion problems; although the rail potential suppression control method can effectively constrain the rail potential, the system's power flow distribution is not optimal, resulting in non-optimal energy consumption and other performance indicators; although the multi-objective optimization method can constrain the rail potential and minimize energy consumption through optimization methods, the calculation is time-consuming and it is difficult to achieve rapid updates of real-time control instructions, which urgently needs to be solved. Summary of the invention

[0005] The present invention provides a rail potential constraint collaborative control method, device, electronic device and storage medium to solve the problems of serious corrosion, high system energy consumption and long calculation time in the rail potential management method in the prior art, thereby improving the solution efficiency of the flexible direct current traction power supply system operation optimization algorithm.

[0006] A first aspect of the present invention provides a rail potential constraint coordinated control method, comprising the following steps:

[0007] Energy optimization is performed on the current flexible DC traction power supply system to obtain the initial converter voltage control command;

[0008] When the converter voltage is the voltage control instruction of the traction station, it is determined whether the rail potential exceeds the limit. If the rail potential exceeds the limit, a correction calculation of the voltage control instruction is performed on the rail potential based on a preset constraint condition to obtain a corrected voltage control instruction;

[0009] The initial converter voltage control instruction and the corrected voltage control instruction are solved using a preset optimization model to obtain a target voltage control instruction, so as to control the voltage of the traction station in the current flexible direct current traction power supply system based on the target voltage control instruction.

[0010] According to an embodiment of the present invention, the preset constraint condition is:

[0011] ;

[0012] ;

[0013] in, The voltage control command is calculated after the traction control in the coordinated control subsystem. i The traction in the coordinated control subsystem before the rail potential and voltage control command correction calculation i The difference in rail potential, The traction in the cooperative control subsystem expected to be achieved after control The rail potential, For the traction in the cooperative control subsystem i Rail potential, To control the desired traction The rail potential, For traction The rail potential, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i The voltage, For traction i +1 voltage, is the line length, For traction and traction station The distance between is the set of traction depot nodes that need to consider rail potential constraints. is a constant, is the resistance per unit length of the contact network, is the resistance per unit length of the rail.

[0014] According to an embodiment of the present invention, solving the initial converter voltage control instruction and the corrected voltage control instruction by using a preset optimization model includes:

[0015] If the preset optimization model is the first optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the first objective function and the preset constraint condition;

[0016] Wherein, the first objective function is:

[0017] min || U s_rail * - U s_energy * || 2 ;

[0018] in, U s_rail * is the corrected voltage control instruction, U s_energy * is the initial converter voltage control instruction.

[0019] According to an embodiment of the present invention, solving the initial converter voltage control instruction and the corrected voltage control instruction by using a preset optimization model further includes:

[0020] If the preset optimization model is the second optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the second objective function and the preset constraint condition;

[0021] Wherein, the second objective function is:

[0022] min || I s_cc_rail - I s_cc_energy || 2 ;

[0023] in, I s_cc_rail The voltage control command for constraining the rail potential is used to correct the traction current in the coordinated control subsystem after calculation. I s_cc_energy The traction train current in the cooperative control subsystem is calculated before the voltage control command correction for the constrained rail potential.

[0024] According to an embodiment of the present invention, solving the initial converter voltage control instruction and the corrected voltage control instruction by using a preset optimization model further includes:

[0025] If the preset optimization model is the third optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the third objective function, the preset constraint condition and the preset optimality-preserving constraint condition;

[0026] Wherein, the third objective function is:

[0027] ;

[0028] r i = r ci +r ri；

[0029] in, The additional loss caused by the voltage command modification for voltage control command correction calculation, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i and traction station i +1 is the sum of the rail and overhead contact resistance, r ci For traction i and traction station i +1 catenary resistance between r ri For traction i and traction station i +1 rail resistance between For traction i The voltage, For traction i +1 voltage.

[0030] According to the rail potential constraint collaborative control method of the embodiment of the present invention, the energy of the current flexible direct current traction power supply system is optimized to obtain the initial converter voltage control instruction; when the converter voltage is the voltage control instruction of the traction station, if the rail potential exceeds the limit, the voltage control instruction of the rail potential is corrected and calculated based on the preset constraint conditions to obtain the corrected voltage control instruction; the preset optimization model is used for solving to obtain the target voltage control instruction, and the voltage of the traction station in the current flexible direct current traction power supply system is controlled. In this way, the problems of serious corrosion, high system energy consumption, and long calculation time in the rail potential management method in the prior art are solved, and the solution efficiency of the flexible direct current traction power supply system operation optimization algorithm is improved.

