Transient state power angle stability control method of network construction type converter based on network disturbed response

Abstract

The invention discloses a network disturbance response-based transient power angle stability control method for a network-constructed converter, and the method comprises the steps: collecting the real-time operation parameters of all branches and nodes in the network-constructed converter, carrying out the initial parameter setting of the network-constructed converter, and determining the initial parameters of the network-constructed converter; according to the real-time operation parameters, judging whether the network construction type converter meets a network construction type converter transient state power angle stability remodeling control starting criterion or not; if yes, executing transient power angle stability remodeling control of the network-building type converter according to the initial parameters of the network-building type converter, and if not, executing next real-time operation parameter acquisition; and according to the control result of the transient power angle stability remodeling control of the network construction type converter and the quit criterion of the transient power angle stability remodeling control of the network construction type converter, determining whether to quit the transient power angle stability remodeling control of the network construction type converter.

Description

Technical Field

[0001] The present invention relates to the technical field of power systems, and more specifically, to a transient power angle stabilization control method for a grid-connected converter based on network disturbance response. Background Art

[0002] At present, power systems with "double high" characteristics at home and abroad face three threats to safe and stable operation: the first is the risk of transient overvoltage and voltage instability caused by the decline in voltage support capacity, the second is the risk of frequency stability caused by the decline in active regulation capacity, and the third is the risk of wide-band oscillation between power electronic equipment in weak AC systems. Grid-type converters are a new type of equipment with frequency regulation and voltage control capabilities of synchronous generators or similar synchronous generators. They have active power regulation capabilities and inertia support capabilities and are important technologies and basic equipment to support new power systems. Compared with traditional synchronous units, they have faster response speeds and can quickly stabilize output. Grid-type energy storage technology is even superior to synchronous generators in key performance aspects such as frequency and voltage regulation, inertia damping and system impedance. Grid-type control technology is used in wind power, photovoltaics, energy storage and flexible DC based on power electronic converters, and has gradually been regarded as an effective technical measure to deal with the threat of safe and stable operation of "double high" power systems.

[0003] In traditional power systems dominated by synchronous generators, the disturbed electrical quantities such as network node voltage, branch current and power contain information that can characterize the transient stability situation. Building judgment criteria based on this information and initiating emergency control accordingly can effectively reduce the risk of instability. Unlike traditional synchronous generators, the virtual power angle of the grid-connected converter can be directly reshaped and changed to improve stability. Affected by the constraints of the converter electrical quantities, there are differences in the disturbed responses of the grid-connected converter based on the virtual synchronous machine control strategy and the synchronous machine, and the network response of the grid-connected system after the disturbance will also be different. Therefore, the stable operation of the power grid cannot be guaranteed at present. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a method for stabilizing transient power angle of a grid-connected converter based on network disturbance response.

[0005] According to one aspect of the present invention, a method for controlling transient power angle stability of a grid-connected converter based on network disturbance response is provided, comprising:

[0006] Collecting the real-time operating parameters of each branch and node in the grid-forming converter, setting the initial parameters of the grid-forming converter, and determining the initial parameters of the grid-forming converter;

[0007] Judging whether the grid-type converter meets the grid-type converter transient power angle stability remodeling control start criterion according to the real-time operating parameters;

[0008] If the conditions are met, the transient power angle stability reshaping control of the grid-type converter is performed according to the initial parameters of the grid-type converter. If the conditions are not met, the next real-time operation parameter collection is performed.

[0009] According to the control result of the transient power angle stability reshaping control of the grid-type converter and the exit criterion of the transient power angle stability reshaping control of the grid-type converter, it is determined whether to exit the transient power angle stability reshaping control of the grid-type converter.

[0010] Optionally, the real-time operating parameters include: the voltage amplitude U of the nodes at both ends of branch i im , U in and phase θ im ,θ in , grid-type converter output voltage U v And output reactive power Q v .

[0011] Optionally, the initial parameters include: initial damping coefficient D of the grid-type converter orig ; Damping coefficient D of grid-type converter after reshaping control Emg ; Reshape control times n Emg ; Virtual power angle reshapes the control quantity δ Emg ; Reshape control start BTTC index threshold value ε Lth , reshape the control start-up grid-type converter output node voltage threshold setting value U vLth ; Reshape the control exit BTTC index threshold value ε Hth And reshape the control exit grid-type converter output node voltage threshold setting value U vHth .

[0012] Optionally, judging whether the grid-type converter meets the grid-type converter transient power angle stability remodeling control start criterion according to the real-time operating parameters includes:

[0013] Determine whether the grid-type converter meets the first startup criterion of transient power angle stability reshaping control of the grid-type converter according to the real-time operating parameters; or

[0014] Whether the grid-type converter meets the second starting criterion of transient power angle stability remodeling control of the grid-type converter is determined according to the real-time operating parameters.

[0015] Optionally, judging whether the grid-type converter meets the first starting criterion of transient power angle stability remodeling control of the grid-type converter according to the real-time operating parameter includes:

[0016] Calculate the branch transient power transmission function index of each branch of the grid-type converter according to the real-time operating parameters of each branch and node;

[0017] According to the DC transient power transmission function index of each branch, determine the key branches of the grid-forming converter;

[0018] Determine the key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch;

[0019] Determine the position of the key branch vertical foot voltage according to the key branch vertical foot voltage position coefficient;

[0020] If the position of the vertical foot voltage of the key branch is outside the branch, execute the next real-time operation parameter acquisition; if the position of the vertical foot voltage of the key branch is on the branch, determine whether the key branch meets the first startup criterion.

