Power van vehicle-mounted intelligent terminal and power van grid-connected control method

Abstract

According to the power van vehicle-mounted intelligent terminal and the power van grid-connected control method, power van chassis information, power van generator set state data and environment data are collected through a communication interface module and uploaded to a main control storage module; the collected data fusion module carries out fusion processing on the collected data and calculates a comprehensive state index of the power supply vehicle; according to the comprehensive state index of the power supply vehicle, judging whether the current power supply vehicle meets a synchronous power grid access control work requirement; performing high-frequency sampling on the voltage and the phase of the power distribution network, predicting the voltage and the phase angle value of the power distribution network, and controlling the power supply vehicle to synchronously access the power distribution network when the access synchronous control module judges that the power supply vehicle meets the synchronous power grid access condition; after the power van is connected to the power distribution network, the power adaptive module adjusts the output voltage and the output power of the power van to ensure the power balance of the power distribution network. The intelligent production operation level of the power van is improved, live-line non-power-cut operation of the power van is achieved, and continuous operation of a power grid is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of power grid stability and reliable power supply under a new power system, and particularly relates to an on-vehicle intelligent terminal applicable to a power production power vehicle and a power vehicle grid connection control method. Background Art

[0002] With the rapid development of social economy and the continuous improvement of people's living standards, users' requirements for power supply reliability are also getting higher and higher. To improve power supply reliability, power outages must be reduced, and carrying out power distribution non-stop operation is the most direct and effective measure to improve power supply reliability.

[0003] On the other hand, under the new power system, there is a close connection with the power production power vehicle. The new power system emphasizes a clean, efficient, and sustainable energy supply method, such as the large-scale development and application of renewable energy sources such as wind energy and solar energy. This transformation is of great significance for reducing carbon emissions and improving environmental quality. And the power vehicle, as an emergency backup power source, can provide power support in case of main power failure or emergencies to ensure the continuous operation of critical facilities and services. The new power system has higher and higher requirements for intelligence and automation. By equipping advanced control systems and monitoring devices, the power production power vehicle can realize functions such as remote monitoring and automatic control, improving the intelligence level of the power system. The two are interdependent and mutually promoting.

[0004] Under the background of the application demand for power vehicles in non-stop maintenance and construction operations, restoring power first and then repairing, etc., coupled with the frequent occurrence of extreme weather and natural disasters, the application of power vehicles is increasing day by day. There are still deficiencies in the existing vehicle intelligent control and the ability to adapt to rapid response in dispatching and command.

[0005] Although the power production power vehicle has made great progress, there is still a problem of insufficient digital level. The vehicle information cannot be linked with the distribution cloud master station and the operation and maintenance repair command system. The command center cannot master the specific situation of the vehicle, cannot accurately and efficiently control and command the vehicle for disaster relief and rescue, resulting in a waste of precious power resources and having a greater impact on the power emergency guarantee ability. Summary of the Invention

[0006] To address the deficiencies in the existing technologies, the present invention provides an Internet of Things-enabled in-vehicle intelligent terminal for power supply vehicles and a grid connection control method for power supply vehicles. The present invention proposes an intelligent in-vehicle Internet of Things terminal applicable to power production power supply vehicles. By means of sensing devices such as temperature and humidity sensors, smoke sensors, noise sensors, and cameras, it realizes the sensing and uploading of key operation data such as vehicle location, operation and maintenance personnel, and working status, and interacts with the dispatching and command platform in real time. At the same time, the present invention provides a power-off switching control method for power supply vehicles to access the distribution network, which can automatically control the connection and disconnection of power production special vehicles safely, reliably, flexibly, and efficiently. While realizing operations such as power-off maintenance or temporary power supply with "zero" perception by users, it reduces the complexity of operation and meets the high-efficiency command requirements of emergency power supply support tasks.

[0007] To achieve the above-mentioned invention objectives, the present invention specifically adopts the following technical solutions.

[0008] On the one hand, the present invention discloses an in-vehicle intelligent terminal for a power supply vehicle, including a main control and storage module, a data acquisition and fusion module, a communication interface module, an access synchronization control module, and a power adaptive control module;

[0009] The communication interface module collects the chassis information of the power supply vehicle, the status data of the power generation set of the power supply vehicle, and environmental data, and uploads them to the main control and storage module;

[0010] The main control and storage module performs fusion processing on the collected data through the data acquisition and fusion module to calculate the comprehensive status index of the power supply vehicle; the main control and storage module determines whether the current power supply vehicle meets the requirements for synchronous grid connection control work according to the calculated comprehensive status index of the power supply vehicle and the core parameters in the collected data, and uploads the judgment result to the dispatching and command platform;

[0011] The main control and storage module performs high-frequency sampling on the voltage and phase of the distribution network through the communication interface module to predict the voltage and phase angle values of the distribution network. When the access synchronization control module determines that the power supply vehicle meets the conditions for synchronous grid connection, it controls the power supply vehicle to synchronously access the distribution network;

[0012] After the power supply vehicle is connected to the distribution network, the power adaptive module adjusts the output voltage and output power of the power supply vehicle to ensure power balance in the distribution network.

