Multi-umbrella ladder unit cooperative control method and device suitable for high-altitude wind power generation

Abstract

The present application relates to high-altitude wind power generation technology field, especially in kind of multi-umbrella ladder unit cooperative control method and device suitable for high-altitude wind power generation. The method obtains the unit parameters, current working condition and external real-time power demand of all umbrella ladder units of high-altitude wind power generation system, and divides all umbrella ladder units based on unit parameters to represent the priority degree of all umbrella ladder units, and determines the power output of all umbrella ladder units based on current working condition to represent whether each umbrella ladder unit has power generation condition and the corresponding maximum power generation when having power generation condition, and finally controls the working parameters of all umbrella ladder units based on the results of external real-time power demand, division and power output determination. Therefore, the above technical scheme can realize stable power output and optimize system efficiency.

Description

Technical Field

[0001] This invention relates to the field of high-altitude wind power generation technology, and in particular to a method and device for coordinated control of multi-umbrella wind turbine units suitable for high-altitude wind power generation. Background Technology

[0002] With the continuous development of renewable energy technologies, aerial wind power systems (AWES) have become a promising renewable energy technology due to their high wind speed and high wind energy density.

[0003] Among related technologies, the umbrella-ladder type land-based high-altitude wind power generation system faces challenges in the coordinated control of multiple units, especially in achieving stable power output and optimizing system efficiency.

[0004] Therefore, there is an urgent need to provide a method and device for the coordinated control of multi-umbrella wind turbine units suitable for high-altitude wind power generation to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a method and device for coordinated control of multi-umbrella wind turbine units suitable for high-altitude wind power generation, which can achieve stable power output and optimize system efficiency.

[0006] In a first aspect, embodiments of the present invention provide a method for coordinated control of multiple umbrella-type wind turbine units suitable for high-altitude wind power generation, comprising:

[0007] Obtain the unit parameters, current operating conditions, and real-time external power demand of all umbrella ladder units in the high-altitude wind power generation system;

[0008] Based on the unit parameters, all umbrella ladder units are divided; wherein the number of umbrella ladder units is not less than 2, and the division results are used to characterize the priority of all umbrella ladder units.

[0009] Based on the current operating conditions, power output is determined for all umbrella ladder units; wherein, power output determination is used to characterize whether each umbrella ladder unit has the conditions for power generation and the maximum power generation corresponding to the conditions for power generation.

[0010] Based on the results of external real-time power demand, division, and power output determination, the operating parameters of all umbrella ladder units are controlled collaboratively.

[0011] Secondly, embodiments of the present invention also provide a multi-umbrella ladder unit collaborative control device suitable for high-altitude wind power generation, comprising:

[0012] The acquisition module is used to acquire the unit parameters, current operating conditions, and real-time external power demand of all umbrella ladder units of the high-altitude wind power generation system.

[0013] The partitioning module is used to partition all umbrella ladder units based on the unit parameters; wherein the number of umbrella ladder units is not less than 2, and the partitioning result is used to characterize the priority of all umbrella ladder units.

[0014] The determination module is used to determine the power output of all umbrella ladder units based on the current operating conditions; wherein, the power output determination is used to characterize whether each umbrella ladder unit has the conditions for power generation and the maximum power generation corresponding to the conditions for power generation.

[0015] The control module is used to coordinate the control of the operating parameters of all umbrella ladder units based on the results of external real-time power demand, division, and power output determination.

[0016] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method of any embodiment of the present invention.

[0017] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any embodiment of the present invention.

[0018] This invention provides a method, device, electronic equipment, and storage medium for the coordinated control of multiple umbrella-type wind turbine units in high-altitude wind power generation. It acquires the unit parameters, current operating conditions, and real-time external power demand of all umbrella-type wind turbine units in the high-altitude wind power generation system. Based on the unit parameters, all umbrella-type wind turbine units are divided to characterize their priority. Power output is determined for each umbrella-type wind turbine unit based on its current operating conditions to indicate whether each unit has the conditions for power generation and its maximum power output when those conditions are met. Finally, based on the real-time external power demand, the division, and the power output determination results, the operating parameters of all umbrella-type wind turbine units are coordinated and controlled. Therefore, the above technical solution fully considers the priority, power generation conditions, and maximum power output of all umbrella-type wind turbine units to better match real-time external power demand. This simplifies the coordinated control of multiple umbrella-type wind turbine units, thereby achieving stable power output and optimizing system efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1This is a flowchart of a multi-umbrella ladder unit collaborative control method for high-altitude wind power generation provided by an embodiment of the present invention;

