Mobile direct current ice melting multi-vehicle cascade cooperative protection control method

Abstract

The mobile DC ice melting multi-vehicle cascade cooperative protection control method belongs to the technical field of emergency protection and control of power systems. In order to solve the problem of circulating current backflow caused by the difference in response speed and the current overshoot when the dynamic load fluctuates in the existing 500kV line multi-vehicle series ice melting, the present application comprises: collecting the operation state of the ice melting vehicle, generating an ice melting cooperative synchronization list; each vehicle calls a hierarchical target implementation module, executes current boosting, overload protection, ice shedding surge adjustment and light ice dancing cooperative tasks in layers and in parallel, and records the execution efficiency; through the dynamic master-slave cooperative module, the master vehicle is determined again according to the comprehensive execution efficiency, and the target current of all vehicles is step-adjusted; three phases of current ramp-up, continuous ice melting and current ramp-down are completed in turn. The present application eliminates the circulating current backflow risk from the root, suppresses the current overshoot caused by the ice layer shedding and the conductor dancing, and realizes the safe protection control of the whole ice melting process.

Description

Technical Field

[0001] This invention relates to the field of emergency protection and control technology for power systems. Background Technology

[0002] 500kV transmission lines are the core backbone of the power system, undertaking the critical task of transmitting large-capacity, long-distance power. Their safe and stable operation is directly related to the reliability of regional power grid supply and the normal operation of the social economy. In some areas, low temperatures, high humidity, and strong winds in winter frequently trigger icing disasters on transmission lines, which can lead to major accidents such as conductor breakage, tower collapse, and large-scale power outages, resulting in huge economic losses and serious safety hazards. Due to the large cross-sectional area of ​​500kV line conductors, extremely low resistance per unit length, and large contact area between the multi-split conductor structure and cold air, heat loss from the conductors is extremely rapid in low-temperature and windy environments, and the power required for de-icing far exceeds that of conventional voltage level lines. A single mobile DC de-icing device is limited by its own electrical capacity and cannot meet the de-icing current requirements of 500kV lines. Multiple de-icing vehicles must be connected in series and cascaded to work together to achieve effective de-icing. Therefore, research on mobile DC de-icing multi-vehicle cascaded collaborative protection and control technology for 500kV high-voltage grids has significant engineering value and urgent practical needs.

[0003] To achieve multi-vehicle cascaded DC ice melting on 500kV lines, the commonly used technical methods in the industry currently include:

[0004] I. Fixed Master-Slave Mode Multi-Vehicle Series-Connected Ice Melting Control Method. This method pre-designates one ice melting truck as the fixed master truck, and the rest as slave trucks. The master truck sends a unified current boost command, which all slave trucks execute accordingly. This method is simple in structure and low in deployment cost. However, due to differences in the power module response speed, equipment aging, and wiring topology impedance among the ice melting trucks, when one ice melting truck in the series circuit has a slow output response or low output current, the faster-responding ice melting truck will inject current in reverse through the series circuit into the slower-responding ice melting truck, forming a "circulating current backflow" phenomenon. This phenomenon is essentially an overcurrent fault: the internal DC bus capacitor of the ice melting truck receiving the backflow will rapidly overvoltage or even explode, or the IGBT power devices in its inverter module will be damaged due to the reverse current. Existing methods lack an active protection mechanism to suppress circulating current backflow, posing a serious equipment safety hazard.

[0005] II. Centralized Dispatch and Coordinated Control Method Based on Wired or Wireless Communication Links. This method involves a master control station deployed at the substation sending synchronous control commands to each de-icing vehicle, with each vehicle adjusting its output current synchronously according to the received commands. This method places extremely high demands on the real-time performance and reliability of the communication link. However, strong electromagnetic interference exists around 500kV substations and transmission lines, making signal attenuation and transmission delays unavoidable. When the master control station's commands are interrupted or severely delayed during transmission, some slave vehicles cannot synchronize with the master vehicle because they have not received updated commands in time, resulting in a "runaway coupling" problem. This problem is essentially a failure of the protection signal, which can lead to a significant decrease in de-icing efficiency at best, and at worst, cause overcurrent cascading faults due to severe imbalances in the current distribution among the vehicles in the series circuit. Existing methods fail to provide safety degradation protection in the event of communication anomalies.

[0006] III. A Multi-Vehicle Independent Current Adjustment Method Using Simple Proportional-Integral-Derivative Feedback Control. Each ice-melting vehicle operates its own PID controller, automatically adjusting based on the deviation between its target current and the actual output current. This method maintains current tracking accuracy under steady-state conditions, but large-scale ice shedding during the ice-melting process causes severe conductor vibration and sudden changes in line impedance, resulting in "dynamic load fluctuations." If multiple ice-melting vehicles simultaneously and rapidly increase their output current, the total current in the series circuit will surge instantaneously. The simple PID controller, due to insufficient adjustment speed, will experience severe overshoot, easily burning out power devices. This method lacks dynamic overcurrent suppression protection and cannot guarantee safety throughout the entire ice-melting process.

[0007] In summary, existing multi-vehicle cascaded ice melting collaborative control technology faces two core difficulties in emergency protection: First, the risk of circulating backflow caused by the difference in response speed of each vehicle under multi-vehicle series operation is difficult to eliminate fundamentally, and there is a lack of effective active overcurrent / overvoltage protection; Second, the current overshoot protection capability is seriously insufficient under sudden conditions such as ice layer shedding and conductor galloping during the dynamic process of ice melting, and the safety of ice melting operation cannot be guaranteed. Summary of the Invention

[0008] This invention aims to solve the problems of circulating backflow and current overshoot during dynamic load fluctuations caused by differences in response speed in the existing cascaded collaborative control of multiple mobile DC de-icing vehicles in 500kV high-voltage grid systems. A cascaded collaborative protection and control method for mobile DC de-icing vehicles is proposed.

[0009] The mobile DC ice-melting multi-vehicle cascaded collaborative protection and control method of the present invention includes:

[0010] Step S1: Collect the operating status of each de-icing truck, obtain the number and number of de-icing trucks, and generate a de-icing coordinated step list by combining the line icing conditions and preset control parameters.

[0011] The ice-melting collaborative stepping list includes the number of each ice-melting vehicle, the current target current, the polling round, the master vehicle number, the IP address, the response action vector, the timestamp, and the fault flag.

