A gravity energy storage system

Abstract

The present disclosure provides a gravity energy storage system, relates to the technical field of energy storage, and can avoid the problem of serious mechanical wear. The gravity energy storage system comprises a support frame structure, a stator track, a linear motor system, a mover horizontal transfer system and a central control system. The support frame structure comprises an upper platform and a lower platform. The upper platform is used for receiving and storing the lifted heavy blocks. The lower platform is used for receiving and storing the lowered heavy blocks. The linear motor system comprises an energy storage linear motor and a discharge linear motor. The mover horizontal transfer system comprises an upper stator track, a lower stator track, an upper horizontal transfer rail and a lower horizontal transfer rail. The central control system is used for controlling the power supply switching and the rail switching of the mover trolley, transferring the mover trolley from the energy storage linear motor to the discharge linear motor, or transferring the mover trolley from the discharge linear motor to the energy storage linear motor.

Description

Technical Field

[0001] This disclosure relates to the field of energy storage technology, and in particular to a gravity energy storage system. Background Technology

[0002] Gravity energy storage, as a physical energy storage method, has received widespread attention due to its advantages such as long lifespan, high efficiency, and environmental friendliness. It mainly utilizes the gravitational potential energy stored by objects at high altitudes to store energy, and drives generators to generate electricity when needed by their falling.

[0003] However, existing gravity energy storage technologies mostly use wire rope winch systems, which suffer from severe mechanical wear. Summary of the Invention

[0004] This disclosure provides a gravity energy storage system that avoids the problem of severe mechanical wear.

[0005] To achieve the above objectives, the embodiments of this disclosure adopt the following technical solutions: In the first aspect, a gravity energy storage system is provided, which includes: a support frame structure, a stator track, a linear motor system, a mover horizontal transfer system, and a central control system. The support frame structure includes an upper platform and a lower platform. The upper platform is used to receive and store the lifted heavy blocks, and the lower platform is used to receive and store the lowered heavy blocks. The linear motor system includes an energy storage linear motor and a discharge linear motor. The energy storage linear motor drives the moving trolley loaded with the heavy blocks from the lower platform to the upper platform, and the discharge linear motor drives the moving trolley loaded with the heavy blocks from the upper platform to the lower platform. The moving horizontal transfer system includes an upper stator rail, a lower stator rail, an upper horizontal transfer guide rail, and a lower horizontal transfer guide rail. The upper stator rail moves along the upper horizontal transfer guide rail between the upper end of the energy storage linear motor and the upper end of the discharge linear motor. The lower stator rail moves along the lower horizontal transfer guide rail between the lower end of the energy storage linear motor and the lower end of the discharge linear motor. The central control system is used to control the power supply switching and guide rail switching of the moving trolley, transferring the moving trolley from the energy storage linear motor to the discharge linear motor, or transferring the moving trolley from the discharge linear motor to the energy storage linear motor.

[0006] In this solution, compared with existing gravity energy storage systems that use gear racks, wire ropes, or hoisting mechanisms, the use of energy storage linear motors and discharge linear motors to drive the moving trolley for lifting and lowering reduces intermediate mechanical rotation links and avoids mechanical wear problems. Furthermore, by controlling the power supply switching and guide rail switching of the moving trolley through a central control system, the moving trolley can maintain continuity, reliability, and controllability during horizontal transport, avoiding operational risks caused by misalignment of power supply terminals or guide rails.

[0007] In one possible implementation of the first aspect, power supply switching can be achieved based on inverter power control corresponding to the energy storage linear motor and inverter power control corresponding to the discharge linear motor. The power supply switching satisfies the following control relationship: ; in, This indicates the power transmitted during the power supply switching process; This indicates the inverter power corresponding to the energy storage linear motor; This indicates the inverter power corresponding to the linear discharge motor. Indicates the time of power supply switching; This represents the switching time constant.

[0008] Power supply switching is achieved by using the inverter power corresponding to the energy storage linear motor and the inverter power corresponding to the discharge linear motor. This avoids power outages and overcurrent surges caused by mechanical switches, thereby improving the safety and reliability of power supply switching. By selecting the smaller of the inverter power corresponding to the discharge linear motor and the inverter power corresponding to the energy storage linear motor as a benchmark, the transmission power during power supply switching gradually increases, avoiding voltage spikes and drops on the DC bus caused by sudden power changes. This provides stable DC power support for the moving trolley during transport.

[0009] In another possible implementation of the first aspect, the guide rail switching is achieved based on the position error control of the moving trolley, where the position error is the difference between the target position and the actual position of the moving trolley.

[0010] By controlling the positional error of the moving trolley to switch the guide rails, collisions and derailments caused by premature or excessive switching can be avoided, thus extending the service life of the guide rails.

[0011] In another possible implementation of the first aspect, the guide rail switching satisfies the following control relationship: ; in, This indicates the error in the guide rail docking position; Indicates positional error; Indicates the first PID control parameter; Indicates the second PID control parameter; This represents the third PID control parameter.

[0012] The PID control relationship is used to correct the guide rail docking position error. Specifically, the proportional, integral and derivative terms work together to correct the guide rail docking position error, which can make the guide rail docking transition smooth and stable, thereby improving the accuracy and reliability of docking.

[0013] In another possible implementation of the first aspect, the central control system is also used to control the power supply switching, guide rail switching, and position and speed acquisition device switching of the moving trolley, transferring the moving trolley from the energy storage linear motor to the discharge linear motor, or vice versa. The position and speed acquisition device switching is achieved based on the position and speed signals of the moving trolley.

[0014] By synchronously coordinating power supply switching and guide rail switching, the system ensures that the trolley remains powered and does not jam when crossing mechanical joints. At the same time, it switches the corresponding position and speed acquisition devices to avoid signal corruption or loss. Through the coordinated control of power supply switching, guide rail switching, and position and speed acquisition device switching, the trolley can maintain continuity, reliability, and controllability during horizontal transport, vertical drive, and reconnection to the linear motor, avoiding operational risks caused by power outages, guide rail misalignment, or sensor mismatch. This improves the continuity and reliability of the gravity energy storage system.

[0015] In another possible implementation of the first aspect, the switching of the position and velocity acquisition device satisfies the following control relationship: ; in, This indicates the fusion power corresponding to the final position; Indicates the power of the grating sensor; Indicates the power of the magnetic grating sensor; Indicates the power of the observer; , , These represent the weighting coefficients corresponding to the power of the optical grating sensor, the magnetic grating sensor, and the observer, respectively. The optical grating sensor and the magnetic grating sensor are used to acquire the position signal of the moving trolley, and the observer is used to acquire the velocity signal of the moving trolley.

[0016] By switching position and velocity acquisition devices using a weighted fusion algorithm, the final output position and velocity signals can be continuous and smooth, avoiding data jumps caused by traditional hard switching, thereby ensuring the stability and reliability of the trolley control during transport.

[0017] In another possible implementation of the first aspect, the central control system is used to drive multiple motorized trolleys to move sequentially within an energy storage linear motor or a discharge linear motor based on a multi-motor cooperative control algorithm. The multi-motor cooperative control algorithm includes virtual linkage control, dynamic safety distance control, and thrust distribution control. Specifically, virtual linkage control controls the interaction force between two adjacent motorized trolleys; dynamic safety distance control controls the dynamic safety distance between two adjacent motorized trolleys; and thrust distribution control controls the thrust allocated to each motorized trolley.

