A multi-channel power scheduling method, medium and equipment for a structure type gravity energy storage system

Abstract

The application discloses a kind of structure formula gravity energy storage system multi-channel power scheduling method, medium and equipment in the technical field of novel gravity energy storage system operation scheduling optimization.It comprises: according to single-channel transient power model, target reference power and the starting time of current scheduling interval, obtain the target channel number of current scheduling interval, the time phase difference between adjacent start tasks and candidate start time sequence;For each prediction time window, for each prediction time window: according to single-channel transient power model and target reference power, obtain the dynamic power gap sequence of current prediction time window;According to the candidate start time sequence of current scheduling interval, target channel number, the time phase difference between adjacent start tasks and the dynamic power gap sequence of current prediction time window, the candidate start plan of current prediction time window is solved using the locally optimized objective function constructed, and the candidate start plan is executed according to the preset execution interval.

Description

Technical Field

[0001] This invention relates to the field of gravity energy storage system operation scheduling optimization technology, and in particular to a multi-channel power scheduling method, medium and equipment for a structure-type gravity energy storage system. Background Technology

[0002] With the large-scale integration of renewable energy sources such as wind power and photovoltaics into the power system, the power grid has placed higher demands on long-term energy storage, power smoothing, and flexible regulation capabilities. Gravity energy storage achieves the conversion between electrical energy and gravitational potential energy through the lifting and lowering of a solid, dense object. It features flexible site selection, environmental friendliness, long cycle life, and large energy storage capacity, making it a promising mechanical energy storage solution.

[0003] Gravity energy storage systems typically consist of a large, three-dimensional frame structure, multiple vertical lifting channels, high-density heavy blocks, and a horizontal storage and handling system. Spatially, the system may include an upper storage area, an intermediate transition area, and a lower storage area. Each vertical lifting channel acts as an independent, schedulable unit, performing load descent during the energy release cycle and unloading followed by empty-load resetting, and performing load descent during the energy storage cycle and unloading followed by empty-load resetting.

[0004] Existing energy storage dispatch research often treats energy storage devices as ideal units capable of continuously and smoothly handling any power, employing a constant power assumption for system-level dispatch. However, the actual grid-connected power of structure-type gravity energy storage channels is influenced by the load state, direction of motion, acceleration and deceleration processes, no-load return process, mechanical friction, air resistance, and electromechanical conversion efficiency, exhibiting significant time-varying characteristics and positive and negative power coupling features. When multiple channels operate simultaneously, the transient power of each channel will be superimposed over time due to the concentrated start-up time, resulting in huge step jumps, ramp fluctuations, local dips, or reverse disturbances in the total system power.

[0005] If several channels are simultaneously activated based solely on the target power, while this may approximate the reference command at the average power level, it's difficult to guarantee power smoothness on a second or minute level, and it can easily lead to concentrated occupation of channel resources over time. Furthermore, traditional open-loop scheduling methods typically generate a fixed activation sequence at the start of the scheduling interval, without adjusting for future power contributions and actual power deviations of already running channels within the interval. When load changes, channel states become asynchronous, or idle return power has a lagging effect, fixed-sequence scheduling struggles to continuously track the target power. Therefore, it is necessary to propose a scheduling method that can both characterize the true physical power of a single channel and perform sliding corrections based on the existing operating status of multiple channels. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-channel power scheduling method, medium and equipment for a structure-type gravity energy storage system. Under the condition of considering the non-constant characteristics of channel power and the influence of the continuous power of the already operating channel, it can improve the tracking smoothness and error control capability of the multi-channel grid-connected power to the target reference power.

[0007] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0008] In a first aspect, the present invention provides a multi-channel power scheduling method for a structure-type gravity energy storage system, comprising:

[0009] Based on the constructed single-channel transient power model, target reference power, and start time of the current scheduling interval, obtain the target number of channels in the current scheduling interval, the time phase difference between adjacent startup tasks, and the candidate startup time sequence;

[0010] The current scheduling interval is slid across a preset prediction time window. For each prediction time window, the following steps are performed:

[0011] Based on the constructed single-channel transient power model and the target reference power, obtain the dynamic power gap sequence for the current prediction time window;

[0012] Based on the candidate start time sequence, target channel number, time phase difference between adjacent start tasks, and dynamic power gap sequence of the current prediction time window in the current scheduling interval, the candidate start plan for the current prediction time window is obtained by optimizing the solution using the constructed local optimization objective function.

[0013] Iterate through the candidate startup plans in the current prediction time window. If the candidate startup time of a candidate startup action is within the preset execution interval, add the candidate startup action to the near-end startup action set and execute it.

[0014] Optionally, the process of constructing the single-channel transient power model includes:

[0015] Based on air density, the effective windward area of ​​the elevator car, and the air resistance experienced by the elevator car in the vertical lifting channel, an expression is established to describe the relationship between the instantaneous air resistance experienced by the elevator car and its operating speed during operation in the vertical lifting channel.

[0016] Based on the relationship between the instantaneous air resistance and the running speed of the elevator car during its operation in the vertical lifting channel, the kinematic equations of the structure-type gravity energy storage system under different working conditions are established; among which, the different working conditions include energy-releasing load descent, energy-releasing unloaded ascent, energy-storage load ascent, and energy-storage unloaded descent.

[0017] Based on the kinematic equations of the structure-type gravity energy storage system under different operating conditions, the single-channel transient power expression of the structure-type gravity energy storage system under different operating conditions is established, and the single-channel transient power model is obtained.

[0018] Optionally, the relationship between the instantaneous air resistance experienced by the elevator car during its operation in the vertical lifting channel and its operating speed is expressed as follows:

[0019] ,

[0020] in, express The air resistance experienced by the elevator car as it moves vertically through the elevator shaft. Indicates the air drag coefficient. Indicates air density, This indicates the effective windward area of ​​the elevator car. express The speed of the elevator car at all times;

[0021] The kinematic equations of the structure-type gravity energy storage system during the descent phase of the energy-releasing cargo are as follows:

[0022] ,

[0023] in, This indicates the mass of the elevator car when it is unloaded. This indicates the mass of a single weighted block. Indicates the number of heavy blocks transported in a single shipment. Indicates the gravity coefficient. express The braking force provided by the electric motor when carrying a load. Indicates mechanical friction resistance. This indicates the acceleration of the elevator car.