[0021] Optionally, the calculation formula of the branch transient transmission function index sBTTC is:

[0022]

[0023] The method for determining the key branch k is:

[0024]

[0025] Where U im and θ im is the magnitude and phase of the voltage phasor at node m, U in and θ in is the amplitude and phase of the voltage phasor at node n, node m and node n correspond to the phase leading node and phase lagging node respectively, that is, θ im >θ in .

[0026] Optionally, determining a key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch includes:

[0027] According to the voltage phasors of the two-end nodes of the key branch, the key branch vertical foot voltage of the key branch is calculated;

[0028] The key branch vertical foot voltage position coefficient of the key branch is determined according to the voltage phasors of the two end nodes of the key branch and the key branch vertical foot voltage.

[0029] Optionally, the key branch vertical foot voltage U kv The calculation formula is:

[0030] U kv =U kn sinγ

[0031] in,

[0032]

[0033] Where U km and U knis the voltage amplitude at the beginning and end of the key branch k, Δθ k is the voltage phase difference between the first and the last two ends of the key branch k, ΔU kmn is the amplitude of the voltage phasor difference at both ends of the branch node, and γ is the voltage phasor angle.

[0034] Optionally, the key branch vertical foot voltage position coefficient ξ kv The calculation formula is:

[0035]

[0036] In the formula, ΔU kmv , ΔU knv They are the node voltages at both ends of the branch and the vertical foot voltage of the key branch U kv The magnitude of the phase difference.

[0037] Optionally, determining the position of the key branch vertical foot voltage according to the key branch vertical foot voltage position coefficient includes:

[0038] If the key branch vertical foot voltage location coefficient ξ kv Satisfy 1<ξ kv <2, the position of the vertical foot voltage of the critical branch is located on the branch;

[0039] If the key branch vertical foot voltage location coefficient ξ kv Satisfy kv <1, the position of the critical branch vertical foot voltage is outside the branch.

[0040] Optionally, the first start criterion is:

[0041] and And sBTTC k <ε LTH

[0042] In the formula, Δθ k is the phase difference of the key branch, P k is the active power of the key branch, sBTTC k is the branch transient transmission capacity index of the critical branch, ε LTH To reshape the control start-up grid-type converter outlet node action threshold, t is the time.

[0043] Optionally, the second start criterion is:

[0044] Q v <0 and U v <U vLth and

[0045] Where U v is the grid-type converter output voltage, Qv is the output reactive power, U vLth To reshape the control startup grid-type converter output node voltage threshold setting value.

[0046] Optionally, performing transient power angle stability reshaping control of the grid-type converter according to initial parameters of the grid-type converter includes:

[0047] The reshaping control times n of the grid-type energy storage converter are Emg Increase once;

[0048] The grid-type converter damping coefficient of the grid-type energy storage converter is modified to the grid-type converter damping coefficient after reshaping control D Emg ;

[0049] The virtual power angle of the grid-type converter is modified to δ', where δ' = δ v -n Emg δ Emg , δ v is the virtual power angle before reshaping control, n Emg is the number of remodeling controls; δ Emg Reshape the control quantity for the virtual power angle;

[0050] The grid-type energy storage converter is controlled according to the modified grid-type converter virtual power angle δ'. Optionally, the grid-type converter transient power angle stability remodeling control exit criterion is:

[0051] U v >U vHth or sBTTC k >ε Hth

[0052] Where U v is the grid-connected converter output voltage, sBTTC is the branch transient transmission function index, U vHth To reshape the control exit grid-connected converter output node voltage threshold setting value, ε Hth To reshape the control exit threshold of BTTC Index.

[0053] According to another aspect of the present invention, there is provided a transient power angle stabilization control device for a grid-connected converter based on a network disturbance response, comprising:

[0054] The acquisition module is used to acquire the real-time operating parameters of each branch and node in the grid-forming converter, and to set the initial parameters of the grid-forming converter to determine the initial parameters of the grid-forming converter;

[0055] A judgment module, used to judge whether the grid-type converter meets the starting judgment criteria of transient power angle stability reshaping control of the grid-type converter according to the real-time operation parameters;

[0056] A control module, for executing the transient power angle stability reshaping control of the grid-type converter according to the initial parameters of the grid-type converter if the conditions are met, and executing the next real-time operation parameter collection if the conditions are not met;

[0057] A determination module is used to determine whether to exit the transient power angle stability reshaping control of the grid-type converter according to the control result of the transient power angle stability reshaping control of the grid-type converter and the exit criterion of the transient power angle stability reshaping control of the grid-type converter.

[0058] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any one of the above aspects of the present invention.

[0059] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method described in any one of the above aspects of the present invention.