[0021] Figure 2 This is a hardware architecture diagram of the electronic device provided in an embodiment of the present invention;

[0022] Figure 3 This is a structural diagram of a multi-umbrella ladder unit collaborative control device for high-altitude wind power generation provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] Please refer to Figure 1 This invention provides a method for coordinated control of multiple umbrella-type wind turbine units suitable for high-altitude wind power generation, comprising:

[0025] Step 100: Obtain the unit parameters, current operating conditions, and real-time external power demand of all umbrella ladder units in the high-altitude wind power generation system;

[0026] Step 102: Based on the unit parameters, divide all umbrella ladder units into categories; the number of umbrella ladder units shall not be less than 2, and the division results shall be used to characterize the priority of all umbrella ladder units.

[0027] Step 104: Based on the current operating conditions, determine the power output of all umbrella ladder units; wherein, the power output determination is used to characterize whether each umbrella ladder unit has the conditions for power generation and the maximum power generation corresponding to the conditions for power generation.

[0028] Step 106: Based on the results of external real-time power demand, division, and power output determination, coordinate the operating parameters of all umbrella ladder units.

[0029] In this embodiment, the unit parameters, current operating conditions, and real-time external power demand of all umbrella ladder units in the high-altitude wind power generation system are acquired. Based on the unit parameters, all umbrella ladder units are divided to characterize their priority. Power output is determined for each umbrella ladder unit based on its current operating conditions to indicate whether each unit meets the power generation requirements and its maximum power output when those conditions are met. Finally, based on the real-time external power demand, the division, and the power output determination results, the operating parameters of all umbrella ladder units are coordinated and controlled. Therefore, the above technical solution fully considers the priority, power generation conditions, and maximum power output of all umbrella ladder units to better match real-time external power demand. This simplifies the coordinated control of multiple umbrella ladder units, thereby achieving stable power output and optimizing system efficiency.

[0030] In some implementations, the initiator of external real-time electricity demand can be the main power grid, or a single user or microgrid with power demand, without specific limitations.

[0031] Understandably, the parachute ladder unit includes cables and a buoyancy device and a power awning fixed to the cables (if necessary, a balancing awning can also be added to the cables to maintain the flight attitude of the parachute ladder unit in the air). The buoyancy device is used to provide upward buoyancy, and the power awning is used to open during operation to make the parachute ladder unit move upward, thereby driving the cables to generate electricity for the motor, and to close during recovery to make the parachute ladder unit move downward, and so on in a cycle.

[0032] In some implementations, the levitation device may be a helium balloon or other device with levitation function, and no specific limitation is made here.

[0033] In one embodiment of the present invention, the unit parameters include rated power generation, power generation change rate, maximum rope speed, parachute opening time, and number of parachutes opened.

[0034] In one embodiment of the present invention, the umbrella ladder unit is classified into reference units, cooperative units, and standby units in descending order of priority.

[0035] When the number of umbrella ladder units is equal to 2, all umbrella ladder units are divided based on the unit parameters, including: based on rated power generation, power generation change rate and maximum rope speed, 1 reference unit and 1 cooperative unit are obtained, and the number of standby units is 0.

[0036] When the number of umbrella ladder units is greater than 2, all umbrella ladder units are divided based on unit parameters, including: based on the opening time and number of openings, one standby unit is assigned from all N umbrella ladder units; based on rated power generation, power generation change rate, and maximum rope speed, the remaining N-1 umbrella ladder units are divided in rounds; each round of division results in one reference unit, and the total number of umbrella ladder units decreases by 1 after each round of division. The last round of division results in one cooperating unit. The final result is N-2 reference units, 1 cooperating unit, and 1 standby unit. The reference units assigned earlier have a higher priority than those assigned later.

