A gravity energy storage system, motion mode adjusting method and electronic device

Abstract

The present disclosure provides a gravity energy storage system, a motion mode adjusting method and an electronic device, relates to the technical field of gravity energy storage, and can solve the problem that the existing gravity energy storage system is difficult to meet the diversified demand of a complex power grid. The gravity energy storage system comprises a multi-mover module, a stator guide rail assembly and a control unit. The multi-mover module comprises a plurality of mover units. The mover unit comprises a driving module. The driving module is composed of a permanent magnet and a mover coil. The mover unit can carry a heavy block. The mover unit can move on the stator guide rail assembly. In the energy storage mode, the mover unit ascends along the stator guide rail assembly. In the power generation mode, the mover unit descends along the stator guide rail assembly. The control unit is used for adjusting the motion mode of the plurality of mover units based on the power grid load. The motion mode comprises a synchronous motion mode, an asynchronous motion mode and a periodic cyclic motion mode.

Description

Technical Field

[0001] This disclosure relates to the field of gravity energy storage technology, and in particular to a gravity energy storage system, a motion mode adjustment method, and an electronic device. Background Technology

[0002] With the construction of new power systems, the scale of new energy grid connection continues to expand, grid load fluctuations are frequent, and the demand for multi-task peak shaving is becoming increasingly prominent. Gravity energy storage, with its advantages of safety, long-term efficiency, and no chemical loss, has become an important technical means to adapt to abandoned mine scenarios and achieve peak shaving and valley filling of the power grid. Existing gravity energy storage systems have achieved multi-energy storage block collaborative control and adaptation to mine scenarios, and can complete basic power generation and energy storage operation.

[0003] However, the motion modes of heavy blocks in existing technologies are limited to two basic states: coordinated power generation and coordinated energy storage, which is insufficient to meet the diverse operational needs of complex power grids. Summary of the Invention

[0004] This disclosure provides a gravity energy storage system, a motion mode adjustment method, and an electronic device, which can solve the problem that existing gravity energy storage systems cannot meet the diverse needs of complex power grids.

[0005] To achieve the above objectives, the embodiments of this disclosure adopt the following technical solutions: In a first aspect, a gravity energy storage system is provided, comprising a multi-moving submodule, a stator guide rail assembly, and a control unit. The multi-moving submodule includes multiple moving units, each moving unit including a drive module consisting of a permanent magnet and a moving coil, and a weight can be mounted on the moving unit.

[0006] The moving unit can move on the stator rail assembly. In energy storage mode, the moving unit rises along the stator rail assembly; in power generation mode, the moving unit descends along the stator rail assembly to supply power to the grid.

[0007] The control unit is used to control the motion modes of multiple moving sub-units, including synchronous motion mode, asynchronous motion mode, and periodic cyclic motion mode. Specifically, synchronous motion mode indicates that at least one moving sub-unit performing the synchronous motion mode performs the same motion at the same time, including ascending or descending at the same speed; asynchronous motion mode indicates that at least one moving sub-unit performing the asynchronous motion mode starts moving sequentially according to a preset time sequence; and periodic cyclic motion mode indicates that at least one moving sub-unit performing the periodic cyclic motion mode moves according to a fixed cyclic trajectory and a fixed sequence.

[0008] The control unit in the gravity energy storage system provided by this solution adjusts the motion mode of the moving sub-unit carrying the weight, causing the moving sub-unit to move along the stator guide rail assembly, thereby meeting the diverse operational needs of complex power grids. Simultaneously, by integrating the permanent magnet and the moving sub-coil onto the drive module, multiple moving sub-units can move independently and flexibly in combination, thus meeting the diverse needs of the power grid. Furthermore, compared to moving sub-coils on long stator guide rails, the construction cost of the stator guide rails can be significantly reduced. Since the moving sub-coil and permanent magnet move with the moving sub-unit, maintenance only requires handling the moving sub-unit, thereby improving maintenance efficiency.

[0009] In one possible implementation of the first aspect, the aforementioned fixed cyclic trajectory includes: from ascending energy storage to positioning and stopping, and then to descending for power generation; or, from ascending energy storage to removing the heavy block, then to lateral transfer, then to descending for transport, and then to adding the heavy block; or, from descending for power generation to removing the heavy block, then to lateral transfer, then to ascending for transport, and then to adding the heavy block.

[0010] The moving unit moves along a fixed cyclic trajectory, which can precisely control the speed and position of the heavy object, thereby accurately adjusting the moving unit to store or discharge energy, and thus meet the needs of the power grid.

[0011] In another possible implementation of the first aspect, the magnetic field period of the permanent magnet is the same as the magnetic field period generated by the moving coil.

[0012] It should be understood that when the magnetic field period of the permanent magnet and the magnetic field period generated by the moving coil are the same, the gravity energy storage system can generate a continuous and stable unidirectional thrust, which can avoid the jitter of the moving unit during movement, improve the accuracy of controlling the movement of the moving unit, and thus meet the real-time needs of the power grid. At the same time, the fact that the magnetic field period of the permanent magnet and the magnetic field period generated by the moving coil are the same ensures that the traveling wave magnetic field generated by the moving coil is synchronized with the magnetic field of the permanent magnet, eliminating the periodic magnetic reluctance fluctuations caused by the phase difference between the two, thereby reducing the impact of magnetic reluctance on the movement of the moving unit.

[0013] In another possible implementation of the first aspect, the stator guide rail assembly includes a fixed stator guide rail, a movable stator guide rail, and a mover transfer slide rail.

[0014] The fixed stator guide rail includes an upward fixed stator guide rail and a downward fixed stator guide rail. Multiple moving units can move longitudinally on the upward fixed stator guide rail and the downward fixed stator guide rail, and multiple moving units can move laterally on the moving stator guide rail.

[0015] The moving stator guide rail is connected to the drive motor via gears, and drives the moving stator guide rail to move via the drive rack.

[0016] The gravity energy storage system employs independent upward and downward fixed stator rails, eliminating the risk of collisions between moving units and eliminating the need for complex time-sharing to avoid opposing moving units, thus reducing control complexity. Furthermore, the independent upward and downward fixed stator rails allow for simultaneous energy storage and discharge, improving the system's operational efficiency. The moving unit transfer rail, connected to a drive motor via gears, drives a rack to move the movable stator rail. This high positioning accuracy ensures precise alignment between the fixed and movable stator rails, guaranteeing smooth transport of the moving unit and heavy objects, thus adapting to different lateral transport requirements for various motion modes.

[0017] In another possible implementation of the first aspect, the control unit includes a processing module, a position acquisition module, and a speed acquisition module; The position acquisition module is used to collect position data from multiple moving sub-units.

[0018] The velocity acquisition module is used to acquire velocity and acceleration data from multiple moving subunits.