[0060] Therefore, the present invention, through the proposed method for transient power angle stability control of a grid-type converter, uses the network branch response measured over a wide area as the information source to identify key branches, and on the basis of determining the transient transmission capacity index of the branch, constructs a criterion for characterizing the deterioration trend of the power angle stability of the grid-type converter according to the branch voltage size and reactive power change trend that reflect the severity of the disturbance. When the criterion is met, the direct reshaping control of the power angle state quantity of the grid-type converter is started, which can effectively reduce the risk of transient power angle instability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] A more complete understanding of exemplary embodiments of the present invention may be obtained by referring to the following drawings:

[0062] Figure 1 It is a flow chart of a method for controlling transient power angle stability of a grid-connected converter based on network disturbance response provided by an exemplary embodiment of the present invention;

[0063] Figure 2 It is another flow chart of a method for controlling transient power angle stability of a grid-connected converter based on network disturbance response provided by an exemplary embodiment of the present invention;

[0064] Figure 3 It is a schematic diagram of a grid-connected system of a single-machine grid-connected converter provided by an exemplary embodiment of the present invention;

[0065] Figure 4a and 4bThey are respectively a schematic diagram of a branch sBTTC index and a branch vertical foot voltage position coefficient of a power angle instability curve of a grid-type converter under weak system conditions provided by an exemplary embodiment of the present invention;

[0066] Figure 5a and 5b They are respectively schematic diagrams of active power of a grid-type converter and virtual power angle of a grid-type converter for controlling the power angle stability remodeling of a grid-type converter under weak system conditions provided by an exemplary embodiment of the present invention;

[0067] Figure 6a and Figure 6b They are respectively a schematic diagram of node voltage and branch reactive power of a power angle instability curve of a grid-connected converter under a strong system condition provided by an exemplary embodiment of the present invention;

[0068] Figure 7a and Figure 7b They are respectively a schematic diagram of active power of a grid-type converter and a virtual power angle of a grid-type converter for a stable reshaping control effect of a power angle of a grid-type converter under strong system conditions provided by an exemplary embodiment of the present invention;

[0069] Figure 8 It is a structural schematic diagram of a transient power angle stabilization control device for a grid-connected converter based on a network disturbance response provided by an exemplary embodiment of the present invention;

[0070] Fig. 9 This is a structure of an electronic device provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0071] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0072] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0073] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present invention are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0074] It should also be understood that, in the embodiments of the present invention, “plurality” may refer to two or more than two, and “at least one” may refer to one, two or more than two.

[0075] It should also be understood that any component, data or structure mentioned in the embodiments of the present invention can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0076] In addition, the term "and / or" in the present invention is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects before and after are in an "or" relationship.

[0077] It should also be understood that the description of the various embodiments of the present invention focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0078] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0079] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0080] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0081] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0082] Embodiments of the present invention can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0083] Electronic devices such as terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by computer systems. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0084] Exemplary Methods

[0085] Figure 1 1 is a flow chart of a method for controlling transient power angle stability of a grid-connected converter based on network disturbance response provided by an exemplary embodiment of the present invention. This embodiment can be applied to electronic devices, such as Figure 1 As shown, the transient power angle stabilization control method 100 of the grid-connected converter based on the network disturbance response includes the following steps:

[0086] Step 101, collecting real-time operating parameters of each branch and node in the grid-forming converter, and performing initial parameter setting on the grid-forming converter to determine the initial parameters of the grid-forming converter;

[0087] Step 102, judging whether the grid-type converter meets the grid-type converter transient power angle stability reshaping control start criterion according to the real-time operation parameters;

[0088] Step 103, if the conditions are met, then the transient power angle stability reshaping control of the grid-type converter is performed according to the initial parameters of the grid-type converter; if the conditions are not met, then the next real-time operation parameter collection is performed;

[0089] Step 104, determining whether to exit the transient power angle stabilization reshaping control of the grid-type converter according to the control result of the transient power angle stabilization reshaping control of the grid-type converter and the exit criterion of the transient power angle stabilization reshaping control of the grid-type converter.

[0090] Specifically, in view of the shortcomings of the prior art, the present invention provides a method for controlling the transient power angle stability of a grid-type converter based on the network disturbance response. The easily measurable amplitude and phase of the node voltage at both ends of the branch and the grid-type converter output voltage and reactive power are used as information sources. A criterion for characterizing the deterioration trend of the transient power angle stability of the grid-type converter is established, and a reshaping control strategy for improving the power angle stability of the grid-type converter is designed. This method has important theoretical and practical significance for ensuring the safe and stable operation of the power grid. Figure 2 As shown, the specific steps include:

[0091] (1) Obtaining the operating status information of the grid-connected converter

[0092] The wide area measurement system is used to collect the real-time operating parameters of all branches and nodes in the network, including the voltage amplitude U at both ends of branch i. im , U in and phase θ im ,θ in ; Grid-connected converter outlet voltage U v And output reactive power Q v .

[0093] (2) Initial parameter setting

[0094] Set the initial damping coefficient D of the grid-type converter orig ; Damping coefficient D of grid-type converter after reshaping control Emg ; Reshape control times n Emg ; Virtual power angle reshapes the control quantity δ Emg ; Reshape control start BTTC index threshold value ε Lth , reshape the control start-up grid-type converter output node voltage threshold setting value U vLth ; Reshape the control exit BTTC index threshold value ε Hth , reshape the control exit grid-connected converter output node voltage threshold setting value U vHth .

[0095] (3) Determine whether the grid-connected converter transient power angle stability reshaping control start criteria are met, including:

[0096] (3-1) Based on the voltage amplitude and phase dynamic parameters of the branch nodes, the efficiency index that quantitatively characterizes the unbalanced power between the transmission groups of branch i, the branch transient transmission capacity sBTTC index, is defined as shown in formula (1).

[0097]

[0098] Where U im and θ im is the magnitude and phase of the voltage phasor at node m, U in and θ in is the amplitude and phase of the voltage phasor at node n. Nodes m and n correspond to the phase leading node and phase lagging node respectively, that is, θ im >θ in .

