PCS Millisecond-Level Cooperative Control Method and Related Devices Based on Coordination Controller

Abstract

This application relates to a PCS millisecond-level collaborative control method and related apparatus based on a coordinated controller. The method includes: performing a state assessment on each PCS to obtain state assessment information for each PCS; decomposing the total power to be configured in the energy storage power station into the power to be configured for each PCS according to an optimal ratio based on the state assessment information of each PCS, to obtain millisecond-level control commands synchronously issued to each PCS; determining the target PCS with a lagging response based on the execution status of each PCS to the millisecond-level control commands, and performing millisecond-level dynamic compensation on the execution status of the target PCS. This method enables collaborative control among multiple PCS within a millisecond-level control cycle through continuous coordination of state perception, power coordination allocation, and execution status compensation, ensuring the stability and consistency of the overall power execution process.

Description

Technical Field

[0001] This application relates to the field of energy storage power station management, and in particular to a PCS millisecond-level collaborative control method and related devices based on a coordination controller. Background Technology

[0002] In the field of energy storage power station management, it involves coordinating and controlling the power output of energy storage power stations to achieve rapid support for grid frequency and voltage.

[0003] In the relevant energy storage power station control methods, power regulation is usually achieved by issuing power commands to each PCS through the station control layer or the upper-level system. However, this method is prone to problems such as response lag and inconsistent power distribution due to the long communication link, long control cycle and the independent response differences of multiple PCS, resulting in insufficient overall support capability of the energy storage power station in the control scenario. Summary of the Invention

[0004] Therefore, it is necessary to provide a PCS millisecond-level cooperative control method, system, computer device, and computer-readable storage medium based on a coordinating controller to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a millisecond-level collaborative control method for PCS based on a coordinating controller. The method is applied to a preset coordinating controller, which is deployed in the process layer of a preset energy storage power station and communicates with each PCS in the energy storage power station. The method includes: Perform a status assessment on each PCS to obtain the status assessment information for each PCS; Based on the status assessment information of each PCS, the total power to be configured in the energy storage power station is decomposed into the power to be configured in each PCS according to the optimal ratio, so as to obtain millisecond-level control commands synchronously sent to each PCS. Based on the execution status of each PCS on the millisecond-level control command, the target PCS with the lagging response is determined, and the execution status of the target PCS is dynamically compensated at the millisecond level.

[0006] Secondly, this application also provides a PCS millisecond-level collaborative control system based on a coordination controller. The system is deployed on a preset coordination controller, and the coordination controller is deployed in the process layer of a preset energy storage power station and is communicatively connected to each PCS in the energy storage power station. The system includes: The evaluation module is used to perform status evaluation on each PCS and obtain status evaluation information for each PCS. The allocation module is used to decompose the total power to be configured of the energy storage power station into the power to be configured of each PCS according to the optimal ratio based on the status assessment information of each PCS, so as to obtain millisecond-level control commands synchronously sent to each PCS. The compensation module is used to determine the target PCS with a lagging response based on the execution status of each PCS on the millisecond-level control command, and to perform millisecond-level dynamic compensation on the execution status of the target PCS.

[0007] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the above steps.

[0008] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the above steps.

[0009] The aforementioned PCS millisecond-level collaborative control method, system, computer equipment, and computer-readable storage medium based on a coordinating controller firstly obtains state assessment information for each PCS by performing state assessments, providing a reliable state basis for subsequent power configuration. Secondly, based on the state assessment information of each PCS, the total power to be configured in the energy storage power station is decomposed into optimal proportions and converted into synchronously issued millisecond-level control commands, thereby enabling the total power configuration target to be rationally allocated to each PCS and executed collaboratively within the same control cycle. Thirdly, based on the actual execution feedback of each PCS to the millisecond-level control commands, target PCS with lagging response are identified and their execution status is dynamically compensated at the millisecond level, so that target PCS with deviated execution rhythms can gradually return to a coordinated state. Based on this, in the entire technical solution, relying on the coordinating controller deployed at the process layer of the energy storage power station, through the continuous coordination of state perception, power coordination allocation, and execution status compensation, the energy storage power station achieves collaborative control among multiple PCS within a millisecond-level control cycle, ensuring the stability and consistency of the overall power execution process. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating a PCS millisecond-level cooperative control method based on a coordinating controller in one embodiment. Figure 2This is a block diagram of a PCS millisecond-level cooperative control system based on a coordination controller in one embodiment. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0013] In one exemplary embodiment, such as Figure 1 As shown, a millisecond-level collaborative control method for PCS based on a coordinating controller is provided. This embodiment illustrates the application of this method to a preset coordinating controller, which is deployed in the process layer of a preset energy storage power station and communicates with each PCS in the energy storage power station.

[0014] Among them, the energy storage power station refers to an overall operating unit consisting of multiple sets of energy storage devices and their supporting control and communication systems, which is used to realize the storage, release and power dispatch of electrical energy; the process layer in the energy storage power station refers to the control layer located in the control architecture of the energy storage power station that directly faces the field execution equipment, and is used to carry out real-time control and status acquisition functions.

[0015] The coordinating controller refers to the centralized control device deployed in the energy storage power station control system, which is used to uniformly evaluate the operating status, power configuration and control coordination of multiple PCS; PCS (Power Conversion System) refers to the power conversion device in the energy storage power station control system, which is used to realize energy conversion and power regulation between DC energy storage and AC grid, and each PCS and the coordinating controller communicate with each other through industrial Ethernet or CAN bus.

[0016] In this embodiment, the method includes the following steps S101 to S103.

[0017] Step S101: Perform a status assessment on each PCS to obtain the status assessment information for each PCS.

[0018] For example, a coordinating controller is used as a unified processing node. Through the communication connection established between the coordinating controller and each PCS, the current operating status of each PCS is centrally collected and processed to obtain the operating information reported by each PCS under the same time reference. The acquired operating information is then checked for consistency and time alignment to ensure the logical comparability of the status information of different PCS. After completing the consistency check and time alignment, the current operating performance of each PCS is comprehensively analyzed so that its operating status can be reflected in a structured form, thereby forming corresponding status assessment information. This status assessment information is used to describe the actual operating status of each PCS in terms of power execution and command response.

