An emergency generator dispatching method based on distribution network post-disaster records and ground-air transportation coordination

Abstract

The present invention discloses a method for dispatching an emergency generator coordinated by ground-air transportation after a distribution network disaster, comprising the following steps: S1. constructing an optimization objective function for dispatching an emergency generator coordinated by ground-air transportation after a distribution network disaster with the goal of minimizing total power outage losses; S2. comprehensively considering the generator transportation path, time coordination and resource allocation, constructing constraint conditions for dispatching optimization of emergency generators transported by trucks after a distribution network disaster; S3. constructing constraint conditions for dispatching optimization of emergency generators transported by helicopters after a distribution network disaster; S4. solving the objective function according to a preset simulated post-disaster fault scenario to obtain an optimal dispatching plan including the vehicle driving path and the emergency generator unloading amount.

Description

Technical Field

[0001] The present invention relates to the technical field of power systems, and in particular to an emergency generator dispatching method coordinated with distribution network disaster relief and ground-air transportation. Background Art

[0002] As a crucial component of the power system's terminal, distribution networks are highly vulnerable to extreme natural disasters due to their complex network topology and widespread equipment distribution. Extreme natural disasters not only cause load losses in distribution networks, but also the accompanying flooding and secondary geological hazards complicate the dispatch of mobile emergency resources and repairs after the disaster. Reducing load losses and shortening power outages are currently key research topics in distribution network preparedness for extreme natural disasters.

[0003] Existing distribution network post-disaster prevention and control methods for extreme natural disasters include distribution network reconstruction, mobile emergency power supply vehicle dispatching, and emergency repair dispatching. For example, a multi-period distribution network reconstruction method uses minimizing load losses caused by extreme disasters that damage distribution lines as its objective function. From a resilience perspective, it divides the load power supply situation of the distribution network in the short period after the disaster into a recession phase, an isolation phase, and a recovery phase. Through multiple reconstructions, it ensures the power supply of most loads. A mobile emergency power supply vehicle dispatch optimization model aims to minimize the total power outage losses of important power-lost users, while also considering reducing the waste of mobile emergency power supply capacity. This method reduces power outage losses by meeting the actual needs of power emergency management. A post-disaster dispatch method for multiple recovery resources in the distribution network under combined wind and flood disasters comprehensively considers the functions of drainage teams, maintenance teams, mobile energy storage dispatching, and telecontrol switches, fully leveraging the potential of various recovery resources to accelerate the post-disaster recovery process. However, while distribution network reconstruction can restore a significant portion of lost load and is a highly effective means of load restoration, reconstruction alone is insufficient to restore the entire load. Mobile emergency power supply vehicles are expensive, and the number that can be deployed within a distribution network area is limited, making it difficult to cover all outage nodes. While emergency repair scheduling can ensure the eventual restoration of all loads, the time it takes to complete the repairs is uncertain. This is especially true in areas experiencing severe waterlogging and secondary geological disasters, where drainage and mud and rock removal are required before repairing distribution equipment, and repairs can take several days. Given the flexibility and cost-effectiveness of emergency generator scheduling, in order to shorten outages and reduce load losses, after the distribution network is reconfigured and mobile emergency power supply vehicles are dispatched, but before equipment repairs are complete, emergency generators can be transported to the remaining lost load nodes to provide temporary power. This ensures the principle of "power restoration first, emergency repair later," thus filling the gap in the outage before distribution equipment repairs are completed. Summary of the Invention

[0004] In view of this, the present invention provides an emergency generator scheduling method that coordinates distribution network post-disaster reconstruction and ground-air transportation, so as to at least solve the problem in the prior art of lack of research on optimization of transportation of emergency generator scheduling in the gap between distribution network post-disaster network reconstruction, mobile emergency power vehicle scheduling and complete repair of distribution equipment.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A method for dispatching emergency generators in coordination with distribution network disaster response and ground-air transportation, comprising the following steps:

[0007] S1. With the goal of minimizing the sum of weighted power outage losses of all load-lost nodes, a distribution network post-disaster record and ground-air transportation coordinated emergency generator scheduling optimization objective function is constructed, which includes the key state variable of the load-lost node power outage time; the load-lost node power outage time includes the load-lost node that can be reached on the ground. Power outage time and ground unreachable load-loss nodes Power outage time ;

[0008] S2. Comprehensively consider the generator transportation path, time coordination and resource allocation, and construct the constraints for optimizing the dispatch of emergency generators for truck transportation after the disaster in the distribution network. The power outage time of the ground-reachable load-loss node in the objective function of the emergency generator dispatch optimization is calculated. impose restrictions;

[0009] S3. Construct the constraints for optimizing the dispatch of emergency generators transported by helicopter after a disaster in the distribution network, and optimize the power outage time of the ground-unreachable load-loss nodes in the objective function of the emergency generator dispatch optimization. impose restrictions;

[0010] S4. Based on the constraints of optimizing the dispatch of emergency generators transported by trucks after a distribution network disaster and optimizing the dispatch of emergency generators transported by helicopters after a distribution network disaster, the emergency generator dispatch optimization objective function is solved according to the preset simulated post-disaster fault scenario to obtain the optimal dispatch plan including the vehicle driving path and the emergency generator unloading amount.