[0013] Further preferably,

[0014] The communication interface module includes a CAN interface, multiple RS-485 communication interfaces, and an Ethernet interface;

[0015] Collect the chassis information of the power supply vehicle through the CAN bus, collect the status data of the power generation set of the power supply vehicle through RS-485, and upload the environmental data through the Ethernet interface of the sensor;

[0016] The collected information of the power vehicle chassis includes engine oil temperature D1, oil level D2, vehicle speed D3, and fault code D4;

[0017] The collected status data of the generator set includes voltage J1, current J2, power J3, frequency J4, power generation J5, opening / closing position of the circuit breaker J6, engine oil pressure J7, coolant temperature J8, and working duration J9;

[0018] The collected environmental data are temperature and humidity H1, smoke sensor H2, and noise sensor H3.

[0019] Further preferably,

[0020] Take the oil level D2, fault code D4, engine oil pressure J7, and coolant temperature J8 as core parameters;

[0021] Perform weighted calculation on the power vehicle chassis information, the status data of the power vehicle generator set, and the environmental data to obtain the comprehensive status index of the power vehicle;

[0022] When any core parameter does not meet the requirements for synchronous grid connection control operation, it is determined that the current power vehicle does not meet the requirements for synchronous grid connection control operation;

[0023] When the comprehensive status index of the power vehicle does not meet the requirements for synchronous grid connection control operation, it is determined that the current power vehicle does not meet the requirements for synchronous grid connection control operation.

[0024] Further preferably,

[0025] The access synchronization control module determines whether the conditions for synchronous grid connection are met according to the following formula:

[0026]

[0027] φ K is the predicted phase angle value of the distribution network at the Kth moment before the power vehicle accesses, V mK is the predicted effective voltage value of the distribution network at the Kth moment before the power vehicle accesses, φ 接入 is the phase angle of the power vehicle generator, φ 相角差设定值 is the allowable phase angle difference between the phase angle of the generator when it accesses the grid and the phase angle of the main grid, V m接入 is the effective voltage of the power vehicle generator.

[0028] On the other hand, the present invention discloses a power vehicle grid connection control method, and the method includes the following steps:

[0029] (1) The on-vehicle intelligent terminal system collects the power vehicle chassis information through the CAN bus, collects the status data of the power vehicle generator set through RS-485, and collects the environmental data through sensors;

[0030] (2) Perform fusion calculation on the data collected in step (1) to determine whether the current power supply vehicle meets the requirements for synchronous grid connection control work. If it meets, proceed to step (3); otherwise, call other power supply vehicles and return to step (1).

[0031] (3) Perform high-frequency sampling on the distribution network voltage and phase to predict the distribution network voltage and phase angle values.

[0032] (4) When the voltage and phase angle values of the power supply vehicle meet the synchronous grid connection conditions relative to the predicted distribution network voltage and phase angle values, control the power supply vehicle to connect to the grid and trip the circuit breaker on the distribution network side; otherwise, return to step (3).

[0033] (5) After the power supply vehicle is connected to the distribution network, adjust the output voltage and output power of the power supply vehicle to ensure power balance of the distribution network.

[0034] Further preferably,

[0035] In step (1), the collected power supply vehicle chassis information includes engine oil temperature D1, oil level D2, vehicle speed D3, and fault code D4.

[0036] The collected generator set status data includes voltage J1, current J2, power J3, frequency J4, power generation J5, circuit breaker opening / closing position J6, engine oil pressure J7, coolant temperature J8, and working duration J9.

[0037] The collected environmental data are temperature and humidity H1, smoke sensor H2, and noise sensor H3.

[0038] Further preferably,

[0039] In step (2), perform normalization processing on the data collected in step (1). Assign 0 to the circuit breaker closing, and 1 to the opening; assign 1 to the fault code indicating a fault, and 0 to no fault; calculate the difference between the analog signals in each data of the power supply vehicle chassis information and the corresponding rated value respectively, take the absolute value and then normalize it, and then perform weighted calculation to obtain the power supply vehicle chassis information D. Calculate the difference between the analog signals in the generator set status data and the corresponding rated value respectively, take the absolute value and then normalize it, and then perform weighted calculation to obtain the generator set status data J. Perform weighted calculation on the temperature and humidity data, smoke sensor data, and noise data to obtain the environmental data H; use the oil level D2, fault code D4, engine oil pressure J7, and coolant temperature J8 as the core parameters.

[0040] First, judge the core criterion 1. If the core criterion 1 is met, it is determined that the current power supply vehicle does not meet the requirements for synchronous grid connection control work; otherwise, further judge the comprehensive criterion 2.

[0041] When the comprehensive criterion 2 is met, it is considered that the current power supply vehicle meets the requirements for synchronous grid connection control work; otherwise, it is considered that the current power supply vehicle does not meet the requirements for synchronous grid connection control work.

[0042] Core criterion 1:

[0043] D 2 <D 2阈值 OR D 4 = 1 OR J 7 <J 7阈值 OR J 8 >J 8阈值

[0044] Comprehensive criterion 2:

[0045] Z 综合 = k 1 D + k 2 J + k 3 H < 0.8

[0046] Wherein, D 2阈值 is the minimum oil level limit, J 7阈值 represents the minimum engine oil pressure limit, J 8阈值 represents the maximum coolant temperature limit, Z 综合 is the integrated status index of the power supply vehicle, k 1 , k 2 , k 3 is the weight coefficient, k 1 + k 2 + k 3 = 1.

