A line voltage regulation controller and control method based on centralized cooperative control

Abstract

The application discloses a line voltage regulation controller and control method based on centralized cooperative control, comprising a main line circuit breaker, a bypass circuit breaker, line input side and output side voltage sampling, main line and bypass line current sampling, on-load voltage regulation tap changer and transformer non-electric quantity state acquisition, and can realize centralized cooperative control with other line voltage regulation controllers on the same feeder. The application is mainly applicable to 10kV distribution lines and is used for solving low voltage problems caused by long power supply radius, high line impedance, load growth or seasonal concentrated power utilization and other factors.

Description

Technical Field

[0001] This invention relates to a power distribution network voltage regulation and line voltage regulation control technology, and more particularly to a line voltage regulation controller and control method based on centralized collaborative control. Background Technology

[0002] In 10kV distribution lines, due to factors such as long power supply radius, high conductor impedance, uneven load distribution, and seasonal load surges, the voltage along the line typically decreases gradually with increasing distance. This can easily lead to voltage drops below permissible levels at end-user or high-capacity load connection points. This is especially true in rural areas, mountainous regions, and long-distance radial lines, where relying solely on substation bus voltage regulation is insufficient to meet the voltage demands of both the beginning and end of the line. Line voltage regulators are typically installed in series in the middle or later sections of 10kV lines. By changing the tap position of the on-load tap-changing transformer, they can progressively increase the voltage downstream of the installation point. Existing line voltage regulator controllers typically make independent decisions to increase or decrease the voltage level based on locally collected input and output voltages and tap positions, enabling them to manage low voltage near individual installation points.

[0003] When two or more line voltage regulators are installed along the same line, the operation of the upstream voltage regulator will change the input voltage of the downstream voltage regulator, and the operation of the downstream voltage regulator will also change the voltage state of its subsequent nodes. If each controller operates only based on the local voltage, problems such as multiple devices continuously increasing their voltage levels in close succession, repeated adjustments, or mutual cancellation of actions between devices can easily occur, leading to an increase in the number of tap changer operations, amplified line voltage fluctuations, and even local voltage exceeding limits. In addition, the signal types, turns ratios, effective levels, and control methods of pole-mounted circuit breakers, voltage transformers, current transformers, on-load tap changers, and non-electrical quantity monitoring components configured in different projects vary, and existing controllers usually require redesigning wiring or modifying control programs for specific devices. Existing controllers also lack cross-verification of the actual current state of the main line and bypass line, as well as the linkage control between transformer health status and voltage regulation / bypass switching, making it difficult to provide unified and reliable status data for the centralized and coordinated control of multiple line voltage regulators.

[0004] The existing technology has the following defects: (1) The sampling channel, effective level of switch quantity, transformer ratio and tap changer control mode of the existing line voltage regulator controller are usually bound to specific models of equipment. When the model of pole-mounted circuit breaker, transformer or tap changer changes, the hardware wiring needs to be readjusted or the main control program needs to be modified. The equipment adaptability and engineering reusability are poor. (2) The existing controller usually only judges the operating mode based on the auxiliary contacts of the main line circuit breaker and the bypass circuit breaker. It lacks independent sampling of the main line current and the bypass line current and state consistency verification. When the auxiliary contact is abnormal, the circuit breaker fails to operate, or the sampling circuit fails, the controller may incorrectly judge that the line voltage regulator is in the main line operation or bypass operation state; (3) Multiple line voltage regulator controllers on the same feeder usually independently perform low voltage judgment and tap adjustment, which cannot form a unified node state of the entire line, and cannot accurately evaluate the impact of a certain voltage regulator action on other monitoring points, which is prone to repeated upgrades, action conflicts and voltage oscillations; (4) When using communication for multi-machine coordination, the existing scheme often lacks a unique master controller election, heartbeat maintenance, master controller failure takeover and retreat mechanism after node communication loss of synchronization; when the master node or communication link is abnormal, multiple nodes may issue voltage regulation commands at the same time or all nodes may lose coordination; (5) The existing coordination schemes mostly stay at the functional description level of "unified calculation" or "information sharing", without clarifying how the status data is formed, how the voltage regulation sensitivity is obtained, how the candidate action is screened, how to verify after the action, and how the abnormal node exits, making it difficult to form a closed-loop control process that can be directly implemented. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a line voltage regulator controller based on centralized collaborative control. Another purpose of this invention is to provide a control method for the controller.

[0006] Technical solution: The line voltage regulating controller based on centralized collaborative control described in this invention includes a main control unit, an interface adaptation unit, a parameter storage unit, a communication interface, and sampling or control interfaces corresponding to the main line circuit breaker, bypass circuit breaker, voltage transformer, main line current transformer, bypass line current transformer, on-load tap changer, and transformer non-electrical quantity status quantities.

[0007] The line voltage regulator controller converts signals from different external devices into unified status data through an interface adapter unit, and performs local verification based on the main bypass status, current status, tap status, and transformer health status.

[0008] Multiple line voltage regulators on the same feeder exchange node status and control commands through a collaborative communication network, elect a single master controller, establish an ordered node status table, identify low voltage points, generate, predict, evaluate, and sort candidate actions based on a voltage-level sensitivity matrix, and issue voltage regulation commands in a manner where only one device acts in a single round. After the action is completed, the master controller performs closed-loop confirmation through a safety observation time window, action effect verification, and an abnormal node backoff mechanism, thus completing the centralized collaborative low voltage management of multiple line voltage regulators.

[0009] The sampling or control interfaces corresponding to the main line circuit breaker, bypass circuit breaker, voltage transformer, main line current transformer, bypass line current transformer, on-load tap changer, and transformer non-electrical quantity status quantities are connected to the interface adapter unit. The interface adapter unit, parameter storage unit, and communication interface are respectively connected to the main control unit. The interface adapter unit includes an analog quantity conditioning channel, a digital quantity input channel, a control output channel, and a communication data mapping channel. The parameter storage unit stores the interface configuration parameters corresponding to the current line voltage regulating equipment.

[0010] After the line voltage regulator controller is started, the main control unit reads the interface configuration parameters, maps the physical channels to internal status quantities, and sequentially performs channel disconnection checks, range checks, switch status rationality checks, and communication connectivity checks. After the interface checks are passed, the original signals of each interface are converted into unified internal status quantities, including input voltage, output voltage, main line current, bypass line current, main line circuit breaker status, bypass circuit breaker status, current tap position, tap changer fault status, and transformer health status.

[0011] The main line circuit breaker control interface includes a main line circuit breaker status acquisition channel and a control output channel; the main line circuit breaker status acquisition channel acquires the opening status, closing status and fault status through the main line circuit breaker auxiliary contacts; the main line circuit breaker control output channel outputs opening or closing control signals that match the main line circuit breaker according to the control instructions of the main control unit.

[0012] The bypass circuit breaker control interface includes a bypass circuit breaker status acquisition channel and a control output channel; the bypass circuit breaker status acquisition channel acquires the opening status, closing status and fault status through the bypass circuit breaker auxiliary contacts; the bypass circuit breaker control output channel outputs opening or closing control signals that match the bypass circuit breaker according to the control instructions of the main control unit.

[0013] The on-load tap changer control interface collects the current tap position, operating status, upshift or downshift status, and fault status, and outputs upshift or downshift control signals; the interface adapter unit can adapt to independent tap position contact codes, binary codes, Gray codes, or communication data format tap position information, and uniformly convert them into the current tap position value.

[0014] The voltage transformer sampling interface includes an input-side voltage sampling channel and an output-side voltage sampling channel, which respectively collect the three-phase voltages before and after voltage regulation by the line voltage regulator; the interface adaptation unit performs amplitude conversion according to the voltage transformer ratio, and performs filtering, RMS calculation, phase loss judgment, and limit over-limit judgment on the sampled values; the main control unit generates local voltage regulation requirements based on the deviation between the output-side voltage and the target voltage or low voltage threshold, and verifies whether the tap change action produces the expected effect based on the change relationship between the input-side and output-side voltages;

[0015] The main line current transformer sampling interface collects the current flowing through the main circuit of the line voltage regulator, and the bypass line current transformer sampling interface collects the current flowing through the bypass circuit. The interface adaptation unit converts the current according to the turns ratio of the main line current transformer and the bypass line current transformer to form the main line current and the bypass line current. The main control unit performs consistency verification between the auxiliary contact status of the main line circuit breaker and the bypass circuit breaker and the measured current of the main line current transformer and the bypass line current transformer to identify whether the line voltage regulator is in main line operation, bypass operation, out of operation, or in an abnormal state.

