Track sensitivity determination method and device of reference track

Abstract

The embodiment of the invention provides a trajectory sensitivity determination method and device of a reference trajectory, relates to the technical field of electric power, and can improve the accuracy of determining the trajectory sensitivity. The track sensitivity determination method of the reference track comprises the following steps: drawing the reference track of a power system based on a pre-constructed dynamic model of the power system; segmenting the reference track based on the obtained control switching time of the power system to generate a plurality of reference sub-tracks; for each reference sub-trajectory in the plurality of reference sub-trajectories, determining trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system; determining the step change of the trajectory sensitivity based on the obtained switching condition of the reference sub-trajectory and the trajectory sensitivity; the trajectory sensitivity of the reference trajectory is determined based on the trajectory sensitivity of the plurality of reference sub-trajectories and the step change in the trajectory sensitivity.

Description

Technical Field

[0001] The present application relates to the field of electric power technology, and in particular to a method and device for determining trajectory sensitivity of a reference trajectory. Background Art

[0002] With the increasing use of power electronics in the power grid, the dynamic characteristics of the power grid have also changed significantly. The increased penetration of power electronics has made the supporting role of inverters in the power grid even more critical to maintaining the stability of the power system in the face of disturbances. The ability of inverters to use multiple control algorithms makes them more flexible than traditional synchronous generator controllers. Inverters not only perform well under normal operating conditions, but also enhance system stability in extreme situations, such as when the grid voltage drops, by switching to low voltage ride-through strategies and other means.

[0003] However, the introduction of the inverter control switching process makes it impossible to directly apply the traditional trajectory sensitivity calculation method, which makes it impossible to determine the trajectory sensitivity of the reference trajectory in the power system. In addition, since the single-unit capacity of the inverter is usually small and each unit has more adjustable control parameters, the traditional trajectory sensitivity calculation method, such as the trajectory sensitivity calculation based on the difference method, becomes more complicated and inefficient. Trajectory sensitivity is used to characterize the sensitivity of the transient process of the power system to the initial value and the change of system parameters, which is extremely important for stability analysis, safety assessment and parameter optimization. Summary of the invention

[0004] In order to solve the above problems, the present application provides a method and device for determining the trajectory sensitivity of a reference trajectory.

[0005] In a first aspect, a method for determining a trajectory sensitivity of a reference trajectory is provided, comprising:

[0006] Draw the baseline trajectory of the power system based on a pre-built dynamic model of the power system;

[0007] Based on the acquired control switching moment of the power system, the reference trajectory is divided to generate a plurality of reference sub-trajectories;

[0008] For each of the plurality of reference sub-trajectories, determining a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system;

[0009] Determining a step change in trajectory sensitivity based on the acquired switching condition and trajectory sensitivity of the reference sub-trajectory;

[0010] The trajectory sensitivity of the reference trajectory is determined based on the trajectory sensitivities of the plurality of reference sub-trajectories and the step change of the trajectory sensitivity.

[0011] Further, the trajectory sensitivity of the reference sub-trajectory includes a first trajectory sensitivity and a second trajectory sensitivity, the first trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to an initial value of a state variable of the reference sub-trajectory, and the second trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to a system parameter of the power system;

[0012] The trajectory sensitivity of the reference sub-trajectory is determined based on the dynamic model of the power system, including:

[0013] Determining a first derivative and a second derivative based on a dynamic model of the power system, the first derivative being used to characterize a derivative of a state variable of the dynamic model of the power system on a reference trajectory, and the second derivative being used to characterize a derivative of a system parameter of the dynamic model of the power system on the reference trajectory;

[0014] determining a first trajectory sensitivity based on the first derivative;

[0015] A second track sensitivity is determined based on the second derivative and the first track sensitivity.

[0016] Further, determining a step change of the trajectory sensitivity based on the acquired switching condition and trajectory sensitivity of the reference sub-trajectory includes:

[0017] Determine the sensitivity of the switching time based on the switching condition of the reference sub-trajectory, the pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity and the second trajectory sensitivity;

[0018] The step change of the reference sub-trajectory is determined based on the sensitivity of the switching time.

[0019] Further, the sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizes the sensitivity of the switching time relative to the initial value of the state variable of the reference sub-trajectory, and the second switching sensitivity characterizes the sensitivity of the switching time relative to the system parameter of the power system; the hypersurface model of the switching time includes a first hypersurface model and a second hypersurface model, the first hypersurface model is used to determine the first switching sensitivity, and the second hypersurface model is used to determine the second switching sensitivity;

[0020] The sensitivity of the switching time is determined based on the switching condition of the reference sub-trajectory, the pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity and the second trajectory sensitivity, including:

[0021] Determine a switching basis amount of the reference sub-track based on the switching condition of the reference sub-track;

[0022] Determine a first switching sensitivity based on the switching basis, the first trajectory sensitivity, the first hypersurface model and the acquired state variable;

[0023] The second switching sensitivity is determined based on the switching reference amount, the second trajectory sensitivity, the second hypersurface model and the state variable.