[0019] Step S102: Based on the status assessment information of each PCS, the total power to be configured in the energy storage power station is decomposed into the power to be configured in each PCS according to the optimal ratio, so as to obtain the millisecond-level control commands synchronously sent to each PCS.

[0020] The optimal ratio represents the proportional relationship used for power allocation among PCS under the premise of meeting the current total power configuration target of the energy storage power station, so as to reasonably decompose the total power to be configured into the power to be configured corresponding to each PCS.

[0021] Among them, the millisecond-level control command refers to the power control command generated and synchronously sent to each PCS within the millisecond-level control cycle, which is used to instruct each PCS to perform the corresponding power adjustment action within the corresponding millisecond-level control cycle; the millisecond-level control cycle refers to the time scale of a single control and operation cycle with a time length of no more than 100 milliseconds, which is used to complete the control processing process such as PCS status assessment, control command generation, issuance and execution feedback acquisition within this time scale.

[0022] For example, after obtaining the status assessment information of each PCS, the coordination controller uses the total power to be configured in the energy storage power station as a unified constraint to compare and organize the status assessment information of each PCS, so that the status differences of each PCS in the current millisecond-level control cycle can participate in the power configuration process.

[0023] Based on this, the relative relationships between the state assessment information of each PCS are determined, and the proportional relationship of each PCS in the total power allocation is used as the optimal ratio for power configuration. The total power to be configured is then decomposed according to this optimal ratio, resulting in the power to be configured for each PCS. Therefore, this decomposition process ensures the consistency of the total power, creating a mutually constraining overall structure for the power to be configured in each PCS, thus preventing deviations from the total power configuration target during power allocation.

[0024] Furthermore, the power to be configured for each PCS is organized into a control expression form adapted to a millisecond-level control cycle, enabling it to be synchronously sent to each PCS under the same time base, ultimately forming corresponding millisecond-level control commands. Through the above processing, the power configuration process is transformed from an overall objective into directly executable control commands step by step, thereby ensuring that each PCS executes power according to a unified configuration logic within the same millisecond-level control cycle.

[0025] Step S103: Based on the execution status of each PCS on the millisecond-level control instructions, determine the target PCS with a lagging response, and perform millisecond-level dynamic compensation on the execution status of the target PCS.

[0026] Among them, millisecond-level dynamic compensation refers to the execution correction process implemented for target PCS with lag in response within a millisecond-level control cycle. It is used to adjust the execution status of its control commands in real time to maintain the coordination and consistency among PCS.

[0027] For example, after the millisecond-level control commands are synchronously sent to each PCS and enter the execution phase, the coordinating controller continuously obtains the execution feedback of each PCS on the control commands within the same millisecond-level control cycle, and compares and processes the execution feedback with the corresponding control commands, so that the actual execution progress of each PCS within the current millisecond-level control cycle can be uniformly quantified and expressed.

[0028] By continuously comparing the actual execution progress, it is determined whether there are rhythm differences in the instruction execution process of each PCS, thereby identifying the target PCS that failed to complete the instruction execution according to the expected execution rhythm within the current millisecond-level control cycle, and treating it as the object of subsequent processing.

[0029] Therefore, the execution status of the target PCS within the current millisecond-level control cycle is further analyzed to clearly identify any deviations. Based on this analysis, a correction amount is generated to adjust the subsequent execution process. In other words, this correction amount is applied on a millisecond-level timescale, allowing the adjustment process to directly affect the control execution process of the target PCS without altering the established control command structure.

[0030] Through the above processing, the target PCS gradually narrows the difference with the overall execution rhythm during subsequent execution, thereby making the execution status of each PCS tend to be consistent again within the same millisecond-level operating cycle, providing a stable execution foundation for maintaining the coordinated operation of the energy storage power station in continuous control cycles.

[0031] In the aforementioned PCS millisecond-level collaborative control method based on a coordinating controller, in step S101, state assessment information of each PCS is obtained based on state assessment of each PCS, providing a reliable state basis for subsequent power configuration; in step S102, the total power to be configured in the energy storage power station is decomposed into optimal proportions and converted into synchronously issued millisecond-level control commands based on the state assessment information of each PCS, so that the total power configuration target can be reasonably allocated to each PCS and executed collaboratively within the same control cycle; in step S103, the target PCS with lagging response is identified based on the actual execution feedback of each PCS to the millisecond-level control commands, and its execution status is dynamically compensated at the millisecond level, so that the target PCS whose execution rhythm deviates can gradually return to the coordinated state; based on this, in the entire technical solution, based on the coordinating controller deployed in the process layer of the energy storage power station, through the continuous cooperation of state perception, power coordination allocation, and execution status compensation, the energy storage power station achieves collaborative control among multiple PCS within the millisecond-level control cycle, ensuring the stability and consistency of the overall power execution process.

[0032] In an exemplary embodiment, based on the status assessment information of each PCS, the total power to be configured in the energy storage power station is decomposed into the power to be configured in each PCS according to the optimal ratio, so as to obtain millisecond-level control commands synchronously sent to each PCS, including steps S201 to S203.

[0033] Step S201: Based on the status assessment information of each PCS, extract the status values ​​of each PCS at the equipment consistency level and the lifetime balance level.

[0034] Among them, the state values ​​at the equipment consistency level and the lifetime balance level represent the quantitative results extracted from the PCS state assessment information, used to characterize the degree of consistency in operating characteristics and the degree of balance in usage consumption of different PCS, so as to reflect the differences in power undertaking of each PCS during the power configuration process.

[0035] For example, the information related to the operating characteristics of the PCS in the status assessment information is organized so that the performance of each PCS in the current operating state can be compared under the same reference framework. At the same time, the comprehensive consideration of long-term operating consumption is introduced in the organization process so that the extracted status values ​​not only reflect the consistency of the operating characteristics of different PCS, but also reflect the balance of their usage consumption.

