A method and system for coordinated power dispatching of multiple operating equipment in emergency rescue vehicles

Abstract

A method and system for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle includes the following steps: monitoring power disturbance events of impact load equipment; identifying the target impact load equipment in response to the monitored events; acquiring the power consumption characteristic parameters of the target impact load equipment during the power disturbance event; determining the power quality tolerance window that satisfies the stable operation of sensitive load equipment; predicting the power supply voltage waveform of the power supply bus during the event; comparing the power supply voltage waveform with the power quality tolerance window; if the power supply voltage waveform exceeds the power quality tolerance window, controlling the backup energy storage unit other than the main power supply to provide additional power compensation to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power quality tolerance window. This method effectively solves the problem of impact load equipment affecting the stable operation of sensitive load equipment, avoids the drawbacks of forced power outages or work interruptions in traditional solutions, and ensures the continuity and efficiency of emergency rescue missions.

Description

Technical Field

[0001] This application relates to the field of vehicle equipment power management technology, specifically to a method and system for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle. Background Technology

[0002] With the development of emergency rescue equipment technology, modern emergency rescue vehicles have evolved into mobile rescue platforms integrating various specialized equipment. These vehicles are typically equipped with both high-power impact loads (such as hydraulic demolition tool sets, high-power lighting, and drainage pumps) and voltage-sensitive precision loads (such as satellite communication terminals, life detectors, and medical monitoring equipment). These devices are usually powered by an onboard generator set or energy storage system, forming an independent microgrid system. During rescue operations, the starting, stopping, and mode switching of impact load equipment are frequent, which can cause severe voltage dips and surges on the power supply bus, potentially threatening the stable operation of sensitive load equipment in severe cases.

[0003] Because these sensitive load devices are crucial in rescue operations, common technical approaches to address such issues include priority-based load management. Priority-based load management assigns power supply priorities to devices. When the system is overloaded, secondary loads are disconnected or new impact load devices are prevented from starting, ensuring the power bus remains in a stable power supply state and thus guaranteeing the stable operation of critical sensitive load devices.

[0004] However, while this method is simple and direct, it is a remedial measure after the fact, and a forced power outage would interrupt the rescue operation. Therefore, there is an urgent need for an intelligent power dispatching method that can effectively address the impact of shocks on sensitive load equipment. Summary of the Invention

[0005] This application provides a method and system for coordinating power supply for multiple operational equipment in an emergency rescue vehicle, which can solve the technical problems existing in the aforementioned related technologies.

[0006] In a first aspect, embodiments of this application provide a method for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle, employing the following technical solution:

[0007] A method for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle, comprising the following steps:

[0008] Monitor events that cause power disturbances in impact load devices within the power supply system; these events include the startup of new impact load devices or the switching of existing impact load devices between different power modes;

[0009] In response to the detected event, identify the target impact load device associated with the event;

[0010] Based on a pre-established power consumption characteristic database, the power consumption characteristic parameters of the target impact load device during the power disturbance event are obtained; wherein, the power consumption characteristic database is established based on historical operating big data of various impact load devices, and the power consumption characteristic parameters are parameters or combinations of parameters that reflect the time-varying power changes of the target impact load device during the event.

[0011] Determine a power quality tolerance window that satisfies the stable operation of one or more sensitive load devices; the power quality tolerance window includes at least the voltage deviation range and the maximum voltage change rate of the power supply bus.

[0012] Based on the power consumption characteristic parameters, predict the power supply voltage waveform of the power supply bus during the event.

[0013] By comparing the power supply voltage waveform with the power supply quality tolerance window, if the power supply voltage waveform exceeds the power supply quality tolerance window, at least one alternative energy storage unit independent of the main power supply is controlled to provide additional compensation power to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power supply quality tolerance window.

[0014] In conjunction with the first aspect, in one embodiment, comparing the power supply voltage waveform with the power supply quality tolerance window, and if the power supply voltage waveform exceeds the power supply quality tolerance window, controlling at least one backup energy storage unit independent of the main power supply to provide additional compensation power to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power supply quality tolerance window, includes the following steps:

[0015] The power supply voltage waveform is compared with the power supply quality tolerance window to identify whether there is at least one type of voltage quality over-limit gap; wherein, the types of voltage quality over-limit gap include: amplitude over-limit gap caused by the voltage amplitude in the power supply voltage waveform exceeding the voltage deviation range, and rate of change over-limit gap caused by the voltage change rate in the power supply voltage waveform exceeding the maximum voltage change rate;

[0016] If only the amplitude exceeding the limit gap is identified, the required steady-state support power is calculated based on the degree of exceeding the limit gap, and the first energy storage unit among the multiple candidate energy storage units is controlled to output power to the power supply bus according to the steady-state support power; wherein, the first energy storage unit is a high-energy unit suitable for providing continuous power support.

[0017] If only the rate of change exceeding the limit gap is identified, the transient compensation power curve to be compensated is calculated based on the degree of exceeding the limit gap, and the second energy storage unit among the multiple candidate energy storage units is controlled to output power to the power supply bus according to the transient compensation power curve; wherein, the second energy storage unit is a high-power unit with a power response speed not lower than a set value.

[0018] In conjunction with the first aspect, in one embodiment, the step of comparing the power supply voltage waveform with the power supply quality tolerance window, and controlling at least one backup energy storage unit independent of the main power supply to provide additional compensation power to the power supply bus if the power supply voltage waveform exceeds the power supply quality tolerance window, further includes the following steps:

[0019] If both the amplitude exceeding the limit gap and the rate of change exceeding the limit gap are identified simultaneously, the total compensation power requirement that the first energy storage unit and the second energy storage unit need to compensate is determined based on the amplitude exceeding the limit gap.

[0020] Based on the degree of exceeding the limit of the rate of change limit and the pre-established allocation model, the allocation coefficients of the first energy storage unit and the second energy storage unit are determined;

[0021] Based on the allocation coefficient and the total compensation power requirement, determine the first compensation component and the second compensation component that the first energy storage unit and the second energy storage unit need to compensate the power supply bus respectively.

[0022] The first energy storage unit and the second energy storage unit are controlled to perform coordinated compensation on the power supply bus according to the first compensation component and the second compensation component, respectively.