[0011] Preferably, the emergency generator dispatch optimization objective function constructed in S1 is:

[0012] (1)

[0013] Where, is the objective function, represents any load-loss node, is the set of load-loss nodes accessible from the ground. It is a set of load-loss nodes that are not accessible from the ground. Load loss node Active load loss, Load loss node The load level represents the importance of the load-loss node. Load loss node The power outage time is the time from the start of the entire scheduling task to the arrival of the last required emergency generator at the load-losing node.

[0014] Preferably, the constraints for optimizing the dispatch of emergency generators transported by trucks after a disaster in the distribution network specifically include:

[0015] 1) The spatial path constraints for optimizing dispatch of trucks transporting emergency generators are:

[0016] (2)

[0017] (3)

[0018] (4)

[0019] (5)

[0020] (6)

[0021] Where, is the set of load-loss nodes accessible from the ground. express Any node inside, It is a collection of emergency material center nodes. is the set of all trucks, express Any truck inside, For the number of truck trips, It is the central node for emergency supplies. 、 and Representing a collection Any node inside, is the set of all truck trips, a binary variable It is a sign of whether a truck is traveling from one node to another. It's a truck In the From the emergency supplies center node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To the emergency supplies center node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, truck In the Slave Node To Node Sign indicating whether the vehicle is driving or not;

[0022] (7)

[0023] (8)

[0024] (9)

[0025] (10)

[0026] In the formula, the binary variable It is a sign of whether the truck is performing an effective mission in any trip. Indicates that the truck has performed a valid mission, that is, it has visited at least one ground-accessible load-loss node and unloaded the emergency generator. It means that the truck stopped at the emergency material center node and did not perform any effective tasks. It's a truck A flag indicating whether a valid task is executed in the first round. It's a truck In the first slave node To Node Sign indicating whether to drive or not, It's a truck In the A flag indicating whether a valid task is being executed. It's a truck In the A flag indicating whether a valid task is being executed. It's a truck In the Slave Node To Node The sign of whether to drive or not; M is the coefficient, the value ;

[0027] 2) The time series constraints for optimizing the dispatch of trucks transporting emergency generators are:

[0028] (11)

[0029] (12)

[0030] (13)

[0031] (14)

[0032] (15)

[0033] Where, It's a truck The starting time of the first trip, It's a truck No. The starting moment of the trip, It's a truck In the Return to the emergency supplies center node moment, is the time it takes for a truck to load an emergency generator, The truck is from the emergency supplies center node To Node The shortest travel time, M is the coefficient, the value , and Trucks In the Arrival node and nodes moment, is the time it takes for the truck to unload the emergency generator, Truck slave node To Node The shortest travel time, It's a truck In the Slave Node To Node Sign indicating whether the vehicle is driving or not; Ground accessible load-loss node duration of power outage;

[0034] 3) The resource allocation constraints for optimizing the dispatch of trucks transporting emergency generators are:

[0035] (16)

[0036] (17)

[0037] (18)

[0038] (19)

[0039] Where, It's a truck No. Traversing on the ground to reach the load-loss node Number of emergency generators removed, Ground accessible load-loss node Active load loss, is the maximum output active power of each emergency generator, It is the maximum number of emergency generators that each truck can load at one time.

[0040] Preferably, and The calculation method is:

[0041] Based on the water accumulation situation of the road between two adjacent nodes of the traffic network, the calculation of the truck's Actual driving speed after being affected by waterlogging , and then calculate the truck passing through the road under the influence of water accumulation Actual driving time , the shortest travel time between any two nodes in the traffic network is obtained by Dijkstra algorithm and :

[0042] (20)

[0043] (twenty one)

[0044] Where, Trucks on the road when there is no water The driving speed on It is half of the critical water depth where trucks are restricted. It's a road The depth of water accumulation, is the attenuation coefficient, It is the set of all roads between two adjacent nodes in the transportation network. It's a road length.