[0047] Further preferably,

[0048] in the vehicle scheduling stage of the power supply vehicle, k 1 = 0.4, k 2 = 0.4, k 3 = 0.2;

[0049] in the power generation operation stage of the power supply vehicle, k 1 = 0.2, k 2 = 0.7, k 3 = 0.1.

[0050] Further preferably,

[0051] In step (3), high-frequency sampling is performed on the distribution network voltage and phase to respectively obtain the voltage values and frequency values at three consecutive sampling moments, and the voltage prediction coefficient and phase prediction coefficient are calculated;

[0052]

[0053] a 0 , a 1 , a 2 is the phase prediction coefficient, b 0 , b 1,b 2 is the voltage prediction coefficient, f 0 ,f 1 ,f 2 are the distribution network frequency values obtained at three consecutive sampling times of the 0th moment, the 1st moment, and the 2nd moment respectively. t is the period duration of the distribution network electrical parameters at the 0th moment, Δt is the sampling interval, V m0 ,V m1 ,V m2 are the voltage amplitudes sampled at three consecutive sampling times of the 0th moment, the 1st moment, and the 2nd moment respectively.

[0054] Further preferably,

[0055] Predict the distribution network phase angle value according to the following formula:

[0056]

[0057] where, φ K is the predicted value of the distribution network phase angle at the Kth moment.

[0058] Further preferably,

[0059] Predict the distribution network voltage value according to the following formula:

[0060]

[0061] where, V mK is the predicted value of the effective voltage of the distribution network at the Kth moment.

[0062] Further preferably,

[0063] The high-speed sampling frequency is 3000 - 2000Hz.

[0064] Further preferably,

[0065] In step (4), the conditions for synchronously connecting to the power grid are shown as the following formula:

[0066]

[0067] φ K is the predicted value of the distribution network phase angle at the Kth moment before the power supply vehicle is connected. V mK is the predicted value of the effective voltage of the distribution network at the Kth moment before the power supply vehicle is connected. φ 接入 is the phase angle of the power supply vehicle generator. φ 相角差设定值 is the allowable phase angle difference between the phase angle of the generator when it is connected to the power grid and the phase angle of the main grid. V m接入 is the effective voltage of the power supply vehicle generator.

[0068] Further preferably,

[0069] In step (5), when a single power vehicle is connected to the distribution network, the step size and adjustment coefficient are set to adjust the voltage of the power vehicle, and then the output power is adjusted to ensure the stability of the voltage and frequency of the distribution network after the power vehicle is connected.

[0070] When multiple power vehicles need to be connected to the distribution network, the output voltages of the power vehicles are adjusted so that the active power margin ratio factors of the power vehicles are minimized under the same voltage regulation index factor.

[0071] Compared with the prior art, the present invention has the following beneficial technical effects.

[0072] The on-vehicle intelligent terminal of the power vehicle in the power industry of the present invention improves the intelligent production operation level of the power vehicle.

[0073] In terms of dispatching and operation and maintenance, an adaptive weight multi-parameter comprehensive index evaluation method is proposed. By collecting multi-source data such as the chassis system and the power generation system and combining core parameters, a comprehensive evaluation of the operating vehicle status is realized, avoiding the one-sidedness of a single evaluation index.

[0074] In terms of connection, a tracking control method based on voltage and phase angle prediction is proposed to realize the live non-stop power operation of the power vehicle and ensure the continuous operation of the power grid.

[0075] In terms of operation, a power adaptive step coordination control method for single and multi-terminal access is proposed, which can not only control the power matching of a single unit but also realize the coordination of multiple power vehicles to ensure the stable and reliable operation of the power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 It is a schematic structural diagram of the on-vehicle intelligent terminal of the power vehicle of the present invention;

[0077] Figure 2 It is a schematic flowchart of the no-power-off switching control method for the power vehicle to access the distribution network of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0078] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described in this application are only a part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0079] The power vehicle-mounted intelligent terminal and system architecture disclosed by the present invention are implemented in the application scenario of a power production power vehicle. Downward, the terminal uniformly collects and processes various vehicle body information, environmental parameters, unit data, video images, etc. through sensors and controllers. Upward, the terminal accesses the dispatching control platform by means of a power private network, 4G / 5G, Beidou communication, etc. The intelligent terminal realizes data acquisition and fusion, operation environment monitoring, edge computing, secure terminal access, data model standardization. The dispatching control platform realizes coordinated control, remote maintenance and upgrade, etc. The system structure is as Figure 1 shown:

[0080] A power vehicle-mounted intelligent terminal includes a main control and storage module, a data acquisition and fusion module, an access and synchronization control module, a power adaptive control module, and a communication interface module;

[0081] The interface module includes a CAN interface, multiple RS-485 communication interfaces, an Ethernet interface, a remote signaling and remote control interface, a wireless public / private network remote communication interface, a Bluetooth wireless interface, and a Beidou communication interface; the chassis information of the power vehicle is collected through the CAN bus, the status data of the power vehicle generator set is collected through RS-485, and the environmental data is uploaded through the sensor to the Ethernet interface; the collected chassis information of the power vehicle includes engine oil temperature D1, oil level D2, vehicle speed D3, fault code D4; the collected status data of the generator set includes voltage J1, current J2, power J3, frequency J4, power generation J5, circuit breaker opening / closing position J6, engine oil pressure J7, coolant temperature J8, working duration J9; the collected environmental data is temperature and humidity H1, smoke sensor H2, noise sensor H3.