[0023] In conjunction with the first aspect, in one embodiment, after controlling the first energy storage unit and the second energy storage unit to perform coordinated compensation on the power supply bus according to the first compensation component and the second compensation component respectively, the method further includes the following steps:

[0024] The actual voltage data during this collaborative compensation process is acquired, and the rate of change recovery time and voltage amplitude overshoot are extracted from it; wherein, the rate of change recovery time is the time elapsed from the start of compensation until the actual voltage change rate of the power supply bus drops to within the maximum voltage change rate tolerance value; the voltage amplitude overshoot is the maximum reverse overshoot amplitude of the actual voltage of the power supply bus relative to the voltage deviation range during the compensation process;

[0025] The allocation model is updated based on the rate of change recovery time and the voltage amplitude overshoot.

[0026] In conjunction with the first aspect, in one implementation, updating the allocation model based on the rate of change recovery time and the voltage amplitude overshoot includes the following steps:

[0027] If the rate of change recovery time is greater than the preset expected recovery time, the allocation model is adjusted so that it can calculate a larger allocation coefficient when the same voltage quality over-limit gap is subsequently applied.

[0028] If the voltage amplitude overshoot is greater than the preset allowable overshoot, the allocation model is adjusted so that it can calculate a smaller allocation coefficient when the same voltage quality overshoot gap is subsequently encountered.

[0029] In conjunction with the first aspect, in one implementation, predicting the power supply voltage waveform of the power supply bus during the event occurrence based on the power consumption characteristic parameters and preset system parameters of the power supply bus includes the following steps:

[0030] If multiple events occur at the same time, the power consumption characteristic parameters of the multiple events are matched during the time overlap process, and the power consumption characteristic parameters of the multiple events are superimposed during the time overlap process to obtain a total power consumption characteristic parameter that reflects the total time-varying power change during the event overlap process.

[0031] Based on the total parameters of the power consumption characteristics and the preset system parameters of the power supply bus, the power supply voltage waveform of the power supply bus during the event is predicted.

[0032] In conjunction with the first aspect, in one implementation, predicting the power supply voltage waveform of the power supply bus during the event based on the power consumption characteristic parameters includes the following steps:

[0033] Based on the power consumption characteristic parameters, at least the time-varying reactive power curve of the target impact device during the event is constructed; wherein, the power consumption characteristic parameters are typical time-varying reactive power curves reflecting the target impact load device during the event, or are used to calculate the expected peak reactive power, reactive power rise time, and peak reactive power duration of the time-varying reactive power curve.

[0034] Obtain the real-time voltage of the current power supply bus and the pre-determined equivalent system impedance parameters of the power supply bus;

[0035] Based on the real-time voltage of the power supply bus, the time-varying reactive power curve, and the equivalent system impedance parameters, the power supply voltage waveform of the power supply bus is calculated.

[0036] In conjunction with the first aspect, in one implementation, determining the power quality tolerance window that satisfies the stable operation of one or more sensitive load devices includes the following steps:

[0037] Obtain the individual power supply quality requirements for each of the sensitive load devices under the current operating state. The individual power supply quality requirements include at least the individual voltage deviation range and the individual maximum voltage change rate.

[0038] The intersection of all obtained individual voltage deviation ranges is determined as the voltage deviation range of the power supply quality tolerance window; and the minimum value among all obtained individual maximum voltage change rates is determined as the maximum voltage change rate of the power supply quality tolerance window.

[0039] Secondly, embodiments of this application provide a multi-operation equipment collaborative power dispatching system for emergency rescue vehicles, employing the following technical solution:

[0040] A multi-operation equipment collaborative power dispatching system for emergency rescue vehicles, comprising:

[0041] A power supply device, comprising a main power supply and at least one backup energy storage unit;

[0042] One or more sensitive load devices are connected to the power supply unit via a power supply bus;

[0043] One or more impact load devices are connected to the power supply unit via a power supply bus;

[0044] The power dispatching device includes a disturbance monitoring module, a power quality prediction module, and a dispatching decision module. Each module is configured to cooperate in executing the multi-operation equipment collaborative power dispatching method of the emergency rescue vehicle as described above.

[0045] In conjunction with the second aspect, in one embodiment, the backup energy storage unit of the power supply device includes at least a first energy storage unit and a second energy storage unit, wherein the first energy storage unit is a high-energy unit with an energy density not lower than a set energy density; and the second energy storage unit is a high-power unit with a power response speed not lower than a set value.

[0046] The beneficial effects of the technical solutions provided in this application include:

[0047] This application provides a method and system for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle. By establishing a power consumption characteristic database and acquiring the power consumption characteristic parameters of the target impact load equipment, the system can predict potential voltage fluctuations in the future. This allows the system to identify potential power quality problems in advance. Based on this, before or during a disturbance, it further dispatches a backup energy storage unit independent of the main power supply to perform power compensation. This effectively maintains the actual power supply quality of the power supply bus within the tolerable window of the sensitive load equipment, thereby solving the impact of impact load equipment on the stable operation of sensitive load equipment. It avoids the drawbacks of forced power outages or work interruptions in traditional solutions, ensuring the continuity and efficiency of emergency rescue missions. Attached Figure Description

[0048] Figure 1 This is a flowchart illustrating an embodiment of the method for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle according to this application;

[0049] Figure 2 This is a schematic diagram of the functional modules of a power dispatching device in a multi-operation equipment collaborative power dispatching system for emergency rescue vehicles according to this application. Detailed Implementation

[0050] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0051] In the power supply system of emergency rescue vehicles, the start-up, shutdown and mode switching operations of impact load equipment inevitably cause voltage dips and surge disturbances on the power supply bus. These disturbances directly affect voltage-sensitive load equipment, causing its operating state to deviate from the stable operating range, thereby affecting the smooth progress of rescue work.

[0052] In response to this, this application proposes a method and system for coordinating power supply for multiple operational equipment in emergency rescue vehicles, in order to solve the above-mentioned problems.

[0053] Firstly, this application proposes a method for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle, which includes the following steps:

[0054] S100, Monitor events of power disturbances in the power supply system caused by impact load devices; impact load device power disturbance events include the startup of new impact load devices or the switching of existing impact load devices between different power modes;

[0055] Among them, the monitoring of power disturbance events of impact load equipment is mainly achieved by communicating with the equipment control system to obtain the equipment's operating status information, such as equipment start-up commands or mode switching commands, so as to know the occurrence of power disturbance events when these command signals are detected.

[0056] S200, In response to the detected event, identify the target impact load device associated with the event;

[0057] Specifically, when a disturbance event occurs, the system will obtain instruction information through the equipment control system, analyze the identifier of the target device contained in the instruction information, and thus directly identify the target impact load device.

[0058] S300. Based on the pre-established power consumption characteristic database, obtain the power consumption characteristic parameters of the target impact load equipment during the power disturbance event; wherein, the power consumption characteristic database is established based on the historical operating big data of various impact load equipment, and the power consumption characteristic parameters are parameters or combinations of parameters that reflect the time-varying power changes of the target impact load equipment during the event.