[0018] By implementing serial movement of multiple movers based on virtual linkage control, dynamic safety distance control, and thrust distribution control, it is possible to ensure that adjacent movers maintain a rigid relative position and velocity relationship, ensure a dynamic safety distance between adjacent movers, and ensure thrust distribution among each mover, thereby improving the safety and reliability of serial movement of multiple movers.

[0019] In another possible implementation of the first aspect, virtual linkage control is based on the position and velocity of the moving trolley and adjacent moving trolleys. Virtual linkage control satisfies the following control relationship: ; in, Indicates the first The little car and the first Virtual linkage force between individual moving carts; Represents the virtual elasticity coefficient; Indicates the virtual damping coefficient; Indicates the first The position of the moving small car; Indicates the first The position of the moving small car; This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley; Indicates the first The speed of the moving small car; Indicates the first The speed of the moving small car.

[0020] Virtual linkage control based on the position and velocity of the moving trolley and adjacent moving trolleys can prevent collisions or stretching between adjacent moving trolleys, thereby improving the operational stability and safety of multiple moving trolleys. By maintaining a safe distance between moving trolleys using a virtual elastic coefficient and suppressing relative oscillations and impacts between adjacent moving trolleys using a virtual damping coefficient, the calculated virtual linkage force can prevent rear-end collisions or excessive stretching between adjacent moving trolleys, thus improving the operational stability, coordination accuracy, and overall system safety of multiple moving trolleys.

[0021] In another possible implementation of the first aspect, dynamic safety distance control is based on the maximum operating speed of the moving trolley and its emergency braking acceleration. Dynamic safety distance control satisfies the following relationship: ; in, This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley; This indicates the maximum operating speed of the moving trolley; Indicates emergency braking acceleration; Indicates the response time of the gravity energy storage system; This indicates the preset safety margin.

[0022] Dynamic safety distance control, achieved through the maximum operating speed and emergency braking acceleration of the trolley, allows the dynamic safety distance to scale dynamically with the trolley's speed, improving the safety and reliability of the trolley's operation. By comprehensively considering the emergency braking process, system response delay, and safety margin in calculating the safety distance, the calculated dynamic safety distance more closely reflects actual operating conditions. Furthermore, the calculated dynamic safety distance not only ensures safe braking at maximum speed but also compensates for travel distance during system response delays and provides a safety margin, effectively mitigating collision risks and enhancing system operational safety and robustness.

[0023] In another possible implementation of the first aspect, thrust distribution control is used to control the thrust distribution of multiple mover trolleys by maximizing the value of an objective function; the objective function satisfies the following relationship: ; in, This represents the value of the objective function; This indicates the output power of the gravity energy storage system; Indicates the penalty coefficient; This indicates the actual distance between multiple moving trolleys; This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley.

[0024] By constructing an objective function that includes a safety distance deviation penalty term, the operating distance can be constrained while ensuring system output performance, effectively avoiding safety risks, balancing work efficiency and operational safety, and improving the overall stability of the system.

[0025] In another possible implementation of the first aspect, the mover trolley includes a permanent magnet and a mover coil.

[0026] The mover trolley includes a permanent magnet and a mover coil, which together with the stator rail made of magnetically conductive material constitute a flux-switching permanent magnet synchronous linear motor. Multiple mover trolleys operate independently, making their operation more flexible. Compared to the mover coil on the long stator rail, this significantly reduces the construction cost of the stator rail. The mover coil and permanent magnet move with the mover trolley, so during maintenance, only the mover trolley needs to be addressed, thus improving maintenance efficiency. Attached Figure Description

[0027] 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.

[0028] 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 illustrating the process of power supply switching, guide rail switching, and position and speed acquisition device switching provided in an embodiment of this disclosure. Figure 3 A schematic diagram of a multi-motor serial cooperative control provided in an embodiment of this disclosure; Figure 4 A topology diagram of energy sharing via a shared DC bus provided in this embodiment of the disclosure; Figure 5 A schematic diagram of the operation of a moving trolley under energy storage conditions provided in an embodiment of this disclosure; Figure 6 A schematic diagram of the operation of a moving trolley under discharge conditions provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of the serial operation of a multi-movement sub-cart, provided as an embodiment of the present disclosure. Figure 8 This is a schematic diagram of another multi-movement sub-car in serial operation provided by an embodiment of this disclosure. Detailed Implementation

[0029] 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.

[0030] 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 numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0031] Gravity energy storage, as a physical energy storage method, has attracted widespread attention due to its advantages such as long lifespan, high efficiency, and environmental friendliness. It primarily utilizes the gravitational potential energy stored in objects at high altitudes to store energy, and then drives a generator to produce electricity when needed by the object's descent. Currently, the implementation or exploration of gravity energy storage mainly involves pumped hydro storage and solid weighted block energy storage. Pumped hydro storage is characterized by its large capacity, but it is highly dependent on terrain and water resources, has limited site selection, and a long construction period. Therefore, solid weighted blocks are currently the most commonly used method for gravity energy storage. Existing gravity energy storage technologies mostly use winches to lift heavy objects, which suffers from low efficiency, wire rope wear, and difficulties in capacity expansion. Although linear motor-driven gravity energy storage systems have been studied, they still have drawbacks such as complex multi-motor cooperative control, low system efficiency, and high cost of capacity expansion.

[0032] To address the aforementioned issues, this disclosure provides a gravity energy storage system, which includes a support frame structure, a stator track, a linear motor system, a mover horizontal transport system, and a central control system. The support frame structure includes an upper platform and a lower platform. The upper platform is used to receive and store the lifted heavy blocks, and the lower platform is used to receive and store the lowered heavy blocks. The linear motor system includes an energy storage linear motor and a discharge linear motor. The energy storage linear motor drives the moving trolley loaded with the heavy blocks from the lower platform to the upper platform, and the discharge linear motor drives the moving trolley loaded with the heavy blocks from the upper platform to the lower platform. The moving horizontal transfer system includes an upper stator rail, a lower stator rail, an upper horizontal transfer guide rail, and a lower horizontal transfer guide rail. The upper stator rail moves along the upper horizontal transfer guide rail between the upper end of the energy storage linear motor and the upper end of the discharge linear motor. The lower stator rail moves along the lower horizontal transfer guide rail between the lower end of the energy storage linear motor and the lower end of the discharge linear motor. The central control system is used to control the power supply switching and guide rail switching of the moving trolley, transferring the moving trolley from the energy storage linear motor to the discharge linear motor, or transferring the moving trolley from the discharge linear motor to the energy storage linear motor.

[0033] In this solution, compared with existing gravity energy storage systems that use gear racks, wire ropes, or hoisting mechanisms, the use of energy storage linear motors and discharge linear motors to drive the moving trolley for lifting and lowering reduces intermediate mechanical rotation links and avoids mechanical wear problems. Furthermore, by controlling the power supply switching and guide rail switching of the moving trolley through a central control system, the moving trolley can maintain continuity, reliability, and controllability during horizontal transport, avoiding operational risks caused by misalignment of power supply terminals or guide rails.

[0034] Figure 1 This is a schematic diagram of a gravity energy storage system provided in an embodiment of this disclosure. Figure 1As shown, the gravity energy storage system includes a support frame structure 1, a linear motor system 2, a mover horizontal transfer system 3, a mover trolley 4, and a central control system 5. The support frame structure 1 includes an upper platform 11 and a lower platform 12; the linear motor system 2 includes an energy storage linear motor 21 and a discharge linear motor 22; and the mover horizontal transfer system 3 includes an upper stator track 31, a lower stator track 32, an upper horizontal transfer guide rail 33, and a lower horizontal transfer guide rail 34. Figure 1 It also includes a heavy block 6.

