A multi-time-and-space consistency planning tracking and safety cooperative control method and system

Abstract

The present application relates to the technical field of automatic control of water and electricity and new energy power generation, and discloses a multi-time and space consistency planning tracking and safety collaborative control method and system, which comprises the following steps: adding the integrated continuous planning curve to the real-time frequency adjustment demand, comparing with the total available capacity, and completing the global feasibility determination; generating a system-level action plan; all units are sorted according to the score, and a specific unit start-stop instruction sequence is generated through review and priority arrangement; the actual total output of the system after the execution of the specific unit start-stop instruction is continuously monitored, compared with the planned value, and the deviation is obtained. The system comprises a system-level action plan generation module, a unit start-stop instruction sequence generation module and a power adjustment command module. The present application realizes the dynamic coupling of planning tracking and safety control, and guarantees the stability, economy and safety of the power system under complex operating conditions.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for hydropower and new energy power generation, and in particular to a method and system for multi-temporal consistency plan tracking and safety collaborative control. Background Technology

[0002] In multi-unit power generation systems, automatic control of hydropower is a key factor in stable and efficient power generation. For the power grid, new energy sources provide clean electricity; while hydropower, especially pumped storage, provides crucial control capacity and flexibility. Existing multi-unit power generation systems generally face the following technical challenges in the process of plan tracking and coordinated control: low resolution of the plan curve and mismatch between execution frequency lead to inconsistent control cycles, resulting in time drift and error accumulation. Separation of capacity and safety constraints makes it impossible to achieve dynamic matching between dispatch instructions and unit feasibility, easily triggering over-limit risks. Lack of interpretability in start-up and shutdown control decisions leads to logical opacity and unstable priority issues in multi-unit parallel scenarios. Conflicts between regulations and vibration zone crossings, and mutual constraints between regulation instructions and mechanical safety protection affect unit stability. Serialized system scheduling and sequential execution of multiple tasks result in response lags, which is detrimental to the rapid regulation needs in frequency and spot market scenarios. To address these issues, existing solutions mainly employ hierarchical PI control or frequency regulation optimization algorithms, but lack multi-temporal consistency theoretical modeling and a unified protection strategy integration mechanism, making it difficult to achieve a unification of theory and engineering application.

[0003] Current technologies suffer from limitations in achieving spatiotemporal consistency matching between discrete plans and continuous operations. Furthermore, they fail to ensure the safety and stability of the system during dynamic adjustments through multi-dimensional feature evaluation, dead-zone control, and vibration zone collaborative traversal mechanisms. This invention provides a method and system for multi-spatiotemporal consistency plan tracking and safe collaborative control. Summary of the Invention

[0004] The main objective of this invention is to provide a multi-temporal and spatiotemporal consistency plan tracking and safety collaborative control method and system to solve the problems in the prior art that it is impossible to achieve spatiotemporal consistency matching between discrete plans and continuous operation, and that it is impossible to ensure the safety and stability of the system during dynamic adjustment through multi-dimensional feature evaluation, dead zone control and vibration zone collaborative traversal mechanism.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A multi-temporal consistency plan tracking and security collaborative control method, the multi-temporal consistency plan tracking and security collaborative control method comprising:

[0007] The system-level action plan is translated into specific unit start-up and shutdown actions. A feature vector containing multiple dimensions such as operating status, maintenance indicators, and output gaps is constructed for each unit. An interpretable scoring model is used to calculate the action priority score for each unit. All units are sorted according to their scores to form an initial action queue. The action queue undergoes security verification under a unified protection strategy, and is reviewed to include hard constraints such as the minimum number of operating units and equipment lockout status. Finally, a sequence of specific unit start-up and shutdown instructions that has passed the review and is arranged by priority is generated.

[0008] The system continuously monitors the actual total output of the system after the execution of specific unit start-up and shutdown commands, and compares it with the planned value to obtain the output deviation. The deviation is input into the dead zone control law: within the range of small deviations, no action is taken to maintain system stability; if the deviation exceeds the range, a precise power adjustment command is triggered. At the same time, the system operates a vibration zone crossing coordination mechanism in parallel. Based on a smoothing plan target with a longer time window, when the protection strategy allows, it coordinates the relevant unit groups to smoothly and safely cross the vibration zone.

[0009] As a further improvement to this invention, in the process of calculating the action priority score for each unit, the start-stop priority score is defined, and the unit feature vector is defined as follows:

[0010]

[0011] Indicates the unit The feature vectors are used for priority scoring; Indicates the unit The current running status; Indicates the unit Maintenance status indicator; Indicates the unit The enable status flag indicates whether control is permitted; Indicates the unit The gap between the current output and the target output; Indicates the unit The actual power;

[0012] The scoring function is:

[0013]

[0014] Indicates the unit The overall priority score; This represents the weight coefficient vector corresponding to the feature vector; The penalty coefficient representing the maintenance status; The penalty coefficient representing other abnormal states; weight. and , The penalty coefficient is automatically adjusted according to the power plant strategy; according to The start and stop queues are generated by sorting, and are executed beforehand. Check protection conditions, operating unit limit, lockout flag, and capacity constraints; This indicates an abnormal state of the unit and serves as a penalty item in the scoring function;

[0015] As a further improvement of the present invention, the process of generating a sequence of specific unit start-up and shutdown instructions that has passed review and is arranged by priority includes the following steps:

[0016] The preliminary action queue generated based on the action priority score will be correlated with the various hard constraints included in the unified protection criterion; for each start / stop action command in the preliminary action queue, the specific safety constraint items that it needs to satisfy will be specified, such as the lockout status of a specific unit or the lower limit of the number of global operating units, and a list detailing the correspondence between each action and all relevant constraints will be generated.