[0036] Therefore, by integrating and expressing the information from the two levels in the same processing process, the final state value no longer corresponds to a single level, but exists as a comprehensive value that simultaneously includes the characteristics of device consistency and lifetime balance, thereby avoiding the complexity caused by dispersing the processing of information from different levels during the power allocation process.

[0037] Step S202: Based on the proportional relationship between the state values ​​of each PCS, determine the optimal ratio for power allocation, and decompose the total power to be configured in the energy storage power station into the power to be configured in each PCS according to the optimal ratio.

[0038] For example, the state values ​​of each PCS are compared and organized to clearly express the relative differences between different PCS at the same processing scale. Specifically, by unifying and merging the magnitude and proportion relationships between the state values ​​of each PCS, the proportional relationships between the state values ​​of each PCS are obtained, forming a proportional basis that can be used for power allocation at the numerical level. For example, the state values ​​of each PCS are compared numerically one by one, and using one of the state values ​​as a benchmark, the state values ​​of the remaining PCS are converted into proportional values ​​relative to that benchmark to obtain the proportional relationships between the state values ​​of each PCS.

[0039] Based on this, the proportional relationship is standardized to ensure that there is an overall constraint relationship between the corresponding proportions of each PCS, thereby avoiding the total power distribution from deviating from the predetermined target due to proportional imbalance; for example, the proportional values ​​of each PCS are uniformly scaled and adjusted so that the corresponding proportions of each PCS meet the preset total constraint after being added together.

[0040] Furthermore, this proportional relationship is used as the basis for power allocation, and the total power to be allocated by the energy storage power station is taken as the decomposition object. The total power is allocated so that each PCS obtains the power to be allocated that matches its state value. In this way, the abstract state value is transformed into an allocation ratio that directly participates in power allocation, so that the power decomposition result maintains the consistency of the total amount in terms of numerical value, while also reflecting the state differences between different PCS.

[0041] Step S203: According to the preset instruction logic, the parameters related to the power to be configured of each PCS are encapsulated into corresponding millisecond-level control instructions within a millisecond-level control cycle.

[0042] The instruction logic represents the processing rules followed when encapsulating and generating the power configuration results within a millisecond-level control cycle. It specifies the data expression method, combination method, and time alignment method of the power-related parameters to be configured.

[0043] For example, the power-related parameters of each PCS to be configured are structured and mapped to a time base of millisecond-level control cycles, giving the parameters a clear directional meaning in the time dimension. Based on this, the structured parameters are encapsulated according to preset instruction logic, converting the power configuration results of each PCS into directly executable control instructions. During this process, the consistency of the generation order and time attributes of the control instructions for each PCS is uniformly constrained, ensuring synchronization within the millisecond-level control cycle, thereby preventing inconsistent instruction generation rhythms from affecting subsequent execution.

[0044] Through the above processing, the power allocation result is transformed from a numerical state value into a control command with a clear execution meaning, ensuring that each PCS receives a structurally and temporally consistent control command within the same control cycle. Therefore, by closely linking the power to be configured with the command generation process, the power allocation result can stably and continuously affect the actual execution process of the PCS, providing a clear and unified command basis for subsequent monitoring and coordination of the execution status.

[0045] In this embodiment, in step S201, the state evaluation information of each PCS is analyzed and state values ​​that simultaneously characterize equipment consistency and lifespan balance are extracted, thereby compressing the state differences of each PCS in power allocation and centrally expressing them as a basis for direct comparison; in step S202, based on the proportional relationship between the state values ​​of each PCS, the total power to be configured of the energy storage power station is converted into the power to be configured of each PCS, ensuring that the power allocation results are numerically consistent; in step S203, the power to be configured of each PCS is encapsulated into millisecond-level control commands according to preset instruction logic, so that the power configuration results can be issued and executed in a unified and synchronous command form; based on this, in the entire technical solution, the power configuration process gradually transitions from state awareness to executable commands, realizing coordinated and consistent control of multiple PCS within a millisecond-level control cycle.

[0046] In an exemplary embodiment, based on the status assessment information of each PCS, the status values ​​of each PCS at the device consistency level and lifetime balance level are extracted, including steps S301 to S303.

[0047] Step S301: At the equipment consistency level, the degree of operational difference reflected by the status assessment information of each PCS is quantified and converted into a first indicator to characterize the equipment consistency of each PCS.

[0048] For example, the operational differences reflected in the various status assessment information are summarized, and these differences are converted into numerical expressions using a unified quantification method. This maps the operational differences, which were originally described, into comparable quantitative results. Through the above quantification process, the operational differences of each PCS at the equipment consistency level are converted into a first indicator, which can be used to characterize the equipment consistency of the corresponding PCS relative to the overall operational level.

[0049] Optionally, the first indicator is a quantitative result of the operating characteristics of a single PCS, used to describe the equipment performance of that PCS during actual operation. This includes, for example, the degree to which the PCS follows control commands, the smoothness of output changes within continuous control cycles, and the degree of operational deviation compared to other PCS under the same operating environment. For instance, when a PCS exhibits small output changes to the same control command over multiple continuous control cycles, a relatively stable execution curve, and a trajectory close to the overall operating trajectory of the same group of PCS, the first indicator for that PCS shows a relatively stable value, characterizing the consistency of its operating characteristics with the overall equipment group.

[0050] Step S302: At the level of lifespan balance, the degree of use and consumption reflected by the status assessment information of each PCS is quantified and converted into a second indicator to characterize the lifespan balance of each PCS.

[0051] For example, the usage and consumption levels reflected in the various status assessment information are summarized, and these contents are converted into numerical expressions through a unified quantification method, so that the usage and consumption levels, which originally existed in descriptive form, are mapped into comparable quantitative results. Through the above quantification process, the usage and consumption levels of each PCS at the lifetime balance level are converted into a second indicator, which can be used to characterize the long-term operating load level of the corresponding PCS relative to the overall operating level.