[0024] The kinematic equations of the structure-type gravity energy storage system during the energy release and unloaded ascent phase are as follows:

[0025] ,

[0026] in, express The no-load traction force provided by the electric motor at all times;

[0027] The kinematic equations of the structure-type gravity energy storage system during the ascent phase of the energy storage vehicle are as follows:

[0028] ,

[0029] in, express The traction force provided by the electric motor at all times;

[0030] The kinematic equations of the structure-type gravity energy storage system during the unloaded descent phase are as follows:

[0031] ,

[0032] in, express The no-load braking force provided by the electric motor at all times;

[0033] The single-channel transient power expressions of a structure-type gravity energy storage system under different operating conditions are as follows:

[0034] ,

[0035] ,

[0036] in, Indicates grid connection mode. express In grid-connected mode, the structure-type gravity energy storage system is always in operation. The single-channel transient power during the energy release discharge task. This indicates the overall electromechanical conversion efficiency of a structure-type gravity energy storage system. express In grid-connected mode, the structure-type gravity energy storage system is always in operation. The single-channel transient power during the execution of energy storage charging tasks.

[0037] Optionally, the target number of channels in the current scheduling interval is obtained by the following formula:

[0038] ,

[0039] ,

[0040] in, Indicates the current scheduling interval. In grid connection mode The target number of channels in the current scheduling interval. This indicates the target reference power for the current scheduling interval. This indicates the direction of operation of the structure-type gravity energy storage system within the current dispatch interval. This indicates that the structure-type gravity energy storage system is operating in the direction of energy release and discharge within the current dispatch interval. This indicates that the direction of operation for the structure-type gravity energy storage system within the current dispatch interval is energy storage and charging. This indicates that the structure-type gravity energy storage system is in grid-connected mode. Downward running direction is Single-channel transient power, This represents the sign-deleting function;

[0041] The time phase difference between adjacent launched tasks in the current scheduling interval is obtained by the following formula:

[0042] ,

[0043] in, In grid connection mode The time phase difference between adjacent launched tasks in the current scheduling interval. This indicates that the structure-type gravity energy storage system is in grid-connected mode. Downward running direction is Single-channel task cycle;

[0044] The candidate start time sequence of the current scheduling interval is obtained by the following formula:

[0045] ,

[0046] in, This represents the sequence of candidate start times for the current scheduling interval. This represents the first candidate start time in the current scheduling interval. One candidate start time, Indicates the start time of the current scheduling interval.

[0047] Optionally, obtaining the dynamic power gap sequence for the current prediction time window based on the constructed single-channel transient power model and the target reference power includes:

[0048] Based on the constructed single-channel transient power model, obtain the power contribution sequence of each running channel in the current prediction time window;

[0049] The power contribution sequences of each running channel in the current prediction time window are superimposed along the channel dimension to obtain the stock power sequence of the current prediction time window.

[0050] Subtracting the current stock power sequence from the target reference power within the current prediction time window yields the dynamic power gap sequence for the current prediction time window.

[0051] Optionally, the power contribution sequence of each running channel in the current prediction time window is obtained by the following formula:

[0052]

[0053] in, This indicates that the channel is already in operation. , Indicates the current forecast time window. Indicates the start time of the current forecast time window. express The set of running channels at any given time. Indicates grid connection mode. In grid connection mode The following channels are already in operation. In the power contribution sequence of the current prediction time window, Indicates that the channel is already in operation. The direction of movement, Indicates that the channel is already in operation. Its operating direction is energy release discharge. Indicates that the channel is already in operation. Its operating direction is energy storage and charging. Indicates that the channel is already in operation. In grid connection mode Downward running direction is transient power, This indicates the first prediction time window. Each sampling time, , This indicates the number of sampling moments in the current prediction time window. Indicates that the channel is already in operation. The actual start-up time;

[0054] The stock power sequence for the current prediction time window is obtained using the following formula:

[0055]

[0056] in, In grid connection mode The stock power sequence for the current forecast time window;

[0057] The dynamic power gap sequence for the current prediction time window is obtained using the following formula:

[0058]

[0059] in, This represents the target reference power for the current forecast time window. In grid connection mode The dynamic power gap sequence for the current forecast time window.

[0060] Optionally, the step of optimizing the candidate startup schedule for the current prediction time window based on the candidate startup time sequence, target channel number, time phase difference between adjacent startup tasks, and dynamic power gap sequence of the current prediction time window using a pre-constructed local optimization objective function to obtain the candidate startup plan for the current prediction time window includes:

[0061] Based on the candidate start time sequence of the current scheduling interval, filter the candidate start time sequence of the current prediction time window;

[0062] Based on the dynamic power gap sequence and candidate start-up time sequence of the current prediction time window, determine the allowed new active scheduling operation direction for the current prediction time window;

[0063] Based on the current prediction time window, the allowable new active scheduling operation direction is used to construct the candidate start action for each non-running channel at each candidate start time, and set a binary variable for each candidate start action to determine whether the candidate start action is selected into the candidate start plan.

[0064] Based on the constructed single-channel transient power model and the candidate start-up time sequence of the current prediction time window, obtain the power contribution sequence of each non-running channel at each candidate start-up time.

[0065] Based on the power contribution sequence of each non-operating channel at each candidate start time and the binary variable of the candidate start action, obtain the total power contribution sequence of the non-operating channels in the current prediction time window;

[0066] Based on the total power contribution sequence of the non-operating channels, the dynamic power gap sequence, and the binary variables of the candidate startup actions of each non-operating channel at each candidate startup time in the current prediction time window, the optimal set of binary variables is solved using the local optimization objective function to obtain the candidate startup plan for the current prediction time window.

