GOOSE communication delay measurement method and related device

Abstract

The invention provides a GOOSE (Generic Object Oriented Substation Event) communication delay measurement method and a related device, and relates to the technical field of GOOSE communication. The GOOSE communication delay measurement method comprises the following steps: firstly, receiving a GOOSE virtual change message sent by an opposite end; the opposite end and the GOOSE communication delay measurement device applying the GOOSE communication delay measurement method are respectively accessed to corresponding time synchronization sources, and the time of the two time synchronization sources is synchronous; then calculating communication delay based on the GOOSE virtual change message and a time synchronization source accessed by the GOOSE virtual change message; furthermore, the communication delay measurement from the opposite end to the GOOSE communication delay measurement device can be realized based on the current GOOSE communication, so that the specific condition of the communication delay can be found in time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of GOOSE communication, in particular to a GOOSE communication delay measurement method and related device. BACKGROUND

[0002] The normal and reliable operation of a relay protection device is one of the important contents for ensuring the safe and stable operation of a power grid. Currently, digital relay protection devices are used in intelligent substations, and the trip outlet has been changed from a conventional cable to a GOOSE (Generic Object Oriented Substation Event) protocol implementation. The configuration file defines how the relay protection device should subscribe and publish GOOSE messages.

[0003] With the development of distribution network and station area protection, the GOOSE protocol is not only used for communication between the process layer and the interval layer in a substation, but also applied to communication between the station control layer network or the distribution network DTU (Distribution Terminal Unit) and the FTU (Feeder Terminal Unit) and other devices. The network used in these scenarios is generally a three-layer communication network, and the information transmission process will pass through a large number of gateways, routers and other devices. In some scenarios, wireless communication networks are also applied. Therefore, compared with the direct connection of the process layer dedicated optical fiber or the one or two layer switch aggregation forwarding, the transmission delay caused by the GOOSE message communication is no longer negligible, and the communication delay in these scenarios may be tens of milliseconds or even higher.

[0004] Therefore, there is an urgent need for a method for measuring GOOSE communication delay to discover the specific situation of the communication delay in a timely manner. SUMMARY

[0005] In view of the above problems, the present application provides a GOOSE communication delay measurement method and related device to measure the GOOSE communication delay. The specific scheme is as follows:

[0006] The first aspect of the present application provides a GOOSE communication delay measurement method applied to a GOOSE communication delay measurement device, and the GOOSE communication delay measurement method comprises:

[0007] Receiving a GOOSE dummy variable message sent by a peer; the peer and the GOOSE communication delay measurement device are respectively connected to a corresponding time source, and the time of the two time sources is synchronized;

[0008] Calculating the communication delay based on the GOOSE dummy variable message and the time source connected thereto.

[0009] In a possible implementation, the peer access time source and the GOOSE communication delay measurement device access time source are the same clock source.

[0010] In a possible implementation, the GOOSE dummy variable message includes: a state number of 1, a sequence number of 0, and an updated variable time field.

[0011] In a possible implementation, the communication delay is calculated based on the GOOSE dummy variable message and the self-access time source, and the calculation includes:

[0012] Based on the time source, the UTC base time of the latest second edge time is recorded, and the crystal oscillator timer corresponding to the second edge time is recorded as a crystal base time stamp;

[0013] Based on the crystal base time stamps recorded for two consecutive times, the time length of the crystal oscillator timer corresponding to 1 second is calculated by subtraction;

[0014] Based on the crystal oscillator timer, the crystal arrival time stamp of the GOOSE dummy variable message is recorded;

[0015] Based on the GOOSE dummy variable message, the UTC time stamp in the GOOSE dummy variable message is recorded as a UTC sending time stamp;

[0016] Based on the time information, the communication delay is calculated.

[0017] In a possible implementation, the calculation formula of the communication delay is:

[0018] D = {Tgo – [(Tutc1 – Tutc0) ÷ 1000000 microseconds × dTs + Ts]} ÷ dTs × 1000 milliseconds;

[0019] Wherein, D is the communication delay, Tgo is the crystal arrival time stamp, Tutc1 is the UTC sending time stamp, Tutc0 is the UTC base time recorded for the first time, Ts is the crystal base time stamp recorded for the first time, and dTs is the mapping time length.