[0012] The real-time operating status includes: the actual output current, bus voltage, fault flag, and system timestamp of each ice-melting truck;

[0013] The preset control parameters include: operation target parameters, step propulsion parameters, timing and waiting parameters, overload protection parameters, dynamic disturbance response parameters, and ice melting vehicle coding parameters;

[0014] The target parameters for the operation include: the total value of the ice-melting current and the synchronous variables for ice melting;

[0015] The step-by-step propulsion parameters include: the number of layer-by-layer propulsion steps, the number of ice-melting step actions, and the current step adjustment amount; the current step adjustment amount is calculated using the final target current of a single ice-melting truck and the number of ice-melting step actions; the final target current of a single ice-melting truck is calculated using the total target ice-melting current and the number of ice-melting trucks;

[0016] Timing and waiting parameters include: level waiting time and continuous ice melting time;

[0017] Overload protection parameters include: overload protection proportional coefficient, overload protection integral coefficient, and maximum voltage compensation.

[0018] Dynamic disturbance response parameters include: de-icing surge detection threshold and galloping determination variance threshold;

[0019] The coding parameters for the ice-melting truck include: the initial number of the main vehicle and the IP address of each vehicle.

[0020] The ice-melting collaborative step list contains N rows and M columns, with each row corresponding to one ice-melting vehicle. N is the total number of ice-melting vehicles, and the M columns correspond to the following fields: ice-melting vehicle number, current target current, current polling round, main ice-melting vehicle number, ice-melting vehicle IP address, response action vector, timestamp, and fault lock flag. The current target current for a single vehicle is calculated using the total ice-melting current and the number of ice-melting vehicles.

[0021] Step S2: Each ice-melting truck uses the data of its own table entry in the ice-melting collaborative stepping list as input to its own ice-melting truck hierarchical target implementation module to update the data of its own table entry.

[0022] The hierarchical target implementation module for the ice melting vehicle:

[0023] Extract the corresponding meter data for this vehicle from the ice-melting coordinated step list, and divide the current target current into several levels of hierarchical advancement steps. Within each level, execute four tasks in parallel: current boost, overload protection, ice removal surge adjustment, and light ice covering dance coordination. Record the actual execution time of each task and convert it into execution efficiency through nonlinear mapping. Store the execution efficiency of each level into the corresponding position of the vehicle's response action vector in hierarchical order for updating. After all level tasks are completed, synchronously update the polling round and timestamp in the vehicle's meter entries to obtain the updated vehicle meter entry data.

[0024] The current boosting task is as follows: based on the difference between the current target current of a single vehicle and the actual output current, and the number of hierarchical advancement steps, calculate the current increment for each level, and adjust the output voltage to increase the output current by the increment;

[0025] The overload protection task is as follows: calculate the deviation between the current actual output current and the current target current, combine the waiting time of the level and the number of steps of the level to calculate and update the overload cumulative deviation; use the updated overload cumulative deviation, overload protection proportional coefficient, current deviation and overload protection integral coefficient to calculate the voltage compensation amount, limit the voltage compensation amount, and apply the limited voltage compensation amount to the output end of the de-icing truck.

[0026] The de-icing surge adjustment task is as follows: collect the current line voltage and the line voltage at the previous moment, calculate the voltage change rate by combining the level waiting time and the level advancement step, if the voltage change rate is greater than the de-icing surge detection threshold, calculate the surge attenuation factor, and multiply the current de-icing truck output voltage by the surge attenuation factor for attenuation adjustment; otherwise, do not perform surge suppression operation.

[0027] The coordinated task of lightly covered ice dancing is as follows: continuously collect 10 current samples through a fixed sampling window, calculate the variance of these 10 current samples, if the variance is greater than the dancing determination variance threshold, calculate the dancing damping adjustment amount, subtract the dancing damping adjustment amount from the current ice melting truck output current for damping adjustment; otherwise, no damping adjustment is performed.

[0028] Step S3: Each ice-melting truck performs a collaborative operation based on the updated data in its own meter and the master vehicle number to update the data in its own meter again;

[0029] Specifically, each ice-melting truck determines whether it is the primary vehicle based on the primary vehicle number in the updated vehicle entry data.

[0030] If it is the master vehicle, it receives all updated table data from slave vehicles and integrates them to obtain a complete and updated ice-melting collaborative step list; using the ice-melting vehicle hierarchical action response dynamic master-slave collaborative module, it generates the latest ice-melting collaborative step list and broadcasts the list to all ice-melting vehicles;

[0031] If it is a slave vehicle, it sends the updated data of its own vehicle to the master vehicle and waits to receive the latest list broadcast by the master vehicle; after receiving it, it updates the data of its own vehicle again using the corresponding data of its own vehicle in the latest list.

[0032] The ice-melting vehicle hierarchical action response dynamic master-slave collaborative module:

[0033] Using a complete list of coordinated ice-melting steps, the module for calculating the layer time and execution efficiency of ice-melting vehicles is invoked to calculate the overall execution efficiency of all ice-melting vehicles. Based on the overall execution efficiency of all ice-melting vehicles, the master vehicle number for the next round is determined (the ice-melting vehicle with the lowest overall execution efficiency becomes the master vehicle for the next round). Then, the current target current of all ice-melting vehicles is increased by a step adjustment amount (this step adjustment amount is positive during the normal lifting phase, zero during the continuous phase, and negative during the descent phase), and the master vehicle number and current target current in the list are updated to obtain the latest coordinated ice-melting step list.

[0034] The module for calculating the time and efficiency of the de-icing vehicle's actions:

[0035] Using the response action vector, timestamp, and polling round data from the table entries of each ice-melting vehicle in the complete ice-melting collaborative step list, the hierarchical efficiency average, consistency score, and time efficiency of each ice-melting vehicle are calculated; then, through weighted fusion and arctangent transformation, the comprehensive execution efficiency value of each ice-melting vehicle is obtained.

[0036] Step S4: Each ice-melting truck uses the data corresponding to its own vehicle in the latest list to sequentially execute the current ramp-up stage, the ice-melting continuous stage, and the current ramp-down stage until the output current of each ice-melting truck is safely reduced to zero, thus completing a complete multi-vehicle cascaded collaborative protection control.

[0037] The specific process is as follows: Each ice-melting truck uses the updated meter data of its own vehicle in step S3 to determine whether the current target current of its own vehicle has reached the final target current of a single ice-melting truck.

[0038] If not, repeat step S3 until the current target current of all vehicles in the latest list reaches the final target current of a single ice-melting vehicle.

[0039] If the target has been reached, proceed to the continuous de-icing stage, set the current step adjustment to zero, repeat step S3 until the continuous de-icing time reaches the preset value, and then proceed to the current descent stage.

[0040] During the current descent phase, the current step adjustment is set to a negative value, and step S3 is repeated until the actual output current of all ice-melting trucks drops to zero.

