Flywheel energy storage array charging and discharging control method based on distributed coordination

Abstract

The invention relates to the technical field of flywheel energy storage control, in particular to a flywheel energy storage array charging and discharging control method based on distributed coordination, which comprises the following steps: acquiring real-time rotating speed and capacity of a flywheel energy storage unit, detecting rotating speed difference and marking abnormity, adjusting a charging and discharging instruction to remove abnormity, and updating an energy distribution snapshot. And counting the dependency sequence to generate a priority list, judging overtime adjustment priority, and updating the control view to output a control instruction. According to the method, the rotating speed and the residual capacity of the energy storage units in the flywheel energy storage array are monitored in real time, imbalance in the charging and discharging process is effectively recognized and processed, charging and discharging task distribution of the energy storage units is optimized through the updated energy distribution logic and the cooperative control priority sequence, and the operation stability and efficiency of the array are improved; the capability of the flywheel energy storage array to cope with abnormal conditions is enhanced, potential risks are avoided, the charging and discharging efficiency is improved, the long-term stability and safety of equipment are guaranteed, and resource allocation and energy conversion are optimized.

Description

Technical Field

[0001] This invention relates to the field of flywheel energy storage control technology, and in particular to a method for charging and discharging control of a flywheel energy storage array based on distributed collaboration. Background Technology

[0002] The field of flywheel energy storage control technology encompasses the management and coordination of energy input and output in flywheel energy storage. The core of this technology lies in achieving efficient conversion and allocation of electrical and mechanical energy by controlling the rotational speed of the flywheel during charging and discharging. Flywheel energy storage primarily relies on a high-speed rotating flywheel to store and release energy, featuring fast response, high charging and discharging efficiency, and long cycle life. It is widely used in scenarios such as power frequency regulation, grid fluctuation suppression, new energy grid connection stabilization, and regenerative braking energy recovery in rail transit. This field involves multiple aspects, including mechanical energy management, electrical energy conversion, speed control, energy distribution optimization, and multi-source collaborative control. It requires high-precision charging and discharging control of the energy storage unit according to different application scenarios to ensure the stability and safety of equipment operation.

[0003] Among them, the distributed collaborative flywheel energy storage array charging and discharging control method refers to the coordinated management of the charging and discharging status of each energy storage unit in an energy storage array composed of multiple flywheel energy storage units by adopting a distributed control architecture. This method mainly addresses technical issues such as uneven energy distribution, charging and discharging timing conflicts, and complex current and voltage control among multiple energy storage units. It employs an autonomous discrimination mechanism based on node status information to determine the order of charging and discharging commands, achieves synchronous cooperation among units by constructing distributed logical judgment rules, and sets priority rules based on physical parameters such as the remaining capacity and current change rate of the energy storage units to complete the allocation of charging and discharging tasks within the array in a hierarchical manner.

[0004] Current technologies for managing flywheel energy storage arrays primarily rely on traditional centralized control or relatively simple scheduling mechanisms, leading to issues such as uneven energy distribution and timing conflicts during charging and discharging. Because existing technologies lack sufficient monitoring and coordination capabilities for each unit, they cannot accurately track the operating status and performance of each unit, resulting in some energy storage units operating in unreasonable states during energy flow, affecting overall charging and discharging efficiency. For example, some units in the flywheel array may fail to release or replenish energy in a timely manner, causing uneven load distribution among the energy storage units and even leading to abnormal shutdowns or malfunctions. The charging and discharging control logic of existing technologies fails to dynamically adjust task priorities and lacks real-time optimization for unit collaboration, resulting in slow response to emergencies and an inability to adjust in time to ensure the smooth completion of charging and discharging tasks. This operating mode limits the flexibility of flywheel energy storage arrays and cannot fully meet the demands for efficient and precise energy storage. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a distributed collaborative flywheel energy storage array charging and discharging control method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a method for charging and discharging a flywheel energy storage array based on distributed collaboration, comprising the following steps: S1: Obtain real-time rotation speed and remaining capacity information of energy storage units in the flywheel energy storage array, detect the rotation speed difference between adjacent units, determine whether there is an energy distribution imbalance caused by the rotation speed difference, mark it as an abnormal unit, and generate a list of abnormal energy storage units. S2: Based on the list of abnormal energy storage units, recursively adjust the charging and discharging command sequences of the abnormal units and associated energy storage units, remove the abnormal connection relationship of the marked units, update the energy distribution logic structure in the array, and generate a baseline energy distribution snapshot. S3: Based on the baseline energy distribution snapshot, count the number of immediate dependencies of energy storage units that have not completed the charging and discharging tasks, trace back the starting energy storage unit, prioritize the units according to their physical topology, and generate a management priority list. S4: Based on the management priority list, extract the running time of energy storage units that have not yet completed the charging and discharging tasks, determine whether there are energy storage units that exceed the running time range, adjust the charging and discharging priority of the corresponding units, and generate a collaborative control priority sequence.

[0007] As a further aspect of the present invention, the list of abnormal energy storage units includes a speed difference exceeding the standard marker, an energy allocation conflict marker, and a real-time speed deviation unit; the benchmark energy distribution snapshot includes an updated energy allocation network diagram, a set of removed abnormal units, and corrected status information of the energy storage units; the management priority order list includes an energy storage unit sequence table generated according to physical topology, a unit prerequisite dependency quantity index, and a priority sorting index; and the collaborative control priority sequence includes the identification results of units with tight operating time, a priority adjustment scheme, and operating time matching status.