[0024] Further, the step change of the reference sub-trajectory includes a first step change and a second step change, the first step change represents a step change of the trajectory sensitivity relative to an initial value of a state variable of the reference sub-trajectory, and the second step change represents a step change of the trajectory sensitivity relative to a system parameter of the power system;

[0025] The sensitivity based on the switching time determines the step change of the reference sub-trace, including:

[0026] Determining a first step change based on the first switching sensitivity and the pre-acquired control variable change information;

[0027] A second step change is determined based on the second switching sensitivity and the control variable change information.

[0028] In a second aspect, the present application provides a device for determining trajectory sensitivity of a reference trajectory, comprising:

[0029] A first determination module is used to draw a reference trajectory of the power system based on a pre-built dynamic model of the power system;

[0030] A segmentation module, used for segmenting the reference trajectory to generate multiple reference sub-trajectories based on the acquired control switching moment of the power system;

[0031] a second determination module, configured to determine, for each of the plurality of reference sub-trajectories, a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system;

[0032] a third determination module, configured to determine a step change of the trajectory sensitivity based on the acquired switching condition and trajectory sensitivity of the reference sub-trajectory;

[0033] The fourth determination module is configured to determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the plurality of reference sub-trajectories and the step change of the trajectory sensitivity.

[0034] Further, the trajectory sensitivity of the reference sub-trajectory includes a first trajectory sensitivity and a second trajectory sensitivity, the first trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to an initial value of a state variable of the reference sub-trajectory, and the second trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to a system parameter of the power system;

[0035] The second determination module includes:

[0036] A derivative determination unit, configured to determine a first derivative and a second derivative based on a dynamic model of the power system, wherein the first derivative is used to characterize a derivative of a state variable of the dynamic model of the power system on a reference trajectory, and the second derivative is used to characterize a derivative of a system parameter of the dynamic model of the power system on the reference trajectory;

[0037] a first determining unit, configured to determine a first trajectory sensitivity based on a first derivative;

[0038] The second determining unit is configured to determine a second trajectory sensitivity based on the second derivative and the first trajectory sensitivity.

[0039] Furthermore, the third determination module includes:

[0040] a third determining unit, configured to determine the sensitivity of the switching time based on the switching condition of the reference sub-trajectory, a pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity, and the second trajectory sensitivity;

[0041] The fourth determining unit determines a step change of the reference sub-trajectory based on the sensitivity of the switching time.

[0042] Further, the sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizes the sensitivity of the switching time relative to the initial value of the state variable of the reference sub-trajectory, and the second switching sensitivity characterizes the sensitivity of the switching time relative to the system parameter of the power system; the hypersurface model of the switching time includes a first hypersurface model and a second hypersurface model, the first hypersurface model is used to determine the first switching sensitivity, and the second hypersurface model is used to determine the second switching sensitivity;

[0043] The third determining unit is specifically configured to:

[0044] Determine a switching basis amount of the reference sub-track based on the switching condition of the reference sub-track;

[0045] Determine a first switching sensitivity based on the switching basis, the first trajectory sensitivity, the first hypersurface model and the acquired state variable;

[0046] The second switching sensitivity is determined based on the switching reference amount, the second trajectory sensitivity, the second hypersurface model and the state variable.

[0047] Further, the step change of the reference sub-trajectory includes a first step change and a second step change, the first step change represents a step change of the trajectory sensitivity relative to an initial value of a state variable of the reference sub-trajectory, and the second step change represents a step change of the trajectory sensitivity relative to a system parameter of the power system;

[0048] The fourth determining unit is specifically configured to:

[0049] The sensitivity based on the switching time determines the step change of the reference sub-trace, including:

[0050] Determining a first step change based on the first switching sensitivity and the pre-acquired control variable change information;

[0051] A second step change is determined based on the second switching sensitivity and the control variable change information.

[0052] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for determining the trajectory sensitivity of the reference trajectory when executing the program.

[0053] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for determining the trajectory sensitivity of the above-mentioned reference trajectory.

[0054] In a fifth aspect, the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned method for determining the trajectory sensitivity of the reference trajectory.

[0055] The technical solution provided in the embodiment of the present application determines the reference trajectory by constructing a dynamic model of the power system, which can more accurately analyze the dynamic behavior of the power system under different control strategies, so as to facilitate the subsequent determination of the accuracy of the trajectory sensitivity. And by first calculating the trajectory sensitivity of each sub-trajectory, and then determining the overall trajectory sensitivity of the reference trajectory through the trajectory sensitivity of the sub-trajectory, the calculation process is simplified, and when faced with a power system with multiple control switches, the calculation process can be ensured to be effective and accurate. In addition, the technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the presence of inverters and the influence of the switching of control strategies on the dynamic characteristics of the power grid, which is particularly important for the current power grids that are increasingly using inverters. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate some embodiments of this specification or technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0057] Figure 1 A schematic flow chart of a method for determining trajectory sensitivity of a reference trajectory provided in an embodiment of the present application;

[0058] Figure 2A schematic flow chart of another method for determining the trajectory sensitivity of a reference trajectory provided in an embodiment of the present application;

[0059] Figure 3 A schematic flow chart of another method for determining the trajectory sensitivity of a reference trajectory provided in an embodiment of the present application;

[0060] Figure 4 A schematic flow chart of another method for determining the trajectory sensitivity of a reference trajectory provided in an embodiment of the present application;

[0061] Figure 5 A schematic flow chart of another method for determining the trajectory sensitivity of a reference trajectory provided in an embodiment of the present application;

[0062] Figure 6 A schematic diagram of the structure of a device for determining the trajectory sensitivity of a reference trajectory provided in an embodiment of the present application;

[0063] Figure 7 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in some embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on some embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0065] It should be noted that the terms "first", "second", etc. in the specification and claims of this document and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of this document described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment. It should be noted that the acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of relevant laws and regulations.