[0035] In some embodiments, the support frame structure 1 constitutes the overall architecture of the gravity energy storage system. The upper platform 11 is used to support and store the lifted heavy block 6, and the lower platform 12 is used to support and store the lowered heavy block 6.

[0036] like Figure 1 As shown, both the upper platform 11 and the lower platform 12 are located on the right side of the overall architecture of the gravity energy storage system. In some embodiments, the upper platform 11 and the lower platform 12 may also be located on the left side of the overall architecture of the gravity energy storage system, or the upper platform 11 and the lower platform 12 may be located on opposite sides of the overall architecture of the gravity energy storage system. Figure 1 The positions of the upper platform 11 and the lower platform 12 shown are merely examples, and the positions of the upper platform 11 and the lower platform 12 are not specifically limited in this embodiment.

[0037] In some embodiments, a push plate may also be provided above the upper platform 11 and the lower platform 12, such as... Figure 1 The upper push plate 13 and the lower push plate 14 are shown. The upper push plate 13 is used to load the heavy block 6 onto the moving trolley 4 or unload the heavy block 6 from the moving trolley 4, and the lower push plate 14 is used to load the heavy block 6 onto the moving trolley 4 or unload the heavy block 6 from the moving trolley 4.

[0038] In some embodiments, the linear motor system 2 includes an energy storage linear motor 21 and a discharge linear motor 22. The energy storage linear motor 21 is used to drive the moving trolley 4 carrying the heavy block 6 from the lower platform 12 to the upper platform 11, converting electrical energy into the gravitational potential energy of the heavy block 6; the discharge linear motor 22 is used to drive the moving trolley 4 carrying the heavy block 6 from the upper platform 11 to the lower platform 12, converting the gravitational potential energy of the heavy block 6 into electrical energy.

[0039] In some embodiments, the energy storage linear motor 21 and the discharge linear motor 22 may be permanent magnet synchronous linear motors with a flux switching structure, wherein the mover coil and permanent magnet are disposed on the mover carriage 4 side, and the stator track side is made of magnetically conductive material.

[0040] The mover trolley 4 includes a permanent magnet and a mover coil, which together with the stator rail made of magnetically conductive material constitute a flux-switching permanent magnet synchronous linear motor. The multiple mover trolleys 4 are independent of each other, making their operation more flexible. Compared with the mover coil on the long stator rail, the construction cost of the stator rail can be significantly reduced. The mover coil and permanent magnet move with the mover trolley 4, so during maintenance, only the mover trolley needs to be handled, thereby improving maintenance efficiency.

[0041] In some embodiments, the moving trolley 4 carrying the heavy block 6 can also be referred to as a heavy-duty moving trolley.

[0042] In some embodiments, during debugging, reset, or idle return, there may be an unloaded moving trolley 4 rising. In these cases, the energy storage linear motor 21 can also be used to drive the unloaded moving trolley 4 from the lower platform 12 to the upper platform 11.

[0043] In some embodiments, the mover horizontal transfer system 3 includes an upper stator track 31, a lower stator track 32, an upper horizontal transfer guide rail 33, and a lower horizontal transfer guide rail 34. The upper stator track 31 and the lower stator track 32 are respectively used to carry or guide the mover trolley 4, so that the mover trolley 4 completes the horizontal transfer between the energy storage linear motor 21 and the discharge linear motor 22.

[0044] The upper stator track 31 can move along the upper horizontal transfer guide 33 between the upper end of the energy storage linear motor 21 and the upper end of the discharge linear motor 22; the lower stator track 32 can move along the lower horizontal transfer guide 34 between the lower end of the energy storage linear motor 21 and the lower end of the discharge linear motor 22.

[0045] In some embodiments, the central control system 5 is used to control the power supply switching, guide rail switching and displacement speed acquisition device switching of the moving trolley 4, and to transfer the moving trolley 4 from the energy storage linear motor 21 to the discharge linear motor 22, or to transfer the moving trolley 4 from the discharge linear motor 22 to the energy storage linear motor 21.

[0046] In this embodiment, compared with existing gravity energy storage systems that use gear racks, wire ropes, or winches, the use of energy storage linear motors and discharge linear motors to drive the moving trolley for lifting and lowering motion reduces intermediate mechanical rotation links and avoids mechanical wear problems. Furthermore, by controlling the power supply switching and guide rail switching of the moving trolley through the central control system, the moving trolley can maintain continuity, reliability, and controllability during horizontal transport, avoiding operational risks caused by misalignment of power supply terminals or guide rails.

[0047] In this embodiment, the horizontal transport system for the moving part does not only realize the horizontal movement of the moving part trolley between the upper and lower levels, but also, during the process of the moving part trolley being transported from the energy storage linear motor to the discharge linear motor, or from the discharge linear motor to the energy storage linear motor, the power supply circuit switching, stator track mechanical docking, and displacement speed sensor signal switching are controlled by the central control system.

[0048] In some embodiments, when the moving trolley moves with the upper stator track to the end of the energy storage linear motor on one side, preparing to transfer to the end of the discharge linear motor on the other side, the central control system controls the inverter, detection power supply unit and safety braking power supply unit corresponding to the discharge energy storage linear motor to be turned on in advance, thereby establishing a new power supply and control circuit, so that the control power and braking power of the moving trolley are in a ready state. After determining that the power supply on the discharge energy storage linear motor side is stable and has already undertaken all or part of the load, the power supply on the energy storage linear motor side is disconnected, completing the soft switching of "on first and then off".

[0049] This power supply switching process ensures that at least one power supply circuit provides control and braking power throughout the entire transfer process, preventing control failure or braking malfunction and improving the reliability of the moving trolley during transfer.

[0050] In some embodiments, power supply switching can be achieved based on the inverter power corresponding to the energy storage linear motor and the inverter power corresponding to the discharge linear motor.

[0051] In one feasible implementation, power supply switching can satisfy the following control relationship: Equation (1).

[0052] in, This indicates the transmission power during the power supply switching process; This indicates the inverter power corresponding to the energy storage linear motor; This indicates the inverter power corresponding to the discharge linear motor; Indicates the time of the power supply switching; This represents the switching time constant, such as 50-100ms.

[0053] By selecting the smaller of the inverter power corresponding to the discharge linear motor and the inverter power corresponding to the energy storage linear motor as a benchmark, the transmission power during power supply switching is gradually increased to avoid voltage spikes and drops on the DC bus caused by power surges, thereby providing stable DC power support for the moving trolley during transportation.

[0054] In some embodiments, guide rail switching can be achieved through a combination of coarse positioning and fine positioning. Specifically, when the upper and lower stator rails are docked with the ends of the energy storage linear motor or the discharge linear motor, the coarse positioning mechanism first drives the upper or lower stator rail to move rapidly to the target area to complete a large-scale initial alignment. After the upper or lower stator rail approaches the target area, it switches to a low-speed state, and the fine positioning mechanism gradually adjusts the relative position between the ends of the upper or lower stator rails and the ends of the corresponding linear motors until precise alignment is achieved to complete the guide rail switching.

[0055] In some embodiments, during the coarse positioning stage, the servo motor drives the ball screw to move the upper or lower stator track to the target area at a speed of 100 mm / s, achieving a preliminary positioning accuracy of ±0.5 mm. Subsequently, the fine positioning stage is entered, switching to a low-speed state (e.g., 10 mm / s), and fine-tuning is performed by using an electromagnetic guide pin in conjunction with a tapered guide surface to improve the docking accuracy to ±0.05 mm.