[0059] The pre-established power consumption characteristic database stores typical time-varying power curves or typical time-varying power information for each impact load device during startup, shutdown, or switching between different power modes, including but not limited to power ramp-up time, peak power, and duration. Once the target impact load device is identified, the system queries the database to obtain the typical power consumption characteristic parameters of that device under the current event type, such as startup.

[0060] S400. Determine the power quality tolerance window that satisfies the stable operation of one or more sensitive load devices; the power quality tolerance window shall include at least the voltage deviation range and the maximum voltage change rate of the power supply bus.

[0061] For example, step S400 can set a uniform voltage deviation range and maximum voltage change rate as a power supply quality tolerance window based on the power supply quality requirements of the most stringent and sensitive equipment among all sensitive load equipment on the emergency rescue vehicle. Alternatively, it can take into account the power supply quality requirements of each sensitive load equipment to determine a minimum common tolerance window that can meet the stable operation of all sensitive load equipment.

[0062] S500: Based on power consumption characteristic parameters, predict the power supply voltage waveform of the power supply bus during the event.

[0063] The purpose of this step is to obtain the power consumption characteristic parameters reflecting the time-varying power changes of the target impact load equipment, and then predict the dynamic process of voltage drop or rise that may occur on the power supply bus during the startup or switching of the impact load equipment based on these power consumption characteristic parameters. This prediction process can be achieved by combining these power consumption characteristic parameters with the equivalent impedance and real-time voltage of the power supply bus to obtain parameter information that reflects the power supply voltage waveform.

[0064] S600: Compare the power supply voltage waveform with the power supply quality tolerance window. If the power supply voltage waveform exceeds the power supply quality tolerance window, control at least one alternative energy storage unit independent of the main power supply to provide additional compensation power to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power supply quality tolerance window.

[0065] Specifically, the predicted power supply voltage waveform is compared point-by-point with the preset voltage deviation range and maximum voltage change rate. If the predicted waveform exceeds the tolerance window at any point in time, the system calculates the required compensation power and sends instructions to a backup energy storage unit independent of the main power supply, instructing it to inject or absorb power into the power supply bus at or before the predicted disturbance occurs, thereby offsetting the impact of the impact load equipment on the voltage and ensuring that the actual voltage of the power supply bus always remains within the acceptable range for the sensitive load equipment.

[0066] It should be noted that this application selects a backup energy storage unit independent of the main power supply because, in AC power supply systems, the main power supply (such as a diesel generator set) is physically limited by its electromechanical inertia, and its power output cannot keep up with drastic load changes at the millisecond level in real time. For example, when a large hydraulic demolition tool is activated, its required instantaneous power may increase rapidly within 10 milliseconds, while the main power supply typically requires a response time of hundreds of milliseconds to achieve power replenishment and voltage stabilization. This can lead to significant drops or fluctuations in the bus voltage during this period, thus affecting sensitive loads. Based on this problem, this solution selects a dispatchable energy storage unit (such as a supercapacitor or high-speed lithium battery system) independently configured outside the main power supply. This unit can perform power throughput within milliseconds after being connected to the bus, thereby compensating for the lack of dynamic response of the main power supply. At this time, the main power supply and the independent energy storage unit achieve functional complementarity. The main power supply provides stable base load power, while the independent energy storage unit acts as a power buffer to offset transient disturbances.

[0067] Ultimately, the above process, by introducing a predictive mechanism, significantly improves the stability and reliability of the emergency rescue vehicle's power supply system. Traditional emergency rescue vehicle power dispatching methods, such as priority-based load management, typically only respond after detecting system overload or voltage drops, potentially causing critical sensitive load equipment to experience unstable power supply for a short period, or even forcing operational interruptions. In contrast, the technical solution of this application can predict the impact on the power supply bus voltage based on historical big data before the impacting load equipment actually generates disturbances, and adjust the power quality accordingly. This ensures that sensitive loads receive reliable power quality while also considering the operational efficiency of impacting loads, achieving an operational effect that traditional single-power supply systems cannot achieve.

[0068] In some embodiments, step S600, comparing the power supply voltage waveform with the power supply quality tolerance window, and if the power supply voltage waveform exceeds the power supply quality tolerance window, controlling at least one backup energy storage unit other than the main power supply to provide additional compensation power to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power supply quality tolerance window, includes the following steps:

[0069] S610. Compare the power supply voltage waveform with the power supply quality tolerance window to identify whether there is at least one type of voltage quality over-limit gap; wherein, the types of voltage quality over-limit gap include: amplitude over-limit gap caused by the voltage amplitude in the power supply voltage waveform exceeding the voltage deviation range, and rate of change over-limit gap caused by the voltage change rate in the power supply voltage waveform exceeding the maximum voltage change rate.

[0070] Specifically, this comparison process involves comparing real-time sampled or predicted supply voltage waveform data with the voltage deviation range (e.g., ±5% of the nominal voltage) and maximum voltage change rate (e.g., 1V per millisecond) defined within the power supply quality tolerance window, either point-by-point or segmentally. If the voltage amplitude at any moment in the voltage waveform exceeds the voltage deviation range, an amplitude exceeding the limit is identified; if the voltage change rate (i.e., the derivative of voltage with respect to time) at any moment in the voltage waveform exceeds the maximum voltage change rate, a change rate exceeding the limit is identified. Alternatively, digital signal processing techniques can be used to analyze the predicted supply voltage waveform, extracting characteristic parameters such as peak voltage, valley voltage, and voltage rise / fall rate, and then comparing these characteristic parameters with the threshold values ​​of the power supply quality tolerance window.

[0071] S620. If only the amplitude exceeding the limit gap is identified, the required steady-state support power is calculated based on the degree of exceeding the limit gap, and the first energy storage unit among multiple candidate energy storage units is controlled to output power to the power supply bus according to the steady-state support power; wherein, the first energy storage unit is a high-energy unit suitable for providing continuous power support.

[0072] S630. If only the rate of change exceeding the limit gap is identified, the transient compensation power curve to be compensated is calculated based on the degree of exceeding the limit gap, and the second energy storage unit among the multiple candidate energy storage units is controlled to output power to the power supply bus according to the transient compensation power curve; wherein, the second energy storage unit is a high-power unit with a power response speed not lower than the set value.

