Transient synchronous stability margin checking method and system for network construction type equipment

Abstract

The method comprises the following steps: determining the moment and position of kinetic energy injection through fault simulation; the sum of the deceleration area and the damping deceleration area is equal to the sum of the maximum injection kinetic energy and the acceleration area to serve as an equal-area criterion for the network construction type equipment to reach transient synchronous critical stability; according to the moment and position of kinetic energy injection, when angular velocity step signals with different amplitudes are injected, the maximum injection kinetic energy is iteratively determined under the condition that the damping deceleration area passes validity verification by taking the equal area criterion as the target; and the difference value between the maximum injection kinetic energy passing the validity verification and the damping deceleration area passing the validity verification is used as the transient synchronization stability margin of the network construction type equipment. According to the method, the deceleration effect provided by damping in the transient process can be accurately considered, the critical state of the system is simulated by injecting kinetic energy at a specific moment and a specific position, and rapid and accurate checking of the transient synchronous stability margin of the network construction type equipment is achieved by combining calculation of the damping deceleration area.

Description

Technical Field

[0001] This invention belongs to the field of power system stability analysis technology, specifically relating to a method and system for verifying the transient synchronization stability margin of grid-type equipment. Background Technology

[0002] With the rapid development of new energy power generation technologies, the proportion of grid-connected equipment in power systems is constantly increasing. Grid-connected equipment provides voltage and frequency support to the system by simulating the external characteristics of synchronous generators. However, the transient synchronization stability problem of grid-connected equipment after large disturbances in the power grid is becoming increasingly prominent. Its stability mechanism differs significantly from that of traditional synchronous generators, and accurately assessing its transient stability margin is crucial to ensuring the safe and stable operation of the power system.

[0003] The core evaluation metric for transient synchronous stability margin is the balance between the "acceleration area" and the "deceleration area." During a fault, the acceleration area absorbed by the system must be less than the deceleration area available after the fault is cleared for the system to remain stable. However, existing stability margin evaluation methods have several shortcomings when applied to network-type equipment. Traditional stability margin evaluation methods are not standardized and are not convenient for comparative analysis. Furthermore, the impact of damping on the system's transient process is difficult to quantify precisely. After fault clearance, during the actual deceleration process, damping consumes some kinetic energy and provides a damping deceleration area. However, this area is often ignored or simplified in traditional equal-area rules, leading to biases in the stability margin evaluation results.

[0004] Therefore, there is an urgent need for a transient synchronous stability margin verification method that can accurately account for damping effects and is applicable to the rapid determination of critical stable states of grid-type equipment. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method and system for verifying the transient synchronization stability margin of grid-connected equipment. Applicable to single-machine models and single-machine equivalent models (numerical or analytical equivalent models) of multi-machine grid-connected systems, this method accurately accounts for the deceleration effect provided by damping during transient processes. By injecting kinetic energy at specific times and locations to simulate the critical state of the system, and combining this with the calculation of the damping deceleration area, it achieves rapid and accurate verification of the transient synchronization stability margin of grid-connected equipment, providing technical support for the safe and stable operation of power systems.

[0006] The present invention adopts the following technical solution.

[0007] This invention proposes a method for verifying the transient synchronization stability margin of network-type equipment, comprising: The timing and location of kinetic energy injection are determined through fault simulation. The sum of the deceleration area and the damped deceleration area equals the sum of the maximum injected kinetic energy and the acceleration area, serving as the equal-area criterion for achieving transient synchronous critical stability of the network-type equipment. Based on the time and location of kinetic energy injection, when injecting step signals of different amplitudes of angular velocity, the maximum injected kinetic energy is iteratively determined with the goal of satisfying the equal-area criterion and under the condition that the damped deceleration area passes the validity check. The difference between the maximum injected kinetic energy that passes the validity check and the damped deceleration area that passes the validity check is used as the transient synchronous stability margin of the network-type equipment.

[0008] Preferably, a fault simulation model is established; a short-circuit fault is set in the system, and the fault is cleared after a period of time; the fault clearing time is determined based on the fault simulation model, and the fault clearing time and any time after the fault clearing are used as the time of kinetic energy injection; the electrical angular velocity command generation port of the synchronous link of the network-type equipment is used as the location of kinetic energy injection.

[0009] Preferably, the acceleration area is calculated as shown in the following formula:

[0010] In the formula, To accelerate the area, For mechanical power, Electromagnetic power, The initial power angle of the fault. The power angle at the fault clearing moment.