[0099] (3-2) Using formula (2), we can identify the key branch k with the smallest index value.

[0100]

[0101] (3-3) Using the node voltages at both ends of the key branch k obtained by the wide-area measurement system, determine the key branch vertical foot voltage U kv .U kv The calculation method is as follows:

[0102] U kv =U kn sinγ (3)

[0103]

[0104]

[0105] Where U km and U kn is the voltage amplitude at the beginning and end of the key branch k, Δθ k is the voltage phase difference between the first and the last two ends of the key branch k, ΔU kmn and ΔU kmv , ΔU knv They are the amplitude of the voltage phasor difference between the two ends of the branch node and the voltage between the two ends of the branch node and the vertical foot voltage of the key branch U kv The amplitude of the phase difference, γ is the voltage phase angle.

[0106] (3-4) Determine the key branch vertical foot voltage position coefficient ξ kv .

[0107]

[0108] If the branch foot voltage is located on the branch, then ΔU knv <ΔU kmn And ΔU kmv <ΔU kmn , that is, 1<ξ kv <2, execute steps (3-5); if the branch vertical foot voltage is outside the branch, then ΔU knv >ΔU kmn And ΔU kmv >ΔU kmn , that is, kv <1, execute the next wide-area measurement sampling.

[0109] (3-5) Determine the critical branch phase difference Δθ k , Active power of key branches P k Whether the sBTTC index satisfies the following criteria, if so, execute step (4), if not, execute the next wide-area measurement sampling.

[0110]

[0111] (3-6) Determine the output voltage U of the grid-connected converter vAnd output reactive power Q v Whether the following criteria are met, if yes, execute step (4), if not, execute the next wide-area measurement sampling.

[0112]

[0113] (4) Execute transient power angle stability reshaping control of grid-connected converters, including:

[0114] (4-1) Reshaping control times n Emg Increase once.

[0115] n Emg =n Emg +1 (11)

[0116] (4-2) The damping coefficient of the grid-type converter is modified to D Emg .

[0117] (4-3) The virtual power angle of the grid-connected converter is modified to δ'.

[0118] δ'=δ v -n Emg δ Emg (12)

[0119] (5) Determining whether to exit the transient power angle stability remodeling control of the grid-connected converter, including:

[0120] Determine the output voltage U of the grid-connected converter v Or whether the sBTTC index meets the following criteria, if so, exit the reshaping control, if not, execute the next wide-area measurement sampling.

[0121] U v >U vHth or sBTTC k >ε Hth (13)

[0122] This embodiment takes a grid-connected system of a single-machine grid-connected grid-connected converter as an example to illustrate that a method for determining a transient power angle stability control of a grid-connected converter based on a network disturbance response includes the following steps:

[0123] (1) Obtaining the operating status information of the grid-connected converter

[0124] Taking the grid-connected system of a single-machine grid-connected grid-connected converter as an example, the system network structure is as follows: Figure 3 The real-time operating parameters of the branches and nodes in the network are collected, including the amplitude and phase of the branch node voltage, as well as the outlet voltage and output reactive power of the grid-forming converter.

[0125] (2) Initial parameter setting

[0126] Parameter D in the control method orig , D Emg 、n Emg , δ Emg , ε Lth , U vLth , ε Hth , U vHth They are 1.5, 10, 0, 10°, 0.4, 0.8pu, 0.7, and 0.9pu respectively.

[0127] (3) Determine whether the grid-connected converter transient power angle stability reshaping control startup criteria are met

[0128] When the grid-connected system of the grid-connected converter is a weak system, the node n s A three-phase metallic short-circuit fault occurred at 0.2s and lasted for 0.124s, resulting in power angle instability in the grid-type converter. The sBTTC index of each branch in the transmission network and the branch vertical foot voltage position coefficient ζ v Response as Figure 4a and Figure 4b As shown. It can be seen that after the power angle swing stability deteriorates significantly, the sBTTC index of each branch decreases. Figure 4a and Figure 4b The time period shown [t a ,t b ], branch B 32 and B 43 have the minimum sBTTC index value and satisfy ζ v ∈(1,2), are the key branches in the corresponding time periods. At 0.57s, the key branch B 43 After satisfying the remodeling control start-up criterion of formula (9) and implementing the remodeling control strategy, the transient response of the grid-connected converter is as follows: Figure 5a and Figure 5b As shown. In the key branch B 43 The sBTTC index begins to be less than ε Lth = 0.4, 0.57s to implement remodeling control, virtual power angle δ v By reducing the step-wise speed, the electromagnetic power can be maintained at a level greater than the reference power. The continuous deceleration power acts on the damping rotor to brake it, and the grid-type converter can restore the power angle stability. In addition, increasing the damping coefficient of the grid-type converter after a fault can accelerate the oscillation attenuation and quickly restore to the stable equilibrium point after the fault.

[0129] When the grid-connected system of the grid-connected converter is a strong system, the node n s A three-phase metallic short-circuit fault occurred at 0.2s, and the fault lasted for 0.172s, causing transient power angle instability in the grid-connected converter. The transient responses of the voltage and reactive power at each node in the transmission network are shown in Figure 2. Figure 6a and Figure 6bAt 0.51s, the grid-connected converter outputs reactive power Q v The terminal voltage U v Less than the set threshold value U vLth =0.8pu, which satisfies the remodeling control start criterion shown in formula (10), indicating that the power angle stability of the grid-type converter has deteriorated significantly. Starting the remodeling control reduces the virtual power angle δ of the grid-type converter. v , while increasing the damping coefficient to D Emg After implementing the remodeling control, the grid-connected converter restores the power angle stability, such as Figure 7a and Figure 7b According to this patent, the implementation of grid-type converter emergency control can improve the system power angle stability.