[0037] In this embodiment, the opening time and number of umbrellas can characterize the start-up speed of the umbrella ladder generator unit. When encountering emergency peak shaving and frequency regulation power demand, the standby unit can output power first to better meet the power demand. Rated power generation, power generation change rate, and maximum rope speed characterize the wide load capacity that the umbrella ladder generator unit can handle during peak shaving and frequency regulation, meaning the reference unit mainly plays the role of the main unit for peak shaving and frequency regulation. Furthermore, using a hierarchical iterative approach to divide all umbrella ladder generator units round by round simplifies the challenges of multi-unit coordination, thereby achieving stable power output and optimizing system efficiency.

[0038] In some implementations, the parameters of each unit can be weighted and a weighted average can be used to obtain a classification influencing factor, which can then be used to further classify reference units, cooperating units, and standby units. Specific classification details will not be elaborated here. For example, when classifying standby units, the umbrella opening time has the greatest weight; when classifying reference units, the rated power generation has the greatest weight.

[0039] In one embodiment of the present invention, the current operating condition includes the current operating state and wind speed of the umbrella ladder unit, and the operating state includes upward work and downward recovery.

[0040] It should be noted that the working status will affect the subsequent determination of whether the conditions for power generation are met, while the wind speed will affect how much electricity the umbrella ladder unit can generate under the current wind speed conditions, that is, it is used to determine how much power generation capacity it has.

[0041] In the field of high-altitude wind power generation, the output power of the generator set is directly related to the cable release and retrieval speed (i.e., the cable release speed when working upwards and the cable retrieval speed when retrieving downwards, both referred to as cable speed) and wind speed. The inventors' research shows that the generator set's output power first increases and then decreases with the increase of the cable release speed (at this time, all work is done to generate electricity, that is, the faster the cable release speed, the higher the output power of the generator set is, and the larger the absolute value, thus generating more electricity). The generator set's output power gradually decreases with the increase of the cable retrieval speed (at this time, all power is consumed during retrieval, that is, the faster the cable retrieval speed, the higher the output power of the generator set is, and the larger the absolute value, thus consuming more power). The generator set's output power gradually increases with the increase of wind speed until it levels off (but when the wind speed is too high, the generator set's output power is 0, which means that the wind speed is too high and the entire umbrella ladder generator set will be blown over, causing it to be unable to generate electricity).

[0042] In one embodiment of the present invention, based on the current operating conditions and real-time external power demand, the power output of all umbrella ladder units is determined, including:

[0043] For each umbrella ladder unit, it is determined whether the unit has the conditions for power generation based on its current operating status; where the operating status is upward work, it indicates that the conditions for power generation are met, and the operating status is downward retraction, it indicates that the conditions for power generation are not met.

[0044] When the umbrella ladder unit is ready to generate electricity, the current power generation of the umbrella ladder unit is determined based on the current wind speed of the umbrella ladder unit.

[0045] The minimum of the rated power generation and the current power generation is determined as the maximum power generation of the umbrella ladder unit; among them, the maximum power generation corresponding to all umbrella ladder units that have the conditions for power generation is used to match the real-time external power demand.

[0046] When the umbrella ladder unit does not have the conditions for generating electricity, the power generation of the umbrella ladder unit is determined to be 0.

[0047] As mentioned earlier, the unit's output power is directly related to both the cable winding and unwinding speed and the wind speed. Therefore, it is possible to determine the current power generation of each umbrella ladder unit under the current wind speed, and also to determine how to adjust the cable winding and unwinding speed to change the unit's output power, such as adjusting it to the maximum power generation or 0. Thus, after determining the power output of each umbrella ladder unit, the control system can obtain the status information of all the umbrella ladder units, thereby enabling better decision-making for subsequent coordinated control.

[0048] It is understandable that when the power generation of the umbrella ladder unit is 0, the speed of the motor is set to 0, for example, the motor can be braked. This can achieve the state of 0 power generation of the umbrella ladder unit, thereby ensuring that the umbrella ladder unit does not consume electricity, or waste energy due to excessive power generation, or reduce its service life due to excessive power generation (which will be further explained below).

[0049] It can be further understood that during the power generation process of the reference unit and the cooperating unit, the motor speed of the standby unit will be set to 0, that is, the standby unit is in a suspended state, continuously waiting for instructions to start up quickly, so as to respond to the power demand more quickly.