[0016] The transformer non-electrical quantity status acquisition interface acquires one or more non-electrical quantity status signals from oil temperature, oil level, oil pressure, pressure release, gas protection, winding temperature, and tank door status; the interface adapter unit converts each signal into a three-level health status of normal, alarm, and fault according to the contact type or communication code of each signal.

[0017] The communication interface is used to exchange data with other line voltage regulators, distribution automation terminals, or upper-level monitoring devices on the same feeder, and supports different protocols. The interface adaptation unit maps different protocol messages into unified status data. The unified status data includes node number, topology location code, input side voltage, output side voltage, main line current, bypass line current, main line circuit breaker status, bypass circuit breaker status, current tap position, tap changer status, transformer health status, control mode, message sequence number, and timestamp, providing a unified data foundation for centralized collaborative control.

[0018] The present invention discloses a line voltage regulation control method based on centralized collaborative control, comprising:

[0019] (1) Register nodes, self-test interfaces, and determine topology locations;

[0020] (2) Elect a single master controller and maintain a heartbeat;

[0021] (3) Collect status data centrally and establish an ordered node status table;

[0022] (4) Generate candidate actions, predict and evaluate them, sort them, and issue instructions;

[0023] (5) Single-round action closed-loop confirmation, abnormal retreat and re-entry control process.

[0024] In step (1), the specific steps for registering the node, self-testing the interface, and determining the topology location include:

[0025] (11) After each line voltage regulator controller is powered on, it first reads the configuration parameters of the local interface and then completes the self-test and data mapping of the interfaces corresponding to the voltage transformer, main line circuit breaker, bypass circuit breaker, main line current transformer, bypass current transformer, on-load tap changer, and transformer non-electrical quantity status quantity in sequence.

[0026] (12) If the interface self-test fails, the controller will not enter the collaborative control process and will only retain local protection and manual operation functions;

[0027] (13) If the interface self-test passes, report the node number, feeder number, topological order or normalized electrical distance along the power point to the end of the line, rated capacity, allowable range of taps, current operating mode, health status and communication quality to the cooperative communication network.

[0028] (14) After registration is completed, the node enters the master election candidate node set.

[0029] In step (2), the specific steps for electing a unique master controller and maintaining a heartbeat include:

[0030] (21) Collect parameters of each node, and calculate the master control priority score of nodes that meet the participation conditions based on topology location, health status and communication quality:

[0031] Pᵢ = α(1-dᵢ) + βhᵢ + γqᵢ

[0032] Where i represents a node, dᵢ is the normalized distance of node i from the power source; hᵢ is the node health; qᵢ is the normalized communication quality obtained based on message loss rate, communication delay or signal quality; α, β and γ are all non-negative weights and α+β+γ=1.

[0033] (22) Determine whether there are valid nodes. If there are no valid nodes, the current election ends and the next election cycle begins again from the node registration status. If there are valid nodes, sort all valid nodes from high to low according to the master control priority score Pᵢ.

[0034] (23) Determine whether the highest scores are tied. If the highest scores are not tied, the valid node with the highest score is determined as the master controller. If the highest scores are tied, a unique master controller is determined according to the preset node number order, and the remaining valid nodes are set as slave controllers.

[0035] (24) After the sole master controller is established, the master controller periodically sends heartbeat messages, which include the master controller number, election round and timestamp; the slave controller continuously listens to the heartbeat messages sent by the master controller and updates the master controller status and the status of the current node according to the heartbeat messages;

[0036] (25) The controller determines whether a valid heartbeat has not been received for N consecutive heartbeat cycles; if no heartbeat loss has occurred for N consecutive heartbeat cycles, the heartbeat monitoring continues; if no valid heartbeat has been received for N consecutive heartbeat cycles, the controller does not immediately initiate an election, but first waits for a random backoff time related to the node number, and then returns to step (21) to re-execute the master election.

[0037] (26) During the heartbeat maintenance process, determine whether the current master controller's health status and communication status are normal; if the current master controller's health status or communication status is abnormal, trigger a re-election and return to step (21); if the current master controller's health status and communication status are both normal, continue to determine whether the preset maintenance time has been reached. ;

[0038] (27) If the current main controller has not yet reached the preset hold time If the current master controller remains unchanged, return to step (24) to continue sending and listening to heartbeats; if the current master controller has reached the preset hold time... If so, then proceed to the master control switching hysteresis judgment;

[0039] (28) Determine if there is a new node with a higher score than the current master controller and exceeds the switching hysteresis value. If it exists, a re-election is triggered and the process returns to step (21); if it does not exist, the current master controller is maintained and the process returns to step (24) to continue sending and listening to heartbeats.

[0040] In step (3), the specific steps for performing centralized state collection and establishing an ordered node state table include:

[0041] (31) The main controller receives unified status data reported by each slave controller according to a preset synchronization cycle, and receives data from independent voltage monitoring terminals configured at the user or line end; the unified status data includes node number, input voltage, output voltage, main line current, bypass line current, main line circuit breaker or bypass circuit breaker status, on-load tap changer position, transformer non-electrical quantity status health status, communication status, message sequence number and timestamp;

[0042] (32) The main controller performs a freshness check on the data reported by each slave controller and independent voltage monitoring terminal. The freshness check includes message sequence number check and timestamp check. If the data of a certain node or voltage monitoring terminal exceeds the allowable time deviation, the message sequence number is not continuous, or the corresponding message is not received for several consecutive synchronization cycles, the node or voltage monitoring terminal is marked as communication out of sync, and its expired data is removed in this round of voltage regulation calculation. If the data meets the freshness requirements, it is marked as valid data.

[0043] (33) The main controller sorts the effective line voltage regulating controller nodes and effective voltage monitoring terminals according to the feeder number and topology location code corresponding to the effective data, forming an ordered node status table arranged from the power source point to the end of the line; the ordered node status table includes node number, topology location, input side voltage, output side voltage, main line current, bypass line current, main line circuit breaker or bypass circuit breaker status, on-load tap changer position, transformer non-electrical quantity status health status, communication status and timestamp; for independent voltage monitoring terminals, the ordered node status table includes monitoring terminal number, topology location, voltage value, communication status and timestamp;

[0044] (34) The master controller broadcasts the current valid node status table and the current control round to all slave controllers. After receiving the valid node status table and the current control round, the slave controller checks whether the master controller number and the control round are consistent with the local record. If the master controller number or the control round is inconsistent, it refuses to receive the corresponding status table or refuses to execute subsequent control instructions. If the verification is consistent, it saves the current valid node status table and enters the candidate action generation, prediction evaluation, sorting and instruction issuance process.

[0045] In step (4), the specific steps of generating candidate actions, predicting and evaluating, sorting, and issuing instructions include:

[0046] (41) The main controller selects K voltage monitoring points from the ordered node status table. The monitoring points include the input or output side of the line voltage regulator, the end of the line, and the access point for key low-voltage users. Let the actual voltage of the kth monitoring point be... Target voltage is The maximum allowed is ;

[0047] (42) The main controller determines whether a low voltage point exists: when When the voltage is lower than the target voltage minus the startup dead zone, the monitoring point is marked as a low voltage point; if there is no low voltage point in the current synchronization cycle, the current voltage regulation judgment ends and waits for the next synchronization cycle to re-acquire the status; if there is a low voltage point, the candidate device screening begins.

[0048] (43) The main controller selects candidate equipment from M line voltage regulators. The candidate equipment meets the following conditions: normal health status, in main line operation, normal communication, no fault in tap changer, not reaching the highest allowable voltage boost level, and its topological position can affect the corresponding low voltage point.

[0049] (44) Determine if there is a candidate device: If there is no candidate device, end the current voltage regulation and return to wait for the next synchronization cycle; if there is a candidate device, generate the candidate action set A for this round.

[0050] (45) The main controller obtains the voltage-gap sensitivity matrix S of K voltage monitoring points relative to the gear changes of M line voltage regulators. The sensitivity matrix S is obtained by online identification, that is, it is updated according to the measured voltage changes before and after the historical tapping action.

