Intelligent network connection highway power supply system post-disaster rapid repair recovery scheduling method and system

Abstract

The application belongs to the technical field of intelligent networked highways, and particularly relates to a method and system for post-disaster rapid repair and recovery scheduling of an intelligent networked highway power supply system, which comprises the following steps: acquiring the topology of an intelligent networked highway and its power supply system, and constructing a power-traffic coupling mathematical model; based on the power-traffic coupling mathematical model, analyzing the types and quantities of available repair and recovery resources of the intelligent networked highway, and constructing a repair and recovery resource mathematical model; combining the special scheduling requirements under the highway scene, constructing multi-resource scheduling constraints suitable for the recovery of the intelligent networked highway; combining the safe operation requirements of the power supply system of the intelligent networked highway, constructing power supply system safe operation constraints; determining the objective function of the power supply recovery model according to the power recovery requirements and the work duration requirements of the maintenance personnel, constructing a post-disaster rapid power supply recovery optimization model of the power supply system according to the objective function and each constraint, solving the model to obtain an optimal recovery scheduling strategy, improving the credibility of the recovery model, and facilitating transplantation and application.

Description

Technical Field

[0001] This invention belongs to the field of intelligent connected highway technology, specifically relating to a method and system for rapid emergency repair and restoration of power supply systems for intelligent connected highways after disasters. Background Technology

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

[0003] A stable and reliable power supply is a prerequisite for intelligent connected highways to realize their positioning, sensing, guidance, and communication functions. However, the frequent extreme disasters in recent years have posed significant challenges to the resilience of intelligent connected highways and their power supply systems. Existing highway power supply systems mostly employ energy storage and distributed power backup on the medium-voltage side to improve power self-sufficiency and emergency recovery capabilities. However, the low-voltage side still suffers from problems such as simple structure, single power supply path, lack of backup power and operational control methods. Under extreme disaster scenarios, it is difficult to effectively support a large number of low-voltage side intelligent devices, such as traffic lights, cameras, roadside unit (RSU) communication equipment, millimeter-wave radar, and edge computing devices. Therefore, fully utilizing the flexible resources of various types of emergency repair and restoration to achieve rapid restoration of the intelligent connected highway power supply system's functions under extreme disasters is an important means to mitigate the negative impact of disasters on traffic and reduce socio-economic losses. Summary of the Invention

[0004] The purpose of this invention is to provide a method for rapid emergency repair and restoration scheduling of intelligent connected highway power supply systems after disasters, in order to solve the technical problems in the existing intelligent connected highway power supply systems, which are difficult to provide effective support in extreme disaster scenarios due to the simple structure, single power supply path, lack of backup power and operation control means on the low-voltage side.

[0005] To achieve the above objectives, the present invention employs the following technical solution: A method for rapid post-disaster repair and restoration dispatching of an intelligent connected highway power supply system includes: Obtain the topology of intelligent connected highways and their power supply systems, and construct a power-transport coupling mathematical model; Based on the power-transportation coupled mathematical model, this paper analyzes the types and quantities of available emergency repair and restoration resources for intelligent connected highways and constructs an emergency repair and restoration resource mathematical model. Based on the power-transportation coupled mathematical model and combined with the special scheduling requirements of highway scenarios, this paper constructs multi-resource scheduling constraints applicable to the restoration of intelligent connected highways. Based on the power-transportation coupled mathematical model and combined with the safe operation requirements of the power supply system of intelligent connected highways, this paper constructs safe operation constraints of the power supply system. The objective function of the power restoration model is determined based on the power restoration needs and the working hours required by maintenance personnel. An optimization model for rapid power restoration after a disaster is constructed based on the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power system safety operation constraints, and the objective function of the power restoration model. The optimal restoration scheduling strategy is obtained by solving this model.

[0006] Preferably, the step of obtaining the topology of the intelligent connected highway and its power supply system and constructing a power-transportation coupled mathematical model specifically includes: S101: Obtain the topology diagram of intelligent connected highways and their power supply systems; S102: Adjacency matrix is ​​used to convert the connection relationship of the topology graph of intelligent connected highway and its power supply system into a power-traffic coupled mathematical model.