[0082] The main control and storage module is connected to the interface module to obtain complete acquisition data. The main control and storage module calls the data acquisition and fusion module, the access and synchronization control module, and the power adaptive control module, and issues the corresponding acquisition data and instructions to the three functional modules to realize the calculation functions of status evaluation, access control, and power adjustment. The main control and storage module can realize the interaction with the coordinated control platform through the interface module, and issue control instructions to the chassis and generator ECU to realize the intelligent control of the system.

[0083] The main control storage module processes the collected data through the data fusion module for the collected data, and calculates the comprehensive status index of the power vehicle; the main control storage module determines whether the current power vehicle meets the requirements for synchronous grid connection control work according to the calculated comprehensive status index of the power vehicle and the core parameters in the collected data, and uploads the judgment result to the dispatching and command platform; in the preferred embodiment of the present invention, the oil level D2, the fault code D4, the oil pressure J7, and the coolant temperature J8 are used as core parameters; the comprehensive status index of the power vehicle is obtained by weighted calculation of the power vehicle chassis information, the power vehicle generator set status data, and the environmental data; when any core parameter does not meet the requirements for synchronous grid connection control work, it is determined that the current power vehicle does not meet the requirements for synchronous grid connection control work; when the comprehensive status index of the power vehicle does not meet the requirements for synchronous grid connection control work, it is determined that the current power vehicle does not meet the requirements for synchronous grid connection control work.

[0084] The main control storage module performs high-frequency sampling on the distribution network voltage and phase through the communication interface module, predicts the distribution network voltage and phase angle values, and accesses the synchronous control module to determine that when the power vehicle meets the conditions for synchronous grid connection, controls the power vehicle to be synchronously connected to the distribution network; the access synchronous control module determines whether the conditions for synchronous grid connection are met according to the following formula:

[0085]

[0086] φ K is the predicted phase angle value of the distribution network at the Kth moment before the power vehicle is connected, V mK is the predicted effective voltage value of the distribution network at the Kth moment before the power vehicle is connected, φ 接入 is the phase angle of the power vehicle generator, φ 相角差设定值 is the allowable phase angle difference between the phase angle of the generator when the generator is connected to the grid and the phase angle of the main grid, V m接入 is the effective voltage of the power vehicle generator.

[0087] After the power vehicle is connected to the distribution network, the power adaptive module adjusts the output voltage and output power of the power vehicle to ensure the power balance of the distribution network.

[0088] As attached Figure 2 shown, the present invention also protects a power vehicle grid connection control method based on the foregoing vehicle-mounted intelligent terminal, and the method includes the following steps:

[0089] Step 1: The vehicle-mounted intelligent terminal system collects the power vehicle chassis information through the CAN bus, collects the power vehicle generator set status data through RS-485, and collects the environmental data through sensors;

[0090] The collected power vehicle chassis information includes the engine oil temperature D1, the oil level D2, the vehicle speed D3, and the fault code D4;

[0091] The collected generator set status data includes voltage J1, current J2, power J3, frequency J4, power generation J5, circuit breaker opening / closing position J6, oil pressure J7, coolant temperature J8, and working duration J9;

[0092] The collected environmental data are temperature and humidity H1, smoke sensor H2, and noise sensor H3.

[0093] Step 2: Perform fusion calculation on the data collected in Step 1 to determine whether the current power vehicle meets the requirements for synchronous grid connection control work. If it meets, go to Step 3; otherwise, call other power vehicles and return to Step 1;

[0094] Normalize the data collected in Step 1. Assign 0 to the circuit breaker when it is closed and 1 when it is open; assign 1 to the fault code when a fault is indicated and 0 when there is no fault; calculate the difference between the analog signals in each data of the power vehicle chassis information and the corresponding rated value respectively, take the absolute value, normalize it, and then perform weighted calculation to obtain the power vehicle chassis information D. Calculate the difference between the analog signals in the generator set status data and the corresponding rated value respectively, take the absolute value, normalize it, and then perform weighted calculation to obtain the generator set status data J. Normalize and perform weighted calculation on the temperature and humidity data, smoke sensor data, and noise data to obtain the environmental data H; use the oil level D2, fault code D4, oil pressure J7, and coolant temperature J8 as the core parameters;

[0095] First, judge Core Criterion 1. If Core Criterion 1 is met, it is determined that the current power vehicle does not meet the requirements for synchronous grid connection control work; otherwise, further judge Comprehensive Criterion 2;

[0096] When Comprehensive Criterion 2 is met, it is considered that the current power vehicle meets the requirements for synchronous grid connection control work; otherwise, it is considered that the current power vehicle does not meet the requirements for synchronous grid connection control work;

[0097] Core Criterion 1:

[0098] D 2 <D 2阈值 OR D 4 =1OR J 7 <J 7阈值 OR J 8 >J 8阈值

[0099] Comprehensive Criterion 2:

[0100] Z 综合 =k 1 D+k 2 J+k 3 H<0.8

[0101] Among them, D 2阈值 is the minimum limit value of the oil level, J 7阈值Indicates the minimum limit value of engine oil pressure, J 8阈值 Indicates the maximum limit value of coolant temperature, Z 综合 Integrated status index of the power supply vehicle, k 1 , k 2 , k 3 Is the weight coefficient, k 1 +k 2 +k 3 = 1.

