Thyristor-based power grid power regulation system, fusion terminal and control method

Abstract

The invention discloses a power grid power regulation system based on a thyristor, a fusion terminal and a control method, and relates to an alternating current voltage regulation technology of a power distribution network, the system comprises a master controller, a slave controller, a heartbeat monitoring module and a metering module, and the metering module collects power grid operation parameters of a power grid input side and a load side in real time; the heartbeat monitoring module judges whether the slave controller breaks down or not according to heartbeat pulse signals sent by the slave controller, when the slave controller operates normally, the master controller sends a first control instruction to control the slave controller to generate thyristor trigger pulse signals, and when the slave controller breaks down, the master controller sends a second control instruction to control the slave controller to generate thyristor trigger pulse signals. And the main controller no longer sends the first control instruction and generates a thyristor trigger pulse signal. Through the redundancy design of the master and slave controllers and an automatic fault switching mechanism, when the slave controller crashes, the master controller can realize low-delay switching, so that the power supply of a rear-end load can be ensured not to be interrupted, and the reliability and the safety of power supply are further ensured.

Description

Technical Field

[0001] The present invention relates to an AC power regulation technology for a distribution network, and in particular to a thyristor-based power regulation system, a fusion terminal and a control method. Background Art

[0002] In distribution networks, dynamic voltage regulation at the transformer outlet is often necessary to achieve energy conservation and loss reduction, address fluctuations in renewable energy sources, or meet the voltage demands of specific users. Currently, one of the mainstream voltage regulation technologies is an AC power regulator based on power electronic devices (such as three-phase thyristors). This regulator uses a microcontroller to precisely calculate and generate trigger pulses, controlling the thyristor conduction timing within each power frequency cycle (phase-controlled chopping) or the number of waveforms that conduct within multiple power frequency cycles (zero-crossing dropout), thereby changing the effective value of the output voltage and achieving power regulation for downstream loads. Existing AC power regulators generally use a single controller architecture. The controller (typically an MCU or DSP) simultaneously handles real-time voltage regulation (generating thyristor trigger pulses), data communication (interaction with the host computer), and status monitoring. In practical applications, if this architecture fails due to software errors, hardware damage, or external electromagnetic interference (such as EFT pulse trains), the controller will directly cause abnormal trigger pulse output. This poses the risk of a single point of failure leading to global failure. This can manifest in two aspects: 1. Power outage risk: If all thyristors are turned off, power to the downstream load is interrupted; 2. Voltage runaway: If the thyristors are mistakenly triggered to full conduction or a fixed conduction angle, the output voltage may exceed the rated value, burning sensitive equipment. This "single point of failure" mode seriously affects power supply reliability and is unacceptable in applications with strict power continuity requirements.

[0003] To improve the reliability of AC power regulators, attempts have been made to introduce redundant designs, primarily in the following three ways: 1. Using dual controllers running simultaneously and synchronizing their states through software communication. This switching method relies on a software handshake protocol, resulting in long delays and inability to meet power supply continuity requirements. Furthermore, the logic of the primary and standby controllers is complex. 2. Adding external watchdog monitoring uses an independent watchdog chip to detect controller freezes and reset them. During this reset, the system remains out of control. 3. Using dual controllers and setting up a hardware switch to switch between the primary and standby controllers. This hardware switch typically uses a mechanical relay, which, in actual use, has issues with long operating times and contact arcing that can easily cause secondary faults. The switching process can also cause power outages.

[0004] In summary, when existing AC power regulators are used in situations where power supply continuity is required to be high, even with a redundant design, there is still a problem that the power supply continuity requirements of important loads cannot be met due to long delays when a fault occurs. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem that existing AC power regulators cannot ensure power supply continuity. It provides a thyristor-based power grid power regulation system, a fusion terminal and a control method. Through the redundant design of the master-slave controller and the automatic fault switching mechanism, when the slave controller crashes, the master controller can achieve low-latency switching. In this way, it can ensure that the power supply to the back-end load is not interrupted, thereby ensuring the reliability and safety of power supply.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions: The thyristor-based power grid power regulation system includes a master controller, a slave controller, a heartbeat monitoring module, and a metering module, among which: The master controller is configured to calculate and generate a first control instruction according to a first set period and based on real-time collected grid operation parameters when the slave controller is operating normally, and send the first control instruction to the slave controller; when the heartbeat monitoring module determines that the slave controller has failed, calculate and generate a thyristor trigger pulse signal according to the first set period and based on real-time collected grid operation parameters; and after the heartbeat monitoring module determines that the slave controller failure has been resolved, generate the first control instruction again and send it to the slave controller, and the master controller stops generating the thyristor trigger pulse signal after sending the first control instruction again. The slave controller is configured to receive a first control instruction sent by the master controller and generate a thyristor trigger pulse signal according to the first control instruction; and is configured to send a heartbeat pulse signal to the heartbeat monitoring module according to a second set period; The heartbeat monitoring module is used to continuously receive the heartbeat pulse signal sent by the slave controller, determine whether the slave controller has a fault based on the received heartbeat pulse signal, and send the determination result to the master controller; The metering module is used to collect grid operation parameters on the grid input side and the load side in real time and send them to the master controller and the slave controller.

[0007] Furthermore, the heartbeat monitoring module determines whether a fault occurs in the slave controller by detecting whether the level of the heartbeat pulse signal received within two consecutive second set periods changes. If the level of the heartbeat pulse signal received within two consecutive second set periods changes, the slave controller is determined to be operating normally; otherwise, the slave controller is determined to be faulty. After determining that the slave controller has failed, the heartbeat monitoring module continues to obtain the heartbeat pulse signal. When the level of the heartbeat pulse signal received within two consecutive second set periods changes, the slave controller is determined to have resumed normal operation. The heartbeat monitoring module sends the determination results of slave controller failure and resumption of normal operation to the main controller.