[0041] This invention uses a module that calculates the time and efficiency of each ice-melting vehicle's actions to evaluate the response efficiency in real time, adjusting the ice-melting vehicle with the lowest overall efficiency to become the main vehicle and control the propulsion rhythm. This mechanism prevents faster vehicles from overtaking slower vehicles in the series circuit, eliminating the risk of circulating backflow at its source, avoiding DC bus capacitor overvoltage explosions and IGBT power device breakdown damage, and achieving proactive emergency protection for ice-melting equipment and transmission lines. It does not rely on pre-modeling of ice conditions and is not limited by specific line topologies or meteorological conditions. It only requires collecting the real-time operating status of each ice-melting vehicle (actual output current, bus voltage, fault flags, timestamps) and inputting a small number of control parameters based on the line icing conditions to initiate coordinated ice-melting operations. This method has good versatility and portability, and can be widely applied to DC ice-melting operation scenarios with different voltage levels and line structures, significantly improving engineering applicability. Attached Figure Description

[0042] Figure 1 This is a flowchart of the method described in this invention. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0044] Specific implementation method one: Refer to Figure 1 This embodiment specifically describes the mobile DC ice-melting multi-vehicle cascaded collaborative protection and control method, which includes:

[0045] Step S1: Obtain the number of ice-melting trucks to be controlled and their real-time operating status, number all ice-melting trucks, and set and calculate the control parameters of the ice-melting trucks based on the line icing conditions, the electrical characteristics of the ice-melting trucks, and the prior reference parameter set; generate an ice-melting coordinated step list based on the set control parameters and the real-time operating status; and transmit it to each ice-melting truck.

[0046] The real-time operating status includes: the actual output current, bus voltage, fault flag, and system timestamp of each ice melting truck; the fault flag is 0 to indicate normal operation, 1 to indicate fault or lockout, and faulty trucks are prohibited from participating in collaborative ice melting.

[0047] The control parameters of the ice-melting truck include: operation target parameters, step propulsion parameters, timing and waiting parameters, overload protection parameters, dynamic disturbance response parameters, and ice-melting truck coding parameters;

[0048] The target parameters for the operation include: the total value of the de-icing current (input according to the line icing conditions) and the de-icing synchronization variable (the default value is 1000, which is used to set the initial starting target current to one-thousandth of the final target current).

[0049] The step-by-step propulsion parameters include: number of layer-by-layer propulsion steps (default value is 5), number of ice-melting step-by-step actions (default value is 20), and current step-by-step adjustment amount (current step-by-step adjustment amount = final target current of a single ice-melting truck ÷ number of ice-melting step-by-step actions, final target current of a single ice-melting truck = total ice-melting current value ÷ total number of ice-melting trucks).

[0050] The timing and waiting parameters include: level waiting time (default value is 1.5 seconds) and continuous melting time (default value is 600 seconds);

[0051] Overload protection parameters include: overload protection proportional coefficient (default value is 0.8), overload protection integral coefficient (default value is 0.05), and maximum voltage compensation (default value is 50 volts).

[0052] Dynamic disturbance response parameters include: de-icing surge detection threshold (default value is 100 volts per second) and galloping determination variance threshold (default value is 5 amperes squared).

[0053] The coding parameters for the ice-melting truck include: the initial number of the main vehicle (default value is 1) and the IP address of each vehicle (obtained from network configuration);

[0054] The ice-melting collaborative step list contains N rows and M columns, with each row corresponding to one ice-melting vehicle. N is the total number of ice-melting vehicles, and the M columns correspond to the following fields: ice-melting vehicle number, current target current (current target current = final target current of a single ice-melting vehicle ÷ ice-melting synchronization variable), current polling round (initial value is 0), main ice-melting vehicle number (initial value is equal to the initial number of the main vehicle), ice-melting vehicle IP address, response action vector (initial value is a zero vector of dimension four multiplied by the number of hierarchical advancement steps), timestamp (collected system time), and fault lock flag (collected fault flag).

[0055] Step S2: Each ice-melting vehicle uses the data of its corresponding row in the ice-melting collaborative step list to divide the current target current (the target current value at the initial moment = the final target current of a single ice-melting vehicle ÷ the ice-melting synchronization variable) into several levels of hierarchical advancement steps. Within each level, four tasks are executed in parallel: current boost, overload protection, ice removal surge adjustment, and light ice covering dance coordination. The actual execution time of each task is recorded, and the execution time is converted into an execution efficiency value (range 0~1) using the Sigmoid function. The efficiency value is then stored sequentially in the response action vector position of its corresponding ice-melting collaborative step list row according to the hierarchical order. After all level tasks are completed, the polling round and timestamp of the corresponding row in the ice-melting collaborative step list are updated synchronously to obtain the updated ice-melting collaborative step list for each ice-melting vehicle.

[0056] Execution efficiency conversion formula (implemented using the Sigmoid function):

[0057] ;

[0058] in, Indicates the waiting time at each level. Actual time spent executing the task;

[0059] The current boosting task is as follows: based on the difference between the current target current and the actual output current, calculate the current increment for each level, adjust the output voltage to increase the output current by this increment, and complete the task.

[0060] Current increment per level:

[0061] ;

[0062] in, The required current increment for each level, The target current for the current vehicle in the ice-melting collaborative stepping list. This is the current actual output current. The number of steps for hierarchical advancement is the step advancement parameter mentioned in step S1, with a default value of 5.

[0063] The overload protection task is as follows: calculate the deviation between the current actual output current and the current target current, combine the level waiting time and level advancement steps to calculate and update the overload cumulative deviation, use the updated overload cumulative deviation, overload protection proportional coefficient, current deviation and overload protection integral coefficient to calculate the voltage compensation amount, and limit the voltage compensation amount (if it is greater than the maximum voltage compensation amount, it is set as the maximum voltage compensation amount; if it is less than the negative maximum voltage compensation amount, it is set as the negative maximum voltage compensation amount), and apply the limited voltage compensation amount to the output terminal of the de-icing vehicle to complete the task;

[0064] Overload cumulative deviation update:

[0065] ;

[0066] ;

[0067] in, For the updated overload cumulative deviation, This is the accumulated overload deviation before the update. Waiting time for each level To advance the steps in a hierarchical manner, The target current for the current vehicle in the ice-melting collaborative stepping list. This represents the current actual output current.

[0068] Voltage compensation amount:

[0069] ;

[0070] in, The calculated voltage compensation amount; This is the overload protection ratio coefficient; This is the overload protection integral coefficient;

[0071]

[0072] in, This is the voltage compensation amount after limiting. To achieve the maximum voltage compensation, It is superimposed on the current output voltage of the ice-melting truck to complete the overload protection task.

