Scheduling method and system for rapid repair and recovery after disaster of intelligent networked highway power supply system

Abstract

The invention belongs to the technical field of intelligent networked roads, and particularly relates to a post-disaster rapid repair recovery scheduling method and system for an intelligent networked road power supply system, and the method comprises the steps: obtaining the topology of the intelligent networked road and the power supply system thereof, and constructing a power-traffic coupling mathematical model; based on the electric power-traffic coupling mathematical model, the types and the number of available first-aid repair recovery resources of the intelligent network connection road are analyzed, and a first-aid repair recovery resource mathematical model is constructed; a multi-resource scheduling constraint suitable for intelligent network connection road recovery is constructed in combination with special scheduling requirements in a road scene; constructing a power supply system safe operation constraint by combining the safe operation requirement of the intelligent network connection highway power supply system; an objective function of a power supply recovery model is determined according to power recovery requirements and maintenance personnel working duration requirements, a power supply system post-disaster rapid power supply recovery optimization model is constructed according to the objective function and all constraints, the model is solved to obtain an optimal recovery scheduling strategy, the reliability of the recovery model is improved, and transplantation and application are facilitated.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent networked highways, and specifically relates to a method and system for rapid post-disaster repair and recovery scheduling of an intelligent networked highway power supply system. Background Art

[0002] Intelligent connected highway refers to a road traffic system that uses advanced information collection, transmission, fusion and processing technologies to achieve real-time perception, analysis and transmission of highway traffic information, and interact with vehicle information, thereby achieving interconnection between vehicles and highways and improving the safety, efficiency and service quality of highway traffic.

[0003] Stable and reliable power supply is the prerequisite for intelligent connected highways to realize positioning, perception, guidance, and communication functions. However, the frequent extreme disasters in recent years have posed a huge challenge to the resilience of intelligent connected highways and their power supply systems. Existing highway power supply systems mostly use energy storage and distributed power backup on the medium voltage side to improve power supply self-sufficiency and emergency recovery capabilities, but the low voltage side still has problems such as simple structure, single power supply path, lack of backup power supply and operation control means. In extreme disaster scenarios, it is difficult to provide effective support for a large number of low voltage side intelligent devices such as signal indicators, cameras, roadside unit (RSU) communication equipment, millimeter wave radar, edge computing equipment, etc. Therefore, giving full play to the role of multiple types of emergency repair and recovery flexible resources under extreme disasters and realizing the rapid recovery of the functions of the intelligent connected highway power supply system is an important means to reduce the negative impact of disasters on traffic and reduce social and economic losses. Summary of the invention

[0004] The purpose of the present invention is to provide a method for rapid post-disaster repair and recovery scheduling of an intelligent networked highway power supply system, so as to solve the technical problem in the prior art that the intelligent networked highway power supply system is difficult to provide effective support in extreme disaster scenarios due to the simple structure, single power supply path, lack of backup power supply and operation control means on the low-voltage side.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A method for rapid repair and restoration dispatching of a smart networked highway power supply system after a disaster, comprising: Obtain the topology of intelligent connected highways and their power supply systems, and construct a mathematical model of power-traffic coupling; Based on the power-traffic coupling mathematical model, the types and quantities of emergency repair and restoration resources available for intelligent networked highways are analyzed, and a mathematical model of emergency repair and restoration resources is constructed; based on the power-traffic coupling mathematical model, combined with the special dispatching requirements under highway scenarios, multi-resource dispatching constraints suitable for intelligent networked highway restoration are constructed; based on the power-traffic coupling mathematical model, combined with the safe operation requirements of the power supply system of intelligent networked highways, safe operation constraints of the power supply system are constructed; The objective function of the power supply restoration model is determined according to the power restoration demand and the working hours of maintenance personnel. A post-disaster rapid power supply restoration optimization model for the power supply system is constructed based on the mathematical model of emergency repair restoration resources, multi-resource scheduling constraints, power supply system safe operation constraints and the objective function of the power supply restoration model. The model is solved to obtain the optimal restoration scheduling strategy.

[0006] Preferably, the obtaining of the topology of the intelligent networked highway and its power supply system and the construction of the power-traffic coupling mathematical model specifically includes: S101: Obtain a topological map of an intelligent networked highway and its power supply system; S102: Using an adjacency matrix, the connection relationship of the intelligent networked highway and its power supply system topology diagram is converted into a power-traffic coupling mathematical model.