[0045] Preferably, the constraints for optimizing the dispatch of emergency generators transported by helicopters after a disaster in the distribution network in S3 include:

[0046] 1) The spatial path constraints for optimizing the dispatch of helicopters transporting emergency generators are:

[0047] (twenty two)

[0048] (twenty three)

[0049] (twenty four)

[0050] (25)

[0051] Where, It is a set of load-loss nodes that are not accessible from the ground. It is a collection of emergency material center nodes. Representing a collection Any node inside, is the set of all helicopters, express Any helicopter, is the set of all helicopter flights, For helicopter flights, It is the central node for emergency supplies. 、 and express Any node within, binary variable It is a sign of whether the helicopter is flying from one node to another. It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To the emergency supplies center node A sign indicating whether to fly or not. It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To the emergency supplies center node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To Node A sign indicating whether to fly or not;

[0052] (26)

[0053] (27)

[0054] (28)

[0055] (29)

[0056] In the formula, the binary variable It is a sign of whether the helicopter is carrying out an effective mission on any flight. It's a helicopter A flag indicating whether a valid task is executed in the first round. It's a helicopter In the first slave node To Node A sign indicating whether to fly or not. It's a helicopter In the A flag indicating whether a valid task is being executed. It's a helicopter In the A flag indicating whether a valid task is being executed. It's a helicopter In the Slave Node To Node A sign indicating whether to fly or not;

[0057] 2) The time series constraints for optimizing the dispatch of emergency generators transported by helicopter are:

[0058] (30)

[0059] (31)

[0060] (32)

[0061] (33)

[0062] (34)

[0063] Where, It's a helicopter The starting time of the first trip, It's a helicopter No. The starting moment of the trip, It's a helicopter In the Return to the emergency supplies center node moment, The time it takes for a helicopter to load an emergency generator or board emergency personnel. It is a helicopter from the emergency supplies center node arrive Flight time, M is the coefficient, value , It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Arrival node moment, The time required for the helicopter to unload the emergency generator or for the rescue personnel to disembark. Is the helicopter slave node Return to the emergency supplies center node Flight time, It's a helicopter In the Arrival node moment;

[0064] 3) The resource allocation constraints for optimizing the dispatch of emergency generators transported by helicopter are:

[0065] (35)

[0066] (36)

[0067] Where, It's a helicopter No. The load-loss node cannot be reached on the ground Number of emergency generators removed, It is a ground unreachable load-loss node Active load loss, is the maximum output active power of each emergency generator, It's a helicopter In the From the emergency supplies center node To Node Fly or not sign.

[0068] Through the above technical solutions, it can be seen that compared with the prior art, the present invention discloses a method for dispatching emergency generators in coordination with distribution network disaster response and ground-air transportation, which has the following beneficial effects:

[0069] The present invention proposes a method for dispatching emergency generators in a coordinated manner after a distribution network disaster and in conjunction with ground and air transportation. Aiming at the problems of poor traffic accessibility and low efficiency of emergency resource dispatching at load-lost nodes of the distribution network under extreme disasters, a ground-air coordinated transportation system and path planning mechanism are constructed. By integrating the transportation characteristics of trucks and helicopters, and comprehensively considering the path optimization, time coordination and generator supply and demand matching constraints under scenarios where the traffic network is blocked, a mixed integer linear programming model is established, which solves the difficult problems in traditional methods where emergency resources cannot cover areas where traffic is interrupted and the dispatching sequence is out of sync with power restoration needs. The present invention fills the power supply gap between the reconstruction of the distribution network and the repair of equipment, realizes the rapid and accurate restoration of power to load-lost nodes, significantly improves the reliability and response efficiency of emergency power supply in complex post-disaster scenarios, and provides technical support for the disaster response principle of "restoring power first, then repairing". BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0071] Figure 1 A flow chart of a method for dispatching emergency generators in coordination with ground-air transportation and distribution network disaster relief provided by the present invention;

[0072] Figure 2 A topological diagram of a power distribution network provided by an embodiment of the present invention;

[0073] Figure 3 A transportation network topology diagram provided by an embodiment of the present invention;

[0074] Figure 4 This is a diagram showing how the load power supply ratio changes over time in three scenarios provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0075] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0076] The present invention provides a method for dispatching emergency generators in coordination with distribution network disaster and ground-air transportation. Figure 1 As shown, the following steps are included:

[0077] S1. With the goal of minimizing the sum of weighted power outage losses of all load-lost nodes, a distribution network post-disaster record and ground-air transportation coordinated emergency generator scheduling optimization objective function is constructed, which includes the key state variable of the load-lost node power outage time; the load-lost node power outage time includes the load-lost node that can be reached on the ground. Power outage time and ground unreachable load-loss nodes Power outage time ;

[0078] S2. Comprehensively consider the generator transportation path, time coordination and resource allocation, and construct the constraints for optimizing the dispatch of emergency generators for truck transportation after the disaster in the distribution network. The power outage time of the ground-reachable load-loss node in the objective function of the emergency generator dispatch optimization is calculated. impose restrictions;

[0079] S3. Construct the constraints for optimizing the dispatch of emergency generators transported by helicopter after a disaster in the distribution network, and optimize the power outage time of the ground-unreachable load-loss nodes in the objective function of the emergency generator dispatch optimization. impose restrictions;

[0080] S4. Based on the constraints of optimizing the dispatch of emergency generators transported by trucks after a distribution network disaster and optimizing the dispatch of emergency generators transported by helicopters after a distribution network disaster, the emergency generator dispatch optimization objective function is solved according to the preset simulated post-disaster fault scenario to obtain the optimal dispatch plan including the vehicle driving path and the emergency generator unloading amount.