[0052] Optionally, the second indicator is a quantitative result of the usage characteristics formed for a single PCS, used to describe the equipment performance of the PCS during continuous operation. This includes, for example, the cumulative power output undertaken by the PCS over a long operating period, the degree of load distribution balance in continuous control cycles, and the degree of difference in usage intensity compared to other PCS under the same operating environment. For instance, when a PCS has a relatively uniform power distribution over a long period, and its cumulative load level remains close to that of other PCS in the same group without significant deviation, the second indicator for that PCS will show a relatively stable value, characterizing its lifespan balance within the overall operating system.

[0053] Step S303: In the overall level corresponding to all first indicators and all second indicators, the first indicators and second indicators corresponding to the same PCS are combined and mapped to obtain the state values ​​of each PCS at the equipment consistency level and the lifetime balance level.

[0054] For example, after obtaining the first and second indicators corresponding to each PCS, the overall distribution of all the first and second indicators is uniformly organized so that the overall level of equipment consistency and life balance at the current operating stage can be clearly expressed.

[0055] After the overall data processing is completed, the first and second indicators corresponding to the same PCS are mapped one-to-one, and then combined and mapped under the same evaluation framework. This allows the characteristics of the PCS at both the operational and long-term load levels to be included in the same expression result. This combined mapping process is not a simple superposition, but rather a coordinated mapping that maintains the original quantitative meaning of the first and second indicators. This ensures that the combined state value reflects both the equipment consistency of the PCS in the current operational phase and its load balancing level in long-term operation.

[0056] Through the above processing, each PCS forms a state value corresponding to its own operating state, thereby avoiding the problem of inconsistent power allocation basis caused by the scattered use of indicators at different levels. This enables the subsequent power allocation process to be based on clear, complete and comparable state inputs, thus providing a stable data foundation for overall coordinated control.

[0057] In this embodiment, in step S301, the degree of operational difference reflected by the state assessment information of the PCS is quantified to form a first index for each PCS, so that the degree of operational difference of each PCS at the equipment consistency level can be expressed on a unified scale; in step S302, the degree of usage consumption reflected by the state assessment information of the PCS is quantified to form a second index for each PCS, so that the degree of usage consumption of each PCS at the lifetime balance level can be expressed on a unified scale; in step S303, the first index and the second index corresponding to the same PCS are combined and mapped to form a state value, so that the information at both the equipment consistency and lifetime balance levels is centrally expressed in a single value; based on this, in the entire technical solution, through hierarchical quantization and unified mapping, the state value on which power allocation is based simultaneously takes into account equipment consistency and lifetime balance, improving the integrity and consistency of state expression in the multi-PCS collaborative control process.

[0058] In an exemplary embodiment, at the overall level corresponding to all first indicators and all second indicators respectively, the first indicators and second indicators corresponding to the same PCS are combined and mapped to obtain the state values ​​of each PCS at the device consistency level and lifetime balance level, including steps S401 to S402.

[0059] Step S401: Among the overall levels corresponding to all first indicators and all second indicators, determine the first influence coefficient for evaluating the overall level of equipment consistency and the second influence coefficient for evaluating the overall level of lifespan uniformity.

[0060] For example, after obtaining all the first indicators and all the second indicators, the distribution of the two types of indicators in the overall range is first sorted out so that they reflect the overall level of equipment consistency and life balance under the current operation stage.

[0061] For example, when determining the overall level of each primary indicator, the quantitative results of each PCS across multiple operational characteristic dimensions can be uniformly compiled. This includes obtaining the output follow-up values ​​of each PCS to control commands, the smoothness of output changes within a continuous control cycle, and the operational deviation values ​​relative to other PCS, and then summarizing these values ​​across all PCS. Subsequently, the overall average or concentration range of each operational characteristic dimension is calculated, and the overall statistical results of each operational characteristic dimension are combined to form an overall level reflecting the consistency of equipment in the current operational phase. This overall level thus simultaneously reflects the comprehensive state of multiple operational characteristic dimensions.

[0062] For example, when determining the overall level of each second indicator, the quantitative results of each PCS across multiple usage characteristic dimensions can be uniformly compiled. This includes obtaining the cumulative power output value of each PCS over a longer operating period, the load distribution balance value within a continuous operating cycle, and the usage intensity difference value relative to other PCS, and then summarizing these values ​​across all PCS. Subsequently, by calculating the overall average or concentration range of the values ​​for each usage characteristic dimension, the overall statistical results corresponding to each usage characteristic dimension are combined to form an overall level reflecting the lifespan balance of the current operating phase. This overall level thus simultaneously reflects the comprehensive state of multiple usage characteristic dimensions.

[0063] Based on this, by analyzing the concentration and dispersion of each first indicator in the whole, a first influence coefficient for evaluating the overall level of equipment consistency is determined, so that the first influence coefficient can reflect the relative importance of equipment consistency in the current state assessment; at the same time, by analyzing the concentration and dispersion of each second indicator in the whole, a second influence coefficient for evaluating the overall level of life balance is determined, so that the second influence coefficient can reflect the relative importance of life balance in the current state assessment.

[0064] For example, when determining the first influence coefficient, if the overall level of equipment consistency indicates that most PCS have a high degree of consistency in operating characteristics and a small degree of overall deviation under the current operating stage, then the influence of equipment consistency in the current state assessment is set to relatively high based on this overall level, and the corresponding first influence coefficient is determined accordingly; conversely, if the overall level reflects a decline in equipment consistency, then the first influence coefficient is reduced accordingly, so that it is adjusted with the change of the overall level.

[0065] For example, when determining the second influence coefficient, if the overall level of life balance indicates that the PCS are in a relatively balanced state in terms of usage characteristics under the current operation stage, then the influence of life balance in the current state assessment is set to be relatively high based on the overall level, and the corresponding second influence coefficient is determined accordingly; conversely, if the overall level reflects a decline in life balance, then the second influence coefficient is reduced accordingly, so that it is adjusted with the change of the overall level.

[0066] Therefore, the determination process of the above two influence coefficients takes the overall index level as a reference, so that it can be adjusted accordingly with the changes in the overall operating status of each PLC, thereby avoiding the fixed processing of information at a certain level in the process of combining the first index and the second index.