[0007] Preferably, the method of analyzing the types and quantities of emergency repair and restoration resources available for intelligent networked highways based on the power-traffic coupling mathematical model and constructing an emergency repair and restoration resource mathematical model specifically includes: S201: Based on the power-traffic coupling mathematical model, it is analyzed that the types of emergency repair and restoration resources available for the intelligent networked highway include: mobile power sources and emergency repair team resources, and the corresponding quantities of mobile power sources and emergency repair team resources are determined respectively; S202: Determine the movable power supply constraint, maintenance resource constraint, maintenance time constraint and equipment status constraint respectively according to the equipment parameters and movable power supply parameters in the power-traffic coupling mathematical model to form an emergency repair and restoration resource mathematical model.

[0008] Preferably, the emergency repair team resources include maintenance resources, maintenance time and equipment status; The movable power source includes: a mobile power generation vehicle and a mobile energy storage; the constraints that the mobile power generation vehicle and the mobile energy storage need to meet during the dispatching operation include time-space constraints and output constraints.

[0009] Preferably, the multi-resource scheduling constraints applicable to intelligent networked highway restoration are constructed based on the power-traffic coupling mathematical model and combined with the special scheduling requirements in the highway scenario, specifically including: Combined with the linear characteristics of the distribution of intelligent network equipment in the intelligent network highway, the emergency lanes configured in the intelligent network highway, and the lane direction of the intelligent network highway, the following relationship is defined between the vehicle moving speed and the lane direction:

[0010] Where: The forward speed of vehicles on the emergency lane; Vehicles for repair personnel i Direction of travel; The direction of vehicle travel is specified for the emergency lane; vehicles are prohibited from going in the opposite direction. When the vehicle direction is opposite to the emergency lane, the vehicle speed is 0.

[0011] Preferably, the power supply system safe operation constraints include: power output constraints, line capacity constraints, power balance constraints and safe operation constraints.

[0012] Preferably, the objective function of the power supply restoration model is determined according to the power restoration demand and the maintenance personnel working time requirement:

[0013] Where: , are the load recovery and maintenance time weights, respectively; For Node j The weight coefficient of the load. The larger the weight coefficient, the more important the load. Its value is given by the importance index of the intelligent network system function and the equipment level classification; is a 0-1 variable, =1 means t Time Node j The load switch is closed; is the time step; is a 0-1 variable, Display element n Failure at the moment t is fixed.

[0014] In the second aspect, a post-disaster rapid repair and restoration dispatching system for an intelligent networked highway power supply system includes: An acquisition unit, used to acquire the topology of the intelligent networked highway and its power supply system, and to construct a power-traffic coupling mathematical model; The constraint construction unit is used to analyze the types and quantities of emergency repair and restoration resources available for intelligent networked highways based on the power-traffic coupling mathematical model, and to construct an emergency repair and restoration resource mathematical model; based on the power-traffic coupling mathematical model, combined with the special dispatching requirements under the highway scenario, to construct multi-resource dispatching constraints applicable to the restoration of intelligent networked highways; based on the power-traffic coupling mathematical model, combined with the safe operation requirements of the power supply system of intelligent networked highways, to construct the safe operation constraints of the power supply system; The solving unit is used to determine the objective function of the power supply restoration model according to the power restoration demand and the working time requirements of the maintenance personnel, and to build a post-disaster rapid power supply restoration optimization model for the power supply system according to the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power supply system safe operation constraints and the objective function of the power supply restoration model, and to solve the model to obtain the optimal restoration scheduling strategy.

[0015] In a third aspect, an electronic device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for rapid post-disaster repair and recovery scheduling of an intelligent networked highway power supply system as described in any one of the above items are implemented.

[0016] In a fourth aspect, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for rapid post-disaster repair and recovery scheduling of an intelligent networked highway power supply system as described in any one of the above items are implemented.

[0017] Compared with the prior art, the present invention has the following beneficial effects: First, construct a mathematical model of a real intelligent connected highway power supply system to improve the credibility of the restoration model and facilitate its transplantation and application.

[0018] Second, in response to practical problems such as the simple low-voltage side structure, single power supply path, lack of backup power supply and operation control means of the intelligent connected highway power supply system, a multi-resource joint emergency repair and recovery strategy is proposed to give full play to the advantages of various flexible resources and enhance the resilience of the intelligent connected highway power supply system under extreme disasters.