[0017] Using the list of instruction-constraint associations, each constraint condition is checked synchronously and independently; the real-time running status associated with each start / stop action instruction is compared with the constraint requirements, and an independent verification conclusion on the safety of each start / stop action instruction to be executed is output, forming a set of permission statuses that reflect whether each instruction currently meets all safety conditions.

[0018] Apply the set of permission states to the initial action queue; reorganize the initial action queue according to the permission state of each start / stop action instruction: all start / stop action instructions that have obtained security permission are retained in their original priority order; instructions that fail verification are marked and their execution is suspended; output a final start / stop instruction sequence containing only security permission instructions, maintaining priority order, and ready for direct issuance.

[0019] As a further improvement of the present invention, the deviation is input into the dead zone control law to define the output deviation:

[0020]

[0021] Indicates time The deviation of the total system output is equal to the measured total output minus the planned value; The dead zone parameter, representing the dead zone control law, is a reference value; This indicates an upward adjustment of the dead zone parameter, representing a positive deviation. Action threshold >0; This indicates a reduction in the dead zone parameter, typically a negative deviation. Action threshold <0;

[0022] Control Law:

[0023]

[0024] Indicates time The total system control output; Indicates time The system's total power increase command; Indicates time The system's total power reduction command;

[0025] If the system is in a state of vibration zone crossing and =Suppress / Delay, then the gating execution is delayed or suppressed.

[0026] As a further improvement of the present invention, the multi-window collaboration for vibration zone traversal defines a multi-window target:

[0027]

[0028] Total computing power:

[0029]

[0030] Indicates time The planned target value for the 15-minute moving average; Indicates time The planned target value for the 60-minute moving average; This is an operator that represents taking a 15-minute moving average of the planning curve. This is an operator that represents taking a 60-minute moving average of the planning curve. Indicates time The total capacity calculated for traversing the vibration zone; This refers to the group of units participating in the vibration zone crossing operation; This refers to the group of units that will not participate in the vibration zone crossing operation; Indicates the unit Upper limit capability during vibration zone traversal; Indicates time i of unit The planned target value for the 15-minute moving average;

[0031] Unified protection criteria When the crossing criterion is satisfied and =When permitted, perform traversal according to priority set; otherwise, maintain monitoring status.

[0032] As a further improvement to this invention, parallel scheduling and safe exit, task set:

[0033]

[0034] Execute tasks in parallel at fixed intervals to ensure data atomicity between tasks; if an exit signal is received, the system will stop synchronously to maintain state recoverability.

[0035] Theoretical guarantees and feasibility conditions:

[0036] like When permitted, there exists a combination of start / stop and regulation that satisfies the constraints; Indicates the system at time... Total available capacity; frequency regulation bandwidth is ;

[0037] Upper bound of error:

[0038]

[0039] in It originates from the upper bound of interpolation and measurement noise.

[0040] As a further improvement of the present invention, discrete planning points, real-time frequency adjustment requirements of the power grid, and maximum output and maintenance status of each unit are received from the control terminal; the discrete planning points are processed into a continuous planning curve that matches the rhythm of the control terminal through an interpolation strategy; the maximum capacity of all available units is summarized to calculate the current total available capacity; the integrated continuous planning curve is added to the real-time frequency adjustment requirements and compared with the total available capacity to complete the global feasibility determination; a system-level action plan is generated; a capacity boundary is attached, and an alarm is triggered if the boundary is exceeded.

[0041] As a further improvement to the present invention, the process of generating a system-level action plan includes the following steps:

[0042] An interpolation strategy is adopted to perform linear calculations between known discrete planning points according to the high sampling period of the control terminal, filling in the planning values ​​at all intermediate moments; resulting in a continuous planning curve that is continuous and uniform in time, with its rhythm matching the execution cycle of the control terminal.

[0043] Initiate a consistency tolerance criterion to compare planned values ​​provided by different data sources; determine the data volume; if all are less than the threshold, use absolute error for verification; otherwise, use relative error for verification; output a consistency judgment conclusion; if the error exceeds the tolerance range, generate a consistency alarm.

[0044] If the verification passes, the continuous planning curve is marked as reliable; if the verification fails and an alarm is triggered, the continuous planning curve will be marked as inconsistent and a warning will be triggered.

[0045] As a further improvement of the present invention, the process of filling in the planned values ​​at all intermediate moments includes the following steps:

[0046] Using the inherent high sampling period of the control terminal as a time scale, the time interval of the discrete planning points is finely divided; and a high-frequency timestamp that is completely synchronized with the control terminal is inserted between each discrete planning point to generate a continuous time reference frame.

[0047] Using a time-baseline framework, a comprehensive analysis is performed on adjacent original discrete planning points; the implicit power change trends between adjacent planning points are obtained, and the original point-to-point planning information is transformed into a linear planning gradient with a clear direction and rate of change within each interval.

[0048] The linear planning gradient is applied to the established time base framework; based on the planning gradient of each tiny time segment, the specific planning value of each moment is dynamically generated, filling the information gaps between all discrete points, and finally outputting a continuous planning curve that is continuous in time, smooth in numerical value, and can reflect the changing trend of the original plan.

[0049] To achieve the above objectives, the present invention also provides the following technical solution:

[0050] A multi-temporal consistency plan tracking and security collaborative control system is provided, which is applied to the aforementioned multi-temporal consistency plan tracking and security collaborative control method. The multi-temporal consistency plan tracking and security collaborative control system includes:

[0051] The system-level action plan generation module receives discrete planning points, real-time frequency adjustment requirements of the power grid, and the maximum output and maintenance status of each generating unit from the control terminal. It then uses an interpolation strategy to process the discrete planning points into a continuous planning curve that matches the control terminal's rhythm. The module aggregates the maximum capacity of all available generating units to calculate the current total available capacity. It adds the integrated continuous planning curve to the real-time frequency adjustment requirements and compares it with the total available capacity to complete a global feasibility assessment. Finally, it generates a system-level action plan with attached capacity boundaries; if these boundaries are exceeded, an alarm is triggered.