[0008] As a further aspect of the present invention, the specific steps for obtaining the list of abnormal energy storage units are as follows: S111: Obtain the real-time rotation speed and remaining capacity information of the energy storage units in the flywheel energy storage array, detect the rotation speed change rate of adjacent units, compare it with the real-time rotation speed of the corresponding energy storage unit, calculate the rotation speed difference between the two, and generate rotation speed difference distribution data. S112: Based on the speed difference distribution data, determine whether the speed difference of the energy storage unit exceeds the rated speed range, filter out the energy interaction paths that meet the conditions, and record the interaction direction, unit pair and difference magnitude to obtain the abnormal unit marking result. S113: Based on the abnormal unit marking results, filter energy interaction paths whose difference range exceeds the rated range, extract the corresponding energy storage unit combinations and interaction types, and establish an energy storage abnormal unit list.

[0009] As a further aspect of the present invention, the specific steps for obtaining the reference energy distribution snapshot are as follows: S211: Read the abnormal paths in the list of abnormal energy storage units, retrieve the corresponding abnormal path endpoint units, locate the downstream energy interaction relationships of the units, record the energy interaction numbers indirectly associated with the abnormal paths, and generate an abnormal diffusion path number set. S212: Based on the abnormal diffusion path number set, statistically analyze the energy storage unit number information, match the energy interaction relationship between units, calculate the unit connection adjustment strength value, and if the unit connection adjustment strength value is lower than the judgment threshold, perform adjustment to obtain the energy interaction update matrix. S213: Based on the energy interaction update matrix, extract the cell number and its connected outgoing edge information, update the structure and freeze the state of the current time node, retain the adjusted global energy connection information, mark the version number and time tag, and establish a baseline energy distribution snapshot.

[0010] As a further aspect of the present invention, the specific steps for obtaining the management priority list are as follows: S311: Based on the reference energy distribution snapshot, extract the task completion flag of the unit. For the unit that has not completed the charging and discharging task, read its incoming edge energy interaction path list and count the number of preceding units to obtain the preceding relationship count table. S312: Based on the preceding relation count table, identify the cells with a preceding number of zero as the topological starting point, scan the connection edge information in the energy distribution graph in sequence, perform the topological sorting process, and generate the topological hierarchy order result; S313: Based on the topology hierarchy order result, extract the corresponding physical location coding information for each unit, split the location coding field, calculate the topology hierarchy depth value of the unit, identify the management priority order, arrange the unit numbers according to the numerical value, and establish a management priority order list.

[0011] As a further aspect of the present invention, the specific steps for obtaining the cooperative control priority sequence are as follows: S411: Based on the unfinished charging and discharging task units in the management priority list, extract the running time of each unit, calculate the remaining available time from the current time node to the task deadline, record the time difference, and record the mapping between the unit number and the timeout status to generate a unit timeout identifier matrix. S412: Based on the unit numbers marked as having time conflicts in the unit timeout identifier matrix, update the original priority values, retain the original sorting of non-timeout units, pair the updated priority information with the unit numbers, and generate a priority adjustment value table. S413: According to the priority adjustment value table, the units that have not completed the charging and discharging tasks are reordered, and the adjusted priority is used as the main order. Combined with the original energy interaction relationship structure and time conflict situation, a collaborative control priority sequence is established.

[0012] As a further aspect of the present invention, the method further includes step S5: S5: Based on the cooperative control priority sequence, uniformly update the charging and discharging status and priority information of the energy storage units in the flywheel energy storage array, reconstruct the charging and discharging control view model, and output standardized control commands to obtain the flywheel array charging and discharging control mechanism. The flywheel array charging and discharging control mechanism includes a unit state distribution diagram, a task priority mapping structure, and an information display framework that conforms to power standards.