[0081] In order to further implement the above technical solution, the emergency generator dispatch optimization objective function constructed in S1 is:

[0082] (1)

[0083] Where, is the objective function, represents any load-loss node, is the set of load-loss nodes accessible from the ground. It is a set of load-loss nodes that are not accessible from the ground. Load loss node Active load loss, Load loss node The load level represents the importance of the load-loss node. Load loss node The power outage time is the time from the start of the entire scheduling task to the arrival of the last required emergency generator at the load-losing node.

[0084] To further implement the above technical solution, the constraints for optimizing the dispatch of emergency generators delivered by trucks after a disaster in the distribution network include:

[0085] The spatial path constraints for optimizing dispatch of trucks transporting emergency generators are:

[0086] (2)

[0087] (3)

[0088] (4)

[0089] (5)

[0090] (6)

[0091] Where, is the set of load-loss nodes accessible from the ground. express Any node inside, It is a collection of emergency material center nodes. is the set of all trucks, express Any truck inside, For the number of truck trips, It is the central node for emergency supplies. 、 and Representing a collection Any node inside, is the set of all truck trips, a binary variable It is a sign of whether a truck is traveling from one node to another. It's a truck In the From the emergency supplies center node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To the emergency supplies center node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, truck In the Slave Node To Node Sign indicating whether the vehicle is driving or not;

[0092] (7)

[0093] (8)

[0094] (9)

[0095] (10)

[0096] In the formula, the binary variable It is a sign of whether the truck is performing an effective mission in any trip. Indicates that the truck has performed a valid mission, that is, it has visited at least one ground-accessible load-loss node and unloaded the emergency generator. It means that the truck stopped at the emergency material center node and did not perform any effective tasks. It's a truck A flag indicating whether a valid task is executed in the first round. It's a truck In the first slave node To Node Sign indicating whether to drive or not, It's a truck In the A flag indicating whether a valid task is being executed. It's a truck In the A flag indicating whether a valid task is being executed. It's a truck In the Slave Node To Node The sign of whether to drive or not; M is the coefficient, the value ;

[0097] 2) The time series constraints for optimizing the dispatch of trucks transporting emergency generators are:

[0098] (11)

[0099] (12)

[0100] (13)

[0101] (14)

[0102] (15)

[0103] Where, It's a truck The starting time of the first trip, It's a truck No. The starting moment of the trip, It's a truck In the Return to the emergency supplies center node moment, is the time it takes for a truck to load an emergency generator, The truck is from the emergency supplies center node To Node The shortest travel time, M is the coefficient, the value , and Trucks In the Arrival node and nodes moment, is the time it takes for the truck to unload the emergency generator, Truck slave node To Node The shortest travel time, It's a truck In the Slave Node To Node Sign indicating whether the vehicle is driving or not;

[0104] 3) The resource allocation constraints for optimizing the dispatch of trucks transporting emergency generators are:

[0105] (16)

[0106] (17)

[0107] (18)

[0108] (19)

[0109] Where, It's a truck No. Traversing on the ground to reach the load-loss node Number of emergency generators removed, Ground accessible load-loss node Active load loss, is the maximum output active power of each emergency generator, It is the maximum number of emergency generators that each truck can load at one time.

[0110] It should be noted that:

[0111] Formulas (2) to (6) are the spatial constraints that each truck must comply with on each trip. Formulas (2) and (3) indicate that each truck must start from the emergency material center node and return to the emergency material center node at the end of each trip. Formulas (4) to (6) respectively indicate that the in-degree of each truck's reachable load-losing node on the ground is equal to its out-degree, that it must visit the node at most once, and that it is prohibited from circling around these nodes.

[0112] Formula (7) and Formula (8) are the spatial constraints that each truck must comply with for its first trip. Formula (7) indicates that all trucks must perform a valid task on their first trip. Formula (8) indicates that a truck must pass through at least one ground-accessible load-loss node to perform a valid task. Formula (9) and Formula (10) are the spatial constraints that each truck must comply with for trips greater than 1. Formula (9) indicates that the prerequisite for a trip to perform a valid task is that the previous trip also performed a valid task. Formula (10) indicates that the number of paths for a truck to perform a valid task is greater than or equal to 2, that is, it must pass through other nodes from the emergency material center node before returning. Otherwise, the number of paths is equal to 1, that is, it returns to the emergency material center node without passing through other nodes. The constraints are implemented using the large M method. In this embodiment, M is set to .

