A decentralized secondary frequency control method, apparatus, medium and device

Abstract

The application discloses a kind of distributed secondary frequency control method, device, medium and equipment, it is related to computer technical field.The present application is formulated different parameter setting strategy for different load active power variation, by simultaneously adjusting the active power reference value and droop coefficient of each distributed power supply, frequency recovery can be realized and the power sharing realized by primary control is maintained, by adjusting the droop coefficient to change the slope of droop curve, the active power in the adjusted droop curve is 0 to the frequency corresponding to rated capacity falls into the frequency range of the stable operation of this distributed power supply, the active power output range of each distributed power supply is maintained, and the adjustment margin of each distributed power supply is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a decentralized secondary frequency control method, device, medium and equipment. BACKGROUND

[0002] At present, distributed generation (DG) is developing rapidly in the world. In the new power system, especially in the island microgrid, distributed power supply undertakes the task of all power supply. The frequency control in the island microgrid usually adopts a hierarchical control structure, including primary control, secondary control and tertiary control. Among them, the primary frequency control is usually realized by droop control, which realizes power sharing and frequency stability by simulating the active power-frequency characteristics of synchronous generators. The droop control structure is simple, which has been widely used in engineering practice and has achieved good results. In contrast, the secondary frequency control is much more complex. The existing decentralized secondary frequency control methods can be roughly divided into four categories: decentralized secondary frequency control based on proportional-integral control, decentralized secondary frequency control based on small alternating signal injection, decentralized secondary frequency control based on state estimation, and improved mode switching decentralized secondary frequency control.

[0003] In the prior art, the decentralized secondary frequency control based on proportional-integral control adds a proportional-integral term of the deviation between the measured frequency and the rated frequency to the droop control function , so as to realize frequency recovery, wherein is the active power reference value, is the output active power, is the droop coefficient. However, in the decentralized secondary frequency control method based on proportional-integral control, the active power sharing realized by the primary control is destroyed due to the inconsistency of the initial conditions of the integrator and the accumulation of disturbances.

[0004] The decentralized secondary frequency control method based on small alternating signal injection and the decentralized secondary frequency control method based on state estimation introduce additional mechanisms on the basis of the decentralized secondary frequency control method based on proportional-integral control, which solves the problem that the secondary control will destroy the active power sharing. The improved mode switching decentralized secondary frequency control method simplifies the secondary frequency control to some extent, directly adjusts the active power reference value of each distributed power supply to equal the current output active power, so as to realize frequency recovery.

[0005] However, no matter whether the distributed secondary frequency control method based on proportional-integral control adjusts the active power reference value of each distributed power supply to be equal to the current output active power by increasing an additional integral term or whether the improved mode switching distributed secondary frequency control method directly adjusts the active power reference value of each distributed power supply to be equal to the current output active power, the existing methods only adjust the active power reference value of each distributed power supply, and the change of the droop curve caused thereby reduces the power output range of each distributed power supply and reduces the adjustment margin. SUMMARY

[0006] Therefore, it is necessary to provide a distributed secondary frequency control method, device, medium and equipment in view of the above technical problems.

[0007] The application adopts the following technical scheme:

[0008] The application provides a distributed secondary frequency control method, which comprises the following steps:

[0009] The application provides a distributed secondary frequency control device, which comprises:

[0010] The application provides a distributed secondary frequency control device, which comprises:

[0011] The adjusting module is used for adjusting, for each distributed power supply, when a measured frequency of the distributed power supply deviates from a rated frequency, an active power reference value of the distributed power supply to be equal to a currently output active power of the distributed power supply, and judging whether the currently output active power of the distributed power supply is greater than half of a rated capacity; if yes, determining an updated droop coefficient corresponding to the distributed power supply according to an upper limit of a frequency range in which the distributed power supply stably operates, and adjusting, so that a frequency corresponding to the active power of 0 in the adjusted droop curve falls into the frequency range in which the distributed power supply stably operates; if not, determining the updated droop coefficient corresponding to the distributed power supply according to a lower limit of the frequency range in which the distributed power supply stably operates, and adjusting, so that a frequency corresponding to the active power of the rated capacity in the adjusted droop curve falls into the frequency range in which the distributed power supply stably operates.