[0013] As a further aspect of the present invention, the specific steps for obtaining the flywheel array charging and discharging control mechanism are as follows: S511: Based on the cooperative control priority sequence, sequentially read the physical state of each energy storage unit in the current array, extract the priority information of the energy interaction structure and adjacent units, update the priority number and path frequency field of the interaction unit, and generate priority interaction synchronization data. S512: Based on the priority interactive synchronization data, identify the time series structure of the unit priority index, divide the unit into the corresponding control cycle, determine the distribution range and concentration trend within the same cycle, and obtain the control layout coordinate matrix by combining the priority order. S513: Based on the unit layout information recorded in the control layout coordinate matrix, select the unit graphic border style, connection path line type and field display method, construct a standardized control card for each energy storage unit, and obtain the flywheel array charging and discharging control mechanism.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by real-time monitoring of the rotational speed and remaining capacity of energy storage units in the flywheel energy storage array, energy distribution imbalances caused by speed differences can be detected in a timely manner. An autonomous discrimination mechanism identifies abnormal units and generates a list, effectively identifying and handling energy imbalances during charging and discharging. The updated energy distribution logic and collaborative control priority sequence ensure the rational allocation and efficient execution of energy storage unit charging and discharging tasks, thereby improving the operational stability and efficiency of the flywheel energy storage array. The adjusted priority ranking and running time determination, through optimized task allocation and scheduling, further enhance the ability to respond to abnormal situations, avoiding potential risks caused by operational delays or conflicts. This not only improves the precise control of energy flow but also enhances charging and discharging efficiency through comprehensive management of energy storage units, ensuring the long-term stability and safety of the equipment. Strengthening the collaborative cooperation of units within the flywheel energy storage array optimizes resource allocation, ensuring more efficient energy conversion and distribution. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main steps of the present invention; Figure 2 This is a flowchart illustrating the process of obtaining the list of abnormal energy storage units in this invention. Figure 3 This is a flowchart illustrating the process of obtaining a baseline energy distribution snapshot in this invention. Figure 4 This is a flowchart illustrating the process of obtaining the priority list in this invention. Figure 5 This is a flowchart illustrating the process of obtaining the collaborative control priority sequence in this invention. Figure 6 This is a flowchart illustrating the acquisition of the flywheel array charging and discharging control mechanism in this invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0017] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0018] Example 1 Please see Figure 1 This invention provides a technical solution: a method for controlling the charging and discharging of a flywheel energy storage array based on distributed collaboration, comprising the following steps: S1: Obtain real-time rotation speed and remaining capacity information of energy storage units in the flywheel energy storage array, detect the rotation speed difference between adjacent units, determine whether there is an energy distribution imbalance caused by the rotation speed difference, mark it as an abnormal unit, and generate a list of abnormal energy storage units. S2: Based on the list of abnormal energy storage units, recursively adjust the charging and discharging command sequences of abnormal units and associated energy storage units, remove the abnormal connection relationship of the marked units, update the energy distribution logic structure in the array, and generate a baseline energy distribution snapshot. S3: Based on the baseline energy distribution snapshot, count the number of immediate dependencies of energy storage units that have not completed the charging and discharging tasks, trace back the starting energy storage unit, prioritize the units according to their physical topology, and generate a management priority list. S4: Based on the management priority list, extract the running time of energy storage units that have not yet completed the charging and discharging tasks, determine whether there are energy storage units that exceed the running time range, adjust the charging and discharging priority of the corresponding units, and generate a collaborative control priority sequence. S5: Based on the cooperative control priority sequence, the charging and discharging status and priority information of the energy storage units in the flywheel energy storage array are updated in a unified manner, the charging and discharging control view model is reconstructed, and standardized control commands are output to obtain the charging and discharging control mechanism of the flywheel array.

[0019] The list of abnormal energy storage units includes markers for excessive speed differences, energy allocation conflict indicators, and units with real-time speed deviations. The baseline energy distribution snapshot includes an updated energy allocation network diagram, a set of removed abnormal units, and corrected status information of the energy storage units. The management priority list includes an energy storage unit sequence table generated according to physical topology, a unit prerequisite dependency quantity index, and a priority sorting index. The collaborative control priority sequence includes the identification results of units with tight operating time, priority adjustment schemes, and operating time matching status. The flywheel array charging and discharging control mechanism includes a unit status distribution diagram, a task priority mapping structure, and an information display framework that conforms to power standards.

[0020] Please see Figure 2 The specific steps for obtaining the list of abnormal energy storage units are as follows: S111: Obtain the real-time rotation speed and remaining capacity information of the energy storage units in the flywheel energy storage array, detect the rotation speed change rate of adjacent units, compare it with the real-time rotation speed of the corresponding energy storage unit, calculate the rotation speed difference between the two, and generate rotation speed difference distribution data. To acquire real-time rotational speed and remaining capacity information of energy storage units in a flywheel energy storage array, for flywheel energy storage arrays deployed in industrial parks, operators read sensor data from each energy storage unit through a central monitoring system. For example, unit A's real-time rotational speed is 10,000 rpm, and its remaining capacity is 80%. The adjacent unit B's real-time rotational speed is 9,950 rpm, and its remaining capacity is 85%. The rate of change of rotational speed between adjacent units is detected. Specifically, the rotational speed values ​​of adjacent units are recorded every second, the difference between two consecutive records is calculated to obtain the change in rotational speed, and then this change in rotational speed is divided by the time interval of one second to obtain the rate of change of rotational speed between adjacent units. For example, unit B's rotational speed changed from 9,945 rpm to 9,950 rpm in the most recent second. The rotational speed change rate is (9950-9945) / 1 = 5 revolutions per minute per second, and is compared with the real-time rotational speed of the corresponding energy storage unit. That is, the rotational speed change rate of unit B, 5 revolutions per minute per second, is compared with its own real-time rotational speed of 9950 revolutions per minute, and the rotational speed difference between the two is calculated. The operation is to subtract the real-time rotational speed of the corresponding energy storage unit from the rotational speed change rate of the adjacent unit to obtain the rotational speed difference. For example, the rotational speed difference of unit B is 5-9950=-9945. Rotational speed difference distribution data is generated, which records the rotational speed difference between each energy storage unit and its adjacent units. For example, the rotational speed difference between unit A and its adjacent unit C is -10010, and the rotational speed difference between unit B and its adjacent unit A is -9940.

