Method and device for determining the track sensitivity of a reference track

Abstract

The embodiment of the application provides a kind of reference trajectory trajectory sensitivity determination method and device, it is related to electric power technical field, can improve the accuracy of determining trajectory sensitivity.The reference trajectory trajectory sensitivity determination method includes: the reference trajectory of power system is plotted based on the dynamic model of the power system constructed in advance;Multiple reference sub-trajectories are generated by dividing the reference trajectory based on the control switching time of the power system obtained;For each reference sub-trajectory in multiple reference sub-trajectories, the trajectory sensitivity of the reference sub-trajectory is determined based on the dynamic model of the power system;The step change of trajectory sensitivity is determined based on the switching condition and trajectory sensitivity of the reference sub-trajectory obtained;The trajectory sensitivity of the reference trajectory is determined based on the trajectory sensitivity of multiple reference sub-trajectories and the step change of 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 the trajectory sensitivity of a reference trajectory. Background Art

[0002] With the increasing use of power electronics in power grids, the dynamic characteristics of these grids have undergone significant changes. The increased penetration of power electronics has made the supporting role of inverters in the grid even more critical for maintaining power system stability in the face of disturbances. Inverters are capable of employing multiple control algorithms, offering greater flexibility than traditional synchronous generator controllers. Inverters not only perform well under normal operating conditions but also enhance system stability in extreme situations, such as grid voltage sags, by switching to low-voltage ride-through strategies.

[0003] However, the introduction of the inverter's control switching process prevents the direct application of traditional trajectory sensitivity calculation methods, making it impossible to determine the trajectory sensitivity of the power system's baseline trajectory. Furthermore, because the individual inverter units typically have relatively small capacity and each unit has a large number of adjustable control parameters, traditional trajectory sensitivity calculation methods, such as those based on the differential method, become more complex and inefficient. Trajectory sensitivity characterizes the sensitivity of power system transients to initial values ​​and changes in system parameters, and is extremely important for stability analysis, safety assessment, and parameter optimization. Summary of the Invention

[0004] 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 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 obtained control switching moment of the power system, the reference trajectory is divided into multiple 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] Furthermore, 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 the initial value of the state variable of the reference sub-trajectory, and the second trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to the 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 represent 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 represent 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] Furthermore, determining a step change in trajectory sensitivity based on the acquired switching condition and trajectory sensitivity of the reference sub-trajectory includes:

[0017] 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;

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

[0019] Furthermore, the sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizing 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 characterizing the sensitivity of the switching time relative to the system parameters 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] 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 includes:

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

[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] Furthermore, 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;

[0025] Determine the step change of the reference sub-trajectory based on the sensitivity of the switching time, including:

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

[0027] A second step change is determined based on the second switching sensitivity and the controlled 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 configured to draw a reference trajectory of the power system based on a pre-built dynamic model of the power system;

[0030] A segmentation module, 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;

[0031] a second determining 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 determining module, configured to determine a step change in 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] Furthermore, 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 the initial value of the state variable of the reference sub-trajectory, and the second trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to the 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, 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;

[0037] a first determining unit, configured to determine a first trajectory sensitivity based on the 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 determining 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] Furthermore, the sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizing 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 characterizing the sensitivity of the switching time relative to the system parameters 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] Determining a switching basis amount of the reference sub-trajectory based on the switching condition of the reference sub-trajectory;

[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] Furthermore, 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;

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

[0049] Determine the step change of the reference sub-trajectory based on the sensitivity of the switching time, including:

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

[0051] A second step change is determined based on the second switching sensitivity and the controlled 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. When the processor executes the program, the steps of the method for determining the trajectory sensitivity of the reference trajectory are implemented.

[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, comprising 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 through the dynamic model of the constructed 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, it can ensure that the calculation process is effective and accurate. In addition, this technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the influence of the presence of inverters and the switching of control strategies on the dynamic characteristics of the power grid, which is especially 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 following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0057] Figure 1 A schematic flow chart of a method for determining the 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 structural diagram 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] To help those skilled in the art better understand the technical solutions in this specification, the following will provide a clear and complete description of the technical solutions in the embodiments of this specification, in conjunction with the accompanying drawings of some embodiments of this specification. Obviously, the embodiments described are only some of the embodiments of this specification, not all of them. All other embodiments obtained by those skilled in the art based on some of the embodiments in this specification 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 variations thereof 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, the control switching process introduced by inverters in current power systems makes traditional trajectory sensitivity calculation methods inapplicable. Furthermore, because inverters have smaller unit capacities than traditional units and more adjustable control parameters, traditional trajectory sensitivity calculation methods, such as those based on the differential method, become even less efficient.

[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 by an embodiment of the present application, comprising the following steps:

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

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

[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 in 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 multiple 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 through the dynamic model of the constructed 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, it can ensure that the calculation process is effective and accurate. In addition, this technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the influence of the presence of inverters and the switching of control strategies on the dynamic characteristics of the power grid, which is especially important for the current power grids that are increasingly using inverters.