[0052] The unit start-stop command sequence generation module is used to transform the system-level action plan into specific unit start-stop actions. It constructs a multi-dimensional feature vector for each unit, including operating status, maintenance flags, and output gaps, and calculates the action priority score for each unit through an interpretable scoring model. All units are sorted according to their scores to form a preliminary action queue. The action queue undergoes security verification under a unified protection strategy, and is reviewed to include hard constraints such as the minimum number of operating units and equipment lockout status. Finally, it generates a specific unit start-stop command sequence that has passed the review and is arranged by priority.

[0053] The power adjustment command module continuously monitors the actual total output of the system after the execution of start-up and shutdown commands for specific units, and compares it with the planned value to obtain the deviation. The deviation is input into the dead zone control law: within a small deviation range, no action is taken to maintain system stability; if the deviation exceeds the range, a precise power adjustment command is triggered. At the same time, the system runs a vibration zone crossing coordination mechanism in parallel. Based on a smoothed plan target with a longer time window, it coordinates the relevant unit groups to smoothly and safely cross the vibration zone when the protection strategy allows.

[0054] To achieve the above objectives, the present invention also provides the following technical solution:

[0055] An electronic device includes a processor and a memory coupled to the processor, the memory storing program instructions executable by the processor; when the processor executes the program instructions stored in the memory, it implements the multi-temporal consistency plan tracking and security cooperative control method described above.

[0056] To achieve the above objectives, the present invention also provides the following technical solution:

[0057] A storage medium storing program instructions, which, when executed by a processor, implement the multi-temporal consistency plan tracking and security collaborative control method described above.

[0058] This invention achieves deep integration of power system plan execution and safe operation through multi-stage closed-loop control. Discrete planning points are interpolated to form continuous planning curves, which, combined with real-time frequency requirements and unit capacity boundaries, generate and determine the feasibility of system-level action plans. A unit priority queue is generated based on an interpretable scoring model using multi-dimensional feature vectors, and hard constraints are verified through a unified protection strategy to form a safe and reliable start-stop command sequence. Dead-zone control laws maintain system stability while achieving precise power adjustment, and a vibration zone crossing coordination mechanism guides the unit group to safely cross vibration zones through a smoothing target over a long time window. The entire method achieves dynamic coupling between plan tracking and safety control, ensuring the stability, economy, and safety of the power system under complex operating conditions. Attached Figure Description

[0059] Figure 1 This is a flowchart illustrating the steps of an embodiment of the multi-temporal consistency plan tracking and security collaborative control method of the present invention;

[0060] Figure 2 This is a schematic diagram illustrating the steps involved in generating a system-level action plan in one embodiment of the multi-temporal consistency plan tracking and security collaborative control method of the present invention.

[0061] Figure 3This is a flowchart illustrating the steps of generating a sequence of specific unit start-up and shutdown instructions that have passed review and are arranged by priority, as an embodiment of the multi-temporal consistency plan tracking and security collaborative control method of the present invention.

[0062] Figure 4 This is a functional module diagram of an embodiment of the multi-temporal consistency plan tracking and security collaborative control system of the present invention;

[0063] Figure 5 This is a schematic diagram of an embodiment of the multi-temporal consistency plan tracking and security collaborative control system of the present invention;

[0064] Figure 6 This is a timing diagram of cross-trajectory coordination and parallel scheduling in an embodiment of the multi-temporal consistency plan tracking and security cooperative control system of the present invention;

[0065] Figure 7 This is a schematic diagram of the structure of an embodiment of the electronic device of the present invention;

[0066] Figure 8 This is a schematic diagram of the structure of one embodiment of the storage medium of the present invention. Detailed Implementation

[0067] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0068] The terms "first," "second," and "third" used in this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this invention are only used to explain the relative positional relationships and movements between components in a specific orientation (as shown in the accompanying drawings). If the specific orientation changes, the directional indications also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0069] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0070] like Figure 1 As shown, this embodiment provides an example of a multi-spatiotemporal consistency plan tracking and security collaborative control method. In this embodiment, the spatiotemporal consistency plan tracking and security collaborative control method specifically includes the following steps:

[0071] Step S1: Receive discrete planning points, real-time frequency adjustment requirements of the power grid, and maximum output and maintenance status of each generating unit from the control terminal; process the discrete planning points into a continuous planning curve that matches the rhythm of the control terminal through an interpolation strategy; summarize the maximum capacity of all available generating units and calculate the current total available capacity; add the integrated continuous planning curve to the real-time frequency adjustment requirements and compare it with the total available capacity to complete the global feasibility determination; generate a system-level action plan; attach a capacity boundary, and trigger an alarm if the boundary is exceeded.

[0072] Step S2: Transform the system-level action plan into specific unit start-up and shutdown actions. Construct a feature vector for each unit that includes multiple dimensions such as operating status, maintenance indicators, and output gaps. Calculate the action priority score for each unit using an interpretable scoring model. Sort all units according to their scores to form a preliminary action queue. The action queue undergoes security verification under a unified protection strategy, including hard constraints such as the minimum number of operating units and equipment lockout status. Generate a sequence of specific unit start-up and shutdown instructions that has passed the verification and is arranged by priority.