[0066] As described in the background technology, due to the control switching process introduced by the inverter in the current power system, the traditional trajectory sensitivity calculation method can no longer be directly applied. In addition, since the single-unit capacity of the inverter is smaller than that of the traditional unit, and the single-unit adjustable control parameters are more, the traditional trajectory sensitivity calculation method, such as the trajectory sensitivity calculation based on the differential method, becomes more inefficient.

[0067] Based on this, the present application provides a method for determining the trajectory sensitivity of a reference trajectory, such as Figure 1 FIG. 1 is a flow chart of a method for determining the trajectory sensitivity of a reference trajectory provided in an embodiment of the present application, comprising the following steps:

[0068] S101 . Draw a reference trajectory of the power system based on a pre-built dynamic model of the power system.

[0069] S102 . Divide the reference trajectory into multiple reference sub-trajectories based on the acquired control switching moment of the power system.

[0070] S103 . For each reference sub-trajectory among the multiple reference sub-trajectories, determine a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system.

[0071] S104 . Determine a step change of the trajectory sensitivity based on the acquired switching condition and trajectory sensitivity of the reference sub-trajectory.

[0072] S105 . Determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the plurality of reference sub-trajectories and the step change of the trajectory sensitivity.

[0073] The technical solution provided in the embodiment of the present application determines the reference trajectory by constructing a dynamic model of the power system, which can more accurately analyze the dynamic behavior of the power system under different control strategies, so as to facilitate the subsequent determination of the accuracy of the trajectory sensitivity. And by first calculating the trajectory sensitivity of each sub-trajectory, and then determining the overall trajectory sensitivity of the reference trajectory through the trajectory sensitivity of the sub-trajectory, the calculation process is simplified, and when faced with a power system with multiple control switches, the calculation process can be ensured to be effective and accurate. In addition, the technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the presence of inverters and the influence of the switching of control strategies on the dynamic characteristics of the power grid, which is particularly important for the current power grids that are increasingly using inverters.

[0074] The following is an explanation of each of the above steps:

[0075] S101 . Draw a reference trajectory of the power system based on a pre-built dynamic model of the power system.

[0076] In some embodiments, the dynamic model of the power system is used to characterize the dynamic characteristics of the power system. Specifically, the dynamic model of the power system is shown in the following formula:

[0077]

[0078] Where x represents the n-dimensional state variable, λ represents the m-dimensional system parameter, c represents the control state, f represents the state variable function of the power system, and h represents the control state function of the power system. represents the time derivative of the state variable x, represents the time derivative of the control state c.

[0079] It should be noted that the state variable x is continuous, while the control state c is discrete. For the same control state c, the function f is continuously differentiable with respect to the state variable x. For the same state variable x and different control states c, the function f is usually different.

[0080] In some embodiments, a reference trajectory of the power system is drawn based on the acquired initial values ​​of the state variables, the initial control state, and the dynamic model of the power system.

[0081] Exemplarily, x0 represents the initial value of the state variable, c0 represents the initial value of the control state, the above two parameters are input into the dynamic model of the power system, and solved, and a curve representing the reference trajectory is drawn based on the corresponding parameters after the solution, which is represented by the following formula:

[0082] x(t)=φ(t,x0,λ,c0)

[0083] c(t)=χ(t,x0,λ,c0)

[0084] Wherein, t represents time, φ represents the function of the state variable evolving over time, and χ represents the function of the control state evolving over time. It should be noted that the initial value x0 of the state variable and the control state c0 can be a preset value or can be set according to actual conditions, and this application does not limit this.

[0085] S102 . Divide the reference trajectory into multiple reference sub-trajectories based on the acquired control switching moment of the power system.

[0086] It should be noted that, due to the control switching strategy of the inverter, the reference trajectory of the power system involves multiple control switching processes. Therefore, in order to facilitate the determination of the trajectory sensitivity of the reference trajectory, the reference trajectory needs to be segmented according to the control switching process.

[0087] In some embodiments, the reference trajectory is divided based on the acquired control switching moment of the power system to generate a plurality of reference sub-trajectories.

[0088] For example, if a reference trajectory involves N control switching processes, the reference trajectory is divided at each control switching moment to generate N+1 reference sub-trajectories, which are denoted as φ (0) ,φ (1) ,…φ (N) , and record the starting points of each benchmark sub-trajectory as x0, x1, …x N , the control switching time is recorded as t (1) ,t (2) ,…t (N) , the control state of each benchmark sub-trajectory is recorded as c (0) ,c (1) ,…c (N) , the starting time of the reference trajectory is recorded as t (0) , the end time is recorded as t (N+1) For example, φ (0) is the first reference sub-trajectory, its corresponding starting point is x0, and its corresponding control state is c (0) , at time t (1) , control switching occurs, and the reference sub-trajectory φ (0) Switch to φ (1) .