[0067] Optionally, the candidate start-up time sequence of the current prediction time window is obtained by the following formula:

[0068] ,

[0069] in, This represents the sequence of candidate start times for the current prediction time window. Indicates the candidate start time sequence number. Indicates the candidate start time sequence number is Candidate launch time, This represents the set of candidate start-up time numbers for the current prediction time window. In grid connection mode The target number of channels in the current scheduling interval. This represents the first candidate start time in the current scheduling interval. One candidate start time, Indicates the start time of the current forecast time window. Indicates the current forecast time window length;

[0070] The allowed new active scheduling directions for the current prediction time window are obtained using the following formula:

[0071] ,

[0072] in, This indicates the permitted new active scheduling directions within the current forecast time window. In grid connection mode The current forecast time window is the The dynamic power gap at each sampling time. This indicates the number of sampling moments in the current prediction time window. This indicates that the permitted direction for new active scheduling operations within the current forecast time window is energy release discharge. This indicates that the permitted new active scheduling operation direction within the current forecast time window is energy storage charging;

[0073] The candidate startup action for each non-operational channel at each candidate startup time is obtained by the following formula:

[0074]

[0075] in, This indicates that the channel is not in operation. , express The set of inactive channels at any given time. Indicates a non-operating channel At the candidate launch time Candidate startup actions;

[0076] The power contribution sequence of each non-operational channel at each candidate startup time is obtained by the following formula:

[0077] ,

[0078] in, Indicates a non-operating channel At the candidate launch time The power contribution sequence, This indicates the first prediction time window. Each sampling time, Indicates a non-operating channel In grid connection mode Downward running direction is transient power;

[0079] The total power contribution sequence of the non-running channels in the current prediction time window is obtained by the following formula:

[0080] ,

[0081] in, This represents the sequence of total power contribution from newly initiated actions to inactive channels within the current prediction time window. For candidate launch actions binary variables, Indicates candidate start action Selected as a candidate for the startup program, Indicates candidate start action Not selected as a candidate startup program;

[0082] The expression for the local optimization objective function is as follows:

[0083] ,

[0084] in, This represents the local optimization objective function. This represents the function that takes the minimum value. For binary variables, Indicates candidate start action Selected as a candidate for the startup program, Indicates candidate start action Not selected for the candidate startup program Indicates the penalty weight for initiating the action; Indicates the weight at startup time. Indicates constraints.

[0085] In a second aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the multi-channel power scheduling method for a structure-type gravity energy storage system as described in any of the first aspects.

[0086] Thirdly, the present invention provides a computer device, comprising:

[0087] Memory, used to store computer instructions;

[0088] A processor for executing the computer instructions to implement the steps of the multi-channel power scheduling method for a structure-type gravity energy storage system as described in any one of the first aspects.

[0089] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0090] 1. By using a single-channel dynamic power model and time-domain superposition logic, the power changes of a single channel under operating conditions such as load descent, unloaded ascent, load ascent, and unloaded descent are calculated, and a multi-channel grid-connected power sequence is obtained accordingly, thereby providing a calculable power basis for multi-channel start-up scheduling and improving the accuracy of grid-connected power prediction.

[0091] 2. By using an interval-level phase difference start-up strategy, the start-up times of adjacent channels are staggered on the time axis, so that the acceleration and deceleration power fluctuations of multiple channels are distributed in different time periods, thereby reducing the instantaneous power fluctuations caused by the synchronous start-up of multiple channels and improving the smoothness of the system's grid-connected power.

[0092] 3. By predicting the power contribution of uninterrupted running channels within the look-ahead window and deducting this existing power sequence from the target reference power sequence, subsequent new startup plans are mainly optimized for the remaining power gap, thereby avoiding duplicate compensation of the same power demand by the power of running channels and the power of new channels, and improving load tracking accuracy.

[0093] 4. Only the starting actions within the near-end execution window are determined. The far-end candidate starting actions are recalculated in the next prediction time window based on the updated channel status and target reference power, thereby reducing the error accumulation caused by long-term open-loop scheduling and improving the adaptability of the scheduling method to dynamic power demand. Attached Figure Description

[0094] Figure 1 This is a schematic diagram of the multi-channel power scheduling method for a structure-type gravity energy storage system provided in an embodiment of the present invention;

[0095] Figure 2 This is a schematic diagram of the active power loop control principle of a grid-type multi-machine power supply system provided in an embodiment of the present invention;

[0096] Figure 3 The load demand curve for testing provided in this embodiment of the invention;

[0097] Figure 4 This is a schematic diagram of the transient power curve of a single channel under four operating conditions provided in an embodiment of the present invention;

[0098] Figure 5 A power scheduling comparison curve diagram under the uniform speed grid connection mode with only cargo load provided in the embodiments of the present invention;

[0099] Figure 6 This is a statistical chart of tracking error in a uniform speed grid-connected mode with only cargo carried, provided by an embodiment of the present invention.

[0100] Figure 7 A power scheduling comparison curve under the grid-connected mode for the entire cargo-carrying process provided in this embodiment of the invention;

[0101] Figure 8 This is a statistical chart of tracking errors in the grid-connected mode during the entire loading process, provided by an embodiment of the present invention.

[0102] Figure 9 A power dispatch comparison curve diagram under the whole process grid-connected mode provided in the embodiments of the present invention;

[0103] Figure 10 The tracking error statistics chart provided for the full-process grid-connected mode in the embodiments of the present invention. Detailed Implementation

[0104] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0105] It should be noted that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0106] Example 1

[0107] This invention discloses a multi-channel power scheduling method for a structure-type gravity energy storage system, with reference to... Figure 1 As shown, the specific steps include the following:

[0108] S1. Based on the constructed single-channel transient power model, target reference power, and the start time of the current scheduling interval, obtain the target number of channels in the current scheduling interval, the time phase difference between adjacent startup tasks, and the candidate startup time sequence.