[0007] Preferably, the step of analyzing the types and quantities of available emergency repair and restoration resources for intelligent connected highways based on the power-transportation coupled mathematical model, and constructing an emergency repair and restoration resource mathematical model, specifically includes: S201: Based on the power-transportation coupling mathematical model, the available emergency repair and restoration resource types for intelligent connected highways are analyzed and found to include: mobile power supply and emergency repair team resources, and the corresponding quantities of mobile power supply and emergency repair team resources are determined respectively. S202: Based on the equipment parameters and mobile power parameters in the power-transportation coupling mathematical model, determine the mobile power constraints, maintenance resource constraints, maintenance time constraints, and equipment state constraints respectively, and construct the emergency repair and restoration resource mathematical model.

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

[0009] Preferably, the construction of multi-resource scheduling constraints suitable for the recovery of intelligent connected highways, based on the power-transportation coupled mathematical model and combined with the special scheduling requirements of highway scenarios, specifically includes: Based on the linear characteristics of the distribution of intelligent connected devices on intelligent connected highways, the emergency lanes configured on intelligent connected highways, and the lane directions of intelligent connected highways, the following relationship is defined between vehicle speed and lane direction:

[0010] In the formula: The forward speed of vehicles traveling in the emergency lane; For repair personnel and vehicles i Direction of travel; The emergency lane is the designated direction for vehicles to travel; vehicles are prohibited from traveling in the opposite direction, and when a vehicle's direction is opposite to that of the emergency lane, its speed is 0.

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

[0012] Preferably, the objective function of the power restoration model is determined based on the power restoration needs and the working hours required by maintenance personnel:

[0013] In the formula: , Weights for load recovery and maintenance time, respectively; For nodes j The weighting coefficient of the load is determined by the functional importance index of the intelligent connected system and the classification of equipment levels. For 0-1 variables, =1 means t Time Node j The load switch is closed; For time step; For 0-1 variables, Indicator element n Fault at any time t It has been repaired.

[0014] Secondly, a post-disaster rapid repair and restoration dispatch system for intelligent connected highway power supply systems includes: The acquisition unit is used to acquire the topology of intelligent connected highways and their power supply systems, and to construct a power-transportation coupled mathematical model. The constraint construction unit is used to analyze the types and quantities of available emergency repair and restoration resources for intelligent connected highways based on the power-transport coupling mathematical model, and to construct an emergency repair and restoration resource mathematical model; based on the power-transport coupling mathematical model and combined with the special scheduling requirements of highway scenarios, it constructs multi-resource scheduling constraints applicable to the restoration of intelligent connected highways; and based on the power-transport coupling mathematical model and combined with the safe operation requirements of the power supply system of intelligent connected highways, it constructs power supply system safety operation constraints. The solution unit is used to determine the objective function of the power supply restoration model based on the power restoration needs and the working hours required by maintenance personnel. Based on the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power supply system safety operation constraints, and the objective function of the power supply restoration model, it constructs an optimization model for rapid power supply restoration after a disaster. Solving this model yields the optimal restoration scheduling strategy.

[0015] Thirdly, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the post-disaster rapid repair and restoration scheduling method for the intelligent connected highway power supply system described in any of the preceding claims.

[0016] Fourthly, a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the post-disaster rapid repair and restoration scheduling method for the intelligent connected highway power supply system described in any of the preceding claims.

[0017] Compared with the prior art, the present invention has the following beneficial effects: First, we construct a mathematical model of a real intelligent connected highway power supply system to improve the reliability of the recovery model and make it easy to port and apply.

[0018] Second, in response to the practical problems of the intelligent connected highway power supply system, such as its simple low-voltage side structure, single power supply path, lack of backup power and operation control means, a multi-resource joint emergency repair and restoration 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, an optimization algorithm framework is adopted to ensure optimality while guaranteeing the scalability of the mathematical model. In recent years, intelligent connected highways and roadside equipment have developed rapidly, and new energy forms such as wind power, photovoltaics, and high-entropy energy have become important power supply means for intelligent connected highway equipment. The optimization model has significant advantages in handling the ever-increasing multi-source loads due to its scalability. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a fault scenario diagram according to 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 Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and 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 should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings: This invention addresses disaster scenarios where intelligent connected vehicles and power supply systems are damaged, but the road itself is not severely damaged. The rapid restoration of the power supply system for intelligent connected highways in such cases involves two main tasks: 1) Providing rapid power support to critical equipment that is in normal condition but whose power supply paths have been disrupted, thus quickly restoring the basic functions of the intelligent connected highway; 2) Developing rapid repair plans for damaged equipment based on factors such as importance and spatial distance, enabling the intelligent connected highway to quickly return to normal operation. Regarding the problem of planning the routes of mobile emergency power supplies and maintenance personnel, existing research has proposed a mixed-integer linear programming (MILP) model to jointly optimize distributed power sources, mobile emergency power supplies, maintenance teams, and the operation mode of the power supply system.