[0056] This two-stage positioning strategy, which involves both coarse and fine positioning, ensures both docking efficiency and accuracy, providing a reliable mechanical and electromagnetic coupling foundation for the smooth switching and continuous power supply of the subsequent moving trolley.

[0057] In some embodiments, the guide rail switching is achieved based on the position error control of the moving trolley, where the position error is the difference between the target position and the actual position of the moving trolley.

[0058] The target position is used to characterize the position of the moving trolley after the guide rail switching under ideal conditions, while the actual position is used to characterize the position of the moving trolley during the actual guide rail switching process.

[0059] By controlling the positional error of the moving trolley to switch the guide rails, collisions and derailments caused by premature or excessive switching can be avoided, thus extending the service life of the guide rails.

[0060] In one feasible implementation, the guide rail switching satisfies the following control relationship throughout the docking process: Equation (2).

[0061] in, This indicates the error in the guide rail docking position; Indicates positional error; Indicates the parameters of the first proportional-integral-derivative PID control; Indicates the second PID control parameter; This represents the third PID control parameter.

[0062] The PID control relationship is used to correct the guide rail docking position error. Specifically, the proportional, integral and derivative terms work together to correct the guide rail docking position error, which can make the transition from coarse positioning to fine positioning of the upper stator track and the lower stator track smooth and stable, thus improving the accuracy and reliability of docking.

[0063] In some embodiments, the central control system is also used to control the power supply switching, guide rail switching, and position and speed acquisition device switching of the moving trolley, transferring the moving trolley from the energy storage linear motor to the discharge linear motor, or from the discharge linear motor to the energy storage linear motor. The position and speed acquisition device switching is achieved based on the position and speed signals of the moving trolley.

[0064] Specifically, the switching of position and velocity acquisition devices can be achieved by configuring a multi-device fusion positioning system on the moving trolley. The multi-device fusion positioning system includes a grating sensor, a magnetic grating sensor, and an observer. The grating sensor provides full-process position feedback for the moving trolley and can serve as its primary positioning reference. The magnetic grating sensor acts as a redundant detection unit, taking over the position feedback in case of grating sensor malfunction. Simultaneously, the observer estimates the trolley's velocity without relying on external sensors, specifically for fault diagnosis, and can achieve cross-verification of velocity and position signals.

[0065] Through the coordinated operation of multiple devices in the multi-device positioning system, high-precision and high-reliability positioning and speed monitoring can be achieved, providing a precise state perception basis for the smooth switching and safe braking of the moving trolley between the upper and lower stator tracks.

[0066] In one feasible implementation, the switching of position and velocity acquisition devices can employ a weighted fusion algorithm, specifically satisfying the following control relationship: Equation (3).

[0067] in, This indicates the fusion power corresponding to the final position; Indicates the power of the grating sensor; Indicates the power of the magnetic grating sensor; Indicates the power of the observer; , , These represent the weighting coefficients corresponding to the power of the grating sensor, the power of the magnetic grating sensor, and the power of the observer, respectively.

[0068] For example, , , The values ​​can be 0.6, 0.3, 0.1, 0.9, 0.08, 0.02, or 0.2, 0.7, 0.1.

[0069] In some embodiments, the weighting coefficients of individual sensors can be dynamically adjusted based on real-time operating conditions. For example, under normal and stable operating conditions, i.e., when the grating sensor signal is clear and interference-free, the magnetic grating sensor performs normal auxiliary calibration, and the observer only performs fault detection, then... , , These values ​​can be 0.9, 0.08, and 0.02 respectively. For localized contamination or scratches on the grating, i.e., a jump or loss in the grating sensor reading, while the magnetic grating sensor operates normally, the observer can provide velocity integration-assisted position. , , These values ​​can be 0.2, 0.7, 0.1, etc. This disclosure does not specifically limit the weighting coefficients corresponding to the power of the grating sensor, the power of the magnetic grating sensor, and the power of the observer.

[0070] For example, the grating sensor can be an absolute grating ruler; the observer can be a linear motor back electromotive force observer.

[0071] By switching position and velocity acquisition devices using a weighted fusion algorithm, the final output position and velocity signals can be continuous and smooth, avoiding data jumps caused by traditional hard switching, thereby ensuring the stability and reliability of the trolley control during transport.

[0072] Figure 2 This is a schematic diagram illustrating the process of power supply switching, guide rail switching, and position and speed acquisition device switching, provided in an embodiment of this disclosure. Figure 2 As shown, when the moving trolley reaches the upper or lower stator track, the moving trolley can be transferred from the lower end of the energy storage linear motor to the lower end of the discharge linear motor, or from the upper end of the energy storage linear motor to the upper end of the discharge linear motor, or from the lower end of the discharge linear motor to the lower end of the energy storage linear motor, or from the upper end of the discharge linear motor to the upper end of the energy storage linear motor, through power supply switching control, guide rail switching control, and position and speed acquisition device switching control.

[0073] In some embodiments, the results of power supply switching control, guide rail switching control, and position and speed acquisition device switching control are detected. Under normal circumstances, the switching is completed and the next process is carried out. Under abnormal circumstances, fault handling, repositioning, and alarm are performed. After completion, the process returns to re-power supply switching control, guide rail switching control, and position and speed acquisition device switching control.

[0074] In some embodiments, the central control system is used to drive multiple mover trolleys to move serially within an energy storage linear motor or a discharge linear motor based on a multi-motor cooperative control algorithm. The multi-motor cooperative control algorithm includes virtual linkage control, dynamic safety distance control, and thrust distribution control.

[0075] Among them, virtual linkage control is used to control the interaction force between two adjacent moving parts.

[0076] In some embodiments, virtual linkage control can be achieved by treating multiple moving parts as a whole connected by virtual elastic links, establishing a moving part tension observer, and calculating the equivalent force between adjacent moving parts in real time, that is, the virtual linkage force between adjacent moving parts.

[0077] In one feasible implementation, the virtual linkage control satisfies the following control relationship: Equation (4).

[0078] in, Indicates the first The little car and the first Virtual linkage force between individual moving carts; Represents the virtual elasticity coefficient; Indicates the virtual damping coefficient; Indicates the first The position of the moving small car; Indicates the first The position of the moving small car; This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley; Indicates the first The speed of the moving small car; Indicates the first The speed of the moving small car.

[0079] In some embodiments, the virtual elasticity coefficient can be dynamically adjusted according to real-time operating conditions. For example, when the trolley is running at a constant speed, the virtual elasticity coefficient can be relatively high, such as 5000 N / m; when the trolley is running at a high speed, the virtual elasticity coefficient can be relatively low, such as 2000 N / m; when the trolley is decelerating, the virtual elasticity coefficient can be initially low and then increase.

[0080] By maintaining a safe distance between the moving trolleys using a virtual elastic coefficient and suppressing relative oscillations and impacts between adjacent moving trolleys using a virtual damping coefficient, the calculated virtual link force can prevent rear-end collisions or excessive stretching between adjacent moving trolleys, thereby improving the operational stability, coordination accuracy, and overall system safety of the multi-moving trolley queue.

[0081] Dynamic safety distance control is used to control the dynamic safety distance between two adjacent moving parts.

[0082] In some embodiments, dynamic safety distance control can satisfy the following control relationship: Equation (5).

[0083] in, This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley; This indicates the maximum operating speed of the moving trolley; Indicates emergency braking acceleration; This indicates the response time of the gravity energy storage system, such as 100ms; This indicates a preset safety margin, such as 0.5m.

[0084] For example, a gravity energy storage system can be configured with four moving trolleys, with a dynamic safety distance. ( , The virtual linkage control algorithm and virtual elastic coefficient are used. Virtual damping coefficient .