[0021] S112: Based on the speed difference distribution data, determine whether the speed difference of the energy storage unit exceeds the rated speed range, filter out the energy interaction paths that meet the conditions, and record the interaction direction, unit pair and difference magnitude to obtain the abnormal unit marking results. For the speed difference distribution data, the operator retrieves the preset rated speed range, which is determined based on the design parameters and historical operating data of the flywheel energy storage unit, for example, set as [-100, 100]. The operator then determines whether the speed difference of the energy storage unit exceeds the range. For each adjacent unit of each energy storage unit, the operator checks whether the speed difference is less than -100 or greater than 100. For example, if the speed difference between unit B and its adjacent unit A is -9940, which is less than -100, it exceeds the rated speed range. The operator then filters out energy interaction paths that meet the conditions. If the speed difference exceeds the rated speed range, there is an energy interaction anomaly between the adjacent units. The operator records the interaction direction, unit pair, and difference magnitude. For example, if the energy interaction path from unit B to unit A is abnormal, the unit pair is (B, A), and the difference magnitude is |-9940|=9940. The operator obtains the abnormal unit marking result, which marks all unit pairs with abnormal energy interaction and the degree of abnormality.

[0022] S113: Based on the abnormal unit marking results, filter the energy interaction paths whose difference exceeds the rated range, extract the corresponding energy storage unit combinations and interaction types, and establish a list of abnormal energy storage units. For the abnormal unit marking results, find the energy interaction path whose difference amplitude exceeds the rated range. For example, if the difference amplitude of unit pair (B, A) is 9940, which exceeds the rated range [-100, 100], extract the corresponding energy storage unit combination and interaction type, record the energy storage unit number involved in the abnormal path, i.e., unit B and unit A, and record its energy interaction type, for example, energy is transferred from unit B to unit A. Establish an energy storage abnormal unit list, which lists all detected energy storage abnormal unit combinations and their energy interaction types, as shown in Table 1.

[0023] Table 1: List of Abnormal Energy Storage Units Abnormal unit combination Interaction type (B, A) Energy transfer (C, D) Energy absorption (E, F) Energy transfer As shown in Table 1, the list of abnormal energy storage units records the detected combinations of abnormal units and their energy interaction types.

[0024] Please see Figure 3 The specific steps for obtaining the baseline energy distribution snapshot are as follows: S211: Read the abnormal paths in the list of abnormal energy storage units, retrieve the corresponding abnormal path endpoint units, locate the downstream energy interaction relationships of the units, record the energy interaction numbers indirectly associated with the abnormal paths, and generate an abnormal diffusion path number set. Read the abnormal paths in the list of abnormal energy storage units. From the list of abnormal energy storage units shown in Table 1, read all abnormal energy interaction paths. For example, if an abnormal path (B, A) is read, retrieve the corresponding terminal unit of the abnormal path. For the abnormal path (B, A), its terminal unit is A. Locate the downstream energy interaction relationship of the unit. Find all energy interaction paths with unit A as the starting unit. Record the energy interaction numbers indirectly associated with the abnormal path. If unit A has energy interactions pointing to units C and D, and their interaction numbers are 005 and 008 respectively, then the numbers are considered to be indirectly associated energy interaction numbers. Generate an abnormal diffusion path number set. This set contains all energy interaction numbers directly or indirectly affected by the abnormal path. For example, for the abnormal path (B, A), the number set is {005, 008, 012}.

[0025] S212: Based on the abnormal diffusion path number set, statistical analysis of energy storage unit numbering information is performed to match the energy interaction relationships between units, using the following formula: ; Calculate the unit connection adjustment strength value. If the unit connection adjustment strength value is lower than the judgment threshold, the adjustment is performed to obtain the energy interaction update matrix. Where C represents the element connection adjustment strength value, This represents the energy interaction strength between the i-th unit and the j-th unit. This represents the power value of the i-th unit. This represents the power requirement of the i-th unit. This represents the storage capacity of the j-th unit. This represents the maximum energy capacity of the j-th unit, and n represents the total number of units; The unit connection adjustment strength value is a quantitative evaluation index of the rationality of energy interaction connection between any two energy storage units in a flywheel energy storage array. Its value reflects the degree of matching between the energy interaction strength and the state of the interaction unit itself. Specifically, this value is calculated by comprehensively considering the energy transfer strength between the two interaction units, the ratio of the actual power of the energy output unit to the power demand, and the ratio of the remaining storage capacity of the energy receiving unit to the maximum carrying capacity. The higher the value, the higher the rationality of the energy interaction, the more the power output of the energy output unit can meet its own needs, and the more sufficient the energy storage space of the energy receiving unit. Conversely, a low value indicates that the current energy interaction has a certain degree of inefficiency or potential risk, and further evaluation is needed to determine whether the energy interaction connection needs to be adjusted in order to optimize the energy flow and operating efficiency of the entire flywheel energy storage array. For the abnormal diffusion path number set {005, 008, 012}, the energy storage unit number information is statistically analyzed. All energy storage unit numbers involved in the energy interaction path corresponding to each number are analyzed. For example, number 005 corresponds to the interaction from unit A to unit C, number 008 to unit A to unit D, and number 012 to unit E to unit F. The resulting unit number information is {A, C, D, E, F}. The energy interaction relationships between units are matched, and data such as the energy interaction intensity, power value, power demand, storage capacity, and maximum carrying capacity recorded in the system are retrieved. For example, the energy interaction intensity between unit A and unit C... The power value of Unit A is 5kW. For 10kW, power requirement The storage capacity of unit C is 8kW. With a capacity of 50kWh, the maximum energy carrying capacity is... For 60kWh, the formula is: Calculate the connection adjustment strength value of the unit; in, This represents the energy interaction strength between the i-th unit and the j-th unit, for example, , This represents the total number of units. In this example, we assume that only these three interaction paths are considered. , Represents the absolute value of the intensity of energy interaction. Used to evaluate the degree of matching between the power state of interaction unit i and the energy storage state of interaction unit j. This represents the power value of the i-th unit. This represents the power requirement of the i-th unit. This represents the storage capacity of the j-th unit. This represents the maximum energy capacity of the j-th unit; For example, ; Substitute the above values ​​into the formula: ; If the unit connection adjustment strength value is lower than the judgment threshold, adjustment is performed. The judgment threshold is set based on system operating experience, for example, 0.9. Since the calculated C value is 1.01364, which is higher than 0.9, no adjustment is performed, resulting in an energy interaction update matrix. This matrix records the energy interaction strength between units. In this example, the energy interaction strength matrix remains unchanged. The advantage of the formula is that by comprehensively considering the energy interaction strength, the unit's power state (the ratio of actual power to demand power), and the energy storage state (the ratio of remaining capacity to maximum capacity), the rationality of energy interaction between units is evaluated, thus providing a quantitative basis for subsequent energy allocation adjustments.