[0073] The de-icing surge adjustment task is as follows: collect the current line voltage and the line voltage at the previous moment, calculate the voltage change rate by combining the waiting time and the number of steps of the layer, if the voltage change rate is greater than the de-icing surge detection threshold, calculate the surge attenuation factor, multiply the current de-icing truck output voltage by the surge attenuation factor for attenuation adjustment, if the voltage change rate is less than or equal to the de-icing surge detection threshold, do not perform attenuation adjustment, and complete the task.

[0074] Voltage change rate (used for de-icing surge regulation):

[0075] ;

[0076] in, The rate of change of voltage. This is the current line voltage. The line voltage at the previous moment;

[0077] when > Surge attenuation factor;

[0078] ;

[0079] in, This indicates the threshold for de-icing surge detection.

[0080] The light ice-covering dancing coordinated task is as follows: continuously collect 10 current samples through a sliding sampling window, calculate the variance of these 10 current samples, if the variance is greater than the dancing determination variance threshold, calculate the dancing damping adjustment amount, subtract the dancing damping adjustment amount from the current ice-melting truck output current to perform damping adjustment, if the variance is less than or equal to the dancing determination variance threshold, do not perform dancing damping adjustment, and complete the task;

[0081] Among them, the dancing damping adjustment amount:

[0082] ;

[0083] in, For the adjustment of the dancing damping, The variance of 10 current samples. The variance threshold for dance judgment corresponds to the dynamic disturbance response parameters.

[0084] Within each level, four tasks are started in parallel and run independently. After all tasks are completed, if the elapsed time from the start time of the current level to the current time is less than the level waiting time, the waiting time continues until the level waiting time is reached before proceeding to the next level. After all levels are completed, the polling round number of the corresponding entry in the ice melting collaborative step list is incremented by one, the timestamp is increased by the total execution time (new timestamp = original timestamp + total execution time), and the response action vector with the execution efficiency filled is written back to the response action vector field of the corresponding entry in the ice melting collaborative step list.

[0085] Step S3: Each ice-melting truck determines whether it is the main vehicle based on the main vehicle number in the updated vehicle table data;

[0086] If it is the master vehicle, it receives all updated table data from slave vehicles and integrates them to obtain a complete and updated ice-melting collaborative step list; using the ice-melting vehicle hierarchical action response dynamic master-slave collaborative module, it generates the latest ice-melting collaborative step list and broadcasts the list to all ice-melting vehicles;

[0087] If it is a slave vehicle, it sends the updated table data of its own vehicle to the master vehicle and waits to receive the latest list broadcast by the master vehicle; upon receiving it, it updates the table data of its own vehicle using the corresponding table data of its own vehicle in the latest list.

[0088] The ice-melting vehicle hierarchical action response dynamic master-slave collaborative module:

[0089] Using a complete list of coordinated ice-melting steps, the module for calculating the layer time and execution efficiency of ice-melting vehicles is invoked to calculate the overall execution efficiency of all ice-melting vehicles. Based on the overall execution efficiency of all ice-melting vehicles, the master vehicle number for the next round is determined. Then, the current target current of all ice-melting vehicles is increased by a step adjustment amount (this step adjustment amount is positive during the normal lifting phase, zero during the continuous phase, and negative during the descent phase), and the master vehicle number and current target current in the list are updated to obtain the latest coordinated ice-melting step list.

[0090] The module for calculating the time and efficiency of the de-icing vehicle's actions:

[0091] Using the response action vector, timestamp, and polling round data from the table entries of each ice-melting vehicle in the complete ice-melting collaborative step list, the hierarchical efficiency average, consistency score, and time efficiency of each ice-melting vehicle are calculated; then, through weighted fusion and arctangent transformation, the comprehensive execution efficiency value of each ice-melting vehicle is obtained; the comprehensive execution efficiency value ranges from 0 to 1.

[0092] The updated complete list of ice-melting collaboration vehicles is broadcast to all ice-melting vehicles. The broadcast is performed after identifying the IP address field of each ice-melting vehicle in the ice-melting collaboration step list.

[0093] The response action vector is a vector with a dimension of four times the number of hierarchical advancement steps, where every four execution efficiency values ​​form a group, and each group corresponds to the execution efficiency of four tasks in a layer: current boost, overload protection, de-icing surge adjustment, and light icing dance coordination.

[0094] The calculation method for the hierarchical efficiency mean is as follows: group the data in the response action vector into groups of four from beginning to end, calculate the arithmetic mean of the four data in each group, obtain the hierarchical efficiency value of the hierarchical advancement steps, and then use the hierarchical efficiency value to calculate the arithmetic mean of each hierarchical efficiency value.

[0095] Hierarchical efficiency value:

[0096] ;

[0097] Where i represents the level, and m is the total number of hierarchical advancement steps. For elements in the response action vector;

[0098] Average hierarchical efficiency:

[0099] .

[0100] The consistency score is calculated as follows: the standard deviation of efficiency at each level is calculated using the arithmetic mean of the efficiency values ​​at each level, and then the consistency score is calculated using the standard deviation.

[0101] ;

[0102] Where m is the number of hierarchical advancement steps, Let i be the efficiency value for level i. This represents the average efficiency across the hierarchy. The standard deviation of efficiency;

[0103] ;

[0104] Where C represents the consistency score.

[0105] The time efficiency is calculated as follows: determine whether the number of polling rounds is equal to 0. If the number of polling rounds is equal to 0, the actual average time is equal to the ice melting truck response time baseline value (ice melting truck response time baseline value = number of hierarchical advancement steps × hierarchical waiting time). If the number of polling rounds is greater than 0, the actual average time is equal to the timestamp divided by the number of polling rounds, and then the time efficiency is calculated. If the time efficiency is greater than 1, it is set to 1.

[0106] Actual average time:

[0107] ;

[0108] Where R represents the polling round and S represents the timestamp. This serves as the baseline value for the response time of the ice-melting truck. ;

[0109] Time efficiency: ;

[0110] in, This represents the actual average time consumed. For time efficiency, This refers to the waiting time for each level.

[0111] The weighted overall efficiency is calculated using the hierarchical efficiency mean, consistency score, and time efficiency. The overall execution efficiency value is then calculated using the weighted overall efficiency. If the result is greater than 1, it is set to 1; if it is less than 0, it is set to 0. Finally, the overall execution efficiency value is output.

[0112] The method for calculating the overall execution efficiency value is as follows:

[0113] Calculate the weighted overall efficiency using the hierarchical efficiency mean, consistency score, and time efficiency:

[0114] ;

[0115] Where C is the consistency score, T is the time efficiency, and W is the weighted overall efficiency;

[0116] Overall execution efficiency value:

[0117] ;

[0118] and: ;

[0119] Where E is the overall execution efficiency value.