[0029] See Figure 1 A method for rapid post-disaster repair and restoration dispatching of intelligent connected highway power supply systems, comprising: S1: Obtain the topology of intelligent connected highways and their power supply systems, and construct a power-transportation coupled mathematical model; S2: Based on the power-transportation coupled mathematical model, analyze the types and quantities of available emergency repair and restoration resources for intelligent connected highways, and construct an emergency repair and restoration resource mathematical model; based on the power-transportation coupled mathematical model, and combined with the special scheduling requirements of highway scenarios, construct multi-resource scheduling constraints applicable to the restoration of intelligent connected highways; based on the power-transportation coupled mathematical model, and combined with the safe operation requirements of the power supply system of intelligent connected highways, construct safe operation constraints of the power supply system. S3: Determine the objective function of the power restoration model based on the power restoration needs and the working hours required by maintenance personnel. Construct an optimization model for rapid power restoration after a disaster based on the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power system safety operation constraints, and the objective function of the power restoration model. Solve the model to obtain the optimal restoration scheduling strategy.

[0030] In some embodiments, obtaining the topology of the intelligent connected highway and its power supply system, and constructing a power-transportation coupled mathematical model specifically includes: S101: Obtain the topology diagram of intelligent connected highways and their power supply systems; S102: Adjacency matrix is ​​used to convert the connection relationship of the topology graph of intelligent connected highway and its power supply system into a power-traffic coupled mathematical model.

[0031] In some embodiments, based on the power-traffic coupling mathematical model, the available types and quantities of emergency repair and restoration resources for intelligent connected highways are analyzed, and a mathematical model for emergency repair and restoration resources is constructed. For damaged equipment, this invention optimizes the scheduling of repair personnel based on factors such as equipment importance and spatial distance, and formulates rapid repair plans to ensure that the equipment on intelligent connected highways can be restored to normal operation as quickly as possible. Specifically, this includes: S201: Based on the power-transportation coupling mathematical model, the available emergency repair and restoration resource types for intelligent connected highways are analyzed and found to include: mobile power supply and emergency repair team resources, and the corresponding quantities of mobile power supply and emergency repair team resources are determined respectively. S202: Based on the equipment parameters and mobile power parameters in the power-transportation coupling mathematical model, determine the mobile power constraints, maintenance resource constraints, maintenance time constraints, and equipment state constraints respectively, and construct the emergency repair and restoration resource mathematical model.

[0032] In some embodiments, the construction of multi-resource scheduling constraints suitable for the restoration of intelligent connected highways based on the power-transportation coupled mathematical model and combined with the special scheduling requirements of highway scenarios specifically includes: Based on the linear characteristics of the distribution of intelligent connected devices on intelligent connected highways, the emergency lanes configured on intelligent connected highways, and the lane directions of intelligent connected highways, the following relationship is defined between vehicle speed and lane direction: (1) In the formula: The forward speed of vehicles traveling in the emergency lane; For repair personnel and vehicles i Direction of travel; The emergency lane is the designated direction of travel for vehicles. Vehicles are prohibited from traveling in the opposite direction to the emergency lane, and the speed limit is 0 when the vehicle is traveling in the opposite direction.

[0033] Due to the restriction that repair personnel vehicles are prohibited from traveling in the opposite direction, and considering the characteristics of intelligent connected road alignment and two-way lane separation, repair personnel vehicles are only allowed to change lanes at the end of the road or in the parking area. Therefore, when heading to a damaged point in the opposite lane for repairs, it is necessary to change lanes at the end of the road or in the parking area.