[0050] In one embodiment of the present invention, based on the results of external real-time power demand, division, and power output determination, the operating parameters of all umbrella ladder units are coordinated and controlled, including:

[0051] Based on the division and power output determination results, the maximum power generation corresponding to all umbrella ladder units that have the conditions for power generation and whose priority decreases in order is obtained.

[0052] Determine whether the sum of the maximum power generation of all umbrella ladder units that have the conditions for power generation can meet the real-time external power demand.

[0053] If so, adjust the cable release speed of all parachute ladder units that have the conditions for power generation so that all parachute ladder units that have the conditions for power generation generate electricity according to the preset power generation rules, and adjust the cable recovery speed of all parachute ladder units that do not have the conditions for power generation to 0 so that the power generation of all parachute ladder units that do not have the conditions for power generation is 0.

[0054] If not, adjust the cable release speed of all umbrella ladder units that are capable of generating electricity to maximize the power generation of all such units, and call upon other external power sources to supply the real-time external power demand. Also, adjust the cable retrieval speed of all umbrella ladder units that are not capable of generating electricity to 0, so that the power generation of all such units is 0.

[0055] In this embodiment, after the control system obtains the status information of all the umbrella ladder units (i.e., the results of division and power output determination), it can output the collaborative control decisions of all umbrella ladder units, such as how to determine the power generation sequence of the umbrella ladder units, and how to adjust the power generation status of the umbrella ladder units by adjusting the cable release speed and cable retrieval speed (i.e., whether the umbrella ladder units need to be adjusted to the maximum power generation state, 0, or just meet the external real-time power demand), so as to achieve stable power output and optimize system efficiency.

[0056] In one embodiment of the present invention, the preset power generation rule is as follows:

[0057] Each umbrella ladder generator unit that has the conditions to generate electricity is traversed in descending order of priority to determine the m-th umbrella ladder generator unit that has the conditions to generate electricity; wherein, the sum of the maximum power generation of the first m-1 umbrella ladder generator units that have the conditions to generate electricity is less than the external real-time power demand, and the sum of the maximum power generation of the first m umbrella ladder generator units that have the conditions to generate electricity is not less than the external real-time power demand.

[0058] The power generation of the first m-1 umbrella ladder generator units that are ready to generate electricity is adjusted to their corresponding maximum power generation. The power generation of the m-th umbrella ladder generator unit that is ready to generate electricity is adjusted to the target power generation. The power generation of the remaining umbrella ladder generator units that are ready to generate electricity is adjusted to 0. The target power generation is equal to the difference between the real-time external power demand and the sum of the maximum power generation of the first m-1 umbrella ladder generator units that are ready to generate electricity.

[0059] In this embodiment, by designing the aforementioned preset power generation rules, the effective and full utilization of the umbrella ladder generator units can be ensured. That is, when the sum of the maximum power generation of all umbrella ladder generator units with power generation capabilities exceeds the external real-time power demand, not all units with power generation capabilities will generate electricity. This is because the excess electricity cannot be used in the grid (similar to the grid connection of renewable energy sources such as wind and solar). In this case, either the electricity is discarded, or the excess energy is stored through other energy storage methods. However, in this discussion, it is assumed that no other energy storage methods exist. Therefore, the excess electricity will be discarded, and the excessive power generation will lead to overuse of the umbrella ladder generator units, thereby affecting their service life, such as the lifespan of the cables and the umbrella assembly. In summary, by designing the aforementioned preset power generation rules, it is possible to ensure that the power generation of the umbrella ladder generator units matches the external real-time power demand, that the service life of the umbrella ladder generator units is not affected by excessive power generation, and that stable power output and optimized system efficiency are achieved.

[0060] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a collaborative control device for multi-umbrella wind turbine units suitable for high-altitude wind power generation. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of an electronic device for a multi-umbrella ladder unit collaborative control device for high-altitude wind power generation, provided by an embodiment of the present invention. Besides... Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a device in a logical sense is formed by the CPU of the electronic device in which it is located reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0061] like Figure 3 As shown, the present invention provides a multi-umbrella ladder unit collaborative control device suitable for high-altitude wind power generation, comprising:

[0062] The acquisition module 300 is used to acquire the unit parameters, current operating conditions and real-time external power demand of all umbrella ladder units of the high-altitude wind power generation system.