[0019] Third, the optimization algorithm framework is adopted to ensure the optimality while ensuring the scalability of the mathematical model. In recent years, intelligent networked roads and roadside equipment have developed rapidly. New energy forms such as wind power, photovoltaics, and high entropy energy have become important energy supply means for intelligent networked road equipment. The optimization model has significant advantages in handling the increasing multi-source load due to its scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of the method of the present invention; Figure 2 This is a fault scenario diagram of an embodiment of the present invention; Figure 3 This is a traffic path diagram between nodes according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply 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. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings: The present invention targets disaster scenarios that damage intelligent networked equipment and power supply system structures but do not cause serious damage to the road itself. At this time, the rapid recovery of the power supply system of the intelligent networked highway is mainly divided into two tasks: 1) Rapid power supply support for important equipment that is in normal status but has been suspended due to the destruction of the power supply path, and rapid restoration of the basic functions of the intelligent networked highway. 2) Formulate a rapid repair plan for the damaged equipment based on factors such as importance and spatial distance to achieve rapid restoration of normal operation of the intelligent networked highway. For the problem of mobile emergency power supply and maintenance personnel path planning, existing research has proposed a mixed integer linear programming (MILP) model to jointly optimize distributed power sources, mobile emergency power supplies, maintenance teams, and power supply system operation modes.

[0029] See also Figure 1 , a method for rapid repair and restoration dispatching of an intelligent networked highway power supply system after a disaster, comprising: S1: Obtain the topology of the intelligent connected highway and its power supply system, and build a mathematical model of power-traffic coupling; S2: Based on the power-traffic coupling mathematical model, the types and quantities of emergency repair and restoration resources available for intelligent connected highways are analyzed, and an emergency repair and restoration resource mathematical model is constructed; based on the power-traffic coupling mathematical model, combined with the special dispatching requirements under the highway scenario, a multi-resource dispatching constraint suitable for intelligent connected highway restoration is constructed; based on the power-traffic coupling mathematical model, combined with the safe operation requirements of the power supply system of intelligent connected highways, a power supply system safe operation constraint is constructed; S3: Determine the objective function of the power supply restoration model based on the power restoration demand and the working hours required for maintenance personnel. Construct a post-disaster rapid power supply restoration optimization model for the power supply system based on the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power supply system safe operation constraints and the objective function of the power supply restoration model. Solve the model to obtain the optimal restoration scheduling strategy.

[0030] In some embodiments, obtaining the topology of the intelligent networked highway and its power supply system and constructing a power-traffic coupling mathematical model specifically includes: S101: Obtain a topological map of an intelligent networked highway and its power supply system; S102: Using an adjacency matrix, the connection relationship of the intelligent networked highway and its power supply system topology diagram is converted into a power-traffic coupling mathematical model.

[0031] In some embodiments, the power-traffic coupling mathematical model is used to analyze the types and quantities of emergency repair and restoration resources available on the intelligent networked highway, and a mathematical model of emergency repair and restoration resources is constructed. For damaged equipment, the present invention optimizes the dispatch of emergency repair personnel based on factors such as the importance of the equipment and spatial distance, and formulates a rapid emergency repair plan to ensure that the equipment on the intelligent networked highway can resume normal operation as soon as possible. Specifically, it includes: S201: Based on the power-traffic coupling mathematical model, it is analyzed that the types of emergency repair and restoration resources available for the intelligent networked highway include: mobile power sources and emergency repair team resources, and the corresponding quantities of mobile power sources and emergency repair team resources are determined respectively; S202: Determine the movable power supply constraint, maintenance resource constraint, maintenance time constraint and equipment status constraint respectively according to the equipment parameters and movable power supply parameters in the power-traffic coupling mathematical model to form an emergency repair and restoration resource mathematical model.

[0032] In some embodiments, the multi-resource scheduling constraints applicable to intelligent connected highway restoration are constructed based on the power-traffic coupling mathematical model and combined with special scheduling requirements in highway scenarios, specifically including: Combined with the linear characteristics of the distribution of intelligent network equipment in the intelligent network highway, the emergency lanes configured in the intelligent network highway, and the lane direction of the intelligent network highway, the following relationship is defined between the vehicle moving speed and the lane direction: (1) Where: The forward speed of vehicles on the emergency lane; Vehicles for repair personnel i Direction of travel; The direction of vehicle travel is specified for the emergency lane. Vehicles are prohibited from going in the opposite direction. When the vehicle direction is opposite to the emergency lane, the speed is 0.

[0033] Due to the prohibition of reverse driving for repair personnel's vehicles, combined with the linear characteristics of intelligent connected roads and the isolation characteristics of two-way lanes, repair personnel's vehicles are only allowed to change vehicle lanes at the end of the road or in the parking area. Therefore, when going to the damaged point in the opposite lane for repair, the vehicle needs to change lanes at the end of the road or in the parking area.

[0034] This restriction can be satisfied by setting the traffic network as a directed graph.