[0113] Formula (11) and Formula (12) are the constraints that each truck follows at the start time of each trip. Formula (11) indicates that the start time of the first trip of all trucks is 0, that is, the starting point of the entire scheduling task time. Formula (12) indicates that the start time of the subsequent trips of the truck is the time when the previous trip returns to the emergency material center node. Formulas (13) and (14) are the constraints that the truck follows at the time it arrives at the traffic network node. Formula (13) indicates that the time when the truck arrives at the first ground-reachable load-losing node from the emergency material center node is equal to the start time of the truck's current trip plus the emergency generator loading time plus the shortest travel time from the emergency material center node to the load-losing node. Formula (14) indicates that in the path after the first path of each trip, the time when the truck arrives at a traffic network node is equal to the time when the truck arrives at the previous traffic network node plus the emergency generator unloading time plus the shortest travel time between the two traffic network nodes. The above two constraints are implemented by the large M method, and M is set to , the node arrival time is restricted only when there is a path, otherwise the constraint is relaxed. Equation (15) indicates that the power outage time of a ground-reachable load-loss node is the time from the start of the entire scheduling task to the arrival of the last required emergency generator at the node.

[0114] Formula (16) indicates that the total number of emergency generators unloaded at the ground-reachable load-loss node by all trucks in all trips is equal to the required number. Formula (17) indicates that the total number of emergency generators unloaded at the ground-reachable load-loss node by each truck in each trip does not exceed the required number. Formula (18) indicates that the emergency generator will be unloaded at the node only when there is a driving path to the ground-reachable load-loss node, otherwise it will not be unloaded. This is achieved by the large M method, where M is set to ,Equation (19) indicates that the number of emergency generators unloaded by each truck per trip does not exceed the maximum value it can load.

[0115] In order to further implement the above technical solutions, and The calculation method is:

[0116] In order to calculate the shortest travel time between any two nodes in the traffic network, the water accumulation condition of the road between two adjacent nodes in the traffic network should be firstly considered, and the travel speed of the truck on this road should be calculated by formula (20): , and then calculate the travel time of the truck on this road using formula (21) Finally, the shortest travel time between any two nodes in the traffic network is obtained by Dijkstra algorithm and :

[0117] (20)

[0118] (twenty one)

[0119] Where, Trucks on the road when there is no water The driving speed on It is half of the critical water depth where trucks are restricted. It's a road The depth of water accumulation, is the attenuation coefficient, It is the set of all roads between two adjacent nodes in the transportation network. It's a road length.

[0120] It should be noted that:

[0121] In this embodiment, Set to 10cm, Set to 3.

[0122] To further implement the above technical solution, the constraints for optimizing the dispatch of emergency generators transported by helicopter after a disaster in the distribution network in S3 include:

[0123] The spatial path constraints for optimizing the dispatch of helicopters transporting emergency generators are:

[0124] (twenty two)

[0125] (twenty three)

[0126] (twenty four)

[0127] (25)

[0128] Where, It is a set of load-loss nodes that are not accessible from the ground. It is a collection of emergency material center nodes. Representing a collection Any node inside, is the set of all helicopters, express Any helicopter, is the set of all helicopter flights, For helicopter flights, It is the central node for emergency supplies. 、 and express Any node within, binary variable It is a sign of whether the helicopter is flying from one node to another. It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To the emergency supplies center node A sign indicating whether to fly or not. It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To the emergency supplies center node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To Node A sign indicating whether to fly or not;

[0129] (26)

[0130] (27)

[0131] (28)

[0132] (29)

[0133] In the formula, the binary variable It is a sign of whether the helicopter is carrying out an effective mission on any flight. It's a helicopter A flag indicating whether a valid task is executed in the first round. It's a helicopter In the first slave node To Node A sign indicating whether to fly or not. It's a helicopter In the A flag indicating whether a valid task is being executed. It's a helicopter In the A flag indicating whether a valid task is being executed. It's a helicopter In the Slave Node To Node A sign indicating whether to fly or not;

[0134] 2) The time series constraints for optimizing the dispatch of emergency generators transported by helicopter are:

[0135] (30)

[0136] (31)

[0137] (32)

[0138] (33)

[0139] (34)

[0140] Where, It's a helicopter The starting time of the first trip, It's a helicopter No. The starting moment of the trip, It's a helicopter In the Return to the emergency supplies center node moment, The time it takes for a helicopter to load an emergency generator or board emergency personnel. It is a helicopter from the emergency supplies center node arrive Flight time, M is the coefficient, value , It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Arrival node moment, The time required for the helicopter to unload the emergency generator or for the rescue personnel to disembark. Is the helicopter slave node Return to the emergency supplies center node Flight time, It's a helicopter In the Arrival node moment;

[0141] 3) The resource allocation constraints for optimizing the dispatch of emergency generators transported by helicopter are:

[0142] (35)

[0143] (36)

[0144] Where, It's a helicopter No. The load-loss node cannot be reached on the ground Number of emergency generators removed, It is a ground unreachable load-loss node Active load loss, is the maximum output active power of each emergency generator, It's a helicopter In the From the emergency supplies center node To Node Fly or not sign.