[0019] The processing module is used to adjust the motion mode of multiple moving sub-units based on the grid load, and also to determine the driving force and braking force required to adjust the movement of multiple moving sub-units based on position data, velocity data, acceleration data and motion mode.

[0020] It should be understood that during the movement of the moving unit carrying the heavy block, friction, magnetic resistance, load fluctuations, etc., will inevitably cause deviations in the speed and acceleration of the moving unit. By monitoring the position, speed, and acceleration of the moving unit in real time, and determining the driving force and braking force required by the moving unit based on the real-time monitoring data and the target motion mode, the driving force and braking force can be made more in line with the current actual situation, thereby improving the accuracy and response speed of control, and thus better meeting the actual needs of the power grid.

[0021] In another possible implementation of the first aspect, the aforementioned grid load includes a grid load quantification value and / or a grid load change rate.

[0022] The processing module is used to adjust the motion modes of multiple moving sub-units based on the grid load, including: When the grid load change rate is less than or equal to a first preset threshold, the movement mode of multiple moving sub-units is determined to remain unchanged. When the grid load change rate is greater than the first preset threshold and less than or equal to a second preset threshold, the movement mode of multiple moving sub-units is determined to be a periodic cyclic movement mode. When the grid load change rate is greater than the second preset threshold, the movement mode of multiple moving sub-units is determined to be a synchronous movement mode. When the grid load change rate is greater than the first preset threshold and the grid load quantization value is greater than a preset grid load peak value, the movement mode of multiple moving sub-units is determined to be an asynchronous movement mode. When the grid load change rate is less than or equal to the first preset threshold and the grid load quantization value is less than a preset grid load valley value, the movement mode of multiple moving sub-units is determined to be an asynchronous movement mode.

[0023] By determining different operating modes under different grid load conditions, the needs of the grid can be better met.

[0024] In another possible implementation of the first aspect, the above-mentioned movement modes also include group movement modes, mixed movement modes, and freely adjustable movement modes.

[0025] Among them, the group motion mode is used to divide multiple moving sub-units into multiple moving sub-unit groups and independently control the motion of each moving sub-unit group; the mixed motion mode is used to use one of the synchronous motion mode, asynchronous motion mode and periodic cyclic motion mode for multiple moving sub-units in different time periods; and the free adjustment motion mode is used to control the motion of multiple moving sub-units based on the dynamic instructions of the controller.

[0026] By combining synchronous motion mode, asynchronous motion mode and periodic cyclic motion mode in different ways, the system can meet the needs of different operating conditions and complex power grids, thus improving its practicality.

[0027] In another possible implementation of the first aspect, the processing module is used to determine that the movement mode of multiple moving sub-units is a grouped movement mode when there are multiple energy storage tasks or multiple power generation tasks in the power grid. The processing module is also used to determine that the movement mode of multiple moving sub-units is a mixed movement mode when the power grid load change rate is greater than a first preset threshold, and the power grid load change rate is less than or equal to a second preset threshold, and the power grid load quantification value is greater than a preset load threshold. Finally, the processing module is used to determine that the movement mode of multiple moving sub-units is a freely adjustable movement mode when the power grid load change rate is greater than the first preset threshold within a preset time period.

[0028] By selecting different motion modes under different conditions, the problem of poor adaptability of a single motion mode can be avoided. This can meet the needs of different operating conditions and complex power grids, thus improving the practicality of the gravity energy storage system.

[0029] In another possible implementation of the first aspect, the aforementioned moving subunit further includes a guide module, which is composed of a rolling guide rail and a sliding bearing, and is used to adjust the movement gap between the moving subunit and other moving subunits.

[0030] The guiding module, by adjusting the movement gap between moving units and other moving units, can prevent collisions between adjacent moving units, thereby improving the safety of moving unit movement in the gravity energy storage system. Simultaneously, appropriate gap design allows sufficient response and adjustment time for the control unit, thus improving the reliability and stability of multi-moving unit coordinated movement. Furthermore, the guiding module, constructed from a combination of rolling guides and sliding bearings, allows for mechanical preload adjustment of the movement gap between multiple moving units, eliminating the need for electromagnetic force control, reducing system complexity, and ensuring the long-term stable operation of the gravity energy storage system.

[0031] Secondly, a motion mode adjustment method is provided, applied to the gravity energy storage system of the first aspect, the method comprising: The motion modes of multiple moving sub-units can be adjusted, including synchronous motion mode, asynchronous motion mode, and periodic cyclic motion mode.

[0032] Among them, synchronous motion mode is used to characterize at least one moving sub-unit performing the same motion at the same time, including ascending or descending at the same speed. Asynchronous motion mode is used to characterize at least one moving sub-unit performing the asynchronous motion mode starting to move sequentially according to a preset time sequence. Periodic cyclic motion mode is used to characterize at least one moving sub-unit performing the periodic cyclic motion mode moving according to a fixed cyclic trajectory and a fixed sequence.

[0033] Thirdly, an electronic device is provided, comprising a memory and at least one processor. The memory is communicatively connected to the processor. The memory stores computer program code, including computer instructions. When the processor executes the computer instructions, it causes the electronic device to perform the method as described in the second aspect.

[0034] Fourthly, embodiments of this disclosure provide a computer-readable storage medium storing computer instructions. When executed by a processor, these computer instructions are used to implement the method as described in the second aspect.

[0035] Fifthly, embodiments of this disclosure provide a computer program product that, when run on a computer or executed by the computer's processor, implements the method described in the first aspect and any of its possible design embodiments. The computer may be an electronic device as described in the third aspect and any of its possible implementations.

[0036] Understandably, the beneficial effects achieved by the electronic device of the third aspect, the computer-readable storage medium of the fourth aspect, and the computer program product of the fifth aspect provided above can be referred to as the beneficial effects of the first aspect and any possible implementation thereof, which will not be repeated here.

[0037] It should be noted that any of the possible implementations of any of the above aspects can be combined, provided that the solutions do not contradict each other. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments of this disclosure will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0039] Figure 1 This is a schematic diagram of the structure of a gravity energy storage system provided in an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the structure of a moving subunit provided in an embodiment of the present disclosure; Figure 3 This is a schematic diagram of another moving subunit provided in an embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure of a stator guide rail assembly provided in an embodiment of the present disclosure; Figure 5 A schematic flowchart illustrating a motion mode adjustment method provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure; Figure 7 This is a schematic diagram of a motion mode adjustment device provided in an embodiment of the present disclosure. Detailed Implementation

[0040] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this embodiment, unless otherwise stated, "a plurality of" means two or more.

[0041] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements.

[0042] In the technical solutions provided in this disclosure, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved are all information and data authorized by the user or fully authorized by all parties. The collection, storage, use, processing, transmission, provision and disclosure of the above information and data all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0043] It should be noted that in the embodiments disclosed herein, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary and are intended only to illustrate the feasibility of implementing the technical solutions disclosed herein. However, they do not mean that the applicant has used or necessarily used such solutions.