[0130] Therefore, the present invention, through the proposed method for transient power angle stability control of a grid-type converter, uses the network branch response measured over a wide area as the information source to identify key branches, and on the basis of determining the transient transmission capacity index of the branch, constructs a criterion for characterizing the deterioration trend of the power angle stability of the grid-type converter according to the branch voltage size and reactive power change trend that reflect the severity of the disturbance. When the criterion is met, the direct reshaping control of the power angle state quantity of the grid-type converter is started, which can effectively reduce the risk of transient power angle instability of the system.

[0131] Exemplary Devices

[0132] Figure 8 FIG. 1 is a schematic diagram of a structure of a transient power angle stabilization control device for a grid-connected converter based on a network disturbance response according to an exemplary embodiment of the present invention. Figure 8 As shown, the device 800 includes:

[0133] The acquisition module 810 is used to acquire the real-time operating parameters of each branch and node in the grid-type converter, and to perform initial parameter setting on the grid-type converter to determine the initial parameters of the grid-type converter;

[0134] A judgment module 820, for judging whether the grid-type converter satisfies a start criterion for transient power angle stability remodeling control of the grid-type converter according to the real-time operation parameter;

[0135] A control module 830 is used to perform transient power angle stability reshaping control of the grid-type converter according to the initial parameters of the grid-type converter if the conditions are met, and to perform the next real-time operation parameter collection if the conditions are not met;

[0136] The determination module 840 is used to determine whether to exit the transient power angle stabilization reshaping control of the grid-type converter according to the control result of the transient power angle stabilization reshaping control of the grid-type converter and the exit criterion of the transient power angle stabilization reshaping control of the grid-type converter.

[0137] Optionally, the real-time operating parameters in the acquisition module 810 include: the amplitude U of the voltage at both ends of the branch i im , U in and phase θ im ,θ in , grid-type converter output voltage U v And output reactive power Q v .

[0138] Optionally, the initial parameters include: initial damping coefficient D of the grid-type converter orig ; Damping coefficient D of grid-type converter after reshaping control Emg ; Reshape control times n Emg ; Virtual power angle reshapes the control quantity δ Emg ; Reshape control start BTTC index threshold value ε Lth , reshape the control start-up grid-type converter output node voltage threshold setting value U vLth ; Reshape the control exit BTTC index threshold value ε Hth And reshape the control exit grid-type converter output node voltage threshold setting value U vHth .

[0139] Optionally, the determination module 820 includes:

[0140] A first judgment submodule is used to judge whether the grid-type converter meets the first starting criterion of the transient power angle stability reshaping control of the grid-type converter according to the real-time operation parameter; or

[0141] The second judgment submodule is used to judge whether the grid-type converter meets the second starting criterion of the transient power angle stability reshaping control of the grid-type converter according to the real-time operating parameters.

[0142] Optionally, the first judgment submodule includes:

[0143] A calculation unit, used for calculating the branch transient power transmission function index of each branch of the grid-forming converter according to the real-time operation parameters of each branch and node;

[0144] A first determining unit, configured to determine a key branch of the grid-connected converter according to the DC transient power transmission function index of each branch;

[0145] A second determining unit is used to determine a key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch;

[0146] A third determining unit is used to determine the position of the key branch vertical foot voltage according to the key branch vertical foot voltage position coefficient;

[0147] The judgment unit is used to execute the next real-time operation parameter acquisition if the position of the vertical foot voltage of the key branch is outside the branch, and to judge whether the key branch meets the first starting criterion if the position of the vertical foot voltage of the key branch is on the branch.

[0148] Optionally, the calculation formula of the branch transient power transmission function index sBTTC is:

[0149]

[0150] The method for determining the key branch k is:

[0151]

[0152] Where U im and θ im is the magnitude and phase of the voltage phasor at node m, U in and θ in is the amplitude and phase of the voltage phasor at node n, node m and node n correspond to the phase leading node and phase lagging node respectively, that is, θ im >θ in .

[0153] Optionally, the second determining unit includes:

[0154] A calculation subunit, used for calculating the key branch vertical foot voltage of the key branch according to the voltage phasors of the two end nodes of the key branch;

[0155] The first determination subunit is used to determine the key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch and the key branch vertical foot voltage.

[0156] Optionally, the key branch vertical foot voltage U kv The calculation formula is:

[0157] U kv =U kn sinγ

[0158] in,

[0159]

[0160] Where U km and U kn is the voltage amplitude at the beginning and end of the key branch k, Δθ k is the voltage phase difference between the first and the last two ends of the key branch k, ΔU kmn is the amplitude of the voltage phasor difference at both ends of the branch node, and γ is the voltage phasor angle.

[0161] Optionally, the key branch vertical foot voltage position coefficient ξ kv The calculation formula is:

[0162]

[0163] In the formula, ΔU kmv , ΔU knv They are the node voltages at both ends of the branch and the vertical foot voltage of the key branch U kv The magnitude of the phase difference.