[0031] A second aspect of the present invention provides a rail potential constraint cooperative control device, comprising:

[0032] Energy optimization module, used to optimize the energy of the current flexible DC traction power supply system and obtain the initial converter voltage control instruction;

[0033] A correction calculation module, used for judging whether the rail potential exceeds the limit when the converter voltage is the voltage control instruction of the traction station, and if the rail potential exceeds the limit, performing correction calculation of the voltage control instruction on the rail potential based on preset constraints to obtain a corrected voltage control instruction;

[0034] A solution module is used to solve the initial converter voltage control instruction and the corrected voltage control instruction using a preset optimization model to obtain a target voltage control instruction, so as to control the voltage of the traction station in the current flexible direct current traction power supply system based on the target voltage control instruction.

[0035] According to an embodiment of the present invention, the preset constraint condition is:

[0036] ;

[0037] ;

[0038] in, The voltage control command is calculated after the traction control in the coordinated control subsystem. i The traction in the coordinated control subsystem before the rail potential and voltage control command correction calculation i The difference in rail potential, The traction in the cooperative control subsystem expected to be achieved after control The rail potential, For the traction in the cooperative control subsystem i Rail potential, To control the desired traction The rail potential, For traction The rail potential, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i The voltage, For traction i +1 voltage, is the line length, For traction and traction station The distance between is the set of traction depot nodes that need to consider rail potential constraints. is a constant, is the resistance per unit length of the contact network, is the resistance per unit length of the rail.

[0039] According to one embodiment of the present invention, the solution module is used to:

[0040] If the preset optimization model is the first optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the first objective function and the preset constraint condition;

[0041] Wherein, the first objective function is:

[0042] min || U s_rail * - U s_energy * || 2 ;

[0043] in, U s_rail * is the corrected voltage control instruction, U s_energy * is the initial converter voltage control instruction.

[0044] According to one embodiment of the present invention, the solution module is further used for:

[0045] If the preset optimization model is the second optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the second objective function and the preset constraint condition;

[0046] Wherein, the second objective function is:

[0047] min || I s_cc_rail - I s_cc_energy || 2 ;

[0048] in, I s_cc_rail The voltage control command for constraining the rail potential is used to correct the traction current in the coordinated control subsystem after calculation. I s_cc_energy The traction train current in the cooperative control subsystem is calculated before the voltage control command correction for the constrained rail potential.

[0049] According to one embodiment of the present invention, the solution module is further used for:

[0050] If the preset optimization model is the third optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the third objective function, the preset constraint condition and the preset optimality-preserving constraint condition;

[0051] Wherein, the third objective function is:

[0052] ;

[0053] r i = r ci +r ri；

[0054] in, The additional loss caused by the voltage command modification for voltage control command correction calculation, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i and traction station i +1 is the sum of the rail and overhead contact resistance, r ci For traction i and traction station i +1 catenary resistance between r ri For traction i and traction station i +1 rail resistance between For traction i The voltage, For traction i +1 voltage.

[0055] According to the rail potential constraint cooperative control device of the embodiment of the present invention, the energy of the current flexible direct current traction power supply system is optimized to obtain the initial converter voltage control instruction; when the converter voltage is the voltage control instruction of the traction station, if the rail potential exceeds the limit, the voltage control instruction of the rail potential is corrected and calculated based on the preset constraint conditions to obtain the corrected voltage control instruction; the preset optimization model is used for solving to obtain the target voltage control instruction, and the voltage of the traction station in the current flexible direct current traction power supply system is controlled. In this way, the problems of serious corrosion, high system energy consumption, and long calculation time in the rail potential management method in the prior art are solved, and the solution efficiency of the flexible direct current traction power supply system operation optimization algorithm is improved.

[0056] An embodiment of the third aspect of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the rail potential constraint collaborative control method as described in the above embodiment.

[0057] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the rail potential constraint collaborative control method as described in the above embodiment.