[0073] Step S3: Continuously monitor the actual total output of the system after the execution of the start-up and shutdown command of a specific unit, and compare it with the planned value to obtain the deviation; the deviation is input into the dead zone control law: within the range of small deviation, no action is taken to maintain system stability; if the range is exceeded, a precise power adjustment command is triggered; at the same time, the system runs the vibration zone crossing coordination mechanism in parallel, based on the smoothing plan target of a longer time window, and coordinates the relevant unit groups to smoothly and safely cross the vibration zone when the protection strategy allows.

[0074] Preferably, this embodiment specifically includes the following steps:

[0075] (1) Problem formalization, defining the set of units With time sampling set The sampling period is 30 seconds; the unit At any moment Contributing to the cause , This represents the unit index, referring to the set of units. A specific unit within the [system / mechanism]; total output is:

[0076]

[0077] The planned curve is , Indicates the unit At any moment The active power output, i.e., the actual active power generated by the unit; the frequency regulation bandwidth is Each unit has upper and lower capacity limits. , and base load Maintenance sign Indicate whether or not to participate;

[0078] Unified protection criteria .

[0079] objective function To minimize the plan tracking error:

[0080]

[0081] Solve for the optimal control strategy while satisfying capacity and protection constraints; Indicates the system at time... The planned curve value, that is, the total active power target that the system is expected to achieve; Indicates time The tracking error in the objective function The weighting coefficients in the equation.

[0082] (2) Spatiotemporal consistency of the planning curve:

[0083] Interpolation strategy: For the original planned points In the interval Interpolation:

[0084]

[0085] Indicates the original planned point corresponding time after At any given time, the value of the continuous planning curve obtained through interpolation; Represents the interpolation weight coefficients, where It is the difference between the current time and the time of the previous planned point. It is the time interval between the original planned points.

[0086] Consistency tolerance criterion: For data at both ends at the same time ,like:

[0087]

[0088] Otherwise, relative error is used:

[0089]

[0090] If the tolerance is exceeded, a consistency alarm will be triggered.

[0091] This represents the switching threshold between absolute error and relative error; when two data points... The absolute maximum value is less than When using this criterion, the absolute error criterion is employed. This represents the maximum absolute error allowed for consistency verification. This represents the maximum relative error allowed for consistency verification.

[0092] (3) Capacity integration and feasibility assessment, defining available capacity:

[0093]

[0094] Indicates the system at time... The total available capacity is the sum of all units participating in the control ( = 1) Maximum technical output sum.

[0095] when:

[0096]

[0097] If the scheduling is deemed feasible, an alarm will be triggered and protection measures will be activated.

[0098] (4) Start-up and shutdown priority scoring, defining the unit feature vector:

[0099]

[0100] Indicates the unit The feature vectors are used for priority scoring; Indicates the unit The current operating status (such as power on, power off, etc.); Indicates the unit Maintenance status indicator; Indicates the unit The enable status flag indicates whether control is permitted; Indicates the unit The gap between the current output and the target output; Indicates the unit The actual power;

[0101] The scoring function is:

[0102]

[0103] Indicates the unit The overall priority score; This represents the weight coefficient vector corresponding to the feature vector; The penalty coefficient representing the maintenance status; This represents the penalty coefficient for other abnormal states. Weight and , The penalty coefficient is automatically adjusted based on the power plant strategy; according to The start and stop queues are generated by sorting, and are executed before execution. Check protection conditions, such as operating unit limits, lockout flags, and capacity constraints; This indicates an abnormal state of the unit and serves as a penalty in the scoring function.

[0104] (5) Deviation and dead zone control law, defining output deviation:

[0105]

[0106] Indicates time The deviation of the total system output is equal to the measured total output minus the planned value; The dead zone parameter, representing the dead zone control law, is a reference value; This indicates an increase in the dead zone parameter, typically a positive deviation. Action threshold >0); This indicates a downward adjustment of the dead zone parameter, typically a negative deviation. Action threshold <0;

[0107] Dead zone parameters (The upper and lower limits are respectively) , );

[0108] Control Law:

[0109]

[0110] Indicates time The total system control output; Indicates time The system's total power increase command; Indicates time The system's total power reduction command;

[0111] If the system is in a state of vibration zone crossing and =Suppress / Delay, then the gating execution is delayed or suppressed.

[0112] (6) Multi-window coordination for vibration zone crossing, defining multi-window targets:

[0113]

[0114] Total computing power:

[0115]

[0116] Indicates time The planned target value for the 15-minute moving average; Indicates time The planned target value for the 60-minute moving average; This is an operator that represents taking a 15-minute moving average of the planning curve. This is an operator that represents taking a 60-minute moving average of the planning curve. Indicates time The total capacity calculated for traversing the vibration zone; This refers to the group of units participating in the vibration zone crossing operation; This refers to the group of units that will not participate in the vibration zone crossing operation; Indicates the unit Upper limit capability during vibration zone traversal; Indicates the unit i time The planned target value for the 15-minute moving average.

[0117] When the crossing criterion is satisfied and =When permitted, perform traversal according to priority set; otherwise, maintain monitoring status.

[0118] (7) Parallel scheduling and safe exit, task set:

[0119]

[0120] Execute tasks in parallel at fixed intervals to ensure data atomicity between tasks; if an exit signal is received, the system will stop synchronously to maintain state recoverability.

[0121] (8) Theoretical guarantees and feasibility conditions:

[0122] like When permitted, there exists a combination of start / stop and regulation that satisfies the constraints.

[0123] Upper bound of error:

[0124]

[0125] in It originates from the upper bound of interpolation and measurement noise.

[0126] Algorithm complexity: computational cost per cycle Parallel scheduling maintains real-time response.