[0044] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0045] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0046] With the construction of new power systems, the scale of new energy grid connection continues to expand, grid load fluctuates frequently, and the demand for multi-task peak shaving is becoming more prominent. Gravity energy storage, with its advantages of safety, long-term effectiveness, and no chemical loss, has become an important technical means to adapt to abandoned mine scenarios and realize grid peak shaving and valley filling.

[0047] Existing gravity energy storage systems have achieved collaborative control of multiple energy storage blocks and adaptation to mining scenarios, enabling them to complete basic power generation and energy storage operation.

[0048] However, the motion modes of heavy blocks in existing technologies are limited to two basic states: coordinated power generation and coordinated energy storage, which is insufficient to meet the diverse operational needs of complex power grids.

[0049] To address the aforementioned technical problems, this disclosure provides a gravity energy storage system, which includes multiple moving sub-modules, a stator rail assembly, and a control unit. The control unit adjusts the motion modes of the multiple moving sub-modules based on the grid load, causing the moving sub-modules carrying the weight to move along the stator rail assembly according to the motion mode, thereby meeting the diverse operational needs of complex power grids.

[0050] Figure 1 This is a schematic diagram of a gravity energy storage system provided in an embodiment of this disclosure. Figure 1 As shown, the gravity energy storage system includes a multi-movement submodule 1, a stator guide rail assembly 2, and a control unit 3. The stator guide rail assembly 2 includes a fixed stator guide rail 21, a movable stator guide rail 22, and a mover transfer slide rail 23.

[0051] It should be noted that, Figure 1 Only one stator guide rail assembly 2 is shown in the figure. The gravity energy storage system may also include two or more stator guide rail assemblies 2.

[0052] In some embodiments, the multi-moving submodule 1 includes multiple moving sub-units, each of which may carry a weight. The multiple moving sub-units may be arranged in a linear series along the stator guide assembly 2. The number of moving sub-units can be configured according to energy storage or discharge requirements.

[0053] The heavy object is the core carrier for storing gravitational potential energy.

[0054] In some embodiments, the weight block can be made of high-density alloy steel or high-density composite materials. These materials can increase the energy storage density per unit volume, effectively reduce the size of the weight, and reduce the space requirements for the transport track. At the same time, by utilizing their high strength, wear resistance and fatigue resistance, the service life of the weight block can be extended, thereby reducing the frequency of replacement and maintenance costs.

[0055] In some embodiments, the weight of the load block can be adjusted. For example, load blocks of different weights can be selected based on the load requirements of different application scenarios. For scenarios with high load requirements, such as power grid peak shaving scenarios or scenarios requiring high power support, heavier load blocks, such as 20 tons or 30 tons, can be selected; for scenarios with low load requirements, such as power grid frequency regulation scenarios or low power fluctuation smoothing scenarios, lighter load blocks, such as 2 tons or 5 tons, can be selected.

[0056] By adjusting the weight of the weight block, it can be adapted to the load requirements of different application scenarios, thereby improving the practicality of the gravity energy storage system.

[0057] In some embodiments, the moving unit can move on the stator guide rail assembly 2. In energy storage mode, the moving unit rises along the stator guide rail assembly 2; in power generation mode, the moving unit descends along the stator guide rail assembly 2.

[0058] In some embodiments, the mover unit may include a drive module, which consists of a permanent magnet and a mover coil.

[0059] The drive module is integrated in the area opposite the load block of the moving subunit. When running, it can output linear driving force to drive the moving subunit and the connected load block to complete the lifting and lowering action.

[0060] In some embodiments, the drive module is a switched flux linear motor mover structure, consisting of a permanent magnet, winding coils, and a silicon steel sheet laminate, with its corresponding stator structure being composed solely of laminated silicon steel sheets. The corresponding stator structure can be part of a stator guide rail assembly.

[0061] It should be noted that this drive module is the mover assembly of the switched flux linear motor, forming the core power component of the multi-motor module. Its structural layout concentrates the high-cost permanent magnets and coils on a relatively short mover, forming a compact magnetic circuit and winding system. The stator of the switched flux linear motor can be composed of laminated silicon steel sheets, without coils or permanent magnets, extending along the guide rails to provide support and a closed magnetic flux path for the mover. The coils arranged on the mover interact with the permanent magnets, and through relative motion with the stator, in energy storage mode, powered by the grid, drive the switched flux linear motor, generating an upward thrust that pushes the mover unit upward along the stator guide rail assembly. In power generation mode, the mover unit descends, generating back electromotive force by cutting the magnetic flux, causing the mover unit to descend along the stator guide rail assembly. This allows the drive module to generate electricity and supply power to the grid, thus achieving energy conversion.

[0062] In some embodiments, the magnetic field period of the permanent magnet is the same as the magnetic field period generated by the mover coil, that is, the arrangement period of the mover coil and the permanent magnet is matched, which can form a uniform magnetic field distribution and ensure smooth motion while maintaining high thrust density.

[0063] Permanent magnet materials possess a high magnetic energy product, ensuring sufficient thrust output from the mover over a short distance. The single-sided design of the switched flux linear motor utilizes magnetic pull to prevent derailment and other major safety accidents even in the event of a power outage, thus improving the stability and safety of the gravity system. When the magnetic field period of the permanent magnet matches the magnetic field period generated by the mover coil, the gravity energy storage system can generate continuous and stable unidirectional thrust, preventing jitter in the mover unit during movement and improving the precision of mover unit control, thereby meeting the real-time requirements of the power grid. Simultaneously, the synchronization of the magnetic field period of the permanent magnet and the magnetic field period generated by the mover coil ensures that the traveling wave magnetic field generated by the mover coil is synchronized with the permanent magnet magnetic field, eliminating periodic reluctance fluctuations caused by phase differences between the two, thereby reducing the impact of reluctance on the movement of the mover unit.

[0064] In some embodiments, the control unit 3 is used to adjust the motion mode of multiple moving subunits based on the grid load.

[0065] In some embodiments, the motion modes include synchronous motion modes, asynchronous motion modes, and periodic cyclic motion modes.

[0066] The synchronous motion mode is used to characterize that at least one moving sub-unit performing the synchronous motion mode performs the same motion at the same time, including rising at the same speed or falling at the same speed.