[0109] S2, slide the current scheduling interval using a preset prediction time window, and perform the following steps for each prediction time window:

[0110] S2.1, Based on the constructed single-channel transient power model and the target reference power, obtain the dynamic power gap sequence for the current prediction time window;

[0111] S2.2, Based on the candidate start time sequence, target channel number, time phase difference between adjacent start tasks and dynamic power gap sequence of the current scheduling interval, the candidate start plan of the current prediction time window is obtained by optimizing the solution using the constructed local optimization objective function.

[0112] S2.3, Traverse the candidate startup actions in the candidate startup plans of the current prediction time window. If the candidate startup time of the candidate startup action is within the preset execution interval, add the candidate startup action to the near-end startup action set and execute it.

[0113] In step S1, the process of constructing the single-channel transient power model includes:

[0114] Based on air density, the effective windward area of ​​the elevator car, and the air resistance experienced by the elevator car in the vertical lifting channel, an expression is established to describe the relationship between the instantaneous air resistance experienced by the elevator car and its operating speed during operation in the vertical lifting channel:

[0115] ,

[0116] in, express The air resistance experienced by the elevator car as it moves vertically through the elevator shaft. Indicates the air drag coefficient. Indicates air density, This indicates the effective windward area of ​​the elevator car. express The speed of the elevator car at all times;

[0117] Based on the relationship between the instantaneous air resistance and the running speed of the elevator car during its operation in the vertical lifting channel, the kinematic equations of the structure-type gravity energy storage system under different working conditions are established; among which, the different working conditions include energy-releasing load descent, energy-releasing unloaded ascent, energy-storage load ascent, and energy-storage unloaded descent.

[0118] The kinematic equations of the structure-type gravity energy storage system during the descent phase of the energy-releasing cargo are as follows:

[0119] ,

[0120] in, This indicates the mass of the elevator car when it is unloaded. This indicates the mass of a single weighted block. Indicates the number of heavy blocks transported in a single shipment. Indicates the gravity coefficient. express The braking force provided by the electric motor when carrying a load. Indicates mechanical friction resistance. This indicates the acceleration of the elevator car.

[0121] The kinematic equations of the structure-type gravity energy storage system during the energy release and unloaded ascent phase are as follows:

[0122] ,

[0123] in, express The no-load traction force provided by the electric motor at all times;

[0124] The kinematic equations of the structure-type gravity energy storage system during the ascent phase of the energy storage vehicle are as follows:

[0125] ,

[0126] in, express The traction force provided by the electric motor at all times;

[0127] The kinematic equations of the structure-type gravity energy storage system during the unloaded descent phase are as follows:

[0128] ,

[0129] in, express The no-load braking force provided by the electric motor at all times;

[0130] Based on the kinematic equations of the structure-type gravity energy storage system under different operating conditions, the single-channel transient power expression of the structure-type gravity energy storage system under different operating conditions is established, and the single-channel transient power model is obtained. The single-channel transient power expression of the structure-type gravity energy storage system under different operating conditions is as follows:

[0131] ,

[0132] ,

[0133] in, Indicates grid connection mode. express In grid-connected mode, the structure-type gravity energy storage system is always in operation. The single-channel transient power during the energy release discharge task. This indicates the overall electromechanical conversion efficiency of a structure-type gravity energy storage system. express In grid-connected mode, the structure-type gravity energy storage system is always in operation. The single-channel transient power during the execution of energy storage charging tasks.

[0134] The target number of channels in the current scheduling interval is obtained using the following formula:

[0135] ,

[0136] ,

[0137] in, Indicates the current scheduling interval. In grid connection mode The target number of channels in the current scheduling interval. This indicates the target reference power for the current scheduling interval. This indicates the direction of operation of the structure-type gravity energy storage system within the current dispatch interval. This indicates that the structure-type gravity energy storage system is operating in the direction of energy release and discharge within the current dispatch interval. This indicates that the direction of operation for the structure-type gravity energy storage system within the current dispatch interval is energy storage and charging. This indicates that the structure-type gravity energy storage system is in grid-connected mode. Downward running direction is Single-channel transient power, This represents the sign-taking function.

[0138] The time phase difference between adjacent launched tasks in the current scheduling interval is obtained by the following formula:

[0139] ,

[0140] in, In grid connection mode The time phase difference between adjacent launched tasks in the current scheduling interval. This indicates that the structure-type gravity energy storage system is in grid-connected mode. Downward running direction is The single-channel task cycle.

[0141] The candidate start time sequence for the current scheduling interval is obtained using the following formula:

[0142] ,

[0143] in, This represents the sequence of candidate start times for the current scheduling interval. This represents the first candidate start time in the current scheduling interval. One candidate start time, Indicates the start time of the current scheduling interval.

[0144] In step S2.1, obtaining the dynamic power gap sequence for the current prediction time window based on the constructed single-channel transient power model and the target reference power includes:

[0145] S2.1.1, Based on the constructed single-channel transient power model, obtain the power contribution sequence of each running channel in the current prediction time window:

[0146]

[0147] in, This indicates that the channel is already in operation. , Indicates the current forecast time window. Indicates the start time of the current forecast time window. express The set of running channels at any given time. Indicates grid connection mode. In grid connection mode The following channels are already in operation. In the power contribution sequence of the current prediction time window, Indicates that the channel is already in operation. The direction of movement, Indicates that the channel is already in operation. Its operating direction is energy release discharge. Indicates that the channel is already in operation. Its operating direction is energy storage and charging. Indicates that the channel is already in operation. In grid connection mode Downward running direction is transient power, This indicates the first prediction time window. Each sampling time, , This indicates the number of sampling moments in the current prediction time window. Indicates that the channel is already in operation. The actual start-up time;

[0148] S2.1.2, the power contribution sequences of each running channel in the current prediction time window are superimposed along the channel dimension to obtain the existing power sequence for the current prediction time window:

[0149]

[0150] in, In grid connection mode The stock power sequence for the current forecast time window;

[0151] S2.1.3, subtract the target reference power from the stock power sequence of the current prediction time window to obtain the dynamic power gap sequence of the current prediction time window:

[0152]

[0153] in, This represents the target reference power for the current forecast time window. In grid connection mode The dynamic power gap sequence for the current forecast time window.