[0145] It should be noted that:

[0146] The helicopter transport emergency generator dispatching considered by the present invention has the following rules:

[0147] (1) The first helicopter drop of the emergency generator should first send personnel to the destination and prepare for reception, and then fly one or more times to hoist the emergency generator over;

[0148] (2) Helicopters only transport emergency generators to load-loss nodes that are inaccessible on the ground, and do not consider transporting them to load-loss nodes that are accessible on the ground;

[0149] (3) A helicopter can only lift one emergency generator at a time.

[0150] Based on the above rules, the constraints for optimizing the dispatch of emergency generators transported by helicopter after a disaster in the distribution network are constructed.

[0151] Equations (22) and (23) indicate that each helicopter must depart from the emergency material center node and return to the emergency material center node at the end of each trip. Equations (24) and (25) indicate that the in-degree of each helicopter's unreachable load-loss node on the ground is equal to its out-degree and that it is prohibited to circle around these nodes.

[0152] Equation (26) indicates that all helicopters must perform a valid mission on their first trip. Equation (27) indicates that a helicopter must and can only pass through one ground-inaccessible load-loss node to perform a valid mission. Equation (28) indicates that the prerequisite for a certain trip to perform a valid mission is that the previous trip also performed a valid mission. Equation (29) indicates that the number of paths for a helicopter to perform a valid mission is equal to 2, otherwise the number of paths is equal to 1.

[0153] Formula (30) indicates that the starting time of the first flight of all helicopters is 0, and formula (31) indicates that the starting time of the subsequent flights of the helicopter is the time when the previous flight returns to the emergency material center node. Formula (32) indicates that the time from the emergency material center node to the ground unreachable load-loss node is equal to the starting time of the current helicopter flight plus the emergency generator loading time (or the time when the rescue personnel board the aircraft) plus the flight time from the emergency material center node to the load-loss node. Formula (33) indicates that the time when the helicopter returns from the load-loss node to the emergency material center is equal to the time when it arrives at the load-loss node plus the emergency generator unloading time (or the time when the rescue personnel disembark) plus the flight time from the load-loss node to the emergency material center node. Formula (34) indicates that the power outage time of the ground unreachable load-loss node is the time between the start of the entire scheduling task and the delivery of the last required emergency generator to the node.

[0154] Formula (35) indicates that the total number of emergency generators unloaded at the ground inaccessible load-loss nodes by all helicopters in all trips is equal to the required number of emergency generators. However, since the first trip to a ground inaccessible load-loss node only transports the support personnel but not the emergency generators, 1 is added to the required number of emergency generators to indicate one more trip. Formula (36) indicates that the emergency generator will be unloaded at the node only when there is a flight path to the load-loss node, otherwise it will not be unloaded.

[0155] The present invention will be further described below through specific examples:

[0156] The proposed method was implemented and executed on a real 50-node 10kV distribution system in a certain location to verify its effectiveness. The distribution system consists of 49 distribution lines and 3 normally open tie switches. The total active load of the system is 2.318MW. The important loads are located at nodes 3, 22, 27, 36, and 37. Their weight values are set to 3, and the rest are set to 1. The distribution network topology is as follows: Figure 2 As shown in Figure 2, the transportation network topology in this area is as follows: Figure 3 The corresponding relationship between the distribution network and the transportation network nodes is shown in Table 1. The transportation network model parameters and the set values for the water depth on the transportation network roads are shown in Table 2. Three fault scenarios were randomly generated in the experiment. Each scenario had several load-loss nodes and faulty traffic routes, as shown in Table 3. The load loss values were expressed in per-unit values, and the system power baseline was 100 kVA. The emergency supply center in the transportation network was located at node 48. The number of trucks was set to 3, the maximum number of trips was set to 5, the maximum number of emergency generators each truck could carry was 6, the normal speed of trucks was 28.8 km / h, and the time required for trucks to load and unload emergency generators was set to 1.5 minutes. The number of helicopters was set to 1, the maximum number of trips was set to 10, and helicopters could only lift one emergency generator at a time. The helicopter flight speed was 287 km / h. The time required for helicopters to load and unload emergency generators and for receiving and disembarking personnel was set to 2 minutes. The maximum active output of each emergency generator was 15 kW.