[0020] In a possible implementation, if the peer loses the time source signal, the GOOSE dummy variable message includes: a state number of 1, a sequence number of 0, and a variable time field with a time quality of invalid.

[0021] In a possible implementation, after receiving the GOOSE dummy variable message sent by the peer, the method further includes:

[0022] If the time quality of the shifted timestamp field in the GOOSE virtual change message is invalid, or if the signal status of the time source in the GOOSE communication delay measurement device is abnormal, then the communication delay will not be calculated this time.

[0023] A second aspect of this application provides a GOOSE communication delay measurement device for performing the GOOSE communication delay measurement method as described in the first aspect or any implementation thereof. The GOOSE communication delay measurement device includes: a message transmission and reception module, a delay calculation module, and a time synchronization module; wherein...

[0024] The message transceiver module is used to receive and send GOOSE messages; GOOSE messages include GOOSE heartbeat messages and GOOSE virtual change messages.

[0025] The delay calculation module is used to calculate the communication delay of the GOOSE virtual change message sent by the peer.

[0026] The time synchronization module is used to receive signals from the time synchronization source; the time synchronization source is synchronized with the time synchronization source accessed by the peer.

[0027] A third aspect of this application provides a GOOSE communication delay measurement system, comprising: two GOOSE communication delay measurement devices;

[0028] The two GOOSE communication delay measurement devices are communicatively connected and are each other's counterparts;

[0029] At least one of the GOOSE communication delay measurement devices is used to perform the GOOSE communication delay measurement method as described in the first aspect or any implementation thereof.

[0030] The fourth aspect of this application provides a computer storage medium storing a computer program / instructions thereon, wherein when the computer program / instructions are executed by a processor, they are specifically used to implement the GOOSE communication delay measurement method as described in the first aspect or any implementation thereof.

[0031] The fifth aspect of this application provides a computer program product, including a computer program / instructions, which, when executed by a processor, are specifically used to implement the GOOSE communication delay measurement method as described in the first aspect or any implementation thereof.

[0032] The sixth aspect of this application provides a control device, comprising: a processor and a memory, the memory being used to store programs, instructions or code, and the processor being used to execute the programs, instructions or code in the memory to implement the GOOSE communication delay measurement method as described in the first aspect or any implementation thereof.

[0033] By means of the above technical solution, the GOOSE communication delay measurement method provided in this application first receives a GOOSE virtual change message sent by the peer; the peer and the GOOSE communication delay measurement device using the GOOSE communication delay measurement method are respectively connected to the corresponding time synchronization source, and the time of the two time synchronization sources is synchronized; then, the communication delay is calculated based on the GOOSE virtual change message and the time synchronization source connected to itself; thus, based on the current GOOSE communication, the communication delay from the peer to the GOOSE communication delay measurement device can be measured, thereby enabling timely detection of the specific situation of communication delay. Attached Figure Description

[0034] The above and other features, advantages, and aspects of the embodiments of this application will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0035] Figure 1 A flowchart of a GOOSE communication delay measurement method provided in an embodiment of this application;

[0036] Figure 2 Another flowchart of the GOOSE communication delay measurement method provided in the embodiments of this application;

[0037] Figure 3 This is a schematic diagram of the structure of the GOOSE communication delay measurement device provided in an embodiment of this application. Detailed Implementation

[0038] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0039] The embodiments of this application are described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Those skilled in the art will understand that with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0040] The terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of units is not necessarily limited to those units, but may include other units not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0041] This application provides a method for measuring GOOSE communication delay, to achieve the measurement of GOOSE communication delay. The specific solution is as follows:

[0042] This GOOSE communication delay measurement method is applied to the GOOSE communication delay measurement device; such as Figure 1 As shown, the GOOSE communication delay measurement method includes:

[0043] S101. Receive the GOOSE virtual change message sent by the peer.