[0011] Preferably, the damping deceleration area is calculated as shown in the following formula:

[0012] In the formula, For the damping deceleration area, The peak power angle of the first swing of the power angle swing curve corresponding to the transient synchronous critical stability of the grid-type equipment. The damping coefficient is... The rated angular velocity of the power grid, For angular velocity deviation, = - , For the integration process, the work angle varies. Changing angular velocity.

[0013] Preferably, the deceleration area is calculated as shown in the following formula:

[0014] In the formula, For deceleration area, The peak power angle of the first swing Corresponding time Electromagnetic power.

[0015] Preferably, the deceleration area With damping deceleration area The sum of these values ​​serves as the maximum deceleration area. Meanwhile, the actual deceleration area is obtained through fault simulation. Calculate the ratio of damped deceleration area deviation. As shown in the following formula:

[0016] when When the damping deceleration area is ≤5%, it is considered effective and is denoted as . Otherwise, the damping deceleration area is deemed invalid, and the parameters of the fault simulation model are adjusted.

[0017] Preferably, the equal-area criterion for achieving transient synchronization critical stability of network-type devices is adopted. + = + Calculate the maximum injected kinetic energy .

[0018] Preferably, the initial injection amplitude is set to angular velocity step signal If the system remains transiently synchronized and stable after injection, then Corresponding kinetic energy Less than It is necessary to increase the amplitude of the angular velocity step signal; Gradually increase the amplitude of the injected angular velocity step signal until the injected angular velocity step signal... After the system becomes unstable, then Corresponding kinetic energy Greater than The angular velocity step signal injected in the previous step As the critical signal, the maximum injected kinetic energy is updated according to the following relationship. : =

[0019] Calculate the maximum injected kinetic energy deviation ratio As shown in the following formula:

[0020] when The maximum injected kinetic energy is considered valid when it is ≤5%, and is denoted as . Otherwise, the maximum injected kinetic energy is deemed invalid, and the parameters of the fault simulation model are readjusted.

[0021] This invention also proposes a transient synchronization stability margin verification system for network-type equipment, comprising: The injection timing and location module is used to determine the timing and location of kinetic energy injection through fault simulation. The stability criterion module is used to determine that the sum of the deceleration area and the damped deceleration area equals the sum of the maximum injected kinetic energy and the acceleration area, serving as the equal area criterion for achieving transient synchronous critical stability of the grid-type equipment. The kinetic energy injection module is used to iteratively determine the maximum injected kinetic energy based on the time and location of kinetic energy injection, when injecting step signals of different amplitudes of angular velocity, with the goal of satisfying the equal area criterion and under the condition that the damping deceleration area passes the effectiveness verification. The stability margin module is used to determine the transient synchronization stability margin of the network-type equipment by using the difference between the maximum injected kinetic energy that passes the validity check and the damped deceleration area that passes the validity check.

[0022] The present invention is also a terminal, including a processor and a storage medium; the storage medium is used to store instructions; the processor is used to perform operations according to the instructions to execute the steps of the method.

[0023] The present invention is also a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method.

[0024] The beneficial effects of this invention are as follows: compared with the prior art, at least the method proposed in this invention unifies the stability margin evaluation index, measures the stability margin by absolute value, and has objectivity and comparability, and can uniquely represent the system stability margin; the method proposed in this invention innovatively proposes a kinetic energy injection scheme, which simulates the energy boundary of the system in the critical stable state by injecting step-form kinetic energy at any instant after fault clearing or at the synchronous ring angular velocity command port, providing a direct and effective means for the quantitative evaluation of stability margin.

[0025] The method proposed in this invention accurately takes into account the damping effect, establishes a method for calculating the damping deceleration area, and accurately quantifies the role of damping in consuming energy and providing deceleration area during transient processes through numerical integration. This solves the problem of inaccurate modeling of damping in traditional methods and significantly improves the accuracy of stability margin assessment.