[0012] The application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the distributed secondary frequency control method.

[0013] The application provides a computer device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor realizes the distributed secondary frequency control method when executing the program.

[0014] The application adopts the above at least one technical scheme to achieve the following beneficial effects:

[0015] The application formulates different parameter setting strategies according to different active power changes of loads, realizes frequency recovery and maintains power sharing realized by primary control by simultaneously adjusting the active power reference value and the droop coefficient of each distributed power supply, changes the slope of the adjusted droop curve by adjusting the droop coefficient, so that the frequency corresponding to the active power of 0 to the rated capacity in the adjusted droop curve falls into the frequency range in which the distributed power supply stably operates, maintains the active power output range of each distributed power supply, and guarantees the adjustment margin of each distributed power supply. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0017] Figure 1 A distributed secondary frequency control method flowchart is provided in the application;

[0018] Figure 2 A droop curve upward translation schematic diagram is provided in the application;

[0019] Figure 3This invention provides a schematic diagram of a downward translation of a drooping curve;

[0020] Figure 4 A schematic diagram of the adjustment strategy for a distributed secondary frequency control method with multi-parameter adjustment provided by the present invention when the power consumed by the load is greater than half of the rated capacity.

[0021] Figure 5 A schematic diagram of the adjustment strategy for a distributed secondary frequency control method with multi-parameter adjustment provided by the present invention when the power consumed by the load is less than half of the rated capacity.

[0022] Figure 6 A schematic diagram illustrating a method for continuously triggering the present invention;

[0023] Figure 7 A schematic diagram of a distributed secondary frequency control method with multi-parameter adjustment provided by the present invention;

[0024] Figure 8 This is a schematic diagram of a distributed secondary frequency control device provided by the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0026] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of a distributed secondary frequency control method according to the present invention, which specifically includes the following steps:

[0028] S101: Obtain the current measurement frequency of each distributed power source.

[0029] S102: For each distributed power source, when the measurement frequency of the distributed power source deviates from the rated frequency, adjust the active power reference value of the distributed power source to be equal to its current output active power, and determine whether its current output active power is greater than half of the rated capacity; if yes, then execute step S103, if no, then execute step S104.

[0030] S103: Based on the upper limit of the frequency range in which the distributed power source operates stably, determine the updated droop coefficient corresponding to the distributed power source and adjust it so that the frequency corresponding to the active power of 0 in the adjusted droop curve falls into the frequency range in which the distributed power source operates stably.

[0031] S104: Based on the lower bound of the frequency range in which the distributed power source operates stably, determine and adjust the updated droop coefficient corresponding to the distributed power source so that the frequency corresponding to the active power at the rated capacity in the adjusted droop curve falls within the frequency range in which the distributed power source operates stably.

[0032] Currently, distributed quadratic frequency control based on proportional-integral control is used in droop control functions. The measurement frequency was increased based on the existing measurement frequency. With rated frequency The ratio of the deviation between the two terms is the integral term, thereby achieving frequency recovery. In the formula, This is a reference value for active power. The output active power, The droop coefficient is given. The control function for this control method is: In the formula, The droop coefficient is... and These are the proportional coefficient and the integral coefficient, respectively. It is a complex frequency variable.

[0033] The distributed secondary frequency control methods based on small AC signal injection and state estimation introduce additional mechanisms on top of the proportional-integral control-based distributed secondary frequency control method, solving the problem that secondary control disrupts active power sharing. The improved mode-switching distributed secondary frequency control method simplifies secondary frequency control to some extent, but existing methods only adjust the active power reference values ​​of each distributed power source. P ref From the droop control function As can be seen from this, when each distributed power source... P ref equal P act At that time, there exists ω equal ω nom Therefore, existing methods only adjust the active power reference value. P ref This is sufficient to achieve frequency recovery.