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

[0035] In some embodiments, the emergency repair team resources include maintenance resources, maintenance time, and equipment status. Combining the functional importance index of the intelligent connected system with equipment level classification, source-side flexibility resources are prioritized for high-priority intelligent connected devices. Considering the linear characteristics of the distribution of intelligent connected devices on intelligent connected highways and the emergency lanes configured on these highways, the source-side flexibility resource scheduling path can be simplified to a one-dimensional turnaround path unaffected by traffic flow, eliminating the need to consider behaviors affected by traffic flow, such as turning, thereby simplifying the mathematical model for calculating the time consumption of flexibility resource scheduling.

[0036] 1) Maintenance path constraints (2) (3) (4) (5) (6) (7) In the formula: For 0-1 variables, Indicates the repair team f Deployed in emergency warehouses n ; For 0-1 variables, Indicates the repair team f From components m Move to element n ; F Assemble the repair team; For 0-1 variables, Indicates the repair team f Components reached n On the contrary, I have never been there.

[0037] Equation (2) represents the deployment constraint of the maintenance team, meaning that each maintenance team can be deployed to at most one emergency warehouse. Equation (3) indicates that only maintenance teams deployed to a certain emergency warehouse can start from that starting point. Equation (4) represents the personnel flow conservation constraint, meaning that once a maintenance team enters a damaged area, it will leave after completing the maintenance task on the faulty equipment. Equation (5) indicates that the team will not repeatedly reach equipment it has participated in the maintenance of. Equation (6) indicates that the maintenance team must return to the destination after completing the task. Equation (7) represents a 0-1 variable. The definition of .

[0038] 2) Maintenance resource constraints: (8) (9) (10) In the formula: For the maintenance team f In components n The amount of maintenance materials consumed at the site; For the maintenance team f Maximum carrying capacity of supplies (customizable); For components n Maintenance material requirements (equipment parameters determined).

[0039] Equation (8) indicates that each maintenance team has a limited capacity for transporting materials, and the maintenance resources consumed during the maintenance process cannot exceed its maximum material carrying capacity. Equation (9) indicates that only materials that have been delivered to the equipment... n Only authorized maintenance teams are allowed to participate in the maintenance of this equipment. Equation (10) indicates that only authorized maintenance teams are allowed to participate in the maintenance of this equipment. n The various maintenance teams on the equipment n The total resources invested should be equal to the equipment repaired. n The amount of resources required.

[0040] 3) Maintenance time constraints (11) (12) (13) (14) (15) (16) In the formula: For the maintenance team f In components n The work time at the location; M It is a relatively large positive real number; For the team f Arrival Component n At that moment; For the team f From components m Move to element n The shortest travel time (calculated in advance by the shortest path algorithm); For the team f In components n The start time of the operation; For 0-1 variables, Indicator element n Fault at any time t It has been repaired.

[0041] Equation (11) indicates that only those who have reached the equipment n Only authorized maintenance teams are allowed to participate in the maintenance of this equipment. Equation (12) indicates that when the equipment...n For the team f When the first device arrives, the arrival time should be from the origin to the device. n The travel time. Equation (13) indicates that the start time of operation should be after the arrival time. Equation (14) indicates that if the team f From the equipment n Move to device m Then it reaches the device. m The time should be when to start repairing the equipment. n The time and in the device n The working time at the location, from the equipment n Move to device m The sum of travel times. Equation (15) indicates that only the participating equipment... n After all the repair teams completed their tasks, the equipment... n Only then can it be repaired. Equation (16) indicates that the equipment cannot be repaired repeatedly.

[0042] 4) Equipment state constraints The set of damaged equipment BC is divided into a set of damaged nodes DB and a set of damaged lines DL (custom input), and constraints are established between equipment availability and the emergency repair process: (17) (18) (19) (20) In the formula: For 0-1 variables, express t Time Node i Fixed; For 0-1 variables, express t Timetable Fixed; These are 0-1 variables, representing the energized state of the node. express t Time Node i power ups; These are 0-1 variables, representing the energized state of the circuit. express t Timetable power ups.

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

[0044] For critical equipment in intelligent connected systems that are in normal condition but have been rendered unusable due to damage to their power supply path, this invention enables rapid power supply support by scheduling flexible resources on the source side, allowing for the quick restoration of the basic functions of intelligent connected highways.