[0085] By comprehensively considering the emergency braking process, system response delay, and safety margin, the calculated dynamic safety distance is more in line with actual operating conditions. At the same time, the calculated dynamic safety distance can not only ensure safe braking at maximum speed, but also compensate for the travel distance during the system response delay, and reserve a safety margin to effectively avoid collision risks and improve the system's operational safety and robustness.

[0086] Thrust distribution control is used to control the thrust allocated to each moving part of the trolley.

[0087] In some embodiments, thrust distribution control is used to control the thrust distribution of multiple mover trolleys by maximizing the value of an objective function.

[0088] The objective function satisfies the following relationship: Equation (6).

[0089] in, This represents the value of the objective function; This indicates the output power of the gravity energy storage system; Indicates the penalty coefficient; This indicates the actual distance between the multiple moving trolleys; This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley.

[0090] By constructing an objective function that includes a safety distance deviation penalty term, the operating distance can be constrained while ensuring system output performance, effectively avoiding safety risks, balancing work efficiency and operational safety, and improving the overall stability of the system.

[0091] Figure 3 This is a schematic diagram illustrating a multi-motor serial cooperative control method provided in an embodiment of this disclosure. (See diagram below.) Figure 3 As shown, Figure 3 It includes four moving carts arranged in series, namely moving cart A, moving cart B, moving cart C and moving cart D. Figure 3 The two parallel horizontal lines in the middle are only a schematic diagram of the stator track.

[0092] The virtual elasticity coefficient between the moving carriage A and the moving carriage B is K. v0 The virtual elasticity coefficient between the moving trolley B and the moving trolley C is K. v1 The virtual elasticity coefficient between the moving trolley C and the moving trolley D is K. v2 .

[0093] The central control system achieves virtual linkage control by acquiring the virtual elastic coefficients between each mover trolley, and achieves dynamic safety distance control by acquiring the speed and position of each mover trolley. Based on virtual linkage control, dynamic safety distance control, and thrust distribution control based on objective function, the system realizes the serial operation of multiple movers.

[0094] In some embodiments, the gravity energy storage system further includes a discharge unit, which includes a common DC bus, and the DC sides of the inverter of the energy storage linear motor and the inverter of the discharge linear motor are connected in parallel to the common DC bus. In some embodiments, when the moving trolley carrying the heavy block generates electricity in the downward direction, the electrical energy generated in the downward direction can be supplied to the moving trolley in the upward direction, and any excess electrical energy generated in the downward direction can be stored in the battery storage device.

[0095] In some embodiments, the discharge unit further includes a DC / DC converter for storing excess electrical energy generated by downlink power generation into a battery storage device.

[0096] In some embodiments, when the trolley is in an upward energy storage or return-to-empty operation state, the electrical energy in the common DC bus is preferentially supplied to the inverter of the trolley.

[0097] The capacity of the battery storage device can be configured according to the preset configuration probability of the peak power of the gravity energy storage system. By utilizing energy exchange between the moving trolleys, the capacity of the grid-side converter can be reduced. The preset configuration probability can be a smaller capacity configuration, i.e., the preset configuration probability can be 20%-30%, at which point the capacity of the grid-side converter can be reduced by 40-50%.

[0098] For example, with a common DC bus voltage of 750V and a battery storage capacity of 500kWh (25% of the peak power of the gravity energy storage system of 2MW), the energy recovery efficiency is 88%, and the grid-side converter capacity is reduced from 2MW to 1.1MW (a reduction of 45%).

[0099] In one specific implementation, the power demand on the grid side can satisfy the following relationship: Equation (7).

[0100] in, Indicates the power demand on the grid side; This indicates the peak power of the gravity energy storage system; Indicates the regeneration and recovery power; This indicates energy recovery efficiency, such as 85%-90%.

[0101] By using smaller capacity batteries, the cost and footprint of energy storage equipment can be reduced; at the same time, energy sharing between the moving trolleys can reduce the installed capacity of grid-side converters. Overall, this reduces hardware investment and grid load, balancing urgency with system operating efficiency.

[0102] Figure 4 This is a topology diagram for energy sharing via a shared DC bus, provided as an embodiment of this disclosure. Figure 4 As shown, the inverters corresponding to the energy storage linear motor and the discharge linear motor achieve energy mutual assistance through a shared DC bus (560V-700V): when the moving trolley is in a heavily loaded downward power generation state, the generated electricity is preferentially supplied to the upward unloaded moving trolley; when the generated electricity is greater than the consumed electricity, the excess electricity is stored in the battery energy storage device through the DC / DC converter; however, when the power on both sides is insufficient, the battery energy storage device releases energy through the DC / DC converter to supplement it, or it can draw power from the grid through the grid-side converter.

[0103] The central control system can dynamically schedule the inverters corresponding to the energy storage linear motor, the inverters corresponding to the discharge linear motor, the DC / DC converters, and the grid-side converters according to the operating conditions of the energy storage SOC and the moving trolley, so as to ensure that the DC bus voltage is stable within the range of 560V-700V, thereby achieving energy self-balancing and peak shaving and valley filling.

[0104] In some embodiments, the central control system in the gravity energy storage system may also have fault diagnosis and fault tolerance functions to handle abnormal states of the trolley during heavy-load uphill, heavy-load downhill, unloaded return, and horizontal transfer procedures.

[0105] Abnormal conditions include single trolley malfunctions. If an abnormal speed, position, power supply, braking, or load condition of a trolley is detected, the central control system will immediately block the inverter corresponding to that trolley and activate the mechanical brake or anti-fall mechanism to stop the trolley from running.

[0106] For example, taking a gravity energy storage system that includes four moving trolleys as an example, when a moving trolley fails, the gravity energy storage system can block the inverter of the failed moving trolley and activate the mechanical brake within 100ms. The remaining three moving trolleys adjust their operating strategies to maintain 65% power output of the gravity energy storage system.

[0107] The criterion for determining speed anomalies is: the absolute difference between the actual speed and the reference speed of the moving trolley exceeds a preset speed threshold. The preset speed threshold is the maximum allowable speed error value for the gravity energy storage system, and is a set value. The speed anomaly determination condition can be expressed as IF|v actual -v ref |>v threshold THEN fault flag = TRUE. actual v represents the actual speed. ref Indicates the reference speed, v threshold This indicates the preset speed threshold.

[0108] The condition for determining an anomaly in position can be: the absolute value of the difference between the actual position and the reference position of the moving trolley is greater than a preset position threshold. The preset position threshold is the maximum position error that the gravity energy storage system can tolerate.

[0109] The conditions for determining a power supply anomaly are: the power supply voltage of the moving trolley is lower than the minimum voltage threshold, or the power supply voltage of the moving trolley is higher than the maximum voltage threshold, or the power supply circuit exceeds the overload current threshold. The overload current threshold is the maximum operating current allowed to pass through the power supply circuit of the moving trolley, which can be determined by the rated parameters of the devices and the current carrying capacity of the line. The minimum and maximum voltage thresholds are set values.

[0110] The conditions for determining abnormal braking are: after the braking command takes effect, the actual speed of the moving trolley is not 0, or after the moving trolley performs the braking action, the decrease in speed per unit time is less than the preset safe speed decrease threshold.

[0111] The conditions for determining abnormal load conditions are: the actual counterweight load of the moving trolley is less than the minimum rated load, or the actual counterweight load of the moving trolley is greater than the maximum permissible load, or the fluctuation value of the actual counterweight load of the moving trolley is greater than the preset load stability threshold. Among them, the minimum rated load and the maximum permissible load are set values.