[0067] Step S402: Apply the first influence coefficient to each first indicator and apply the second influence coefficient to each second indicator, so that the first and second indicators corresponding to the same PCS are combined and mapped according to the corresponding influence coefficients, so as to obtain the state values ​​of each PCS at the equipment consistency level and the life balance level.

[0068] For example, the first influence coefficient is applied to the first indicator corresponding to each PCS, so that the quantitative result of each PCS at the equipment consistency level can be adjusted according to the influence level corresponding to the current overall level of equipment consistency, thereby making the first indicator reflect a matching influence weight in the combination process; at the same time, the second influence coefficient is applied to the second indicator corresponding to each PCS, so that the quantitative result of each PCS at the lifetime balance level can be adjusted according to the influence level corresponding to the current overall level of lifetime balance, thereby making the second indicator reflect a matching influence weight in the combination process.

[0069] Based on this, the adjusted first index and the adjusted second index corresponding to the same PCS are combined under the same mapping structure, so that the state characteristics of the PCS at the equipment consistency level and the lifetime balance level are uniformly expressed as a single state quantity value.

[0070] Therefore, by introducing an influence coefficient based on the overall level before combination, information from different levels no longer has a fixed weight in the combination process, but can dynamically reflect its role as the overall level changes. This allows the final state value to maintain comparability between PCS and accurately reflect the comprehensive state of equipment consistency and life balance under the current operating stage.

[0071] In this embodiment, in step S401, based on the overall level of equipment consistency and the overall level of lifespan balance reflected by all first indicators and all second indicators, corresponding first influence coefficients and second influence coefficients are determined respectively, so that the influence of information at different levels in subsequent processing can be matched and expressed with the overall level; in step S402, the first influence coefficients and second influence coefficients are applied to the first and second indicators corresponding to each PCS respectively, and the two types of indicators of the same PCS are combined and mapped to form a state value that simultaneously reflects equipment consistency and lifespan balance; based on this, in the entire technical solution, the state value can reflect the overall operating characteristics while maintaining comparability, providing a state basis with overall perception capability for subsequent power allocation.

[0072] In an exemplary embodiment, according to a preset instruction logic, the power-related parameters of each PCS to be configured are encapsulated into corresponding millisecond-level control instructions within a millisecond-level control cycle, including steps S501 to S502.

[0073] Step S501: If the current control scenario of the energy storage power station is a single frequency regulation scenario, then in the instruction logic corresponding to the single frequency regulation scenario, the parameters related to the power response are configured within a millisecond-level control cycle according to the power to be configured of each PCS, and encapsulated into millisecond-level control instructions for each PCS in the single frequency regulation scenario.

[0074] Among them, the single frequency regulation scenario refers to the operation scenario in which the energy storage power station performs a one-time power regulation in response to the grid frequency deviation within a certain independent control cycle, which is used to complete the response to the frequency deviation within a limited time. The power response-related parameters refer to the set of parameters used to describe the power regulation behavior of the PCS in the single frequency regulation scenario, such as the power regulation amplitude, response rate and their corresponding time attributes.

[0075] For example, after determining that the energy storage power station is currently in a single frequency regulation scenario, the control process enters the instruction generation stage corresponding to this scenario, and processes the power to be configured for each PCS using a millisecond-level control cycle as a unified time constraint. Specifically, based on the control requirements under the single frequency regulation scenario and combined with the currently determined frequency deviation, the power to be configured for each PCS is organized and mapped to the target power adjustment amount participating in the first frequency regulation. In this process, a frequency dead zone setting is introduced so that frequency deviations within the dead zone do not trigger power regulation, thereby avoiding unnecessary power response caused by small frequency fluctuations. At the same time, for frequency deviations exceeding the dead zone, the corresponding power response direction and reference amplitude are clearly defined, so that each PCS forms a clear division of labor at the numerical level.

[0076] Based on this, in the instruction logic corresponding to a single frequency modulation scenario, the power to be configured for each PCS is mapped according to the ratio between frequency deviation and power response based on the preset droop coefficient, so as to determine the actual power response amplitude of each PCS under different frequency deviation conditions. Furthermore, combined with the preset virtual inertia control requirements, the response slope and initial dynamic compensation amount during the power change process are set so that the power output reflects inertia support characteristics in the initial stage of frequency modulation and gradually transitions to steady-state frequency modulation response in the subsequent stage. This allows the power response-related parameters to simultaneously reflect the control characteristics of steady-state frequency modulation and dynamic inertia support within the same millisecond-level control cycle.

[0077] Therefore, the configured power response parameters are encapsulated according to a predetermined instruction format, that is, combined according to a preset field order, data structure and time identification rules to form an instruction data unit containing power adjustment amplitude, adjustment direction and timing attributes, and then associated with the identification information of the corresponding PCS to form a millisecond-level control instruction corresponding to each PCS.

[0078] Step S502: If the current control scenario of the energy storage power station is a dynamic voltage response scenario, then in the instruction logic corresponding to the dynamic voltage response scenario, the parameters related to voltage regulation are configured within a millisecond-level control cycle according to the power to be configured for each PCS, and encapsulated into millisecond-level control instructions for each PCS under the dynamic voltage response scenario.

[0079] Among them, the dynamic voltage response scenario refers to the operation scenario in which the energy storage power station continuously participates in voltage regulation according to voltage changes, and is used to achieve dynamic support for voltage through power regulation during voltage fluctuations; the voltage regulation-related parameters refer to the set of parameters used to describe the voltage regulation behavior of the PCS in the dynamic voltage response scenario, such as voltage regulation amplitude, response rate and their corresponding time attributes.

[0080] For example, after determining that the energy storage power station is currently in a dynamic voltage response scenario, the control process enters the instruction generation stage corresponding to this scenario, and processes the power to be configured for each PCS using a millisecond-level control cycle as a unified time constraint. Specifically, based on the control requirements under the dynamic voltage response scenario, combined with the currently determined voltage deviation and its change state, the power to be configured for each PCS is processed at the voltage regulation level, so that the power to be configured, originally expressed in the form of power configuration, can be mapped to the target regulation amount participating in voltage regulation, thereby clarifying the regulation role undertaken by each PCS in this voltage response process.