[0035] In some embodiments, the repair team resources include maintenance resources, maintenance time, and equipment status; combined with the importance index of the intelligent network system function and the equipment level classification, the source-side flexibility resources are preferentially supplied to the intelligent network equipment with high priority. Considering the linear characteristics of the distribution of intelligent network equipment in the intelligent network highway and the emergency lanes configured in the intelligent network highway, the source-side flexibility resource scheduling path can be simplified to a one-dimensional return path that is not affected by traffic flow, without considering behaviors such as turning that are affected by traffic flow, thereby simplifying the mathematical model of time-consuming calculation of flexibility resource scheduling.

[0036] 1) Maintenance path constraints (2) (3) (4) (5) (6) (7) Where: is a 0-1 variable, Maintenance Team f Deployed in emergency warehouse n ; is a 0-1 variable, Maintenance Team f From the component m Move to component n ; F Assemble for the maintenance team; is a 0-1 variable, Maintenance Team f Arrived at the component n Otherwise, I have never been there.

[0037] Formula (2) is the maintenance team deployment constraint, that is, each maintenance team can be deployed in at most one emergency warehouse. Formula (3) means that only the maintenance team deployed in a certain emergency warehouse can start from that starting point. Formula (4) is the personnel flow conservation constraint, that is, the maintenance team enters a damaged area and leaves after completing the task of repairing the faulty equipment. Formula (5) means that the team will not repeatedly reach the equipment that has participated in the repair. Formula (6) means that the maintenance team must return to the end point after completing the task. Formula (7) is a 0-1 variable The definition of .

[0038] 2) Maintenance resource constraints: (8) (9) (10) Where: For maintenance team f In the component n Maintenance material consumption at the department; For maintenance team f Maximum amount of supplies to carry (customizable); For components n Maintenance material requirements at the location (determined by equipment parameters).

[0039] Formula (8) indicates that the capacity of each maintenance team to transport materials is limited, and the maintenance resources consumed during the maintenance process cannot exceed its maximum material carrying capacity. Formula (9) indicates that only when the equipment is reached n Only maintenance teams can participate in the maintenance of the equipment. Formula (10) indicates that the maintenance team n The maintenance teams of the equipment n The total amount of resources invested should be equal to the amount of resources required to repair the equipment. n The amount of resources required.

[0040] 3) Maintenance time constraints (11) (12) (13) (14) (15) (16) Where: For maintenance team f In the component n The working hours of the place; M is a large positive real number; For the team f Arrival Component n the moment of being; For the team f From the component m Move to component n The shortest travel time (calculated in advance by the shortest path algorithm); For the team f In the component n The time when the operation starts; is a 0-1 variable, Display element n Failure at the moment t is fixed.

[0041] Formula (11) means that only the device n Only maintenance teams withn For the team f When the first device arrives, the arrival time should be the time from the starting point to the device n The traffic time. Formula (13) indicates that the start time of the operation should be after the arrival time. Formula (14) indicates that if the team f From the device n Move to Device m , then it reaches the device m The time to start repairing the equipment should be n The moment and the device n Operation time at the location, from the equipment n Move to Device m The sum of the travel time of the participating devices. n After all teams have completed their tasks, the equipment n Formula (16) indicates that the equipment cannot be repaired repeatedly.

[0042] 4) Device status constraints The damaged equipment set BC is divided into the damaged node set DB and the damaged line set DL (custom input), and the constraint relationship between equipment availability and emergency repair process is established: (17) (18) (19) (20) Where: is a 0-1 variable, express t Time Node i Fixed; is a 0-1 variable, express t Timeline Fixed; It is a 0-1 variable, indicating the node power-on status. express t Time Node i power ups; It is a 0-1 variable, indicating the power-on status of the line. express t Timeline power ups.

[0043] Formulas (17) and (18) establish the relationship between equipment availability and the emergency repair process, that is, after the damaged equipment is repaired, the equipment returns to normal. Formulas (19) and (20) establish the relationship between equipment availability and whether it is put into operation, that is, only normal equipment can be powered on.

[0044] For important equipment of the intelligent connected system that is in normal condition but has been shut down due to damaged power supply paths, the present invention dispatches flexible resources on the source side, i.e., mobile power sources, to achieve rapid power supply support and quickly restore the basic functions of the intelligent connected highway.

[0045] In some embodiments, the mobile power source includes: a mobile power generation vehicle and a mobile energy storage; the constraints that the mobile power generation vehicle and the mobile energy storage need to meet during the scheduling operation include time and space constraints and output constraints.