[0008] Furthermore, when the time for receiving the first control instruction from the controller exceeds the set time limit threshold, the slave controller calculates and generates a thyristor trigger pulse signal according to the real-time collected grid operation parameters according to the first set period, until the number of times the slave controller continuously receives the first control instruction within the time limit threshold reaches the set number threshold, the slave controller generates a thyristor trigger pulse signal according to the first control instruction; wherein, the time limit threshold is greater than the first set period.

[0009] Furthermore, the thyristor of the grid power regulation system is a three-phase thyristor voltage regulation module connected to the main controller and the slave controller, and the three-phase thyristor voltage regulation module is used to receive the thyristor trigger pulse signal sent by the main controller or the slave controller to realize load voltage regulation.

[0010] A thyristor is a semi-controlled device. Its conduction requires a trigger signal, while its shutdown depends on the current flowing through it decreasing to below its "holding current" (i.e., the current crossing zero). When the back-end load is very small (light load) or completely unloaded (no load), the current flowing through the thyristor may always be lower than its holding current, causing the thyristor to fail to conduct stably after being triggered, or to switch off irregularly after conducting. This can cause severe distortion of the output voltage waveform, voltage instability, or even loss of control, seriously affecting power quality and potentially damaging sensitive back-end electrical equipment. Therefore, existing AC power regulators have poor adaptability to light load / no load conditions, and there is no effective solution for this condition. To address this issue, the thyristor-based grid power regulation system further includes a bypass switching module connected in parallel with the three-phase thyristor voltage regulation module. The bypass switching module is used to close under light load or no load conditions, allowing the grid current to directly power the load through the bypass switching module.

[0011] Furthermore, the controller that generates the thyristor trigger pulse signal among the master controller and the slave controller is the controller with control authority. The controller with control authority compares the acquired real-time current of the rear-end load with the set bypass switching threshold. When the time when the real-time current of the rear-end load is less than the bypass switching threshold exceeds the first set time threshold, it is determined to be a small load or no-load condition. The controller with control authority stops generating the thyristor trigger pulse signal, controls the bypass switching module to close after delaying the first set delay time, and allows the grid current to directly supply power to the load through the bypass switching module; in the bypass pass-through mode, the controller with control authority continues to acquire the real-time current of the rear-end load, compares the acquired real-time current of the rear-end load with the set voltage regulation recovery threshold The value is compared. When the real-time current of the back-end load is greater than the voltage regulation recovery threshold, the controller with control authority identifies whether there is an inductive load in the back-end load. If there is no inductive load, it is directly determined that the back-end load has returned to normal, and the controller with control authority controls the bypass switching module to disconnect. After delaying for a second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal; if there is an inductive load, when the time when the real-time current of the back-end load is greater than the voltage regulation recovery threshold exceeds the second set time threshold, it is determined that the load has returned to normal, and the controller with control authority controls the bypass switching module to disconnect. After delaying for a second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal; wherein, the voltage regulation recovery threshold is greater than the bypass switching threshold.

[0012] Furthermore, the controller with control authority identifies whether the back-end load has an inductive load in the following manner: the controller with control authority collects the current waveform sampling points through the metering module, calculates the slope characteristics of the current waveform within a specific time in multiple consecutive cycles, and determines whether the back-end load has an inductive load.

[0013] A fusion terminal is provided, wherein the fusion terminal integrates the above-mentioned thyristor-based power grid power regulation system, and the communication module of the fusion terminal realizes remote information interaction with the main controller and the slave controller of the power grid power regulation system.

[0014] The control method of the thyristor-based power grid power regulation system includes a master-slave controller redundancy and fault switching method, which includes the following steps: Step S11: After the grid power regulation system is powered on, the main controller calculates and generates a first control instruction according to the real-time collected grid operation parameters at a first set period, and the slave controller receives the first control instruction and generates a thyristor trigger pulse signal according to the first control instruction; Step S12: The slave controller sends a heartbeat pulse signal to the heartbeat monitoring module according to the second set period. The heartbeat monitoring module determines whether the slave controller has a fault by detecting whether the level of the heartbeat pulse signal received within two consecutive second set periods changes. If the level of the heartbeat pulse signal received within two consecutive second set periods changes, it is determined that the slave controller is operating normally, and the main controller keeps sending the first control instruction; if the level of the heartbeat pulse signal received within two consecutive second set periods does not change, it is determined that the slave controller has a fault, and the determination result of the slave controller fault is sent to the main controller, and the process proceeds to step S13; Step S13: The main controller calculates and generates a thyristor trigger pulse signal according to the real-time collected grid operation parameters in a first set period; Step S14, the heartbeat monitoring module continues to obtain the heartbeat pulse signal after determining that the slave controller fails. When the level of the heartbeat pulse signal received changes within two consecutive second set periods, it is determined that the slave controller has resumed normal operation, and the determination result of the slave controller resuming normal operation is sent to the main controller. The main controller sends the first control instruction again and the main controller stops generating the thyristor trigger pulse signal.