[0067] The operating logic of the synchronous motion mode is based on unified scheduling and coordinated action. For example, when the gravity energy storage system includes only one set of stator rail assemblies, the control unit 3 outputs a unified adjustment command to the drive modules of all participating moving units. Each drive module responds simultaneously and outputs the same driving or braking force, causing the moving units to be equidistantly arranged and driving the weight blocks to rise or fall simultaneously at the same speed. The rising process belongs to the energy storage mode, which transfers the weight blocks from a lower position to a higher energy storage platform. The falling process belongs to the discharge mode, which transfers the weight blocks from a higher position to a lower discharge platform. During this process, power can be generated and output to the grid. When the gravity energy storage system includes multiple sets of stator rail assemblies, with one moving unit on each set of stator rail assemblies, the control unit 3 outputs a unified adjustment command to the drive modules of all participating moving units. Each drive module outputs the same driving or braking force, causing the moving units on each set of stator rail assemblies to drive the weight blocks to rise or fall simultaneously at the same speed.

[0068] Asynchronous motion mode is used to characterize at least one moving sub-unit that executes asynchronous motion mode to start moving sequentially according to a preset time sequence.

[0069] The motion logic of asynchronous motion mode is based on time-sharing and sequential connection. For example, when the gravity energy storage system includes only one set of stator rail assemblies, the control unit 3 can send adjustment commands to the drive modules of each moving subunit sequentially according to a preset time sequence, so that each moving subunit drives the weight block to complete the lifting and lowering action in sequence. When the gravity energy storage system includes multiple sets of stator rail assemblies, and each set of stator rail assemblies has one moving subunit, the control unit 3 can send adjustment commands to the drive modules of each moving subunit sequentially according to a preset time sequence, so that each moving subunit drives the weight block to complete the lifting and lowering action in sequence.

[0070] A periodic cyclic motion pattern is used to characterize at least one moving sub-unit that performs a periodic cyclic motion pattern according to a fixed cyclic trajectory and a fixed sequence.

[0071] The operational logic of the periodic cyclical motion mode is based on regular cycles and stable controllability. For example, when the gravity energy storage system consists of only one set of stator rail assemblies, the control unit 3 sends adjustment commands to the drive modules of each moving subunit based on a preset motion cycle. Each moving subunit receives the adjustment commands according to a fixed cycle, causing it to drive the weight block to move along the stator rail assembly in a fixed cyclic trajectory and sequence. The preset motion cycle includes the rising and falling trajectory of the moving subunit on the stator rail assembly, the time allocation, and the sequence of actions.

[0072] In a gravity energy storage system comprising multiple sets of stator guide rail assemblies, each with a moving unit, the control unit 3 sends adjustment commands to the drive modules of each moving unit based on a preset motion cycle. Each moving unit receives the adjustment commands at a fixed cycle, causing it to drive the weight block along multiple stator guide rail assemblies in a fixed cyclic trajectory and sequence. The preset motion cycle includes the moving unit's lifting and lowering trajectory across the multiple stator guide rail assemblies, time allocation, and action sequence.

[0073] In one feasible implementation, the fixed cyclic trajectory includes: from ascending to energy storage to positioning and then to descending to generate electricity; or, from ascending to energy storage to removing the heavy block to lateral transfer to descending to wait for transport and then adding the heavy block; or, from descending to generate electricity to removing the heavy block to lateral transfer to ascending to wait for transport and then adding the heavy block.

[0074] The moving unit moves along a fixed cyclic trajectory, which can precisely control the speed and position of the heavy object, thereby accurately adjusting the moving unit to store or discharge energy, and thus meet the needs of the power grid.

[0075] In this embodiment, the control unit in the gravity energy storage system adjusts the motion mode of the moving sub-unit carrying the weight block, causing the moving sub-unit to move along the stator guide rail assembly, thereby meeting the diverse operational needs of complex power grids. Simultaneously, multiple moving sub-units overcome the low energy density of gravity energy storage systems with a single moving sub-unit, improving the system's practicality. By integrating the permanent magnet and the moving sub-coil onto the drive module, multiple moving sub-units operate independently and can flexibly combine to meet the diverse needs of the power grid. Furthermore, compared to moving sub-coils on long stator guide rails, the construction cost of the stator guide rails can be significantly reduced. Since the moving sub-coil and permanent magnet move with the moving sub-units, maintenance only requires processing the moving sub-units, thus improving maintenance efficiency.

[0076] In some embodiments, the moving subunit may further include a guide module, which is formed by combining a rolling guide rail and a sliding bearing, and is used to adjust the movement clearance between the moving subunit and other moving subunits.

[0077] The guiding module, by adjusting the movement gap between moving units and other moving units, can prevent collisions between adjacent moving units, thereby improving the safety of moving unit movement in the gravity energy storage system. Simultaneously, appropriate gap design allows sufficient response and adjustment time for the control unit, thus improving the reliability and stability of multi-moving unit coordinated movement. Furthermore, the guiding module, constructed from a combination of rolling guides and sliding bearings, allows for mechanical preload adjustment of the movement gap between multiple moving units, eliminating the need for electromagnetic force control, reducing system complexity, and ensuring the long-term stable operation of the gravity energy storage system.

[0078] In some embodiments, the moving subunit may further include a fixing module for connecting the moving subunit and the weight block together, which can prevent the weight block from falling accidentally, thereby improving the operational safety of the gravity energy storage system.

[0079] In some embodiments, the fixing module can be a high-strength alloy frame, which can be an integrated mounting carrier for the guide module and the drive module, or a connection structure for the moving subunit and the weight block, so as to achieve stable assembly of the two.

[0080] For example, Figure 2 This is a schematic diagram of the structure of a moving subunit provided in an embodiment of this disclosure. Figure 2 The moving subunit 11 includes a driving module 111, a guiding module 112, and a fixing module 113. Figure 2 It also includes a weight block 12 carried by the moving subunit 11, a position acquisition module 31, and a velocity acquisition module 32.

[0081] Figure 3This is a schematic diagram of another moving subunit provided in an embodiment of this disclosure. (See attached diagram.) Figure 3 As shown, the moving part unit 11 includes a drive module 111 and a fixed module 113. The drive module 111 includes a permanent magnet 1111, a moving part coil 1112, and a silicon steel sheet laminate 1113.

[0082] In some embodiments, the stator guide rail assembly 2 described above is the supporting foundation for the movement of the multi-moving sub-module 1, and may include a fixed stator guide rail 21, a movable stator guide rail 22, and a moving sub-module transfer slide rail 23.

[0083] The main body of the fixed stator guide rail 21 and the movable stator guide rail 22 is the mover structure of a switched magnetic flux linear motor.

[0084] The moving unit can move longitudinally on the fixed stator guide rail 21, that is, the moving unit can rise along the fixed stator guide rail 21 and the moving unit can descend along the fixed stator guide rail 21.

[0085] For example, Figure 4 This is a schematic diagram of the structure of a stator guide rail assembly provided in an embodiment of this disclosure, as shown below. Figure 4 As shown, the stator guide rail assembly 2 includes a fixed stator guide rail 21, a movable stator guide rail 22, and a mover transfer slide rail 23.