[0051] (46) When using the online identification method, for a confirmed gear change of node j The sensitivity corresponding to monitoring point k is calculated using the following formula:

[0052]

[0053] (47) The main controller traverses the candidate actions one by one according to the candidate action set A. And based on the current voltage vector and sensitivity matrix Predict the voltage vector after the candidate action is executed:

[0054]

[0055] in, This is the gear shift action vector that takes +1 only at the j-th position and 0 at the other positions; if the actual tap direction is defined opposite to the boost direction, the corresponding action amount will be -1 according to the equipment configuration parameters;

[0056] (48) The main controller determines the candidate actions. Does the prediction constraint meet: If any affected monitoring point in the predicted voltage vector exceeds the allowable upper limit? If the candidate action cannot cover the corresponding low voltage point, or the improvement of the low voltage point is less than the preset threshold, then the candidate action is removed and the process returns to step (47) to continue traversing the next candidate action; if the prediction constraint is met, then the target value calculation is performed.

[0057] (49) For candidate actions that are not eliminated, the main controller calculates their low-voltage mitigation target value:

[0058]

[0059] in, The weight for the k-th monitoring point can be set to 1.5-3.0 for key users or the end of the line; The action cost of node j can be determined based on the cumulative number of tap changer actions, equipment alarm status, action interval, or remaining allowed number of actions. This is the action cost coefficient;

[0060] (410) The main controller records candidate actions and their... The evaluation results are assessed, and it is determined whether all candidate actions have been traversed: if all candidate actions have not been traversed, the process returns to step (47) to continue predicting and filtering the next candidate action; if all candidate actions have been traversed, the process proceeds according to... Sort the actions from smallest to largest to form an action queue;

[0061] (411) The main controller determines whether the action queue is empty: if the action queue is empty, the current voltage regulation ends and returns, waiting for the next synchronization cycle; if the action queue is not empty, the first candidate action in the action queue is selected, and the current shift instruction is sent only to the slave controller of the corresponding target node; the shift instruction includes at least the main controller number, control cycle, target node number, action direction, action gear number, instruction validity period and check code;

[0062] (412) After receiving the upgrade command from the controller, verify the main controller number, control round, command validity period, operating mode of the main circuit breaker or bypass circuit breaker, current status of the main circuit current transformer or bypass current transformer, current position of the on-load tap changer and health status of the transformer non-electrical quantity status; if any condition is not met, the controller refuses to execute and returns the reason for rejection, the main controller deletes the candidate action and returns to step (411) to select the next candidate action; if all candidate actions in the action queue are rejected or eliminated, the current round of voltage regulation ends and returns, waiting for the next synchronization cycle; if the verification passes, single-round action closed-loop confirmation, abnormal backoff and re-entry into the control process are performed.

[0063] In step (5), the specific steps of the single-wheel action closed-loop confirmation, abnormal retreat, and re-entry control process include:

[0064] (51) The controller executes a gear shift action and returns gear shift change feedback to the main controller; after receiving the gear shift change feedback, the main controller enters a safety observation time window. During this time window, no new tapping actions are issued to other nodes to ensure that the voltage impact of a single action can be observed independently.

[0065] (52) The safety observation time window This includes communication transmission time, tap changer mechanical action time, line voltage stabilization time, and status confirmation time.

[0066]

[0067] (53) After the safety observation time window ends, the main controller re-collects the voltage of all valid monitoring points and performs closed-loop verification of the action effect in sequence; the closed-loop verification includes: whether the target node gear changes according to the instruction; whether the direction of voltage change of each monitoring point is consistent with the sensitivity prediction; whether the weighted low voltage deviation is reduced; whether a new voltage upper limit is exceeded.

[0068] (54) If all the above checks are satisfied, the action in this round is confirmed to be effective. The sensitivity matrix S is updated using the measured results of this round, and the process is returned to enter the next round of synchronous acquisition and coordinated voltage regulation calculation.

[0069] (55) If any verification fails, the subsequent actions are stopped, the relevant nodes are marked as suspected abnormal nodes, and a consistency check is performed on the suspected abnormal nodes; the consistency check includes: the consistency between the circuit breaker auxiliary contacts and the measured current of the main line current transformer or the bypass line current transformer; the consistency between the tap control command and the tap position feedback; the consistency between the tap position change and the direction of the output voltage change; the deviation between the measured voltage change and the sensitivity prediction; and the freshness of the message sequence number and timestamp.

[0070] (56) For action node j, the main controller calculates the voltage response residual using the following formula:

[0071]

[0072] (57) The main controller determines whether the abnormality meets the node exit condition; if the residual norm does not exceed the preset threshold and there is no abnormality such as the gear position not changing, the switch and current state contradicting each other, or the communication data continuously losing synchronization, then the current gear position of the node is retained and monitoring continues, and the node returns and waits for the next synchronization cycle; if the residual norm exceeds the preset threshold, or any of the following situations occurs: the gear position does not change according to the instruction, the switch and current state contradicting each other, or the communication data continuously losing synchronization, then the node is marked as not eligible to participate in coordinated voltage regulation;

[0073] (58) Nodes marked as not eligible to participate in coordinated voltage regulation shall maintain their current position, cease executing new coordinated voltage regulation commands, and retain only local overcurrent, overvoltage, undervoltage, transformer non-electrical quantity protection and manual operation functions.

[0074] (59) Determine whether the abnormal node is the master controller; if the abnormal node is not the master controller, the master controller excludes the node from the candidate set and returns and regenerates candidate actions based on the remaining valid nodes, or returns and enters the next synchronization cycle; if the abnormal node is the master controller, the slave controller re-elects a new master controller after not receiving a valid heartbeat for N consecutive heartbeat cycles and after random backoff.

[0075] (510) When a transformer non-electrical quantity status fault occurs or the local main bypass interlock is abnormal, the local safety protection has the highest priority. The slave controller can reject the main controller's command and execute the preset bypass backoff.

[0076] (511) After the abnormal node communication is restored, it is necessary to complete the interface self-test again and report the effective status for several consecutive synchronization cycles before it can be rejoined in the collaborative control process.

[0077] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: (1) Through the interface adaptation unit and parameterized configuration, the same controller can adapt to PT / CT with different transformation ratios, pole-mounted circuit breakers with different contact logic, and on-load tap changers with different tap codes and control methods, reducing the workload of redesigning hardware, modifying the main control program and rewiring due to changes in equipment models; (2) Through the cross-verification of the QF1 / QF2 auxiliary contacts and the measured current of CT1 / CT2, it is possible to identify circuit breaker failure to operate, abnormal auxiliary contacts, abnormal sampling circuits and abnormal line energization, reducing the risk of misjudgment and incorrect switching of the main line and bypass operation modes; (3) By linking the QD health status with tap change and bypass avoidance, the tap change action can be restricted or blocked in the case of transformer overheating, abnormal pressure, gas protection, etc., to avoid the equipment continuing to operate frequently and expanding the fault when the equipment itself is abnormal; (4) Through the election of a single main controller (5) By using the topological ordered state table and unified candidate action calculation, multiple line voltage regulators on the same feeder can be transformed from independent actions to sequential coordinated actions, reducing repeated upgrades, mutual interference and voltage oscillations; (6) By predicting the low voltage improvement effect of each candidate action based on measured or online updated voltage-level sensitivity and excluding actions that may cause voltage upper limit exceedance, the targeted treatment of key low voltage users and line ends can be improved, while reducing unnecessary tap changer actions; (7) By using the safety observation time window and closed-loop confirmation after action, the next round of control is only entered after both level change and voltage improvement have been verified; When node communication, level feedback or voltage response is abnormal, it automatically retreats and is excluded from the candidate set, improving the fault tolerance and operational safety of centralized coordinated control; (8) Applicable to low voltage treatment scenarios caused by long power supply radius, large line impedance, load growth or seasonal centralized power consumption in 10kV distribution lines. Attached Figure Description

[0078] Figure 1 This is a schematic diagram of the line voltage regulator controller interface system of the present invention;

[0079] Figure 2 This is a schematic diagram of the topology and node status information acquisition of the multi-node line voltage regulator controller of the present invention;

[0080] Figure 3 This is a flowchart of the unique master controller election and heartbeat maintenance process of the present invention;

[0081] Figure 4 This is a flowchart of the candidate action generation, prediction, evaluation, and ranking process of the present invention.