[0045] In some embodiments, the mobile power source includes a mobile generator vehicle and a mobile energy storage device; the constraints that the mobile generator vehicle and the mobile energy storage device need to meet during dispatch operation include spatiotemporal constraints and output constraints.

[0046] Mobile generators, also known as mobile emergency generators (MEGs), are typically equipped with onboard diesel generator sets. They can serve as mobile power stations to provide temporary power, such as for disaster relief and reconstruction, power maintenance, emergency charging of electric vehicles, and military field training. The constraints that must be met during the dispatch and operation of mobile generators are divided into temporal and spatial constraints and output constraints.

[0047] 1) Spatiotemporal constraints of the mobile generator: (twenty one) (twenty two) (twenty three) (twenty four) (25) (26) (27) In the formula: For 0-1 variables, Indicates mobile power generation vehicle Access Node ; For 0-1 variables, Indicates mobile power generation vehicle Start from the starting point and head to the node. ; Mobile generator Arrival Node time; Mobile generator From the starting point to the node time consuming; For 0-1 variables, Indicates mobile power generation vehicle From the The start time can be a node powered by; For 0-1 variables, Indicates mobile power generation vehicle In the Time as a node powered by.

[0048] Equation (23) defines the access node for the mobile generator vehicle, which can only discharge at its access node. Equation (24) represents the scheduling constraint for the mobile generator vehicle; when the mobile generator vehicle accesses the node... i When it reaches the node i The time is from the starting point to the node. i The travel time. Equations (25) and (26) indicate that the energy storage can only supply power to the smart connected highway power supply network after reaching the access location. Equation (27) indicates that the mobile generator vehicle connected to the node is available only when the node is available. The spatiotemporal constraints of the mobile generator vehicle are calculated based solely on whether the node is reached or not, and the calculation of travel time is simplified by utilizing the alignment structure of the smart connected highway.

[0049] 2) Operational constraints of mobile generator vehicles (28) (29) (30) (31) In the formula: for t Mobile generator car g At the node i Active power output at the location; , Mobile generator g Lower and upper limits of active power output; for t Mobile generator car g At the node i reactive power output at the location; , Mobile generator e Lower and upper limits of reactive power output; Mobile generator g Fuel consumption per unit power under no-load conditions; Mobile generator g Rated power; for t Mobile generator car g Actual fuel consumption; Mobile generator g Fuel consumption-power characteristic parameters; Mobile generator g The amount of diesel fuel in reserve.

[0050] Equations (28) and (29) are the output constraints of the mobile generator vehicle. When the connection state is 0, its output is forced to be 0. Equation (30) represents the calculation method of the fuel consumption of the mobile generator vehicle. Equation (31) indicates that the amount of diesel fuel that the mobile generator vehicle can consume is limited, and this problem is particularly prominent in the context of inconvenient transportation after a disaster.

[0051] Mobile energy storage systems (MESS) consist of an energy storage system, a vehicle system, and an auxiliary control system. They possess spatiotemporal operational characteristics, effectively enabling power replenishment and charging across spatial boundaries to meet emergency power supply and ensure uninterrupted power supply for critical loads. They can serve as mobile power stations providing temporary power, such as in disaster relief and construction, power maintenance, emergency charging for electric vehicles, and military field training. Furthermore, they can be coordinated with photovoltaic and wind power generation for a more stable power supply. The constraints that mobile energy storage systems must meet during operation are divided into spatiotemporal constraints and output constraints.

[0052] 1) Spatiotemporal constraints of mobile energy storage: (32) (33) (34) (35) (36) In the formula: For 0-1 variables, Indicates mobile energy storage Access Node ; For 0-1 variables, Indicates mobile energy storage Start from the starting point and head to the node. ; For mobile energy storage Arrival Node time; For mobile energy storage From the starting point to the node time consuming; For 0-1 variables, Indicates mobile energy storage From the The start time can be a node powered by; For 0-1 variables, Indicates mobile energy storage In the Time as a node powered by.