[0089] S103 . For each reference sub-trajectory among the multiple reference sub-trajectories, determine a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system.

[0090] The trajectory sensitivity of the reference sub-trajectory includes a first trajectory sensitivity and a second trajectory sensitivity, wherein the first trajectory sensitivity represents the sensitivity of the reference sub-trajectory relative to the initial value of the state variable of the reference sub-trajectory, and the second trajectory sensitivity represents the sensitivity of the reference sub-trajectory relative to the system parameter of the power system.

[0091] In some embodiments, the derivatives of the state variables of the dynamic model of the power system and the derivatives of the system parameters of the dynamic model of the power system on the reference trajectory are determined respectively by the dynamic model of the power system, and the first sensitivity and the second sensitivity of the reference sub-trajectory are determined based on the above derivatives.

[0092] S104 . Determine a step change of the trajectory sensitivity based on the acquired switching condition and trajectory sensitivity of the reference sub-trajectory.

[0093] The step change of the reference sub-trajectory includes a first step change and a second step change, wherein the first step change represents a step change of the trajectory sensitivity relative to an initial value of a state variable of the reference sub-trajectory, and the second step change represents a step change of the trajectory sensitivity relative to a system parameter of the power system.

[0094] In some embodiments, the sensitivity of the switching time is determined based on the switching condition of the reference sub-trajectory, the pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity, and the second trajectory sensitivity. The first step change and the second step change of the reference sub-trajectory are further determined based on the sensitivity based on the switching time.

[0095] S105 . Determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the plurality of reference sub-trajectories and the step change of the trajectory sensitivity.

[0096] For example, the initial values ​​of the state variables of the entire reference trajectory and the changes in the system parameters of the power system are recorded as dx0 and dλ, and the resulting reference trajectory at the switching point x i The changes before and after the switching are recorded as dx i and Further, from x0 to x i The first track sensitivity of the reference sub-track is denoted as Φ (i,0) , the sensitivity of the second trajectory is denoted as Ψ (i,0) Finally, the trajectory sensitivity of the reference trajectory is determined by combining the trajectory sensitivities of each reference sub-trajectory through recursive calculation.

[0097] Specifically, as shown in the following formula:

[0098]

[0099] Among them, Φ (i) represents the first trajectory sensitivity of the i-th reference sub-trajectory, Ψ (i) represents the second track sensitivity of the i-th reference sub-track, represents the first step change of the reference sub-trajectory, represents the second step change of the reference sub-trajectory. It can be understood that the Φ finally obtained by the above recursion is (N+1,0) That is the first sensitivity of the entire reference track, Ψ (N+1,0) This is the second sensitivity of the entire reference track.

[0100] In some embodiments, the trajectory sensitivity of the reference sub-trajectory includes a first trajectory sensitivity and a second trajectory sensitivity, the first trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to an initial value of a state variable of the reference sub-trajectory, and the second trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to a system parameter of the power system;

[0101] For example, the i-th reference sub-track in the reference track is divided into (i) Indicates that the starting point of the reference sub-trajectory is x i , the duration of the benchmark sub-trajectory is t (i+1) -t (i), the reference sub-trajectory φ (i) The first track sensitivity is characterized by the following formula:

[0102]

[0103] Among them, φ (i) represents the benchmark sub-trajectory of the i-th segment in the benchmark trajectory, x i represents the starting point of the benchmark sub-trajectory, and also represents the initial value of the state variable of the benchmark sub-trajectory, Φ (i) (t) is an n×n dimensional time-varying matrix, which represents the first trajectory sensitivity of the reference sub-trajectory at different times, and characterizes the sensitivity of the reference sub-trajectory relative to the initial value of the state variable of the reference sub-trajectory.

[0104] Similarly, the reference sub-trajectory φ (i) The sensitivity of the second track is characterized by the following formula:

[0105]

[0106] Among them, φ (i) represents the benchmark sub-trajectory of the i-th segment in the benchmark trajectory, λ represents the system parameters of the power system (the power systems corresponding to different benchmark sub-trajectories are the same), Ψ (i) (t) is a time-varying matrix of n×m dimensions, which represents the second trajectory sensitivity of the reference sub-trajectory at different times, and characterizes the sensitivity of the reference sub-trajectory relative to the system parameters of the power system.

[0107] like Figure 2 As shown, determining the trajectory sensitivity of the reference sub-trajectory based on the dynamic model of the power system can be specifically implemented as follows:

[0108] S201. Determine a first derivative and a second derivative based on a dynamic model of the power system.

[0109] The first derivative is used to characterize the derivative of the state variable of the dynamic model of the power system on the reference trajectory, and the second derivative is used to characterize the derivative of the system parameter of the dynamic model of the power system on the reference trajectory.

[0110] It should be noted that the sensitivity of the first track is determined according to the following formula:

[0111] Φ (i) (t) = A (i) (t)Φ (i) (t)

[0112] Φ (i) (0) = I

[0113] Among them, Φ (i) Indicates the sensitivity of the first track, A (i)(t) represents the first derivative, Φ (i) (0)=I indicates that the first track sensitivity of the reference sub-track corresponding to the starting time 0 is the unit matrix I.