[0082] Figure 5 This is a flowchart of the single-wheel action closed-loop confirmation and abnormal retreat of the present invention. Detailed Implementation

[0083] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0084] Example 1

[0085] This embodiment provides a line voltage regulator controller with multi-type device interface adaptation capability, including a main control unit, an interface adapter unit, a parameter storage unit, a communication interface, a control interface for the main line pole-mounted circuit breaker QF1, a control interface for the bypass pole-mounted circuit breaker QF2, a sampling interface for the voltage transformer PT, a sampling interface for the main line current transformer CT1, a sampling interface for the bypass current transformer CT2, a control interface for the on-load tap changer TD, and a transformer non-electrical quantity status quantity QD acquisition interface. Each sampling interface and control interface is connected to the interface adapter unit, and the interface adapter unit, parameter storage unit, and communication interface are connected to the main control unit.

[0086] like Figure 1 As shown, QF1 represents the main line pole-mounted circuit breaker installed in the main circuit of the line voltage regulator, QF2 represents the bypass pole-mounted circuit breaker installed in the bypass circuit, PT represents the voltage transformer, CT1 and CT2 represent the main line current transformer and the bypass line current transformer, respectively, TD represents the on-load tap changer control object, and QD represents the transformer non-electrical quantity status quantity (the above letters are only used to distinguish the interface and control object, and do not limit the specific equipment model).

[0087] The interface adapter unit includes an analog signal conditioning channel, a digital input channel, a control output channel, and a communication data mapping channel. The analog signal conditioning channel is used to isolate, filter, convert the amplitude, and perform analog-to-digital conversion on the PT, CT1, and CT2 input signals; the digital input channel is used to isolate, debounce, and perform effective level conversion on the circuit breaker auxiliary contacts, tap position contacts, and non-electrical alarm contacts; the control output channel is used to convert the standard control commands output by the main control unit into relay contact signals, pulse signals, or holding signals that match the circuit breaker's opening and closing coils and the tap changer's shifting circuits; and the communication data mapping channel is used to convert the position, status, or measured values ​​obtained through communication into a unified data format within the controller.

[0088] The parameter storage unit stores the interface configuration parameters corresponding to the current line voltage regulating equipment, including at least the PT ratio, CT1 ratio, CT2 ratio, rated voltage, rated current, normally open or normally closed type of switch auxiliary contacts, effective level of switch status, duration of control output pulses, number of tap changer positions, position encoding method, single-position voltage regulation step size, highest and lowest permissible taps, non-electrical quantity signal type, communication protocol, and communication address. These interface configuration parameters can be written at the controller factory or updated via the local debugging port or remote communication interface.

[0089] After the controller starts, the main control unit reads the interface configuration parameters, maps the physical channels to internal status variables, and sequentially performs channel disconnection checks, range checks, switch status rationality checks, and communication connectivity checks. After the interface checks pass, the raw signals of each interface are converted into unified internal status variables, including at least the input voltage, output voltage, main line current, bypass line current, QF1 status, QF2 status, current tap position, tap changer fault status, and transformer health status.

[0090] Specifically, it includes:

[0091] (1) Control interface of QF1 circuit breaker on main line pole

[0092] The QF1 control interface includes a QF1 status acquisition channel and a QF1 control output channel. The QF1 status acquisition channel acquires the opening, closing, and fault statuses via QF1 auxiliary contacts. The QF1 control output channel outputs opening or closing control signals matching the QF1 status based on the control commands from the main control unit. After outputting the control command, the main control unit verifies whether the QF1 status has changed accordingly within a preset feedback time. If the expected feedback is not obtained, subsequent switching actions are stopped, and a failure to operate or feedback anomaly is recorded.

[0093] (2) Control interface of QF2 circuit breaker on bypass pole

[0094] The QF2 control interface includes a QF2 status acquisition channel and a QF2 control output channel. The QF2 status acquisition channel collects the opening, closing, and fault statuses via QF2 auxiliary contacts. The QF2 control output channel outputs opening or closing control signals matching the QF2 based on the control commands from the main control unit. The main control unit controls QF1 and QF2 according to a preset switching sequence and interlocking conditions to prevent unexpected simultaneous closing or faulty line regulator activation due to control command conflicts.

[0095] (3) Voltage transformer PT sampling interface

[0096] The PT sampling interface includes at least an input-side voltage sampling channel and an output-side voltage sampling channel, which respectively collect the three-phase voltages before and after voltage regulation by the line voltage regulator. The interface adaptation unit performs amplitude conversion according to the PT ratio and performs filtering, RMS calculation, phase loss judgment, and limit over-limit judgment on the sampled values. The main control unit generates the local voltage regulation requirement based on the deviation between the output-side voltage and the target voltage or low voltage threshold, and verifies whether the tap change action produces the expected effect based on the relationship between the input-side and output-side voltage changes.

[0097] (4) Sampling interface of main line current transformer CT1 and bypass line current transformer CT2

[0098] The CT1 sampling interface collects the current flowing through the main circuit of the line voltage regulator, while the CT2 sampling interface collects the current flowing through the bypass circuit. The interface adapter unit performs conversions according to the turns ratios of CT1 and CT2 to generate the main line current and bypass line current, respectively. The main control unit verifies the consistency between the auxiliary contact states of QF1 and QF2 and the measured currents of CT1 and CT2 to identify whether the line voltage regulator is in main line operation, bypass operation, out of operation, or in an abnormal state.

[0099] When QF1 indicates tripping and CT1 detects a current exceeding the no-current threshold, or when QF2 indicates tripping and CT2 detects a current exceeding the no-current threshold, the main control unit determines that there is an abnormality in circuit breaker feedback, an abnormality in the sampling circuit, or an abnormal energization of the line, and blocks the corresponding tripping, closing, and tap-changing operations. When QF1 indicates closing and CT1 has current, and QF2 indicates tripping and CT2 is below the no-current threshold, it is determined that the circuit is in main line operation; when QF1 indicates tripping and CT1 is below the no-current threshold, and QF2 indicates closing and CT2 has current, it is determined that the circuit is in bypass operation.

[0100] (5) On-load tap changer (TD) control interface

[0101] The TD control interface is used to collect the current gear position, in-process status, upshift or downshift status, and fault status, and outputs upshift or downshift control signals. The interface adapter unit can adapt to gear position information in the form of independent gear position contact codes, binary codes, Gray codes, or communication data, and uniformly convert it into the current gear position value.

[0102] After the main control unit outputs an upshift or downshift command, it continuously collects gear position feedback within the preset tap changer action time. When the gear changes by a predetermined gear in the direction of the command, the action is considered complete; if the gear does not change, the direction of change is incorrect, the single change exceeds the allowed number of gears, or a tap changer fault signal is received, subsequent voltage regulation is immediately stopped, and the equipment is marked as temporarily unavailable.

[0103] (6) Transformer non-electrical quantity status quantity QD acquisition interface

[0104] The QD acquisition interface is used to acquire one or more non-electrical quantity status signals from oil temperature, oil level, oil pressure, pressure release, gas protection, winding temperature, and enclosure door status. The interface adapter unit converts each signal into a three-level health status: normal, alarm, and fault, based on the contact type or communication code of each signal.

[0105] When the health status is normal, normal voltage regulation is allowed; when the health status is alarm, the allowed operation frequency is reduced, the number of consecutive voltage increases is limited, or the operation observation time is extended; when the health status is fault, the local protection logic takes precedence over the centralized coordination command, blocks the tap changer operation, and controls the line voltage regulator to exit main line operation or switch to bypass operation according to the preset safety switching logic.

[0106] (7) Communication interface and unified status data

[0107] The communication interface is used to exchange data with other line voltage regulators, distribution automation terminals, or upstream monitoring devices on the same feeder. It can use one or more of the following communication methods: Ethernet, serial bus, fiber optic, wireless private network, or public network. The specific physical methods and protocols supported by the communication interface are not limitations of this application. The interface adaptation unit maps different protocol messages to unified status data.

[0108] The unified status data includes at least node number, topology location code, input voltage, output voltage, main line current, bypass line current, QF1 status, QF2 status, current tap position, tap changer status, transformer health status, control mode, message sequence number, and timestamp, providing a unified data foundation for the subsequent centralized collaborative control system.