[0063] The partitioning module 302 is used to partition all umbrella ladder units based on the unit parameters; wherein the number of umbrella ladder units is not less than 2, and the partitioning result is used to characterize the priority of all umbrella ladder units.

[0064] The determination module 304 is used to determine the power output of all umbrella ladder units based on the current operating conditions; wherein, the power output determination is used to characterize whether each umbrella ladder unit has the conditions for power generation and the maximum power generation corresponding to the conditions for power generation.

[0065] The control module 306 is used to coordinate the control of the operating parameters of all umbrella ladder units based on the results of external real-time power demand, division and power output determination.

[0066] In this embodiment of the invention, the acquisition module 300 can be used to execute step 100 in the above method embodiment, the division module 302 can be used to execute step 102 in the above method embodiment, the determination module 304 can be used to execute step 104 in the above method embodiment, and the control module 306 can be used to execute step 106 in the above method embodiment.

[0067] In one embodiment of the present invention, the unit parameters include rated power generation, power generation change rate, maximum rope speed, parachute opening time, and number of parachutes opened.

[0068] In one embodiment of the present invention, the umbrella ladder unit is classified into reference units, cooperative units, and standby units in descending order of priority.

[0069] When the number of umbrella ladder units is equal to 2, all umbrella ladder units are divided based on the unit parameters, including: based on rated power generation, power generation change rate and maximum rope speed, 1 reference unit and 1 cooperative unit are obtained, and the number of standby units is 0.

[0070] When the number of umbrella ladder units is greater than 2, all umbrella ladder units are divided based on the unit parameters, including: based on the opening time and number of openings, one standby unit is assigned from all N umbrella ladder units; based on the rated power generation, power generation change rate, and maximum rope speed, the remaining N-1 umbrella ladder units are divided in rounds; each round of division results in one reference unit, and the total number of umbrella ladder units decreases by 1 after each round of division. The last round of division results in one cooperating unit. The final result is N-2 reference units, 1 cooperating unit, and 1 standby unit. The reference units assigned earlier have a higher priority than those assigned later.

[0071] In one embodiment of the present invention, the current operating condition includes the current operating state and wind speed of the umbrella ladder unit, and the operating state includes upward work and downward recovery.

[0072] In one embodiment of the present invention, based on the current operating conditions and the external real-time power demand, a power output determination is performed on all umbrella ladder units, including:

[0073] For each umbrella ladder unit, it is determined whether the unit has the conditions for power generation based on its current operating status; where the operating status is upward work, it indicates that the conditions for power generation are met, and the operating status is downward retraction, it indicates that the conditions for power generation are not met.

[0074] When the umbrella ladder unit is ready to generate electricity, the current power generation of the umbrella ladder unit is determined based on the current wind speed of the umbrella ladder unit.

[0075] The minimum of the rated power generation and the current power generation is determined as the maximum power generation of the umbrella ladder unit; among them, the maximum power generation corresponding to all umbrella ladder units that have the conditions for power generation is used to match the real-time external power demand.

[0076] When the umbrella ladder unit does not have the conditions for generating electricity, the power generation of the umbrella ladder unit is determined to be 0.

[0077] In one embodiment of the present invention, based on the results of external real-time power demand, division, and power output determination, the operating parameters of all umbrella ladder units are coordinated and controlled, including:

[0078] Based on the division and power output determination results, the maximum power generation corresponding to all umbrella ladder units that have the conditions for power generation and whose priority decreases in order is obtained.

[0079] Determine whether the sum of the maximum power generation of all umbrella ladder units that have the conditions for power generation can meet the real-time external power demand.

[0080] If so, adjust the cable release speed of all parachute ladder units that have the conditions for power generation so that all parachute ladder units that have the conditions for power generation generate electricity according to the preset power generation rules, and adjust the cable recovery speed of all parachute ladder units that do not have the conditions for power generation to 0 so that the power generation of all parachute ladder units that do not have the conditions for power generation is 0.

[0081] If not, adjust the cable release speed of all umbrella ladder units that are capable of generating electricity to maximize the power generation of all such units, and call upon other external power sources to supply the real-time external power demand. Also, adjust the cable retrieval speed of all umbrella ladder units that are not capable of generating electricity to 0, so that the power generation of all such units is 0.