[0058] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0060] Figure 1 A schematic diagram of modeling of a flexible direct current traction power supply system according to an embodiment of the present invention;

[0061] Figure 2 is a schematic diagram of a load natural distribution subsystem according to an embodiment of the present invention;

[0062] Figure 3 is a schematic diagram of a collaborative control subsystem according to an embodiment of the present invention;

[0063] Figure 4 A flow chart of a rail potential constraint cooperative control method provided according to an embodiment of the present invention;

[0064] Figure 5 is a block diagram of a rail potential constraint cooperative control device according to an embodiment of the present invention;

[0065] Figure 6FIG. 4 is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0067] The following describes the rail potential constraint cooperative control method, device, electronic device and storage medium according to embodiments of the present invention with reference to the accompanying drawings.

[0068] To facilitate understanding by those skilled in the art, before introducing the rail potential constraint coordinated control method in an embodiment of the present invention, a flexible direct current traction power supply system is first modeled.

[0069] Specifically, the flexible direct current traction power supply system of the present invention is modeled as follows: Figure 1 As shown, U si For traction i The voltage, I si For traction i The current, U wi For traction i The rail potential, I vj For locomotive j The current, I vk For locomotive k The current, U s（i+1） For traction i +1 voltage, I s（i+1） For traction i +1 for current.

[0070] Furthermore, according to the superposition principle of circuit theory, the original modeling system can be divided into load natural distribution subsystems (such as Figure 2 ) and the collaborative control subsystem (as shown Figure 3 ). Among them, I si_nd The traction current of the load natural distribution subsystem, U wi_nd It is the traction rail potential of the load natural distribution subsystem. I si_cc To coordinate the traction current in the control subsystem, U wi_cc To coordinate the traction rail potential in the subsystem,r ci For the traction in the cooperative control subsystem i and traction station i +1 catenary resistance between r ri For the traction in the cooperative control subsystem i and traction station i +1 rail resistance between.

[0071] Furthermore, the present invention uses U s * represents the voltage control command vector of the traction station, where U s * =[ U s1 * , U s2 * , …, U si * , …, U sN * ] T , U si * Indicates i Voltage control instructions for a traction station.

[0072] The rail potential constraint collaborative control method proposed by the present invention is introduced below in conjunction with the above-mentioned modeling system.

[0073] Specifically, Figure 4 A schematic flow chart of a rail potential constraint collaborative control method provided in an embodiment of the present invention.

[0074] like Figure 4 As shown, the rail potential constraint collaborative control method includes the following steps:

[0075] In step S401, energy optimization is performed on the current flexible DC traction power supply system to obtain an initial converter voltage control instruction.

[0076] Specifically, without considering the rail potential constraint, the energy optimization problem of the flexible DC traction power supply system is calculated by using the energy optimization method in the prior art to minimize the system energy depletion and obtain the initial converter voltage control instruction. U s_energy * .

[0077] In step S402, when the converter voltage is the voltage control instruction of the traction station, it is determined whether the rail potential exceeds the limit. If the rail potential exceeds the limit, a correction calculation of the voltage control instruction is performed on the rail potential based on preset constraints to obtain a corrected voltage control instruction.

[0078] Specifically, in the power flow calculation, the voltage of the traction station is considered to be the voltage control instruction. When the converter voltage is calculated as the voltage control instruction of the traction station, that is, the converter voltage is calculated as the voltage control instruction vector of the traction station. U s * The power flow distribution and rail potential value under the condition of , and then judge whether the rail potential will exceed the limit according to the power flow distribution and rail potential value. If the rail potential will not exceed the limit, the existing instructions are directly output U s * On the contrary, if the rail potential exceeds the limit, further correction calculation of the voltage command is required.

[0079] It can be understood that since the operation optimization problem of the traditional flexible direct current traction power supply system is a nonlinear and non-convex optimization problem, the solution speed is slow, while the quadratic programming problem is the simplest nonlinear optimization problem with the most mature algorithm, and the solution efficiency is high, which can improve the solution efficiency of the overall algorithm. Therefore, the voltage control command correction algorithm for constrained rail potential proposed in the present invention is a quadratic programming problem, which decomposes the operation optimization problem into a two-step technical idea of ​​energy optimization and rail potential constraint in the form of quadratic programming.