[0034] And droop control function The expression for the intercept is ω nom + mp * P ref Therefore, existing methods are... P ref Adjustments will inevitably cause changes in the intercept. Visually, this will result in a vertical shift in the sag curve, such as... Figure 2 and Figure 3 As shown, Figure 2 This is a schematic diagram of an upward translation of a drooping curve in this invention. Figure 3 This is a schematic diagram of a downward translation of a drooping curve in this invention.

[0035] In the drooping curve In the initial setting, it is usually set P act When equal to 0, the corresponding ω This is the upper limit of the frequency range in which distributed power sources can operate stably. ω max , P act Equal to rated capacity C i Time corresponding ω The lower limit of the frequency range in which distributed power sources can operate stably. ω min The initial active power output range is [0, C i The initial droop curve is set as follows: F 1. When the frequency deviates from the rated value, the existing distributed secondary frequency control method is used to achieve frequency recovery and active power sharing. The droop control function is from... F 1. Translate to F 1 ' .like F 1. Move upwards to F 1 ' ,See Figure 2 This shows the upper limit of the frequency range in which distributed power sources can operate stably. ω max corresponding P act The value is P min ' ,when P act Less than P min ' Time corresponding ω It will be greater than ω max This is not allowed. Therefore, the output range is [0, ... C iIn comparison, the output range is reduced to [0, P min ' , C i ] and the regulation margin of the distributed power supply is reduced.

[0036] Similarly, if F 1 is moved down to F 1 ' , it can be seen that the lower limit of the frequency range in which the distributed power supply can operate stably is Figure 3 ω min The value of P act corresponding to P max ' When P act is greater than P max ' , the corresponding ω will be less than ω min , which is also not allowed. Therefore, in comparison with the initial output range [0, C i ], the output range is reduced to [0, P max ' ] after the use of the existing method, and the regulation margin of the distributed power supply is also reduced.

[0037] Therefore, regardless of the situation, the use of the existing method will reduce the output range and the regulation margin of the distributed power supply.

[0038] Based on this, the application proposes that by simultaneously adjusting the droop coefficient i of the distributed power supply m p_i and the active power reference value P ref_i , the two parameters, the frequency recovery and the active power sharing are realized, and the regulation margin of the distributed power supply is kept unchanged.

[0039] ​In one or more embodiments of the present invention, the server may first obtain the current measurement frequency of each distributed power source to determine whether each distributed generator has experienced frequency deviation and needs adjustment based on the rated frequency. Furthermore, to filter out minor disturbances, in one or more embodiments of the present invention, the server may also obtain the current measurement frequency and frequency change rate of each distributed power source; thereby, for each distributed power source, it is determined whether the measurement frequency of the distributed power source deviates from the rated frequency and whether the frequency change rate remains within a preset range for a preset time period. If so, it is determined whether each distributed generator has experienced frequency deviation and needs adjustment, that is, adjusting the active power reference value of each distributed power source to equal its current output active power, and determining whether its current output active power is greater than half of its rated capacity.

[0040] This invention's distributed secondary frequency control method handles two scenarios: active power greater than half of the rated capacity and active power less than half of the rated capacity. The droop coefficient is adjusted in both scenarios. m p_i The regulatory strategies differ.

[0041] In one or more embodiments of the present invention, for cases where the active power is greater than half of the rated capacity, the update droop coefficient corresponding to the distributed power source can be determined by the following formula based on the upper limit of the frequency range in which the distributed power source operates stably: .

[0042] In the formula, For distributed power sources i The corresponding updated droop coefficient, For distributed power sources i Current output active power, For distributed power sources i The upper limit of the frequency range for stable operation. For distributed power sources i The rated frequency.

[0043] Furthermore, in one or more embodiments of the present invention, for cases where the active power is less than half of the rated capacity, the update droop coefficient corresponding to the distributed power source can be determined by the following formula based on the lower bound of the frequency range in which the distributed power source operates stably: .