[0157] Table 1 Correspondence between distribution network nodes and transportation network nodes

[0158] ;

[0159] Table 2 Traffic network parameters and road water depth settings

[0160] ;

[0161] Table 3 Distribution network load loss and traffic network road failure under various scenarios

[0162] ;

[0163] In this embodiment, the GUROBI optimization solver is used to solve the objective function.

[0164] Three different scenario cases are used to verify the effectiveness of the scheme. Figure 4 The changes in the active load supply ratio of the distribution system over time under the three scenarios are shown. Tables 4, 5, and 6 respectively show the driving paths of trucks and helicopters between the emergency material center node and the load loss node under the three scenarios, and also mark the time of arrival at each node and the number of emergency generators unloaded.

[0165] Figure 4 The proportion of active load power supply in the figure increases stepwise over time. Each step-by-step increase indicates that enough emergency generators have been unloaded at a load-lost node to restore power to all active loads at that node. The figure shows that the above-mentioned emergency generator scheduling optimization model for distribution network post-disaster records and ground-air transportation coordination ensures that most load-lost nodes can restore power within one hour under the three scenarios, and all load-lost nodes can restore power within one and a half hours.

[0166] Table 4 Scheduling plan under scenario 1

[0167] ;

[0168] Table 5 Scheduling plan under scenario 2

[0169] ;

[0170] Table 6 Scheduling plan under scenario 3

[0171] ;

[0172] Tables 4, 5, and 6 show that the above-mentioned distribution network post-disaster and ground-air transportation coordinated emergency generator dispatch optimization model allows trucks and helicopters to balance the number of emergency generators required at different nodes, the importance of different loads, and travel time, resulting in an optimal dispatch plan. This reduces the overall load loss and ensures rapid temporary power restoration at all nodes with lost loads. It is worth noting that in scenarios 1 and 3, helicopters were dispatched to deliver emergency generators to unreachable load nodes due to the presence of unreachable load nodes. However, in scenario 2, no helicopters were dispatched because no unreachable load nodes existed.

[0173] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for dispatching emergency generators in coordination with distribution network disaster response and ground-air transportation, characterized in that: The following steps are involved: S1. With the goal of minimizing the sum of weighted power outage losses of all load-lost nodes, a distribution network post-disaster record and ground-air transportation coordinated emergency generator scheduling optimization objective function is constructed, which includes the key state variable of the load-lost node power outage time; the load-lost node power outage time includes the load-lost node that can be reached on the ground. Power outage time and ground unreachable load-loss nodes Power outage time ; S2. Comprehensively consider the generator transportation path, time coordination and resource allocation, and construct the constraints for optimizing the dispatch of emergency generators for truck transportation after the disaster in the distribution network. The power outage time of the ground-reachable load-loss node in the objective function of the emergency generator dispatch optimization is calculated. impose restrictions; S3. Construct the constraints for optimizing the dispatch of emergency generators transported by helicopter after a disaster in the distribution network, and optimize the power outage time of the ground-unreachable load-loss nodes in the objective function of the emergency generator dispatch optimization. impose restrictions; S4. Based on the constraints for optimizing the dispatch of emergency generators by trucks and helicopters after a distribution network disaster, solve the emergency generator dispatch optimization objective function according to a pre-set simulated post-disaster failure scenario to obtain the optimal dispatch solution, including vehicle routes and emergency generator unloading capacity. The emergency generator dispatch optimization objective function constructed in S1 is: (1) Where, is the objective function, represents any load-loss node, is the set of load-loss nodes accessible from the ground. It is a set of load-loss nodes that are not accessible from the ground. Load loss node Active load loss, Load loss node The load level represents the importance of the load-loss node. Load loss node The power outage time is the time from the start of the entire scheduling task to the arrival of the last required emergency generator at the load-losing node.