[0026] The method proposed in this invention has strong universality. Based on the classic principle of equal area, the physical concepts are clear and easy to understand. It is applicable to any system that interacts with the power grid in terms of power, amplitude, and phase, and can be a numerical or analytical model. It is not only applicable to single-machine systems but can also be extended to networked multi-machine systems, and both numerical and analytical models can be applied. Attached Figure Description

[0027] Figure 1This is a flowchart of the transient synchronization stability margin verification method for network-type equipment proposed in this invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0029] This invention proposes a method for verifying the transient synchronization stability margin of grid-connected equipment. At a predetermined time after fault clearing, a pre-set additional energy is injected into a predetermined location of the tested unit. The stability margin is calculated based on the system response after the injected kinetic energy, taking into account the acceleration area, maximum injected kinetic energy, maximum deceleration area, and damping term area. The results are then compared and verified with actual simulation results. This invention is a universal method applicable to single-unit models and single-unit equivalent models of grid-connected multi-unit systems. It can quickly and accurately assess the transient synchronization stability margin of the system, unify the stability margin evaluation indicators, and objectively measure the absolute value of the system stability margin, providing technical support for the safe and stable operation of power systems.

[0030] like Figure 1 As shown, the method includes the following steps: Step 1: Determine the timing and location of kinetic energy injection through fault simulation.

[0031] Specifically, step 1 includes: Step 1.1: Establish a fault simulation model; In the embodiment, a single-machine infinite bus system model is established in the simulation software, in which the generator is replaced by a grid-type inverter, and a grid-type control strategy such as synchronous generator electromagnetic transient model or power synchronization control is adopted; a short-circuit fault is set in the system, and the fault is cleared after a period of time.

[0032] Step 1.2: Determine the fault clearing time based on the fault simulation model, and use the fault clearing time and any time after the fault clearing as the kinetic energy injection time; In this embodiment, the system fault clearing time is obtained by performing fault simulation on the network-type device. The fault clearing time and any time after the fault clearing can be determined as the time node for kinetic energy injection; for ease of representation, the fault clearing time is used as the injection time in the following explanation.

[0033] Step 1.3: The electrical angular velocity command generation port of the network-type equipment synchronization link is used as the location for kinetic energy injection; The additional kinetic energy is injected into the electrical angular velocity command generation port of the synchronization link of the network-type equipment. This location can be achieved by superimposing an angular velocity step signal. Capable of instantly changing the unit's angular velocity And it does not affect the power angle. The instantaneous position ensures that the kinetic energy injection only changes the system's motion state and does not introduce additional power angle deviation.

[0034] This invention determines the form of injected kinetic energy based on simulation methods, so that the kinetic energy injection can instantaneously change the motion state of the system without immediately changing the power angle position.

[0035] Step 2: The sum of the deceleration area and the damping deceleration area equals the sum of the maximum injected kinetic energy and the acceleration area, which is used as the equal area criterion for the network-type equipment to achieve transient synchronous critical stability. Based on the time and position of kinetic energy injection, when injecting step signals of different amplitudes of angular velocity, the maximum injected kinetic energy is determined iteratively with the goal of satisfying the equal area criterion and the damping deceleration area passing the validity check.

[0036] In existing technologies, based on the equal-area rule, the core evaluation index for the transient synchronous stability margin of a power system is the balance between the accelerating area and the decelerating area. If the accelerating area equals the decelerating area, the system reaches a critical stable state; if the decelerating area is greater than the accelerating area, the system possesses transient stability capability. The accelerating area represents the excess kinetic energy accumulated by the rotor during a fault, while the decelerating area reflects the kinetic energy consumed during system recovery after fault clearance. This invention injects kinetic energy at the fault clearance moment, thus changing the equal-area rule of the power system to: accelerating area + maximum injected kinetic energy = decelerating area. Furthermore, this invention addresses the impact of damping in grid-type equipment on the system's transient process by introducing a damped decelerating area to superimpose the decelerating area to obtain the maximum decelerating area. Therefore, the equal-area rule applicable to grid-type equipment is changed to: accelerating area + maximum injected kinetic energy = decelerating area + damped decelerating area. Thus, when the above equation is satisfied, the system reaches a critical stable state and can be used as a basis for determining the maximum injected kinetic energy.

[0037] Specifically, step 2 includes: Step 2.1: Calculate the acceleration area based on the fault data; Fault simulation without kinetic energy injection was conducted, and the recorded fault data included: the initial power angle of the fault. Power angle at fault clearing time Rated angular velocity of the power grid Unit angular velocity at fault clearing time ; The acceleration area is calculated using the following integral formula. :

[0038] In the formula, For mechanical power, This refers to electromagnetic power.

