Beat-synchronized distributed power distribution network flexible control system and control method thereof

Abstract

The invention discloses a beat-synchronized distributed power distribution network flexible control system and a control method thereof, the control system comprises at least two control nodes and a distributed power distribution network flexible control system synchronous transmission looped network, synchronous generation of local acquisition data and collaborative data of the flexible control system of the distributed power distribution network is supported, and beat synchronization of control calculation is realized; the distributed power distribution network flexible control system synchronous transmission looped network supports synchronous transmission of collaborative data among distributed control nodes. By adopting the method, the problem of synchronous control calculation of each distributed control node in the distributed power distribution network flexible control system can be solved, and an effective means is provided for implementing rapid and periodic feedback regulation for the distributed power distribution network flexible control system and further realizing the smooth interaction of the source network load storage of the distributed power distribution network.

Description

Technical Field

[0001] The present invention relates to a distributed power distribution network control technology, and in particular to a beat-synchronized distributed power distribution network flexible control system and a control method thereof. Background Art

[0002] Flexible control technology for distributed distribution networks is a new technology that enables fast and smooth interactive control of energy between distributed power sources, distribution network loads and energy storage systems under the vigorous development of new energy. It is also a key technology for realizing the interaction between new distribution networks, loads and energy storage systems.

[0003] From the perspective of energy regulation technology, there are certain similarities between the flexible control technology of distribution networks and the microgrid control technology that has been developed for many years. We can learn from the microgrid control technology to realize control systems such as centralized control and distributed collaborative control of distribution networks.

[0004] For existing distributed power sources, distribution theory and control technology, please refer to Yu Zhiwen's doctoral dissertation "Research on Distributed Collaborative Control Strategy of Microgrid". In addition, among the existing technologies disclosed in patent documents, there is a large category of control technologies involving distributed distribution networks, loads and energy storage of distribution networks, such as application number CN 202210420859.2, named "A control method and device based on flexible direct current interconnection of low-voltage distribution stations", application number CN202111443399.7, named "A microgrid 'source-load-storage' collaborative interactive control system and method", application number CN201710780803.7, named "Distributed control system and distributed control method of distribution network based on multi-agent", etc. Another category is about the synchronous measurement technology of distribution network, such as the application number CN202110980374.4, named "A Synchronous Measurement System and Synchronous Measurement Algorithm for Integrated Energy Systems", and the application number CN202310085100.8, named "Distributed Energy Multi-objective Collaborative Active Support Method Based on Synchronous Measurement". Another category is about collaborative computing, such as the application number CN201710561982.5, named "Variable Step Multi-program Synchronous Computing System and Method Based on Time Domain Control Technology".

[0005] However, the above-mentioned distribution network flexible control system using centralized control has technical defects such as excessive data concentration, excessive calculation concentration, poor real-time performance, and poor time synchronization accuracy. Its control beat is generally at the second level, with a low frequency, and therefore cannot meet the needs of fast energy flexible control. Although the distributed energy management control mode uses distributed computing units to control calculations on the spot, it can be naturally configured at the nodes of the distributed distribution network, and the real-time control can be carried out on the spot, which reduces the data concentration and the concentration of calculations, and can significantly improve the control speed, safety and reliability of the system, and can well support the interactive control needs of power supply, power grid, load, and energy storage. However, the problem brought about by the use of distributed flexible control technology is: the synchronization problem of control calculations of each control node of the distributed control system. Because the data and calculation time of each distributed control node are not synchronized, errors will occur in the calculation results, which will limit the improvement of the control calculation beat frequency, seriously affect the quality of distributed control, and sometimes even cause instability of the control system. Existing distributed collaborative control technologies, including two basic distributed control technologies based on the principle of consistent collaborative control and based on the principle of collaborative control, essentially avoid the problem of time synchronization of distributed control calculation beats.