[0053] Equation (32) defines the access node for mobile energy storage, and mobile energy storage can only discharge at its access node. Equation (33) is the scheduling constraint for mobile energy storage; when the mobile energy storage access node... i When it reaches the node i The time is from the starting point to the node. i The travel time. Equations (34) and (35) indicate that the energy storage can only supply power to the smart 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) Operational constraints of mobile energy storage (37) (38) (39) (40) In the formula: for t Mobile energy storage e At the node i Active power output at the location; , For mobile energy storage e Lower and upper limits of active power output; for t Mobile energy storage e At the node i reactive power output at the location; , For mobile energy storage e Lower and upper limits of reactive power output; For mobile energy storage e exist t State of charge (SoC) at any given moment. For mobile energy storage e The self-discharge rate; For time step; For mobile energy storage e The discharge efficiency; , For mobile energy storage e Lower and upper limits of charge capacity.

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

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

[0057] During the restoration of power supply to intelligent connected highway systems, it is necessary to comprehensively consider and meet all requirements for safe operation. This includes not only considering the speed and efficiency of power restoration but also ensuring that the system maintains a stable and reliable operating state both during and after restoration. Specific constraints are as follows: 1) Power output constraints (41) (42) In the formula: , Inject active and reactive power into substation nodes.

[0058] 2) Line capacity constraints (43) (44) In the formula: , Power supply lines for intelligent connected highways The active and reactive power.

[0059] 3) Power balance constraints (45) (46) (47) In the formula: , for t Smart Connected Highway Power Supply System Node j The active and reactive power injected at the location; for t Timetable The square of the current magnitude; 0-1 variables represent t Time Node j Check if the load switch is closed.

[0060] 4) Safety operation constraints (48) (49) (50) In the formula: and They are the firsti The lower and upper limits of the squared voltage of each node; It is the first i The square of the node voltage; and These are the lines The lower and upper limits of the transmission current.

[0061] Since the existing intelligent connected highway power supply system is a linear structure, it naturally satisfies the radial constraint of the power supply network. Therefore, it is not necessary 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 restoration model is determined based on power restoration needs and maintenance personnel working hours requirements. The power restoration objective is to maximize the restored load while minimizing the total maintenance time. Specifically, the relative weights of the load restoration amount and the total maintenance time in the power restoration objective can be determined based on the power restoration needs of the damaged equipment and the working hours requirements of the repair personnel. The weights of the load restoration amount and the total maintenance time can be dynamically adjusted according to changes in the actual situation. Further, the objective function of the power restoration objective is: (51) In the formula: , Weights for load recovery and maintenance time, respectively; For nodes j The weighting coefficient of the load is determined by the functional importance index of the intelligent connected system and the classification of equipment levels. For 0-1 variables, =1 means t Time Node j The load switch is closed; For time step; For 0-1 variables, Indicator element n Fault at any time t The system has been repaired. The flexible resources available for the intelligent connected highway power supply system after a disaster include portable power sources and repair teams. Each flexible resource must meet its own scheduling and operational characteristics. Under the premise of meeting the safety operation constraints of the intelligent connected highway power supply system, the impact of the disaster should be minimized through optimized scheduling schemes.

[0063] This invention also discloses a post-disaster rapid repair and restoration dispatching system for intelligent connected highway power supply systems, comprising: The acquisition unit is used to acquire the topology of intelligent connected highways and their power supply systems, and to construct a power-transportation coupled mathematical model. The constraint construction unit is used to analyze the types and quantities of available emergency repair and restoration resources for intelligent connected highways based on the power-transport coupling mathematical model, and to construct an emergency repair and restoration resource mathematical model; based on the power-transport coupling mathematical model and combined with the special scheduling requirements of highway scenarios, to construct multi-resource scheduling constraints applicable to the restoration of intelligent connected highways; and based on the power-transport coupling mathematical model and combined with the safe operation requirements of the power supply system of intelligent connected highways, to construct power supply system safety operation constraints. The solution unit is used to determine the objective function of the power supply restoration model based on the power restoration needs and the working hours required by maintenance personnel. Based on the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power supply system safety operation constraints, and the objective function of the power supply restoration model, it constructs an optimization model for rapid power supply restoration after a disaster. Solving this model yields the optimal restoration scheduling strategy.