[0164] Optionally, the third determining unit includes:

[0165] The second determination subunit is used to determine the key branch vertical foot voltage position coefficient ξ kv Satisfy 1<ξ kv <2, the position of the vertical foot voltage of the critical branch is located on the branch;

[0166] The third determination subunit is used to determine the key branch vertical foot voltage position coefficient ξ kv Satisfy kv <1, the position of the vertical foot voltage of the critical branch is outside the branch.

[0167] Optionally, the first start criterion is:

[0168] and And sBTTC k <ε LTH

[0169] In the formula, Δθ k is the phase difference of the key branch, P k is the active power of the key branch, sBTTC k is the branch transient transmission capacity index of the critical branch, ε LTH To reshape the control start-up grid-type converter outlet node action threshold, t is the time.

[0170] Optionally, the second start criterion is:

[0171] Q v <0 and U v <U vLth and

[0172] Where U v is the grid-type converter output voltage, Q v is the output reactive power, U vLth To reshape the control startup grid-type converter output node voltage threshold setting value.

[0173] Optionally, the control module 830 includes:

[0174] The reshaping control times n of the grid-type energy storage converter are Emg Increase once;

[0175] The grid-type converter damping coefficient of the grid-type energy storage converter is modified to the grid-type converter remodeling control damping coefficient D Emg ;

[0176] The virtual power angle of the grid-type converter of the grid-type converter is modified to δ', where δ'=δ v -n Emg δ Emg , δ v is the virtual power angle before reshaping control, n Emg is the number of remodeling controls; δ Emg Reshape the control quantity for the virtual power angle;

[0177] The grid-type energy storage converter is controlled according to the modified grid-type converter virtual power angle δ'.

[0178] Optionally, the grid-connected converter transient power angle stability remodeling control exit criterion is:

[0179] U v >U vHth or sBTTC k >ε Hth

[0180] Where U v is the grid-connected converter output voltage, sBTTC is the branch transient transmission function index, U vHth To reshape the control exit grid-connected converter output node voltage threshold setting value, ε Hth To reshape the control exit threshold of BTTC Index.

[0181] Exemplary Electronic Devices

[0182] Fig. 9 This is a structure of an electronic device provided by an exemplary embodiment of the present invention. Fig. 9 As shown, the electronic device 90 includes one or more processors 91 and a memory 92 .

[0183] The processor 91 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0184] The memory 92 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 91 may run the program instructions to implement the methods of the software programs of the various embodiments of the present invention described above and / or other desired functions. In one example, the electronic device may also include: an input device 93 and an output device 94, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0185] In addition, the input device 93 may also include, for example, a keyboard, a mouse, and the like.

[0186] The output device 94 can output various information to the outside. The output device 94 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto.

[0187] Of course, to simplify, Fig. 9 Only some of the components related to the present invention in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device may further include any other appropriate components according to specific application conditions.

[0188] Exemplary computer program products and computer-readable storage media

[0189] In addition to the above-mentioned methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present invention described in the above-mentioned "Exemplary Method" section of this specification.

[0190] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0191] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0192] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, system or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0193] The basic principle of the present invention is described above in conjunction with specific embodiments. However, it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. must be possessed by each embodiment of the present invention. In addition, the specific details disclosed above are only for the purpose of illustration and facilitation of understanding, rather than limitation, and the above details do not limit the present invention to being implemented by adopting the above specific details.

[0194] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0195] The block diagrams of the devices, systems, equipment, and systems involved in the present invention are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, systems, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0196] The method and system of the present invention may be implemented in many ways. For example, the method and system of the present invention may be implemented by software, hardware, firmware or any combination of software, hardware, firmware. The above order of steps for the method is only for illustration, and the steps of the method of the present invention are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present invention may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.

[0197] It should also be noted that in the system, device and method of the present invention, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. The above description of the disclosed aspects is provided to enable any technician in the field to make or use the present invention. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined here can be applied to other aspects without departing from the scope of the present invention. Therefore, the present invention is not intended to be limited to the aspects shown here, but in accordance with the widest range consistent with the principles and novel features disclosed here.

[0198] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present invention to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A transient power angle stabilization control method for a grid-connected converter based on network disturbance response, characterized in that: include: Collecting real-time operating parameters of each branch and node in the grid-type converter, and performing initial parameter setting on the grid-type converter to determine the initial parameters of the grid-type converter; Judging whether the grid-type converter meets the grid-type converter transient power angle stability remodeling control start criterion according to the real-time operating parameters; If the conditions are met, the transient power angle stability reshaping control of the grid-type converter is performed according to the initial parameters of the grid-type converter; if the conditions are not met, the next real-time operation parameter collection is performed; According to the control result of the transient power angle stabilization reshaping control of the grid-type converter and the exit criterion of the transient power angle stabilization reshaping control of the grid-type converter, it is determined whether to exit the transient power angle stabilization reshaping control of the grid-type converter.

2. The method according to claim 1, characterized in that The real-time operating parameters include: the voltage amplitude U of the nodes at both ends of branch i im , U in and phase θ im ,θ in , grid-type converter output voltage U v And output reactive power Q v .

3. The method according to claim 2, characterized in that The initial parameters include: initial damping coefficient D of the grid-type converter orig ; Damping coefficient D of grid-type converter after reshaping control Emg ; Reshape control times n Emg ; Virtual power angle reshapes the control quantity δ Emg ; Reshape control start BTTC index threshold value ε Lth , reshape the control start-up grid-type converter output node voltage threshold setting value U vLth ; Reshape the control exit BTTC index threshold value ε Hth And reshape the control exit grid-type converter output node voltage threshold setting value U vHth .