[0073] When the system detects only a voltage amplitude exceeding the limit, it indicates that the power supply bus needs a long-term, stable energy replenishment to maintain the voltage level. In this case, the system accurately calculates the required steady-state support power based on the degree of amplitude exceeding the limit and instructs the first energy storage unit to output this power to the power supply bus. Because the first energy storage unit is a high-energy unit, its high energy density and suitability for continuous power output effectively stabilize the voltage amplitude within the tolerance window, avoiding secondary exceeding of the limit due to insufficient energy. Conversely, when the system detects only a voltage change rate exceeding the limit, it indicates that the power supply bus is facing a problem of severe voltage fluctuations caused by instantaneous power surges, requiring rapid power compensation. In this situation, the system calculates a transient compensation power curve based on the degree of rate of change exceeding the limit and instructs the second energy storage unit (i.e., the high-power unit) to output power to the power supply bus according to this curve. Because the second energy storage unit is a high-power unit, its fast power response and high power density enable it to quickly absorb or release power, effectively suppressing transient voltage fluctuations and preventing the voltage change rate from exceeding the tolerance range.

[0074] By using the above method, power quality problems are broken down into two dimensions: amplitude and rate of change. Based on the nature of the problem, energy storage units with different characteristics are intelligently dispatched for compensation. This fully utilizes the advantages of different energy storage units, making the compensation process more accurate and efficient. It avoids the inefficiency and waste of resources of a one-size-fits-all compensation method, significantly improves the reliability of the emergency rescue vehicle power supply system and the operational stability of sensitive load equipment, and ensures the smooth progress of rescue operations.

[0075] Furthermore, when some disturbance events occur, in addition to the two types of gaps occurring individually, it is also possible for both types of gaps to occur simultaneously. In such cases, because the objectives of the two compensation actions are fundamentally different—the high-power unit aims to suppress the rate of change, and its output command is high-frequency and rapidly changing, while the high-energy unit aims to support the amplitude, and its output command is relatively smooth and continuous—if the two compensation actions operate independently and are superimposed on the power supply bus, their output power may cancel each other out or superimpose, leading to overshoot or undershoot of the compensation power, which in turn causes new voltage fluctuations or even system oscillations. Based on the above problems, in some embodiments, step S600 further includes the following steps:

[0076] S640. If both the amplitude limit gap and the rate of change limit gap are identified simultaneously, the total compensation power requirement that the first energy storage unit and the second energy storage unit need to compensate is determined based on the amplitude limit gap.

[0077] Total compensation power demand refers to the total power required to restore the voltage amplitude of the power supply bus to the voltage deviation range within the power quality tolerance window. During calculation, the predicted maximum bus voltage deviation ΔU is first extracted from the amplitude exceedance gap. max (i.e., the maximum expected voltage drop or rise), and then, according to formula P total =(ΔU max *U0) / X s The total compensation power demand P is calculated. total The real-time voltage of the U0 power supply bus, X s The equivalent system reactance of the power supply bus is determined in advance.

[0078] S641. Based on the degree of exceeding the limit of the rate of change limit gap and the pre-established allocation model, determine the allocation coefficients of the first energy storage unit and the second energy storage unit.

[0079] Since the extent to which the rate of change exceeds the limit directly reflects the urgency of the system's support for transient power, the degree of power compensation that the two types of energy storage units need to undertake can be determined by the extent to which the rate of change exceeds the limit.

[0080] Specifically, during step S641, the processing of the allocation model will include the following three stages:

[0081] S6411. Quantify the degree of excess of the current rate of change beyond the limit:

[0082] Based on the previously identified data on the rate of change exceeding the limit, the allocation model will first use the predicted voltage change rate curve dV / dt reflected in it. pred (t) and the maximum permissible rate of change dV / dt within the power quality tolerance window max The deviation between them is used to quantify the degree of exceeding the limit. The calculation formula is as follows:

[0083]

[0084] in, This is to predict the maximum absolute value on the voltage change rate curve.

[0085] The Severity calculated by the above formula is a percentage value, reflecting the relative proportion of the rate of change exceeding the tolerance threshold.

[0086] S6412. Determining the benchmark allocation coefficient K based on fuzzy rule mappingbase

[0087] Specifically, the allocation model pre-stores an "excess level - baseline allocation coefficient lookup table," which is built based on fuzzy control principles. This table maps continuous Severity values ​​to a finite number of levels and assigns an initial K to each level. base Values, for example, are divided into 3 levels and correspond to 3 K values ​​that gradually increase in value. base The "Over-Limit Degree - Baseline Allocation Coefficient Lookup Table" is based on historical data. Its core design principle is that the higher the voltage change rate exceeds the limit, the more severe the over-limit, meaning the more urgent the system's need for transient power support. Therefore, a higher proportion of power should be allocated to the faster-responding second energy storage unit (high-power unit) to ensure rapid containment of drastic voltage fluctuations. Thus, the allocation model uses the allocation coefficients determined by this "Over-Limit Degree - Baseline Allocation Coefficient Lookup Table" to indicate the proportional factors for how the total compensation power demand is divided between the first and second energy storage units. This represents the proportion of power that the second energy storage unit should bear, while the first energy storage unit bears the remaining proportion.

[0088] For example, in this embodiment, the "Over-limit Degree - Baseline Allocation Coefficient Lookup Table" used in the allocation model clearly states that when When the rate of change is between 0% and 20%, it indicates that the rate of change is slightly exceeding the limit, and the corresponding benchmark allocation factor is K. base It is 0.3; when When the change rate is between 20% and 50%, it indicates that the rate of change generally exceeds the limit, and the corresponding benchmark allocation factor is 0.6; when When the rate of change is between 50% and 100%, it indicates that the rate of change is severely out of bounds, and the corresponding benchmark allocation factor is 0.8; when When the change rate is greater than 100%, it indicates that the rate of change is extremely excessive. The corresponding baseline allocation coefficient is 0.95, which causes the system to prioritize the use of the second energy storage unit for rapid power throughput.

[0089] S6413, Applying an adaptive correction factor to correct the basic allocation coefficient K base The final allocation coefficient K is obtained;

[0090] Specifically, after calculating the basic allocation coefficient K... base The allocation model will then further utilize the correction factor C. adj To adjust K base ,Right now:

[0091] K=K base C adj

[0092] The correction factor C adj The values ​​and Each level has a one-to-one correspondence, and each level initially corresponds to C. adj The initial values ​​are all 1, and then each value is changed after the previous collaborative compensation task is completed. Correction factor C corresponding to the level adj The value of will be dynamically updated along with the effect of the previous collaborative compensation process, and this dynamic update process will be further explained in subsequent related content.

[0093] S642. Based on the allocation coefficient and the total compensation power demand, determine the first compensation component and the second compensation component that the first energy storage unit and the second energy storage unit need to compensate the power supply bus respectively.