[0026] S213: Based on the energy interaction update matrix, extract the cell number and its connected outgoing edge information, update the structure and freeze the state of the current time node, retain the adjusted global energy connection information, and mark the version number and time tag to establish a baseline energy distribution snapshot; Extract the unit number and its outgoing edge information, find the connection information of each unit as an energy output end. For example, unit A is connected to units C and D, and unit E is connected to unit F. After updating the structure, freeze the state at the current time node and record the current energy connection state. For example, at the timestamp 20240730_100000, unit A points to C and D, and unit E points to F. Preserve the adjusted global energy connection information, save the energy interaction topology of the entire flywheel energy storage array, and mark the version number and time tag. Add a unique identifier to the current energy distribution snapshot. For example, the version number is V1.0 and the time tag is 20240730_100000. Establish a baseline energy distribution snapshot, which contains the global energy connection information at a specific time point and has a version number and time tag.

[0027] Please see Figure 4 The specific steps to obtain the management priority list are as follows: S311: Based on the baseline energy distribution snapshot, extract the task completion flag of the cell. For cells that have not completed the charging and discharging task, read their incoming edge energy interaction path list and count the number of preceding cells to obtain the preceding relationship count table. Extract the task completion flag of the unit and check whether each energy storage unit has completed its predetermined charging and discharging task. For example, unit A has completed the task, unit B has not, unit C has completed the task, and unit D has not. For units that have not completed the charging and discharging task, for units B and D, read their incoming edge energy interaction path list and find out which units provide energy. For example, the incoming edge path of unit B comes from units F and G, and the incoming edge path of unit D comes from unit H. Count the number of preceding units and calculate the number of energy input sources for each unit that has not completed the task. The number of preceding units for unit B is 2, and the number of preceding units for unit D is 1. Obtain the preceding relationship number table, which records the number of each unit that has not completed the task and its preceding units, as shown in Table 2.

[0028] Table 2: Number of Immediate Precedence Relationships Unit Number Number of preceding cells B 2 D 1 As shown in Table 2, the number of preceding cells records the number of cells that have not completed the charge / discharge task and the number of their preceding cells.

[0029] S312: Based on the preceding relation count table, identify the cells with a preceding number of zero as the topological starting point, scan the connection edge information in the energy distribution graph in sequence, perform the topological sorting process, and generate the topological hierarchy order result; The cell with zero preceding units is identified as the topological starting point. In the current energy distribution graph, the cell with no energy input source is searched. The cell is the starting point of the topological sort. The connection edge information in the energy distribution graph is scanned sequentially. According to the direction of energy flow, the entire energy distribution graph is traversed and the topological sorting process is performed. All cells in the graph are sorted to ensure that all preceding cells of each cell are placed before that cell. The topological hierarchy order result is generated. This result represents the order of energy transfer between cells. For example, the topological hierarchy order is: H->D, F->B, G->B.