[0102] It should be noted that in the process of weighted calculation to obtain the chassis information D of the power supply vehicle, the status data J of the generator set, and the environmental data H, the sum of the weights of each data is 1. Each weight can take an average value or different weights can be set according to the importance of the parameters.

[0103] In a preferred embodiment of the present invention,

[0104] D = (k d1 *D’1 + k d2 *D’2 + k d3 *D’3 + k d4 *D’4)

[0105] J = (k j1 *J’1 + k j2 *J’2 + k j3 *J’3 + k j4 *J’4 + k j5 *J’5 + k j6 *J’6 + k j7 *J’7 + k j8 *J’8 + k j9 *J’9)

[0106] H = (k h1 *H’1 + k h2 *H’2 + k h3 *H’3 + k h4 *H’4)

[0107] k 1 +k 2 +k 3 = 1

[0108] k d1 +k d2 +k d3 +k d4 = 1

[0109] k j1 +k j2 +…+k j9 = 1

[0110] k h1 +k h2+k h3 +k h4 = 1

[0111] where D’1, D’2, D’3, D’4, J’1, J’2, J’3, J’4, J’5, J’6, J’7, J’8, J’9, H’1, H’2, H’3, H’4 are all data after data assignment / normalization processing, and Z 综合 represents the comprehensive index of each item of collected data, and Z 综合 ∈(0 - 1) represents whether the power supply vehicle is suitable for the current scenario task, preferably 0.8. The weight coefficient is adjusted by the dispatching and command platform in combination with the application scenario. Preferably, in the vehicle dispatching stage, k1 = 0.4, k2 = 0.4, k3 = 0.2. In the operation and power generation stage, k1 = 0.2, k2 = 0.7, k3 = 0.1. In this patent, the oil level D2, fault code D4, oil pressure J7, and coolant temperature J8 are selected as the core parameters. When one of them does not meet the requirements, the comprehensive index Z 综合 = 0, and the power supply vehicle does not meet the service requirements.

[0112] Step 3: Perform high-frequency sampling on the distribution network voltage and phase, and predict the distribution network voltage and phase angle values;

[0113] Collect the voltage information of the access point, check the opening and closing conditions of the grid-side circuit breaker. If there is no voltage at the access point and the grid-side circuit breaker is open, then connect to the distribution network, and the power supply vehicle performs emergency power supply access.

[0114] For the situation of grid-side power outage maintenance or user-side temporary power supply, achieve non-stop power supply synchronous grid connection. When the voltage sampling information meets the grid connection conditions, then perform the opening operation of the grid-side circuit breaker, and the power supply vehicle performs temporary power supply access.

[0115] After the power supply vehicle is connected to the distribution network, execute the power regulation control algorithm instruction, and collect the grid-side voltage information in real time to prepare for the reclosing of the grid side.

[0116] After the grid-side reclosing meets the conditions, after a preset delay time, automatically trigger the remote control instruction for opening the user-side circuit breaker. After verifying the remote control operation instruction for opening, perform the corresponding remote control operation for opening to achieve non-stop power supply automatic switching control between the emergency power supply vehicle and the power grid.

[0117] To achieve synchronous grid connection closing, build a dynamic phasor algorithm model for measuring the time-frequency domain information of the distribution network.

[0118] The intelligent terminal has high-speed and low-speed sampling functions. The high-speed sampling frequency is 3000 - 2000Hz, and the low-speed sampling frequency is 200 - 100Hz. High-speed sampling can obtain accurate V m (t), f(t), so as to calculate the current a 0 、a1 , a 2 , b 0 , b 1 , b 2

[0119] With this coefficient, the φ(kΔt) and V m (kΔt) corresponding to the subsequent KΔt moment can be calculated using the above formula and compared with the low-frequency sampling data (converted to low-frequency sampling after high-frequency sampling). The error between the two is required to be controlled within 5%. When the error exceeds the threshold, high-frequency sampling is performed again to obtain a new coefficient a 0 , a 1 , a 2 , b 0 , b 1 , b 2 .

[0120] In a preferred embodiment of the present invention,

[0121] High-frequency sampling is performed on the voltage and phase of the distribution network to obtain the voltage values and frequency values at three consecutive sampling moments respectively, and the voltage prediction coefficient and phase prediction coefficient are calculated;

[0122]

[0123] a 0 , a 1 , a 2 is the phase prediction coefficient, b 0 , b 1 , b 2 is the voltage prediction coefficient, f 0 , f 1 , f 2 are the distribution network frequency values obtained at three consecutive sampling moments of the 0th moment, the 1st moment, and the 2nd moment respectively, t is the period duration of the distribution network electrical parameters at the 0th moment, Δt is the sampling interval, V m0 , V m1 , V m2 are the voltage amplitudes sampled at three consecutive sampling moments of the 0th moment, the 1st moment, and the 2nd moment respectively.