[0074] The following explains each of the above steps:

[0075] S101. Draw a baseline 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] For example, x0 represents the initial value of the state variable, and 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. A curve representing the reference trajectory is drawn based on the corresponding parameters after the solution, and is represented by the following formula:

[0082] x(t)=φ(t,x0,λ,c0)

[0083] c(t)=χ(t,x0,λ,c0)

[0084] Where 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 preset values ​​or set according to actual conditions, and this application does not limit this.

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

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

[0087] In some embodiments, the reference trajectory is divided based on the acquired control switching moments 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 denote 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 benchmark 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. 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 parameters of the power system.

[0091] In some embodiments, the derivatives of the state variables of the dynamic model of the power system on the reference trajectory and the derivatives of the system parameters of the dynamic model of the power system on the reference trajectory are determined respectively through 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 in 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. The first step change represents the step change of the trajectory sensitivity relative to the initial value of the state variable of the reference sub-trajectory, and the second step change represents the step change of the trajectory sensitivity relative to the system parameters of the power system.

[0094] In some embodiments, the switching time sensitivity is determined 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. Furthermore, the first step change and the second step change of the reference sub-trajectory are determined based on the switching time sensitivity.

[0095] S105 : Determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the multiple 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 recorded as Φ (i,0) , the sensitivity of the second trajectory is recorded as Ψ (i,0) Finally, the trajectory sensitivity of the benchmark trajectory is determined by combining the trajectory sensitivities of each benchmark 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 trajectory sensitivity of the i-th reference sub-trajectory, represents the first step change of the reference sub-trajectory, It can be understood that the Φ 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 trace 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 an n×m-dimensional time-varying matrix, which represents the second trajectory sensitivity of the reference sub-trajectory at different times, and characterizes the sensitivity of the reference sub-trajectory to the system parameters of the power system.

[0107] like Figure 2 As shown in FIG, 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 shown in 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 with respect to the state variable x in the dynamic model of the power system, which is also called the partial derivative matrix. Each element in this time-varying matrix is Represents the partial derivative of the j-th input in the 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 the first derivative.

[0126] It should be noted that after determining the first derivative, the first derivative is substituted into the following formula and integrated to obtain Φ (i) (t), and by combining 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 by combining the time corresponding to the reference sub-track, the second track sensitivity of the reference sub-track can be obtained:

[0131]

[0132] This method directly determines the trajectory sensitivity of the reference sub-trajectory through integration, avoiding the approximation errors of traditional numerical methods and improving the accuracy of the calculation process. Furthermore, only two solutions are required to obtain the trajectory sensitivity of the reference sub-trajectory. Compared with traditional repeated simulation methods, this method avoids the need for multiple repeated simulations, reduces the amount of calculation, and improves computational efficiency.

[0133] In some embodiments, as 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 follows:

[0134] S301 : 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.

[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-built 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 follows:

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

[0138] It should be noted that changes in the initial values ​​of the state variables and system parameters of the benchmark sub-trajectory will cause changes in the control switching time of the benchmark sub-trajectory. Control switching occurs when the relevant parameters of the benchmark sub-trajectory meet the switching conditions. Therefore, the switching conditions of the benchmark 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 switching condition above represents 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-trajectory in advance, the corresponding switching basis quantity can be determined according to the above formula to facilitate subsequent further calculations. The switching conditions of the reference value trajectory can be obtained by calculation, simulation, etc. according to actual conditions, and this application does not limit this.

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

[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 is 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 (determined according to the switching basis), 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 distance of the benchmark sub-trajectory away from the hypersurface at the control switching moment is 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 reference amount, the second trajectory sensitivity, the second hypersurface model, and the state variable.

[0149] Similar to the first hypersurface model, the second hypersurface model is as 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 distance that characterizes the reference sub-trajectory away from the hypersurface at the control switching moment is 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 the reference sub-trajectory based on the sensitivity of the switching time.

[0154] It should be noted that the baseline trajectory can change due to changes in the initial values ​​of its state variables or changes in the power system parameters. This can cause the changed baseline trajectory to have inconsistent control states near the control switching time compared to the original baseline trajectory, resulting in a step change in the trajectory sensitivity of the baseline sub-trajectory. Therefore, determining the step change in trajectory sensitivity is necessary to more accurately determine the trajectory sensitivity of the baseline trajectory.