[0120] Step S4: Each ice-melting truck uses the updated meter data from step S3 to sequentially execute the current ramp-up phase, the ice-melting continuous phase, and the current ramp-down phase until the output current of each ice-melting truck is safely reduced to the safety threshold. Then, it is determined whether the fault lockout flags of all meter entries in the updated meter data from step S3 are all 0. If so, a mobile DC ice-melting multi-vehicle cascaded collaborative protection control is completed. If not, a warning message for the faulty ice-melting truck and the corresponding faulty ice-melting truck number are issued.

[0121] Each ice-melting truck uses the updated meter data from step S3 to determine whether its current target current has reached the final target current for a single ice-melting truck.

[0122] If not, repeat step S3 until the current target current of this vehicle reaches the final target current of a single ice-melting vehicle.

[0123] If the target has been reached, proceed to the continuous de-icing stage, set the current step adjustment to zero, repeat step S3 until the continuous de-icing time reaches the preset value, and then proceed to the current descent stage.

[0124] During the current reduction phase, the current step adjustment is set to a negative value, and step S3 is repeated until the actual output current of all ice-melting trucks drops to the safety threshold, which is 0.

[0125] This invention also solves the problem of uncontrolled collaborative operation caused by communication interruptions under strong electromagnetic interference. The invention employs a step-by-step advancement mode, where each de-icing vehicle only performs the next round of adjustments after receiving an updated list broadcast by the main vehicle. When strong electromagnetic interference causes a brief interruption in the communication link, each de-icing vehicle automatically remains in the previous step state, preventing uncontrolled divergence, and resumes collaborative operation after communication is restored. This mechanism effectively solves the "uncontrolled coupling" problem caused by communication interruptions in existing technologies, ensuring the safe and degraded operation of the system in harsh electromagnetic environments.

[0126] This invention establishes a hierarchical target achievement module for the ice-melting vehicle, executing four tasks in parallel at each level: current boost, overload protection, ice removal surge adjustment, and light ice galloping coordination. Specifically, the overload protection task uses a proportional-integral controller to calculate and limit voltage compensation in real time, preventing current overshoot. The ice removal surge adjustment task detects the voltage change rate and calculates a surge attenuation factor for attenuation adjustment, suppressing voltage surges caused by ice shedding. The light ice galloping coordination task detects the current sample variance and calculates a damping adjustment amount for damping adjustment, suppressing current fluctuations caused by conductor galloping. This multi-task parallel fine-tuning mechanism enables timely detection and compensation of dynamic load fluctuations caused by ice shedding and conductor galloping during the ice-melting process, avoiding the current overshoot problem of simple PID controllers under dynamic load fluctuations, and achieving safe and stable control throughout the entire ice-melting process.

[0127] This invention does not rely on pre-modeling of ice conditions and is not limited by specific line topologies or meteorological conditions. It only requires collecting real-time operating status data (actual output current, bus voltage, fault flags, timestamps) of each ice-melting vehicle and inputting a small number of control parameters based on line icing conditions to initiate coordinated ice-melting operations. This method has good versatility and portability, and can be widely applied to DC ice-melting operation scenarios with different voltage levels and line structures, significantly improving engineering applicability. Each ice-melting vehicle operates independently, coordinated and synchronized only through the main vehicle. This avoids the single-point-of-failure risk of centralized controllers and supports flexible expansion of the number of ice-melting vehicles, exhibiting good scalability and fault tolerance. A fault lock flag field is set in the ice-melting coordinated step list to collect the equipment health status of each ice-melting vehicle in real time. After ice-melting control is completed, it automatically checks whether all fault lock flags are 0. If a faulty vehicle is detected, a warning message and the corresponding faulty ice-melting vehicle number are issued, facilitating quick location of faulty equipment by maintenance personnel and improving the safety and efficiency of ice-melting operations. Specific Implementation

[0128] S1: Multiple ice-melting trucks are connected in series to the same end point (substation side) of a 500kV line. Input the total number of ice-melting trucks (numbered from 1 to N), the total ice-melting current, and the ice-melting synchronization variable. Generate an ice-melting coordinated step list, set the main ice-melting truck number, and set control parameters such as the number of ice-melting level advancement steps, the ice-melting level advancement waiting time, and the duration after reaching the ice-melting current. Calculate the final target current and current step adjustment amount for a single ice-melting truck. Initialize the N entries in the ice-melting coordinated step list and the global control variables.

[0129] Sub-steps of S1:

[0130] S101, Input the total number of ice-melting vehicles N, where N is the total number of mobile DC ice-melting vehicles participating in this collaborative ice-melting operation, and each ice-melting vehicle is numbered from 1 to N.

[0131] S102, Generate a list of coordinated ice-melting steps. This list contains N entries, each corresponding to one ice-melting vehicle. Each entry contains the following fields:

[0132] Ice-melting truck number: an integer from 1 to N;

[0133] Current target current: Current value in amperes;

[0134] Current polling round: a non-negative integer; Main melting truck number: an integer from 1 to N;

[0135] Ice-melting truck IP address: The network communication address corresponding to the numbered ice-melting truck;

[0136] Response action vector: a multidimensional vector;

[0137] Timestamp: A cumulative time value in seconds;

[0138] Fault lockout flag: 0 indicates normal, 1 indicates fault or lockout.

[0139] S103, Input total ice-melting current value, that is, the target total current value output by all ice-melting vehicles connected in series, in amperes.

[0140] S104, calculate the current value of a single ice-melting truck = total ice-melting current ÷ N.

[0141] S105, Input ice melting synchronization variable, default value is 1000, used to set the initial target current to one-thousandth of the final target current.

[0142] S106, set the main ice melting truck number as 1.

[0143] S107 sets the number of steps for advancing the ice melting level. The default value is 5, which means that each target advancement process is divided into 5 levels to be achieved step by step.

[0144] S108 sets the waiting time for each ice melting level to advance. The default value is 1.5 seconds, which represents the minimum waiting time for each level.

[0145] S109 sets the duration after the ice-melting current is reached; the default value is 600 seconds.

[0146] S110, set the overload protection proportional coefficient (default 0.8), overload protection integral coefficient (default 0.05), maximum voltage compensation (default 50 volts), de-icing surge detection threshold (default 100 volts / second), and galloping judgment variance threshold (default 5²A).

[0147] S111, calculate the baseline value of the ice melting vehicle response time = number of layer advancement steps × layer waiting time.

[0148] S112, set the initial value of the initialization counter to 1.