[0046] Mobile power generation vehicles are also called mobile emergency generators (MEGs). Common mobile power generation vehicles are generally vehicle-mounted diesel generator sets that can be used as mobile power stations to provide temporary electricity, such as post-disaster rescue and construction, power maintenance, emergency charging and rescue of electric vehicles, military field training, etc. The constraints that need to be met during the dispatching and operation of mobile power generation vehicles are divided into time and space constraints and output constraints.

[0047] 1) Space-time constraints of mobile power generation vehicles: (twenty one) (twenty two) (twenty three) (twenty four) (25) (26) (27) Where: is a 0-1 variable, Mobile power generation vehicle Access Node ; is a 0-1 variable, Mobile power generation vehicle From the starting point to the node ; Mobile power generation vehicle Arrival Node time; Mobile power generation vehicle From the starting point to the node time consuming; is a 0-1 variable, Mobile power generation vehicle From The time starting point can be a node powered by; is a 0-1 variable, Mobile power generation vehicle In the Time is node powered by.

[0048] Formula (23) defines the access node of the mobile power generation vehicle. The mobile power generation vehicle can only discharge at its access node. Formula (24) is the scheduling constraint of the mobile power generation vehicle. When the mobile power generation vehicle accesses the node i When it reaches the node i The time from the starting point to the node i Equations (25) and (26) indicate that energy storage can only supply power to the intelligent networked highway power supply network after reaching the access location. Equation (27) indicates that the mobile power generation vehicle connected to the node is available only when the node is available. The time and space constraints of the mobile power generation vehicle are only used to calculate the resource scheduling movement time based on whether the node is reached or not, and the calculation of the movement time is simplified by using the linear structure of the intelligent networked highway.

[0049] 2) Operating constraints of mobile power generation vehicles (28) (29) (30) (31) Where: for t Mobile power generation vehicle g At the node i Active power output at , Mobile power generation vehicle g Active power output lower and upper limits; for t Mobile power generation vehicle g At the node i Reactive power output at , Mobile power generation vehicle e Reactive power output lower and upper limits; Mobile power generation vehicle g No-load fuel consumption per unit power; Mobile power generation vehicle g Rated power; for t Mobile power generation vehicle g Actual fuel consumption; Mobile power generation vehicle g Fuel consumption-power characteristic parameters; Mobile power generation vehicle g of diesel reserves.

[0050] Formula (28) and (29) are the output constraints of the mobile power generation vehicle. When the access state is 0, its output is forced to be 0. Formula (30) represents the calculation method of the fuel consumption of the mobile power generation vehicle. Formula (31) indicates that the amount of diesel that can be consumed by the mobile power generation vehicle is limited. This problem is particularly prominent in the scenario of inconvenient transportation after a disaster.

[0051] Mobile energy storage system (MESS) consists of energy storage system, vehicle system and auxiliary control system. It has the characteristics of time and space operation, can effectively realize power replenishment and charging across space, and meet the uninterrupted power supply of emergency power supply and important loads; it can be used as a mobile power station to provide temporary power, such as post-disaster rescue and construction, power maintenance, emergency charging and rescue of electric vehicles, military field training, etc.; it can also coordinate with photovoltaic power generation and wind power generation to provide a more stable power supply. The constraints that need to be met during the operation of mobile energy storage scheduling are divided into time and space constraints and output constraints.

[0052] 1) Space-time constraints of mobile energy storage: (32) (33) (34) (35) (36) Where: is a 0-1 variable, Represents mobile energy storage Access Node ; is a 0-1 variable, Represents mobile energy storage From the starting point to the node ; For mobile energy storage Arrival Node time; For mobile energy storage From the starting point to the node time consuming; is a 0-1 variable, Represents mobile energy storage From The time starting point can be a node powered by; is a 0-1 variable, Represents mobile energy storage In the Time is node powered by.

[0053] Formula (32) defines the access node of mobile energy storage. Mobile energy storage can only be discharged at its access node. Formula (33) is the scheduling constraint of mobile energy storage. When the mobile energy storage access node i When it reaches the node i The time from the starting point to the node i Equations (34) and (35) indicate that the energy storage can only supply power to the intelligent connected highway power supply network after reaching the access location. Equation (36) indicates that the mobile energy storage connected to the node is available only when the node is available.

[0054] 2) Mobile energy storage operation constraints (37) (38) (39) (40) Where: for t Mobile energy storage at all times e At the node i Active power output at , For mobile energy storage e Active power output lower and upper limits; for t Mobile energy storage at all times e At the node i Reactive power output at , For mobile energy storage e Reactive power output lower and upper limits; For mobile energy storage e exist t The state of charge (SoC) at the moment; For mobile energy storage e The self-discharge rate; is the time step; For mobile energy storage e Discharge efficiency; , For mobile energy storage e Lower and upper charge limits.