[0064] The post-disaster rapid repair and restoration dispatch method for intelligent connected highway power supply systems disclosed in this application mainly includes the following key technologies: A power-traffic coupling model for the power supply system of intelligent connected highways is constructed. Based on the structure of intelligent connected highways and the configuration of intelligent connected devices for positioning, sensing, guidance, and communication, a coupling model between the power grid and the traffic network is built. Dijkstra's algorithm is used to calculate the shortest traffic path between intelligent connected devices, and the safety operation constraints of the power supply system are considered during the recovery process.

[0065] A multi-resource, flexible, time-space collaborative model. Based on the functional and operational characteristics of repair teams, mobile generators, and mobile energy storage, this model enables rapid power supply support and quick recovery of damaged equipment in isolated areas. The process considers the complementary advantages and collaborative cooperation of various resources, fully leveraging the limited flexible resource recovery capabilities to enhance the resilience of the intelligent connected highway power supply system.

[0066] Optimal scheduling strategy formulation based on MISOCP. The intelligent connected highway power supply system, various flexible resources, and disaster damage are modeled as a mathematical optimization problem. A convex optimization algorithm is used to formulate the optimal joint scheduling strategy to minimize the power outage time of critical equipment.

[0067] This invention focuses on the rapid restoration of power supply systems for intelligent connected highways in disaster scenarios where the structure of intelligent connected equipment and power supply systems is damaged, but the road itself is not severely damaged. The main strategies include: 1) providing rapid power support to critical equipment that is in normal condition but has been rendered unusable due to damaged power supply paths, quickly restoring the basic functions of the intelligent connected highway; 2) developing rapid repair plans based on factors such as the importance of the equipment and spatial distance, ensuring that the equipment on the intelligent connected highway can be restored to normal operation as quickly as possible.

[0068] Based on the functional importance index of intelligent connected systems and the classification of equipment levels, this invention proposes a mobile power dispatch strategy and an emergency repair team dispatch strategy that take into account the functional characteristics of intelligent connected highways and the characteristics of power supply systems.

[0069]

Example

[0070] This problem is a MISOCP problem, which can be solved directly using commercial solvers. This invention selects a power supply system topology example from a section of a highway in China, assuming the following fault scenario... Figure 2 As shown, the disaster caused equipment failures at nodes 6, 17, and 37, and disconnections from lines 12-13 and 42-43, resulting in power loss for equipment at nodes 13-25 and 43-52. Assume the available resources in the system include 4 repair teams and 2 portable emergency power supplies, with a vehicle speed of 8.5 m / s. Assume a single repair team takes 30 minutes to troubleshoot a single piece of equipment or line, and the maximum output of the portable emergency power supplies is 10 kW. Using emergency lanes for resource scheduling, the traffic paths between nodes are as follows: Figure 3 As shown, the road arrows indicate the prescribed driving direction, road length information is shown in Table 1, and node 1 is the location of the parking center, which is also the starting and ending point of the mobile resource scheduling. The configuration and power of each node's equipment 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 using the method described in this invention is shown in Table 3.

[0071] Table 1

[0072] Table 2

[0073] Table 3

[0074] This application also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the engineering machinery lithium battery life assessment method described above.

[0075] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method for assessing the lifespan of lithium batteries in engineering machinery.