[0044] The communication connection between the peer and the GOOSE communication delay measurement device is as follows: For example, the peer can send a GOOSE message to the GOOSE communication delay measurement device. The GOOSE message can be a heartbeat message for normal communication or a virtual message, i.e., the aforementioned GOOSE virtual message.

[0045] Furthermore, the other end and the GOOSE communication delay measurement device are respectively connected to the corresponding time synchronization source. The two time synchronization sources are synchronized, and the communication delay can be calculated based on the synchronization time.

[0046] S102. Calculate communication delay based on GOOSE virtual change messages and the time source accessed by itself.

[0047] The GOOSE virtual message contains the time written by the peer before sending. Based on this time and the time of the time source connected to the GOOSE communication delay measurement device, the delay duration of the GOOSE communication can be calculated, which is the aforementioned communication delay.

[0048] The GOOSE communication delay measurement method provided in this embodiment, through the above process, can measure the communication delay from the peer to the GOOSE communication delay measurement device based on the current GOOSE communication, thereby enabling timely detection of the specific communication delay situation. Moreover, this GOOSE communication delay measurement method does not require changes to the existing GOOSE protocol or the addition of additional messages, and can achieve one-sided measurement of the GOOSE message communication delay from the peer to the GOOSE communication delay measurement device.

[0049] In practical applications, the peer can act as the source to send the GOOSE virtual change message; the GOOSE communication delay measurement device can act as the destination to receive the GOOSE virtual change message. Any device within the station that performs GOOSE communication can act as either the source or the destination, or even both simultaneously, to achieve the corresponding communication delay measurement.

[0050] Because the GOOSE protocol is a fast protocol, most of the data it carries has high real-time requirements. Therefore, communication latency needs to be monitored during GOOSE communication, especially when transmitting GOOSE messages via wireless networks between station control layers or distribution network DTUs and FTUs. It is crucial to pay close attention to the current network transmission latency to promptly detect high transmission latency and issue timely warnings. This is to prevent delays in receiving change information due to network problems when protection functions operate, which could lead to delayed or non-operational protection functions and affect the reliability and safety of the power grid.

[0051] The GOOSE communication delay measurement method provided in this embodiment solves the problem of measuring network delay when applying GOOSE messages in scenarios such as three-layer networks or wireless networks. It can detect problems of excessive network delay in advance, avoid delays in receiving change information due to communication delay, and prevent protection functions from delaying or refusing to operate, thereby improving the reliability of power grid operation.

[0052] Based on the previous embodiment, this embodiment provides illustrative examples of some aspects of the GOOSE communication delay measurement method, such as:

[0053] The time synchronization source connected to the other end and the time synchronization source connected to the GOOSE communication delay measurement device can be the same clock source, thereby ensuring the time synchronization of the two time synchronization sources; however, this is only an example, and it is not limited to this in actual applications. As long as the time synchronization of the two time synchronization sources can be guaranteed, other feasible solutions are also within the protection scope of this application.

[0054] In practical applications, the accuracy of communication latency measurement depends on the accuracy of the access pair's time source, which can generally reach 1 millisecond or higher.

[0055] In addition, the aforementioned GOOSE virtual change message may specifically include: a status number incremented by 1, a sequence number that is 0, and an updated change time stamp field.

[0056] That is, as the peer end of the source end, regardless of whether the data in the current GOOSE message has changed, it sends a message with the StNum field +1 and the SqNum field 0, and updates the change timestamp field of the GOOSE message as the aforementioned GOOSE virtual change message; where, the StNum field is the status number, indicating the number of times the GOOSE data status quantity has actually changed; the SqNum field is the sequence number, used to count the repeatedly sent GOOSE messages during the period when there is no change in the data status quantity (i.e., the StNum field remains unchanged); the change timestamp field carries the absolute timestamp of the change in the data status quantity. It records not the time when the GOOSE message itself is sent or arrives, but the time when the value of a specific data object contained in the message (i.e., the aforementioned data status quantity) changes.