[0006] The existing technology closest to the present invention regarding flexible interactive control of power sources, power grids, loads, and energy storage is the invention application with application number CN201710780803.7 and titled “Distributed control system and distributed control method for distribution network based on multi-agents”. Although it involves distributed control technology, it does not mention the time synchronization of distributed control calculation beats and its implementation. The existing technology related to synchronous measurement, although it can solve the problem of synchronous measurement of related electrical quantities in many distributed distribution networks, does not involve the problem of synchronous calculation of distributed flexible control systems. Although other existing technologies related to synchronous calculation in this field have proposed a variety of synchronous calculation methods, they are not suitable for solving the synchronization problem of fast and smooth control calculation of distributed distribution networks. Summary of the invention

[0007] In view of this, the present invention provides a beat-synchronized distributed distribution network flexible control system and a control method thereof, which realizes the synchronous control calculation of each distributed control node in the distributed distribution network control system by adopting the beat synchronization control technology of synchronous triggering distributed control calculation, supports fast periodic and strictly time-deterministic feedback regulation, and thus realizes smooth control of the distributed distribution network flexible control system.

[0008] To achieve the above object, the technical solution of the present invention is as follows:

[0009] A distributed distribution network flexible control system with beat synchronization includes: at least two control nodes, and a distributed distribution network flexible control system synchronous transmission ring network, wherein: the control node supports the synchronous generation of local collection data and collaborative data of the distributed distribution network flexible control system, and the beat synchronization of control calculation; the distributed distribution network flexible control system synchronous transmission ring network supports the synchronous transmission of collaborative data between distributed control nodes.

[0010] Wherein: the control node is a distributed control node, each control node generates local acquisition data and collaborative data based on a synchronous clock, and marks the data with a synchronous time stamp to achieve synchronous generation of distributed control calculation data.

[0011] The distributed control nodes are also used for synchronous triggered synchronous calculations. Each distributed control node uses the completion time of local data sampling, or the completion time of collaborative data reception of other nodes as a reference to trigger the control calculation of the beat.

[0012] The distributed distribution network flexible control system synchronous transmission ring network performs strict time determinism and complete transmission of collaborative data between the distributed control nodes to achieve synchronous transmission of collaborative data between the distributed control nodes.

[0013] A control method for a beat-synchronized distributed distribution network flexible control system, comprising:

[0014] The steps of synchronously generating local collected data and coordinated data using distributed control nodes are specifically as follows: generating local collected data and coordinated data based on a synchronous clock through each distributed control node of the flexible control system, and marking the data with a synchronous time stamp, thereby realizing synchronous generation of distributed control calculation data;

[0015] The steps of using the distributed control node collaborative data for synchronous transmission are specifically: using the blackboard shared ring network technology through the flexible control system to implement strict time deterministic transmission of the collaborative data of each control node, so as to achieve complete reception of the collaborative data of the flexible control system;

[0016] The steps of synchronizing the beat of the synchronous triggered control calculation using the distributed control node are specifically as follows: through the distributed control nodes of the flexible control system, the synchronous start of the control calculation beat is triggered based on the time when local data collection is completed, or the time when the collaborative data reception of other nodes is completed, so as to realize the beat synchronization of the synchronous triggered control calculation of each distributed control node.

[0017] The beat-synchronized distributed power distribution network flexible control system and control method thereof of the present invention have the following beneficial effects:

[0018] 1) The beat-synchronized distributed distribution network flexible control system collects local data within the beat at the start of each control calculation beat through the distributed control nodes of the flexible control system, based on the synchronous clock, and generates collaborative data that needs to be referenced by other nodes within the beat, ensuring the synchronous generation of control calculation data.

[0019] 2) The beat-synchronized distributed distribution network flexible control system realizes coordinated data synchronous transmission by constructing a synchronous transmission ring network. It uses the hardware circuit forwarding of BSR and the time certainty of optical fiber transmission to accurately calculate the maximum transmission delay of the maximum amount of collaborative control data, and determines the control calculation beat of the distributed distribution network flexible control system that meets the control index requirements according to this delay, ensuring the synchronization of collaborative data transmission under the control calculation beat.