[0080] Among them, the main technical feature of the rail potential constraint processing method is to model the rail potential constraint as a linear constraint, and then introduce a quadratic objective function, or a quadratic objective function and other linear constraints to retain the effect of energy optimization in the first step. The following introduces the voltage control command correction algorithm for constrained rail potential:

[0081] Assumptions U wi * To achieve the desired traction after production i The rail potential, U wi_cc * The traction in the cooperative control subsystem expected to be achieved after control i The rail potential of . Then:

[0082] (1)

[0083] in, To control the desired traction The rail potential, U wi_nd is the traction rail potential of the load natural distribution subsystem, The traction in the cooperative control subsystem expected to be achieved after control Rail potential.

[0084] According to circuit theory, the controllable quantity can be derived U s * The connection between the rail potential and

[0085] (2)

[0086] (3)

[0087] in, The voltage control command is calculated after the traction control in the coordinated control subsystem. i The traction in the coordinated control subsystem before the rail potential and voltage control command correction calculation i The difference in rail potential, The traction in the cooperative control subsystem expected to be achieved after control The rail potential, For the traction in the cooperative control subsystem i Rail potential, To control the desired traction The rail potential, For traction The rail potential, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i The voltage, For traction i +1 voltage, is the line length, For traction and traction station The distance between is the set of traction depot nodes that need to consider rail potential constraints. is a constant, is the resistance per unit length of the contact network, is the resistance per unit length of the rail.

[0088] Formula (2) is a linear constraint, that is, a preset constraint condition, which expresses how to adjust the Voltage control command for each traction station U s * To achieve the expected traction Rail potential U wi * This linearized expression written into the optimization problem can reduce the difficulty of solving the problem and provide an important basis for solving the problem of computational efficiency.

[0089] In step S403, the initial converter voltage control instruction and the corrected voltage control instruction are solved using a preset optimization model to obtain a target voltage control instruction, so as to control the voltage of the traction station in the current flexible direct current traction power supply system based on the target voltage control instruction.

[0090] Specifically, the embodiment of the present invention establishes a preset optimization model to solve the voltage control instruction of the constraint rail potential and corrects the calculated instruction. U s_rail * In addition to the rail potential constraints, the effect of the previous energy optimization should not be affected as much as possible.

[0091] It can be understood that there are many ways to retain the energy optimization effect. As a possible implementation method, in some embodiments, the initial converter voltage control instruction and the corrected voltage control instruction are solved using a preset optimization model, including: if the preset optimization model is a first optimization model, the initial converter voltage control instruction and the corrected voltage control instruction are solved based on the first objective function and preset constraints.

[0092] Specifically, the first optimization model of the embodiment of the present invention adopts a voltage command optimization method to constrain the voltage control command of the rail potential before and after the correction calculation. U s * The sum of squares of all elements of the vector difference is minimized, so the first objective function is:

[0093] min || U s_rail * - U s_energy * || 2 (4)

[0094] in, U s_rail * is the corrected voltage control instruction, U s_energy * is the initial converter voltage control instruction.

[0095] At the same time, in order to ensure that the corrected rail potential does not exceed a preset safety threshold value to ensure safe operation of the system, the embodiment of the present invention also uses a preset constraint condition formula (2) to constrain the corrected rail potential.

[0096] As a possible implementation method, in some embodiments, the initial converter voltage control instruction and the corrected voltage control instruction are solved using a preset optimization model, and also include: if the preset optimization model is a second optimization model, the initial converter voltage control instruction and the corrected voltage control instruction are solved based on a second objective function and preset constraints.

[0097] Specifically, the second optimization model of the embodiment of the present invention adopts the current optimization method of the traction station in the cooperative control subsystem, based on the voltage control command vector of the traction station U s Calculation of traction current in cooperative control subsystem using Ohm's law and Kirchhoff's law I si_cc The vector composed of I s_cc ,in, I s_cc =[ I s1_cc , I s2_cc , …, I si_cc , …, I sN_cc ] T :

[0098] (5)

[0099] in, , r i = r ci +r ri .

[0100] in, I s_cc To coordinate the traction current in the control subsystem, for The diagonal matrix formed by the reciprocal of U s represents the voltage control command vector of the traction station, where U s =[ U s1 , U s2 , …, U si , …, UsN ] T , U si Indicates i The voltage of a traction station, For traction i and traction station i +1 is the sum of the rail and overhead contact resistance, r ci For the traction in the cooperative control subsystem i and traction station i +1 catenary resistance between r ri For the traction in the cooperative control subsystem i and traction station i +1 rail resistance between.