[0112] After detecting a fault in a single mover carriage, the central control system recalculates the operating sequence, dynamic safety distance, and thrust distribution of the remaining mover carriages. This allows the remaining mover carriages to continue operating based on a preset power, preventing the entire system from shutting down due to a single mover failure. For example, the preset power allows the system to continue operating at 50-70% of its original power output.

[0113] When the faulty moving trolley is located in the vertical operating area, i.e. the stator track, the central control system can control the adjacent moving trolley or a special rescue device to pull or push the faulty moving trolley to the upper stator track, the lower stator track, or the maintenance position; when the faulty moving trolley is located in the horizontal transfer area, i.e. the horizontal transfer track, the central control system can lock the corresponding transferable stator track and move the faulty moving trolley out of the main operating channel through the low-speed rescue mode.

[0114] In the event of a malfunction in a grating sensor or magnetic grating sensor, the central control system switches to a fusion control mode using another position detection sensor and observer, and limits the speed of the moving trolley until the fault is resolved.

[0115] By handling abnormal states of the moving trolleys during operation through a central control system, situations where abnormalities in one or more moving trolleys cause other moving trolleys to malfunction can be avoided, thereby improving operational safety and reliability.

[0116] In some embodiments, the central control system can also control the synchronous start-up of multiple movers to ensure the smooth operation of multiple mover trolleys in the gravity energy storage system.

[0117] Specifically, when the gravity energy storage system is started, the central control system can generate phased speed curves based on the current position, load status and target running direction of each moving trolley, so that multiple moving trolleys can start in a preset order or synchronous mode, which can avoid starting shock and sudden changes in the distance between adjacent moving trolleys.

[0118] The acceleration curves satisfy the following relationship: Equation (8).

[0119] in, express acceleration at any moment This indicates the maximum acceleration threshold, such as 0.5 m / s². 2 ; This represents the startup time constant, such as 2 seconds.

[0120] This allows the target speed synchronization error of each moving trolley to be controlled within ±0.05m / s, and the position synchronization error to be controlled within ±10mm.

[0121] By employing fault diagnosis, faulty mover isolation, mechanical braking, and residual mover reconfiguration operation strategies, the system's safety and continuous operation capability are improved in the event of single mover failure, sensor anomaly, or local drive failure.

[0122] In some embodiments, the central control system may also have a battery state of charge (SOC) management function. Specifically, when the current battery SOC is less than the minimum operating capacity, the gravity energy storage system can prioritize charging mode, i.e., energy storage mode, to reduce discharge conditions; when the current battery SOC is greater than the maximum operating capacity, the gravity energy storage system can prioritize discharging mode to reduce charging conditions; when the current battery SOC is greater than or equal to the minimum operating capacity and less than or equal to the maximum operating capacity, the gravity energy storage system operates normally.

[0123] For example, the minimum operating power can be 20% battery power, the maximum operating power can be 90% battery power, and the optimal operating range can be 50%-60% battery power.

[0124] By using the period between the minimum and maximum operating capacity as a safe operating window, overcharging or over-discharging can be avoided, thereby protecting battery life and safety. Executing different modes under different capacity conditions can improve system reliability and energy utilization.

[0125] In some embodiments, the central control system can adjust different parameters for different ambient temperatures and load conditions. Specifically, when the gravity energy storage system is in a high-temperature condition, i.e., the temperature of the gravity energy storage system is greater than a first preset temperature threshold (e.g., 40 degrees Celsius), the maximum operating speed of the trolley can be reduced and the power of the gravity energy storage system's cooling system can be increased. For example, the maximum operating speed can be reduced by 20%. When the gravity energy storage system is in a low-temperature condition, i.e., the temperature of the gravity energy storage system is less than a second preset temperature threshold (e.g., 0 degrees Celsius), the terminal battery heating system of the gravity energy storage system can be activated, reducing the charging current by 30%. When the gravity energy storage system is in a full-load condition, i.e., the battery load is greater than a first load threshold (e.g., 90% of the rated load), the acceleration of the trolley can be reduced by 30%, and the dynamic safety distance between the trolleys can be increased by 20%. When the gravity energy storage system is in an unloaded condition, i.e., the battery load is greater than a second load threshold (e.g., 10% of the rated load), the operating speed of the trolley can be increased by 10%, optimizing energy efficiency.

[0126] By adjusting different parameters under different ambient temperatures and load conditions, the gravity energy storage system can be guaranteed to operate safely and stably under extreme conditions, while the efficiency drop is small, not exceeding 5%.

[0127] The following examples illustrate the operation of the moving trolley in detail.

[0128] Figure 5 This is a schematic diagram of the operation of a moving trolley under energy storage conditions, provided as an embodiment of this disclosure. Figure 5 by Figure 1 The numbering of each structure in the gravity energy storage system shall prevail.

[0129] Assume that the moving trolley 4 is located on the lower stator track 32, and the upper stator track 31 and the lower stator track 32 are located at the upper and lower ends of the energy storage linear motor 21.

[0130] Under energy storage conditions, firstly, such as Figure 5 As shown in (a), the motor controls the lower push plate 14 to extend and retract, pushing the weight block 6 to move towards the lower end of the energy storage linear motor 21. At the same time, the upper push plate 13 begins to move to the designated position.

[0131] After that, as Figure 5 As shown in (b), the weight block 6 is loaded onto the moving trolley 4. Driven by the energy storage linear motor 21, the heavily loaded moving trolley 4 moves from the lower end of the energy storage linear motor 21 to the upper end of the energy storage linear motor 21. At the same time, the upper push plate 13 moves to the designated position, and the lower push plate 14 begins to move to the initial position.

[0132] After that, as Figure 5 As shown in (c), after the heavily loaded trolley 4 moves to the upper end of the energy storage linear motor 21, the motor controls the upper push plate 13 to extend and retract, pushing the weight block 6 off the trolley 4. At the same time, the lower push plate 14 moves to the initial position.

[0133] After that, as Figure 5 As shown in (d), the unloaded moving trolley 4 and the upper stator track 31 move from the upper end of the energy storage linear motor 21 to the upper end of the discharge linear motor 22 under the action of the upper horizontal transfer guide 33. At the same time, the lower stator track 32 moves from the lower end of the energy storage linear motor 21 to the lower end of the discharge linear motor 22 under the action of the lower horizontal transfer guide 34.

[0134] After that, as Figure 5As shown in (e), the unloaded moving trolley 4 moves to the upper end of the discharge linear motor 22, and the lower stator track 32 moves to the lower end of the discharge linear motor 22. Then, driven by the discharge linear motor 22, the unloaded moving trolley 4 moves from the upper end of the discharge linear motor 22 to the lower end of the discharge linear motor 22.

[0135] Finally, as Figure 5 As shown in (f), the unloaded moving trolley 4 moves to the lower end of the discharge linear motor 22, and under the action of the lower horizontal transfer guide rail 34, the lower stator rail 32 and the unloaded moving trolley 4 return to their original positions, completing the single-unit energy storage process.

[0136] Figure 6 This is a schematic diagram of the operation of a moving trolley under discharge conditions, provided as an embodiment of the present disclosure. Figure 6 Still with Figure 1 The numbering of each structure in the gravity energy storage system shall prevail.

[0137] Assume that the moving trolley 4 is located on the lower stator track 32, and the upper stator track 31 and the lower stator track 32 are located at the upper and lower ends of the energy storage linear motor 21.