[0015] The control method of the thyristor-based power grid power regulation system also includes a working condition adaptive bypass switching method. The working condition adaptive bypass switching method is implemented after the power grid power regulation system is equipped with a bypass switching module. The controller that generates the thyristor trigger pulse signal among the master controller and the slave controller is the controller with control authority. The working condition adaptive bypass switching method includes the following steps: Step S21: The controller with control authority compares the acquired real-time current of the rear-end load with the set bypass switching threshold. When the time during which the real-time current of the rear-end load is less than the bypass switching threshold exceeds a first set time threshold, it is determined to be a light load or no-load operating condition. The controller with control authority stops generating the thyristor trigger pulse signal, controls the bypass switching module to close after a first set delay time, and allows the grid current to directly power the load through the bypass switching module. Step S22: In the bypass pass-through mode, the controller with control authority continues to obtain the real-time current of the back-end load, and compares the obtained real-time current of the back-end load with the set voltage regulation recovery threshold. When the real-time current of the back-end load is greater than the voltage regulation recovery threshold, the controller with control authority identifies whether the back-end load has an inductive load. If there is no inductive load, it is directly determined that the back-end load has returned to normal. The controller with control authority controls the bypass switching module to disconnect. After delaying for a second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal. If there is an inductive load, when the time when the real-time current of the back-end load is greater than the voltage regulation recovery threshold exceeds the second set time threshold, it is determined that the load has returned to normal. The controller with control authority controls the bypass switching module to disconnect. After delaying for the second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal. Wherein, the voltage regulation recovery threshold is greater than the bypass switching threshold.

[0016] Existing thyristor chopping methods actually adjust the duty cycle of the switches to directly change the width of the voltage pulses applied across the load. This means that by changing the average or effective value of the load voltage, the electrical signal (voltage) waveform parameters are controlled to achieve continuous regulation of the load power. Wave dropping, on the other hand, achieves voltage regulation on a multi-cycle scale by periodically triggering and blocking thyristors. Wave dropping, on the other hand, regulates voltage by controlling the on-off ratio of multiple complete waveforms, a form of periodic control. From the perspective of both means and results, the present invention provides a technical solution for load power regulation based on chopping and wave dropping.

[0017] In summary, the present invention has the following advantages compared with the prior art: (1) By introducing a master-slave device control architecture, the present invention ensures that when a master controller fails, the system can automatically and with low latency switch to the backup controller to take over control, thereby ensuring the continuity of the voltage regulation function and the continuity of the back-end power supply, avoiding power outages caused by problems such as controller crashes, and thus solving the reliability problem of power outages caused by single point failures.

[0018] (2) The present invention adds a bypass switching function that adapts to operating conditions, enabling intelligent switching of the system's operating modes under different load conditions. Under light load or no-load conditions, the system automatically switches to bypass mode, avoiding the thyristor's operational weaknesses and ensuring stable and high-quality output voltage. Under normal load conditions, the system switches back to thyristor voltage regulation mode, implementing refined power regulation. This solves the problems of control failure and voltage distortion under light load / no-load conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 A system block diagram of a power grid power regulation system in a specific embodiment of the present invention; Figure 2 A flowchart of a master-slave controller redundancy and fault switching method according to a specific embodiment of the present invention; Figure 3 The figure is a flow chart of a method for adaptive bypass switching according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0021] Example 1: like Figure 1 As shown, a thyristor-based power grid power regulation system includes a master controller, a slave controller, a heartbeat monitoring module, and a metering module, wherein: the master controller is configured to calculate and generate a first control instruction and send it to the slave controller according to a first set period and based on real-time collected power grid operating parameters when the slave controller is operating normally; when the heartbeat monitoring module determines that the slave controller has failed, it is configured to calculate and generate a thyristor trigger pulse signal according to a first set period and based on real-time collected power grid operating parameters; after the heartbeat monitoring module determines that the slave controller has failed, it is configured to generate the first control instruction again and send it to the slave controller, and the master controller stops generating the thyristor trigger pulse signal after sending the first control instruction again. The slave controller is configured to receive the first control instruction sent by the master controller and generate the thyristor trigger pulse signal according to the first control instruction; and to send the heartbeat pulse signal to the heartbeat monitoring module according to a second set period; the heartbeat monitoring module is configured to continuously receive the heartbeat pulse signal sent by the slave controller, determine whether the slave controller has failed based on the received heartbeat pulse signal, and send the determination result to the master controller; the metering module is configured to collect power grid operating parameters on the input side and the load side of the power grid in real time and send them to the master controller and the slave controller.

[0022] In this embodiment, both the master and slave controllers utilize high-performance microprocessors, such as the AT32F403A chip, forming a master-slave redundant control architecture. During normal operation, the slave controllers operate in a "master-control, master-monitor" mode. That is, routine voltage regulation commands are directly executed by the slave controllers. The master controllers are responsible for more advanced tasks, such as communicating with the host computer, processing complex algorithms, storing historical data, and monitoring the slave controllers' status in real time via a heartbeat monitoring module.

[0023] In this embodiment, when the slave controller is operating normally, the master controller generates the first control command as follows: a. Real-time acquisition of grid operating parameters (such as input voltage, current, output load current, and power factor). b. Calculation of the required voltage ratio based on the voltage regulation target (e.g., maintaining the output voltage at 220V ± 2%) and real-time parameters. c. Selection of the control mode (chopping or dropout) based on the load type (resistive / inductive) and current operating conditions (light / heavy load). d. Calculation of the specific control command value. For example, in chopping mode, the conduction angle α is calculated and converted into the command "Chop X%" (where X% = (180° - α) / 180° * 100%). In dropout mode, the on-off ratio is calculated. For example, if the on-off ratio is 3 cycles and the off-off ratio is 1 cycle, the command is "Dropout 25%" (because the off-off ratio is 25%, the actual output voltage is 75%). e. Encode the command into a data frame (including the command type, value, and checksum) and send it to the slave controller.