[0109] Example 2

[0110] This embodiment provides a centralized collaborative control method based on the line voltage regulator controller described in Embodiment 1. This method is used for low-voltage collaborative management of two or more line voltage regulator controllers on the same 10kV feeder. The multi-node topology and status acquisition relationship are as follows: Figure 2 As shown, each line voltage regulator controller is arranged at different topology nodes along the direction from the power source to the end of the line, and exchanges node status and control commands through a collaborative communication network. Each node collects and reports unified status data such as voltage, current, tap position information, voltage regulation status, action time, health status, and communication quality. This unified status data serves as input for subsequent master controller election, centralized status acquisition, candidate action generation, action closed-loop confirmation, and anomaly avoidance. Multiple line voltage regulator controllers on the same 10kV feeder exchange node status and control commands through the collaborative communication network, elect a single master controller, and the master controller establishes an ordered node status table, identifies low voltage points, generates, predicts, evaluates, and sorts candidate actions based on the voltage-taper sensitivity matrix, and issues voltage regulation commands in a manner where only one device acts in a single round. After the action is completed, the master controller performs closed-loop confirmation through a safety observation time window, action effect verification, and anomaly node avoidance mechanism, thereby achieving centralized collaborative low voltage management of multiple line voltage regulators and reducing the risks of repeated actions, action conflicts, voltage oscillations, and local over-limits. This centralized collaborative control method is executed according to the following timing and judgment logic:

[0111] (1) Node registration, interface self-test and topology location determination

[0112] After each line voltage regulator controller is powered on, it first reads its local interface configuration parameters and then sequentially completes self-tests and data mapping for the relevant interfaces of PT, CT1, CT2, QF1, QF2, TD, and QD. If the interface self-test fails, the controller does not enter the collaborative control process and only retains local protection and manual operation functions. If the interface self-test passes, it reports the node number, feeder number, topological order or normalized electrical distance along the power source to the end of the line, rated capacity, allowable tap range, current operating mode, health status, and communication quality to the collaborative communication network. The normalized electrical distance dᵢ ranges from 0 to 1, decreasing as it approaches the power source. After registration, the node enters the master controller election candidate node set.

[0113] (2) Election of the sole master controller and heartbeat maintenance

[0114] like Figure 3 As shown, the unique master controller election and heartbeat maintenance include the following steps:

[0115] (21) Collect parameters for each node i, where dᵢ is the normalized distance of node i from the power source; hᵢ is the node health level, with 1 for normal, a preset value between 0 and 1 for alarm, and 0 for fault; qᵢ is the normalized communication quality obtained based on message loss rate, communication delay, or signal quality. α, β, and γ are all non-negative weights and α+β+γ=1.

[0116] (22) Nodes that meet the participation conditions calculate the master control priority score based on their topology location, health status, and communication quality:

[0117] Pᵢ = α(1-dᵢ) + βhᵢ + γqᵢ

[0118] (23) Determine if there are any valid nodes. If there are no valid nodes, the current election ends and the process restarts from the node registration status after the next election cycle. If there are valid nodes, all valid nodes are sorted from high to low according to the master control priority score Pᵢ.

[0119] (24) Determine if the highest scores are tied. If the highest scores are not tied, the valid node with the highest score is determined as the master controller; if the highest scores are tied, a unique master controller is determined according to the preset node numbering order, and the remaining valid nodes are set as slave controllers.

[0120] (25) After the establishment of the sole master controller, the master controller periodically sends heartbeat messages, which include at least the master controller number, election round and timestamp; the slave controller continuously listens to the heartbeat messages sent by the master controller and updates the master controller status and the status of the node according to the heartbeat messages.

[0121] (26) Determine from the controller whether a valid heartbeat has not been received for N consecutive heartbeat cycles. If no valid heartbeat has been lost for N consecutive heartbeat cycles, continue to monitor the heartbeat; if no valid heartbeat has been received for N consecutive heartbeat cycles, the controller will not immediately initiate an election, but will first wait for a random backoff time related to the node number, and then return to step (21) to re-execute the master election.

[0122] (27) During the heartbeat maintenance process, determine whether the current master controller's health status and communication status are normal. If the current master controller's health status or communication status is abnormal, trigger a re-election and return to step (21); if the current master controller's health status and communication status are both normal, continue to determine whether the preset maintenance time has been reached. .

[0123] (28) If the current main controller has not yet reached the preset hold time If the current master controller remains unchanged, return to step (25) to continue sending and listening to heartbeats; if the current master controller has reached the preset hold time... If so, then the main control switching hysteresis judgment will be entered.

[0124] (29) Determine if there is a new node with a higher score than the current master controller and exceeds the switching hysteresis value. If it exists, a re-election is triggered and the process returns to step (21); if it does not exist, the current master controller is maintained and the process returns to step (25) to continue sending and listening to heartbeats.

[0125] (3) Centralized data collection and establishment of ordered node status tables

[0126] Once the main controller is determined, the process of centralized status acquisition and orderly node status table establishment begins, including the following steps:

[0127] (31) The main controller receives unified status data reported by each slave controller according to a preset synchronization cycle, and also receives data from independent voltage monitoring terminals configured at key users or the end of the line. The unified status data includes at least node number, input voltage, output voltage, main line current, bypass line current, QF1 / QF2 status, TD tap, QD health status, communication status, message sequence number, and timestamp.

[0128] (32) The main controller performs a freshness check on the data reported by each slave controller and independent voltage monitoring terminal. The freshness check includes message sequence number check and timestamp check. If the data of a certain node or voltage monitoring terminal exceeds the allowable time deviation, the message sequence number is not continuous, or the corresponding message is not received for several consecutive synchronization cycles, the node or voltage monitoring terminal is marked as communication out of sync, and its expired data is removed in this round of voltage regulation calculation; if the data meets the freshness requirements, it is marked as valid data.

[0129] (33) The main controller sorts the effective line voltage regulator controller nodes and effective voltage monitoring terminals according to the feeder number and topology location code corresponding to the effective data, forming an ordered node status table arranged from the power source point to the end of the line. The ordered node status table includes at least the node number, topology location, input side voltage, output side voltage, main line current, bypass line current, QF1 / QF2 status, TD tap, QD health status, communication status, and timestamp; for independent voltage monitoring terminals, the ordered node status table includes at least the monitoring terminal number, topology location, voltage value, communication status, and timestamp.

[0130] (34) The master controller broadcasts the current valid node status table and the current control round to all slave controllers. After receiving the valid node status table and the current control round, the slave controller checks whether the master controller number and the control round are consistent with the records on its own machine. If the master controller number or the control round is inconsistent, it refuses to receive the corresponding status table or refuses to execute subsequent control instructions; if the verification is consistent, it saves the current valid node status table and enters the candidate action generation, prediction evaluation, sorting and instruction issuance process.

[0131] (4) Candidate action generation, prediction, evaluation, sorting and instruction issuance

[0132] like Figure 4 As shown, the main controller executes the candidate action generation, prediction and evaluation, sorting, and instruction issuance process based on the ordered node state table, including the following steps:

[0133] (41) The main controller selects K voltage monitoring points from the ordered node status table. These monitoring points include the input or output side of the line voltage regulator, the end of the line, and the access point for key low-voltage users. Let the actual voltage of the kth monitoring point be... Target voltage is The maximum allowed is .

[0134] (42) The main controller determines whether a low voltage point exists. When When the voltage is lower than the target voltage minus the start-up dead zone, the monitoring point is marked as a low voltage point; if there is no low voltage point in the current synchronization cycle, the current voltage regulation judgment ends and returns to step (3) to wait for the next synchronization cycle to re-acquire the status; if there is a low voltage point, the candidate device screening is entered.

[0135] (43) The main controller selects candidate devices from M line voltage regulators. The candidate devices must meet at least the following conditions: normal health status, in operation on the main line, normal communication, no fault in the tap changer, not reaching the highest allowable voltage boost level, and their topological position can affect the corresponding low voltage point.

[0136] (44) Determine if there is a candidate device. If there is no candidate device, end the current voltage regulation and return to S3 to wait for the next synchronization cycle; if there is a candidate device, generate the candidate action set A for the current cycle. Preferably, each candidate action includes only one line voltage regulator raising one level, so that only one device is allowed to operate in each control cycle, avoiding voltage superposition, control oscillation or over-adjustment caused by multiple devices raising levels at the same time.