4. The method according to claim 1, characterized in that: Judging whether the grid-type converter meets the grid-type converter transient power angle stability remodeling control start criterion according to the real-time operation parameter includes: Judging whether the grid-type converter satisfies the first starting criterion of transient power angle stability remodeling control of the grid-type converter according to the real-time operating parameter; or It is determined whether the grid-type converter satisfies the second starting criterion of the transient power angle stability remodeling control of the grid-type converter according to the real-time operating parameters.

5. The method according to claim 4, characterized in that Judging whether the grid-type converter meets the first starting criterion of transient power angle stability reshaping control of the grid-type converter according to the real-time operating parameter includes: Calculating the branch transient power transmission function index of each branch of the grid-connected converter according to the real-time operating parameters of each branch and node; Determining the key branches of the grid-connected converter according to the DC transient power transmission function index of each branch; Determining a key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch; Determining the position of the key branch vertical foot voltage according to the key branch vertical foot voltage position coefficient; If the position of the vertical foot voltage of the key branch is outside the branch, perform the next real-time operation parameter acquisition; if the position of the vertical foot voltage of the key branch is on the branch, determine whether the key branch meets the first startup criterion.

6. The method according to claim 5, characterized in that The calculation formula of the branch transient transmission function index sBTTC is: The method for determining the key branch k is: Where U im and θ im is the magnitude and phase of the voltage phasor at node m, U in and θ in is the amplitude and phase of the voltage phasor at node n, node m and node n correspond to the phase leading node and phase lagging node respectively, that is, θ im >θ in .

7. The method according to claim 6, characterized in that Determining the key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch includes: Calculating the key branch vertical foot voltage of the key branch according to the voltage phasors of the two end nodes of the key branch; The key branch vertical foot voltage position coefficient of the key branch is determined according to the voltage phasors of the two end nodes of the key branch and the key branch vertical foot voltage.

8. The method according to claim 7, characterized in that The key branch vertical foot voltage U kv The calculation formula is: The kv =U kn sinγ in, Where U km and U kn is the voltage amplitude at the beginning and end of the key branch k, Δθ k is the voltage phase difference between the first and the last two ends of the key branch k, ΔU kmn is the amplitude of the voltage phasor difference at both ends of the branch node, and γ is the voltage phasor angle.

9. The method according to claim 8, characterized in that The key branch vertical foot voltage position coefficient ξ kv The calculation formula is: In the formula, ΔU kmv , ΔU knv They are the node voltages at both ends of the branch and the vertical foot voltage of the key branch U kv The magnitude of the phase difference.

10. The method according to claim 5, characterized in that Determining the position of the key branch vertical foot voltage according to the key branch vertical foot voltage position coefficient includes: If the key branch vertical foot voltage location coefficient ξ kv Satisfy 1<ξ kv <2, the position of the vertical foot voltage of the critical branch is located on the branch; If the key branch vertical foot voltage location coefficient ξ kv Satisfy kv <1, the position of the vertical foot voltage of the critical branch is outside the branch.

11. The method according to claim 4, characterized in that The first start criterion is: In the formula, Δθ k is the phase difference of the key branch, P k is the active power of the key branch, sBTTC k is the branch transient transmission capacity index of the critical branch, ε LTH To reshape the control start-up grid-type converter outlet node action threshold, t is the time.

12. The method according to claim 4, characterized in that The second start criterion is: Q v <0AndU v <U vLth And Where U v is the grid-connected converter output voltage, Q v is the output reactive power, U vLth To reshape the control startup grid-type converter output node voltage threshold setting value.

13. The method according to claim 3, characterized in that The method of performing transient power angle stability reshaping control of the grid-type converter according to the initial parameters of the grid-type converter comprises: The reshaping control times n of the grid-type energy storage converter are Emg Increase once; The grid-type converter damping coefficient of the grid-type energy storage converter is modified to the grid-type converter remodeling control damping coefficient D Emg ; The virtual power angle of the grid-type converter of the grid-type converter is modified to δ', where δ'=δ v -n Emg δ Emg , δ v is the virtual power angle before reshaping control, n Emg is the number of remodeling controls; δ Emg Reshape the control quantity for the virtual power angle; The grid-type energy storage converter is controlled according to the modified grid-type converter virtual power angle δ'.

14. The method according to claim 1, characterized in that The exit criterion of transient power angle stability remodeling control of grid-connected converter is: U v >U vHth sBTTC k >ε Hth Where U v is the grid-connected converter output voltage, sBTTC is the branch transient transmission function index, U vHth To reshape the control exit grid-connected converter output node voltage threshold setting value, ε Hth To reshape the control exit threshold of BTTC Index.

15. A transient power angle stabilization control device for a grid-connected converter based on network disturbance response, characterized in that: include: The acquisition module is used to acquire the real-time operating parameters of each branch and node in the meshed converter, and to perform initial parameter setting on the meshed converter to determine the initial parameters of the meshed converter; A judgment module, used for judging whether the grid-type converter satisfies the starting criterion of the transient power angle stability remodeling control of the grid-type converter according to the real-time operation parameter; A control module, for executing a transient power angle stability reshaping control of the grid-type converter according to the initial parameters of the grid-type converter if the conditions are met, and executing the next real-time operation parameter collection if the conditions are not met; A determination module is used to determine whether to exit the transient power angle stability reshaping control of the grid-type converter according to the control result of the transient power angle stability reshaping control of the grid-type converter and the exit criterion of the transient power angle stability reshaping control of the grid-type converter.