[0124] Predict the distribution network phase angle value according to the following formula:

[0125]

[0126] where φ K is the predicted value of the distribution network phase angle value at the Kth moment.

[0127] Predict the distribution network voltage value according to the following formula:

[0128]

[0129] Among them, V mK is the predicted value of the effective value of the distribution network voltage at the Kth moment.

[0130] Step 4: When the voltage and phase angle values of the power supply vehicle meet the synchronous grid connection conditions relative to the predicted distribution network voltage and phase angle values, control the power supply vehicle to connect to the grid and the circuit breaker on the distribution network side to trip; otherwise, return to Step 3.

[0131] The synchronous grid connection conditions are shown in the following formula:

[0132]

[0133] φ K is the predicted phase angle value of the distribution network at the Kth moment before the power supply vehicle is connected, V mK is the predicted value of the effective value of the distribution network voltage at the Kth moment before the power supply vehicle is connected, φ 接入 is the phase angle of the power supply vehicle generator, φ 相角差设定值 is the allowable phase angle difference between the phase angle of the generator and the main grid phase angle when the generator is connected to the grid, V m接入 is the effective voltage of the power supply vehicle generator.

[0134] Step 5: After the power supply vehicle is connected to the distribution network, adjust the output voltage and output power of the power supply vehicle to ensure the power balance of the distribution network;

[0135] When a single power supply vehicle is connected to the distribution network, set the step size and adjustment coefficient to adjust the voltage of the power supply vehicle, and then adjust the output power to ensure the stability of the distribution network voltage and frequency after the power supply vehicle is connected;

[0136] When multiple power supply vehicles need to be connected to the distribution network, adjust the output voltage of each power supply vehicle so that when the voltage adjustment index factor of each power supply vehicle is the same, the active power margin proportionality factor of each power supply vehicle is the smallest.

[0137] In the preferred embodiment of the present invention,

[0138] After the power supply vehicle is connected, it is further necessary to clarify how to adjust a single power supply vehicle and a multi-terminal access system of multiple power supply vehicles to ensure the power balance and voltage and frequency stability of the distribution network that meet the power quality standards.

[0139] The fast regulation method is as follows:

[0140]

[0141] N is the number of control step sizes, t 1 -t 0 is the adjustment time window, t 单步 is the adjustment time required for each step size, which is a fixed parameter according to the calculation example of the vehicle-mounted terminal and the size of the node model, and Δx is the adjustment coefficient.

[0142] After the voltage is regulated, the output power also changes, and the power change ΔP is expressed as:

[0143]

[0144] Where V m (t 0 ) and V m (t 1 ) represent the voltage output values of the power supply vehicle connected to the distribution network at time t 0 and time t 1 , and r 线路 +jx 线路 represents the impedance of the power supply vehicle line.

[0145] Constraint conditions:

[0146]

[0147] In the formula, P L (t), P G (t) are the output powers of the conventional unit and the distributed power generation vehicle at time t respectively, P C (t), P los (t) are the total load power in the power grid and the power loss inside the power grid at time t respectively, φ min and φ max are the minimum and maximum phase angle values of the output voltage of the power supply vehicle respectively, f min and f max are the minimum and maximum allowable frequencies of the output of the power supply vehicle respectively, V min and V max are the minimum and maximum allowable voltages of the power supply vehicle respectively.

[0148] Furthermore, for the case where a single power supply vehicle cannot meet the load demand, a multi-terminal access system is constructed, and its control strategy needs to consider the coordination problem between the controls of multiple power supply vehicles, especially the problem of active power coordinated distribution. In the multi-terminal system, considering the differences between power supply vehicles, the active power is reasonably distributed to avoid the output reaching its operation limit.

[0149] Consider the proportionality factor λ i功率 of the active power margin of each power supply vehicle, and the exponential factor λ i电压 of the voltage regulation efficiency of each power supply vehicle.

[0150]

[0151] Among them, λ i功率 represents the proportionality factor of the active power margin of the i-th power supply vehicle, and λ i电压 represents the exponential factor of the voltage regulation efficiency of the i-th power supply vehicle, Pimax represents the maximum output power allowed for the i-th power vehicle, P imin represents the minimum output power allowed for the i-th power vehicle, P i is the current output power of the i-th power vehicle, ΔV i is the current voltage regulation change amount of the i-th power vehicle, V i额定 is the rated output voltage value of the i-th power vehicle, Δp i is the current power regulation change amount of the i-th power vehicle, P iV额定 is the rated output power value of the i-th power vehicle, k i功率 and k i电压 are intermediate calculation variables.

[0152] Construct the output strategy function of multiple power vehicles as follows:

[0153]

[0154] λ i功率 and λ j功率 are respectively the proportionality factors of the active power margins of the i-th and j-th power vehicles, λ i电压 and λ j电压 are respectively the exponential factors of the voltage regulation efficiencies of the i-th and the power vehicle. First, adjust the output voltages of each power vehicle so that under the same voltage regulation exponential factor for each power vehicle, the proportionality factors of the active power margins of each power vehicle are minimized, and the output situations of multiple power vehicles are adjusted to be consistent to avoid uneven output.