[0137] (45) The main controller obtains the voltage-taper sensitivity matrix S of K voltage monitoring points relative to the tap position changes of M line voltage regulators. The sensitivity matrix S can be obtained by offline writing, that is, by pre-calculating and writing it according to the feeder topology, line impedance, load estimate and the installation position of the line voltage regulator; or it can be obtained by online identification, that is, by updating it according to the measured voltage changes before and after the historical tapping operation.

[0138] (46) When using the online identification method, for a confirmed gear change of node j The sensitivity corresponding to monitoring point k is calculated using the following formula:

[0139]

[0140] When using online updates, the main controller weights the newly calculated sensitivity value with the original sensitivity value according to a preset forgetting coefficient to avoid sudden changes in sensitivity caused by a single load fluctuation.

[0141] (47) The main controller traverses the candidate actions one by one according to the candidate action set A. And based on the current voltage vector and sensitivity matrix Predict the voltage vector after the candidate action is executed:

[0142]

[0143] in, This is the gear shift action vector that takes +1 only at the j-th position and 0 at the other positions; if the actual tap direction is defined opposite to the boost direction, the corresponding action amount will be -1 according to the equipment configuration parameters.

[0144] (48) The main controller determines the candidate actions. Does the prediction constraint meet? If any affected monitoring point in the predicted voltage vector exceeds the allowable upper limit. If the candidate action cannot cover the corresponding low voltage point, or the improvement of the low voltage point is less than the preset threshold, then the candidate action is removed and the process returns to step (47) to continue traversing the next candidate action; if the prediction constraint is met, then the target value calculation is performed.

[0145] (49) For candidate actions that are not eliminated, the main controller calculates their low-voltage mitigation target value:

[0146]

[0147] in, The weight for the k-th monitoring point can be set to 1.5-3.0 for key users or the end of the line; The action cost of node j can be determined based on the cumulative number of tap changer actions, equipment alarm status, action interval, or remaining allowed number of actions. This represents the action cost coefficient.

[0148] (410) The main controller records candidate actions and their... The evaluation results are assessed, and it is determined whether all candidate actions have been traversed. If all candidate actions have not been traversed, the process returns to step (47) to continue predicting and filtering the next candidate action; if all candidate actions have been traversed, the process proceeds according to... Sort them from smallest to largest to form an action queue.

[0149] (411) The main controller determines whether the action queue is empty. If the action queue is empty, the current voltage regulation ends and returns to step (3) to wait for the next synchronization cycle; if the action queue is not empty, the first candidate action in the action queue is selected, and the current shift instruction is sent only to the slave controller of the corresponding target node. The shift instruction includes at least the main controller number, control cycle, target node number, action direction, action gear number, instruction validity period, and check code.

[0150] (412) After receiving the upshift command from the controller, verify the main controller number, control round, command validity period, QF1 / QF2 operating mode, CT1 / CT2 current status, TD current gear and QD health status. If any condition is not met, the controller refuses to execute and returns the reason for rejection. The main controller deletes the candidate action and returns to step (411) to select the next candidate action. If all candidate actions in the action queue are rejected or removed, the current voltage regulation ends and returns to step (3) to wait for the next synchronization cycle. If the verification passes, proceed to step (5) for single-round action closed-loop confirmation, abnormal retreat and re-entry into the control process.

[0151] (5) Single-round action closed-loop confirmation, abnormal retreat and re-entry control process

[0152] like Figure 5 As shown, when the controller execution conditions are met, the process enters the single-cycle action closed-loop confirmation, anomaly avoidance, and re-entry control flow, including the following steps:

[0153] (51) The controller executes a gear shift action and returns gear shift change feedback to the main controller. After receiving the gear shift change feedback, the main controller enters a safety observation time window. During this time window, no new tapping actions are issued to other nodes to ensure that the voltage impact of a single tapping action can be observed independently.

[0154] (52) The safety observation time window This includes communication transmission time, tap changer mechanical action time, line voltage stabilization time, and status confirmation time.

[0155]

[0156] (53) After the safety observation time window ends, the main controller re-collects the voltage of all valid monitoring points and performs closed-loop verification of the action effect in sequence. The closed-loop verification includes: whether the target node level changes according to the instruction; whether the direction of voltage change at each monitoring point is consistent with the sensitivity prediction; whether the weighted low voltage deviation is reduced; and whether a new voltage upper limit is exceeded.

[0157] (54) If all the above checks are satisfied, the action in this round is confirmed to be effective. The sensitivity matrix S is updated using the actual measurement results of this round, and the process returns to step (3) to enter the next round of synchronous acquisition and coordinated voltage regulation calculation.

[0158] (55) If any verification fails, the subsequent actions are stopped, the relevant node is marked as a suspected abnormal node, and a consistency check is performed on the suspected abnormal node. The consistency check includes at least: the consistency between the circuit breaker auxiliary contacts and the measured current of CT1 / CT2; the consistency between the tap control command and the tap position feedback; the consistency between the tap position change and the direction of the output voltage change; the deviation between the measured voltage change and the sensitivity prediction; and the freshness of the message sequence number and timestamp.

[0159] (56) For action node j, the main controller calculates the voltage response residual using the following formula:

[0160]

[0161] (57) The main controller determines whether the abnormality meets the node exit condition. If the residual norm does not exceed the preset threshold and there is no abnormality such as the gear position not changing, the switch and current state contradicting each other, or the communication data continuously losing synchronization, the current gear position of the node is retained and monitoring continues, and the process returns to step (3) to wait for the next synchronization cycle; if the residual norm exceeds the preset threshold, or any of the following situations occur: the gear position does not change according to the instruction, the switch and current state contradicting each other, or the communication data continuously losing synchronization, the node is marked as not eligible to participate in coordinated voltage regulation.

[0162] (58) Nodes marked as not eligible to participate in coordinated voltage regulation shall maintain their current position, cease executing new coordinated voltage regulation commands, and retain only local overcurrent, overvoltage, undervoltage, transformer non-electrical quantity protection and manual operation functions.

[0163] (59) Determine whether the abnormal node is the master controller. If the abnormal node is not the master controller, the master controller excludes the node from the candidate set and returns to step (4) to regenerate candidate actions based on the remaining valid nodes, or returns to step (3) to enter the next synchronization cycle; if the abnormal node is the master controller, the slave controller re-elects a new master controller according to step (2) after failing to receive a valid heartbeat for N consecutive heartbeat cycles and undergoing random backoff.

[0164] (510) When the transformer QD fault or the local main bypass interlock is abnormal, the local safety protection has the highest priority. The slave controller can reject the main controller's command and execute the preset bypass backoff.

[0165] (511) After the abnormal node communication is restored, it is necessary to complete the interface self-test again and report the effective status for several consecutive synchronization cycles before it can be rejoined in the collaborative control process.

Claims

1. A line voltage regulator controller based on centralized collaborative control, characterized in that, It includes a main control unit, an interface adapter unit, a parameter storage unit, a communication interface, and sampling or control interfaces corresponding to the main line circuit breaker, bypass circuit breaker, voltage transformer, main line current transformer, bypass line current transformer, on-load tap changer, and transformer non-electrical quantity status quantities. The line voltage regulator controller converts signals from different external devices into unified status data through an interface adapter unit, and performs local verification based on the main bypass status, current status, tap status, and transformer health status. Multiple line voltage regulators on the same feeder exchange node status and control commands through a collaborative communication network, elect a single master controller, establish an ordered node status table, identify low voltage points, generate, predict, evaluate, and sort candidate actions based on a voltage-level sensitivity matrix, and issue voltage regulation commands in a manner where only one device acts in a single round. After the action is completed, the master controller performs closed-loop confirmation through a safety observation time window, action effect verification, and an abnormal node backoff mechanism, thus completing the centralized collaborative low voltage management of multiple line voltage regulators.