[0055] Formula (37) and (38) are the output constraints of mobile energy storage. When the access state is 0, its output is forced to be 0. Formula (39) describes the calculation method of the charge state of mobile energy storage. Formula (40) represents the power constraint at any time.

[0056] In some embodiments, the power supply system safe operation constraints include: power output constraints, line capacity constraints, power balance constraints and safe operation constraints.

[0057] During the restoration process of the intelligent networked highway power supply system, it is necessary to fully consider and meet all requirements for actual safe operation. It is necessary not only to consider the speed and efficiency of restoring power supply, but also to ensure that the system can maintain a stable and reliable operating state during and after the restoration process. The specific constraints are as follows: 1) Power output constraints (41) (42) Where: , Inject active and reactive power into substation nodes.

[0058] 2) Line capacity constraints (43) (44) Where: , Power supply system for intelligent connected highways The active and reactive power on the

[0059] 3) Power balance constraints (45) (46) (47) Where: , for t Intelligent networked highway power supply system node j Active and reactive injected power at for t Timeline The square of the upper current magnitude; is a 0-1 variable, indicating t Time Node j Check whether the load switch is closed.

[0060] 4) Safe operation constraints (48) (49) (50) Where: and They arei The lower and upper limits of the square of the node voltage; It is i The square of the node voltage; and The lines are The lower and upper limits of the transmitted current.

[0061] Since the existing intelligent connected highway power supply system is a linear structure, it naturally meets the radial constraints of the power supply network. Therefore, there is no need to introduce radial constraints in the safe operation model of the intelligent connected highway power supply system.

[0062] In some embodiments, the objective function of the power supply restoration model is determined according to the power restoration demand and the maintenance personnel's working time requirements. The power restoration goal is to maximize the load restoration while minimizing the total maintenance time. Specifically, the relative size of the weight of the load restoration amount and the total maintenance time in the power restoration goal can be determined according to the power restoration demand of the damaged equipment and the repair personnel's working time requirements, wherein the weight of the load restoration amount and the weight of the total maintenance time can be dynamically adjusted according to changes in actual conditions. Further, the objective function of the power restoration goal is: (51) Where: , are the load recovery and maintenance time weights, respectively; For Node j The weight coefficient of the load. The larger the weight coefficient, the more important the load. Its value is given by the importance index of the intelligent network system function and the equipment level classification; is a 0-1 variable, =1 means t Time Node j The load switch is closed; is the time step; is a 0-1 variable, Display element n Failure at the moment t The flexible resources available after a disaster in the intelligent networked highway power supply system include mobile power sources, emergency repair teams, etc. Each flexible resource must meet its own scheduling and operation characteristics. Under the premise of meeting the safe operation constraints of the intelligent networked highway power supply system, the impact of the disaster can be minimized by optimizing the scheduling plan.

[0063] The present invention also discloses a post-disaster rapid repair and recovery dispatching system for an intelligent networked highway power supply system, comprising: An acquisition unit, used to acquire the topology of the intelligent networked highway and its power supply system, and to construct a power-traffic coupling mathematical model; The constraint construction unit is used to analyze the types and quantities of emergency repair and restoration resources available for intelligent networked highways based on the power-traffic coupling mathematical model, and to construct an emergency repair and restoration resource mathematical model; based on the power-traffic coupling mathematical model, combined with the special dispatching requirements under the highway scenario, to construct multi-resource dispatching constraints applicable to the restoration of intelligent networked highways; based on the power-traffic coupling mathematical model, combined with the safe operation requirements of the power supply system of intelligent networked highways, to construct the safe operation constraints of the power supply system; The solving unit is used to determine the objective function of the power supply restoration model according to the power restoration demand and the working time requirements of the maintenance personnel, and to build a post-disaster rapid power supply restoration optimization model for the power supply system according to the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power supply system safe operation constraints and the objective function of the power supply restoration model, and to solve the model to obtain the optimal restoration scheduling strategy.

[0064] The method for rapid repair and restoration of a post-disaster intelligent networked highway power supply system disclosed in this application mainly includes the following key technologies: Construction of power-traffic coupling model of intelligent networked highway power supply system. Based on the structure of intelligent networked highway and the configuration of intelligent networked equipment for positioning, perception, guidance and communication, a coupling model of power grid and traffic network is constructed. The Dijkstra algorithm is used to calculate the shortest traffic path between intelligent networked equipment, and the safe operation constraints of the power supply system are considered during the recovery process.