[0057] In other words, when the GOOSE communication delay measurement device receives a message whose StNum field is not equal to that of the previous frame and whose SqNum field is 0, it can determine that a GOOSE virtual change message has been received, and calculate the communication delay of the current frame message based on the change timestamp field in the current message.

[0058] For application scenarios such as wireless networks with limited bandwidth, this embodiment changes the heartbeat message of normal GOOSE communication to a virtual message, which can realize the measurement of communication latency without adding messages. Therefore, there is no need to increase the cost of communication bandwidth.

[0059] In addition, the GOOSE protocol used in this embodiment does not need to be adjusted. If the source does not support this function, the communication delay can be calculated using the change message when the source performs a critical change. If the destination does not support the device, it can still receive and parse the virtual change message normally. Therefore, it is compatible with devices that support and do not support this function for interconnection.

[0060] Based on the above embodiments, this embodiment provides a detailed description of S102 in the GOOSE communication delay measurement method. Specifically, S102, which calculates the communication delay based on the GOOSE virtual change message and the time source it accesses, may include:

[0061] (1) Based on the time source, record the UTC (Coordinated Universal Time) base time Tutc0 of the latest second edge moment, and the crystal oscillator base timestamp Ts of its own crystal oscillator timer corresponding to the second edge moment.

[0062] (2) Based on the two consecutive recorded crystal oscillator base timestamps, the mapping duration dTs of the crystal oscillator timer corresponding to 1 second is calculated by subtracting them.

[0063] (3) Based on the crystal oscillator timer, record the crystal oscillator arrival timestamp Tgo when the GOOSE virtual change message arrives.

[0064] (4) Based on the GOOSE virtual change message, record the UTC timestamp in the GOOSE virtual change message as the UTC sending timestamp Tutc1.

[0065] (5) Based on the above time information, calculate the communication delay D. Specifically, the formula for calculating the communication delay D is: D = {Tgo – [(Tutc1 – Tutc0) ÷ 1000000 microseconds × dTs + Ts]} ÷ dTs × 1000 milliseconds.

[0066] Where D is the communication delay, Tgo is the crystal oscillator arrival timestamp, Tutc1 is the UTC transmission timestamp, Tutc0 is the UTC base time recorded for the first time, Ts is the crystal oscillator base timestamp recorded for the first time, and dTs is the mapping duration.

[0067] Specifically, the mapping duration dTs is calculated based on the time of any two consecutive second edges of the time source before step (5) and the corresponding timestamp of the crystal oscillator timer, and is the duration of the crystal oscillator timer corresponding to 1 second of the time source. That is, the calculation of the mapping duration dTs can be performed before step (5) and is not limited to the order between steps (1) to (4).

[0068] Through the above calculation process, the communication delay D of GOOSE communication can be calculated to reflect the specific degree of current GOOSE communication delay.

[0069] Based on the above embodiments, in this GOOSE communication delay measurement method, if the timing source signal of the peer or the GOOSE communication delay measurement device is lost, a corresponding response scheme can also be added. For example:

[0070] If the other end loses the signal from the time source, the GOOSE dummy change message it sends includes: a status number incremented by 1, a sequence number set to 0, and a time stamp field with invalid time quality. By setting the time quality of the time stamp field to invalid, the loss of the time source signal can be flagged, allowing the GOOSE communication delay measurement device to detect this situation through the GOOSE dummy change message and thus avoid executing the subsequent S102.

[0071] That is, the GOOSE communication delay measurement method can be as follows: Figure 2As shown, after S101, the following steps are also included: if the time quality of the time stamp field in the GOOSE virtual change message is invalid, then the communication delay is not calculated this time; after receiving a GOOSE virtual change message with valid time quality again, S102 is executed.

[0072] Alternatively, if the GOOSE communication delay measurement device loses its signal to the time source, it will manifest as an abnormality in its own signal state to the time source. In this case, the GOOSE communication delay measurement method can be as follows: Figure 2 As shown, after S101, the method further includes: if the signal status of the time source in the GOOSE communication delay measurement device is abnormal, then the communication delay will not be calculated this time; S102 will be executed again when a GOOSE virtual change message with valid time quality is received again and the signal status of the time source is normal.