[0127] This embodiment achieves multi-temporal and spatiotemporal consistency control of multi-unit power generation systems, including plan tracking, start-stop coordination, regulatory control, and vibration zone crossing coordination. Under unified protection strategy constraints, through interpolation consistency, capacity fusion, start-stop priority scoring, deviation control law, crossing coordination, and parallel scheduling, it achieves theoretically verifiable upper bounds on errors and real-time response stability in engineering, thereby improving plan execution accuracy and system safety. This embodiment achieves multi-temporal and spatiotemporal consistency tracking of plan curves, eliminating resolution mismatch errors; through capacity fusion and protection judgment, it ensures over-limit defense and system safety; it adopts an interpretable start-stop scoring model to improve decision-making transparency; it introduces crossing gating and dead-zone control laws to ensure both mechanical and control safety; and based on a parallel scheduling mechanism, it improves system response and recoverability, achieving a unity of theoretical verifiability and engineering feasibility.

[0128] This embodiment achieves deep integration of power system plan execution and safe operation through multi-stage closed-loop control. Discrete plan points are interpolated to form continuous plan curves, which, combined with real-time frequency requirements and unit capacity boundaries, complete the generation and feasibility assessment of system-level action plans. A unit priority queue is generated based on an interpretable scoring model using multi-dimensional feature vectors, and hard constraints are verified through a unified protection strategy to form a safe and reliable start-stop command sequence. Dead-zone control law achieves precise power adjustment while maintaining system stability, and the vibration zone crossing coordination mechanism guides the unit group to safely cross vibration zones through a smoothing target over a long time window. The entire method achieves dynamic coupling between plan tracking and safety control, ensuring the stability, economy, and safety of the power system under complex operating conditions.

[0129] Furthermore, such as Figure 2 As shown, the process of generating a system-level action plan in step S1 specifically includes the following steps:

[0130] Step S11: Using an interpolation strategy, linear calculations are performed between known discrete planning points according to the high sampling period of the control terminal to fill in the planning values ​​at all intermediate moments; a continuous planning curve that is continuous and uniform in time is obtained, whose rhythm matches the execution cycle of the control terminal.

[0131] Step S12: Activate the consistency tolerance criterion, compare the planned values ​​provided by different data sources; determine the data volume, if all are less than the threshold, use absolute error for verification; otherwise, use relative error for verification; output a consistency judgment conclusion, if the error exceeds the tolerance range, generate a consistency alarm.

[0132] Step S13: If the verification passes, the continuous planning curve is marked as reliable; if the verification fails and an alarm is triggered, the continuous planning curve will be marked as inconsistent and a warning will be triggered.

[0133] Preferably, this embodiment uses an interpolation strategy to convert discrete planning points into continuous planning curves, ensuring the continuity and integrity of planning data over time. A consistency tolerance criterion is employed to cross-validate multi-source planning data, and an intelligent switching mechanism between absolute and relative errors ensures the accuracy of data verification. Upon successful verification, the continuous planning curve is marked with a credibility rating; failure triggers an early warning mechanism. The synergistic effect of these technical features achieves a smooth conversion of planning data from discrete to continuous, establishing a data credibility assessment system.

[0134] Furthermore, the process of filling in the planned values ​​for all intermediate times in step S11 specifically includes the following steps:

[0135] Step S111: Using the inherent high sampling period of the control terminal as the time scale, the time interval of the discrete planning points is finely divided; for each discrete planning point, a high-frequency timestamp that is completely synchronized with the control terminal is inserted to generate a continuous time reference frame.

[0136] Step S112: Using the time base frame, perform a comprehensive analysis on adjacent original discrete planning points; obtain the implicit power change trend between adjacent planning points, and transform the original point-to-point planning information into a linear planning gradient with a clear direction and rate of change within each interval.

[0137] Step S113: Apply the linear planning gradient to the established time base framework; based on the planning gradient of each tiny time segment, dynamically generate the specific planning value for each moment, fill the information gaps between all discrete points, and finally output a continuous planning curve that is continuous in time, smooth in numerical value, and can reflect the changing trend of the original plan.

[0138] Preferably, in this embodiment, the high sampling period of the control terminal is used as a benchmark to subdivide discrete planning points into a large number of high-frequency timestamps, forming a unified time reference framework. On the time reference framework, adjacent original planning points are analyzed to extract implicit power change trends, and these trends are transformed into explicit linear gradients. The obtained linear gradients are mapped to each subdivided time segment to dynamically generate corresponding planning values, filling the gaps between all discrete points on the entire time axis.

[0139] In summary, this embodiment can output a continuous planning curve that is continuous in time, smooth in numerical value, and faithfully reflects the changing trend of the original plan; it has high time resolution and accurate power trend, improving the synchronization of the control terminal and the accuracy of overall scheduling.

[0140] Furthermore, such as Figure 3 As shown, step S2, which generates a sequence of approved and priority-arranged start / stop instructions for specific units, includes the following steps:

[0141] Step S21: Perform a correlation analysis between the preliminary action queue generated based on the action priority score and the various hard constraints contained in the unified protection criterion; for each start / stop action instruction in the preliminary action queue, clarify the specific safety constraint items that it needs to satisfy; such as the lockout status of a specific unit or the lower limit of the number of global operating units, and generate a list that details the correspondence between each action and all related constraints.

[0142] Step S22: Using the list of instruction-constraint associations, perform synchronous and independent verification of each constraint condition; compare the real-time running status associated with each start / stop action instruction with the constraint requirements, and output an independent verification conclusion on the safety of each start / stop action instruction to be executed, forming a set of permission statuses that reflect whether each instruction currently meets all safety conditions.

[0143] Step S23: Apply the set of permission states to the preliminary action queue; reorganize the preliminary action queue according to the permission state of each start / stop action instruction: all start / stop action instructions that have obtained security permission are retained in order of their original priority; instructions that fail verification are marked and their execution is suspended; output a final start / stop instruction sequence that contains only security permission instructions and maintains the priority order, and can be directly issued.