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

[0156] As a possible implementation, Figure 5 As shown, determining the step change of the reference sub-trace based on the sensitivity of the switching time 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 through the dynamic model of the constructed 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, it can ensure that the calculation process is effective and accurate. In addition, this technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the influence of the presence of inverters and the switching of control strategies on the dynamic characteristics of the power grid, which is especially 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 relevant data comply with the relevant laws, regulations and standards of relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, 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 The present invention provides a device for determining the trajectory sensitivity of a reference trajectory, which is used to perform the above-mentioned method for determining the trajectory sensitivity of the reference trajectory. 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 determining module 601 is configured 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 is 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 determining module 603 is configured to determine, for each of the multiple reference sub-trajectories, a trajectory sensitivity of the reference sub-trajectory based on a dynamic model of the power system;

[0174] a third determining 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 determining module 605 is configured to determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the multiple reference sub-trajectories and the step changes in the trajectory sensitivity.

[0176] Furthermore, 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 the initial value of the state variable of the reference sub-trajectory, and the second trajectory sensitivity characterizing the sensitivity of the reference sub-trajectory relative to the 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, 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;

[0179] a first determining unit, configured to determine a first trajectory sensitivity based on the 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] Furthermore, 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] Furthermore, the sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizing 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 characterizing the sensitivity of the switching time relative to the system parameters 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] Determining a switching basis amount of the reference sub-trajectory based on the switching condition of the reference sub-trajectory;

[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] Furthermore, 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;

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

[0191] Determine the step change of the reference sub-trajectory based on the sensitivity of the switching time, including:

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

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

[0194] The technical solution provided in the embodiment of the present application determines the reference trajectory through the dynamic model of the constructed 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, it can ensure that the calculation process is effective and accurate. In addition, this technical solution can be directly applied to situations where a high proportion of power electronic equipment is involved in the power grid, especially the influence of the presence of inverters and the switching of control strategies on the dynamic characteristics of the power grid, which is especially 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 having certain functions. A typical implementation device is a computer device. Specifically, the computer device may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, 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, and the processor is used to control the execution of the program instructions. When the program instructions are loaded and executed by the processor, the steps of the embodiment of the above-mentioned method for determining the trajectory sensitivity of the reference trajectory are implemented. For a specific description, please refer to the embodiment of the above-mentioned method for determining the trajectory sensitivity of the reference trajectory.

[0197] Reference below Figure 7 , which shows a schematic structural diagram 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 tasks and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 into the random access memory (RAM) 703. Various programs and data required for the operation of the computer device 700 are also stored in the RAM 703. The CPU 701, ROM 702, and 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, and the like; an output section 707 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 708 including devices such as a hard disk; and a communication section 709 including a network interface card such as a LAN card or a modem. 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. Removable media 711, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 710 as needed, so that computer programs read therefrom can be installed in the storage section 708 as needed.

[0200] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program including program code for executing the methods illustrated in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709 and / or installed from removable media 711.

[0201] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0202] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, 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 flowcharts and / or block diagrams. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0206] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0207] The acquisition, storage, use, and processing of data in this application's technical solution comply with relevant 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. 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 take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing 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 communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0211] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0212] The foregoing is merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within 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 reference sub-trajectory 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; determining the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the multiple reference sub-trajectories and a step change of the trajectory sensitivity, and determining the trajectory sensitivity of the reference trajectory by combining the trajectory sensitivities of the multiple reference sub-trajectories through recursive calculation; The determining the step change of 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, a first trajectory sensitivity, and a second trajectory sensitivity; determining a step change of the reference sub-trajectory based on a sensitivity of the switching time; The trajectory sensitivity of the reference sub-trajectory includes the first trajectory sensitivity and the second trajectory sensitivity, 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 parameters of the power system.

2. The method according to claim 1, characterized in that 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 represent 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 represent a 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 1, characterized in that The sensitivity of the switching time includes a first switching sensitivity and a second switching sensitivity, the first switching sensitivity characterizing 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 characterizing 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; The determining of 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 includes: determining a switching basis amount of the reference sub-trajectory based on the switching condition of the reference sub-trajectory; Determining 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.

4. The method according to claim 3, 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 the 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.

5. A device for determining the trajectory sensitivity of a reference trajectory, characterized in that: include: A first determination module is configured 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 determining 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, configured to determine the trajectory sensitivity of the reference trajectory based on the trajectory sensitivities of the multiple reference sub-trajectories and the step change of the trajectory sensitivity, and to determine the trajectory sensitivity of the reference trajectory by combining the trajectory sensitivities of the multiple reference sub-trajectories through recursive calculation; The third determining module includes: 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; The fourth determining unit determines the step change of the reference sub-trajectory based on the sensitivity of the switching time The trajectory sensitivity of the reference sub-trajectory includes the first trajectory sensitivity and the second trajectory sensitivity, 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 parameters of the power system.

6. The device according to claim 5, characterized in that The second determining module includes: a derivative determining 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 represent 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 represent 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 determining unit is configured to determine the second trajectory sensitivity based on the second derivative and the first trajectory sensitivity.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: 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 4 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program implements the steps of the method for determining the trajectory sensitivity of the reference trajectory according to any one of claims 1 to 4.

9. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction 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 4 are implemented.

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