[0081] Based on this, in the instruction logic corresponding to the dynamic voltage response scenario, the target adjustment amount is converted into a parameter expression related to reactive power adjustment, focusing on the requirement of rapid reactive power adjustment. This enables each PCS to participate in voltage support through rapid changes in reactive power when the voltage deviates from the target range. Furthermore, in combination with the requirements of automatic power factor control, the ratio between active power and reactive power is constrained, so that when the PCS performs voltage regulation, its power output structure can automatically adjust with the voltage state and remain within the preset power factor range.

[0082] Therefore, the configured voltage regulation parameters are encapsulated according to a predetermined instruction format, that is, combined according to a preset field order, data structure and time identification rules to form an instruction data unit containing power regulation amplitude, regulation direction and timing attributes, and then associated with the identification information of the corresponding PCS to form a millisecond-level control instruction corresponding to each PCS.

[0083] In this embodiment, in step S501, in the single frequency regulation scenario, the parameters related to power response are configured based on the power to be configured for each PCS and encapsulated into millisecond-level control commands, ensuring that each PCS operates collaboratively around the power response target within the same control cycle. In step S502, in the dynamic voltage response scenario, the parameters related to voltage regulation are configured based on the power to be configured for each PCS and encapsulated into millisecond-level control commands, ensuring that each PCS operates collaboratively around the voltage regulation target. Based on this, in the entire technical solution, by using corresponding command logic for parameter configuration and command encapsulation for different control scenarios, the same power configuration result can be issued and executed in the form of matching commands under different operating scenarios, improving the adaptability and consistency of millisecond-level control of energy storage power stations in multiple scenarios.

[0084] In an exemplary embodiment, based on the execution status of each PCS on millisecond-level control commands, a target PCS with a lagging response is determined, and millisecond-level dynamic compensation is performed on the execution status of the target PCS, including steps S601 to S603.

[0085] Step S601: Based on the execution status of each PCS on the millisecond-level control instructions, extract the progress features used to characterize the execution progress of each PCS and the behavioral features used to characterize the execution deviation of each PCS.

[0086] Step S602: PCS whose progress characteristics and behavioral characteristics do not meet the preset evaluation conditions are selected as target PCS with response lag.

[0087] Among them, the progress feature represents the characteristic information used to describe the progress of the PCS in executing control commands within a millisecond-level control cycle, so as to reflect the proportion of execution completed by the PCS or the position of the execution stage within the control cycle; the behavior feature represents the characteristic information of the PCS in executing control commands, so as to reflect the degree of deviation between the actual execution state of the PCS and the control commands.

[0088] For example, the progress characteristics of each PCS are compared with preset evaluation conditions to determine whether the execution progress of the PCS meets the execution rhythm requirements within the current control cycle. Simultaneously, the behavioral characteristics of the same PCS are compared with the evaluation conditions to determine whether its execution deviation is within the allowable deviation range. After completing the above comparisons, the evaluation results of the progress and behavioral characteristics are jointly determined. When a PCS fails to meet the preset requirements in terms of execution progress and its execution behavior simultaneously exhibits deviations exceeding the allowable range, that PCS is identified as a target PCS with a delayed response. This avoids judging the execution status based solely on a single characteristic, ensuring that the identified target PCS truly belongs to the category of PCs with delayed execution rhythm and results within the current control cycle.

[0089] For example, in a scenario with a millisecond-level control cycle of 20 milliseconds, the preset evaluation conditions stipulate that the PCS should complete no less than 80% of the power adjustment within this control cycle, and the deviation between the actual output power and the commanded target power should not exceed ±2%. When evaluating the performance of each PCS, the progress characteristics of one PCS show that it only completed 50% of the required power change within 20 milliseconds, significantly lower than the 80% progress threshold. Simultaneously, its behavioral characteristics indicate that the actual output power was 98 kW, while the commanded target power was 105 kW, a deviation of approximately 6.7%, exceeding the allowable range. In this case, both the progress and behavioral characteristics of this PCS do not meet the preset evaluation conditions, and therefore it is identified as a target PCS with a lag in response, to be used for subsequent millisecond-level dynamic compensation processing.

[0090] Step S603: Based on the progress and behavior characteristics of the target PCS, generate compensation instructions corresponding to the target PCS within a millisecond-level control cycle to perform millisecond-level dynamic compensation on the execution status of the target PCS.

[0091] For example, the progress characteristics of the target PCS within the current millisecond-level control cycle are analyzed to clarify the degree of lag in its execution progress relative to the expected execution rhythm. Simultaneously, its behavioral characteristics are analyzed to clarify the direction and magnitude of deviation of its actual execution result from the control command target. After completing the above analysis, the degree of execution lag reflected by the progress characteristics and the execution deviation reflected by the behavioral characteristics are correlated and organized to clearly define the focus of the compensation adjustments.

[0092] Based on this, corresponding compensation instructions are generated according to the results of the above correlation and collation. These compensation instructions comprehensively consider the degree of execution lag, deviation direction and deviation magnitude, and adjust the original control instructions accordingly in terms of numerical magnitude, direction of change and timing characteristics. This allows the compensation content to have a matching corrective effect on the actual execution status of the target PCS.

[0093] For example, in a scenario with a millisecond-level control cycle of 20 milliseconds, the target PCS's progress characteristics show that it has only completed 50% of the power change required by the instruction when 10 milliseconds have passed in the current cycle. Its behavioral characteristics indicate that its actual output power deviates downwards from the instruction target value, with a deviation of approximately 6.7%. In this case, a corresponding compensation instruction is generated within the remaining time of the current control cycle. This compensation instruction redistributes the remaining power change in terms of numerical magnitude, maintains consistency with the original control instruction in the direction of change, and improves the adjustment rhythm in the latter half of the cycle in terms of timing characteristics. This allows the target PCS to reduce the execution progress difference and decrease the output deviation before the end of the current millisecond-level control cycle, achieving real-time correction of its execution state.