[0073] The above process can avoid errors in calculating communication delay caused by the loss of time source signals.

[0074] Another embodiment of this application provides a GOOSE communication delay measurement device, which can be used to perform the GOOSE communication delay measurement method described in any of the above embodiments. The specific process and principle of the GOOSE communication delay measurement method can be found in the above embodiments, and will not be repeated here.

[0075] like Figure 3 As shown, the GOOSE communication delay measurement device includes: a message transceiver module 11, a delay calculation module 12, and a time synchronization module 13; wherein:

[0076] The message transceiver module 11 is used to receive and send GOOSE messages; the GOOSE message includes a GOOSE heartbeat message and a GOOSE virtual change message. The specific form of the GOOSE virtual change message can be found in the above embodiments, and will not be repeated here.

[0077] The delay calculation module 12 is used to calculate the communication delay of the GOOSE virtual change message sent by the peer. The specific calculation process can be found in the above embodiment, and will not be repeated here.

[0078] The time synchronization module 13 is used to receive signals from a time synchronization source; this time synchronization source is synchronized with the time synchronization source connected to the other end, for example, the two time synchronization sources can be the same clock source. But it is not limited to this.

[0079] The GOOSE communication delay measurement device provided in this embodiment, based on the above principle, can measure the communication delay from the peer to the device based on the current GOOSE communication, thereby enabling timely detection of the specific communication delay situation. Furthermore, this GOOSE communication delay measurement method does not require changes to the existing GOOSE protocol or the addition of additional messages; therefore, it incurs no additional communication bandwidth costs.

[0080] Another embodiment of this application provides a GOOSE communication delay measurement system, including: two GOOSE communication delay measurement devices; the two GOOSE communication delay measurement devices are communicatively connected and are each other's counterparts.

[0081] Furthermore, at least one of the GOOSE communication delay measurement devices can perform the GOOSE communication delay measurement method described in any of the above embodiments. The specific process and principle of this GOOSE communication delay measurement method can be found in the above embodiments, and will not be repeated here.

[0082] In practical applications, one GOOSE communication delay measurement device can act as the source, sending a GOOSE virtual change message; the other GOOSE communication delay measurement device can act as the destination, receiving the GOOSE virtual change message and calculating the one-sided communication delay from the source to the destination. Alternatively, both GOOSE communication delay measurement devices can act as both the source and the destination simultaneously, measuring the communication delay of each other's messages, thus achieving two-sided communication delay measurement between the two devices.

[0083] In practical applications, any device in the power system that performs GOOSE communication can be used as a source or destination, or both, to achieve the corresponding communication delay measurement.

[0084] Another embodiment of this application provides a computer storage medium storing a computer program / instructions thereon, which, when executed by a processor, is specifically used to implement the GOOSE communication delay measurement method as described in any of the above embodiments.

[0085] The specific process and principle of the GOOSE communication delay measurement method can be found in the above embodiments, and will not be repeated here.

[0086] Another embodiment of this application provides a computer program product, including a computer program / instructions, which, when executed by a processor, are specifically used to implement the GOOSE communication delay measurement method as described in any of the above embodiments.

[0087] The specific process and principle of the GOOSE communication delay measurement method can be found in the above embodiments, and will not be repeated here.

[0088] Another embodiment of this application provides a control device, including: a processor and a memory, wherein the memory is used to store programs, instructions or code, and the processor is used to execute the programs, instructions or code in the memory to implement the GOOSE communication delay measurement method as described in any of the above embodiments.

[0089] The specific process and principle of the GOOSE communication delay measurement method can be found in the above embodiments, and will not be repeated here.

[0090] Similar or identical parts between the various embodiments in this application can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the description of the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment solution according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0091] Those skilled in the art will also recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0092] The features described above in the disclosed embodiments can be substituted for or combined with each other, enabling those skilled in the art to implement or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for measuring GOOSE communication delay, characterized in that, The GOOSE communication delay measurement method, applied to the GOOSE communication delay measurement device, includes: Receive GOOSE virtual change messages sent by the peer; the peer and the GOOSE communication delay measurement device are respectively connected to the corresponding time synchronization source, and the time of the two time synchronization sources is synchronized; The communication delay is calculated based on the GOOSE virtual change message and the time source it accesses.