[0086] In some embodiments, the guide module is an adapter component on the side of the moving sub-unit. The guide structure of the guide module can be embedded in the guide groove of the fixed stator guide rail to support the moving sub-unit to move longitudinally on the fixed stator guide rail, and can also ensure the stability of the moving sub-unit as it moves up and down along the fixed stator guide rail.

[0087] In some embodiments, the fixed stator guide rail includes an upward fixed stator guide rail and a downward fixed stator guide rail, which serve as a carrier for the longitudinal movement of multiple moving units. The multiple moving units can move longitudinally on the upward fixed stator guide rail and the downward fixed stator guide rail.

[0088] The gravity energy storage system is equipped with independent upward and downward fixed stator rails, which can eliminate the risk of collision between moving units and eliminate the need for complex time-sharing to avoid opposing moving units, thus reducing control complexity. At the same time, the independent upward and downward fixed stator rails allow energy storage and discharge to occur simultaneously, improving the operating efficiency of the gravity energy storage system.

[0089] In some embodiments, the movable stator guide rail is located between a set of fixed stator guide rails, that is, between the upward fixed stator guide rail and the downward fixed stator guide rail, and the moving unit can move laterally on the movable stator guide rail.

[0090] In some embodiments, the movable stator guide rail can be docked with the corresponding fixed stator guide rail through a linear drive mechanism. After docking, it forms a continuous main motion track together with the fixed stator guide rail, allowing the moving unit to move along the track. In the non-docked state, it can cooperate with the moving unit transfer slide rail to provide connection conditions for the moving unit to transfer across the fixed stator guide rail.

[0091] In some embodiments, the fixed stator guide rail and the movable stator guide rail can be made of silicon steel and high-strength non-magnetic structural material. The silicon steel material can be used to fabricate the stator portion of the switched flux linear motor for energy conversion, while the high-strength non-magnetic structural material can be used to support the overall structure and to fabricate the guide grooves.

[0092] Silicon steel has high magnetic permeability and low loss characteristics, which can effectively enhance magnetic field guidance and reduce magnetic leakage, thereby improving the thrust efficiency of switched flux linear motors; by using high-strength non-magnetic structural materials to make the overall structure and guide groove, the deformation resistance of the guide rail can be improved.

[0093] In some embodiments, the mover transfer slide rail is connected to the drive motor via gears, and drives the moving stator guide rail to move via the drive rack, thereby driving the mover unit to move laterally.

[0094] In some embodiments, the mover transfer slide rail is disposed in the connection area between the fixed stator guide rail and the movable stator guide rail, and the track extends laterally. When the mover unit needs to be transferred between different fixed stator guide rails, the mover transfer slide rail can serve as an intermediate load-bearing track, supporting the lateral transfer of the combination of the movable stator guide rail, the mover unit, and the heavy block. It cooperates with the docking action of the movable stator guide rail to achieve track connection, thereby driving the movable stator guide rail to move.

[0095] The moving element transfer slide rail is connected to the drive motor via gears to drive the rack and pinion to move the moving stator guide rail. It has high positioning accuracy and can ensure precise docking between the fixed stator guide rail and the moving stator guide rail. At the same time, it can ensure the stability of the moving element unit and the heavy block during transfer, thus adapting to the lateral transfer requirements corresponding to different motion modes.

[0096] In some embodiments, the control unit is the core control hub of the gravity energy storage system, and may include a processing module, a position acquisition module, and a velocity acquisition module.

[0097] In some embodiments, the position acquisition module is located on the opposite side of the position where the weight block is placed in the moving subunit, and is used to acquire position data of multiple moving subunits.

[0098] In some embodiments, the velocity acquisition module can be integrated into the moving segment of the drive module. That is, when the moving segment moves, the velocity acquisition module can directly sense the change in the magnetic field of its own permanent magnet and output a pulse or analog signal proportional to the velocity to acquire velocity and acceleration data of multiple moving segments.

[0099] For example, the speed acquisition module can be a Hall speed sensor, a magnetoresistive sensor, etc.

[0100] In some embodiments, when the moving subunit performs motion mode movement, the position acquisition module and the velocity acquisition module can acquire the motion state data of each moving subunit in real time, and feed the motion state data back to the processing module of the control unit for consistency verification, so as to ensure that the motion state of the moving subunit is consistent with its corresponding motion mode and improve the accuracy of operation.

[0101] In some embodiments, the processing module is configured to determine the motion patterns of multiple moving sub-units based on the grid load, and to determine the driving force and braking force required to adjust the movement of the multiple moving sub-units based on position data, velocity data, acceleration data, and motion patterns.

[0102] In some embodiments, the processing module can be referred to as the core processor, which can be an embedded microcontroller unit (MCU) with built-in dynamic calculation models, hierarchical control algorithms, and motor control algorithms. The hierarchical control algorithm controls the moving sub-units, employing a hierarchical control architecture that combines low-level closed-loop control with high-level global scheduling. At the low level, closed-loop control of the moving sub-unit's position and velocity is achieved by real-time monitoring of operating status data, enabling rapid response control of the moving sub-units. At the high level, a multi-moving sub-unit global scheduling algorithm, including motion pattern matching and dynamic load allocation mechanisms, is designed based on a global motion scheduling strategy. The system is connected to the drive module, position acquisition module, and velocity acquisition module via a bus to achieve real-time regulation of the moving sub-unit's motion state in the gravity energy storage system.

[0103] In some embodiments, the speed acquisition module, position acquisition module, and processing module in the control unit can be independent of each other. For example, the speed acquisition module and position acquisition module can be located in... Figure 2 The location shown Figure 1 The control unit 3 shown may be a processing module used to control the motion mode of the moving subunit.

[0104] It should be understood that during the movement of the moving unit carrying the heavy block, friction, magnetic resistance, load fluctuations, etc., will inevitably cause deviations in the speed and acceleration of the moving unit. By monitoring the position, speed, and acceleration of the moving unit in real time, and determining the driving force and braking force required by the moving unit based on the real-time monitoring data and the target motion mode, the driving force and braking force can be made more in line with the current actual situation, thereby improving the accuracy and response speed of control, and thus better meeting the actual needs of the power grid.

[0105] The following embodiments provide a detailed description of how the processing module adjusts the motion modes of multiple moving sub-units based on the power grid load.

[0106] In some embodiments, the processing module is configured to determine that the motion mode of the plurality of moving sub-units remains unchanged when the grid load change rate is less than or equal to a first preset threshold.

[0107] When the grid load change rate is less than or equal to the first preset threshold, it means that the power demand of the grid is stable and the fluctuation of the grid can be ignored. At this time, keeping the motion mode of the moving sub-unit unchanged can maintain the stable energy exchange between the grid side and the energy storage side, and can enhance the stability of the gravity energy storage system. Furthermore, under stable operating conditions, maintaining the original motion mode can reduce the energy loss caused by speed changes, direction changes and other actions, thereby improving the energy conversion efficiency of the gravity energy storage system.