[0138] Under discharge conditions, such as Figure 6 As shown in (a), firstly, driven by the energy storage linear motor 21, the unloaded moving trolley 4 moves from the lower end of the energy storage linear motor 21 to the upper end of the energy storage linear motor 21. At the same time, the motor controls the upper push plate 13 to extend and retract, pushing the weight block 6 to move to the upper end of the energy storage linear motor 21.

[0139] After that, as Figure 6 As shown in (b), when the moving trolley 4 moves to the upper stator track 31, the motor controls the upper push plate 13 to push the heavy block 6 onto the moving trolley 4. The heavily loaded moving trolley 4 and the upper stator track 31 move from the upper end of the energy storage linear motor 21 to the upper end of the discharge linear motor 22 under the action of the upper horizontal transfer guide 33. At the same time, the lower stator track 32 moves from the lower end of the energy storage linear motor 21 to the lower end of the discharge linear motor 22 under the action of the lower horizontal transfer guide 34.

[0140] After that, as Figure 6 As shown in (c), the heavily loaded moving trolley 4 reaches the upper end of the discharge linear motor 22. Driven by the discharge linear motor 22, the heavily loaded moving trolley 4 moves from the upper end of the discharge linear motor 22 to the lower end of the discharge linear motor 22. The gravitational potential energy is converted into electrical energy through the discharge unit and charged into the battery energy storage device for energy storage. At the same time, the lower push plate 14 moves to the lower end of the discharge linear motor 22, and the motor controls the lower push plate 14 to move to the designated position.

[0141] After that, as Figure 6 As shown in (d), after the heavy-load moving trolley 4 and the lower stator track 32 move to the lower end of the discharge linear motor 22, under the action of the lower horizontal transfer guide rail 34, the heavy-load moving trolley 4 and the lower stator track 32 move towards the lower end of the energy storage linear motor 21. At the same time, the lower push plate 14 reaches the designated position, and the upper stator track 31 moves towards the upper end of the energy storage linear motor 21.

[0142] After that, as Figure 6 As shown in (e), the heavy-duty moving trolley 4 and the lower stator track 32 move to the lower end of the energy storage linear motor 21. The motor controls the lower push plate 14 to extend and retract, pushing the heavy block 6 towards the lower storage area.

[0143] Finally, as Figure 6 As shown in (f), the weight block 6 is unloaded from the moving trolley 4 into the lower storage area, completing the single-unit discharge process.

[0144] Figure 7 This is a schematic diagram of the serial operation of a multi-movement sub-cart, provided as an embodiment of this disclosure. Figure 7 Still with Figure 1 The numbering of each structure in the gravity energy storage system shall prevail.

[0145] Among them, such as Figure 7 As shown, the moving trolley 4 includes a first moving trolley 4A and a second moving trolley 4B, and the weight block 6 includes a first weight block 6A and a second weight block 6B.

[0146] Assume that the first moving trolley 4A is located on the upper stator track 31, and the second moving trolley 4B is located on the lower stator track 32. The upper stator track 31 and the lower stator track 32 are located at the upper and lower ends of the energy storage linear motor 21, respectively.

[0147] First, such as Figure 7 As shown in (a), the unloaded first moving trolley 4A and the upper stator track 31 move from the upper end of the energy storage linear motor 21 to the upper end of the discharge linear motor 22 under the action of the upper horizontal transfer guide rail 33. At the same time, the motor controls the lower push plate 14 to extend and retract, pushing the first weight block 6A to move towards the lower end of the energy storage linear motor 21. Simultaneously, the motor controls the upper push plate 13 to move to a designated position. At this time, the second moving trolley 4B and the second weight block 6B do not perform any operation.

[0148] After that, as Figure 7As shown in (b), the first heavy block 6A is loaded onto the second moving trolley 4B. Driven by the energy storage linear motor 21, the heavily loaded second moving trolley 4B moves from the lower end to the upper end of the energy storage linear motor 21. Simultaneously, the unloaded first moving trolley 4A reaches the upper end of the discharge linear motor 22. Driven by the discharge linear motor, the unloaded second moving trolley 4B moves from the upper end to the lower end of the discharge linear motor 22. At the same time, the motor controls the lower push plate 14 to move back to its initial position. At this time, the second heavy block 6B does not perform any operation.

[0149] After that, as Figure 7 As shown in (c), when the heavily loaded second moving trolley 4B (carrying the first weight block 6A) moves from the lower end of the energy storage linear motor 21 to the upper end of the energy storage linear motor 21, and the unloaded first moving trolley 4A moves from the upper end of the discharge linear motor 22 to the lower end of the discharge linear motor 22, the lower stator track 32 moves from the lower end of the energy storage linear motor 21 to the lower end of the discharge linear motor 22 under the action of the lower horizontal transfer guide 34, and the upper stator track 31 moves from the upper end of the discharge linear motor 22 to the upper end of the energy storage linear motor 21 under the action of the upper horizontal transfer guide 33. At this time, the second weight block 6B does not perform any operation.

[0150] After that, as Figure 7 As shown in (d), the heavily loaded second moving trolley 4B (carrying the first weight block 6A) moves to the upper end of the energy storage linear motor 21; at the same time, after the unloaded first moving trolley 4A reaches the lower end of the discharge linear motor 22, the unloaded first moving trolley 4A and the lower stator track 32 move from the lower end of the discharge linear motor 22 to the lower end of the energy storage linear motor 21 under the action of the lower horizontal transfer guide rail 34; at the same time, the motor controls the lower push plate 14 to extend and retract, pushing the second weight block 6B to move to the lower end of the energy storage linear motor 21.

[0151] After that, as Figure 7 As shown in (e), the motor controls the upper push plate 13 to extend and retract, pushing the first weight block 6A from the second moving trolley 4B to the upper storage area; the unloaded first moving trolley 4A moves to the lower end of the energy storage linear motor 21. At this time, the second weight block 6B does not perform any operation.

[0152] Finally, as Figure 7 As shown in (f), the motor controls the lower push plate 14 to extend and retract, pushing the second weight block 6B towards the first moving carriage 4A at the lower end of the energy storage linear motor 21. At this time, the second moving carriage 4B and the first weight block 6A do not perform any operation.

[0153] Figure 8 This is a schematic diagram of another multi-movement sub-car in serial operation provided by an embodiment of this disclosure. Figure 8 Still with Figure 1 The numbering of each structure in the gravity energy storage system shall prevail.

[0154] Among them, such as Figure 8 As shown, the moving trolley 4 includes a first moving trolley 4A and a second moving trolley 4B, and the weight block 6 includes a first weight block 6A and a second weight block 6B.

[0155] Assume that the first moving trolley 4A is located on the upper stator track 31, and the second moving trolley 4B is located on the lower stator track 32. The upper stator track 31 and the lower stator track 32 are located at the upper and lower ends of the energy storage linear motor 21, respectively.

[0156] First, such as Figure 8 As shown in (a), the motor controls the upper push plate 13 to extend and retract, pushing the first weight block 6A towards the upper end of the energy storage linear motor 21. At this time, the second moving carriage 4B, the first moving carriage 4A, and the second weight block 6B do not perform any operation.

[0157] After that, as Figure 8 As shown in (b), the first weight block 6A is loaded onto the first moving trolley 4A. Under the action of the upper horizontal transfer guide rail 33, the heavily loaded first moving trolley 4A and the upper stator rail 31 move from the upper end of the energy storage linear motor 21 to the upper end of the discharge linear motor 22. At this time, the second moving trolley 4B and the second weight block 6B do not perform any operation.