[0024] Generating a trigger pulse signal from the controller according to the first control instruction includes: a. parsing the instruction to obtain the control type and value. b. converting the instruction type into power electronics level control parameters: Chopping instruction: Convert the percentage to the conduction angle α (for example, "Chopping 30%" corresponds to α=180°*(1-0.3)=126°) Drop wave instruction: convert the percentage into the number of on-off cycles (for example, "drop wave 20%" means 20% off. If the total number of cycles in the set cycle group is 5, then 1 cycle will be off and 4 cycles will be on).

[0025] c. Generate trigger pulses based on the converted parameters: Chopping: After a delay of α at the start of each half-wave (voltage zero crossing), a trigger pulse (typically tens to hundreds of microseconds) is issued. Dropout: Triggering occurs immediately (i.e., α = 0°) at the start of each half-wave during the on-cycle (N_on consecutive cycles). No trigger pulse is issued during the off-cycle (N_off cycles). d. The trigger pulse is amplified by the driver circuit and then sent to the thyristor gate.

[0026] In this embodiment, the relationship between the first control instruction and the trigger pulse is as follows: the control instruction is a high-level, abstract policy description (e.g., "chop 30%)," which the slave controller converts into a specific, real-time trigger pulse signal (i.e., the specific trigger time and pulse width for each cycle). This is a "policy-execution" decomposition: the master controller is responsible for policy calculation, while the slave controller is responsible for real-time execution.

[0027] In this embodiment, when a slave controller fails, the master controller takes over the slave controller's real-time triggering function: a. The master controller collects grid operating parameters in real time. b. It directly calculates power electronics-level control parameters based on the voltage regulation target (that is, it no longer generates high-level instructions, but directly calculates the conduction angle α or the number of on-off cycles). c. The real-time trigger module within the master controller then generates a trigger pulse signal based on these parameters. (For chopping control, the master controller needs to detect the voltage zero crossing in real time, calculate the trigger delay time based on α, and then output the trigger pulse. For drop-wave control, the master controller needs to count the power frequency cycles and trigger immediately at each half-wave zero crossing during the on-cycle, but not during the off-cycle.) d. The trigger pulse is output from the master controller's output port and passes through the drive circuit to the thyristor.

[0028] In this embodiment, the first control instruction generated by the main controller based on the grid status is a high-level strategy instruction (such as "chopping 30%"), which is an application-oriented abstract instruction. The slave controller converts the abstract instruction into power electronics-level parameters (such as conduction angle α = 108°) through real-time calculation, and the hardware output of the trigger pulse involves precise timing control. There is a three-level signal conversion and collaborative control relationship between the high-level instructions issued by the main controller and the thyristor trigger pulse generated by the slave controller. Its technical essence is the decoupling architecture of "strategy-algorithm-execution". This decoupling architecture is relatively common in the existing technology, and its specific implementation method will not be described in detail here. In this embodiment, the calculation and generation of the first control instruction and thyristor trigger pulse signal based on the real-time collected grid operation parameters is based on the existing technology and will not be described in detail here.

[0029] The heartbeat monitoring module of this embodiment determines whether the slave controller has failed by detecting whether the level of the heartbeat pulse signal received within two consecutive second set periods changes. If the level of the heartbeat pulse signal received within two consecutive second set periods changes, it is determined that the slave controller is operating normally. Otherwise, it is determined that the slave controller has failed. The heartbeat monitoring module continues to obtain the heartbeat pulse signal after determining that the slave controller has failed. When the level of the heartbeat pulse signal received within two consecutive second set periods changes, it is determined that the slave controller has resumed normal operation. The heartbeat monitoring module sends the judgment results of the slave controller failure and the resumption of normal operation to the main controller. When this embodiment is specifically implemented, the heartbeat monitoring module can also be implemented as an independent logic unit constructed by hardware based on the existing technology. When this embodiment is specifically implemented, the slave controller sends a pulse waveform with an interval of 1ms, and the heartbeat monitoring module detects the level change of the received heartbeat pulse signal at a time of 1ms. If no level change is detected for two consecutive periods, it is determined that the slave controller has failed, and the main controller controls the thyristor.

[0030] The metering module in this embodiment includes an incoming-side metering module and an outgoing-side metering module. The incoming-side metering module measures grid operating parameters on the input side of the power grid and outputs synchronization pulses to the master and slave controllers. The outgoing-side metering module measures grid operating parameters on the load side and outputs synchronization pulses to the master and slave controllers. Grid operating parameters include voltage, current, power, frequency, and other parameters. Both the incoming-side and outgoing-side metering modules in this embodiment include a metering chip and voltage and current transformers connected to the metering chip. In the specific implementation of this embodiment, the voltage transformer is preferably a ZMPT107-1, the current transformer is preferably a TA12-100, and the metering chip is preferably a V9203. This embodiment uses the incoming-side metering module to collect parameters to achieve: grid synchronization signal capture—real-time detection of the incoming voltage zero crossing to provide a phase reference for thyristor triggering; and grid operating parameter monitoring—collecting input voltage, current, frequency, and phase angle for voltage regulation strategy calculation (such as chopping / drop-wave mode selection). This embodiment uses parameter collection by the outgoing-side metering module to achieve: real-time load condition determination—monitoring the load-side current RMS value to drive bypass switching decisions; and closed-loop voltage regulation feedback—comparing output voltage / current samples with set values ​​to dynamically adjust the conduction angle. This embodiment calculates and generates thyristor trigger pulse signals based on data collected by the incoming-side and outgoing-side metering modules, thereby controlling the three-phase thyristor voltage regulator module to achieve voltage regulation. This is based on existing technology and will not be further elaborated here.