[0094] Specifically, after calculating the allocation coefficient and the total compensation power demand, for a total compensation power demand of P... total The allocation coefficient is K (representing the proportion of the second energy storage unit), and the first compensation component is K*P. total The first compensation component is (1-K) * P total .

[0095] S643. Control the first energy storage unit and the second energy storage unit to perform coordinated compensation on the power supply bus according to the first compensation component and the second compensation component, respectively. Coordinated compensation means that, under the unified control of the dispatching device, the first energy storage unit and the second energy storage unit simultaneously output power to the power supply bus according to their respective assigned compensation components, in order to jointly address complex voltage quality exceedance issues.

[0096] Ultimately, although in complex operating conditions where the power supply bus experiences two types of shortfalls simultaneously, it is impossible to guarantee the stability of the power supply quality of the power supply bus simply by superimposing the two scheduling schemes, the above scheme achieves dynamic calculation of the allocation coefficients for subsequent power dispatch of the two energy storage units based on the degree of exceeding the limit of the rate of change of the shortfall. This allows the high-energy unit and the high-power unit to cooperate in a way that is more adapted to the combined disturbance event, and to coordinate to compensate the power supply bus for power. This ensures that the system can quickly and accurately maintain the power supply quality within the tolerance window required for the stable operation of sensitive load equipment under the subsequent combined disturbance event.

[0097] Furthermore, in some embodiments, after step S643, which involves controlling the first energy storage unit and the second energy storage unit to perform coordinated compensation on the power supply bus according to the first compensation component and the second compensation component respectively, the following steps are further included:

[0098] S700: Obtain the actual voltage data during this collaborative compensation process, and extract the rate of change recovery time and voltage amplitude overshoot from it;

[0099] Among them, the rate of change recovery time is the time from the start of compensation to the actual rate of change of the power supply bus decreasing to within the maximum rate of change tolerance.

[0100] Voltage amplitude overshoot is the maximum reverse overshoot amplitude of the actual voltage of the power supply bus relative to the voltage deviation range during the compensation process.

[0101] Step S700 serves to provide an objective raw data foundation for subsequent evaluation and optimization of the compensation effect. The actual voltage data can be obtained periodically or event-triggered through existing devices such as smart meters or power quality monitors via their communication interfaces. Subsequently, extracting the rate of change recovery time and voltage amplitude overshoot from this actual voltage data involves analyzing and processing the acquired actual voltage data to quantify the performance of this collaborative compensation. These parameters can be extracted using digital signal processing techniques; for example, differential operations can be performed on the voltage data to obtain the voltage rate of change, and then the recovery time can be determined through threshold comparison and timestamp recording; the overshoot can be determined by finding the maximum deviation of the voltage waveform outside the tolerance window boundary.

[0102] The extracted rate of change recovery time is significant in assessing the efficiency and speed of the compensation system in suppressing rapid voltage changes caused by impulsive loads; the voltage amplitude overshoot is used to measure whether excessive fluctuations or reverse impacts occur in the process of the compensation system restoring the voltage to within the tolerance window.

[0103] S710. The allocation model is updated based on the rate of change recovery time and voltage amplitude overshoot.

[0104] Subsequently, the allocation model is updated and corrected based on the rate of change recovery time and voltage amplitude overshoot, aiming to achieve adaptive optimization of the compensation strategy.

[0105] In this embodiment, when step S710 performs the update and correction of the allocation model, the specific steps include:

[0106] S711. If the rate of change recovery time is greater than the preset expected recovery time, the allocation model is adjusted so that it can calculate a larger allocation coefficient when the same voltage quality over-limit gap is applied in the future.

[0107] The preset expected recovery time is the target time for the voltage change rate to recover to the normal range after the system has performed compensation. This time can be set according to the system's requirements for transient response speed, the characteristics of sensitive load devices, or historical operating experience. For example, it can be set to 50 milliseconds or 100 milliseconds.

[0108] Specifically, if the recovery time of the rate of change is greater than the preset expected recovery time, the current K value is determined to be insufficient, and the correction factor C corresponding to the current Severity level will be increased. adj For example, the original C level corresponding to this Severity level in the previous compensation process will be... adj Multiply the base value by a coefficient greater than 1, such as 1.05, to obtain the latest correction factor C for that Severity level. adj This allows the Severity level to obtain a larger allocation coefficient when the allocation coefficient is subsequently calculated using the allocation model.

[0109] S712. If the voltage amplitude overshoot is greater than the preset allowable overshoot, adjust the allocation model so that it can calculate a smaller allocation coefficient when the same voltage quality overshoot gap is applied in the future.

[0110] The preset allowable overshoot is the maximum reverse overshoot amplitude that the system is allowed to produce after compensation. This value can be set according to the tolerance of sensitive load devices to voltage amplitude fluctuations or the system stability requirements. For example, it can be set to 5% or 10% of the voltage deviation range.

[0111] Specifically, if the voltage amplitude overshoot exceeds the preset allowable overshoot, it is determined that the current K value may be too high or the response may be overshooting. The correction factor Cadj corresponding to the current Severity level will be reduced. For example, the original C value corresponding to this Severity level in the previous compensation process will be reduced. adj Multiply the base value by a coefficient less than 1, such as 0.95, to obtain the latest correction factor C for that Severity level. adj This ensures that when the allocation coefficient is subsequently calculated using the allocation model for this Severity level, a smaller allocation coefficient can be obtained;

[0112] The situation described in step S711 indicates that the transient support capability of the second energy storage unit, which excels in rapid response, may not have been fully utilized in this compensation process, or its allocated power ratio may be insufficient to effectively suppress the voltage rate of change. Therefore, the system will adjust the allocation model to calculate a larger allocation coefficient when encountering similar voltage quality gaps in the future, thereby increasing the power output ratio of the second energy storage unit and accelerating the recovery of the voltage rate of change. Conversely, regarding the situation described in step S712, if the detected voltage amplitude overshoot exceeds the preset allowable overshoot, this may mean that the rapid response of the second energy storage unit, in particular, may have been too aggressive during the compensation process, or that the coordination with the first energy storage unit was not smooth enough, leading to unnecessary overshoot in the voltage amplitude. In this case, the system will adjust the allocation model to calculate a smaller allocation coefficient in subsequent compensations, thereby reducing the instantaneous output intensity of the second energy storage unit and allowing the first energy storage unit to play a greater smoothing role, thus enhancing the stability of the voltage amplitude.