[0158] After that, as Figure 8 As shown in (c), the heavily loaded first moving trolley 4A (including the first weight block 6A) and the upper stator track 31 move to the upper end of the discharge linear motor 22. Driven by the discharge linear motor, the heavily loaded first moving trolley 4A moves from the upper end of the discharge linear motor to the lower end of the discharge linear motor 22. At the same time, the unloaded second moving trolley 4B moves from the lower end of the energy storage linear motor 21 to the upper end of the energy storage linear motor 21, driven by the energy storage linear motor 21. At this time, the second weight block 6B does not perform any operation.

[0159] After that, as Figure 8As shown in (d), when the heavily loaded first moving trolley 4A (including the first weight block 6A) moves from the upper end of the discharge linear motor 22 to the lower end of the discharge linear motor 22, and the unloaded second moving trolley 4B moves from the lower end of the energy storage linear motor 21 to the upper end of the energy storage linear motor 21, the lower stator track 32 moves from the lower end of the energy storage linear motor 21 to the lower end of the discharge linear motor 22 under the action of the lower horizontal transfer guide 34, and the upper stator track 31 moves from the upper end of the discharge linear motor 22 to the upper end of the energy storage linear motor 21 under the action of the upper horizontal transfer guide 33; at the same time, the motor controls the lower push plate 14 to move to the designated position; the motor controls the upper push plate 13 to extend and retract, pushing the second weight block 6B to move to the upper end of the energy storage linear motor 21.

[0160] After that, as Figure 8 As shown in (e), the unloaded second moving trolley 4B reaches the upper end of the energy storage linear motor 21; the heavily loaded first moving trolley 4A (including the first weight block 6A) reaches the lower end of the discharge linear motor 22. Under the action of the lower horizontal transfer guide rail 34, the heavily loaded first moving trolley 4A and the lower stator track 32 move from the lower end of the discharge linear motor 22 to the lower end of the energy storage linear motor 21; at the same time, the lower push plate 14 reaches the designated position. At this time, the second weight block 6B does not perform any operation.

[0161] After that, as Figure 8 As shown in (f), the motor controls the lower push plate 14 to extend and retract, pushing the first weight block 6A from the first moving trolley 4A to the lower storage area. At this time, the second moving trolley 4B and the second weight block 6B do not perform any operation.

[0162] After that, as Figure 8 As shown in (g), the motor controls the upper push plate 13 to extend and retract, pushing the second weight block 6B towards the upper end of the energy storage linear motor 21, repeating the previous steps. At this time, the first moving carriage 4A, the second moving carriage 4B, and the first weight block 6A do not perform any operation.

[0163] 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.

[0164] 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 support frame structure, a stator track, a linear motor system, a mover horizontal transfer system, and a central control system; The support frame structure includes an upper platform and a lower platform. The upper platform is used to receive and store the heavy block after it has been lifted, and the lower platform is used to receive and store the heavy block after it has been lowered. The linear motor system includes an energy storage linear motor and a discharge linear motor. The energy storage linear motor is used to drive the moving trolley carrying the heavy block from the lower platform to the upper platform, and the discharge linear motor is used to drive the moving trolley carrying the heavy block from the upper platform to the lower platform. The moving part horizontal transfer system includes an upper stator track, a lower stator track, an upper horizontal transfer guide rail, and a lower horizontal transfer guide rail. The upper stator track moves along the upper horizontal transfer guide rail between the upper end of the energy storage linear motor and the upper end of the discharge linear motor. The lower stator track moves along the lower horizontal transfer guide rail between the lower end of the energy storage linear motor and the lower end of the discharge linear motor. The central control system is used to control the power supply switching and guide rail switching of the moving trolley, and to transfer the moving trolley from the energy storage linear motor to the discharge linear motor, or to transfer the moving trolley from the discharge linear motor to the energy storage linear motor.

2. The gravity energy storage system according to claim 1, characterized in that, The power supply switching is achieved based on the inverter power control corresponding to the energy storage linear motor and the inverter power control corresponding to the discharge linear motor; The power supply switching satisfies the following control relationship: ； in, This indicates the transmission power during the power supply switching process; This indicates the inverter power corresponding to the energy storage linear motor; This indicates the inverter power corresponding to the discharge linear motor; Indicates the time of the power supply switching; This represents the switching time constant.

3. The gravity energy storage system according to claim 1 or 2, characterized in that, The guide rail switching satisfies the following control relationship: ； in, This indicates the error in the guide rail docking position; Indicates positional error; Indicates the first PID control parameter; Indicates the second PID control parameter; This represents the third PID control parameter.

4. The gravity energy storage system according to claim 1 or 2, characterized in that, The central control system is also used to control the power supply switching, guide rail switching and position and speed acquisition device switching of the moving trolley, and to transfer the moving trolley from the energy storage linear motor to the discharge linear motor, or to transfer the moving trolley from the discharge linear motor to the energy storage linear motor. The switching of the position and speed acquisition device is achieved based on the position and speed signals of the moving trolley.

5. The gravity energy storage system according to claim 4, characterized in that, The switching of the position and velocity acquisition device satisfies the following control relationship: ； in, This indicates the fusion power corresponding to the final position; Indicates the power of the grating sensor; Indicates the power of the magnetic grating sensor; Indicates the power of the observer; , , These represent the weighting coefficients corresponding to the power of the grating sensor, the power of the magnetic grating sensor, and the power of the observer, respectively. The optical grating sensor and the magnetic grating sensor are used to acquire the position signal of the moving trolley, and the observer is used to acquire the speed signal of the moving trolley.

6. The gravity energy storage system according to any one of claims 1, 2, or 5, characterized in that, The central control system is used to drive multiple motion trolleys to move serially within an energy storage linear motor or a discharge linear motor based on a multi-motion trolley cooperative control algorithm. The multi-motion trolley cooperative control algorithm includes virtual linkage control, dynamic safety distance control, and thrust distribution control. The virtual linkage control is used to control the interaction force between two adjacent moving parts; the dynamic safety distance control is used to control the dynamic safety distance between two adjacent moving parts; and the thrust distribution control is used to control the thrust distributed to each moving part.

7. The gravity energy storage system according to claim 6, characterized in that, The virtual linkage control is based on the position and speed of the moving trolley and the adjacent moving trolleys; The virtual linkage control satisfies the following control relationship: ； in, Indicates the first The little car and the first Virtual linkage force between individual moving carts; Represents the virtual elasticity coefficient; Indicates the virtual damping coefficient; Indicates the first The position of the moving small car; Indicates the first The position of the moving small car; This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley; Indicates the first The speed of the moving small car; Indicates the first The speed of the moving small car.

8. The gravity energy storage system according to claim 6, characterized in that, The dynamic safety distance control is achieved based on the maximum operating speed and emergency braking acceleration of the moving trolley. The dynamic safety distance control satisfies the following relationship: ； in, This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley; This indicates the maximum operating speed of the moving trolley; Indicates emergency braking acceleration; This indicates the response time of the gravity energy storage system; This indicates the preset safety margin.

9. The gravity energy storage system according to claim 6, characterized in that, The thrust distribution control is used to control the thrust distribution of the plurality of moving parts by maximizing the value of the objective function; The objective function satisfies the following relationship: ； in, This represents the value of the objective function; This indicates the output power of the gravity energy storage system; Indicates the penalty coefficient; This indicates the actual distance between the multiple moving trolleys; This indicates the dynamic safety distance between the moving trolley and the adjacent moving trolley.

10. The gravity energy storage system according to any one of claims 1, 2, 5 or 7-9, characterized in that, The moving trolley includes a permanent magnet and a moving coil.

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