[0114] Similarly, the sensitivity of the second track is determined according to the following formula:

[0115]

[0116] Among them, (i) (t) represents the sensitivity of the second track, Φ (i) represents the sensitivity of the first trajectory, b (i) represents the second derivative.

[0117] It can be understood that if the first track sensitivity and the second track sensitivity of the reference sub-track need to be determined, the first derivative and the second derivative need to be determined first.

[0118] The first derivative is given by the following formula:

[0119]

[0120] From the above formula, we can see that the first derivative represents the time-varying matrix of the state variable function f of the power system in the dynamic model of the power system with respect to the state variable x, which is also called the partial derivative matrix. Each element in this time-varying matrix Represents the partial derivative of the j-th input in function f with respect to the i-th state variable.

[0121] Similarly, the second derivative is given by the following formula:

[0122]

[0123] It can be seen from the above formula that the second derivative represents the time-varying matrix of the state variable function f of the power system with respect to the system parameter λ in the dynamic model of the power system, which is also called the partial derivative matrix.

[0124] It can be understood that the first derivative and the second derivative are both derivatives of the function in the dynamic model of the power system under different circumstances. Therefore, the first derivative and the second derivative can be determined by combining the relevant parameters of the reference sub-trajectory with the dynamic model of the power system.

[0125] S202 : Determine a first trajectory sensitivity based on a first derivative.

[0126] It should be noted that after determining the first derivative, substitute the first derivative into the following formula and perform an integral operation to obtain Φ (i) (t), and when combined with the time corresponding to the reference sub-track, the first track sensitivity of the reference sub-track can be obtained:

[0127] Φ (i) (t) = A (i) (t)Φ (i) (t)

[0128] Φ (i) (0) = I

[0129] S203 : Determine a second trajectory sensitivity based on the second derivative and the first trajectory sensitivity.

[0130] It should be noted that after determining the second derivative and the first trajectory sensitivity, the second derivative and the first trajectory sensitivity are substituted into the following formula and integrated to obtain Ψ (i) (t), and when combined with the time corresponding to the reference sub-track, the second track sensitivity of the reference sub-track can be obtained:

[0131]

[0132] In this way, the trajectory sensitivity of the reference sub-trajectory is determined directly by integration, avoiding the approximate error of the traditional numerical method and improving the accuracy of the calculation process. In addition, only two solutions are needed to obtain the trajectory sensitivity of the reference sub-trajectory. Compared with the traditional repeated simulation method, it avoids the need for multiple repeated simulations, reduces the amount of calculation, and improves the calculation efficiency.

[0133] In some embodiments, Figure 3 As shown, determining the step change of the trajectory sensitivity based on the acquired switching condition of the reference sub-trajectory and the trajectory sensitivity can be specifically implemented as the following steps:

[0134] S301 : Determine the sensitivity of the switching time based on the switching condition of the reference sub-trajectory, the pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity, and the second trajectory sensitivity.

[0135] Among them, the sensitivity of switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizes the sensitivity of switching time relative to the initial value of the state variable of the reference sub-trajectory, and the second switching sensitivity characterizes the sensitivity of switching time relative to the system parameters of the power system; the hypersurface model of switching time includes a first hypersurface model and a second hypersurface model, the first hypersurface model is used to determine the first switching sensitivity, and the second hypersurface model is used to determine the second switching sensitivity.

[0136] As a possible implementation, Figure 4 As shown, the sensitivity of the switching time is determined based on the switching condition of the reference sub-trajectory, the pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity and the second trajectory sensitivity, which can be specifically implemented as the following steps:

[0137] S3011 . Determine a switching basis amount of the reference sub-trajectory based on the switching condition of the reference sub-trajectory.

[0138] It should be noted that the changes in the initial values ​​of the state variables and system parameters of the reference sub-trajectory will cause the control switching time of the reference sub-trajectory to change. When the relevant parameters of the reference sub-trajectory meet the switching conditions, the control switching will occur. Therefore, the switching conditions of the reference sub-trajectory are the basis for determining the sensitivity of the switching time.

[0139] Specifically, the switching condition of the reference sub-track can be determined according to the following formula:

[0140] y sw (x,λ)=y TH

[0141] Among them, y sw represents the switching basis quantity relative to the function of the state variable x and the system parameter λ, y TH The above switching condition indicates the condition for the control switching of the reference sub-trajectory. Even if the control switching process in the power system includes multiple switching conditions, the control switching condition for each reference sub-trajectory is unique.

[0142] It is understood that after obtaining the switching conditions of the reference sub-track in advance, the corresponding switching basis can be determined according to the above formula to facilitate subsequent further calculations. The switching conditions of the reference value track can be obtained by calculation, simulation, etc. according to actual conditions, and this application is not limited to this.

[0143] S3012: Determine a first switching sensitivity based on the switching basis, the first trajectory sensitivity, the first hypersurface model, and the acquired state variables.