[0039] Step 2.3, to calculate the damping deceleration area; Damping deceleration area The additional deceleration area provided by the damping effect in the grid-type equipment is calculated as follows: The peak power angle of the first swing of the power angle swing curve corresponding to the transient synchronous critical stability of the grid-type equipment. The upper limit of integration is the power angle at the time of fault clearing. As the lower limit of integration, the damped deceleration area is calculated using a numerical integration method. As shown in the following formula:

[0040] In the formula, The damping coefficient is... For angular velocity deviation, = - , Let be the angular velocity that varies with the work angle during the integration process; The peak power angle of the first swing is used within the integration interval. Corresponding time The system parameters include: electromagnetic power Damping coefficient ; During calculation, and As initial values ​​for the damping-related differential equations, the differential equations include: the equation for the rate of change of the work angle. And the rotor motion equations with damping terms ,in The moment of inertia coefficient, It is the second derivative of the work angle.

[0041] Step 2.4, calculate the deceleration area; Using the undamped electromagnetic power deceleration area as the deceleration area As shown in the following formula:

[0042] Step 2.5: Verify the validity of the damping deceleration area; if the verification is valid, proceed to step 2.6; otherwise, return to step 1 to adjust the parameters of the fault simulation model. Deceleration area With damping deceleration area The sum of these values ​​serves as the maximum deceleration area. Meanwhile, the actual deceleration area is obtained through fault simulation. Calculate the ratio of damped deceleration area deviation. As shown in the following formula:

[0043] when When the damping deceleration area is ≤5%, it is considered effective and is denoted as . Otherwise, the damping deceleration area is deemed invalid. After readjusting the parameters of the fault simulation model, steps 1 and 2 are executed.

[0044] Step 2.6: Based on the equal-area criterion for achieving transient synchronous critical stability of network-type devices. + = + Calculate the maximum injected kinetic energy .

[0045] Step 2.7: When injecting step signals of different amplitudes of angular velocity according to the time and position of kinetic energy injection, the maximum injected kinetic energy is determined after multiple iterations with the goal of satisfying the equal area criterion.

[0046] Specifically, step 2.7 includes: Step 2.7.1, set the initial injection amplitude to angular velocity step signal If the system remains transiently synchronized and stable after injection, then Corresponding kinetic energy Less than It is necessary to increase the amplitude of the angular velocity step signal; Step 2.7.2: Gradually increase the amplitude of the injected angular velocity step signal until the injected angular velocity step signal... After the system becomes unstable, then Corresponding kinetic energy Greater than The angular velocity step signal injected in the previous step As the critical signal, the maximum injected kinetic energy is updated according to the following relationship. : =

[0047] Step 2.7.3: Verify the validity of the maximum injected kinetic energy; if the verification is valid, proceed to step 3; otherwise, return to step 1 to adjust the parameters of the simulation model. Calculate the maximum injected kinetic energy deviation ratio As shown in the following formula:

[0048] when The maximum injected kinetic energy is considered valid when it is ≤5%, and is denoted as . Otherwise, the maximum injected kinetic energy is deemed invalid. After readjusting the parameters of the fault simulation model, steps 1 and 2 are executed.

[0049] Step 3: The difference between the maximum injected kinetic energy that passes the validity check and the damping deceleration area that passes the validity check is used as the transient synchronization stability margin of the grid-type equipment.

[0050] Effective maximum injected kinetic energy With effective damping deceleration area The difference is used as the transient synchronization stability margin of the network-type equipment.

[0051] This invention also proposes a transient synchronization stability margin verification system for network-type equipment, comprising: The injection timing and location module is used to determine the timing and location of kinetic energy injection through fault simulation. The stability criterion module is used to determine that the sum of the deceleration area and the damped deceleration area equals the sum of the maximum injected kinetic energy and the acceleration area, serving as the equal area criterion for achieving transient synchronous critical stability of the grid-type equipment. The kinetic energy injection module is used to iteratively determine the maximum injected kinetic energy based on the time and location of kinetic energy injection, when injecting step signals of different amplitudes of angular velocity, with the goal of satisfying the equal area criterion and under the condition that the damping deceleration area passes the effectiveness verification. The stability margin module is used to determine the transient synchronization stability margin of the network-type equipment by using the difference between the maximum injected kinetic energy that passes the validity check and the damped deceleration area that passes the validity check.