[0113] Ultimately, the aforementioned dynamic adjustment mechanism enables the allocation model to continuously optimize based on actual operational feedback. This transforms the model from a fixed state into one that continuously learns and adjusts according to changes in the actual operating environment, the performance degradation of energy storage devices, and the characteristics of different impact loads. For example, when the system detects an excessively long rate of change recovery time, the allocation model can be adjusted to increase the transient compensation share of high-power units in subsequent compensation, thereby accelerating the recovery speed of the voltage rate of change. When an excessive voltage amplitude overshoot is detected, the allocation model can be adjusted to optimize the distribution of steady-state support power, avoiding excessive voltage fluctuations. This dynamic adjustment capability significantly improves the accuracy and effectiveness of the collaborative compensation strategy, ensuring that the actual power supply quality of the power supply bus can be stably maintained within the power supply quality tolerance window required by sensitive load devices over a long period.

[0114] Furthermore, in some embodiments, step S500, predicting the power supply voltage waveform of the power supply bus during the event based on the power consumption characteristic parameters and preset system parameters of the power supply bus, includes the following steps:

[0115] S510. If multiple events occur at the same time, the power consumption characteristic parameters of the multiple events are matched respectively during the time overlap process, and the power consumption characteristic parameters of the multiple events are superimposed during the time overlap process to obtain a total power consumption characteristic parameter reflecting the total time-varying power change during the event overlap process.

[0116] S520. Based on the total power consumption characteristic parameters and the preset system parameters of the power supply bus, predict the power supply voltage waveform of the power supply bus during the event.

[0117] The superposition of power consumption characteristic parameters of multiple events refers to the comprehensive processing of the power consumption characteristic parameters of these time-overlapping impact load devices to obtain a comprehensive parameter that can represent the summation effect of all concurrent events. This superposition can be achieved by summing the instantaneous power curves of each event point by point. For example, at each time point, the active power and reactive power of all overlapping events are added together to obtain the total active power and reactive power time series.

[0118] Through the above technical solution, this application can generate more realistic total power consumption parameters by accurately superimposing the power consumption characteristic parameters of multiple events when multiple impact load devices are operating simultaneously or when their events overlap, thereby predicting a power supply bus voltage waveform that is more consistent with the actual situation. This high-precision voltage waveform prediction enables the system to more accurately assess whether the power supply quality exceeds the tolerance window, thus allowing for more timely and precise dispatch of backup energy storage units for power compensation. Ultimately, this ensures that emergency rescue vehicles can effectively maintain the voltage stability of the power supply bus even in complex multi-task scenarios, even when facing concurrent disturbances from multiple impact load devices, guaranteeing the continuous and stable operation of sensitive load devices and preventing interruptions to rescue operations due to voltage fluctuations.

[0119] Furthermore, in some embodiments, step S500, the method for predicting the power supply voltage waveform of the power supply bus during an event based on power consumption characteristic parameters, includes the following steps:

[0120] S530. Based on the power consumption characteristic parameters, at least construct the time-varying reactive power curve of the target impact equipment during the event; wherein, the power consumption characteristic parameters are the typical time-varying reactive power curve of the target impact load equipment during the event, or the expected peak reactive power, reactive power ramp-up time and peak reactive power duration used to calculate the time-varying reactive power curve.

[0121] Among these, the power consumption characteristic parameters refer to data used to describe the reactive power variation characteristics of the target impulsive load equipment during a power disturbance event. One implementation is that these power consumption characteristic parameters are directly stored as predefined typical time-varying reactive power curves. For example, they could be a series of time-reactive power data points or a function expression describing the curve shape (such as a polynomial, exponential function, etc.). Another implementation is that they are stored as key parameters required to calculate the time-varying reactive power curve of the target impulsive load equipment, such as the expected peak reactive power at the start of the impulsive load, the time required to reach the peak (reactive power ramp-up time), and the duration of the peak reactive power. The system can dynamically generate or select the corresponding time-varying reactive power curve Q(t) based on these parameters.

[0122] S540, Obtain the real-time voltage U0 of the current power supply bus and the pre-determined equivalent system impedance parameter X of the power supply bus. s ;

[0123] S550, real-time voltage U0 based on the power supply bus, time-varying reactive power curve Q(t), and equivalent system impedance parameter X s The power supply voltage waveform of the power supply bus is calculated.

[0124] Specifically, in this embodiment, by selecting power consumption characteristic parameters related to reactive power, the modeling is performed only on the "time-varying reactive power" of the impact load, rather than active power or a combination of both. The fundamental reason for this selection is that in the AC system of the emergency rescue vehicle, the fluctuation of the power supply bus voltage (ΔU) is mainly dominated by the change of reactive power (ΔQ), and the relationship can be approximately expressed as ΔU∝ (ΔQ * Xs) / U0, where Xs is the equivalent system impedance.

[0125] This is because the huge reactive current generated when an impact load (such as a large motor) starts will produce a significant voltage drop across the equivalent system impedance Xs on the power supply bus. Conversely, the direct impact of active power variation (ΔP) on voltage amplitude is very limited, with an order of magnitude of ΔU∝(ΔP*Rs) / U0, where Rs is the equivalent resistance of the system. In this typical distribution network scenario, the inductive reactance of the line is much greater than the resistance, i.e., Xs >> Rs. Therefore, the impact of the ΔP*Rs term is negligible compared to the ΔQ*Xs term. Based on the above reasons, this application can effectively predict voltage amplitude disturbances by modeling only time-varying reactive power, while avoiding the unnecessary computational complexity and parameter identification process brought about by introducing an active power model, thus achieving a balance between prediction accuracy and execution efficiency.

[0126] After constructing the time-varying reactive power curve of the power supply bus during the event, and mastering the real-time voltage of the current power supply bus and the pre-determined equivalent system impedance parameters of the power supply bus, the system can use electrical principles, ΔU(t) = Q(t)*Xs / U0, to accurately calculate the power supply voltage waveform of the power supply bus.

[0127] Furthermore, in some embodiments, step S400 determines a power quality tolerance window that satisfies the stable operation of one or more sensitive load devices, including the following steps:

[0128] S410. Obtain the individual power supply quality requirements for each sensitive load device under the current operating state. The individual power supply quality requirements shall include at least the individual voltage deviation range and the individual maximum voltage change rate.

[0129] Specifically, individual power quality requirements can be determined by reading data from the device's built-in sensors, obtaining its operating parameters through the device's communication interface, or consulting the technical specifications provided by the device manufacturer. Individual power quality requirements clarify the core indicators to focus on when assessing the power supply needs of sensitive load devices. Individual voltage deviation range can be expressed as a percentage deviation from the device's nominal voltage value (e.g., ±5%), or a specific voltage range (e.g., 210V to 230V). The maximum individual voltage change rate can be expressed as the absolute value of the voltage change per unit time (e.g., not exceeding 10V / ms), or the percentage change of voltage relative to the nominal voltage (e.g., not exceeding 5% / ms).