[0044] In the formula, For distributed power sources i Rated active power capacity, For distributed power sources i The lower limit of the frequency range for stable operation.

[0045] For example, Figure 4The figure shows the adjustment strategy of the multi-parameter adjustment distributed secondary frequency control method in the present application when the power consumed by the load is greater than half of the rated capacity. Two distributed power sources are taken as an example, with a capacity ratio of 1:2. The initial droop control functions of the two distributed power sources are represented as F 1 and F 2, and the initial operating points are O1 and O2. At this time, the measured frequencies of the two distributed power sources are equal to the rated frequency. When the active power demand increases, the primary control is first performed, and the operating points of the two distributed power sources are moved from O1 and O2 to new operating points A1 and A2, respectively, corresponding to active powers of P A_1 and P A_2 , maintaining the power sharing ratio of 1:2, while the frequencies of the two distributed power sources deviate from the rated value. If the load power does not change with the frequency, to restore the frequency to the rated value, the new droop curve F 1 ' needs to pass through O1 ' ( P A_1 , ω nom ), F 2 ' needs to pass through O2 ' ( P A_2 , ω nom ). Only by adjusting the P ref_i of each DG to the value of P act_i at this time (defined as P A_i ) can the restoration be achieved.

[0046] In addition, in order to ω all be within the frequency range ω min , ω max in which the system can stably operate, the intercept ω nom + m p_i ' * P ref_i ' of the new droop curve is set to be equal to the intercept ω nom + m p_i * P ref_i of the initial droop curve (the droop curve before frequency adjustment), where Pref_i ' The active power reference value of the adjusted distributed power i m p_i ' The updated droop coefficient corresponding to the new droop curve is , wherein Δ y represents the initial droop curve intercept ω nom + m p_i * P ref_i The difference between ω nom , and Δ y of all distributed powers is the same.

[0047] For example, Figure 5 The adjustment strategy diagram of the multi-parameter adjustment distributed secondary frequency control method in the application when the load power consumption is less than half of the rated capacity. Still taking two distributed powers as an example, when the active power demand decreases, the working points of the two distributed powers are changed to A1 and A2 after the first control, and the corresponding active power is P A_1 and P A_2 If the load power does not change with the frequency, in order to restore the frequency to the rated value, a new droop curve F 1 ' passes through O1 ' ( P A_1 , ω nom ) and O2 F 2 ' passes through O2 ' ( P A_2 , ω nom ) is needed. This can be achieved by adjusting the P ref_i of each distributed power to be equal to P A_i In this case, if only the slope of the droop curve is adjusted and the intercept is kept unchanged, it can be observed that the active power corresponding to the lower limit frequency ω min will be less than the rated capacity C i . In this way, when the load power subsequently increases, the new droop curve can cause the frequency to exceed the allowed range. Therefore, the application proposes to adjust the slope and the intercept at the same time. A new droop curve is set to pass through P ​A_i , ω nom )and( C i , ω min These two points allow us to obtain the updated droop coefficient. m p_i ' The calculation formula is: .

[0048] Figure 4 and Figure 5 All of these adjustments are based on the assumption that the power consumed by the load does not change with frequency. However, if the load includes a motor, the power consumed by the load will change with frequency. Therefore, after applying the above adjustment strategy once, the frequency may not have recovered to its rated value. The above adjustment strategy can then be applied continuously. Since each application of the above adjustment strategy brings the frequency closer to the rated frequency, frequency recovery can eventually be achieved. Figure 6 As shown, Figure 6 This is a schematic diagram of a method for continuously triggering the present invention. This diagram can be considered as... Figure 4 An extension of the single DG case. Even when the frequency deviates from the rated value, it still uses... Figure 4 If the adjustment strategy in the middle is used to set a new droop control function, then the droop curve will be changed from... F 1 becomes F 1 ' Because the frequency is determined by ω A Increase to ω A ' The active power consumed by the load also increases accordingly, thus the operating point deviates from O1. ' Arrived at A1 ' Based on this, it was adopted again. Figure 4 The adjustment strategy in the middle is used to set a new droop control function, further adjusting the droop curve from F 1 ' Adjust to F 1 '' Through such continuous adjustments, the system frequency will gradually approach the rated frequency. ω nom .