[0108] For example, the first preset threshold may be 5%, or it may be a set value or an empirical value.

[0109] In some embodiments, the processing module is configured to determine that the motion mode of the moving subunit is a periodic cyclic motion mode when the grid load change rate is greater than a first preset threshold and the grid load change rate is less than or equal to a second preset threshold. It should be understood that the first preset threshold is less than the second preset threshold.

[0110] For example, if the first preset threshold is 5%, the second preset threshold can be 1.5%.

[0111] When the grid load change rate exceeds the first preset threshold and is less than or equal to the second preset threshold, it means that the grid fluctuations are not negligible, but there are no sharp increases or decreases, only small fluctuations. By adopting a periodic cyclical operation mode, small-scale energy storage and discharge regulation can be continuously and stably completed, adapting to the actual grid load conditions.

[0112] In some embodiments, when the motion mode of the moving subunit is a periodic cyclic motion mode, the position acquisition module and the velocity acquisition module can acquire motion state data of each moving subunit and feed the motion state data back to the processing module of the control unit for calibration of the motion rhythm to ensure periodic stability.

[0113] In some embodiments, the processing module is used to determine that the motion mode of the multiple moving sub-units is a synchronous motion mode when the grid load change rate is greater than a second preset threshold.

[0114] When the grid load change rate exceeds the second preset threshold, it indicates a drastic, rapid, and significant change in power demand. At this point, the grid experiences substantial fluctuations, necessitating rapid energy storage or discharge. Employing a synchronous motion mode allows the moving unit to move continuously in one direction—either continuously rising to store energy or continuously falling to discharge—avoiding commutation losses and improving the system's response speed under emergency conditions.

[0115] In some embodiments, when the motion mode of the moving subunit is synchronous motion mode, the position acquisition module and the velocity acquisition module can acquire motion state data of each moving subunit and feed the motion state data back to the processing module of the control unit for consistency verification to ensure that the motion state of each moving subunit is without deviation.

[0116] In some embodiments, the processing module is used to determine that the motion mode of the multiple moving sub-units is an asynchronous motion mode when the grid load change rate is greater than a first preset threshold and the grid load quantization value is greater than a preset grid load peak value.

[0117] Among them, the grid load change rate is greater than the first preset threshold, and the grid load quantification value is greater than the preset grid load peak value, indicating that the grid load is at its peak at this time.

[0118] The preset peak load of the power grid is used to characterize the maximum critical load limit allowed for the safe and stable operation of the power grid system.

[0119] In one feasible implementation, the maximum load value that the power grid can stably bear can be obtained by multiplying the total rated power supply capacity of all power supply equipment in the area where the power grid is located, the overall comprehensive power factor of the power grid, and the maximum allowable load rate for safe operation of the power grid. This is the preset peak load of the power grid.

[0120] In another feasible implementation, the preset peak load of the power grid can be obtained by acquiring historical operating load data of the power grid over a long period of time, statistically analyzing the highest electricity load of each day, calculating its average value, and then combining the changing trend of the historical operating load data with a reasonable load growth reserve coefficient.

[0121] Understandably, when the grid load is at its peak, the fluctuations are chaotic, and the peak duration is unpredictable. By employing an asynchronous operation mode, real-time changes in grid load can be flexibly matched. The departure sequence and rate of the moving sub-units can be adjusted based on grid conditions, thereby achieving peak shaving. Furthermore, the failure of a single moving sub-unit will not affect the overall peak shaving process, improving operational reliability.

[0122] In some embodiments, the processing module is used to determine that the motion mode of the multiple moving sub-units is an asynchronous motion mode when the grid load change rate is less than or equal to a first preset threshold and the grid load quantization value is less than a preset grid load valley value.

[0123] Among them, the power grid load change rate is less than or equal to the first preset threshold, and the power grid load quantification value is less than the preset power grid load valley value, which is used to characterize the power grid in a low-valley stable state, that is, a low-load operation state.

[0124] When the power grid is in a stable, low-load state, by adopting an asynchronous operating mode, multiple power units can complete the energy storage in shifts and at different times, thus absorbing the surplus power of the power grid in a decentralized manner. This avoids the disruption of the original low-load steady-state operating environment of the power grid by drawing power all at once, thereby improving the energy storage stability of the power grid during low-load periods.

[0125] In some embodiments, the exercise mode also includes a group exercise mode, a mixed exercise mode, and a freely adjustable exercise mode.

[0126] Among them, the group motion mode is used to divide multiple motion sub-units into multiple motion sub-unit groups and independently control the motion of each motion sub-unit group. That is, different motion sub-unit groups can execute different motion modes.

[0127] The hybrid motion mode is used to employ one of three motion modes—synchronous, asynchronous, and periodic—for multiple moving sub-units at different time periods. It allows for dynamic adjustment of the motion mode of the moving sub-units at different time periods based on the grid load. For example, all moving sub-units can initially operate in synchronous motion mode and then switch to periodic motion mode.

[0128] The freely adjustable motion mode is used to control the motion of multiple moving sub-units based on the dynamic commands of the controller.

[0129] In some embodiments, the processing module is used to determine the motion mode of multiple moving sub-units as a grouped motion mode when there are multiple energy storage tasks or multiple power generation tasks in the power grid.

[0130] The operational logic of the grouped motion mode is based on group management and independent operation. Specifically, the control unit groups the moving sub-units. After grouping, the drive modules of the moving sub-units within each group receive unified adjustment commands, and the drive modules move synchronously to achieve consistency in the motion mode within the group. For example, a fixed stator guide rail and some moving sub-units form a group for maintenance work, while the remaining fixed stator guide rails and the remaining moving sub-units form a group for other tasks.

[0131] In some embodiments, when the motion mode of the moving subunit is a grouped motion mode, the moving stator guide rail of the stator guide rail assembly can adjust its position according to the grouping strategy of the moving subunit, so that each group of moving subunits is in a suitable guide rail segment. At the same time, the position acquisition module and the velocity acquisition module can monitor the position and velocity of each group of moving subunits in real time, ensuring that the motion boundary between each group is clear and avoiding conflicts.

[0132] In some embodiments, the processing module is used to determine that the motion mode of the multiple moving sub-units is a mixed motion mode when the grid load change rate is greater than a first preset threshold, less than or equal to a second preset threshold, and the grid load quantization value is greater than a preset load threshold.

[0133] It should be noted that when the grid load change rate is greater than the first preset threshold, less than or equal to the second preset threshold, and the quantified grid load value is greater than the preset load threshold, the gravity energy storage system needs to balance short-term high-efficiency energy storage with long-term stable output to meet grid demand. The preset load threshold can be an empirical value, a fixed value, or a value set based on the engineering parameters and grid connection requirements of the gravity energy storage system.