[0130] S420. The intersection of all obtained individual voltage deviation ranges is determined as the voltage deviation range of the power supply quality tolerance window; and the minimum value among all obtained individual maximum voltage change rates is determined as the maximum voltage change rate of the power supply quality tolerance window.

[0131] The aforementioned technical solution acquires the individual power quality requirements of each sensitive load device under its current operating state and accurately calculates the voltage deviation range and maximum voltage change rate of the power quality tolerance window based on these individual requirements. This ensures that the window comprehensively covers the most stringent requirements of all sensitive load devices. This enables effective prevention of operational instability or damage caused by voltage amplitude or change rate exceeding the tolerance range of sensitive devices, even in scenarios involving multiple operating devices working collaboratively in emergency rescue vehicles, despite complex impact load disturbances. This significantly improves the operational reliability of sensitive load devices and the power supply stability of the entire microgrid system.

[0132] Secondly, this application proposes a multi-operation equipment collaborative power dispatching system for emergency rescue vehicles. The system includes:

[0133] A power supply device, comprising a main power supply and at least one backup energy storage unit;

[0134] One or more sensitive load devices are connected to the power supply unit via a power supply bus;

[0135] One or more impact load devices, which are connected to the power supply unit via a power supply bus;

[0136] The power dispatching device includes a disturbance monitoring module, a power quality prediction module, and a dispatching decision module. Each module is configured to cooperate in executing the aforementioned multi-operation equipment collaborative power dispatching method for emergency rescue vehicles.

[0137] By combining the disturbance monitoring module, power quality prediction module, and scheduling decision module in a collaborative predictive compensation manner, the voltage disturbance of the power supply bus can be predicted before the start-up, shutdown, or switching of impact load equipment, and the backup energy storage unit can be controlled to perform power compensation. This achieves the effect of avoiding the interruption of operation of sensitive load equipment due to voltage disturbances. Specifically, the disturbance monitoring module monitors the power disturbance events of impact load equipment in real time and identifies the target equipment; the power quality prediction module predicts the voltage waveform of the power supply bus based on power consumption characteristic parameters; the scheduling decision module compares the predicted waveform with the power quality tolerance window, and when the predicted waveform exceeds the window, it controls the backup energy storage unit to provide additional compensation power to the power supply bus.

[0138] Furthermore, in some embodiments, the backup energy storage unit of the power supply device includes at least a first energy storage unit and a second energy storage unit, wherein the first energy storage unit is a high-energy unit with an energy density not lower than a set energy density; and the second energy storage unit is a high-power unit with a power response speed not lower than a set value.

[0139] Specifically, the backup energy storage unit refers to an energy storage device, in addition to the main power supply, used to provide extra power compensation when disturbances occur on the power supply bus. In this solution, the backup energy storage unit is no longer a single type, but rather includes at least two energy storage units with different characteristics, aiming to provide more flexible and efficient power compensation capabilities to cope with different types of voltage quality problems. This combination can be achieved by integrating different types of energy storage media (such as batteries and supercapacitors) into a single physical unit, with functional division achieved through internal control; or it can be two or more independent physical energy storage units, corresponding to the functions of the first and second energy storage units respectively, and coordinated by an external dispatch system.

[0140] The first energy storage unit is defined as a high-energy unit with an energy density not lower than a set energy density. A high-energy unit refers to an energy storage device capable of storing a large amount of electrical energy per unit volume or unit mass. Its characteristics include strong energy storage capacity and suitability for long-term, continuous energy output. For example, a lithium-ion battery pack can be used, which has a high energy density and can provide stable energy output to support voltage amplitude. This first energy storage unit is mainly used to provide continuous energy support to solve the problem of voltage amplitude exceeding limits and ensure the steady-state stability of the power supply bus voltage.

[0141] The second energy storage unit is defined as a high-power unit with a power response speed not lower than a set value. A high-power unit refers to an energy storage device capable of rapidly releasing or absorbing a large amount of power in a short time. Its characteristics include high power density and fast response speed, making it suitable for handling transient power surges. For example, a supercapacitor (or double-layer capacitor) can be used, with extremely fast charging and discharging speeds, enabling rapid response to changes in power demand and suppression of voltage fluctuations; alternatively, a flywheel energy storage system can be used, storing kinetic energy through a high-speed rotating flywheel and quickly converting it into electrical energy output when needed to cope with transient power demands. This second energy storage unit is mainly used to provide a rapid power response to address the problem of voltage fluctuation exceeding limits and suppress transient fluctuations in the power supply bus voltage.

[0142] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0143] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings 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 listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0144] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0145] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0146] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0148] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for coordinated power dispatching of multiple operational equipment in an emergency rescue vehicle, characterized in that, It includes the following steps: Monitor events that cause power disturbances in impact load devices within the power supply system; these events include the startup of new impact load devices or the switching of existing impact load devices between different power modes; In response to the detected event, identify the target impact load device associated with the event; Based on a pre-established power consumption characteristic database, the power consumption characteristic parameters of the target impact load device during the power disturbance event are obtained; wherein, the power consumption characteristic database is established based on historical operating big data of various impact load devices, and the power consumption characteristic parameters are parameters or combinations of parameters that reflect the time-varying power changes of the target impact load device during the event. Determine a power quality tolerance window that satisfies the stable operation of one or more sensitive load devices; the power quality tolerance window includes at least the voltage deviation range and the maximum voltage change rate of the power supply bus. Based on the power consumption characteristic parameters, predict the power supply voltage waveform of the power supply bus during the event. By comparing the power supply voltage waveform with the power supply quality tolerance window, if the power supply voltage waveform exceeds the power supply quality tolerance window, at least one alternative energy storage unit independent of the main power supply is controlled to provide additional compensation power to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power supply quality tolerance window.