[0149] S113, Set the ice-melting vehicle number of the i-th entry in the ice-melting collaborative stepping list to i.

[0150] S114, set the current target current of this entry = current score of a single ice-melting vehicle ÷ ice-melting synchronization variable.

[0151] S115, set the current polling round for this entry to 0.

[0152] S116, set the main de-icing vehicle number of this table entry to the main vehicle initial number (1).

[0153] S117, Set the IP address of the ice-melting vehicle in this table entry to the actual network IP address of the ice-melting vehicle with the corresponding number.

[0154] S118, set the response action vector of this entry to a zero vector with a dimension of 4 × the number of hierarchical advancement steps.

[0155] S119, Set the timestamp of this entry to 0.

[0156] S120, set the fault lockout flag for this entry to 0.

[0157] S121, initialize the counter by 1.

[0158] S122, if the counter count is less than or equal to the total number of ice-melting vehicles, then proceed to S113; otherwise, continue.

[0159] S123, set the current target total current for ice melting = total value of ice melting current.

[0160] S124, calculate the final target current of a single ice-melting truck = current total target current for ice melting ÷ N.

[0161] S125 sets the number of ice-melting step actions, with a default value of 20.

[0162] S126, calculate the current step adjustment amount = final target current of a single ice-melting truck ÷ number of ice-melting step actions.

[0163] S2, establish a hierarchical target realization module for the ice melting vehicle. The input of this module is the data structure of an entry in the ice melting collaborative step list, and the output is the updated entry. This module will realize the target current in the input entry step by step through several levels. Each level will execute four tasks in parallel: current boost, overload protection, ice removal surge adjustment, and light ice covering dance coordination. The execution efficiency of each task will be recorded in the response action vector.

[0164] Sub-steps of S2:

[0165] S201, establish the module, denote the input entries as input entries, initialize the output entries as copies of the input entries; read the actual output current of the current ice-melting vehicle.

[0166] S202, calculate the current increment required for each level = (target current of input entry - current actual output current) / number of level advancement steps; if this value is between -0.01 and 0.01, set it to 0.

[0167] S203, establish the overload cumulative deviation variable, initially set to 0.

[0168] S204, establish a hierarchy counter, initially set to 1.

[0169] S205 records the start time of the current level.

[0170] S206, execute the following four tasks in parallel within the current level (start simultaneously, run independently):

[0171] Current boost task: Adjust the output voltage to increase the output current by one level of current increment; record the actual execution time; calculate the execution efficiency; store the efficiency in the corresponding position of the response action vector of the output table entry (position = (current level number - 1) × 4 + 1).

[0172] Overload protection task: Collect the current actual output current, calculate the current deviation = target current of input table entry - current actual output current; update the overload cumulative deviation, calculate the voltage compensation amount, limit the voltage compensation amount (if it is greater than the maximum voltage compensation amount, set it as the maximum voltage compensation amount; if it is less than the negative maximum voltage compensation amount, set it as the negative maximum voltage compensation amount); apply the limited voltage compensation amount to the output terminal of the de-icing vehicle; record the actual time consumption, calculate the execution efficiency, and store the position of the response action vector (current level number - 1) × 4 + 2.

[0173] De-icing surge adjustment task: Collect the current line voltage and the line voltage at the previous moment, calculate the voltage change rate = |current voltage - previous voltage| / (level waiting time / level advancement steps + 0.02); if the voltage change rate > de-icing surge detection threshold, calculate the surge attenuation factor = exp(-(voltage change rate - threshold)² / (2 × threshold² + 0.5)), and multiply the current output voltage by this factor; otherwise, do not operate; record the actual time consumed, calculate the execution efficiency, and store it in the position of the response action vector (current level number - 1) × 4 + 3.

[0174] Lightly covered ice dancing collaborative task: continuously collect 10 current samples within a short time window and calculate their variance; if the variance > dancing judgment variance threshold, calculate the dancing damping adjustment amount = arctan(variance / threshold-1.0) / (π / 2)×0.15×target current of input table, and subtract this adjustment amount from the current output current; otherwise, do not operate; record the actual time consumption, calculate the execution efficiency, and store it in the position of the response action vector (current level number-1)×4+4.

[0175] S207, wait for all four tasks above to be completed; if the time elapsed since the start of the level is less than the level waiting time, continue waiting until the time is satisfied.

[0176] S208, update the current actual output current to the latest value.

[0177] S209, increment the level counter by 1; if the number of level advancement steps has not been exceeded, return to S205 to continue to the next level; otherwise, execute step S210.

[0178] S210, increment the polling round number of the output table entry by 1.

[0179] S211, calculate the total execution time of this module = current system time - the start time of the first recorded level; output table entry timestamp = input table entry timestamp + total execution time.

[0180] S212, output the updated table entries.

[0181] S3. Establish a module for calculating the layer time and execution efficiency of the ice melting vehicle. The input of this module is the data structure of an item in the ice melting collaborative step list, and the output is the comprehensive execution efficiency value (0~1) of the ice melting vehicle.

[0182] The module integrates response action vectors and timestamp information, and calculates them through hierarchical efficiency weighting, consistency evaluation, and time efficiency analysis.

[0183] Sub-steps of S3:

[0184] S301, Create a module, with table entries as input.

[0185] S302, retrieve the response action vector, timestamp, and polling round from the input table.

[0186] S303, create a hierarchical efficiency array with a size equal to the number of hierarchical advancement steps, initially set to all zeros.

[0187] S304, for each level i (1 to the number of steps in the level): calculate the efficiency value of that level = (the arithmetic mean of the four elements from (i-1)×4+1 to (i-1)×4+4 in the response action vector).

[0188] S305, calculate the average efficiency of the hierarchy = sum of efficiency values ​​of all levels ÷ number of steps to advance the hierarchy.

[0189] S306, calculate the standard deviation of hierarchical efficiency = sqrt(sum of squares of the differences between each level's efficiency value and the mean ÷ number of steps in the hierarchical advancement).

[0190] S307, calculate the consistency score = 1 - tanh(standard deviation × 2.5).

[0191] S308, Calculate the actual average time: If the number of polling rounds = 0, then the actual average time = the baseline value of the de-icing vehicle response time; otherwise, the actual average time = timestamp / number of polling rounds.

[0192] S309, calculate time efficiency; if it is greater than 1, set it to 1.

[0193] S310, calculate the weighted overall efficiency.

[0194] S311, calculate the overall execution efficiency value. If it is greater than 1, set it to 1; if it is less than 0, set it to 0. Output the overall execution efficiency value.