[0020] 3) The beat-synchronized distributed distribution network flexible control system realizes the synchronization of the control calculation beat by synchronous triggering control calculation, so that each distributed control node triggers the control beat for control calculation when the coordinated data of other nodes is referenced, and triggers the control calculation when the local data collection is completed when the coordinated data of other nodes is not referenced, thereby ensuring the synchronization of the control calculation beat; and through data consistency verification, each distributed control node determines the complete reception of the coordinated data of all other nodes referenced, and the time stamp is consistent with the time stamp of the locally collected data, thereby ensuring reliable synchronous control calculation.

[0021] 4) The present invention adopts the beat synchronization control technology of synchronous triggering distributed control calculation, realizes the synchronous calculation of each distributed control node in the distributed distribution network control system, supports fast periodic and strictly time-deterministic feedback regulation, and thus realizes smooth control of the distributed distribution network flexible control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a functional block diagram of a distributed distribution network flexible control system with beat synchronization according to an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the process of local data collection and coordinated data synchronization generation of the distributed control node with beat synchronization in an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a method for synchronously transmitting data in coordination with beat-synchronized distributed control nodes according to an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of a method for calculating beat synchronization by synchronous triggering control of a distributed control node for beat synchronization in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The implementation process of the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments of the present invention.

[0027] The core idea of ​​the present invention is to trigger the start of the control calculation beat by completing the synchronous collection of local data or the synchronous transmission of collaborative data based on the synchronous time scale, thereby achieving the beat synchronization of the control calculation of the distributed distribution network flexible control system.

[0028] Figure 1 This is a functional block diagram of a distributed distribution network flexible control system with beat synchronization according to an embodiment of the present invention.

[0029] like Figure 1 As shown, the beat-synchronized distributed distribution network flexible control system mainly includes at least two control nodes and a distributed distribution network flexible control system synchronous transmission ring network, wherein: the control node supports the synchronous generation of local collected data and collaborative data of the distributed distribution network flexible control system, and the beat synchronization of control calculations; the distributed distribution network flexible control system synchronous transmission ring network supports the synchronous transmission of collaborative data between distributed control nodes.

[0030] refer to Figure 1 In a specific embodiment of the present invention, a synchronous control computing ring network is constructed, and the distributed control nodes are connected hand in hand, that is, connected in sequence, by introducing the Blackboard Sharing Ring (BSR) technology to form a ring network that supports the distributed control nodes to coordinate data synchronous transmission.

[0031] Each distributed control node uses the 1us synchronization clock provided by the BSR ring network technology to achieve synchronous generation of 1us error accuracy of local collected data and collaborative data based on this time scale, and marks the data with this time scale.

[0032] Each distributed control node uses the hardware circuit forwarding of BSR ring network technology and the time determinism of optical fiber transmission to accurately calculate the control calculation rhythm and collaborative data synchronization transmission delay of the distributed distribution network flexible control system, and ensure the synchronous transmission of collaborative data transmission under the control calculation synchronization rhythm determined by the synchronous transmission delay; BSR is also used to support dual-ring transmission and two-way forwarding technology to achieve complete and reliable transmission of collaborative data.

[0033] Each distributed control node, using the above-mentioned synchronous time-based synchronous collection of local data or the synchronous transmission of collaborative data, triggers the start of the control calculation beat, thereby achieving the beat synchronization of the control calculation of the distributed distribution network flexible control system.