[0031] In a specific implementation of this embodiment, when the time it takes for the slave controller to receive the first control instruction exceeds a set time-exceeding threshold, the slave controller calculates and generates a thyristor trigger pulse signal based on real-time collected grid operating parameters according to a first set period. This calculation continues until the slave controller receives the first control instruction within the time-exceeding threshold for a set number of times, at which point the slave controller generates a thyristor trigger pulse signal based on the first control instruction; the time-exceeding threshold is greater than the first set period. In this manner, when this embodiment is applied, it can prevent the normal issuance of thyristor trigger pulse signals from being affected by a failure of the master controller, thereby ensuring voltage regulation. Both the master and slave controllers of this embodiment are equipped with watchdog chips that automatically restart and reset in the event of a failure.

[0032] The thyristors in the grid power regulation system of this embodiment are three-phase thyristor voltage regulator modules connected to a master controller and a slave controller. The three-phase thyristor voltage regulator module receives thyristor trigger pulse signals from the master or slave controller to regulate the load voltage. The three-phase thyristor voltage regulator module of this embodiment comprises six pairs of anti-parallel thyristors, corresponding to phases A, B, and C. It is the core power unit for voltage regulation, and its trigger signal originates from the controller currently holding control. In a specific implementation of this embodiment, the three-phase thyristor voltage regulator module utilizes an anti-parallel thyristor group (e.g., 40TPS12), with one pair per phase, to achieve full-wave AC control. To ensure strong electrical isolation and fast triggering, this embodiment also includes a trigger circuit consisting of a high-speed optocoupler (e.g., HCPL-316J) and a gate drive resistor. This trigger circuit is specifically located in the circuit between the master and slave controllers and the three-phase thyristor voltage regulator module. To suppress voltage spikes, this embodiment also incorporates an RC snubber circuit connected in parallel with the thyristors.

[0033] This embodiment also includes a bypass switching module connected in parallel with the three-phase thyristor voltage regulator module. The bypass switching module is designed to close during low-load or no-load conditions, allowing grid current to flow directly through the bypass switching module to power the load. The bypass switching module in this embodiment consists of three bypass switches connected in parallel across the three-phase thyristor voltage regulator module. When the bypass switches are closed, grid current bypasses the three-phase thyristor voltage regulator module to power the downstream load. In specific implementations of this embodiment, the bypass switching module is implemented using mechanical relays or solid-state relays (SSRs). Mechanical relays (such as G7L-2A-BUBJ-CB) are low-cost and suitable for infrequent switching scenarios, while solid-state relays (SSRs) (such as CPC1976B) achieve zero-voltage switching (arcing-free) and are suitable for high-frequency switching. For applications with frequent switching or higher switching speed requirements, static transfer switches (STSs) composed of fully controlled devices such as solid-state relays or IGBTs can also be used to achieve faster, arc-free switching.

[0034] like Figure 2 As shown, the control method based on the above-mentioned thyristor-based power grid power regulation system includes a master-slave controller redundancy and fault switching method, wherein the master-slave controller redundancy and fault switching method includes the following steps: Step S11: After the grid power regulation system is powered on, the master controller calculates and generates a first control instruction based on real-time collected grid operating parameters at a first set period. The slave controller receives the first control instruction and generates a thyristor trigger pulse signal based on the first control instruction. In this embodiment, after the grid power regulation system is powered on, the slave controller is assumed to operate normally and assume control. The master controller enters monitoring mode, and the slave controller generates a precise thyristor trigger pulse signal based on the first control instruction (e.g., "chopping 30%" or "dropping 20%") sent by the master controller.

[0035] In step S12, the slave controller sends a heartbeat pulse signal to the heartbeat monitoring module according to the second set period. The heartbeat monitoring module determines whether the slave controller has a fault by detecting whether the level of the heartbeat pulse signal received within two consecutive second set periods has changed. If the level of the heartbeat pulse signal received within two consecutive second set periods has changed, the slave controller is determined to be operating normally, and the main controller continues to send the first control instruction. If the level of the heartbeat pulse signal received within two consecutive second set periods has not changed, the slave controller is determined to have a fault, and the result of the slave controller fault determination is sent to the main controller, and the process proceeds to step S13. The slave controller of this embodiment sends pulses to the heartbeat monitoring module at a second set period (this is a fixed period, set to 1ms in this embodiment) through an internal timer. If the heartbeat monitoring module fails to receive the pulse from the slave controller within two consecutive second set periods (set to 2ms in this embodiment), the slave controller is determined to have a fault (such as a freeze or communication interruption).

[0036] In step S13, the master controller calculates and generates thyristor trigger pulse signals based on the real-time collected grid operating parameters at a first predetermined period. In this embodiment, upon determining a slave controller failure, the master controller immediately executes a control takeover procedure: (a) The master controller switches to master control mode and calculates and generates thyristor trigger pulses. (b) The master controller reports a slave controller failure alarm via a display or communication interface.

[0037] In step S14, the heartbeat monitoring module continues to obtain heartbeat pulse signals after determining that the slave controller has failed. If the level of the received heartbeat pulse signals changes within two consecutive second set periods, the slave controller is determined to have resumed normal operation. The master controller transmits the determination result that the slave controller has resumed normal operation to the master controller, which then re-sends the first control instruction and stops generating thyristor trigger pulse signals. In this embodiment, when the slave controller recovers (e.g., after a watchdog reset) and can again respond to the heartbeat, a safe moment can be set based on actual operating conditions. The master controller will only return control to the slave controller at a certain safe moment. In specific implementations of this embodiment, the master controller can still choose to continue to hold control. After fault recovery, the master controller can independently decide whether to return control, thereby improving system flexibility.