[0049] Figure 7 This is a schematic diagram of a distributed secondary frequency control method with multi-parameter adjustment according to the present invention. Each distributed power source locally calculates its output active power. P act ,frequency ω By rated frequency ω nom minus mp and( P act - P ref The product of these factors is used to obtain the primary frequency control. The primary voltage control process is similar. Subsequently, dual-loop control of voltage and current is introduced to enhance the system's dynamic response and stability. Secondary control is independent of primary control and only activates when the triggering condition of frequency stability and deviation from the rated value is met. Secondary control is based on... Figure 4 or Figure 5 Adjustment strategy update m p_i and P ref_i The value is used to restore the frequency of the distributed power source.

[0050] based on Figure 1 The distributed secondary frequency control method shown in this invention has formulated different parameter tuning strategies for different load active power changes. By simultaneously adjusting the active power reference value and droop coefficient of each distributed power source, frequency recovery can be achieved while maintaining the power sharing achieved by the primary control. At the same time, by adjusting the droop coefficient to change the slope of the droop curve, the frequency corresponding to the active power from 0 to the rated capacity in the adjusted droop curve falls within the frequency range of stable operation of the distributed power source, maintaining the active power output range of each distributed power source and ensuring the adjustment margin of each distributed power source.

[0051] When applying the distributed secondary frequency control method provided by this invention, it is not necessary to... Figure 1 The steps shown are executed in sequence. The specific execution order of each step can be determined as needed, and this invention does not impose any restrictions on it.

[0052] The above describes a distributed secondary frequency control method provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding distributed secondary frequency control device, such as... Figure 8 As shown.

[0053] Figure 8 A schematic diagram of a distributed secondary frequency control device provided by the present invention includes:

[0054] The acquisition module 201 is used to acquire the current measurement frequency of each distributed power source;

[0055] The adjusting module 202 is configured to, for each distributed power supply, when a measured frequency of the distributed power supply deviates from a rated frequency, adjust an active power reference value of the distributed power supply to be equal to a currently output active power of the distributed power supply, and determine whether the currently output active power of the distributed power supply is greater than half of a rated capacity; if yes, determine an updated droop coefficient corresponding to the distributed power supply according to an upper limit of a frequency range in which the distributed power supply stably operates, and adjust the updated droop coefficient, so that a frequency corresponding to 0 active power in an adjusted droop curve falls within the frequency range in which the distributed power supply stably operates; and if no, determine an updated droop coefficient corresponding to the distributed power supply according to a lower limit of the frequency range in which the distributed power supply stably operates, and adjust the updated droop coefficient, so that a frequency corresponding to the rated capacity in the adjusted droop curve falls within the frequency range in which the distributed power supply stably operates.

[0056] The specific limitations of the distributed secondary frequency control device can refer to the limitations of the distributed secondary frequency control method described above, which will not be repeated here. Each module in the distributed secondary frequency control device described above can be realized by software, hardware, and combinations thereof, in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each of the above modules.

[0057] The application also provides a computer readable storage medium, which stores a computer program, and the computer program can be used to execute the distributed secondary frequency control method described above. Figure 1 The application provides a distributed secondary frequency control method.

[0058] The application also provides a computer device, which, at the hardware level, includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and can also include other hardware required by other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs, so as to implement the distributed secondary frequency control method described above. Figure 1 The application provides a distributed secondary frequency control method.