[0101] Furthermore, the voltage control command of the constraint rail potential is corrected before and after the calculation I s_cc The sum of the squares of all elements of the vector difference, assuming that the voltage control command of the constraint rail potential before and after the correction calculation I s_cc The vectors are I s_cc_rail , I s_cc_energy . Then the second objective function is:

[0102] min || I s_cc_rail - I s_cc_energy || 2 (6)

[0103] in, I s_cc_rail The voltage control command for constraining the rail potential is used to correct the traction current in the coordinated control subsystem after calculation. I s_cc_energy The traction train current in the cooperative control subsystem is calculated before the voltage control command correction for the constrained rail potential.

[0104] At the same time, in order to ensure that the corrected rail potential does not exceed a preset safety threshold value to ensure safe operation of the system, the embodiment of the present invention also uses a preset constraint condition formula (2) to constrain the corrected rail potential.

[0105] As a possible implementation method, in some embodiments, the initial converter voltage control instruction and the corrected voltage control instruction are solved using a preset optimization model, and also include: if the preset optimization model is a third optimization model, the initial converter voltage control instruction and the corrected voltage control instruction are solved based on a third objective function, preset constraints and preset optimality-preserving constraints.

[0106] Specifically, the second optimization model of the embodiment of the present invention adopts minimizing network loss and maintaining the optimality constraint, wherein the third objective function is minimizing network loss:

[0107] (7)

[0108] r i = r ci +r ri (8)

[0109] in, The additional loss caused by the voltage command modification for voltage control command correction calculation, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i and traction station i +1 is the sum of the rail and overhead contact resistance, r ci For traction i and traction station i +1 catenary resistance between r ri For traction i and traction station i +1 rail resistance between For traction i The voltage, For traction i +1 voltage.

[0110] At the same time, the constraint condition of the embodiment of the present invention is the constraint of the optimization property added to equation (2), such as for a traction station node in a set Hs, the traction station current in the cooperative control subsystem before and after the voltage control command correction calculation of the constraint rail potential is I si_cc Keep them equal.

[0111] In addition, the method for retaining the energy optimization effect of the present invention can be not only the above-mentioned voltage command optimization method, the traction current optimization method in the cooperative control subsystem, and the minimization of network loss plus optimization constraint method, but also a combination of the above-mentioned three methods, which is not specifically limited here.

[0112] Therefore, the present invention provides a high-computational efficiency operation optimization technology for a flexible DC traction power supply system that can constrain rail potential. Compared with the prior art, the computational efficiency of the operation optimization technology for a flexible DC traction power supply system that takes into account the constrained rail potential can be improved, so that the update rate of the control instructions of the operation optimization technology can meet the rate of load changes and meet the requirements of engineering practicality.

[0113] According to the rail potential constraint collaborative control method of the embodiment of the present invention, the energy of the current flexible direct current traction power supply system is optimized to obtain the initial converter voltage control instruction; when the converter voltage is the voltage control instruction of the traction station, if the rail potential exceeds the limit, the voltage control instruction of the rail potential is corrected and calculated based on the preset constraint conditions to obtain the corrected voltage control instruction; the preset optimization model is used for solving to obtain the target voltage control instruction, and the voltage of the traction station in the current flexible direct current traction power supply system is controlled. In this way, the problems of serious corrosion, high system energy consumption, and long calculation time in the rail potential management method in the prior art are solved, and the solution efficiency of the flexible direct current traction power supply system operation optimization algorithm is improved.

[0114] Next, the rail potential constraint cooperative control device proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0115] Figure 5 It is a block diagram of a rail potential constraint cooperative control device according to an embodiment of the present invention.

[0116] like Figure 5 As shown, the rail potential constraint collaborative control device 10 includes: an energy optimization module 100, a correction calculation module 200 and a solution module 300.

[0117] Among them, the energy optimization module 100 is used to optimize the energy of the current flexible direct current traction power supply system and obtain the initial converter voltage control instruction; the correction calculation module 200 is used to determine whether the rail potential exceeds the limit when the converter voltage is the voltage control instruction of the traction station. If the rail potential exceeds the limit, the voltage control instruction is corrected and calculated based on the preset constraints to obtain the corrected voltage control instruction; the solution module 300 is used to solve the initial converter voltage control instruction and the corrected voltage control instruction using a preset optimization model to obtain the target voltage control instruction, so as to control the voltage of the traction station in the current flexible direct current traction power supply system based on the target voltage control instruction.