[0038] like Figure 3 As shown, this embodiment also includes a working condition adaptive bypass switching method. The controller that generates the thyristor trigger pulse signal among the master controller and the slave controller is the controller with control rights. The working condition adaptive bypass switching method includes the following steps: Step S21: The controller with control authority compares the acquired real-time current of the rear-end load with the set bypass switching threshold. When the time during which the real-time current of the rear-end load is less than the bypass switching threshold exceeds a first set time threshold, it is determined to be a light load or no-load operating condition. The controller with control authority stops generating the thyristor trigger pulse signal, controls the bypass switching module to close after a first set delay time, and allows the grid current to directly power the load through the bypass switching module. Step S22: In the bypass pass-through mode, the controller with control authority continues to obtain the real-time current of the back-end load and compares the obtained real-time current of the back-end load with the set voltage regulation recovery threshold. When the real-time current of the back-end load is greater than the voltage regulation recovery threshold, the controller with control authority identifies whether the back-end load is an inductive load. If there is no inductive load, the controller with control authority directly determines that the back-end load has returned to normal. The controller with control authority controls the bypass switching module to disconnect. After a second set delay time, the controller with control authority resumes generating thyristor trigger pulse signals. If there is an inductive load, when the time during which the real-time current of the back-end load is greater than the voltage regulation recovery threshold exceeds the second set time threshold, the load is determined to have returned to normal. The controller with control authority controls the bypass switching module to disconnect. After a second set delay time, the controller with control authority resumes generating thyristor trigger pulse signals. The voltage regulation recovery threshold is greater than the bypass switching threshold. The back-end load returning to normal specifically means that the back-end load is not in a light load or no-load operating condition.

[0039] When the downstream load is a resistive device, the current and voltage waveforms are standard sinusoidal waves, making feature extraction easy. When the downstream load is an inductive device, the current waveform exhibits a square-wave-like shape, while the voltage waveform is sinusoidal. Therefore, chopping in the milliseconds before the current crosses zero is virtually useless for power regulation, necessitating an increased chopping delay. For inductive devices, the ideal inductor assumes a constant inductance, L. However, in practical electromagnetic devices, coils are typically wound around an iron core to enhance the magnetic field. The magnetic permeability of iron core materials (such as silicon steel sheets) is nonlinear and has a limit. When the current is low, the core is not saturated, and the permeability is high, resulting in a large inductance, L. According to V = L * di / dt, a large L suppresses rapid current changes, causing the current to rise slowly, conforming to the theoretical waveform. However, when the applied voltage is high enough and applied for a long enough time, causing the current to continue to increase, the magnetic induction intensity in the iron core reaches its physical limit (saturation flux density Bs). At this point, the iron core acts like a "full cup," unable to store any more magnetic field energy. Once saturated, the core's magnetic permeability drops dramatically, approaching that of air. This causes the coil's inductance, L, to instantly become very small. The device's impedance, Z, changes from its original value of R + jωL (where L is large) to almost exclusively the DC resistance of the coil winding, which is typically very small.

[0040] For resistive loads, since the current and voltage are in phase, the current returns to zero instantaneously with the voltage at the moment of switching, and no sudden energy is generated during switching. Therefore, this embodiment adopts an immediate switching method, which can improve the response speed of the system. When there is an inductive load, the current phase lags behind the voltage. In the bypass pass-through mode, if it is suddenly switched to thyristor chopper control, two serious problems may arise due to the release of inductive energy storage: one is high dv / dt causing thyristor false triggering, and the other is current discontinuity causing voltage spikes. Therefore, this embodiment delays switching when there is an inductive load to provide time for the inductive energy storage to be released, thereby avoiding the risk of voltage breakdown and magnetic saturation during the transient process of inductive load switching.

[0041] Based on the above phenomenon, the controller with control rights in this embodiment collects the current waveform sampling points through the metering module, calculates the slope characteristics of the current waveform within a specific time in multiple consecutive cycles to determine whether the back-end load is an inductive load, and then uses the corresponding algorithm to adjust the power of the corresponding back-end load. In the specific implementation of this embodiment, the load-side current waveform is captured by the outgoing line metering module at a sampling rate of not less than 4kH, starting at time t0 after the grid voltage crosses the zero point, and the extraction time T w = 200‌μs‌ current data segment, perform linear fitting on the data segment, and calculate the current change rate k=Δi / Δt; if the current change rate is greater than or equal to the current change rate threshold k th , it is determined to be a resistive load; if the current change rate is less than the current change rate threshold k th , it is determined to be an inductive load. In this embodiment, the current change rate threshold k th The value is based on the system rated voltage V N and the minimum identifiable inductance L min Dynamic adjustment, the calculation formula is: k th =(η*V N ) / L min , η is the safety factor, which is used as an engineering correction factor, with a value range of 0.15 to 0.25. In this embodiment, the preferred value is 0.2, L min The value is 1mH. In the specific implementation of this embodiment, different strategies are adopted for two different waveforms: square wave control is used for inductive loads to avoid magnetic saturation, and sine wave control is used for resistive loads to ensure power quality.

[0042] During the implementation of the operating-condition adaptive bypass switching method of this embodiment, the controller with control authority continuously reads the real-time current of the back-end load through the outgoing line metering module. If the real-time current of the back-end load is detected to be below the bypass switching threshold for a sustained period of time (e.g., 3 seconds), the system is determined to be in a light-load or no-load operating condition. The controller with control authority performs the following operations: (a) Stop sending any trigger signal to the thyristor voltage regulator module.

[0043] (b) Delay for a short period of time (e.g. 20ms, to ensure that all thyristors are turned off).

[0044] (c) The three switches in the bypass switching module are closed, allowing the grid current to directly power the load through the bypass. The system enters "bypass-through mode." This embodiment first stops the trigger signal, then delays for 20ms to ensure the thyristors turn off, and then closes the bypass switch, preventing transient voltage fluctuations.