[0144] Preferably, in this embodiment, the initially generated unit start-up and shutdown actions are mapped one by one to the system's hard safety constraints to form a complete constraint system. An action mapping list ensures that the execution conditions for each instruction are clearly defined. Each constraint in the mapping list is checked in real-time and independently, determining whether the instruction meets all safety requirements based on the current operating status. A corresponding permission judgment set is generated, enabling immediate verification of safety constraints and preventing violations due to status changes. The permission judgment results are fed back to the original action queue. While maintaining the original priority order, only instructions with safety permission are retained, while actions that fail verification are removed and suspended. The final output instruction sequence follows the established priority strategy and fully complies with all hard safety constraints. This embodiment can automatically generate a priority-ordered, directly deployable unit start / stop instruction sequence while ensuring safety and compliance, improving scheduling reliability and execution determinism, and avoiding operational risks caused by constraint conflicts or priority disorder.

[0145] Furthermore, the process of generating a list detailing the correspondence between each action and all relevant constraints in step S21 specifically includes the following steps:

[0146] Step S211: Systematically match each start / stop action command in the initial action queue with all constraint types defined in the unified protection strategy; identify all constraint categories that each start / stop action command may theoretically trigger, such as lockout state constraints, running quantity constraints, etc., thereby constructing a two-dimensional association framework covering all start / stop action commands and all constraint types.

[0147] Step S212: Instantiate and parse each constraint category identified in the two-dimensional association framework. Based on the current real-time status of the system and preset parameters, assign specific and verifiable judgment conditions to each abstract constraint category. For example, specify the number of operating units constraint as the number of currently operating units shall not be less than 5 units. Transform the two-dimensional association framework into a set of constraint instances consisting of specific values ​​and state conditions.

[0148] Step S213: Based on the established two-dimensional association framework, remap and integrate the set of specific constraint instances onto each independent start / stop action command; generate a list of constraint requirements for each start / stop action command, containing all specific safety conditions that must be met before executing the start / stop action command, and finally summarize them into a complete list of action-constraint correspondences at the command granularity.

[0149] Preferably, this embodiment forms a complete instruction through three technical steps: systematic matching, instantiation parsing, and remapping and integration. A constraint mapping list is created. First, all start / stop commands are matched against a unified protection strategy, establishing a two-dimensional framework linking commands and constraints. Then, based on real-time operating status and preset parameters, abstract constraints are transformed into directly verifiable conditions, generating a set of constraint instances containing explicit numerical and status requirements. Finally, these specific constraints are remapped back to each start / stop command, forming a complete list of safety requirements for each command. The overall effect is a comprehensive description of safety constraints for each start / stop action, enabling subsequent safety checks to be based on clear and verifiable conditions, thus improving the compliance, traceability, and execution reliability of scheduling commands.

[0150] like Figure 4 As shown, this embodiment also provides an embodiment of a multi-temporal consistency plan tracking and safety collaborative control system. In this embodiment, the multi-temporal consistency plan tracking and safety collaborative control system is applied to the multi-temporal consistency plan tracking and safety collaborative control method as described in the above embodiment. The multi-temporal consistency plan tracking and safety collaborative control system includes a system-level action plan generation module 1, a unit start-stop command sequence generation module 2, and a power adjustment command module 3, which are connected in sequence.

[0151] The system-level action plan generation module 1 receives discrete planning points, real-time frequency adjustment requirements of the power grid, and the maximum output and maintenance status of each generating unit from the control terminal. It then uses an interpolation strategy to process the discrete planning points into a continuous planning curve that matches the control terminal's rhythm. It aggregates the maximum capacity of all available generating units to calculate the current total available capacity. The integrated continuous planning curve is added to the real-time frequency adjustment requirements and compared with the total available capacity to complete a global feasibility assessment. A system-level action plan is generated, including capacity boundaries; if these boundaries are exceeded, an alarm is triggered. The generating unit start-stop command sequence generation module 2 transforms the system-level action plan into specific generating unit start-stop actions. It constructs a multi-dimensional feature vector for each generating unit, including operating status, maintenance indicators, and output differences, and uses an interpretable scoring system. The model calculates the action priority score for each unit; all units are sorted according to their scores to form a preliminary action queue; the action queue undergoes a unified protection strategy safety check, which includes hard constraints such as the minimum number of operating units and equipment lockout status; a sequence of specific unit start-up and shutdown instructions is generated after the check is approved and arranged by priority; the power adjustment command module 3 is used to continuously monitor the actual total output of the system after the specific unit start-up and shutdown instructions are executed, and compare it with the planned value to obtain the deviation; the deviation is input into the dead zone control law: no action is taken within the small deviation range to maintain system stability; if the deviation exceeds the range, a precise power adjustment command is triggered; at the same time, the system runs a vibration zone crossing coordination mechanism in parallel, based on a smoothed plan target with a longer time window, and coordinates the relevant unit groups to smoothly and safely cross the vibration zone when the protection strategy allows.

[0152] Preferably, the specific principle is described in the appendix. Figure 5 ; See attached timing diagram for traversing cooperative and parallel scheduling Figure 6 This embodiment achieves continuous matching of power supply and demand over time through interpolation processing of discrete planning points and global capacity verification by a system-level plan generation module, and establishes an early warning mechanism based on physical constraints. The unit start-up and shutdown command generation module transforms the system-level plan into a unit operation sequence with safety verification through multi-dimensional feature modeling and interpretable scoring algorithms, ensuring both the satisfaction of key operational constraints and providing transparency in decision-making. The power adjustment module combines dead-zone control with a vibration zone collaborative traversal mechanism, achieving dynamic optimization across time scales while maintaining system stability, effectively balancing instantaneous adjustment needs with equipment safety operation requirements. The collaborative operation of these modules forms a closed-loop control from plan formulation to execution feedback, improving the efficiency and safety of unit group collaborative operation while ensuring grid frequency stability.