[0052] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0053] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0054] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0055] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A method for verifying the transient synchronization stability margin of network-type equipment, characterized in that, include: The timing and location of kinetic energy injection are determined through fault simulation. The sum of the deceleration area and the damping deceleration area equals the sum of the maximum injected kinetic energy and the acceleration area, which is used as the equal area criterion for the network-type equipment to achieve transient synchronous critical stability. Based on the time and position of kinetic energy injection, when injecting step signals of different amplitudes of angular velocity, the maximum injected kinetic energy is determined iteratively with the goal of satisfying the equal area criterion and the damping deceleration area passing the effectiveness verification. The difference between the maximum injected kinetic energy that passes the validity check and the damping deceleration area that passes the validity check is used as the transient synchronization stability margin of the grid-type equipment.

2. The method for verifying the transient synchronization stability margin of network-type equipment according to claim 1, characterized in that, Establish a fault simulation model; set up a system to experience a short-circuit fault, which is then cleared after a period of time. The fault clearing time is determined based on the fault simulation model, and the fault clearing time and any time after the fault clearing are used as the kinetic energy injection time; the electrical angular velocity command generation port of the synchronous link of the network-type equipment is used as the kinetic energy injection location.

3. The method for verifying the transient synchronization stability margin of network-type equipment according to claim 1, characterized in that, The acceleration area is calculated as follows: In the formula, To accelerate the area, For mechanical power, Electromagnetic power, The initial power angle of the fault. The power angle at the fault clearing moment.

4. The transient synchronization stability margin verification method for network-type equipment according to claim 3, characterized in that, The damping deceleration area is calculated as shown in the following formula: In the formula, For the damping deceleration area, The peak power angle of the first swing of the power angle swing curve corresponding to the transient synchronous critical stability of the grid-type equipment. The damping coefficient is... The rated angular velocity of the power grid, For angular velocity deviation, = - , For the integration process, the work angle varies. Changing angular velocity.

5. The transient synchronization stability margin verification method for network-type equipment according to claim 4, characterized in that, The deceleration area is calculated as shown in the following formula: In the formula, For deceleration area, The peak power angle of the first swing Corresponding time Electromagnetic power.

6. The method for verifying the transient synchronization stability margin of network-type equipment according to claim 5, characterized in that, Deceleration area With damping deceleration area The sum of these values ​​serves as the maximum deceleration area. Meanwhile, the actual deceleration area is obtained through fault simulation. Calculate the ratio of damped deceleration area deviation. As shown in the following formula: when When the damping deceleration area is ≤5%, it is considered effective and is denoted as . ; Otherwise, the damping deceleration area is deemed invalid, and the parameters of the fault simulation model are adjusted.

7. The method for verifying the transient synchronization stability margin of network-type equipment according to claim 6, characterized in that, Based on the equal-area criterion for achieving transient synchronous critical stability of network-type devices + = + Calculate the maximum injected kinetic energy .

8. The method for verifying the transient synchronization stability margin of network-type equipment according to claim 7, characterized in that, Set the initial injection amplitude to angular velocity step signal If the system remains transiently synchronized and stable after injection, then Corresponding kinetic energy Less than It is necessary to increase the amplitude of the angular velocity step signal; Gradually increase the amplitude of the injected angular velocity step signal until the injected angular velocity step signal... After the system becomes unstable, then Corresponding kinetic energy Greater than The angular velocity step signal injected in the previous step As the critical signal, the maximum injected kinetic energy is updated according to the following relationship. : = Calculate the maximum injected kinetic energy deviation ratio As shown in the following formula: when The maximum injected kinetic energy is considered valid when it is ≤5%, and is denoted as . ; Otherwise, the maximum injected kinetic energy is deemed invalid, and the parameters of the fault simulation model are readjusted.

9. A transient synchronization stability margin verification system for network-type equipment, used to implement the transient synchronization stability margin verification method for network-type equipment as described in any one of claims 1 to 8, characterized in that, include: The injection timing and location module is used to determine the timing and location of kinetic energy injection through fault simulation. The stability criterion module is used to determine that the sum of the deceleration area and the damped deceleration area equals the sum of the maximum injected kinetic energy and the acceleration area, serving as the equal area criterion for achieving transient synchronous critical stability of the grid-type equipment. The kinetic energy injection module is used to iteratively determine the maximum injected kinetic energy based on the time and location of kinetic energy injection, when injecting step signals of different amplitudes of angular velocity, with the goal of satisfying the equal area criterion and under the condition that the damping deceleration area passes the effectiveness verification. The stability margin module is used to determine the transient synchronization stability margin of the network-type equipment by using the difference between the maximum injected kinetic energy that passes the validity check and the damped deceleration area that passes the validity check.

10. A terminal, comprising a processor and a storage medium; characterized in that: The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-8.

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