[0065] A model of time-space coordination of multiple flexible resources. Based on the functional characteristics and operating characteristics of the repair team, mobile power generation vehicle, and mobile energy storage, rapid power supply support for isolated areas and rapid recovery of damaged equipment are achieved. In this process, the complementary advantages and coordinated cooperation of various resources are considered, and the limited flexible resource recovery function is fully utilized to improve the elasticity of the intelligent networked highway power supply system.

[0066] The optimal dispatching strategy is formulated based on MISOCP. The intelligent networked highway power supply system, multiple flexible resources, and disaster destructiveness are modeled as mathematical optimization problems, and the convex optimization algorithm is used to formulate the optimal joint dispatching strategy to minimize the power outage time of important equipment.

[0067] This invention focuses on the rapid recovery of the power supply system of intelligent networked highways in disaster scenarios where the intelligent networked equipment and power supply system structure are damaged but the road itself is not seriously damaged. The main strategies include: 1) Implement rapid power supply support for important equipment that is in normal condition but has been suspended due to damage to the power supply path, and quickly restore the basic functions of the intelligent networked highway; 2) Develop a rapid repair plan based on factors such as the importance of the equipment and spatial distance to ensure that the equipment of the intelligent networked highway can resume normal operation as soon as possible.

[0068] Combining the function importance index of the intelligent connected system and the equipment level classification, the present invention proposes a mobile power supply scheduling strategy and a repair team dispatching strategy that take into account the functional characteristics of the intelligent connected highway and the characteristics of the power supply system.

[0069] [Example] The optimization model for rapid power supply restoration after a disaster of the power supply system in the method for rapid repair and restoration of the intelligent networked highway power supply system disclosed in this application can be expressed as the following optimization model:

[0070] This problem is a MISOCP problem and can be solved directly using a commercial solver. Figure 2 As shown, the disaster caused the equipment failure of nodes 6, 17, and 37 and disconnected the lines 12-13 and 42-43, and caused the equipment of nodes 13-25 and 43-52 to lose power. Assume that the available resources in the system include 4 maintenance teams and 2 mobile emergency power supplies, and the vehicle speed is set to 8.5m / s. Assume that the time for a single maintenance team to eliminate a single equipment or line failure is 30min, and the maximum output of the mobile emergency power supply is 10kW. Using the emergency lane to schedule the above resources, the traffic path between nodes is as follows Figure 3 As shown in the figure, the road arrow indicates the specified driving direction, the road length information is shown in Table 1, and node 1 is the location of the parking center, which is also the starting point and end point of the mobile resource scheduling. The configuration and power of each node device in the system are shown in Table 2, where the operating power of the high-speed camera, millimeter-wave radar, RSU, edge computing unit, and node control host are 40W, 35W, 10W, 300W, and 100W respectively. Simulation time step The optimal recovery scheduling strategy generated by the method described in the present invention is shown in Table 3.

[0071] Table 1

[0072] Table 2

[0073] Table 3

[0074] The present application also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of any of the above-mentioned methods for evaluating the life of a lithium battery for construction machinery are implemented.

[0075] The present application also discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods for evaluating the life of a lithium battery of an engineering machinery are implemented.

[0076] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete 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 disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] 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 flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, 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 flowchart and / or block diagram. 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.

[0078] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 A function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for rapid repair and restoration of a smart networked highway power supply system after a disaster, characterized in that: include: Obtain the topology of intelligent connected highways and their power supply systems, and construct a mathematical model of power-traffic coupling; Based on the power-traffic coupling mathematical model, the types and quantities of emergency repair and restoration resources available for intelligent networked highways are analyzed, and a mathematical model of emergency repair and restoration resources is constructed; based on the power-traffic coupling mathematical model, combined with the special dispatching requirements under highway scenarios, multi-resource dispatching constraints suitable for intelligent networked highway restoration are constructed; based on the power-traffic coupling mathematical model, combined with the safe operation requirements of the power supply system of intelligent networked highways, safe operation constraints of the power supply system are constructed; The objective function of the power supply restoration model is determined according to the power restoration demand and the working hours of maintenance personnel. A post-disaster rapid power supply restoration optimization model for the power supply system is constructed based on the mathematical model of emergency repair restoration resources, multi-resource scheduling constraints, power supply system safe operation constraints and the objective function of the power supply restoration model. The model is solved to obtain the optimal restoration scheduling strategy.