[0153] In this embodiment, the sampling period is set to 30 seconds in an actual hydropower station or hybrid power supply control system; absolute tolerance Relative tolerance Dead Zone During system operation, periodic curve consistency checks and capacity fusion verifications are performed. If an anomaly is detected, the protection module automatically adjusts its delay. The start-stop scoring module generates a unit start-stop command queue after each refresh and sorting process. Combined with the vibration zone crossing module, this dynamically enables coordinated control of multi-unit start-stop, crossing, and power point tracking.

[0154] like Figure 7 As shown, this embodiment provides an embodiment of an electronic device 4, which includes a processor 41 and a memory 42 coupled to the processor 41.

[0155] The memory 42 stores program instructions for implementing the multi-temporal consistency plan tracking and security collaborative control method of any of the above embodiments.

[0156] The processor 41 is used to execute program instructions stored in the memory 42 for multi-temporal consistency plan tracking and security coordination control.

[0157] The processor 41 can also be referred to as a CPU (Central Processing Unit). The processor 41 may be an integrated circuit chip with signal processing capabilities. The processor 41 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor.

[0158] Furthermore, Figure 8 This is a schematic diagram of the structure of a storage medium according to an embodiment of this application. The storage medium 5 of this embodiment stores program instructions 51 capable of implementing all the methods described above. These program instructions 51 can be stored in the storage medium in the form of a software product, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0159] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0160] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units. The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

[0161] The specific embodiments of the invention have been described in detail above, but these are merely examples, and the invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications or substitutions to the invention are also within the scope of this invention. Therefore, all equivalent transformations, modifications, and improvements made without departing from the spirit and principles of this invention should be included within the scope of this invention.

Claims

1. A multi-time and space consistency planning tracking and safety cooperative control method, characterized in that, The multi-temporal consistency plan tracking and security collaborative control method includes: The system-level action plan is translated into specific unit start-up and shutdown actions. A feature vector containing multiple dimensions such as operating status, maintenance indicators, and output gap is constructed for each unit. An interpretable scoring model is used to calculate the action priority score for each unit. All units are sorted according to their scores to form an initial action queue. The action queue undergoes security verification under a unified protection strategy, and is reviewed to include hard constraints such as the minimum number of operating units and equipment lockout status. Finally, a sequence of specific unit start-up and shutdown instructions that has passed the review and is arranged by priority is generated. The system continuously monitors the actual total output of the system after the execution of specific unit start-up and shutdown commands, and compares it with the planned value to obtain the output deviation. The deviation is input into the dead zone control law: no action is taken within the small deviation range to maintain system stability; if the deviation exceeds the range, a precise power adjustment command is triggered. At the same time, the system runs a vibration zone crossing coordination mechanism in parallel, based on the smoothed planned target of the time window, and coordinates the relevant unit groups to cross the vibration zone when the protection strategy allows. The process of generating a sequence of approved and prioritized start / stop instructions for specific generating units includes the following steps: The preliminary action queue generated based on the action priority score will be correlated with the various hard constraints included in the unified protection criterion; for each start / stop action command in the preliminary action queue, the safety constraint items that it needs to satisfy will be specified; the unit's locked status or the lower limit of the number of globally operating units will be used to generate a list that details the correspondence between each action and all relevant constraints. Using the list of instruction-constraint associations, each constraint condition is checked synchronously and independently; the real-time running status associated with each start / stop action instruction is compared with the constraint requirements, and an independent verification conclusion on the safety of each start / stop action instruction to be executed is output, forming a set of permission statuses that reflect whether each instruction currently meets all safety conditions. Apply the set of permission states to the initial action queue; reorganize the initial action queue according to the permission state of each start / stop action command: all start / stop action commands that have obtained security permission are retained in their original priority order; commands that fail verification are marked and their execution is suspended; output a final start / stop command sequence that contains only security permission commands, maintains the priority order, and can be directly issued. Multi-window collaboration for vibration zone traversal, defining multi-window targets: Total computing power: Indicates time The planned target value for the 15-minute moving average; Indicates time The planned target value for the 60-minute moving average; This is an operator that represents taking a 15-minute moving average of the planning curve. This is an operator that represents taking a 60-minute moving average of the planning curve. Indicates time The total capacity calculated for traversing the vibration zone; This refers to the group of units participating in the vibration zone crossing operation; This refers to the group of units that will not participate in the vibration zone crossing operation; Indicates the unit Upper limit capability during vibration zone traversal; Indicates the unit time The planned target value for the 15-minute moving average; Unified protection criteria When the crossing criterion is satisfied and =When permitted, perform traversal according to priority set; otherwise, maintain monitoring status.

2. The multi-temporal consistency plan tracking and security collaborative control method according to claim 1, characterized in that, In the process of calculating the action priority score for each unit, the start-stop priority score is calculated, and the unit feature vector is defined: Indicates the unit The feature vectors are used for priority scoring; Indicates the unit The current running status; Indicates the unit Maintenance status indicator; Indicates the unit The enable status flag indicates whether control is permitted; Indicates the unit The gap between the current output and the target output; Indicates the unit The actual power; The scoring function is: Indicates the unit The overall priority score; This represents the weight coefficient vector corresponding to the feature vector; The penalty coefficient representing the maintenance status; The penalty coefficient representing other abnormal states; weight. and , The penalty coefficient is automatically adjusted based on the power plant strategy; according to The start and stop queues are generated by sorting, and are executed before execution. Check protection conditions, operating unit limit, lockout flag, and capacity constraints; This indicates an abnormal state of the unit and serves as a penalty in the scoring function.