[0030] S313: Based on the topological hierarchy, extract the corresponding physical location coding information for each unit, split the location coding field, and use the following formula: ; Calculate the topology level depth value of the calculation unit, identify the management priority order, arrange the unit numbers according to the value, and establish a management priority order list; in, The topological hierarchy depth value of the cell. Representing the The first unit Physical coordinates encoded by location, Representing the The first unit Physical coordinates encoded by a reference location, The number of dimensions representing the physical coordinates in the location encoding. Representing the The management priority value of each unit; The topology depth value of a cell is an indicator used to evaluate the relative position and importance of each cell in the energy interaction topology of a flywheel energy storage array. Its value is affected by multiple factors such as the physical location of the cell, the preset management priority, and the hierarchical relationship in the energy flow direction. Specifically, the value is obtained by calculating the distance between the actual physical coordinates of the cell and the reference physical coordinates, and combining it with the cell's own management priority for weighted calculation. The smaller the topology depth value, the closer the cell is to the preset reference position in physical space, or the higher the management priority. It may also be in a higher level in the topology ranking. Therefore, when making management and control decisions, cells with lower topology depth values ​​will be given higher priority in order to more effectively manage and optimize the operation of the entire energy storage array. For the topological hierarchy order results: H->D, F->B, G->B, extract the corresponding physical location code information for each unit to obtain the physical coordinates of each unit in the flywheel energy storage array. For example, the location code of unit D is (10, 20, 3), the location code of unit B is (15, 25, 2), the reference location code of unit H is (11, 21, 4), the reference location code of unit F is (16, 26, 1), and the reference location code of unit G is (14, 24, 3). Split the location code field to decompose the location code of each unit into independent coordinate values. For example, unit D ; Formula used: The topological depth value of the computational unit, where, The topological hierarchy depth value of the cell. This represents summing the dimensions of all positional codes. This represents the number of dimensions of the physical coordinates in the location encoding; in this example, , Representing the The first unit Physical coordinates encoded by location, Representing the The first unit The physical coordinates of each reference position are encoded. The reference position encoding can be the center coordinates of the array or a preset reference coordinate. Representing the The management priority value for each unit can be preset based on factors such as the unit's historical failure rate and maintenance records. For example, the management priority of unit D can be set. Management priority of Unit B ; Then calculate the topological hierarchy depth value of unit D: ; The topological layer depth value of computational unit B is assumed to be encoded as follows: Management Priority ,but: ; The management priority is determined by the topology depth value; the smaller the depth value, the higher the management priority. Unit numbers are then arranged according to the numerical value, with unit D being the highest priority. Unit B Therefore, unit D has a higher management priority than unit B. A management priority list is established, which arranges the unit numbers of incomplete tasks in descending order of management priority, for example, (D, B). The advantage of this formula is that by combining the physical location of the unit with a preset reference location, and considering the unit's own management priority, it quantifies the importance of the unit in the topology, providing a basis for subsequent management and control decisions. The results show that unit D is relatively closer to the reference location in the topology and has a higher preset priority; therefore, it should be given priority in management.

[0031] Please see Figure 5 The specific steps for obtaining the priority sequence of collaborative control are as follows: S411: Based on the unfinished charging / discharging task units in the management priority list, extract the running time of each unit using the formula: ; Calculate the remaining available time from the current time node to the task deadline, record the time difference, and record the mapping between unit number and timeout status to generate a unit timeout identifier matrix; in, This represents the remaining available time from the current time point until the task deadline. This represents the total time period of the i-th unit. Represents the current time. This represents the deadline for the task in the i-th unit. This represents the running time of the i-th unit. This represents the difference for each time period; The remaining available time from the current time point to the task deadline is a quantitative indicator for evaluating the time margin of each unit in the flywheel energy storage array that has not completed the charging and discharging task. Its value reflects the relative available time that the unit has from the current time point to the task deadline, based on the total time period of the unit, the time difference between the current time and the task deadline, and the unit's running time. The larger the value, the more sufficient the time margin of the unit, and the higher the predictability that it can complete the task before the deadline even if it does not operate for a certain period of time. Conversely, the smaller the value, the more time the unit is under pressure, and the more timely the control and scheduling are required to ensure that the charging and discharging task is successfully completed before the task deadline. This indicator provides an important time priority reference for subsequent collaborative control strategies. From the management priority list (D, B), extract the cells that have not completed their charge / discharge tasks, such as cells D and B. Extract the runtime of each cell and obtain the maximum runtime allowed for each cell in one charge / discharge cycle, for example, the runtime of cell D. Seconds, the running time of unit B Seconds, using the formula: Calculate the remaining available time from the current time point to the task deadline, where, This represents the remaining available time from the current time point until the task deadline. This represents the total time period of the i-th unit; For example, the total time period of unit D Seconds, the total time period of unit B Second, Represents the current time, for example, Second, This represents the deadline for the task in the i-th unit, for example, the deadline for the task in unit D. Seconds, the deadline for Unit B's task Second, This represents the running time of the i-th unit. This represents the difference between each time period and can be set to 1 to indicate a unit of time. The remaining available time for computing unit D: ; Calculate the remaining available time for unit B: ; Record the time difference; the time difference of unit D is... Seconds, the time difference of unit B is The system records the timeout status and the mapping between the cell number and the timeout status. A timeout threshold is set, for example, to 0.5. If the R value is less than this threshold, it is marked as a timeout. Unit B did not time out. If no timeout has occurred, a timeout flag matrix is ​​generated, which records the timeout status of each incomplete task unit, as shown in Table 3.

[0032] Table 3: Unit Timeout Identifier Matrix Unit Number Remaining available time R Timeout status D 1.33 Not overdue B 1.025 Not overdue As shown in Table 3, the unit timeout identifier matrix records the remaining available time and timeout status of each unit. The advantage of the formula is that by considering the total time period of the unit, the difference between the current time and the task deadline, and the running time, it can evaluate the time margin of the unit at the current time node and provide a time priority basis for subsequent collaborative control.

[0033] S412: Based on the cell numbers marked as having time conflicts in the cell timeout identifier matrix, update the original priority values, retain the original sorting of non-timeout cells, pair the updated priority information with the cell numbers, and generate a priority adjustment value table. Based on the unit timeout identifier matrix shown in Table 3, find the unit number marked as "yes" for timeout status. In this example, there are no timeout units. Assuming that the timeout status of unit C is "yes", extract the unit number of unit C and update the original priority value. For units marked as having time conflicts, adjust their priority in the management priority list. The update strategy can be to increase their priority while retaining the original order of non-timeout units. For non-timeout units D and B in Table 3, their order in the management priority list (D, B) remains unchanged. Pair the updated priority information with the unit number and associate the adjusted priority value with the corresponding unit number to generate a priority adjustment value table. This table records each incomplete task unit and its adjusted priority value. In this example, since there are no timeout units, the priority is consistent with the management priority list and can be represented as {(D, priority D), (B, priority B)}, where priority D is higher than priority B.