[0154] In step S2.2, the process of optimizing the candidate startup time sequence, target channel number, time phase difference between adjacent startup tasks, and dynamic power gap sequence of the current prediction time window using the constructed local optimization objective function to obtain the candidate startup plan for the current prediction time window includes:

[0155] S2.2.1, Based on the candidate start time sequence of the current scheduling interval, filter the candidate start time sequence of the current prediction time window:

[0156] ,

[0157] in, This represents the sequence of candidate start times for the current prediction time window. Indicates the candidate start time sequence number. Indicates the candidate start time sequence number is Candidate launch time, This represents the set of candidate start-up time numbers for the current prediction time window. In grid connection mode The target number of channels in the current scheduling interval. This represents the first candidate start time in the current scheduling interval. One candidate start time, Indicates the start time of the current forecast time window. Indicates the current forecast time window length;

[0158] S2.2.2, Based on the dynamic power gap sequence and candidate start-up time sequence of the current prediction time window, determine the permitted new active scheduling operation direction for the current prediction time window:

[0159] ,

[0160] in, This indicates the permitted new active scheduling directions within the current forecast time window. In grid connection mode The current forecast time window is the The dynamic power gap at each sampling time. This indicates the number of sampling moments in the current prediction time window. This indicates that the permitted direction for new active scheduling operations within the current forecast time window is energy release discharge. This indicates that the permitted new active scheduling operation direction within the current forecast time window is energy storage charging;

[0161] S2.2.3, Based on the allowed new active scheduling directions within the current prediction time window, construct candidate startup actions for each non-running channel at each candidate startup time:

[0162]

[0163] in, This indicates that the channel is not in operation. , express The set of inactive channels at any given time. Indicates a non-operating channel At the candidate launch time Candidate startup actions; set a binary variable for each candidate startup action to determine whether the candidate startup action is selected into the candidate startup plan;

[0164] S2.2.4, Based on the constructed single-channel transient power model and the candidate start-up time sequence of the current prediction time window, obtain the power contribution sequence of each non-running channel at each candidate start-up time:

[0165] ,

[0166] in, Indicates a non-operating channel At the candidate launch time The power contribution sequence, This indicates the first prediction time window. Each sampling time, Indicates a non-operating channel In grid connection mode Downward running direction is transient power;

[0167] S2.2.5, Based on the power contribution sequence of each non-operating channel at each candidate start time and the binary variable of the candidate start action, obtain the total power contribution sequence of the non-operating channels in the current prediction time window:

[0168] ,

[0169] in, This represents the sequence of total power contribution from newly initiated actions to inactive channels within the current prediction time window. For candidate launch actions binary variables, Indicates candidate start action Selected as a candidate for the startup program, Indicates candidate start action Not selected as a candidate startup program;

[0170] S2.2.6, based on the total power contribution sequence of the non-operating channels, the dynamic power gap sequence, and the binary variables of the candidate startup actions of each non-operating channel at each candidate startup time in the current prediction time window, the optimal set of binary variables is solved using the local optimization objective function to obtain the candidate startup plan for the current prediction time window. The expression for the local optimization objective function is as follows:

[0171] ,

[0172] in, This represents the local optimization objective function. This represents the function that takes the minimum value. For binary variables, Indicates candidate start action Selected as a candidate for the startup program, Indicates candidate start action Not selected for the candidate startup program Indicates the penalty weight for initiating the action; Indicates the weight at startup time. Indicates constraints; candidate startup plans The expression is ;

[0173] In step S2.3, the preset execution interval is: , This is the preset execution window length.

[0174] Example 2:

[0175] Based on the same inventive concept as the method described in Embodiment 1, this embodiment of the invention discloses a multi-channel power scheduling method for a structure-type gravity energy storage system.

[0176] refer to Figure 2 As shown, the scheduling objects in this embodiment include a large three-dimensional frame structure, an upper storage area, a lower storage area, a horizontal storage and handling unit, multiple independent vertical lifting channels, and high-density heavy blocks; after each vertical lifting channel is assigned a start time, it completes the loading movement and empty reset in one task, forming a complete operating cycle.

[0177] The horizontal transport device delivers heavy blocks from the upper storage area to the passageway entrance. The passageway lowers the load, and gravity performs positive work to drive the motor to generate electricity, which is then fed into the power grid. After the heavy blocks are unloaded at the lower level, the passageway motor reverses, rises to its original position under no-load, and resets, forming one energy release cycle. The passageway connects to the heavy blocks at the lower level, and the motor draws electrical energy from the power grid to raise the load. After the heavy blocks are unloaded at the upper level, the passageway lowers to its original position under no-load, forming one energy storage cycle. In this embodiment, the power output to the power grid is positive, and the power absorption from the power grid is negative.

[0178] In this embodiment, a single-channel physical dynamics power model is pre-established to generate a single-channel segmented power reference curve based on the channel's operating status.

[0179] First, based on whether the elevator shaft is currently loaded with heavy objects, the total operating mass is determined by considering the number of heavy objects transported per trip and the inherent mass of the empty car. Then, based on the preset speed trajectory or the instantaneous operating speed obtained from simulation, the local air density, and the effective windward area of ​​the car, the air resistance component is calculated; and the inherent frictional resistance is calculated by combining this with the mechanical friction coefficient of the guide rails.

[0180] After determining the three-stage velocity trajectory of acceleration, constant speed and deceleration, the real-time driving or braking forces required by the motor side at different stages are calculated based on the basic physical force balance relationship for four typical working conditions: energy-releasing load descent, energy-releasing unloaded ascent, energy-storing load ascent, and energy-storing unloaded descent.

[0181] Multiplying the aforementioned forces by the operating speed and factoring in the reduction in the overall electromechanical conversion efficiency of the transmission mechanism, the mechanical force is transformed into the transient electrical power actually output or absorbed by the channel to the grid. Thus, the power output of a single channel is mapped as a dynamic reference time-series curve encompassing acceleration / deceleration, steady-state sections, and no-load return fluctuations. For the calculation of the overall grid-connected power of the system, based on the current dispatch direction, all channels in the energy release / discharge and energy storage / charging states are combined with their respective triggering times and superimposed on the time axis.