2. The method for dispatching emergency generators based on post-disaster distribution network and ground-air transportation coordination according to claim 1, characterized in that: The constraints for optimizing the dispatch of emergency generators for truck transportation after a disaster in the distribution network include: 1) The spatial path constraints for optimizing dispatch of trucks transporting emergency generators are: (2) (3) (4) (5) (6) Where, is the set of load-loss nodes accessible from the ground. express Any node inside, It is a collection of emergency material center nodes. is the set of all trucks, express Any truck inside, For the number of truck trips, It is the central node for emergency supplies. 、 and Representing a collection Any node inside, is the set of all truck trips, a binary variable It is a sign of whether a truck is traveling from one node to another. It's a truck In the From the emergency supplies center node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To the emergency supplies center node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, It's a truck In the Slave Node To Node Sign indicating whether to drive or not, truck In the Slave Node To Node Sign indicating whether the vehicle is driving or not; (7) (8) (9) (10) In the formula, the binary variable It is a sign of whether the truck is performing an effective mission in any trip. Indicates that the truck has performed a valid mission, that is, it has visited at least one ground-accessible load-loss node and unloaded the emergency generator. It means that the truck stopped at the emergency material center node and did not perform any effective tasks. It's a truck A flag indicating whether a valid task is executed in the first round. It's a truck In the first slave node To Node Sign indicating whether to drive or not, It's a truck In the A flag indicating whether a valid task is being executed. It's a truck In the A flag indicating whether a valid task is being executed. It's a truck In the Slave Node To Node The sign of whether to drive or not; M is the coefficient, the value ; 2) The time series constraints for optimizing the dispatch of trucks transporting emergency generators are: (11) (12) (13) (14) (15) Where, It's a truck The starting time of the first trip, It's a truck No. The starting moment of the trip, It's a truck In the Return to the emergency supplies center node moment, is the time it takes for a truck to load an emergency generator, The truck is from the emergency supplies center node To Node The shortest travel time, M is the coefficient, the value , and Trucks In the Arrival node and nodes moment, is the time it takes for the truck to unload the emergency generator, Truck slave node To Node The shortest travel time, It's a truck In the Slave Node To Node Sign indicating whether the vehicle is driving or not; 3) The resource allocation constraints for optimizing the dispatch of trucks transporting emergency generators are: (16) (17) (18) (19) Where, It's a truck No. Traversing on the ground to reach the load-loss node Number of emergency generators removed, Ground accessible load-loss node Active load loss, is the maximum output active power of each emergency generator, It is the maximum number of emergency generators that each truck can load at one time.

3. The method for dispatching emergency generators based on post-disaster distribution network and ground-air transportation coordination according to claim 2, characterized in that: and The calculation method is: Based on the water accumulation situation of the road between two adjacent nodes of the traffic network, the calculation of the truck's Actual driving speed after being affected by waterlogging , and then calculate the truck passing through the road under the influence of water accumulation Actual driving time , the shortest travel time between any two nodes in the traffic network is obtained by Dijkstra algorithm and : (20) (21) Where, Trucks on the road when there is no water The driving speed on It is half of the critical water depth where trucks are restricted. It's a road The depth of water accumulation, is the attenuation coefficient, It is the set of all roads between two adjacent nodes in the transportation network. It's a road length.

4. The method for dispatching emergency generators after a distribution network disaster and coordinated ground-air transportation according to claim 1, characterized in that: The constraints for optimizing the dispatch of emergency generators transported by helicopter after a disaster in the distribution network in S3 include: 1) The spatial path constraints for optimizing the dispatch of helicopters transporting emergency generators are: (22) (23) (24) (25) Where, It is a set of load-loss nodes that are not accessible from the ground. It is a collection of emergency material center nodes. Representing a collection Any node inside, is the set of all helicopters, express Any helicopter, is the set of all helicopter flights, For helicopter flights, It is the central node for emergency supplies. 、 and express Any node within, binary variable It is a sign of whether the helicopter is flying from one node to another. It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To the emergency supplies center node A sign indicating whether to fly or not. It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To the emergency supplies center node A sign indicating whether to fly or not. It's a helicopter In the Slave Node To Node A sign indicating whether to fly or not; (26) (27) (28) (29) In the formula, the binary variable It is a sign of whether the helicopter is carrying out an effective mission on any flight. It's a helicopter A flag indicating whether a valid task is executed in the first round. It's a helicopter In the first slave node To Node A sign indicating whether to fly or not. It's a helicopter In the A flag indicating whether a valid task is being executed. It's a helicopter In the A flag indicating whether a valid task is being executed. It's a helicopter In the Slave Node To Node A sign indicating whether to fly or not; 2) The time series constraints for optimizing the dispatch of emergency generators transported by helicopter are: (30) (31) (32) (33) (34) Where, It's a helicopter The starting time of the first trip, It's a helicopter No. The starting moment of the trip, It's a helicopter In the Return to the emergency supplies center node moment, The time it takes for a helicopter to load an emergency generator or board emergency personnel. It is a helicopter from the emergency supplies center node arrive Flight time, M is the coefficient, value , It's a helicopter In the From the emergency supplies center node To Node A sign indicating whether to fly or not. It's a helicopter In the Arrival node moment, The time required for the helicopter to unload the emergency generator or for the rescue personnel to disembark. Is the helicopter slave node Return to the emergency supplies center node Flight time, It's a helicopter In the Arrival node moment; 3) The resource allocation constraints for optimizing the dispatch of emergency generators transported by helicopter are: (35) (36) Where, It's a helicopter No. The load-loss node cannot be reached on the ground Number of emergency generators removed, It is a ground unreachable load-loss node Active load loss, is the maximum output active power of each emergency generator, It's a helicopter In the From the emergency supplies center node To Node Fly or not sign.

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