[0082] In one embodiment of the present invention, the preset power generation rule is:

[0083] Each umbrella ladder generator unit that has the conditions to generate electricity is traversed in descending order of priority to determine the m-th umbrella ladder generator unit that has the conditions to generate electricity; wherein, the sum of the maximum power generation of the first m-1 umbrella ladder generator units that have the conditions to generate electricity is less than the external real-time power demand, and the sum of the maximum power generation of the first m umbrella ladder generator units that have the conditions to generate electricity is not less than the external real-time power demand.

[0084] The power generation of the first m-1 umbrella ladder generator units that are ready to generate electricity is adjusted to their corresponding maximum power generation. The power generation of the m-th umbrella ladder generator unit that is ready to generate electricity is adjusted to the target power generation. The power generation of the remaining umbrella ladder generator units that are ready to generate electricity is adjusted to 0. The target power generation is equal to the difference between the real-time external power demand and the sum of the maximum power generation of the first m-1 umbrella ladder generator units that are ready to generate electricity.

[0085] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a multi-umbrella wind turbine collaborative control device suitable for high-altitude wind power generation. In other embodiments of the present invention, a multi-umbrella wind turbine collaborative control device suitable for high-altitude wind power generation may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0086] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0087] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a multi-umbrella ladder unit collaborative control method for high-altitude wind power generation according to any embodiment of this invention.

[0088] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a multi-umbrella ladder unit collaborative control method for high-altitude wind power generation according to any embodiment of this invention.

[0089] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0090] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0091] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0092] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0093] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0094] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0095] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coordinated control of multi-umbrella wind turbine units applicable to high-altitude wind power generation, characterized in that, include: Obtain the unit parameters, current operating conditions, and real-time external power demand of all umbrella ladder units in the high-altitude wind power generation system; Based on the unit parameters, all umbrella ladder units are divided; wherein the number of umbrella ladder units is not less than 2, and the division results are used to characterize the priority of all umbrella ladder units. Based on the current operating conditions, power output is determined for all umbrella ladder units; wherein, power output determination is used to characterize whether each umbrella ladder unit has the conditions for power generation and the maximum power generation corresponding to the conditions for power generation. Based on the results of external real-time power demand, division, and power output determination, the operating parameters of all umbrella ladder units are controlled in a coordinated manner. The unit parameters include rated power generation, power generation change rate, maximum rope speed, parachute opening time, and number of parachutes opened. The classification of umbrella ladder units includes reference units, cooperative units, and standby units, in descending order of priority. When the number of umbrella ladder units is equal to 2, all umbrella ladder units are divided based on the unit parameters, including: based on rated power generation, power generation change rate and maximum rope speed, 1 reference unit and 1 cooperative unit are obtained, and the number of standby units is 0. When the number of umbrella ladder units is greater than 2, all umbrella ladder units are divided based on the unit parameters, including: based on the opening time and number of openings, one standby unit is assigned from all N umbrella ladder units; based on the rated power generation, power generation change rate, and maximum rope speed, the remaining N-1 umbrella ladder units are divided in rounds; each round of division results in one reference unit, and the total number of umbrella ladder units decreases by 1 after each round of division. The last round of division results in one cooperating unit. The final result is N-2 reference units, 1 cooperating unit, and 1 standby unit. The reference units assigned earlier have a higher priority than those assigned later.

2. The method according to claim 1, characterized in that, Current operating conditions include the current working status and wind speed of the umbrella ladder unit. The working status includes upward work and downward recovery.

3. The method according to claim 2, characterized in that, Based on the current operating conditions and the real-time external power demand, the power output of all umbrella ladder units is determined, including: For each umbrella ladder unit, it is determined whether the unit has the conditions for power generation based on its current operating status; where the operating status is upward work, it indicates that the conditions for power generation are met, and the operating status is downward retraction, it indicates that the conditions for power generation are not met. When the umbrella ladder unit is ready to generate electricity, the current power generation of the umbrella ladder unit is determined based on the current wind speed of the umbrella ladder unit. The minimum of the rated power generation and the current power generation is determined as the maximum power generation of the umbrella ladder unit; among them, the maximum power generation corresponding to all umbrella ladder units that have the conditions for power generation is used to match the real-time external power demand. When the umbrella ladder unit does not have the conditions for generating electricity, the power generation of the umbrella ladder unit is determined to be 0.