[0155] In summary, the optimal control after the access of the power vehicle is realized, and a control algorithm including the control of a single power vehicle and the joint control of multiple power vehicles is proposed.

[0156] This disclosure can be a system, a method, and / or a computer program product. The computer program product can include a computer-readable storage medium having thereon computer-readable program instructions for causing a processor to implement various aspects of this disclosure.

[0157] A computer-readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. A computer-readable storage medium may be, for example—but not limited to—an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanically encoded device such as a punched card or raised structures in grooves having instructions stored thereon, and any suitable combination of the foregoing. The computer-readable storage medium used herein is not construed as an instantaneous signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0158] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to respective computing / processing devices, or downloaded to an external computer or external storage device through a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include a copper transmission cable, an optical fiber transmission, a wireless transmission, a router, a firewall, a switch, a gateway computer, and / or an edge server. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0159] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider). In some embodiments, by using the state information of the computer-readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present disclosure.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present invention or make equivalent substitutions, and any modification or equivalent substitution that does not depart from the spirit and scope of the present invention should be covered by the protection scope of the claims of the present invention.

Claims

1. A vehicle-mounted intelligent terminal for a power supply vehicle, comprising a main control storage module, a data collection fusion module, a communication interface module, an access synchronization control module, and a power adaptive control module, characterized in that: The chassis information of the power supply vehicle, the status data of the generator set of the power supply vehicle and the environmental data are collected through the communication interface module and uploaded to the main control storage module; The main control storage module fuses the collected data through the collected data fusion module and calculates the comprehensive status index of the power supply vehicle; The main control storage module determines whether the current power supply vehicle meets the requirements for synchronous access to the power grid control work based on the calculated comprehensive status index of the power supply vehicle and the core parameters in the collected data, and uploads the judgment result to the dispatching command platform; The main control storage module performs high-frequency sampling of the distribution network voltage and phase through the communication interface module, predicts the distribution network voltage and phase angle value, and connects to the synchronous control module to determine when the power supply vehicle meets the conditions for synchronous access to the grid, and controls the power supply vehicle to synchronously access the distribution network; After the power supply vehicle is connected to the distribution network, the power adaptive module adjusts the output voltage and output power of the power supply vehicle to ensure the power balance of the distribution network.

2. According to claim 1, the vehicle-mounted intelligent terminal of the power supply vehicle is characterized in that: The communication interface module includes CAN interface, multi-channel RS-485 communication interface, and Ethernet interface; Collect chassis information of the power supply vehicle through the CAN bus, collect generator status data of the power supply vehicle through RS-485, and upload environmental data through the Ethernet interface of the sensor; The collected chassis information of the power supply vehicle includes engine oil temperature D1, oil level D2, vehicle speed D3, and fault code D4; The collected generator set status data include voltage J1, current J2, power J3, frequency J4, power generation J5, circuit breaker opening and closing position J6, oil pressure J7, coolant temperature J8, and working time J9; The collected environmental data are temperature and humidity H1, smoke sensor H2, and noise sensor H3.

3. According to claim 2, the vehicle-mounted intelligent terminal of the power supply vehicle is characterized in that: The oil level D2, fault code D4, oil pressure J7, and coolant temperature J8 are used as core parameters; The power supply vehicle chassis information, power supply vehicle generator set status data and environmental data are weighted and calculated to obtain the power supply vehicle comprehensive status index; When any core parameter does not meet the requirements for synchronous access to the grid control work, it is determined that the current power supply vehicle does not meet the requirements for synchronous access to the grid control work; When the comprehensive status index of the power supply vehicle does not meet the requirements for synchronous access to the power grid control work, it is determined that the current power supply vehicle does not meet the requirements for synchronous access to the power grid control work.

4. According to claim 1, the vehicle-mounted intelligent terminal of the power supply vehicle is characterized in that: The access synchronization control module determines whether the conditions for synchronous access to the power grid are met according to the following formula: φ K is the phase angle prediction value of the distribution network at the Kth moment before the power supply vehicle is connected, V mK is the predicted value of the effective voltage of the distribution network at the Kth moment before the power supply vehicle is connected, φ 接入 is the phase angle of the generator in the power supply vehicle, φ 相角差设定值 V is the allowable phase angle difference between the generator phase angle and the main grid phase angle when the generator is connected to the grid. m接入 It is the effective voltage of the generator of the power supply vehicle.

5. A power supply vehicle grid connection control method, characterized in that: The method comprises the following steps: (1) The on-board intelligent terminal system collects chassis information of the power supply vehicle through the CAN bus, collects generator set status data of the power supply vehicle through RS-485, and collects environmental data through sensors; (2) Perform fusion calculation on the data collected in step (1) to determine whether the current power supply vehicle meets the requirements for synchronous access to the power grid control. If yes, proceed to step (3); otherwise, call other power supply vehicles and return to step (1); (3) Perform high-frequency sampling of the distribution network voltage and phase to predict the distribution network voltage and phase angle values; (4) When the voltage and phase angle of the power supply vehicle meet the conditions for synchronous access to the power grid relative to the predicted voltage and phase angle of the distribution network, the power supply vehicle is controlled to access the power grid and the circuit breaker on the distribution network side is opened; otherwise, the process returns to step (3); (5) After the power supply vehicle is connected to the distribution network, adjust the output voltage and output power of the power supply vehicle to ensure the power balance of the distribution network.