[0182] This embodiment employs a pre-staggered start-up timing allocation strategy. At the beginning of each long-cycle scheduling interval, the theoretically required number of channels to be started in the current interval is calculated based on the target reference power and the equivalent power of a single channel. Instead of setting the start-up times of multiple channels to the same moment, this method determines the time phase difference between adjacent start-up times based on the calculated number of channels and the complete operating cycle of a single channel, forming an interval-level start-up timing sequence. This causes the acceleration and deceleration power changes of multiple channels to be staggered and superimposed on the time axis.

[0183] Since simple phase difference coarse scheduling cannot adapt to the mechanical execution deviation of the channel and the nonlinearity of the power curve, the method in this embodiment further performs sliding optimization within a sliding decision cycle of seconds or minutes, including:

[0184] At the beginning of each prediction time window, based on the simulation status or the channel status updated in the previous sliding cycle, each vertical rise and fall channel is divided into running channels and non-running channels; based on the aforementioned generated dynamic reference power curve, the continued power of the running channels within the look-ahead time window is calculated and used as the stock power sequence.

[0185] The dynamic power gap sequence is obtained by subtracting the target reference power sequence within the current prediction time window from the predicted stock power sequence. This difference is used to characterize the power demand that still needs to be compensated by the non-operating channels after deducting the power carried over by the already operating channels.

[0186] For channels that are not in operation, candidate startup plans are calculated based on dynamic power gap sequences. At the same time, a penalty term for the number of channel start-ups and shutdowns is added to the objective function to suppress frequent start-ups and shutdowns. The optimization solution in this embodiment adopts a local greedy search strategy to determine the number of the newly added startup channel and its startup time under the premise of satisfying the channel safe operation interval constraint.

[0187] After the solution is obtained, the method in this embodiment does not fix all candidate start actions within the sliding time prediction window at once. Instead, it only determines the start actions within the near-end execution window as the output result of the current sliding cycle. Candidate start actions located at more distant times are not locked in advance and are recalculated at the beginning of the next prediction time window using the updated channel state and target reference power. When entering the beginning of the next prediction time window, the target reference power and channel state are reacquired, and the above-mentioned process of stock power prediction, dynamic power gap calculation, and candidate start plan optimization is repeated.

[0188] To verify the effectiveness of the method described in this embodiment, the following simulation test experiment was set up:

[0189] In the simulation experiment, the structure-type gravity energy storage system was configured with 60 lifting channels, with a physical effective lifting height of 122.4m, a single load capacity of 25,000kg, an empty elevator weight of 6,000kg, and an effective windward area of ​​42.0m². The environmental and mechanical parameters were set as follows: gravitational acceleration 9.8m / s², air density 1.225kg / m³, air resistance coefficient 0.5, mechanical friction coefficient 0.02, and comprehensive electromechanical conversion efficiency 0.840192.

[0190] Figure 4 This is a schematic diagram of the transient power curve of a single channel under four operating conditions provided in an embodiment of the present invention; as shown below. Figure 4 As shown, the single-channel energy storage and release process includes both loaded operation and unloaded return operation. Under different operation conditions, there are acceleration, constant speed and deceleration stages. Therefore, the grid-connected power of the single channel changes with the operation stage.

[0191] Input in simulation experiment such as Figure 3 The 24-hour electricity load demand curve of a certain area shown was continuously tracked for testing, and three different grid connection assessment modes were set up:

[0192] 1) Load-only constant speed grid connection mode: The single channel only counts the grid connection power in the constant speed segment, which is approximately a rectangular pulse;

[0193] 2) Full-process grid-connected mode for cargo loading: The acceleration, constant speed, and deceleration processes of the cargo loading section are all included in the grid connection, and the power curve shows an upward slope and then a downward slope.

[0194] 3) Full-process grid connection mode: Both the load-bearing work stage and the no-load reverse reset stage are included in the grid connection, making the physical coupling the most complex.

[0195] In each grid connection mode, the open-loop interval-level phase difference scheduling method and the method described in this embodiment are compared and tested. The evaluation indicators are the mean absolute error (MAE) and the root mean square error (RMSE).

[0196] refer to Figure 5 and Figure 6 As shown, in this mode, since the power of a single channel is a rectangular pulse, the total output depends on the channel start-up density. Test data shows that when using the traditional interval-level phase difference scheduling method, the MAE is 0.1717MW and the RMSE is 0.2094MW. However, after using the method of this embodiment, the MAE drops to 0.08934MW and the RMSE drops to 0.1130MW, with the errors reduced by 47.98% and 46.04%, respectively.

[0197] The results show that even under the simplest pulse superposition, the method in this embodiment can adjust the additional start-up action according to the difference between the predicted output and the target reference power within a short future window, thereby reducing the pulse gap and local superposition overload problems under fixed scheduling.

[0198] refer to Figure 7 and Figure 8 As shown, the acceleration and deceleration transients in this mode cause significant non-constant power ramping. Test data shows that the MAE of the traditional phase difference scheduling method is 0.1966MW and the RMSE is 0.2394MW. After adopting the sliding optimization method of this invention, the MAE and RMSE are reduced to 0.08301MW and 0.09973MW, respectively, with reductions of 57.77% and 58.34%.

[0199] The results confirm that traditional fixed phase difference peak shifting is difficult to cope with local fluctuations caused by the overlap of non-constant power curves at different stages. The method in this embodiment does not rely on the assumption of constant power in a single channel. It can reduce local power fluctuations caused by the cross-over of acceleration and deceleration stages by adjusting the start-up time of subsequent newly added channels, thereby improving the compensation capability for non-constant power processes.

[0200] refer to Figure 9 and Figure 10As shown, this mode introduces power lag and reverse coupling during the no-load return phase. Test data shows that the MAE of the traditional phase difference dispatch method is as high as 0.2530MW, and the RMSE is 0.3594MW; the method in this embodiment controls the MAE and RMSE to 0.1579MW and 0.2129MW respectively, with error reductions of 37.61% and 40.78%.