16. The device according to claim 15, characterized in that The real-time operating parameters in the acquisition module include: the amplitude U of the node voltage at both ends of branch i im , U in and phase θ im ,θ in , grid-type converter output voltage U v And output reactive power Q v .

17. The device according to claim 16, characterized in that The initial parameters include: initial damping coefficient D of the grid-type converter orig ; Damping coefficient D of grid-type converter after reshaping control Emg ; Reshape control times n Emg ; Virtual power angle reshapes the control quantity δ Emg ; Reshape control start BTTC index threshold value ε Lth , reshape the control start-up grid-type converter output node voltage threshold setting value U vLth ; Reshape the control exit BTTC index threshold value ε Hth And reshape the control exit grid-type converter output node voltage threshold setting value U vHth .

18. The device according to claim 15, characterized in that The judgment module includes: A first judgment submodule is used to judge whether the grid-type converter meets the first starting criterion of the transient power angle stability reshaping control of the grid-type converter according to the real-time operation parameter; or The second judgment submodule is used to judge whether the grid-type converter meets the second starting criterion of the transient power angle stability reshaping control of the grid-type converter according to the real-time operating parameters.

19. The device according to claim 18, characterized in that The first judgment submodule includes: A calculation unit, used for calculating the branch transient power transmission function index of each branch of the grid-forming converter according to the real-time operation parameters of each branch and node; A first determining unit, configured to determine a key branch of the grid-connected converter according to the DC transient power transmission function index of each branch; A second determining unit is used to determine a key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch; A third determining unit is used to determine the position of the key branch vertical foot voltage according to the key branch vertical foot voltage position coefficient; The judgment unit is used to execute the next real-time operation parameter acquisition if the position of the vertical foot voltage of the key branch is outside the branch, and to judge whether the key branch meets the first starting criterion if the position of the vertical foot voltage of the key branch is on the branch.

20. The device according to claim 19, characterized in that The calculation formula of the branch transient transmission function index sBTTC is: The method for determining the key branch k is: Where U im and θ im is the magnitude and phase of the voltage phasor at node m, U in and θ in is the amplitude and phase of the voltage phasor at node n, node m and node n correspond to the phase leading node and phase lagging node respectively, that is, θ im >θ in .

21. The device according to claim 20, characterized in that The second determining unit includes: A calculation subunit, used for calculating the key branch vertical foot voltage of the key branch according to the voltage phasors of the two end nodes of the key branch; The first determination subunit is used to determine the key branch vertical foot voltage position coefficient of the key branch according to the voltage phasors of the two end nodes of the key branch and the key branch vertical foot voltage.

22. The device according to claim 21, characterized in that The key branch vertical foot voltage U kv The calculation formula is: The kv =U kn sinγ in, Where U km and U kn is the voltage amplitude at the beginning and end of the key branch k, Δθ k is the voltage phase difference between the first and the last two ends of the key branch k, ΔU kmn is the amplitude of the voltage phasor difference at both ends of the branch node, and γ is the voltage phasor angle.

23. The device according to claim 22, characterized in that The key branch vertical foot voltage position coefficient ξ kv The calculation formula is: In the formula, ΔU kmv , ΔU knv They are the node voltages at both ends of the branch and the vertical foot voltage of the key branch U kv The magnitude of the phase difference.

24. The device according to claim 19, characterized in that The third determining unit includes: The second determination subunit is used to determine the key branch vertical foot voltage position coefficient ξ kv Satisfy 1<ξ kv <2, the position of the vertical foot voltage of the critical branch is located on the branch; The third determination subunit is used to determine the key branch vertical foot voltage position coefficient ξ kv Satisfy kv <1, the position of the vertical foot voltage of the critical branch is outside the branch.

25. The device according to claim 18, characterized in that The first start criterion is: In the formula, Δθ k is the phase difference of the key branch, P k is the active power of the key branch, sBTTC k is the branch transient transmission capacity index of the critical branch, ε LTH To reshape the control start-up grid-type converter outlet node action threshold, t is the time.

26. The device according to claim 18, characterized in that The second start criterion is: Q v <0AndU v <U vLth And Where U v is the grid-connected converter output voltage, Q v is the output reactive power, U vLth To reshape the control startup grid-type converter output node voltage threshold setting value.

27. The device according to claim 17, characterized in that Control module, including: The reshaping control times n of the grid-type energy storage converter are Emg Increase once; The grid-type converter damping coefficient of the grid-type energy storage converter is modified to the grid-type converter remodeling control damping coefficient D Emg ; The virtual power angle of the grid-type converter of the grid-type converter is modified to δ', where δ'=δ v -n Emg δ Emg , δ v is the virtual power angle before reshaping control, n Emg is the number of remodeling controls; δ Emg Reshape the control quantity for the virtual power angle; The grid-type energy storage converter is controlled according to the modified grid-type converter virtual power angle δ'.

28. The device according to claim 15, characterized in that The exit criterion of transient power angle stability remodeling control of grid-connected converter is: U v >U vHth sBTTC k >ε Hth Where U v is the grid-connected converter output voltage, sBTTC is the branch transient transmission function index, U vHth To reshape the control exit grid-connected converter output node voltage threshold setting value, ε Hth To reshape the control exit threshold of BTTC Index.

29. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 14.

30. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1-14.

Images