[0144] It should be noted that the area that meets the switching condition is a hypersurface, and the reference sub-trajectory φ (i) t (i+1) The position where the control switch occurs is x i+1 (i.e., the position where the control switch occurs is x i+1 ). The hypersurface at x i+1 The tangent plane at Based on this, the first hypersurface model constructed is shown in the following formula:

[0145]

[0146] in, Indicates the first switching sensitivity, represents the derivative of the switching basis quantity (determined according to the switching basis quantity), Φ (i) is the first trajectory sensitivity, f(x i+1,λ,c (i) ) is the state variable. Characterizes the moving speed of the reference sub-trajectory switching the hypersurface at the control switching moment, The characteristic of the reference sub-trajectory is the distance away from the hypersurface at the control switching moment affected by the change of the initial value of the state variable.

[0147] Based on this, the derivative of the switching basis amount is determined according to the switching basis amount, and the derivative of the switching basis amount, the first trajectory sensitivity and the acquired state variable are input into the first hypersurface model to obtain the first switching sensitivity.

[0148] S3013: Determine a second switching sensitivity based on the switching basis, the second trajectory sensitivity, the second hypersurface model, and the state variable.

[0149] Similar to the first hypersurface model, the second hypersurface model is shown in the following formula:

[0150]

[0151] in, Indicates the first switching sensitivity, represents the derivative of the switching basis quantity (determined according to the switching basis quantity), Ψ (i) is the sensitivity of the second track, f(x i+1 ,λ,c (i) ) is the state variable. Characterizes the moving speed of the reference sub-trajectory switching the hypersurface at the control switching moment, The characteristic of the reference sub-trajectory is the distance away from the hypersurface at the control switching moment affected by the change of system parameters.

[0152] Based on this, the derivative of the switching basis amount is determined according to the switching basis amount, and the derivative of the switching basis amount, the second trajectory sensitivity and the acquired state variable are input into the second hypersurface model to obtain the second switching sensitivity.

[0153] S302 : Determine a step change of a reference sub-trace based on the sensitivity of the switching time.

[0154] It should be noted that the reference trajectory will change due to the change of the initial value of its state variable or the system parameters of the power system, so that the changed reference trajectory will be inconsistent with the original reference trajectory near the control switching time, resulting in a step change in the trajectory sensitivity of the reference sub-trajectory. Therefore, it is necessary to determine the step change of the trajectory sensitivity in order to more accurately determine the trajectory sensitivity of the reference trajectory.

[0155] The step change of the reference sub-trajectory includes a first step change and a second step change, wherein the first step change represents a step change of the trajectory sensitivity relative to an initial value of a state variable of the reference sub-trajectory, and the second step change represents a step change of the trajectory sensitivity relative to a system parameter of the power system.

[0156] As a possible implementation, Figure 5 As shown, the step change of the reference sub-trace is determined based on the sensitivity of the switching time, which can be specifically implemented as follows:

[0157] S3021. Determine a first step change based on the first switching sensitivity and pre-acquired control variable change information.

[0158] Specifically, the first step change is determined according to the following formula:

[0159]

[0160] in, represents the first switching sensitivity, f(x i+1 ,λ,c (i+1) )-f(x i+1 ,λ,c (i) ) is the control variable change information.

[0161] Based on this, the first switching sensitivity and the pre-acquired control variable change information are input into the above formula to determine the first step change.

[0162] S3022. Determine a second step change based on the second switching sensitivity and the control variable change information.

[0163] Specifically, the second step change is determined according to the following formula:

[0164]

[0165] in, represents the second switching sensitivity, f(x i+1 ,λ,c (i+1) )-f(x i+1 ,λ,c (i) ) is the control variable change information.

[0166] Based on this, the second switching sensitivity and the pre-acquired control variable change information are input into the above formula to determine the second step change.

[0167] The technical solution provided in the embodiment of the present application determines the reference trajectory by constructing a dynamic model of the power system, which can more accurately analyze the dynamic behavior of the power system under different control strategies, so as to facilitate the subsequent determination of the accuracy of the trajectory sensitivity. And by first calculating the trajectory sensitivity of each sub-trajectory, and then determining the overall trajectory sensitivity of the reference trajectory through the trajectory sensitivity of the sub-trajectory, the calculation process is simplified, and when faced with a power system with multiple control switches, the calculation process can be ensured to be effective and accurate. In addition, the technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the presence of inverters and the influence of the switching of control strategies on the dynamic characteristics of the power grid, which is particularly important for the current power grids that are increasingly using inverters.

[0168] It should be noted that the information collected in this application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant countries and regions, take necessary confidentiality measures, do not violate public order and good customs, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0169] It should be noted that the technical solution provided in this application provides users with corresponding operation entrances for them to choose to agree or reject the automated decision-making results; if the user chooses to reject, the expert decision-making process will be entered.

[0170] Figure 6 A device for determining the trajectory sensitivity of a reference trajectory is provided in an embodiment of the present application. The device for determining the trajectory sensitivity of a reference trajectory is used to execute the above-mentioned method for determining the trajectory sensitivity of the reference trajectory, such as Figure 6 As shown, the device for determining the trajectory sensitivity of the reference trajectory includes: a first determining module 601 , a segmenting module 602 , a second determining module 603 , a third determining module 604 and a fourth determining module 605 .