[0201] Under this condition, traditional methods do not explicitly consider the impact of the return phase of the already running channel on the current grid-connected power, thus the tracking error is relatively large; while the method in this embodiment predicts and deducts the power disturbance of the return phase in each sliding decision cycle, so that the startup plan of the new channel is mainly aimed at the remaining power gap after deducting the existing power, thereby maintaining a low tracking error in the presence of return power coupling.

[0202] In summary, the multi-channel power scheduling method for structure-type gravity energy storage systems proposed in this embodiment can improve the tracking smoothness and error control capability of multi-channel grid-connected power to the target reference power, while considering the non-constant characteristics of channel power and the influence of the continued power of already operating channels.

[0203] Example 3:

[0204] This invention discloses a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the steps of the multi-channel power scheduling method for a structure-type gravity energy storage system described in Embodiment 1.

[0205] Example 4:

[0206] This invention discloses a computer device, comprising:

[0207] Memory, used to store computer instructions;

[0208] A processor is used to execute the computer instructions to implement the steps of the multi-channel power scheduling method for the structure-type gravity energy storage system described in Embodiment 1.

[0209] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0210] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0211] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0212] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0213] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A multi-channel power scheduling method for a structure-type gravity energy storage system, characterized in that, include: Based on the constructed single-channel transient power model, target reference power, and start time of the current scheduling interval, obtain the target number of channels in the current scheduling interval, the time phase difference between adjacent startup tasks, and the candidate startup time sequence; The current scheduling interval is slid across a preset prediction time window. For each prediction time window, the following steps are performed: Based on the constructed single-channel transient power model and the target reference power, obtain the dynamic power gap sequence for the current prediction time window; Based on the candidate start time sequence, target channel number, time phase difference between adjacent start tasks, and dynamic power gap sequence of the current prediction time window in the current scheduling interval, the candidate start plan for the current prediction time window is obtained by optimizing the solution using the constructed local optimization objective function. Iterate through the candidate startup plans in the current prediction time window. If the candidate startup time of a candidate startup action is within the preset execution interval, add the candidate startup action to the near-end startup action set and execute it.

2. The multi-channel power scheduling method for a structure-type gravity energy storage system according to claim 1, characterized in that, The construction process of the single-channel transient power model includes: Based on air density, the effective windward area of ​​the elevator car, and the air resistance experienced by the elevator car in the vertical lifting channel, an expression is established to describe the relationship between the instantaneous air resistance experienced by the elevator car and its operating speed during operation in the vertical lifting channel. Based on the relationship between the instantaneous air resistance and the running speed of the elevator car during its operation in the vertical lifting channel, the kinematic equations of the structure-type gravity energy storage system under different working conditions are established; among which, the different working conditions include energy-releasing load descent, energy-releasing unloaded ascent, energy-storage load ascent, and energy-storage unloaded descent. Based on the kinematic equations of the structure-type gravity energy storage system under different operating conditions, the single-channel transient power expression of the structure-type gravity energy storage system under different operating conditions is established, and the single-channel transient power model is obtained.

3. The multi-channel power scheduling method for a structure-type gravity energy storage system according to claim 2, characterized in that, The relationship between the instantaneous air resistance experienced by the elevator car during its operation in the vertical lifting channel and its operating speed is expressed as follows: ， in, express The air resistance experienced by the elevator car as it moves vertically through the elevator shaft. Indicates the air drag coefficient. Indicates air density, This indicates the effective windward area of ​​the elevator car. express The speed of the elevator car at all times; The kinematic equations of the structure-type gravity energy storage system during the descent phase of the energy-releasing cargo are as follows: ， in, This indicates the mass of the elevator car when it is unloaded. This indicates the mass of a single weighted block. Indicates the number of heavy blocks transported in a single shipment. Indicates the gravity coefficient. express The braking force provided by the electric motor when carrying a load. Indicates mechanical friction resistance. This indicates the acceleration of the elevator car. The kinematic equations of the structure-type gravity energy storage system during the energy release and unloaded ascent phase are as follows: ， in, express The no-load traction force provided by the electric motor at all times; The kinematic equations of the structure-type gravity energy storage system during the ascent phase of the energy storage vehicle are as follows: ， in, express The traction force provided by the electric motor at all times; The kinematic equations of the structure-type gravity energy storage system during the unloaded descent phase are as follows: ， in, express The no-load braking force provided by the electric motor at all times; The single-channel transient power expressions of a structure-type gravity energy storage system under different operating conditions are as follows: ， ， in, Indicates grid connection mode. express In grid-connected mode, the structure-type gravity energy storage system is always in operation. The single-channel transient power during the energy release discharge task. This indicates the overall electromechanical conversion efficiency of a structure-type gravity energy storage system. express In grid-connected mode, the structure-type gravity energy storage system is always in operation. The single-channel transient power during the execution of energy storage charging tasks.

4. The multi-channel power scheduling method for a structure-type gravity energy storage system according to claim 1, characterized in that, The target number of channels in the current scheduling interval is obtained by the following formula: ， ， in, Indicates the current scheduling interval. Indicating in grid connection mode The target number of channels in the current scheduling interval. This indicates the target reference power for the current scheduling interval. This indicates the direction of operation of the structure-type gravity energy storage system within the current dispatch interval. This indicates that the structure-type gravity energy storage system is operating in the direction of energy release and discharge within the current dispatch interval. This indicates that the direction of operation for the structure-type gravity energy storage system within the current dispatch interval is energy storage charging. This indicates that the structure-type gravity energy storage system is in grid-connected mode. Downward running direction is Single-channel transient power, This represents the sign-deleting function; The time phase difference between adjacent launched tasks in the current scheduling interval is obtained by the following formula: ， in, Indicating in grid connection mode The time phase difference between adjacent launched tasks in the current scheduling interval. This indicates that the structure-type gravity energy storage system is in grid-connected mode. Downward running direction is Single-channel task cycle; The candidate start time sequence of the current scheduling interval is obtained by the following formula: ， in, This represents the sequence of candidate start times for the current scheduling interval. This represents the first candidate start time in the current scheduling interval. One candidate start time, Indicates the start time of the current scheduling interval.