[0059] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments of the methods. In the embodiments of the present application, any reference to memory, storage, database or other medium can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0060] The technical features of the above embodiments can be combined in any way. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

Claims

1. A decentralized secondary frequency control method, characterized by, The method comprises the following steps: obtaining the current measured frequency of each distributed power supply; for each distributed power supply, when the measured frequency of the distributed power supply deviates from the rated frequency, adjusting the active power reference value of the distributed power supply to be equal to the active power currently output by the distributed power supply, and determining whether the active power currently output by the distributed power supply is greater than half of the rated capacity; if yes, determining the updated droop coefficient corresponding to the distributed power supply according to the upper limit of the frequency range in which the distributed power supply stably operates, and adjusting the determined updated droop coefficient, so that the frequency corresponding to the active power of 0 in the adjusted droop curve falls within the frequency range in which the distributed power supply stably operates; if no, determining the updated droop coefficient corresponding to the distributed power supply according to the lower limit of the frequency range in which the distributed power supply stably operates, and adjusting the determined updated droop coefficient, so that the frequency corresponding to the active power of the rated capacity in the adjusted droop curve falls within the frequency range in which the distributed power supply stably operates.

2. The method of claim 1, wherein, The method for determining the droop coefficient corresponding to the distributed power supply according to the upper limit of the frequency range in which the distributed power supply stably operates comprises the following steps: determining the updated droop coefficient corresponding to the distributed power supply according to the upper limit of the frequency range in which the distributed power supply stably operates by the following formula: ； wherein, is a distributed power source i corresponding updated droop coefficient, is a distributed power source i active power of the current output, is a distributed power source i upper bound of the frequency range of stable operation, is a distributed power source i rated frequency of the distributed power source.

3. The method of claim 1, wherein, The method for determining the droop coefficient corresponding to the distributed power supply according to the lower limit of the frequency range in which the distributed power supply stably operates comprises the following steps: determining the updated droop coefficient corresponding to the distributed power supply according to the lower limit of the frequency range in which the distributed power supply stably operates by the following formula: ； wherein, a distributed power supply i a corresponding updated droop coefficient, a distributed power supply i a rated active power capacity, a distributed power supply i a current output active power, a distributed power supply i a rated frequency, a distributed power supply i a lower bound of a frequency range for stable operation.

4. The method of claim 1, wherein, The method for obtaining the current measured frequency of each distributed power supply comprises the following steps: obtaining the current measured frequency and the frequency change rate of each distributed power supply; The method for adjusting the active power reference value of each distributed power supply to be equal to the active power currently output by the distributed power supply when the measured frequency of the distributed power supply deviates from the rated frequency comprises the following steps: when the measured frequency of the distributed power supply deviates from the rated frequency and the frequency change rate is continuously located within the preset interval within the preset time period, adjusting the active power reference value of each distributed power supply to be equal to the active power currently output by the distributed power supply, and determining whether the active power currently output by the distributed power supply is greater than half of the rated capacity.

5. A decentralized secondary frequency control device, characterized by, The method comprises the following steps: an obtaining module, configured to obtain the current measured frequency of each distributed power supply; an adjusting module, configured to, for each distributed power supply, when the measured frequency of the distributed power supply deviates from the rated frequency, adjust the active power reference value of the distributed power supply to be equal to the active power currently output by the distributed power supply, and determine whether the active power currently output by the distributed power supply is greater than half of the rated capacity; if yes, determine the updated droop coefficient corresponding to the distributed power supply according to the upper limit of the frequency range in which the distributed power supply stably operates, and adjust the determined updated droop coefficient, so that the frequency corresponding to the active power of 0 in the adjusted droop curve falls within the frequency range in which the distributed power supply stably operates; if no, determine the updated droop coefficient corresponding to the distributed power supply according to the lower limit of the frequency range in which the distributed power supply stably operates, and adjust the determined updated droop coefficient, so that the frequency corresponding to the active power of the rated capacity in the adjusted droop curve falls within the frequency range in which the distributed power supply stably operates.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by a processor to implement the method in any one of claims 1-4.

7. A computer device, comprising: A computer program product comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method in any one of claims 1-4 when executing the computer program.

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