2. According to claim 1, a method for rapid repair and restoration of a smart networked highway power supply system after a disaster, characterized in that: The obtaining of the topology of the intelligent networked highway and its power supply system and the construction of the power-traffic coupling mathematical model specifically includes: S101: Obtain a topological map of an intelligent networked highway and its power supply system; S102: Using an adjacency matrix, the connection relationship of the intelligent networked highway and its power supply system topology diagram is converted into a power-traffic coupling mathematical model.

3. According to claim 1, a method for rapid repair and restoration of a smart networked highway power supply system after a disaster, characterized in that: The method, based on the power-traffic coupling mathematical model, analyzes the types and quantities of emergency repair and restoration resources available for intelligent networked highways, and constructs an emergency repair and restoration resource mathematical model, specifically including: S201: Based on the power-traffic coupling mathematical model, it is analyzed that the types of emergency repair and restoration resources available for the intelligent networked highway include: mobile power sources and emergency repair team resources, and the corresponding quantities of mobile power sources and emergency repair team resources are determined respectively; S202: Determine the movable power supply constraint, maintenance resource constraint, maintenance time constraint and equipment status constraint respectively according to the equipment parameters and movable power supply parameters in the power-traffic coupling mathematical model to form an emergency repair and restoration resource mathematical model.

4. According to claim 3, a method for rapid repair and restoration of a smart networked highway power supply system after a disaster, characterized in that: The repair team resources include maintenance resources, maintenance time and equipment status; The movable power source includes: a mobile power generation vehicle and a mobile energy storage; the constraints that the mobile power generation vehicle and the mobile energy storage need to meet during the dispatching operation include time-space constraints and output constraints.

5. According to claim 1, a method for rapid repair and restoration of a smart networked highway power supply system after a disaster, characterized in that: Based on the power-traffic coupling mathematical model and combined with the special dispatching requirements in the highway scenario, a multi-resource dispatching constraint suitable for intelligent connected highway restoration is constructed, which specifically includes: Combined with the linear characteristics of the distribution of intelligent network equipment in the intelligent network highway, the emergency lanes configured in the intelligent network highway, and the lane direction of the intelligent network highway, the following relationship is defined between the vehicle moving speed and the lane direction: Where: The forward speed of vehicles on the emergency lane; Vehicles for repair personnel i Direction of travel; The direction of vehicle travel is specified for the emergency lane; vehicles are prohibited from going in the opposite direction. When the vehicle direction is opposite to the emergency lane, the vehicle speed is 0.

6. According to claim 1, a method for rapid repair and restoration of a smart networked highway power supply system after a disaster, characterized in that: The power supply system safe operation constraints include: power output constraints, line capacity constraints, power balance constraints and safe operation constraints.

7. The method for rapid post-disaster repair and restoration of an intelligent networked highway power supply system according to claim 1 is characterized in that: The objective function of the power supply restoration model is determined according to the power restoration demand and the maintenance personnel working hours requirement: Where: , are the load recovery and maintenance time weights, respectively; For Node j The weight coefficient of the load. The larger the weight coefficient, the more important the load. Its value is given by the importance index of the intelligent network system function and the equipment level classification; is a 0-1 variable, =1 means t Time Node j The load switch is closed; is the time step; is a 0-1 variable, Display element n Failure at the moment t is fixed.

8. A post-disaster rapid repair and restoration dispatching system for an intelligent networked highway power supply system, characterized in that: include: An acquisition unit, used to acquire the topology of the intelligent networked highway and its power supply system, and to construct a power-traffic coupling mathematical model; The constraint construction unit is used to analyze the types and quantities of emergency repair and restoration resources available for intelligent networked highways based on the power-traffic coupling mathematical model, and to construct an emergency repair and restoration resource mathematical model; based on the power-traffic coupling mathematical model, combined with the special dispatching requirements under the highway scenario, to construct multi-resource dispatching constraints applicable to the restoration of intelligent networked highways; based on the power-traffic coupling mathematical model, combined with the safe operation requirements of the power supply system of intelligent networked highways, to construct the safe operation constraints of the power supply system; The solving unit is used to determine the objective function of the power supply restoration model according to the power restoration demand and the working time requirements of the maintenance personnel, and to build a post-disaster rapid power supply restoration optimization model for the power supply system according to the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power supply system safe operation constraints and the objective function of the power supply restoration model, and to solve the model to obtain the optimal restoration scheduling strategy.

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for rapid post-disaster repair and recovery scheduling of an intelligent networked highway power supply system as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for post-disaster rapid repair and recovery scheduling of an intelligent networked highway power supply system as described in any one of claims 1 to 7.

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