3. The multi-temporal consistency plan tracking and security collaborative control method according to claim 1, characterized in that, The deviation is input into the dead-zone control law, and the output deviation is defined as follows: Indicates time The deviation of the total system output is equal to the measured total output minus the planned value; The dead zone parameter, representing the dead zone control law, is a reference value; This indicates an upward adjustment of the dead zone parameter, representing a positive deviation. Action threshold > 0; This indicates a downward adjustment of the dead zone parameter, resulting in a negative deviation. Action threshold < 0; planning curve is , Indicates the system at time 10:00 The planned curve value, that is, the total active power target that the system is expected to achieve; Control Law: Indicates time The total system control output; Indicates time The system's total power increase command; Indicates time The system's total power reduction command; If the system is in a state of vibration zone crossing and =Suppress / Delay, then the gating execution is delayed or suppressed.

4. The multi-temporal consistency plan tracking and security collaborative control method according to claim 1, characterized in that, Parallel scheduling and safe exit, task set: Execute tasks in parallel at fixed intervals to ensure data atomicity between tasks; if an exit signal is received, the system will stop synchronously to maintain state recoverability. Theoretical guarantees and feasibility conditions: like When permitted, there exists a combination of start / stop and regulation that satisfies the constraints; Indicates the system at time 10:00 Total available capacity; frequency regulation bandwidth is ; Upper bound of error: in It originates from the upper bound of interpolation and measurement noise.

5. The multi-temporal consistency plan tracking and security collaborative control method according to claim 1, characterized in that, Receive discrete planning points, real-time grid frequency adjustment requirements, and maximum output and maintenance status of each unit from the control terminal; process the discrete planning points into continuous planning curves that match the rhythm of the control terminal through an interpolation strategy; summarize the maximum capacity of all available units and calculate the current total available capacity; The integrated continuous planning curve is added to the real-time frequency adjustment requirements and compared with the total available capacity to complete the global feasibility assessment. Generate a system-level action plan; It includes capability boundaries; if these boundaries are exceeded, an alarm will be triggered.

6. The multi-temporal consistency plan tracking and security collaborative control method according to claim 1, characterized in that, The process of generating a system-level action plan includes the following steps: An interpolation strategy is adopted to perform linear calculations between known discrete planning points according to the high sampling period of the control terminal, filling in the planning values ​​at all intermediate moments; resulting in a continuous planning curve that is continuous and uniform in time, with its rhythm matching the execution cycle of the control terminal. Initiate a consistency tolerance criterion to compare planned values ​​provided by different data sources; determine the data volume; if all are less than the threshold, use absolute error for verification; otherwise, use relative error for verification; output a consistency judgment conclusion; if the error exceeds the tolerance range, generate a consistency alarm. If the verification passes, the continuous planning curve is marked as reliable; if the verification fails and an alarm is triggered, the continuous planning curve will be marked as inconsistent and a warning will be triggered.

7. The multi-temporal consistency plan tracking and security collaborative control method according to claim 6, characterized in that, The process of filling in the planned values ​​for all intermediate moments includes the following steps: Using the inherent high sampling period of the control terminal as a time scale, the time interval of the discrete planning points is finely divided; and a high-frequency timestamp that is completely synchronized with the control terminal is inserted between each discrete planning point to generate a continuous time reference frame. Using a time-baseline framework, a comprehensive analysis is performed on adjacent original discrete planning points; the implicit power change trends between adjacent planning points are obtained, and the original point-to-point planning information is transformed into a linear planning gradient with a clear direction and rate of change within each interval. The linear planning gradient is applied to the established time base framework; based on the planning gradient of each tiny time segment, the specific planning value of each moment is dynamically generated, filling the information gaps between all discrete points, and finally outputting a continuous planning curve that is continuous in time, smooth in numerical value, and can reflect the changing trend of the original plan.

8. A multi-temporal consistency plan tracking and security cooperative control system, applied to the multi-temporal consistency plan tracking and security cooperative control method as described in any one of claims 1 to 7, characterized in that, The multi-temporal consistency plan tracking and security collaborative control system includes: The system-level action plan generation module receives discrete planning points, real-time frequency adjustment requirements of the power grid, and the maximum output and maintenance status of each generating unit from the control terminal. It then uses an interpolation strategy to process the discrete planning points into a continuous planning curve that matches the control terminal's rhythm. The module aggregates the maximum capacity of all available generating units to calculate the current total available capacity. It adds the integrated continuous planning curve to the real-time frequency adjustment requirements and compares it with the total available capacity to complete a global feasibility assessment. Finally, it generates a system-level action plan with attached capacity boundaries; if these boundaries are exceeded, an alarm is triggered. The unit start-stop command sequence generation module is used to transform the system-level action plan into specific unit start-stop actions. It constructs a feature vector for each unit, which includes multiple dimensions such as operating status, maintenance flags, and output gap. Through an interpretable scoring model, it calculates the action priority score for each unit. All units are sorted according to their scores to form a preliminary action queue. The action queue undergoes security verification under a unified protection strategy, and is reviewed to include hard constraints such as the minimum number of operating units and equipment lockout status. Finally, it generates a specific unit start-stop command sequence that has passed the review and is arranged by priority. The power adjustment command module continuously monitors the actual total output of the system after the execution of start-up and shutdown commands for specific units, and compares it with the planned value to obtain the deviation. The deviation is input into the dead zone control law: within a small deviation range, no action is taken to maintain system stability; if the deviation exceeds the range, a precise power adjustment command is triggered. At the same time, the system runs a vibration zone crossing coordination mechanism in parallel. Based on a smoothed plan target with a longer time window, it coordinates the relevant unit groups to smoothly and safely cross the vibration zone when the protection strategy allows.

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