2. The method for coordinated power dispatching of multiple operating equipment in an emergency rescue vehicle as described in claim 1, characterized in that, The comparison of the power supply voltage waveform with the power supply quality tolerance window, and if the power supply voltage waveform exceeds the power supply quality tolerance window, controlling at least one backup energy storage unit independent of the main power supply to provide additional compensation power to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power supply quality tolerance window, includes the following steps: The power supply voltage waveform is compared with the power supply quality tolerance window to identify whether there is at least one type of voltage quality over-limit gap; wherein, the types of voltage quality over-limit gap include: amplitude over-limit gap caused by the voltage amplitude in the power supply voltage waveform exceeding the voltage deviation range, and rate of change over-limit gap caused by the voltage change rate in the power supply voltage waveform exceeding the maximum voltage change rate; If only the amplitude exceeding the limit gap is identified, the required steady-state support power is calculated based on the degree of exceeding the limit gap, and the first energy storage unit among the multiple candidate energy storage units is controlled to output power to the power supply bus according to the steady-state support power; wherein, the first energy storage unit is a high-energy unit suitable for providing continuous power support. If only the rate of change exceeding the limit gap is identified, the transient compensation power curve to be compensated is calculated based on the degree of exceeding the limit gap, and the second energy storage unit among the multiple candidate energy storage units is controlled to output power to the power supply bus according to the transient compensation power curve; wherein, the second energy storage unit is a high-power unit with a power response speed not lower than a set value.

3. The method for coordinated power dispatching of multiple operating equipment in an emergency rescue vehicle as described in claim 2, characterized in that, The comparison of the power supply voltage waveform with the power supply quality tolerance window, and if the power supply voltage waveform exceeds the power supply quality tolerance window, controlling at least one alternative energy storage unit independent of the main power supply to provide additional compensation power to the power supply bus so that the actual power supply quality of the power supply bus is maintained within the power supply quality tolerance window, further includes the following steps: If both the amplitude exceeding the limit gap and the rate of change exceeding the limit gap are identified simultaneously, the total compensation power requirement that the first energy storage unit and the second energy storage unit need to compensate is determined based on the amplitude exceeding the limit gap. Based on the degree of exceeding the limit of the rate of change limit and the pre-established allocation model, the allocation coefficients of the first energy storage unit and the second energy storage unit are determined; Based on the allocation coefficient and the total compensation power requirement, determine the first compensation component and the second compensation component that the first energy storage unit and the second energy storage unit need to compensate the power supply bus respectively. The first energy storage unit and the second energy storage unit are controlled to perform coordinated compensation on the power supply bus according to the first compensation component and the second compensation component, respectively.

4. The method for coordinated power dispatching of multiple operating equipment in an emergency rescue vehicle as described in claim 3, characterized in that, After controlling the first energy storage unit and the second energy storage unit to perform coordinated compensation on the power supply bus according to the first compensation component and the second compensation component respectively, the method further includes the following steps: The actual voltage data during this collaborative compensation process is acquired, and the rate of change recovery time and voltage amplitude overshoot are extracted from it; wherein, the rate of change recovery time is the time elapsed from the start of compensation until the actual voltage change rate of the power supply bus drops to within the maximum voltage change rate tolerance value; the voltage amplitude overshoot is the maximum reverse overshoot amplitude of the actual voltage of the power supply bus relative to the voltage deviation range during the compensation process; The allocation model is updated based on the rate of change recovery time and the voltage amplitude overshoot.

5. The method for coordinated power dispatching of multiple operating equipment in an emergency rescue vehicle as described in claim 4, characterized in that, The step of updating the allocation model based on the rate of change recovery time and the voltage amplitude overshoot includes the following steps: If the rate of change recovery time is greater than the preset expected recovery time, the allocation model is adjusted so that it can calculate a larger allocation coefficient when the same voltage quality over-limit gap is subsequently applied. If the voltage amplitude overshoot is greater than the preset allowable overshoot, the allocation model is adjusted so that it can calculate a smaller allocation coefficient when the same voltage quality overshoot gap is subsequently encountered.

6. The method for coordinated power dispatching of multiple operating equipment in an emergency rescue vehicle as described in claim 1, characterized in that, The method of predicting the power supply voltage waveform of the power supply bus during the event based on the power consumption characteristic parameters and the preset system parameters of the power supply bus includes the following steps: If multiple events occur at the same time, the power consumption characteristic parameters of the multiple events are matched during the time overlap process, and the power consumption characteristic parameters of the multiple events are superimposed during the time overlap process to obtain a total power consumption characteristic parameter that reflects the total time-varying power change during the event overlap process. Based on the total parameters of the power consumption characteristics and the preset system parameters of the power supply bus, the power supply voltage waveform of the power supply bus during the event is predicted.

7. The method for coordinated power dispatching of multiple operating equipment in an emergency rescue vehicle as described in claim 1, characterized in that, The step of predicting the power supply voltage waveform of the power supply bus during the event based on the power consumption characteristic parameters includes the following steps: Based on the power consumption characteristic parameters, at least the time-varying reactive power curve of the target impact device during the event is constructed; wherein, the power consumption characteristic parameters are typical time-varying reactive power curves reflecting the target impact load device during the event, or are used to calculate the expected peak reactive power, reactive power rise time, and peak reactive power duration of the time-varying reactive power curve. Obtain the real-time voltage of the current power supply bus and the pre-determined equivalent system impedance parameters of the power supply bus; Based on the real-time voltage of the power supply bus, the time-varying reactive power curve, and the equivalent system impedance parameters, the power supply voltage waveform of the power supply bus is calculated.

8. The method for coordinated power dispatching of multiple operating equipment in an emergency rescue vehicle as described in claim 1, characterized in that, Determining the power quality tolerance window that satisfies the stable operation of one or more sensitive load devices includes the following steps: Obtain the individual power supply quality requirements for each of the sensitive load devices under the current operating state. The individual power supply quality requirements include at least the individual voltage deviation range and the individual maximum voltage change rate. The intersection of all obtained individual voltage deviation ranges is determined as the voltage deviation range of the power supply quality tolerance window; and the minimum value among all obtained individual maximum voltage change rates is determined as the maximum voltage change rate of the power supply quality tolerance window.

9. A multi-operation equipment collaborative power dispatching system for emergency rescue vehicles, characterized in that, It includes: A power supply device, comprising a main power supply and at least one backup energy storage unit; One or more sensitive load devices are connected to the power supply unit via a power supply bus; One or more impact load devices are connected to the power supply unit via a power supply bus; The power dispatching device includes a disturbance monitoring module, a power quality prediction module, and a dispatching decision module. Each module is configured to cooperate in executing the multi-operation equipment collaborative power dispatching method of the emergency rescue vehicle as described in any one of claims 1-8.

10. The multi-operation equipment collaborative power dispatching system for emergency rescue vehicles as described in claim 9, characterized in that, The backup energy storage unit of the power supply device includes at least a first energy storage unit and a second energy storage unit. The first energy storage unit is a high-energy unit with an energy density not lower than a set energy density. The second energy storage unit is a high-power unit with a power response speed not lower than a set value.

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