2. The line voltage regulator controller according to claim 1, characterized in that, The sampling or control interfaces corresponding to the main line circuit breaker, bypass circuit breaker, voltage transformer, main line current transformer, bypass line current transformer, on-load tap changer, and transformer non-electrical quantity status are respectively connected to the interface adapter unit. The interface adapter unit, parameter storage unit, and communication interface are respectively connected to the main control unit. The interface adapter unit includes an analog quantity conditioning channel, a digital quantity input channel, a control output channel, and a communication data mapping channel. The parameter storage unit stores the interface configuration parameters corresponding to the current line voltage regulating equipment. After the line voltage regulator controller is started, the main control unit reads the interface configuration parameters, maps the physical channels to internal status quantities, and sequentially performs channel disconnection checks, range checks, switch status rationality checks, and communication connectivity checks. After the interface checks are passed, the original signals of each interface are converted into unified internal status quantities, including input voltage, output voltage, main line current, bypass line current, main line circuit breaker status, bypass circuit breaker status, current tap position, tap changer fault status, and transformer health status.

3. The line voltage regulator controller according to claim 1, characterized in that, The main line circuit breaker control interface includes a main line circuit breaker status acquisition channel and a control output channel; the main line circuit breaker status acquisition channel acquires the opening status, closing status and fault status through the main line circuit breaker auxiliary contacts; the main line circuit breaker control output channel outputs opening or closing control signals that match the main line circuit breaker according to the control instructions of the main control unit. The bypass circuit breaker control interface includes a bypass circuit breaker status acquisition channel and a control output channel; the bypass circuit breaker status acquisition channel acquires the opening status, closing status and fault status through the bypass circuit breaker auxiliary contacts; the bypass circuit breaker control output channel outputs opening or closing control signals that match the bypass circuit breaker according to the control instructions of the main control unit. The on-load tap changer control interface collects the current tap position, operating status, upshift or downshift status, and fault status, and outputs upshift or downshift control signals; the interface adapter unit can adapt to independent tap position contact codes, binary codes, Gray codes, or communication data format tap position information, and uniformly convert them into the current tap position value.

4. The line voltage regulator controller according to claim 1, characterized in that, The voltage transformer sampling interface includes an input-side voltage sampling channel and an output-side voltage sampling channel, which respectively collect the three-phase voltages before and after voltage regulation by the line voltage regulator; the interface adaptation unit performs amplitude conversion according to the voltage transformer ratio, and performs filtering, RMS calculation, phase loss judgment, and limit over-limit judgment on the sampled values; the main control unit generates local voltage regulation requirements based on the deviation between the output-side voltage and the target voltage or low voltage threshold, and verifies whether the tap change action produces the expected effect based on the change relationship between the input-side and output-side voltages; The sampling interface of the main line current transformer collects the current flowing through the main circuit of the line voltage regulator, and the sampling interface of the bypass line current transformer collects the current flowing through the bypass circuit; the interface adapter unit converts the current according to the turns ratio of the main line current transformer and the bypass line current transformer to form the main line current and the bypass line current. The main control unit performs consistency verification between the auxiliary contact status of the main line circuit breaker and the bypass circuit breaker and the measured current of the main line current transformer and the bypass line current transformer, so as to identify whether the line voltage regulator is in main line operation, bypass operation, out of operation or abnormal status. The transformer non-electrical quantity status acquisition interface acquires one or more non-electrical quantity status signals from oil temperature, oil level, oil pressure, pressure release, gas protection, winding temperature, and tank door status; the interface adapter unit converts each signal into a three-level health status of normal, alarm, and fault according to the contact type or communication code of each signal. The communication interface is used to exchange data with other line voltage regulators, distribution automation terminals, or upper-level monitoring devices on the same feeder, and supports different protocols. The interface adaptation unit maps different protocol messages into unified status data. The unified status data includes node number, topology location code, input side voltage, output side voltage, main line current, bypass line current, main line circuit breaker status, bypass circuit breaker status, current tap position, tap changer status, transformer health status, control mode, message sequence number, and timestamp, providing a unified data foundation for centralized collaborative control.

5. A line voltage regulation control method based on centralized collaborative control, characterized in that, include: (1) Register nodes, self-test interfaces, and determine topology locations; (2) Elect a single master controller and maintain a heartbeat; (3) Collect status data centrally and establish an ordered node status table; (4) Generate candidate actions, predict and evaluate them, sort them, and issue instructions; (5) Single-round action closed-loop confirmation, abnormal retreat and re-entry control process.

6. The line voltage regulation control method according to claim 5, characterized in that, In step (1), the specific steps for registering the node, self-testing the interface, and determining the topology location include: (11) After each line voltage regulator controller is powered on, it first reads the configuration parameters of the local interface and then completes the self-test and data mapping of the interfaces corresponding to the voltage transformer, main line circuit breaker, bypass circuit breaker, main line current transformer, bypass current transformer, on-load tap changer, and transformer non-electrical quantity status quantity in sequence. (12) If the interface self-test fails, the controller will not enter the collaborative control process and will only retain local protection and manual operation functions; (13) If the interface self-test passes, report the node number, feeder number, topological order or normalized electrical distance along the power point to the end of the line, rated capacity, allowable range of taps, current operating mode, health status and communication quality to the cooperative communication network. (14) After registration is completed, the node enters the master election candidate node set.

7. The line voltage regulation control method according to claim 5, characterized in that, In step (2), the specific steps for electing a unique master controller and maintaining a heartbeat include: (21) Collect parameters of each node, and calculate the master control priority score of nodes that meet the participation conditions based on topology location, health status and communication quality: Pᵢ = α(1-dᵢ) + βhᵢ + γqᵢ Where i represents a node, dᵢ is the normalized distance of node i from the power source; hᵢ is the node health; qᵢ is the normalized communication quality obtained based on message loss rate, communication delay or signal quality; α, β and γ are all non-negative weights and α+β+γ=1. (22) Determine whether there are valid nodes. If there are no valid nodes, the current election ends and the next election cycle begins again from the node registration status. If there are valid nodes, sort all valid nodes from high to low according to the master control priority score Pᵢ. (23) Determine whether the highest scores are tied. If the highest scores are not tied, the valid node with the highest score is determined as the master controller. If the highest scores are tied, a unique master controller is determined according to the preset node number order, and the remaining valid nodes are set as slave controllers. (24) After the sole master controller is established, the master controller periodically sends heartbeat messages, which include the master controller number, election round and timestamp; the slave controller continuously listens to the heartbeat messages sent by the master controller and updates the master controller status and the status of the current node according to the heartbeat messages; (25) The controller determines whether a valid heartbeat has not been received for N consecutive heartbeat cycles; if no heartbeat loss has occurred for N consecutive heartbeat cycles, the heartbeat monitoring continues; if no valid heartbeat has been received for N consecutive heartbeat cycles, the controller does not immediately initiate an election, but first waits for a random backoff time related to the node number, and then returns to step (21) to re-execute the master election. (26) During the heartbeat maintenance process, determine whether the current master controller's health status and communication status are normal; if the current master controller's health status or communication status is abnormal, trigger a re-election and return to step (21); if the current master controller's health status and communication status are both normal, continue to determine whether the preset maintenance time has been reached. ; (27) If the current main controller has not yet reached the preset hold time If the current master controller remains unchanged, return to step (24) to continue sending and listening to heartbeats; if the current master controller has reached the preset hold time... If so, then proceed to the master control switching hysteresis judgment; (28) Determine if there is a new node with a higher score than the current master controller and exceeds the switching hysteresis value. If it exists, a re-election is triggered and the process returns to step (21); if it does not exist, the current master controller is maintained and the process returns to step (24) to continue sending and listening to heartbeats.