[0118] Furthermore, in some embodiments, the preset constraint condition is:

[0119] ;

[0120] ;

[0121] in, The voltage control command is calculated after the traction control in the coordinated control subsystem. i The traction in the coordinated control subsystem before the rail potential and voltage control command correction calculation i The difference in rail potential, The traction in the cooperative control subsystem expected to be achieved after control The rail potential, For the traction in the cooperative control subsystem i Rail potential, To control the desired traction The rail potential, For traction The rail potential, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i The voltage, For traction i +1 voltage, is the line length, For traction and traction station The distance between is the set of traction depot nodes that need to consider rail potential constraints. is a constant, is the resistance per unit length of the contact network, is the resistance per unit length of the rail.

[0122] Further, in some embodiments, the solving module 300 is used to solve the initial converter voltage control command and the corrected voltage control command based on the first objective function and the preset constraint condition if the preset optimization model is the first optimization model; wherein the first objective function is:

[0123] min || U s_rail * - U s_energy * || 2 ;

[0124] in, U s_rail * is the corrected voltage control instruction, U s_energy * is the initial converter voltage control instruction.

[0125] Further, in some embodiments, the solving module 300 is further used to solve the initial converter voltage control instruction and the corrected voltage control instruction based on the second objective function and the preset constraint condition if the preset optimization model is the second optimization model; wherein the second objective function is:

[0126] min || I s_cc_rail - I s_cc_energy || 2 ;

[0127] in, I s_cc_rail The voltage control command for constraining the rail potential is used to correct the traction current in the coordinated control subsystem after calculation. I s_cc_energy The traction train current in the cooperative control subsystem is calculated before the voltage control command correction for the constrained rail potential.

[0128] Further, in some embodiments, the solving module 300 is further used to solve the initial converter voltage control command and the corrected voltage control command based on the third objective function, the preset constraint condition and the preset optimal constraint condition if the preset optimization model is the third optimization model; wherein the third objective function is:

[0129] ;

[0130] r i = r ci +r ri；

[0131] in, The additional loss caused by the voltage command modification for voltage control command correction calculation, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i and traction station i+1 is the sum of the rail and overhead contact resistance, r ci For traction i and traction station i +1 catenary resistance between r ri For traction i and traction station i +1 rail resistance between For traction i The voltage, For traction i +1 voltage.

[0132] It should be noted that the above explanation of the embodiment of the rail potential constraint cooperative control method is also applicable to the rail potential constraint cooperative control device of this embodiment, and will not be repeated here.

[0133] According to the rail potential constraint cooperative control device of the embodiment of the present invention, the energy of the current flexible direct current traction power supply system is optimized to obtain the initial converter voltage control instruction; when the converter voltage is the voltage control instruction of the traction station, if the rail potential exceeds the limit, the voltage control instruction of the rail potential is corrected and calculated based on the preset constraint conditions to obtain the corrected voltage control instruction; the preset optimization model is used for solving to obtain the target voltage control instruction, and the voltage of the traction station in the current flexible direct current traction power supply system is controlled. In this way, the problems of serious corrosion, high system energy consumption, and long calculation time in the rail potential management method in the prior art are solved, and the solution efficiency of the flexible direct current traction power supply system operation optimization algorithm is improved.

[0134] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device may include:

[0135] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0136] When the processor 602 executes the program, the rail potential constraint cooperative control method provided in the above embodiment is implemented.

[0137] Furthermore, the electronic device further comprises:

[0138] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0139] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0140] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0141] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0142] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0143] The processor 602 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0144] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above rail potential constraint collaborative control method when executed by a processor.

[0145] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0146] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0147] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A rail potential constraint cooperative control method, characterized in that: The following steps are involved: Energy optimization is performed on the current flexible DC traction power supply system to obtain the initial converter voltage control command; When the converter voltage is the voltage control instruction of the traction station, it is determined whether the rail potential exceeds the limit. If the rail potential exceeds the limit, a correction calculation of the voltage control instruction is performed on the rail potential based on a preset constraint condition to obtain a corrected voltage control instruction; The initial converter voltage control instruction and the corrected voltage control instruction are solved by using a preset optimization model to obtain a target voltage control instruction, so as to control the voltage of the traction station in the current flexible direct current traction power supply system based on the target voltage control instruction; The preset constraint conditions are: ； ； in, The voltage control command is calculated after the traction control in the coordinated control subsystem. i The traction in the coordinated control subsystem before the rail potential and voltage control command correction calculation i The difference in rail potential, The traction in the cooperative control subsystem expected to be achieved after control The rail potential, For the traction in the cooperative control subsystem i Rail potential, To control the desired traction The rail potential, For traction The rail potential, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i The voltage, For traction i +1 voltage, is the line length, For traction and traction station The distance between is the set of traction depot nodes that need to consider rail potential constraints. is a constant, is the resistance per unit length of the contact network, is the resistance per unit length of the rail.