[0134] The operation logic of the hybrid motion mode is based on multi-mode fusion and optimal adaptation. The control unit can determine the motion mode to be used at different stages according to the priority of energy storage tasks, time requirements, and load characteristics, and send adjustment commands to the drive modules of each moving unit to achieve seamless switching between various modes such as synchronous motion mode, asynchronous motion mode, group motion mode, and periodic cyclic motion mode. For example, when considering both short-term high-efficiency energy storage and long-term stable output, the gravity energy storage system can first quickly complete the lifting and energy storage of multiple moving units in synchronous motion mode, and then switch to periodic cyclic motion mode to achieve stable power generation output before completing a complete power generation or energy storage process.

[0135] In some embodiments, the processing module is used to determine that the motion mode of multiple moving sub-units is a freely adjustable motion mode when the grid load change rate is greater than a first preset threshold within a preset time period.

[0136] If the grid load change rate exceeds the first preset threshold within a preset time period, it is used to characterize the inability of the current gravity energy storage system to achieve stable and orderly energy storage and stable and continuous discharge.

[0137] The operational logic of the free adjustment mode is based on real-time sensing, manual coordination, and dynamic adaptation. This motion mode is a response mode to special load changes that occur or are about to occur in the power grid. At this time, the existing motion mode cannot meet the power grid load demand, and the control unit switches the motion mode to the free adjustment mode. The staff can output personalized adjustment commands to the drive modules of each moving subunit according to the power grid load demand. Each drive module responds simultaneously and outputs the corresponding driving force and braking force, so that the moving subunit drives the weight block to move.

[0138] For example, special load changes may occur during geomagnetic storms (when the power grid experiences large-scale voltage fluctuations) or when a new power plant is about to be connected to the grid.

[0139] In some embodiments, when the motion mode of the moving subunit is freely adjustable, the position acquisition module and the velocity acquisition module can acquire the motion state data of each moving subunit and feed the motion state data back to the processing module of the control unit. The processing module monitors the position of each moving subunit in conjunction with the dynamic model to ensure that there is no collision between the moving subunits.

[0140] By combining synchronous motion mode, asynchronous motion mode and periodic cyclic motion mode in different ways, the system can meet the needs of different operating conditions and complex power grids, thus improving its practicality.

[0141] This disclosure also provides a method for adjusting motion modes. Figure 5 This is a flowchart illustrating a motion mode adjustment method provided in an embodiment of this disclosure. Figure 5 The method includes: S501, Adjust the motion modes of multiple moving sub-units, including synchronous motion mode, asynchronous motion mode and periodic cyclic motion mode.

[0142] Among them, synchronous motion mode is used to characterize at least one moving sub-unit performing synchronous motion mode to perform the same motion at the same time, the same motion including rising at the same speed or falling at the same speed; asynchronous motion mode is used to characterize at least one moving sub-unit performing asynchronous motion mode to start moving sequentially according to a preset time sequence; periodic cyclic motion mode is used to characterize at least one moving sub-unit performing periodic cyclic motion mode to move according to a fixed cyclic trajectory and a fixed sequence.

[0143] In some embodiments, the exercise mode also includes a group exercise mode, a mixed exercise mode, and a freely adjustable exercise mode.

[0144] The above embodiments provide a detailed description of the motion modes, which will not be repeated here.

[0145] In some embodiments, the motion mode of the moving sub-unit can be determined based on the grid load. By inputting the position data, velocity data, acceleration data, and motion mode of the heavy block into the dynamic model, the braking force and driving force required for the motion of the heavy block output by the dynamic model can be obtained, thereby adjusting the motion mode of the heavy block based on the braking force and driving force.

[0146] In this embodiment, the motion mode of the moving sub-unit is determined based on the grid load, so that the moving sub-unit can move in the gravity energy storage system, thereby meeting the diverse operational needs of complex power grids.

[0147] In some embodiments, an electronic device is provided. This electronic device may be the execution subject in the above method embodiments, used to execute the method steps in the above method flow. Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure, such as... Figure 6 As shown, the electronic device 600 includes a processor 601, a memory 602, a communication interface 603, and a bus 604. The processor 601, the memory 602, and the communication interface 603 can be connected via the bus 604.

[0148] The control center of the 601 ground monitoring station or operating equipment can be a general-purpose central processing unit (CPU) or other general-purpose processors. The general-purpose processor can be a microprocessor or any conventional processor.

[0149] As an example, processor 601 may include one or more CPUs, for example Figure 6 CPU 0 and CPU 1 are shown in the diagram.

[0150] The memory 602 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0151] In one possible implementation, the memory 602 may exist independently of the processor 601. The memory 602 can be connected to the processor 601 via a bus 604 and is used to store data, instructions, or program code. When the processor 601 calls and executes the instructions or program code stored in the memory 602, it can implement the service data acquisition method provided in this embodiment of the disclosure.

[0152] In another possible implementation, the memory 602 can also be integrated with the processor 601.

[0153] Communication interface 603 is used for connecting the electronic device to other devices via a communication network, which may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. Communication interface 603 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0154] Bus 604 can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0155] It should be pointed out that, Figure 6 The structure shown does not constitute a limitation on the electronic device 600, except Figure 6In addition to the components shown, the electronic device 600 may include more or fewer components than those shown, or combine certain components, or have different component arrangements.

[0156] As can be seen, the above mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the embodiments of this application provide corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the modules and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0157] This application embodiment can divide the operating equipment control device into functional modules according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0158] Figure 7 This is a schematic diagram of a motion mode adjustment device provided in an embodiment of this disclosure. Figure 7 As shown, the motion mode adjustment device 700 includes: an acquisition module 701, a processing module 702, and an adjustment module 703.

[0159] The acquisition module 701 is used to acquire the grid load, the position data of the heavy object, the velocity data of the heavy object, and the acceleration data of the heavy object. The grid load includes the grid load change rate and the grid load quantization value.

[0160] Processing module 702 is used to determine the target motion pattern of the heavy block based on the power grid load.

[0161] The processing module 702 has a built-in dynamic model, which is used to input position data, velocity data, acceleration data and target motion mode into the dynamic model to obtain the braking force and driving force required for the motion of the heavy block output by the dynamic model.

[0162] The processing module 702 may be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor may include an application processor and a baseband processor. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0163] The adjustment module 703 is used to adjust the motion mode of the weight block to the target motion mode based on the braking force and driving force.

[0164] The motion mode adjustment device provided in this disclosure can execute the methods shown in the above method embodiments. Its implementation principle and beneficial effects can be found in the relevant descriptions in the method embodiments, and will not be repeated here. Furthermore, each module in the above motion mode adjustment device can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the electronic device in hardware form, or stored in the memory of the electronic device in software form, so that the processor can call and execute the operations corresponding to each module.