[0195] S4 establishes a dynamic master-slave collaborative module for the hierarchical action response of ice-melting trucks. The input of this module is the complete table of the current ice-melting collaborative step list and the number of the ice-melting truck currently running the module. The output is the updated ice-melting collaborative step list. The module runs independently on each ice-melting truck: each truck first uses the ice-melting truck layer time and execution action efficiency calculation module in S2 to realize the target current for this round and reports the execution result to the master truck; after collecting the execution results of all trucks, the master truck uses the ice-melting truck layer time and execution action efficiency calculation module in S3 to evaluate the efficiency of each truck, sets the ice-melting truck with the lowest efficiency as the master truck for the next round, updates the target current of all trucks (by adding a current step adjustment amount), and broadcasts it to all ice-melting trucks.

[0196] Sub-steps of S4:

[0197] S401, Create a module, with the input being a list and the current vehicle number.

[0198] S402, Initialize the output list as a copy of the input list.

[0199] S403, retrieve the entry in the output list that corresponds to the current vehicle number, and record it as the current vehicle entry.

[0200] S404 calls the module in S2 to process the current vehicle table entry and obtain the updated table entry.

[0201] S405, write the updated entry back to the corresponding position in the output list.

[0202] S406, extract the main de-icing vehicle number (all entries are the same) from any entry in the output list, and use it as the current main vehicle number; and extract the IP address corresponding to the main vehicle.

[0203] S407 sends the updated table data of the current vehicle to the host vehicle's IP address via the network.

[0204] S408 If the current vehicle number is equal to the master vehicle number, then execute S409~S422 (master vehicle logic); otherwise, jump to S423 (slave vehicle logic).

[0205] S409, the main vehicle waits for and receives updated table data from the remaining N-1 ice-melting vehicles.

[0206] S410: Write the received entries into the corresponding positions of the output list according to the ice-melting vehicle number, thus completing the fusion of all vehicle results for this round.

[0207] S411, set the minimum efficiency value to 2.0 initially, and the minimum overall execution efficiency corresponding number is initially the main vehicle number.

[0208] S412, for each item (each vehicle) in the output list, call the module described in S3 to calculate its overall execution efficiency. If the current efficiency is less than the minimum efficiency value, update the minimum efficiency value and the corresponding number.

[0209] S413, update the main vehicle number of all entries to the number of the least efficient vehicle.

[0210] S414, increases the current target current of all entries by a current step adjustment (set to 0 if the updated current is less than 0).

[0211] S415 broadcasts the updated, complete output list over the network to the IP addresses of all ice-melting vehicles.

[0212] S416, switch to S424.

[0213] S423 (Slave Logic): Non-master vehicles wait to receive the updated list broadcast by the master vehicle and overwrite the output list with the received list.

[0214] S424 outputs the list as the module result.

[0215] In S5, all ice-melting trucks load the steps executed by the dynamic master-slave collaborative module of the ice-melting truck hierarchical action response in S4, and execute the complete three-stage collaborative ice-melting control: The first stage is the current ramp-up stage, which iteratively executes the steps in S4 to gradually advance the output current of each ice-melting truck to the final target current of a single ice-melting truck; the second stage is the continuous ice-melting stage, which maintains the target current to reach the preset duration and continuously executes the steps in S4 to prevent dynamic load fluctuations; the third stage is the current ramp-down stage, which iteratively reverses the current to safely reduce the output current of each ice-melting truck to zero, completing a complete multi-vehicle cascaded collaborative ice-melting control.

[0216] S501, saves the original current step adjustment value for later use.

[0217] S502, set the stage marker to 1 (slope climbing stage).

[0218] S503, all ice-melting vehicles simultaneously take their respective numbers and the currently held ice-melting cooperative step list as input, execute S4, obtain the updated list, and update the local list.

[0219] S504 retrieves the current target current of any entry.

[0220] S505: If the current is greater than or equal to the final target current of a single ice-melting truck, proceed to S506; otherwise, return to S503.

[0221] S506, set the current step adjustment to 0; set the stage flag to 2 (continuous ice melting stage); record the start time of continuous ice melting.

[0222] In S507, all ice-melting vehicles simultaneously execute the steps run by the dynamic master-slave collaborative module of the ice-melting vehicle hierarchical action response in S4, and update the local list.

[0223] S508, calculate the duration = current time - start time of continuous ice melting.

[0224] S509: If the duration has been greater than or equal to the preset continuous melting time, proceed to S510; otherwise, return to S507.

[0225] S510 sets the current step adjustment to a negative initial step adjustment; the stage flag is set to 3 (ramp-down stage).

[0226] S511, all ice-melting vehicles simultaneously execute the steps run by the dynamic master-slave collaborative module of the ice-melting vehicle hierarchical action response in S4, and update the local list.

[0227] S512, check the actual output current of all ice-melting vehicles and take the maximum value.

[0228] S513: If the maximum value is ≤ 1 ampere, proceed to S514; otherwise, return to S511.

[0229] S514, all ice-melting vehicles stop outputting; if the fault lock flags of all entries in the ice-melting collaborative step list are 0, then output a successful completion signal; otherwise, output a warning message and corresponding number of the faulty ice-melting vehicle.

[0230] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A mobile DC de-icing multi-vehicle cascaded collaborative protection and control method, characterized in that, include: Step S1: Collect the operating status of each de-icing truck, obtain the number and number of de-icing trucks, and generate a de-icing coordinated step list by combining the line icing conditions and preset control parameters. The ice-melting collaborative stepping list includes the number of each ice-melting vehicle, the current target current, the polling round, the master vehicle number, the IP address, the response action vector, the timestamp, and the fault flag. Step S2: Each ice-melting truck uses the data of its own table entry in the ice-melting collaborative stepping list as input to its own ice-melting truck hierarchical target implementation module to update the data of its own table entry. Hierarchical target realization module for ice melting truck: The current target current of this truck is divided into multiple levels using the ice melting collaborative stepping list. Four preset tasks are executed in parallel within each level. After all level tasks are completed, the data of this truck's meter entries are updated. Step S3: Each ice-melting truck performs a collaborative operation based on the updated data in its own meter and the master vehicle number to update the data in its own meter again; Step S4: Each ice-melting truck, based on the updated data of its own meter, sequentially executes the current ramp-up phase, the current continuous phase, and the current ramp-down phase until the output current of all ice-melting trucks drops to the safe threshold; determine whether there is a fault based on the fault flag; if there is no fault, the collaborative protection control is completed; otherwise, a fault prompt message is output. In step S3, the process of updating the data in this vehicle's meter again is as follows: Each ice-melting truck determines whether it is the main vehicle based on its current main vehicle number; If it is the master vehicle, it collects the updated table entries of all slave vehicles, calls the dynamic master-slave collaboration module to generate the latest ice melting collaboration step list, and broadcasts it to all ice melting vehicles; If it is a slave vehicle, it sends its updated table entry data to the master vehicle and receives the latest list broadcast by the master vehicle, and updates its own table entry data according to the corresponding data in the list. The dynamic master-slave collaboration module for hierarchical action response of ice-melting trucks: Based on the complete list of ice-melting collaborative steps, the efficiency calculation module is called to obtain the comprehensive execution efficiency of each ice-melting truck. The ice-melting truck with the lowest comprehensive efficiency is selected as the master truck for the next round. The current target current of all ice-melting trucks is adjusted using the preset step adjustment amount to generate the latest list of ice-melting collaborative steps. The module for calculating the layer time and execution efficiency of the ice-melting vehicle is as follows: Based on the response action vector, timestamp, and polling round data of each vehicle in the ice-melting collaborative stepping list, the module calculates the average layer efficiency, consistency score, and time efficiency of each ice-melting vehicle; then, through weighted fusion and arctangent transformation, the module obtains the comprehensive execution efficiency value of each ice-melting vehicle.