[0034] S413: Based on the priority adjustment value table, reorder the units that have not completed the charging and discharging tasks, use the adjusted priority as the main order, and establish a collaborative control priority sequence in combination with the original energy interaction relationship structure and time conflict situation. For the priority adjustment value table {(D, priority D), (B, priority B)}, the units that have not completed the charging and discharging tasks are reordered. The units that have not completed the charging and discharging tasks are sorted in descending order of priority adjustment value, and the adjusted priority is used as the main order. The units with higher priority are placed first. In combination with the original energy interaction relationship structure and time conflict situation, the energy dependence relationship between units and whether there is a time conflict are considered in the sorting process. This sequence determines the execution priority order of each unit in the cooperative control process. For example, the final cooperative control priority sequence is (D, B), which means that when performing cooperative control, unit D is processed first, and then unit B is processed.

[0035] Please see Figure 6 The specific steps for obtaining the flywheel array charging and discharging control mechanism are as follows: S511: Based on the cooperative control priority sequence, read the physical state of each energy storage unit in the current array in sequence, extract the priority information of the energy interaction structure and adjacent units, update the priority number and path frequency field of the interaction unit, and generate priority interaction synchronization data. Based on the cooperative control priority sequence (D, B), the physical state of each energy storage unit in the current array is read sequentially to obtain the current operating status of unit D and unit B, including rotation speed, remaining capacity, temperature, etc. The priority information of the energy interaction structure and adjacent units is extracted, the energy input and output connections of unit D and unit B are found, and the priority of adjacent units in the cooperative control priority sequence is determined. The priority number and path frequency fields of the interacting units are updated. For adjacent units that have energy interactions with unit D and unit B, their respective priority numbers are updated, and the number of energy interactions with unit D and unit B is recorded. Priority interaction synchronization data is generated, which includes the physical state of each unit, energy interaction relationship, and priority and interaction frequency information of adjacent units.

[0036] S512: Based on priority-based interactive synchronization data, identify the time series structure with unit priority as the index, divide the units into corresponding control cycles, determine the distribution range and concentration trend within the same cycle, and obtain the control layout coordinate matrix by combining the priority order. By analyzing priority-based interactive synchronization data and identifying the time-series structure indexed by unit priority, units are allocated to different control cycles according to their priority order. For example, higher-priority units are assigned to earlier control cycles. Units are divided into corresponding control cycles, and the set of units that need to be controlled within each control cycle is determined. The distribution range and concentration trend within the same cycle are judged, and the distribution of each unit in physical space within the same control cycle is analyzed, as well as whether the control requirements are concentrated. Combining the priority order and comprehensively considering the unit priority and spatial distribution, a control layout coordinate matrix is ​​obtained. This matrix records the units that need to be controlled within each control cycle and their coordinate information in the flywheel energy storage array.

[0037] S513: Based on the unit layout information recorded in the control layout coordinate matrix, select the unit graphic border style, connection path line type and field display method, construct a standardized control card for each energy storage unit, and obtain the flywheel array charging and discharging control mechanism; For the control layout coordinate matrix, select the unit graphic border style, connection path line type, and field display method. Based on the status and priority of each unit, select different graphic styles for visualization. Based on the intensity and direction of energy interaction, set the line type of the connection path and determine the unit information fields to be displayed. Build a standardized control card for each energy storage unit and generate a standardized card for each unit containing information such as its status, priority, and control commands. This results in the flywheel array charging and discharging control mechanism. This mechanism provides operators with an intuitive flywheel energy storage array charging and discharging control interface through standardized control cards.

[0038] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for charging and discharging a flywheel energy storage array based on distributed collaborative operation, characterized in that, Includes the following steps: S1: Obtain real-time rotation speed and remaining capacity information of energy storage units in the flywheel energy storage array, detect the rotation speed difference between adjacent units, determine whether there is an energy distribution imbalance caused by the rotation speed difference, mark it as an abnormal unit, and generate a list of abnormal energy storage units. S2: Based on the list of abnormal energy storage units, recursively adjust the charging and discharging command sequences of the abnormal units and associated energy storage units, remove the abnormal connection relationship of the marked units, update the energy distribution logic structure in the array, and generate a baseline energy distribution snapshot. S3: Based on the baseline energy distribution snapshot, count the number of immediate dependencies of energy storage units that have not completed the charging and discharging tasks, trace back the starting energy storage unit, prioritize the units according to their physical topology, and generate a management priority list. S4: Based on the management priority list, extract the running time of energy storage units that have not yet completed the charging and discharging tasks, determine whether there are energy storage units that exceed the running time range, adjust the charging and discharging priority of the corresponding units, and generate a collaborative control priority sequence.