[0045] In bypass mode, the controller continues to monitor the real-time current of the back-end load. If the real-time current of the back-end load is detected to be higher than the voltage regulation recovery threshold, the controller immediately determines that the back-end load has returned to normal if there is no inductive load. If there is an inductive load, the controller determines that the back-end load has returned to normal only after the real-time current of the back-end load exceeds the voltage regulation recovery threshold for a second set time threshold (set to 1 minute in this embodiment). After the back-end load returns to normal, the controller with control authority performs the following operations: (a) The three sets of switches controlling the bypass switching module are disconnected.

[0046] (b) Delay for a short period of time (e.g. 5ms, to ensure that the switch is stable when disconnected).

[0047] (c) The triggering control of the three-phase thyristor voltage regulation module is restored, and the system enters the "thyristor voltage regulation mode".

[0048] This embodiment compares the real-time load current with a preset bypass switching threshold and a voltage regulation recovery threshold, wherein the bypass switching threshold is a minimum value, which is set to 0.5A in this embodiment, and the voltage regulation recovery threshold is set to 1.0A in this embodiment.

[0049] In this embodiment, the design that the voltage regulation recovery threshold is greater than the bypass switching threshold forms a hysteresis loop, which can effectively prevent the system from experiencing frequent and unstable mode switching when the load current fluctuates just around the threshold.

[0050] This embodiment has the following advantages when implemented: High power supply reliability: The redundant design of the master and slave controllers and the automatic failover mechanism eliminate the single point of failure problem of traditional single-controller power regulation systems. Even if the master controller fails, the backup controller can seamlessly take over, ensuring uninterrupted power supply to the back-end loads, greatly improving system reliability and security.

[0051] Excellent adaptability under all operating conditions: The adaptive bypass switching function solves the problem of thyristor instability and voltage distortion under light load or no load conditions. The system can intelligently switch between voltage regulation and pass-through modes, ensuring high-quality, stable power under all load conditions, broadening the device's application scenarios.

[0052] Advanced and flexible system architecture: The "slave-master, host-monitor" model has a clear division of labor, making the slave controller firmware extremely stable, streamlined, and error-prone. The master controller can carry complex communication, data processing, and human-computer interaction functions, facilitating future functional expansion and software upgrades, and improving the system's maintainability and scalability.

[0053] Improved power quality: By switching to bypass at low loads, harmonics and voltage fluctuations caused by irregular thyristor switching are avoided, ensuring the power quality of downstream users and, in particular, protecting sensitive equipment.

[0054] Example 2: A fusion terminal integrates the thyristor-based power grid regulation system described in Example 1. The fusion terminal and the master and slave controllers of the power grid regulation system exchange information remotely via a communication module. The power grid regulation system of this embodiment is a logical function expansion unit of the fusion terminal, rather than a physically integrated component within the fusion terminal. The fusion terminal receives real-time operating status data, fault records, and power quality parameters from the master and slave controllers. The fusion terminal of this embodiment can also generate voltage regulation strategy optimization instructions based on the received data and issue them to the master and slave controllers. In other words, the fusion terminal performs data aggregation, edge computing, and collaborative control.

[0055] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. The grid power regulation system based on thyristors is characterized by: It includes a master controller, a slave controller, a heartbeat monitoring module and a metering module, among which: The master controller is configured to calculate and generate a first control instruction according to a first set period and based on real-time collected grid operation parameters when the slave controller is operating normally, and send the first control instruction to the slave controller; when the heartbeat monitoring module determines that the slave controller has failed, calculate and generate a thyristor trigger pulse signal according to the first set period and based on real-time collected grid operation parameters; and after the heartbeat monitoring module determines that the slave controller failure has been resolved, generate the first control instruction again and send it to the slave controller, and the master controller stops generating the thyristor trigger pulse signal after sending the first control instruction again. The slave controller is configured to receive a first control instruction sent by the master controller and generate a thyristor trigger pulse signal according to the first control instruction; and is configured to send a heartbeat pulse signal to the heartbeat monitoring module according to a second set period; The heartbeat monitoring module is used to continuously receive the heartbeat pulse signal sent by the slave controller, determine whether the slave controller has a fault based on the received heartbeat pulse signal, and send the determination result to the master controller; The metering module is used to collect grid operation parameters on the grid input side and the load side in real time and send them to the master controller and the slave controller.

2. The thyristor-based power grid power regulation system according to claim 1, characterized in that: The heartbeat monitoring module determines whether a fault occurs in the slave controller by detecting whether the level of the heartbeat pulse signal received within two consecutive second set periods changes. If the level of the heartbeat pulse signal received within two consecutive second set periods changes, the slave controller is determined to be operating normally; otherwise, the slave controller is determined to be faulty. The heartbeat monitoring module continues to obtain the heartbeat pulse signal after determining that the slave controller has failed, and determines that the slave controller has resumed normal operation when the level of the heartbeat pulse signal received changes within two consecutive second set periods; The heartbeat monitoring module sends the determination results of slave controller failure and restoration of normal operation to the main controller.

3. The thyristor-based power grid power regulation system according to claim 1, characterized in that: When the time for receiving the first control instruction from the slave controller exceeds a set time excess threshold, the slave controller calculates and generates a thyristor trigger pulse signal according to the real-time collected power grid operation parameters according to a first set period, until the number of times the slave controller continuously receives the first control instruction within the time excess threshold reaches a set number threshold, and the slave controller again generates a thyristor trigger pulse signal according to the first control instruction; wherein the time excess threshold is greater than the first set period.