4. The method according to claim 3, characterized in that, Based on the results of external real-time power demand, zoning, and power output determination, the operating parameters of all umbrella ladder units are coordinated and controlled, including: Based on the division and power output determination results, the maximum power generation corresponding to all umbrella ladder units that have the conditions for power generation and whose priority decreases in order is obtained. Determine whether the sum of the maximum power generation of all umbrella ladder units that have the conditions for power generation can meet the real-time external power demand. If so, adjust the cable release speed of all parachute ladder units that have the conditions for power generation so that all parachute ladder units that have the conditions for power generation generate electricity according to the preset power generation rules, and adjust the cable recovery speed of all parachute ladder units that do not have the conditions for power generation to 0 so that the power generation of all parachute ladder units that do not have the conditions for power generation is 0. If not, adjust the cable release speed of all umbrella ladder units that are capable of generating electricity to maximize the power generation of all such units, and call upon other external power sources to supply the real-time external power demand. Also, adjust the cable retrieval speed of all umbrella ladder units that are not capable of generating electricity to 0, so that the power generation of all such units is 0.

5. The method according to claim 4, characterized in that, The preset power generation rule is as follows: Each umbrella ladder generator unit that has the conditions to generate electricity is traversed in descending order of priority to determine the m-th umbrella ladder generator unit that has the conditions to generate electricity; wherein, the sum of the maximum power generation of the first m-1 umbrella ladder generator units that have the conditions to generate electricity is less than the external real-time power demand, and the sum of the maximum power generation of the first m umbrella ladder generator units that have the conditions to generate electricity is not less than the external real-time power demand. The power generation of the first m-1 umbrella ladder generator units that are ready to generate electricity is adjusted to their corresponding maximum power generation. The power generation of the m-th umbrella ladder generator unit that is ready to generate electricity is adjusted to the target power generation. The power generation of the remaining umbrella ladder generator units that are ready to generate electricity is adjusted to 0. The target power generation is equal to the difference between the real-time external power demand and the sum of the maximum power generation of the first m-1 umbrella ladder generator units that are ready to generate electricity.

6. A multi-umbrella ladder unit coordinated control device suitable for high-altitude wind power generation, characterized in that, include: The acquisition module is used to acquire the unit parameters, current operating conditions, and real-time external power demand of all umbrella ladder units of the high-altitude wind power generation system. The partitioning module is used to partition all umbrella ladder units based on the unit parameters; wherein the number of umbrella ladder units is not less than 2, and the partitioning result is used to characterize the priority of all umbrella ladder units. The determination module is used to determine the power output of all umbrella ladder units based on the current operating conditions; wherein, the power output determination is used to characterize whether each umbrella ladder unit has the conditions for power generation and the maximum power generation corresponding to the conditions for power generation. The control module is used to coordinate the control of the operating parameters of all umbrella ladder units based on the results of external real-time power demand, division and power output determination; The unit parameters include rated power generation, power generation change rate, maximum rope speed, parachute opening time, and number of parachutes opened. The classification of umbrella ladder units includes reference units, cooperative units, and standby units, in descending order of priority. When the number of umbrella ladder units is equal to 2, all umbrella ladder units are divided based on the unit parameters, including: based on rated power generation, power generation change rate and maximum rope speed, 1 reference unit and 1 cooperative unit are obtained, and the number of standby units is 0. When the number of umbrella ladder units is greater than 2, all umbrella ladder units are divided based on the unit parameters, including: based on the opening time and number of openings, one standby unit is assigned from all N umbrella ladder units; based on the rated power generation, power generation change rate, and maximum rope speed, the remaining N-1 umbrella ladder units are divided in rounds; each round of division results in one reference unit, and the total number of umbrella ladder units decreases by 1 after each round of division. The last round of division results in one cooperating unit. The final result is N-2 reference units, 1 cooperating unit, and 1 standby unit. The reference units assigned earlier have a higher priority than those assigned later.

7. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1-5.

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