[0171] A first determination module 601 is used to draw a reference trajectory of the power system based on a pre-built dynamic model of the power system;

[0172] A segmentation module 602, configured to segment the reference trajectory based on the acquired control switching moment of the power system to generate a plurality of reference sub-trajectories;

[0173] A second determination module 603 is configured to determine, for each of the plurality of reference sub-trajectories, a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system;

[0174] A third determination module 604, configured to determine a step change in trajectory sensitivity based on the acquired switching condition and trajectory sensitivity of the reference sub-trajectory;

[0175] The fourth determination module 605 is configured to determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the plurality of reference sub-trajectories and the step changes of the trajectory sensitivities.

[0176] Further, the trajectory sensitivity of the reference sub-trajectory includes a first trajectory sensitivity and a second trajectory sensitivity, the first trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to an initial value of a state variable of the reference sub-trajectory, and the second trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to a system parameter of the power system;

[0177] The second determining module 603 includes:

[0178] A derivative determination unit, configured to determine a first derivative and a second derivative based on a dynamic model of the power system, wherein the first derivative is used to characterize a derivative of a state variable of the dynamic model of the power system on a reference trajectory, and the second derivative is used to characterize a derivative of a system parameter of the dynamic model of the power system on the reference trajectory;

[0179] a first determining unit, configured to determine a first trajectory sensitivity based on a first derivative;

[0180] The second determining unit is configured to determine a second trajectory sensitivity based on the second derivative and the first trajectory sensitivity.

[0181] Further, the third determining module 604 includes:

[0182] a third determining unit, configured to determine the sensitivity of the switching time based on the switching condition of the reference sub-trajectory, a pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity, and the second trajectory sensitivity;

[0183] The fourth determining unit determines a step change of the reference sub-trajectory based on the sensitivity of the switching time.

[0184] Further, the sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizes the sensitivity of the switching time relative to the initial value of the state variable of the reference sub-trajectory, and the second switching sensitivity characterizes the sensitivity of the switching time relative to the system parameter of the power system; the hypersurface model of the switching time includes a first hypersurface model and a second hypersurface model, the first hypersurface model is used to determine the first switching sensitivity, and the second hypersurface model is used to determine the second switching sensitivity;

[0185] The third determining unit is specifically configured to:

[0186] Determine a switching basis amount of the reference sub-track based on the switching condition of the reference sub-track;

[0187] Determine a first switching sensitivity based on the switching basis, the first trajectory sensitivity, the first hypersurface model and the acquired state variable;

[0188] The second switching sensitivity is determined based on the switching reference amount, the second trajectory sensitivity, the second hypersurface model and the state variable.

[0189] Further, the step change of the reference sub-trajectory includes a first step change and a second step change, the first step change represents a step change of the trajectory sensitivity relative to an initial value of a state variable of the reference sub-trajectory, and the second step change represents a step change of the trajectory sensitivity relative to a system parameter of the power system;

[0190] The fourth determining unit is specifically configured to:

[0191] The sensitivity based on the switching time determines the step change of the reference sub-trace, including:

[0192] Determining a first step change based on the first switching sensitivity and the pre-acquired control variable change information;

[0193] A second step change is determined based on the second switching sensitivity and the control variable change information.

[0194] The technical solution provided in the embodiment of the present application determines the reference trajectory by constructing a dynamic model of the power system, which can more accurately analyze the dynamic behavior of the power system under different control strategies, so as to facilitate the subsequent determination of the accuracy of the trajectory sensitivity. And by first calculating the trajectory sensitivity of each sub-trajectory, and then determining the overall trajectory sensitivity of the reference trajectory through the trajectory sensitivity of the sub-trajectory, the calculation process is simplified, and when faced with a power system with multiple control switches, the calculation process can be ensured to be effective and accurate. In addition, the technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the presence of inverters and the influence of the switching of control strategies on the dynamic characteristics of the power grid, which is particularly important for the current power grids that are increasingly using inverters.

[0195] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer device, and specifically, the computer device may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0196] An embodiment of the present invention provides a computer device, including a memory and a processor, the memory is used to store information including program instructions, the processor is used to control the execution of the program instructions, and when the program instructions are loaded and executed by the processor, the steps of the embodiment of the method for determining the trajectory sensitivity of the above-mentioned reference trajectory are implemented. For a specific description, please refer to the embodiment of the method for determining the trajectory sensitivity of the above-mentioned reference trajectory.

[0197] Reference below Figure 7 , which shows a schematic diagram of the structure of a computer device 700 suitable for implementing an embodiment of the present application.

[0198] like Figure 7 As shown, the computer device 700 includes a central processing unit (CPU) 701, which can perform various appropriate operations and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the computer device 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0199] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal feedback device (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read therefrom is installed as needed as the storage section 708.

[0200] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program tangibly contained on a machine-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 709, and / or installed from the removable medium 711.