2. The GOOSE communication delay measurement method according to claim 1, characterized in that, The time synchronization source accessed by the peer end and the time synchronization source accessed by the GOOSE communication delay measurement device are the same clock source.

3. The GOOSE communication delay measurement method according to claim 1, characterized in that, The GOOSE virtual change message includes: a status number incremented by 1, a sequence number that is 0, and an updated change timestamp field.

4. The GOOSE communication delay measurement method according to any one of claims 1 to 3, characterized in that, Based on the GOOSE virtual change message and the time source it accesses, the communication delay is calculated, including: Based on the time source, record the UTC base time of the latest second edge moment, and the crystal oscillator base timestamp of its own crystal oscillator timer corresponding to the second edge moment; Based on the two consecutively recorded crystal oscillator timestamps, the subtraction is used to calculate the mapped duration of the crystal oscillator timer corresponding to 1 second; Based on the crystal oscillator timer, record the crystal oscillator arrival timestamp of the GOOSE virtual change message; Based on the GOOSE virtual change message, record the UTC timestamp in the GOOSE virtual change message as the UTC transmission timestamp; The communication delay is calculated based on the time information.

5. The GOOSE communication delay measurement method according to claim 4, characterized in that, The formula for calculating the communication delay is: D = {Tgo – [(Tutc1 – Tutc0) ÷ 1000000 microseconds × dTs + Ts]} ÷ dTs × 1000 milliseconds; Wherein, D is the communication delay, Tgo is the crystal oscillator arrival timestamp, Tutc1 is the UTC transmission timestamp, Tutc0 is the first recorded UTC base time, Ts is the first recorded crystal oscillator base timestamp, and dTs is the mapping duration.

6. The GOOSE communication delay measurement method according to any one of claims 1 to 3, characterized in that, If the peer loses the signal from the time source, the GOOSE virtual change message includes: a status number incremented by 1, a sequence number that is 0, and a change time stamp field with invalid time quality.

7. The GOOSE communication delay measurement method according to any one of claims 1 to 3, characterized in that, After receiving the GOOSE virtual change message sent by the peer, it also includes: If the time quality of the shifted timestamp field in the GOOSE virtual change message is invalid, or if the signal status of the time source in the GOOSE communication delay measurement device is abnormal, then the communication delay will not be calculated this time.

8. A GOOSE communication delay measurement device, characterized in that, The GOOSE communication delay measurement device is used to perform the GOOSE communication delay measurement method as described in any one of claims 1 to 7, and the GOOSE communication delay measurement device includes: a message transmission and reception module, a delay calculation module, and a time synchronization module; wherein... The message transceiver module is used to receive and send GOOSE messages; GOOSE messages include GOOSE heartbeat messages and GOOSE virtual change messages. The delay calculation module is used to calculate the communication delay of the GOOSE virtual change message sent by the peer. The time synchronization module is used to receive signals from the time synchronization source; the time synchronization source is synchronized with the time synchronization source accessed by the peer.

9. A GOOSE communication delay measurement system, characterized in that, include: Two GOOSE communication delay measurement devices; The two GOOSE communication delay measurement devices are communicatively connected and are each other's counterparts; At least one of the GOOSE communication delay measurement devices is used to perform the GOOSE communication delay measurement method as described in any one of claims 1 to 7.

10. A computer storage medium storing computer programs / instructions thereon, characterized in that, When the computer program / instruction is executed by the processor, it is specifically used to implement the GOOSE communication delay measurement method as described in any one of claims 1 to 7.

11. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it is specifically used to implement the GOOSE communication delay measurement method as described in any one of claims 1 to 7.

12. A control device, characterized in that, include: A processor and a memory, the memory being used to store programs, instructions, or code, and the processor being used to execute the programs, instructions, or code in the memory to implement the GOOSE communication delay measurement method as described in any one of claims 1 to 7.

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