[0094] Based on this, by directly utilizing progress and behavioral characteristics as the basis for compensation, the compensation instruction can be accurately applied to the execution process of the target PCS without relying on additional judgment, thereby achieving millisecond-level dynamic compensation of its execution status and ensuring the continuity between the compensation process and the overall control rhythm.

[0095] In this embodiment, in step S601, progress features and behavioral features are extracted based on the execution status of each PCS, so that the execution progress and deviation of each PCS within the millisecond-level control cycle can be expressed in a structured manner, providing a comparable basis for subsequent judgment; in step S602, PCS whose progress features and behavioral features do not meet the preset evaluation conditions are identified as target PCS, so that the identification of response lag covers both execution rhythm and execution result, avoiding misjudgment based on a single performance; in step S603, corresponding compensation instructions are generated within the current millisecond-level control cycle based on the progress features and behavioral features of the target PCS, so that the compensation content can be adjusted according to the actual execution status of the target PCS within the same control cycle; based on this, the entire technical solution realizes the rapid identification and immediate correction of PCS with response lag, maintaining the execution consistency of millisecond-level collaborative control.

[0096] In an exemplary embodiment, based on the progress and behavior characteristics of the target PCS, a compensation instruction corresponding to the target PCS is generated within a millisecond-level control cycle to perform millisecond-level dynamic compensation on the execution status of the target PCS, including steps S701 to S702.

[0097] Step S701: Perform time-series correlation on the progress characteristics and behavior characteristics of the target PCS to obtain the trend evolution variables of the target PCS within the millisecond-level control cycle.

[0098] For example, the changes in progress characteristics within the control period are aligned with the changes in behavior characteristics within the same control period, so that the two correspond to each other under the same time reference, thereby reflecting the synchronous evolution of the target PCS in terms of both execution progress and execution deviation.

[0099] Based on this, the direction, magnitude, and rhythm of change of progress characteristics and behavioral characteristics within the cycle are jointly organized, so that they no longer exist as independent instantaneous characteristics, but are transformed into a comprehensive result reflecting the evolution of the target PCS execution status over time, and the trend evolution variables are obtained accordingly.

[0100] Optionally, in a scenario with a millisecond-level control cycle of 20 milliseconds, the progress and behavior characteristics of the target PCS are sampled every 5 milliseconds within the current control cycle. The progress characteristics represent progress percentages of 0.30, 0.38, 0.45, and 0.55, respectively, while the corresponding execution deviations for the behavior characteristics are -6%, -5%, -4%, and -3%, respectively. By organizing the correspondence between these values ​​in the time series, the trend can be expressed as a numerical combination of "execution progress increases at a rate of approximately 0.0167 / ms within the control cycle, and execution deviation converges at a rate of approximately 0.2% / ms within the control cycle," reflecting the evolution trend of the target PCS's execution status within the current millisecond-level control cycle.

[0101] Step S702: Based on the trend evolution variable, perform compensation calculation on the millisecond-level control instructions of the target PCS within the millisecond-level control cycle, and generate compensation instructions for the target PCS to perform millisecond-level dynamic compensation on the execution status of the target PCS within the millisecond-level control cycle.

[0102] For example, by analyzing the rate of change of execution progress and the convergence or divergence rate of execution deviation reflected in the trend variables, the execution trend of the target PCS within the current control cycle can be clearly analyzed, and the adjustment magnitude and rhythm required to be completed in the remaining cycle can be determined accordingly. Based on this, without changing the original control objective, compensation calculations are performed on the control instructions that the target PCS has not yet completed within the current control cycle, so that the compensation results match the evolution trend reflected by the trend variables in terms of numerical magnitude, direction of change, and time distribution.

[0103] Furthermore, the compensation calculation process is always completed within the current control cycle, so that the compensation effect can be directly embedded in the current control cycle execution process of the target PCS, thereby avoiding delaying the execution lag problem to subsequent control cycles for processing, so as to narrow the gap with the expected execution status before the end of the current control cycle.

[0104] In this embodiment, in step S701, the progress and behavior characteristics of the target PCS are correlated temporally within the control cycle to form trend evolution variables, thereby enabling the execution status of the target PCS to be expressed in a continuous quantitative form, providing a time-dimensional information basis for compensation processing. In step S702, compensation calculations are performed on the control instructions of the target PCS within the current control cycle based on the trend evolution variables, and compensation instructions are generated, so that the compensation content can be directly and instantly corrected according to the evolution trend of the execution status of the target PCS within the current control cycle. Based on this, in the entire technical solution, the compensation process for execution lag is transformed from static judgment to dynamic adjustment based on evolution trend, improving the pertinence and real-time performance of compensation processing in millisecond-level collaborative control.

[0105] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0106] Based on the same inventive concept, this application also provides a PCS millisecond-level cooperative control system based on a coordinating controller for implementing the aforementioned PCS millisecond-level cooperative control method based on a coordinating controller. The solution provided by this system is similar to the implementation scheme described in the above method. Therefore, the specific limitations of one or more embodiments of the PCS millisecond-level cooperative control system based on a coordinating controller provided below can be found in the limitations of the PCS millisecond-level cooperative control method based on a coordinating controller described above, and will not be repeated here.

[0107] In one exemplary embodiment, such as Figure 2 As shown, a millisecond-level collaborative control system for PCS based on a coordination controller is provided. The system is deployed on the coordination controller in the above embodiment, and the coordination controller is deployed in the process layer of a preset energy storage power station and communicates with each PCS in the energy storage power station.

[0108] In this embodiment, the system includes: an evaluation module 101, an allocation module 102, and a compensation module 103, wherein: The evaluation module 101 is used to perform status evaluation on each PCS and obtain status evaluation information for each PCS. The allocation module 102 is used to decompose the total power to be configured of the energy storage power station into the power to be configured of each PCS according to the optimal ratio based on the status assessment information of each PCS, so as to obtain the millisecond-level control commands synchronously sent to each PCS. The compensation module 103 is used to determine the target PCS with a lagging response based on the execution status of each PCS on the millisecond-level control command, and to perform millisecond-level dynamic compensation on the execution status of the target PCS.