[0034] The present invention also provides a control method for a beat-synchronized distributed distribution network flexible control system, which mainly includes the following steps:

[0035] Step 1: The step of synchronously generating local collected data and collaborative data using distributed control nodes, specifically: generating local collected data and collaborative data using the synchronous clock as a reference through each distributed control node of the flexible control system, and marking the data with a synchronous time stamp, thereby realizing synchronous generation of distributed control calculation data;

[0036] Step 2: using the distributed control node collaborative data for synchronous transmission, specifically: using the blackboard sharing ring network technology through the flexible control system to implement strict time deterministic transmission of the collaborative data of each control node, so as to achieve complete reception of the collaborative data of the flexible control system;

[0037] Step 3: The steps of synchronizing the beat of the synchronous triggered control calculation using the distributed control node are specifically as follows: through the distributed control nodes of the flexible control system, based on the time when local data collection is completed, or the time when the collaborative data reception of other nodes is completed, the synchronous start of the control calculation beat is triggered to achieve the beat synchronization of the synchronous triggered control calculation of each distributed control node.

[0038] The implementation process of the above steps 1 to 3 will be described in detail below in conjunction with the embodiments and drawings.

[0039] Figure 2 The schematic diagram of the process of the distributed control node for beat synchronization in the embodiment of the present invention for local data collection and collaborative data synchronization generation is shown. Figure 2 As shown in the figure, the process of realizing data synchronization generation includes:

[0040] The steps of using the distributed control node to collect data locally and generate collaborative data synchronously include:

[0041] Step 1: Implement distributed clock synchronization: each distributed control node achieves 1us precision time synchronization;

[0042] Step 2: Implement acquisition start synchronization: each distributed control node uses 1us as the clock deviation to synchronously start local data acquisition;

[0043] Step 3: Implement beat start synchronization: each distributed control unit starts the control calculation beat synchronously with 1us as the clock deviation;

[0044] Step 4: Implement calculation data synchronization: that is, each distributed control node, based on the synchronous clock, collects local data within each control calculation beat at the start time, and generates collaborative data that other nodes within the beat need to reference;

[0045] Step 5: Implement computational data labeling: that is, each distributed control node marks the starting time stamp corresponding to the current beat for both the locally collected data and the generated collaborative data.

[0046] Figure 3 Schematic diagram of the method of synchronous transmission of data by coordinated distributed control nodes with beat synchronization according to an embodiment of the present invention. Figure 3 As shown, the process of realizing the synchronous transmission of data includes:

[0047] The step of using the distributed control node to coordinate data for synchronous transmission specifically includes:

[0048] Step 1: Implement the construction of a synchronous computing ring network: that is, use BSR ring network technology and dual-ring optical fiber to connect the distributed control nodes hand in hand to form a ring network that supports the coordinated data synchronization transmission of distributed control nodes;

[0049] Step 2: Calculate the delay of coordinated data transmission: that is, each distributed control node accurately calculates the maximum transmission delay MTD of the maximum coordinated data volume in all control nodes of the distributed control system based on the hardware circuit forwarding of BSR and the time certainty of optical fiber transmission. The calculation formula is as follows:

[0050] MTD = MTC x MDC x (∆t c1 + ∆t c2 ),in:

[0051] ∆t c1 : refers to the fixed transmission delay of a single byte in the BSR forwarding circuit on the distributed control node.

[0052] ∆t c2 : refers to the fixed transmission delay of a single byte on the segmented optical fiber between distributed control nodes.

[0053] MTC: refers to the maximum number of coordinated data addressing and forwarding among distributed control nodes. According to the BSR technical principle, MTC = (n / 2 -1), where n is the total number of distributed control nodes.

[0054] MDC: refers to the maximum coordinated data transmitted among distributed control nodes;

[0055] Step ③, implement coordinated data synchronous transmission: that is, each distributed control node uses the hardware circuit forwarding of BSR and the time certainty of optical fiber transmission, and determines the distributed control system according to the maximum delay time MTD, which meets the control index requirements, and the distributed distribution network flexible control system controls the calculation beat to implement the global synchronous transmission of coordinated data transmission; the relationship between the fastest synchronous calculation beat ω and the maximum delay time MTD is as follows:

[0056] Synchronously calculate the fastest beat ω > 1 / (MTD + MCT),

[0057] MCT: refers to the maximum delay consumed by the control algorithm calculation in each distributed control node;

[0058] Step 4: Implement complete transmission of collaborative data: that is, each distributed control node uses BSR to support dual-ring transmission and bidirectional forwarding technology to implement complete transmission of collaborative control data to the target control node, ensuring high-reliability transmission of collaborative data.