6. The power supply vehicle grid connection control method according to claim 5, characterized in that: In step (1), the collected chassis information of the power supply vehicle includes engine oil temperature D1, oil level D2, vehicle speed D3, and fault code D4; The collected generator set status data include voltage J1, current J2, power J3, frequency J4, power generation J5, circuit breaker opening and closing position J6, oil pressure J7, coolant temperature J8, and working time J9; The collected environmental data are temperature and humidity H1, smoke sensor H2, and noise sensor H3.

7. The power supply vehicle grid connection control method according to claim 6, characterized in that: In step (2), the data collected in step (1) are normalized, and the circuit breaker is assigned a value of 0 when it is closed and a value of 1 when it is open; the fault code is assigned a value of 1 when it indicates a fault, and a value of 0 when it is not faulty; the analog signals in each data of the chassis information of the power supply vehicle are respectively subtracted from the corresponding rated values, the absolute values ​​are taken and normalized, and then weighted calculation is performed to obtain the chassis information D of the power supply vehicle; the analog signals in the status data of the generator set are respectively subtracted from the corresponding rated values, the absolute values ​​are taken and normalized, and then weighted calculation is performed to obtain the status data J of the generator set; the temperature and humidity data, smoke sensor data, and noise data are normalized and weighted calculation is performed to obtain the environmental data H; the oil level D2, fault code D4, oil pressure J7, and coolant temperature J8 are taken as core parameters; First, the core criterion 1 is judged. If the core criterion 1 is met, the current power supply vehicle does not meet the requirements of synchronous access to the power grid control work. Otherwise, the comprehensive criterion 2 is further judged. When the comprehensive criterion 2 meets the conditions, it is considered that the current power supply vehicle meets the requirements for synchronous access to the power grid control work, otherwise, it is considered that the current power supply vehicle does not meet the requirements for synchronous access to the power grid control work; Core criterion 1: D2<D 2阈值 OR D4=1OR J7<J 7阈值 OR J8>J 8阈值 Comprehensive criterion 2: From 综合 =k1D+k2J+k3H<0.8 Among them, D 2阈值 is the minimum limit of oil level, J 7阈值 Indicates the minimum limit of engine oil pressure, J 8阈值 Indicates the maximum limit of coolant temperature, Z 综合 The comprehensive status index of the power supply vehicle, k1, k2, k3 are weight coefficients, k1+k2+k3=1.

8. The power supply vehicle grid connection control method according to claim 7, characterized in that: In the power supply vehicle dispatching stage, k1 = 0.4, k2 = 0.4, k3 = 0.2; During the power generation stage of the power supply vehicle, k1=0.2, k2=0.7, k3=0.

1.

9. The power supply vehicle grid connection control method according to claim 5, characterized in that: In step (3), the voltage and phase of the distribution network are sampled at high frequency to obtain voltage values ​​and frequency values ​​at three consecutive sampling moments, and the voltage prediction coefficient and the phase prediction coefficient are calculated; a0, a1, a2 are phase prediction coefficients, b0, b1, b2 are voltage prediction coefficients, f0, f1, f2 are the distribution network frequency values ​​obtained at three consecutive sampling moments, namely, time 0, time 1, and time 2, t is the duration of the distribution network electrical parameter cycle at time 0, Δt is the sampling interval, V m0 ,V m1 ,V m2 is the voltage amplitude obtained by sampling at three consecutive sampling moments, namely, moment 0, moment 1, and moment 2.

10. The power supply vehicle grid connection control method according to claim 9, characterized in that: The phase angle value of the distribution network is predicted according to the following formula: Among them, φ K It is the predicted value of the phase angle of the distribution network at the Kth moment.

11. The power supply vehicle grid connection control method according to claim 10, characterized in that: The voltage value of the distribution network is predicted according to the following formula: Among them, V mK is the predicted value of the effective value of the distribution network voltage at the Kth moment.

12. The power supply vehicle grid connection control method according to claim 9, characterized in that: The high-speed sampling frequency is 3000-2000 Hz.

13. The power supply vehicle grid connection control method according to claim 5, characterized in that: In step (4), the conditions for synchronous access to the grid are as follows: φ K is the phase angle prediction value of the distribution network at the Kth moment before the power supply vehicle is connected, V mK is the predicted value of the effective voltage of the distribution network at the Kth moment before the power supply vehicle is connected, φ 接入 is the phase angle of the generator in the power supply vehicle, φ 相角差设定值 V is the allowable phase angle difference between the generator phase angle and the main grid phase angle when the generator is connected to the grid. m接入 It is the effective voltage of the generator of the power supply vehicle.

14. The power supply vehicle grid connection control method according to claim 5 or 13, characterized in that: In step (5), when a single power supply vehicle is connected to the distribution network, the step size and adjustment coefficient are set to adjust the voltage of the power supply vehicle, and then adjust the output power to ensure that the voltage and frequency of the distribution network are stable after the power supply vehicle is connected; When multiple power supply vehicles need to be connected to the distribution network, the output voltage of each power supply vehicle is adjusted so that the active power margin proportional factor of each power supply vehicle is minimized when the voltage regulation index factor of each power supply vehicle is the same.

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