2. The method for charging and discharging flywheel energy storage array based on distributed collaboration according to claim 1, characterized in that, The list of abnormal energy storage units includes markers for excessive speed differences, energy allocation conflict identifiers, and real-time speed deviation units. The baseline energy distribution snapshot includes an updated energy allocation network diagram, a set of removed abnormal units, and corrected status information of the energy storage units. The management priority list includes an energy storage unit sequence table generated according to physical topology, a unit prerequisite dependency quantity index, and a priority sorting index. The collaborative control priority sequence includes the identification results of units with tight operating time, priority adjustment schemes, and operating time matching status.

3. The method for charging and discharging a flywheel energy storage array based on distributed collaboration according to claim 1, characterized in that, The specific steps for obtaining the list of abnormal energy storage units are as follows: S111: Obtain the real-time rotation speed and remaining capacity information of the energy storage units in the flywheel energy storage array, detect the rotation speed change rate of adjacent units, compare it with the real-time rotation speed of the corresponding energy storage unit, calculate the rotation speed difference between the two, and generate rotation speed difference distribution data. S112: Based on the speed difference distribution data, determine whether the speed difference of the energy storage unit exceeds the rated speed range, filter out the energy interaction paths that meet the conditions, and record the interaction direction, unit pair and difference magnitude to obtain the abnormal unit marking result. S113: Based on the abnormal unit marking results, filter energy interaction paths whose difference range exceeds the rated range, extract the corresponding energy storage unit combinations and interaction types, and establish an energy storage abnormal unit list.

4. The method for charging and discharging flywheel energy storage array based on distributed collaboration according to claim 3, characterized in that, The specific steps for obtaining the baseline energy distribution snapshot are as follows: S211: Read the abnormal paths in the list of abnormal energy storage units, retrieve the corresponding abnormal path endpoint units, locate the downstream energy interaction relationships of the units, record the energy interaction numbers indirectly associated with the abnormal paths, and generate an abnormal diffusion path number set. S212: Based on the abnormal diffusion path number set, statistically analyze the energy storage unit number information, match the energy interaction relationship between units, calculate the unit connection adjustment strength value, and if the unit connection adjustment strength value is lower than the judgment threshold, perform adjustment to obtain the energy interaction update matrix. S213: Based on the energy interaction update matrix, extract the cell number and its connected outgoing edge information, update the structure and freeze the state of the current time node, retain the adjusted global energy connection information, mark the version number and time tag, and establish a baseline energy distribution snapshot.

5. The method for charging and discharging a flywheel energy storage array based on distributed collaboration according to claim 4, characterized in that, The specific steps for obtaining the management priority list are as follows: S311: Based on the reference energy distribution snapshot, extract the task completion flag of the unit. For the unit that has not completed the charging and discharging task, read its incoming edge energy interaction path list and count the number of preceding units to obtain the preceding relationship count table. S312: Based on the preceding relation count table, identify the cells with a preceding number of zero as the topological starting point, scan the connection edge information in the energy distribution graph in sequence, perform the topological sorting process, and generate the topological hierarchy order result; S313: Based on the topology hierarchy order result, extract the corresponding physical location coding information for each unit, split the location coding field, calculate the topology hierarchy depth value of the unit, identify the management priority order, arrange the unit numbers according to the numerical value, and establish a management priority order list.

6. The method for charging and discharging flywheel energy storage array based on distributed collaboration according to claim 5, characterized in that, The specific steps for obtaining the cooperative control priority sequence are as follows: S411: Based on the unfinished charging and discharging task units in the management priority list, extract the running time of each unit, calculate the remaining available time from the current time node to the task deadline, record the time difference, and record the mapping between the unit number and the timeout status to generate a unit timeout identifier matrix. S412: Based on the unit numbers marked as having time conflicts in the unit timeout identifier matrix, update the original priority values, retain the original sorting of non-timeout units, pair the updated priority information with the unit numbers, and generate a priority adjustment value table. S413: According to the priority adjustment value table, the units that have not completed the charging and discharging tasks are reordered, and the adjusted priority is used as the main order. Combined with the original energy interaction relationship structure and time conflict situation, a collaborative control priority sequence is established.

7. The method for charging and discharging a flywheel energy storage array based on distributed collaboration according to claim 1, characterized in that, The method also includes step S5: S5: Based on the cooperative control priority sequence, uniformly update the charging and discharging status and priority information of the energy storage units in the flywheel energy storage array, reconstruct the charging and discharging control view model, and output standardized control commands to obtain the flywheel array charging and discharging control mechanism. The flywheel array charging and discharging control mechanism includes a unit state distribution diagram, a task priority mapping structure, and an information display framework that conforms to power standards.

8. The method for charging and discharging a flywheel energy storage array based on distributed collaboration according to claim 7, characterized in that, The specific steps for obtaining the flywheel array charging and discharging control mechanism are as follows: S511: Based on the cooperative control priority sequence, sequentially read the physical state of each energy storage unit in the current array, extract the priority information of the energy interaction structure and adjacent units, update the priority number and path frequency field of the interaction unit, and generate priority interaction synchronization data. S512: Based on the priority interactive synchronization data, identify the time series structure of the unit priority index, divide the unit into the corresponding control cycle, determine the distribution range and concentration trend within the same cycle, and obtain the control layout coordinate matrix by combining the priority order. S513: Based on the unit layout information recorded in the control layout coordinate matrix, select the unit graphic border style, connection path line type and field display method, construct a standardized control card for each energy storage unit, and obtain the flywheel array charging and discharging control mechanism.

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