[0165] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0166] This disclosure also provides a chip for executing instructions, which is used to execute the motion mode adjustment method described in the above embodiments.

[0167] This disclosure also provides a computer-readable storage medium storing computer instructions. When these computer instructions are executed by a processor, they are used to implement the technical solution of the motion mode adjustment method described in the above embodiments. Specifically, when the computer instructions are executed by a processor, the electronic device can perform the technical solution of the motion mode adjustment method described in the above embodiments.

[0168] This disclosure also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and when the at least one processor executes the computer program, it can implement the technical solution of the motion mode adjustment method in the above embodiments.

[0169] The aforementioned computer-readable storage media can be implemented using any type of volatile or non-volatile storage device or a combination thereof. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), etc.

[0170] Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can take many forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). Computer-readable storage media may be any available medium accessible to general-purpose or special-purpose computers.

[0171] An exemplary computer-readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the computer-readable storage medium can exist as discrete components in an electronic control unit or main control device; this disclosure does not limit this approach.

[0172] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0173] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0174] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The aforementioned modular unit can be implemented in hardware or in a combination of hardware and software functional units.

[0175] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this disclosure.

[0176] It should be understood that the steps of the method disclosed in the embodiments of this disclosure can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0177] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0178] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The above embodiments only illustrate several implementation methods of this disclosure, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this patent disclosure. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the appended claims.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit them. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A gravity energy storage system, characterized in that, The gravity energy storage system includes a multi-motion submodule, a stator rail assembly, and a control unit; The multi-moving submodule includes multiple moving units, each moving unit including a drive module, the drive module consisting of a permanent magnet and a moving coil; a weight block is mounted on the moving unit; the moving unit moves on the stator guide rail assembly; In energy storage mode, the moving unit rises along the stator guide rail assembly; in power generation mode, the moving unit descends along the stator guide rail assembly to supply power to the grid. The control unit is used to control the motion modes of the plurality of moving subunits; the motion modes include synchronous motion mode, asynchronous motion mode, periodic cyclic motion mode, grouped motion mode, and freely adjustable motion mode; The synchronous motion mode is used to characterize that at least one moving sub-unit performing the synchronous motion mode performs the same motion at the same time, and the same motion includes rising at the same speed or falling at the same speed. The asynchronous motion mode is used to characterize at least one moving sub-unit that executes the asynchronous motion mode to start moving sequentially according to a preset time sequence; The periodic cyclic motion pattern is used to characterize at least one moving sub-unit that performs the periodic cyclic motion pattern to move according to a fixed cyclic trajectory and a fixed sequence. The grouped motion mode is used to divide the multiple moving sub-units into multiple moving sub-unit groups and independently control the motion of each moving sub-unit group; The freely adjustable motion mode is used to control the motion of the multiple moving sub-units based on the dynamic commands of the controller; The control unit is used to determine that the motion mode of the plurality of moving subunits is a periodic cyclic motion mode when the grid load change rate is greater than a first preset threshold and the grid load change rate is less than or equal to a second preset threshold. The control unit is configured to determine that the motion mode of the plurality of moving subunits is a synchronous motion mode when the grid load change rate is greater than the second preset threshold. The control unit is configured to determine that the motion mode of the plurality of moving subunits is asynchronous motion mode when the grid load change rate is less than or equal to the first preset threshold and the grid load quantization value is less than the preset grid load valley value. The control unit is used to determine the motion mode of the multiple moving subunits as a group motion mode when there are multiple energy storage tasks or multiple power generation tasks in the power grid. The control unit is configured to determine that the motion mode of the plurality of moving subunits is a freely adjustable motion mode if the power grid load change rate is greater than the first preset threshold within a preset time period.

2. The gravity energy storage system according to claim 1, characterized in that, The fixed cyclic trajectory includes: From rising energy storage to stationary operation and then to falling power generation; or, From ascending energy storage to removing the heavy block, then to lateral transfer, then to descending for transport, and then to adding the heavy block; or... From lowering to generate electricity, to removing the heavy block, to horizontal transfer, to rising for transport, and then to adding the heavy block.

3. The gravity energy storage system according to claim 1, characterized in that, The stator guide rail assembly includes a fixed stator guide rail, a movable stator guide rail, and a moving stator transfer slide rail; The fixed stator guide rail includes an upward fixed stator guide rail and a downward fixed stator guide rail, and the plurality of moving sub-units move longitudinally on the upward fixed stator guide rail and the downward fixed stator guide rail; The plurality of moving sub-units move laterally on the movable stator guide rail; The moving stator guide rail is connected to the drive motor via gears, and drives the moving stator guide rail to move by driving the rack matched with the gears.

4. The gravity energy storage system according to any one of claims 1-3, characterized in that, The control unit includes a processing module, a position acquisition module, and a speed acquisition module; The position acquisition module is used to acquire the position data of the plurality of moving subunits; The velocity acquisition module is used to acquire velocity and acceleration data of the multiple moving subunits; The processing module is used to adjust the motion modes of the multiple moving subunits; The processing module is further configured to determine the driving force and braking force required to adjust the movement of the plurality of moving subunits based on the position data, the velocity data, the acceleration data, and the motion pattern.

5. The gravity energy storage system according to claim 1, characterized in that, The moving subunit also includes a guide module, which is composed of a rolling guide rail and a sliding bearing, and is used to adjust the movement gap between the moving subunit and other moving subunits.

6. A method for adjusting motion patterns, characterized in that, The method, applied to the gravity energy storage system according to any one of claims 1-5, comprises: Adjust the motion modes of multiple moving sub-units, including synchronous motion mode, asynchronous motion mode, periodic cyclic motion mode, grouped motion mode, and freely adjustable motion mode; The synchronous motion mode is used to characterize that at least one moving sub-unit performing the synchronous motion mode performs the same motion at the same time, and the same motion includes rising at the same speed or falling at the same speed. The asynchronous motion mode is used to characterize at least one moving sub-unit that executes the asynchronous motion mode to start moving sequentially according to a preset time sequence; The periodic cyclic motion pattern is used to characterize at least one moving sub-unit that performs the periodic cyclic motion pattern to move according to a fixed cyclic trajectory and a fixed sequence. The grouped motion mode is used to divide the multiple moving sub-units into multiple moving sub-unit groups and independently control the motion of each moving sub-unit group; The freely adjustable motion mode is used to control the motion of the multiple moving sub-units based on dynamic commands from the controller.

7. An electronic device, characterized in that, include: A memory and at least one processor; the memory and the processor are communicatively connected; the memory is used to store computer program code; The computer program code includes computer instructions, and when the processor executes the computer instructions, it performs the motion mode adjustment method as described in claim 6.

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