2. The mobile DC de-icing multi-vehicle cascaded collaborative protection and control method according to claim 1, characterized in that, The method for updating the data in the table entries of the ice-melting truck's hierarchical target implementation module is as follows: Extract the table data corresponding to this vehicle from the ice melting coordinated step list, and divide the current target current into several levels of hierarchical advancement steps; within each level, execute four tasks in parallel: current boost, overload protection, ice removal surge adjustment, and light ice covering dance coordination, record the actual execution time of each task, and convert it into execution efficiency through nonlinear mapping; The execution efficiency of each level is stored sequentially in the corresponding position of the vehicle's response action vector and updated accordingly. After all tasks at all levels are completed, the polling rounds and timestamps in the vehicle's table entries are updated synchronously to obtain the updated vehicle's table entry data.

3. The mobile DC de-icing multi-vehicle cascaded collaborative protection and control method according to claim 2, characterized in that, In the hierarchical target achievement module of the ice-melting vehicle, The current boosting task is as follows: based on the difference between the current target current and the actual output current of a single vehicle and the number of hierarchical advancement steps, calculate the current increment for each level, and adjust the output voltage to increase the output current by the increment. The overload protection task is as follows: calculate the deviation between the current actual output current and the current target current, combine the waiting time of the level and the number of steps of the level to calculate and update the overload cumulative deviation, use the updated overload cumulative deviation, overload protection proportional coefficient, current deviation and overload protection integral coefficient to calculate the voltage compensation amount, limit the voltage compensation amount, and apply the limited voltage compensation amount to the output end of the de-icing truck. The task of de-icing surge adjustment is as follows: collect the current line voltage and the line voltage at the previous moment, calculate the voltage change rate by combining the waiting time of the level and the number of steps of the level advancement, and if the voltage change rate is greater than the de-icing surge detection threshold, calculate the surge attenuation factor, and multiply the current de-icing truck output voltage by the surge attenuation factor for attenuation adjustment. Otherwise, surge suppression will not be performed; The coordinated task for lightly covered ice and dancing is as follows: continuously collect 10 current samples through a fixed sampling window, calculate the variance of these 10 current samples, if the variance is greater than the dancing determination variance threshold, calculate the dancing damping adjustment amount, and subtract the dancing damping adjustment amount from the current output current of the ice melting truck to perform damping adjustment; otherwise, no damping adjustment is performed.

4. The mobile DC ice-melting multi-vehicle cascaded collaborative protection and control method according to claim 3, characterized in that, In the current boosting task, the current increment at each level is: ； in, The required current increment for each level, The target current for the current vehicle in the ice-melting collaborative stepping list. This is the current actual output current. The number of steps for hierarchical advancement.

5. The mobile DC de-icing multi-vehicle cascaded collaborative protection and control method according to claim 3 or 4, characterized in that, In overload protection tasks, the formula for updating the cumulative overload deviation is: ； ； in, For the updated overload cumulative deviation, This is the accumulated overload deviation before the update. Waiting time for each level To advance the steps in a hierarchical manner, The target current for the current vehicle in the ice-melting collaborative stepping list. This represents the current actual output current. The voltage compensation amount is: ； in, The calculated voltage compensation amount; This is the overload protection ratio coefficient; This is the overload protection integral coefficient; Voltage compensation amount after limiting for: ； in, To achieve the maximum voltage compensation, It is superimposed on the current output voltage of the ice-melting truck to complete the overload protection task.

6. The mobile DC de-icing multi-vehicle cascaded collaborative protection and control method according to claim 5, characterized in that, During the de-icing surge adjustment task, the voltage change rate is: ； in, The rate of change of voltage. This is the current line voltage. The line voltage at the previous moment; when > At that time, the surge attenuation factor is; ； in, This indicates the threshold for de-icing surge detection.

7. The mobile DC de-icing multi-vehicle cascaded collaborative protection and control method according to claim 6, characterized in that, In the lightly icy dancing coordinated task, the dancing damping adjustment is: ； in, For the adjustment of the dancing damping, The variance of 10 current samples. The variance threshold for dance determination.

8. The mobile DC de-icing multi-vehicle cascaded collaborative protection and control method according to claim 1, characterized in that, In step S4, each de-icing truck, based on its updated meter data, sequentially executes the current ramp-up phase, the current sustain phase, and the current ramp-down phase until the output current of each truck drops to a safe threshold. Each ice-melting truck uses the updated meter data from step S3 to determine whether its current target current has reached the final target current for a single ice-melting truck. If not, repeat step S3 until the current target current of this vehicle reaches the final target current of a single ice-melting vehicle. If the target has been reached, proceed to the continuous de-icing stage, set the current step adjustment to zero, repeat step S3 until the continuous de-icing time reaches the preset value, and then proceed to the current descent stage. During the current reduction phase, the current step adjustment is set to a negative value, and step S3 is repeated until the actual output current of all ice-melting trucks drops to the safe threshold.

9. The mobile DC de-icing multi-vehicle cascaded collaborative protection and control method according to claim 1, characterized in that, In the module for calculating the time and efficiency of the de-icing vehicle's actions, The overall execution efficiency is calculated as follows: Calculate the weighted overall efficiency using the hierarchical efficiency mean, consistency score, and time efficiency: ； Where C represents the consistency score. W represents time efficiency, and W represents weighted overall efficiency. This represents the average efficiency across all levels. Then, using the weighted overall efficiency, calculate the overall execution efficiency value: ； and: ; Where E is the overall execution efficiency value.

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