[0109] The modules in the aforementioned PCS millisecond-level cooperative control system based on a coordinating controller can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0110] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above embodiments.

[0111] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above embodiments.

[0112] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A millisecond-level cooperative control method for PCS based on a coordinating controller, characterized in that, It is applied to a preset coordination controller, which is deployed in the process layer of a preset energy storage power station and communicates with each PCS in the energy storage power station. The method includes: Perform a status assessment on each PCS to obtain the status assessment information for each PCS; Based on the status assessment information of each PCS, the total power to be configured in the energy storage power station is decomposed into the power to be configured in each PCS according to the optimal ratio, so as to obtain millisecond-level control commands synchronously sent to each PCS. Based on the execution status of each PCS on the millisecond-level control command, the target PCS with the lagging response is determined, and the execution status of the target PCS is dynamically compensated at the millisecond level.

2. The method according to claim 1, characterized in that, The step of decomposing the total power to be configured in the energy storage power station into the power to be configured in each PCS according to the optimal ratio based on the status assessment information of each PCS, so as to obtain the millisecond-level control commands synchronously sent to each PCS, includes: Based on the status assessment information of each PCS, extract the status values ​​of each PCS at the level of equipment consistency and life balance. Based on the proportional relationship between the state values ​​of each PCS, the optimal ratio for power allocation is determined, and the total power to be configured in the energy storage power station is decomposed into the power to be configured in each PCS according to the optimal ratio. Based on the preset instruction logic, the power-related parameters of each PCS to be configured are encapsulated into corresponding millisecond-level control instructions within a millisecond-level control cycle.

3. The method according to claim 2, characterized in that, The step of extracting state parameters for each PCS at the equipment consistency and lifetime balance levels based on the state assessment information of each PCS includes: At the equipment consistency level, the degree of operational differences reflected by the status assessment information of each PCS is quantified and converted into a first indicator to characterize the equipment consistency of each PCS. At the level of lifetime balance, the degree of use and consumption reflected by the status assessment information of each PCS is quantified and converted into a second indicator to characterize the lifetime balance of each PCS. In the overall level corresponding to all first indicators and all second indicators, the first and second indicators corresponding to the same PCS are combined and mapped to obtain the state values ​​of each PCS at the level of equipment consistency and lifetime balance.

4. The method according to claim 3, characterized in that, In the overall level corresponding to all first indicators and all second indicators, the first and second indicators corresponding to the same PCS are combined and mapped to obtain the state values ​​of each PCS at the equipment consistency level and lifetime balance level, including: In the overall level corresponding to all first indicators and all second indicators, determine the first influence coefficient for evaluating the overall level of equipment consistency and the second influence coefficient for evaluating the overall level of life balance. Applying the first influence coefficient to each first indicator and applying the second influence coefficient to each second indicator, the first and second indicators corresponding to the same PCS are combined and mapped according to the corresponding influence coefficients to obtain the state values ​​of each PCS at the equipment consistency level and the lifetime balance level.

5. The method according to claim 2, characterized in that, The step of encapsulating the power-related parameters of each PCS to be configured into corresponding millisecond-level control instructions within a millisecond-level control cycle according to preset instruction logic includes: If the current control scenario of the energy storage power station is a single frequency regulation scenario, then in the instruction logic corresponding to the single frequency regulation scenario, the parameters related to the power response are configured within a millisecond-level control cycle according to the power to be configured of each PCS, and encapsulated into millisecond-level control instructions for each PCS in the single frequency regulation scenario. If the current control scenario of the energy storage power station is a dynamic voltage response scenario, then in the instruction logic corresponding to the dynamic voltage response scenario, the parameters related to voltage regulation are configured within a millisecond-level control cycle according to the power to be configured for each PCS, and encapsulated into millisecond-level control instructions for each PCS under the dynamic voltage response scenario.

6. The method according to claim 1, characterized in that, The step of determining the target PCS with a lagging response based on the execution status of each PCS to the millisecond-level control command, and performing millisecond-level dynamic compensation on the execution status of the target PCS, includes: Based on the execution status of each PCS on the millisecond-level control instructions, progress features for characterizing the execution progress of each PCS and behavioral features for characterizing the execution deviation of each PCS are extracted. PCS whose progress characteristics and behavioral characteristics do not meet the preset evaluation conditions are designated as target PCS with response lag. Based on the progress and behavior characteristics of the target PCS, compensation instructions corresponding to the target PCS are generated within a millisecond-level control cycle to perform millisecond-level dynamic compensation on the execution status of the target PCS.

7. The method according to claim 6, characterized in that, The step of generating compensation instructions corresponding to the target PCS within a millisecond-level control cycle based on the progress and behavior characteristics of the target PCS, to perform millisecond-level dynamic compensation on the execution status of the target PCS, includes: The progress characteristics and behavior characteristics of the target PCS are correlated over time to obtain the trend evolution variables of the target PCS within a millisecond-level control cycle; Based on the trend evolution variable, compensation calculations are performed on the millisecond-level control instructions of the target PCS within the millisecond-level control cycle to generate compensation instructions for the target PCS, so as to perform millisecond-level dynamic compensation on the execution status of the target PCS within the millisecond-level control cycle.

8. A PCS millisecond-level cooperative control system based on a coordinating controller, characterized in that, Deployed in a preset coordination controller, and the coordination controller is deployed in the process layer of the preset energy storage power station and communicates with each PCS in the energy storage power station; The system includes: The evaluation module is used to perform status evaluation on each PCS and obtain status evaluation information for each PCS. The allocation module is used to decompose the total power to be configured of the energy storage power station into the power to be configured of each PCS according to the optimal ratio based on the status assessment information of each PCS, so as to obtain millisecond-level control commands synchronously sent to each PCS. The compensation module is used to determine the target PCS with a lagging response based on the execution status of each PCS on the millisecond-level control command, and to perform millisecond-level dynamic compensation on the execution status of the target PCS.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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