8. The line voltage regulation control method according to claim 5, characterized in that, In step (3), the specific steps for performing centralized state collection and establishing an ordered node state table include: (31) The main controller receives unified status data reported by each slave controller according to a preset synchronization cycle, and receives data from independent voltage monitoring terminals configured at the user or line end; the unified status data includes node number, input voltage, output voltage, main line current, bypass line current, main line circuit breaker or bypass circuit breaker status, on-load tap changer position, transformer non-electrical quantity status health status, communication status, message sequence number and timestamp; (32) The main controller performs a freshness check on the data reported by each slave controller and independent voltage monitoring terminal. The freshness check includes message sequence number check and timestamp check. If the data of a certain node or voltage monitoring terminal exceeds the allowable time deviation, the message sequence number is not continuous, or the corresponding message is not received for several consecutive synchronization cycles, the node or voltage monitoring terminal is marked as communication out of sync, and its expired data is removed in this round of voltage regulation calculation. If the data meets the freshness requirements, it is marked as valid data. (33) The main controller sorts the effective line voltage regulating controller nodes and effective voltage monitoring terminals according to the feeder number and topology location code corresponding to the effective data, forming an ordered node status table arranged from the power source point to the end of the line; the ordered node status table includes node number, topology location, input side voltage, output side voltage, main line current, bypass line current, main line circuit breaker or bypass circuit breaker status, on-load tap changer position, transformer non-electrical quantity status health status, communication status and timestamp; for independent voltage monitoring terminals, the ordered node status table includes monitoring terminal number, topology location, voltage value, communication status and timestamp; (34) The master controller broadcasts the current valid node status table and the current control round to all slave controllers. After receiving the valid node status table and the current control round, the slave controller checks whether the master controller number and the control round are consistent with the local record. If the master controller number or the control round is inconsistent, it refuses to receive the corresponding status table or refuses to execute subsequent control instructions. If the verification is consistent, it saves the current valid node status table and enters the candidate action generation, prediction evaluation, sorting and instruction issuance process.

9. The line voltage regulation control method according to claim 5, characterized in that, In step (4), the specific steps of generating candidate actions, predicting and evaluating, sorting, and issuing instructions include: (41) The main controller selects K voltage monitoring points from the ordered node status table. The monitoring points include the input or output side of the line voltage regulator, the end of the line, and the access point for key low-voltage users. Let the actual voltage of the kth monitoring point be... Target voltage is The maximum allowed is ; (42) The main controller determines whether a low voltage point exists: when When the voltage is lower than the target voltage minus the startup dead zone, the monitoring point is marked as a low voltage point; if there is no low voltage point in the current synchronization cycle, the current voltage regulation judgment ends and waits for the next synchronization cycle to re-acquire the status; if there is a low voltage point, the candidate device screening begins. (43) The main controller selects candidate equipment from M line voltage regulators. The candidate equipment meets the following conditions: normal health status, in main line operation, normal communication, no fault in tap changer, not reaching the highest allowable voltage boost level, and its topological position can affect the corresponding low voltage point. (44) Determine if there is a candidate device: If there is no candidate device, end the current voltage regulation and return to wait for the next synchronization cycle; if there is a candidate device, generate the candidate action set A for this round. (45) The main controller obtains the voltage-gap sensitivity matrix S of K voltage monitoring points relative to the gear changes of M line voltage regulators. The sensitivity matrix S is obtained by online identification, that is, it is updated according to the measured voltage changes before and after the historical tapping action. (46) When using the online identification method, for a confirmed gear change of node j The sensitivity corresponding to monitoring point k is calculated using the following formula: (47) The main controller traverses the candidate actions one by one according to the candidate action set A. And based on the current voltage vector and sensitivity matrix Predict the voltage vector after the candidate action is executed: in, This is the gear shift action vector that takes +1 only at the j-th position and 0 at the other positions; if the actual tap direction is defined opposite to the boost direction, the corresponding action amount will be -1 according to the equipment configuration parameters; (48) The main controller determines the candidate actions. Does the prediction constraint meet: If any affected monitoring point in the predicted voltage vector exceeds the allowable upper limit? If the candidate action cannot cover the corresponding low voltage point, or the improvement of the low voltage point is less than the preset threshold, then the candidate action is removed and the process returns to step (47) to continue traversing the next candidate action; if the prediction constraint is met, then the target value calculation is performed. (49) For candidate actions that are not eliminated, the main controller calculates their low-voltage mitigation target value: in, The weight for the k-th monitoring point can be set to 1.5-3.0 for key users or the end of the line; The action cost of node j can be determined based on the cumulative number of tap changer actions, equipment alarm status, action interval, or remaining allowed number of actions. This is the action cost coefficient; (410) The main controller records candidate actions and their... The evaluation results are assessed, and it is determined whether all candidate actions have been traversed: if all candidate actions have not been traversed, the process returns to step (47) to continue predicting and filtering the next candidate action; if all candidate actions have been traversed, the process proceeds according to... Sort the actions from smallest to largest to form an action queue; (411) The main controller determines whether the action queue is empty: if the action queue is empty, the current voltage regulation ends and returns, waiting for the next synchronization cycle; if the action queue is not empty, the first candidate action in the action queue is selected, and the current shift instruction is sent only to the slave controller of the corresponding target node; the shift instruction includes at least the main controller number, control cycle, target node number, action direction, action gear number, instruction validity period and check code; (412) After receiving the upgrade command from the controller, verify the main controller number, control round, command validity period, operating mode of the main circuit breaker or bypass circuit breaker, current status of the main circuit current transformer or bypass current transformer, current position of the on-load tap changer and health status of the transformer non-electrical quantity status; if any condition is not met, the controller refuses to execute and returns the reason for rejection, the main controller deletes the candidate action and returns to step (411) to select the next candidate action; if all candidate actions in the action queue are rejected or eliminated, the current round of voltage regulation ends and returns, waiting for the next synchronization cycle; if the verification passes, single-round action closed-loop confirmation, abnormal backoff and re-entry into the control process are performed.

10. The line voltage regulation control method according to claim 5, characterized in that, In step (5), the specific steps of the single-wheel action closed-loop confirmation, abnormal retreat, and re-entry control process include: (51) The controller executes a gear shift action and returns gear shift change feedback to the main controller; after receiving the gear shift change feedback, the main controller enters a safety observation time window. During this time window, no new tapping actions are issued to other nodes to ensure that the voltage impact of a single action can be observed independently. (52) The safety observation time window This includes communication transmission time, tap changer mechanical action time, line voltage stabilization time, and status confirmation time. (53) After the safety observation time window ends, the main controller re-collects the voltage of all valid monitoring points and performs closed-loop verification of the action effect in sequence; the closed-loop verification includes: whether the target node gear changes according to the instruction; whether the direction of voltage change of each monitoring point is consistent with the sensitivity prediction; whether the weighted low voltage deviation is reduced; whether a new voltage upper limit is exceeded. (54) If all the above checks are satisfied, the action in this round is confirmed to be effective. The sensitivity matrix S is updated using the measured results of this round, and the process is returned to enter the next round of synchronous acquisition and coordinated voltage regulation calculation. (55) If any verification fails, the subsequent actions are stopped, the relevant nodes are marked as suspected abnormal nodes, and a consistency check is performed on the suspected abnormal nodes; the consistency check includes: the consistency between the circuit breaker auxiliary contacts and the measured current of the main line current transformer or the bypass line current transformer; the consistency between the tap control command and the tap position feedback; the consistency between the tap position change and the direction of the output voltage change; the deviation between the measured voltage change and the sensitivity prediction; and the freshness of the message sequence number and timestamp. (56) For action node j, the main controller calculates the voltage response residual using the following formula: (57) The main controller determines whether the abnormality meets the node exit condition; if the residual norm does not exceed the preset threshold and there is no abnormality such as no change in gear position, contradiction between switch and current state, or continuous communication loss of synchronization, the current gear position of the node is retained and monitoring continues, and the node returns and waits for the next synchronization cycle; if the residual norm exceeds the preset threshold, or any of the following situations occur: gear position does not change according to the instruction, contradiction between switch and current state, or continuous communication data loss of synchronization, the node is marked as not eligible to participate in coordinated voltage regulation; (58) Nodes marked as not eligible to participate in coordinated voltage regulation shall maintain their current position, cease executing new coordinated voltage regulation commands, and retain only local overcurrent, overvoltage, undervoltage, transformer non-electrical quantity protection and manual operation functions. (59) Determine whether the abnormal node is the master controller; if the abnormal node is not the master controller, the master controller excludes the node from the candidate set and returns and regenerates candidate actions based on the remaining valid nodes, or returns and enters the next synchronization cycle; if the abnormal node is the master controller, the slave controller re-elects a new master controller after not receiving a valid heartbeat for N consecutive heartbeat cycles and after random backoff. (510) When a transformer non-electrical quantity status fault occurs or the local main bypass interlock is abnormal, the local safety protection has the highest priority. The slave controller can reject the main controller's command and execute the preset bypass backoff. (511) After the abnormal node communication is restored, it is necessary to complete the interface self-test again and report the effective status for several consecutive synchronization cycles before it can be rejoined in the collaborative control process.

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