4. The thyristor-based power grid power regulation system according to any one of claims 1 to 3, characterized in that: The thyristor of the power grid power regulation system is a three-phase thyristor voltage regulation module connected to the main controller and the slave controller. The three-phase thyristor voltage regulation module is used to receive the thyristor trigger pulse signal sent by the main controller or the slave controller to realize load voltage regulation.

5. The thyristor-based power grid power regulation system according to claim 4, characterized in that: It also includes a bypass switching module connected in parallel with the three-phase thyristor voltage regulating module. The bypass switching module is used to close under light load or no-load conditions so that the grid current passes through the bypass switching module to directly power the load.

6. The thyristor-based power grid power regulation system according to claim 5, characterized in that: The controller that generates the thyristor trigger pulse signal among the master controller and the slave controller is the controller with control authority. The controller with control authority compares the acquired real-time current of the rear-end load with the set bypass switching threshold. When the time when the real-time current of the rear-end load is less than the bypass switching threshold exceeds the first set time threshold, it is determined to be a small load or no-load condition. The controller with control authority stops generating the thyristor trigger pulse signal, controls the bypass switching module to close after a first set delay time, and makes the grid current pass through the bypass switching module to directly supply power to the load. In the bypass pass-through mode, the controller with control authority continues to acquire the real-time current of the rear-end load, compares the acquired real-time current of the rear-end load with the set voltage regulation recovery threshold. By comparison, when the real-time current of the back-end load is greater than the voltage regulation recovery threshold, the controller with control authority identifies whether there is an inductive load in the back-end load. If there is no inductive load, it is directly determined that the back-end load has returned to normal, and the controller with control authority controls the bypass switching module to disconnect. After delaying for a second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal; if there is an inductive load, when the time when the real-time current of the back-end load is greater than the voltage regulation recovery threshold exceeds the second set time threshold, it is determined that the load has returned to normal, and the controller with control authority controls the bypass switching module to disconnect. After delaying for a second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal; wherein, the voltage regulation recovery threshold is greater than the bypass switching threshold.

7. The thyristor-based power grid power regulation system according to claim 6, characterized in that: The controller with control authority identifies whether the back-end load has an inductive load in the following manner: the controller with control authority collects the current waveform sampling points through the metering module, calculates the slope characteristics of the current waveform within a specific time in multiple consecutive cycles, and determines whether the back-end load has an inductive load.

8. A fusion terminal, characterized in that: The fusion terminal integrates the thyristor-based power grid power regulation system according to any one of claims 1 to 7, and the communication module of the fusion terminal realizes remote information interaction with the master controller and the slave controller of the power grid power regulation system.

9. The control method of the thyristor-based power grid power regulation system according to any one of claims 1 to 7, characterized in that: The method includes a master-slave controller redundancy and fault switching method, which includes the following steps: Step S11: After the grid power regulation system is powered on, the main controller calculates and generates a first control instruction according to the real-time collected grid operation parameters at a first set period, and the slave controller receives the first control instruction and generates a thyristor trigger pulse signal according to the first control instruction; Step S12: The slave controller sends a heartbeat pulse signal to the heartbeat monitoring module according to the second set period. The heartbeat monitoring module determines whether the slave controller has a fault by detecting whether the level of the heartbeat pulse signal received within two consecutive second set periods changes. If the level of the heartbeat pulse signal received within two consecutive second set periods changes, it is determined that the slave controller is operating normally, and the main controller keeps sending the first control instruction; if the level of the heartbeat pulse signal received within two consecutive second set periods does not change, it is determined that the slave controller has a fault, and the determination result of the slave controller fault is sent to the main controller, and the process proceeds to step S13; Step S13: The main controller calculates and generates a thyristor trigger pulse signal according to the real-time collected grid operation parameters in a first set period; Step S14, the heartbeat monitoring module continues to obtain the heartbeat pulse signal after determining that the slave controller fails. When the level of the heartbeat pulse signal received changes within two consecutive second set periods, it is determined that the slave controller has resumed normal operation, and the determination result of the slave controller resuming normal operation is sent to the main controller. The main controller sends the first control instruction again and the main controller stops generating the thyristor trigger pulse signal.

10. The control method of the thyristor-based power grid power regulation system according to claim 9, characterized in that: The system also includes a condition-adaptive bypass switching method. The condition-adaptive bypass switching method is implemented after the power grid power regulation system is equipped with a bypass switching module. The controller that generates the thyristor trigger pulse signal among the master controller and the slave controller is the controller with control rights. The condition-adaptive bypass switching method includes the following steps: Step S21: The controller with control authority compares the acquired real-time current of the rear-end load with the set bypass switching threshold. When the time during which the real-time current of the rear-end load is less than the bypass switching threshold exceeds a first set time threshold, it is determined to be a light load or no-load operating condition. The controller with control authority stops generating the thyristor trigger pulse signal, controls the bypass switching module to close after a first set delay time, and allows the grid current to directly power the load through the bypass switching module. Step S22: In the bypass pass-through mode, the controller with control authority continues to obtain the real-time current of the back-end load, and compares the obtained real-time current of the back-end load with the set voltage regulation recovery threshold. When the real-time current of the back-end load is greater than the voltage regulation recovery threshold, the controller with control authority identifies whether the back-end load has an inductive load. If there is no inductive load, it is directly determined that the back-end load has returned to normal. The controller with control authority controls the bypass switching module to disconnect. After delaying for a second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal. If there is an inductive load, when the time when the real-time current of the back-end load is greater than the voltage regulation recovery threshold exceeds the second set time threshold, it is determined that the load has returned to normal. The controller with control authority controls the bypass switching module to disconnect. After delaying for the second set delay time, the controller with control authority resumes generating the thyristor trigger pulse signal. Wherein, the voltage regulation recovery threshold is greater than the bypass switching threshold.

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