[0201] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0202] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0203] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0204] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0205] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0206] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0207] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0208] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0209] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0210] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0211] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0212] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for determining the trajectory sensitivity of a reference trajectory, characterized in that: include: Draw the baseline trajectory of the power system based on a pre-built dynamic model of the power system; Dividing the reference trajectory based on the acquired control switching moment of the power system to generate a plurality of reference sub-trajectories; For each of the plurality of reference sub-trajectories, determining a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system; Determining a step change of the trajectory sensitivity based on the acquired switching condition of the reference sub-trajectory and the trajectory sensitivity; The trajectory sensitivity of the reference trajectory is determined based on the trajectory sensitivities of the plurality of reference sub-trajectories and a step change of the trajectory sensitivity.

2. The method according to claim 1, characterized in that The trajectory sensitivity of the reference sub-trajectory includes a first trajectory sensitivity and a second trajectory sensitivity, wherein the first trajectory sensitivity represents the sensitivity of the reference sub-trajectory relative to an initial value of a state variable of the reference sub-trajectory, and the second trajectory sensitivity represents the sensitivity of the reference sub-trajectory relative to a system parameter of the power system; The determining the trajectory sensitivity of the reference sub-trajectory based on the dynamic model of the power system includes: Determining a first derivative and a second derivative based on the dynamic model of the power system, wherein the first derivative is used to characterize the derivative of a state variable of the dynamic model of the power system on the reference trajectory, and the second derivative is used to characterize the derivative of a system parameter of the dynamic model of the power system on the reference trajectory; determining the first trajectory sensitivity based on the first derivative; The second trajectory sensitivity is determined based on the second derivative and the first trajectory sensitivity.

3. The method according to claim 2, characterized in that The step change of determining the trajectory sensitivity based on the acquired switching condition of the reference sub-trajectory and the trajectory sensitivity includes: Determining the sensitivity of the switching time based on the switching condition of the reference sub-trajectory, a pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity, and the second trajectory sensitivity; A step change of the reference sub-trajectory is determined based on the sensitivity of the switching time.

4. The method according to claim 3, characterized in that The sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, wherein the first switching sensitivity represents the sensitivity of the switching time relative to the initial value of the state variable of the reference sub-trajectory, and the second switching sensitivity represents the sensitivity of the switching time relative to the system parameter of the power system; the hypersurface model of the switching time includes a first hypersurface model and a second hypersurface model, wherein the first hypersurface model is used to determine the first switching sensitivity, and the second hypersurface model is used to determine the second switching sensitivity; The determining the sensitivity of the switching time based on the switching condition of the reference sub-trajectory, the pre-constructed hypersurface model of the switching time of the reference sub-trajectory, the first trajectory sensitivity and the second trajectory sensitivity includes: Determining a switching basis amount of the reference sub-trajectory based on a switching condition of the reference sub-trajectory; Determine the first switching sensitivity based on the switching basis, the first trajectory sensitivity, the first hypersurface model and the acquired state variable; The second switching sensitivity is determined based on the switching reference amount, the second trajectory sensitivity, the second hypersurface model, and the state variable.

5. The method according to claim 4, characterized in that The step change of the reference sub-trajectory includes a first step change and a second step change, the first step change representing a step change of the trajectory sensitivity relative to an initial value of a state variable of the reference sub-trajectory, and the second step change representing a step change of the trajectory sensitivity relative to a system parameter of the power system; The step change of the reference sub-trace is determined based on the sensitivity of the switching time, comprising: determining the first step change based on the first switching sensitivity and pre-acquired control variable change information; The second step change is determined based on the second switching sensitivity and the control variable change information.

6. A device for determining the trajectory sensitivity of a reference trajectory, characterized in that: include: A first determination module is used to draw a reference trajectory of the power system based on a pre-built dynamic model of the power system; A segmentation module, configured to segment the reference trajectory to generate a plurality of reference sub-trajectories based on the acquired control switching moment of the power system; a second determination module, configured to determine, for each of the plurality of reference sub-trajectories, a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system; a third determining module, configured to determine a step change of the trajectory sensitivity based on the acquired switching condition of the reference sub-trajectory and the trajectory sensitivity; A fourth determination module is configured to determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the plurality of reference sub-trajectories and a step change of the trajectory sensitivity.

7. The device according to claim 6, characterized in that The trajectory sensitivity of the reference sub-trajectory includes a first trajectory sensitivity and a second trajectory sensitivity, wherein the first trajectory sensitivity represents the sensitivity of the reference sub-trajectory relative to an initial value of a state variable of the reference sub-trajectory, and the second trajectory sensitivity represents the sensitivity of the reference sub-trajectory relative to a system parameter of the power system; The second determining module comprises: a derivative determination unit, configured to determine a first derivative and a second derivative based on a dynamic model of the power system, wherein the first derivative is used to characterize a derivative of a state variable of the dynamic model of the power system on the reference trajectory, and the second derivative is used to characterize a derivative of a system parameter of the dynamic model of the power system on the reference trajectory; a first determining unit, configured to determine the first trajectory sensitivity based on the first derivative; A second determination unit is configured to determine the second trajectory sensitivity based on the second derivative and the first trajectory sensitivity.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method for determining the trajectory sensitivity of the reference trajectory according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for determining the trajectory sensitivity of the reference trajectory according to any one of claims 1 to 5 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method for determining the trajectory sensitivity of the reference trajectory according to any one of claims 1 to 5 are implemented.

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