[0059] Figure 4 Schematic diagram of the distributed control node synchronization trigger control calculation beat synchronization method of the beat synchronization embodiment of the present invention. Figure 4 As shown, the process of calculating the beat synchronization by synchronous trigger control includes:

[0060] The steps of using the distributed control node synchronous trigger control to calculate the beat synchronization are as follows:

[0061] Step 1: Determine whether there is collaborative data: each distributed control node determines whether there is collaborative data that references other nodes;

[0062] Step 2: Implement referenced collaborative data synchronization: that is, each distributed control node completely receives the collaborative data of all other nodes referenced;

[0063] Step 3: Implement data consistency check: that is, each distributed control node determines whether it has completely received the collaborative data of all other nodes referenced, and whether the time stamp is consistent with the local collected data;

[0064] Step ④, implement synchronous start of control calculation: that is, when each distributed control node references collaborative data from other nodes, it triggers the control calculation of the control beat when the collaborative data is completely received, otherwise it triggers the control beat to start the control calculation when the local data collection is completed.

[0065] Obviously, the implementation of the above method solves the problem of synchronous control calculation of each distributed control node in the distributed distribution network flexible control system, reduces the calculation result error for the distributed control node, improves the control calculation beat frequency, improves the control quality of the distributed control system, and implements rapid periodic feedback regulation for the distributed distribution network flexible control system, thereby providing an effective means to realize smooth interaction between the source, grid, load and storage of the distributed distribution network. The advanced nature of the present invention can be seen.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A distributed distribution network flexible control system with synchronized beats, characterized in that: The control system includes at least two control nodes and a distributed distribution network flexible control system synchronous transmission ring network, wherein: the control node supports the synchronous generation of local collection data and collaborative data of the distributed distribution network flexible control system, and the beat synchronization of control calculation; the distributed distribution network flexible control system synchronous transmission ring network supports the synchronous transmission of collaborative data between distributed control nodes.

2. The beat-synchronized distributed distribution network flexible control system according to claim 1 is characterized in that: The control node is a distributed control node, which generates local acquisition data and collaborative data based on a synchronous clock, and marks the data with a synchronous time stamp to achieve synchronous generation of distributed control calculation data.

3. The distributed distribution network flexible control system with beat synchronization according to claim 2 is characterized in that: The distributed coordination data of the distributed control nodes are strictly time-determined and completely transmitted to achieve synchronous transmission of the coordination data between the distributed control nodes.

4. The beat-synchronized distributed power distribution network flexible control system according to claim 2, characterized in that: Distributed control nodes support the beat synchronization of synchronous triggered control calculations. Each distributed control node uses the local collected data to synchronously generate a time, or references the time when other nodes complete collaborative data reception as a benchmark to synchronously trigger the control calculation of the beat.

5. A control method for a beat-synchronized distributed distribution network flexible control system, characterized in that: include: The steps of synchronously generating local collected data and coordinated data using distributed control nodes are specifically as follows: generating local collected data and coordinated data based on a synchronous clock through each distributed control node of the flexible control system, and marking the data with a synchronous time stamp, thereby realizing synchronous generation of distributed control calculation data; The steps of using the distributed control node collaborative data for synchronous transmission are specifically: using the blackboard shared ring network technology through the flexible control system to implement strict time deterministic transmission of the collaborative data of each control node, so as to achieve complete reception of the collaborative data of the flexible control system; The steps of synchronizing the beat of the synchronous triggered control calculation using the distributed control node are specifically as follows: through the distributed control nodes of the flexible control system, the synchronous start of the control calculation beat is triggered based on the time when local data collection is completed, or the time when the collaborative data reception of other nodes is completed, so as to realize the beat synchronization of the synchronous triggered control calculation of each distributed control node.

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