2. The rail potential constraint cooperative control method according to claim 1, characterized in that: The using a preset optimization model to solve the initial converter voltage control instruction and the corrected voltage control instruction includes: If the preset optimization model is the first optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the first objective function and the preset constraint condition; Wherein, the first objective function is: min || U s_rail * - U s_energy * || 2 ; in, U s_rail * is the corrected voltage control instruction, U s_energy * is the initial converter voltage control instruction.

3. The rail potential constraint cooperative control method according to claim 1, characterized in that: The using a preset optimization model to solve the initial converter voltage control instruction and the corrected voltage control instruction also includes: If the preset optimization model is the second optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the second objective function and the preset constraint condition; Wherein, the second objective function is: min || I s_cc_rail - I s_cc_energy || 2 ; in, I s_cc_rail The voltage control command for constraining the rail potential is used to correct the traction current in the coordinated control subsystem after calculation. I s_cc_energy The traction train current in the cooperative control subsystem is calculated before the voltage control command correction for the constrained rail potential.

4. The rail potential constraint cooperative control method according to claim 1, characterized in that: The using a preset optimization model to solve the initial converter voltage control instruction and the corrected voltage control instruction also includes: If the preset optimization model is the third optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the third objective function, the preset constraint condition and the preset optimality-preserving constraint condition; Wherein, the third objective function is: ； r i = r ci +r ri； in, The additional loss caused by the voltage command modification for voltage control command correction calculation, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i and traction station i +1 is the sum of the rail and overhead contact resistance, r ci For traction i and traction station i +1 catenary resistance between r ri For traction i and traction station i +1 rail resistance between For traction i The voltage, For traction i +1 voltage.

5. A rail potential constraint cooperative control device, characterized in that: include: Energy optimization module, used to optimize the energy of the current flexible DC traction power supply system and obtain the initial converter voltage control instruction; A correction calculation module, used for judging whether the rail potential exceeds the limit when the converter voltage is the voltage control instruction of the traction station, and if the rail potential exceeds the limit, performing correction calculation of the voltage control instruction on the rail potential based on preset constraints to obtain a corrected voltage control instruction; A solution module, used for solving the initial converter voltage control instruction and the corrected voltage control instruction by using a preset optimization model to obtain a target voltage control instruction, so as to control the voltage of the traction station in the current flexible direct current traction power supply system based on the target voltage control instruction; The preset constraint conditions are: ； ； in, The voltage control command is calculated after the traction control in the coordinated control subsystem. i The traction in the coordinated control subsystem before the rail potential and voltage control command correction calculation i The difference in rail potential, The traction in the cooperative control subsystem expected to be achieved after control The rail potential, For the traction in the cooperative control subsystem i Rail potential, To control the desired traction The rail potential, For traction The rail potential, is the number of tractions, For the The voltage control command of a traction station, For the first +1) voltage control instructions for traction stations, For traction i The voltage, For traction i +1 voltage, is the line length, For traction and traction station The distance between is the set of traction depot nodes that need to consider rail potential constraints. is a constant, is the resistance per unit length of the contact network, is the resistance per unit length of the rail.

6. The rail potential constraint cooperative control device according to claim 5, characterized in that: The solution module is used for: If the preset optimization model is the first optimization model, solving the initial converter voltage control command and the corrected voltage control command based on the first objective function and the preset constraint condition; Wherein, the first objective function is: min || U s_rail * - U s_energy * || 2 ; in, U s_rail * is the corrected voltage control instruction, U s_energy * is the initial converter voltage control instruction.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the rail potential constraint collaborative control method as described in any one of claims 1 to 4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the rail potential constraint collaborative control method as described in any one of claims 1 to 4.

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