5. The multi-channel power scheduling method for a structure-type gravity energy storage system according to claim 1, characterized in that, The step of obtaining the dynamic power gap sequence for the current prediction time window based on the constructed single-channel transient power model and the target reference power includes: Based on the constructed single-channel transient power model, obtain the power contribution sequence of each running channel in the current prediction time window; The power contribution sequences of each running channel in the current prediction time window are superimposed along the channel dimension to obtain the stock power sequence of the current prediction time window. Subtracting the current stock power sequence from the target reference power within the current prediction time window yields the dynamic power gap sequence for the current prediction time window.

6. The multi-channel power scheduling method for a structure-type gravity energy storage system according to claim 5, characterized in that, The power contribution sequence of each running channel in the current prediction time window is obtained by the following formula: in, This indicates that the channel is already in operation. , Indicates the current forecast time window. Indicates the start time of the current forecast time window. express The set of running channels at any given time. Indicates grid connection mode. Indicating in grid connection mode The following channels are already in operation. In the power contribution sequence of the current prediction time window, Indicates that the channel is already in operation. The direction of movement, Indicates that the channel is already in operation. Its operating direction is energy release discharge. Indicates that the channel is already in operation. Its operating direction is energy storage and charging. Indicates that the channel is already in operation. In grid connection mode Downward running direction is transient power, This indicates the first prediction time window. Each sampling time, , This indicates the number of sampling moments in the current prediction time window. Indicates that the channel is already in operation. The actual start-up time; The stock power sequence for the current prediction time window is obtained using the following formula: in, Indicating in grid connection mode The stock power sequence for the current forecast time window; The dynamic power gap sequence for the current prediction time window is obtained using the following formula: in, This represents the target reference power for the current forecast time window. Indicating in grid connection mode The dynamic power gap sequence for the current forecast time window.

7. The multi-channel power scheduling method for a structure-type gravity energy storage system according to claim 1, characterized in that, The process involves optimizing the candidate startup time sequence, target channel number, time phase difference between adjacent startup tasks, and dynamic power gap sequence of the current prediction time window using a pre-constructed local optimization objective function to obtain the candidate startup plan for the current prediction time window, including: Based on the candidate start time sequence of the current scheduling interval, filter the candidate start time sequence of the current prediction time window; Based on the dynamic power gap sequence and candidate start-up time sequence of the current prediction time window, determine the allowed new active scheduling operation direction for the current prediction time window; Based on the current prediction time window, the allowable new active scheduling operation direction is used to construct the candidate start action for each non-running channel at each candidate start time, and set a binary variable for each candidate start action to determine whether the candidate start action is selected into the candidate start plan. Based on the constructed single-channel transient power model and the candidate start-up time sequence of the current prediction time window, obtain the power contribution sequence of each non-running channel at each candidate start-up time. Based on the power contribution sequence of each non-operating channel at each candidate start time and the binary variable of the candidate start action, obtain the total power contribution sequence of the non-operating channels in the current prediction time window; Based on the total power contribution sequence of the non-operating channels, the dynamic power gap sequence, and the binary variables of the candidate startup actions of each non-operating channel at each candidate startup time in the current prediction time window, the optimal set of binary variables is solved using the local optimization objective function to obtain the candidate startup plan for the current prediction time window.

8. The multi-channel power scheduling method for a structure-type gravity energy storage system according to claim 7, characterized in that, The candidate start-up time sequence for the current prediction time window is obtained by the following formula: ， in, This represents the sequence of candidate start times for the current prediction time window. Indicates the candidate start time sequence number. Indicates the candidate start time sequence number is Candidate launch time, This represents the set of candidate start-up time numbers for the current prediction time window. Indicating in grid connection mode The target number of channels in the current scheduling interval. This represents the first candidate start time in the current scheduling interval. One candidate start time, Indicates the start time of the current forecast time window. Indicates the current forecast time window length; The allowed new active scheduling directions for the current prediction time window are obtained using the following formula: ， in, This indicates the permitted new active scheduling directions within the current forecast time window. Indicating in grid connection mode The current forecast time window is the The dynamic power gap at each sampling time. This indicates the number of sampling moments in the current prediction time window. This indicates that the permitted direction for new active scheduling operations within the current forecast time window is energy release discharge. This indicates that the permitted new active scheduling operation direction within the current forecast time window is energy storage charging; The candidate startup action for each non-operational channel at each candidate startup time is obtained by the following formula: in, This indicates that the channel is not in operation. , express The set of inactive channels at any given time. Indicates a non-operating channel At the candidate launch time Candidate startup actions; The power contribution sequence of each non-operational channel at each candidate startup time is obtained by the following formula: ， in, Indicates a non-operating channel At the candidate launch time The power contribution sequence, This indicates the first prediction time window. Each sampling time, Indicates a non-operating channel In grid connection mode Downward running direction is transient power; The total power contribution sequence of the non-running channels in the current prediction time window is obtained by the following formula: ， in, This represents the sequence of total power contribution from newly initiated actions to inactive channels within the current prediction time window. For candidate launch actions binary variables, Indicates candidate start action Selected as a candidate for the startup program, Indicates candidate start action Not selected as a candidate startup program; The expression for the local optimization objective function is as follows: ， in, This represents the local optimization objective function. This represents the function that takes the minimum value. For binary variables, Indicates candidate start action Selected as a candidate for the startup program, Indicates candidate start action Not selected for the candidate startup program Indicates the penalty weight for initiating the action; Indicates the weight at startup time. Indicates constraints.

9. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instruction is executed by the processor, it implements the steps of the multi-channel power scheduling method for the structure-type gravity energy storage system as described in any one of claims 1-8.

10. A computer device, characterized in that, include: Memory, used to store computer instructions; A processor for executing the computer instructions to implement the steps of the multi-channel power scheduling method for a structure-type gravity energy storage system as described in any one of claims 1-8.

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