[0076] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0078] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0079] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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 and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do 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 post-disaster repair and restoration dispatching of an intelligent connected highway power supply system, characterized in that, include: Obtain the topology map of intelligent connected highways and their power supply systems, and use an adjacency matrix to convert the connection relationships of the topology map of intelligent connected highways and their power supply systems into a power-traffic coupled mathematical model; Based on the power-transportation coupled mathematical model, we analyze the types and quantities of available emergency repair and restoration resources for intelligent connected highways and construct a mathematical model for emergency repair and restoration resources. Available emergency repair and recovery resource types include mobile power sources and emergency repair team resources. The emergency repair team resources include maintenance resources, maintenance time, and equipment status. The mobile power sources include mobile generators and mobile energy storage. The constraints that mobile generators and mobile energy storage need to meet during dispatch and operation include spatiotemporal constraints and output constraints. Based on the power-transportation coupled mathematical model, and considering the specific scheduling requirements of highway scenarios, a multi-resource scheduling constraint suitable for the recovery of intelligent connected highways is constructed; specifically including: Considering the linear characteristics of the distribution of intelligent connected devices in intelligent connected highways, the emergency lanes configured on intelligent connected highways, and the lane directions of intelligent connected highways, the source-side flexibility resource scheduling path can be simplified into a one-dimensional turnaround path unaffected by traffic flow. The relationship between vehicle speed and lane direction is defined as follows: In the formula: d represents the forward speed of vehicles traveling in the emergency lane. i For repair personnel and vehicles i Direction of travel; d road The designated direction of travel for vehicles in the emergency lane; vehicles are prohibited from traveling in the opposite direction, and when a vehicle's direction is opposite to that of the emergency lane, its speed must be 0. Based on the power-transportation coupled mathematical model, and combined with the safety operation requirements of the intelligent connected highway power supply system, safety operation constraints of the power supply system are constructed. Based on the power restoration needs and maintenance personnel working hours requirements, the objective function of the power supply restoration model is determined. An optimization model for rapid post-disaster power supply restoration is constructed based on the emergency repair and restoration resource mathematical model, multi-resource scheduling constraints, power system safety operation constraints, and the objective function of the power supply restoration model. Solving this model yields the optimal restoration scheduling strategy. The objective function is: In the formula: α1 and α2 are the weights of load recovery and maintenance time, respectively; w j For nodes j The weighting coefficient of the load is determined by the functional importance index of the intelligent connected system and the classification of equipment levels. For 0-1 variables, =1 means t Time Node j The load switch is closed; For time step; For 0-1 variables, Indicator element n Fault at any time t It has been repaired.

2. The method for rapid post-disaster repair and restoration scheduling of an intelligent connected highway power supply system according to claim 1, characterized in that, The aforementioned mathematical model based on the power-transportation coupling analyzes the types and quantities of available emergency repair and restoration resources for intelligent connected highways, and constructs a mathematical model for emergency repair and restoration resources, specifically including: S201: Based on the power-transportation coupling mathematical model, the available emergency repair and restoration resource types for intelligent connected highways are analyzed and found to include: mobile power supply and emergency repair team resources, and the corresponding quantities of mobile power supply and emergency repair team resources are determined respectively. S202: Based on the equipment parameters and mobile power parameters in the power-transportation coupling mathematical model, determine the mobile power constraints, maintenance resource constraints, maintenance time constraints, and equipment state constraints respectively, and construct the emergency repair and restoration resource mathematical model.

3. The method for rapid post-disaster repair and restoration dispatching of an intelligent connected highway power supply system according to claim 1, characterized in that, The safety operation constraints of the power supply system include: power output constraints, line capacity constraints, power balance constraints, and safety limit constraints for node voltage and branch current.

4. A post-disaster rapid repair and restoration dispatching system for an intelligent connected highway power supply system for implementing the method of any one of claims 1-3, characterized in that, include: The acquisition unit is used to acquire the topology map of intelligent connected highways and their power supply systems, and to construct a power-transportation coupled mathematical model. The constraint construction unit is used to analyze the types and quantities of available emergency repair and restoration resources for intelligent connected highways based on the power-transport coupling mathematical model, and to construct an emergency repair and restoration resource mathematical model; based on the power-transport coupling mathematical model and combined with the special scheduling requirements of highway scenarios, it constructs multi-resource scheduling constraints applicable to the restoration of intelligent connected highways; and based on the power-transport coupling mathematical model and combined with the safe operation requirements of the power supply system of intelligent connected highways, it constructs power supply system safety operation constraints. The solution unit is used to determine the objective function of the power supply restoration model based on the power restoration needs and the working hours required by maintenance personnel. Based on the mathematical model of emergency repair and restoration resources, multi-resource scheduling constraints, power supply system safety operation constraints, and the objective function of the power supply restoration model, it constructs an optimization model for rapid power supply restoration after a disaster. Solving this model yields the optimal restoration scheduling strategy.

5. 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 computer program to implement the steps of the post-disaster rapid repair and restoration scheduling method for an intelligent connected highway power supply system as described in any one of claims 1-3.

6. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the post-disaster rapid repair and restoration scheduling method for an intelligent connected highway power supply system as described in any one of claims 1-3.

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