Communication system for controlling power generators and / or electricity consumers in a power grid to reduce the influence of power generators and / or electricity consumers on the grid frequency.

Abstract

Communication system (2) for controlling power generators and / or power consumers, called power units (10), of a power grid (1), wherein the communication system (2) comprises communication units (14) and a hierarchical root tree structure (23, 24) with a root and nodes (20), wherein - each of the nodes (20) is assigned one of the communication units (14), - each of the communication units (14) is assigned one of the current units (10), wherein some of the communication units (14) are first master communication units and at least one is a second master communication unit, wherein the communication units (14) in the root tree structure (23, 24) immediately above leaf nodes of the nodes (20) are the first master communication units and the communication unit (14) above the first master communication units in the root tree structure (23, 24) is the second master communication unit, - the second master communication unit is configured to receive information (801) from the communication units (14) of the nodes (20) of a subtree (21, 22, 25, 26, 27, 28) hanging below it, which are directly connected to the node (20) of the second master communication unit via an edge of the root tree structure (23, 24), - the information relating to a deviation of a parameter value for assessing the voltage quality of at least one AC voltage of the power grid (1) from the normal behavior of the parameter value, wherein the AC voltage is applied to one or more of the current units (10) which are assigned to the communication units (14) of the leaf nodes or the first master communication units of the subtree (21, 22, 25, 26, 27, 28), - the second master communication unit is trained to control (802) the power delivered and / or power received by the current units (10) of the subtree (21, 22, 25, 26, 27, 28) to the power grid (1) in response to the receipt of the information and depending on the information, and - the communication units (14) are trained to determine the first and second master communication units using a peer-to-peer communication procedure.

Description

[0001] The invention relates to a communication system for controlling power generators and / or electricity consumers, a method for controlling power generators and / or electricity consumers, and a computer program product with program instructions executable by processors for carrying out the method for controlling power generators and / or electricity consumers.

[0002] In general, consumers on an electricity grid can influence the grid frequency when they draw electrical power from the grid. The higher the electrical power drawn by one or more consumers, the greater the potential impact on the grid frequency. If the total electrical power drawn from the grid decreases while the electrical power fed into the grid remains constant, the grid frequency can rise. Conversely, if the total electrical power drawn from the grid increases while the electrical power fed into the grid remains constant, the grid frequency can fall. To prevent excessive fluctuations in the grid frequency, measures such as primary control, secondary control, and a minute reserve can be implemented.

[0003] EP 3 926 779 A1 describes a method for load control in an electrical system. Specifically, it concerns a railway system with an electrical installation. This installation is divided into segments. It is supplied by an operational network that operates within an interconnected grid with neighboring power grids. Electrical energy is exchanged across external system boundaries as needed. The operational network can also be divided into network segments that correspond to the installation segments. These network segments exchange electrical energy across internal system boundaries as needed. The system also includes a control system with a control program. This program monitors the power supplied by the operational network. It also monitors load limits or their profiles for the operational network or the network segments. The control program generates corresponding control information for load management. This information is transmitted to a load control system.The load control system evaluates the control information using a control program. It generates control signals for controlling operating units of the electrical system. Frequency measurements for the network frequency of the operating network are determined to generate the control information. Additionally, energy flow measurements for the energy flows at the external system boundaries and / or at the internal system boundaries are recorded. The control information is then generated based on these measurements.

[0004] EP 3 916 944 A1 describes a power supply system and a method for operating a power supply system. The power supply system comprises at least one first power subsystem with at least one first electrical load and at least one first electrical generator. These are electrically connected to each other. The first electrical load and the first electrical generator each comprise a switching unit. The switching unit comprises a measuring unit and a control unit. In the measuring unit, the local mains voltage is measured and mains voltage data is generated. The mains voltage data is transmitted to the control unit. In the control unit, the mains voltage data is evaluated and a mains voltage setpoint deviation is determined. Depending on the mains voltage setpoint deviation, the respective control unit controls the first electrical load and / or the first electrical generator.

[0005] The problems underlying the invention are solved by the features of the independent claims. Embodiments of the invention are the subject of the dependent claims.

[0006] A communication system for controlling power generators and / or consumers, called power units, in a power grid is proposed. The communication system comprises communication units and a hierarchical root tree structure with a root and nodes. Each node is assigned one of the communication units. Furthermore, each communication unit is assigned one of the power units. Some of the communication units are first master communication units, and at least one is a second master communication unit. The communication units in the root tree structure immediately above the leaf nodes of the nodes are the first master communication units. The communication unit above the first master communication units in the root tree structure is the second master communication unit.

[0007] The respective communication unit assigned to the respective power unit has at least one connection between the respective communication unit and the respective power unit assigned to it for data transmission from the respective power unit to the respective communication unit assigned to it.

[0008] Advantageously, each communication unit is assigned to a specific power unit, and the communication unit assigned to that power unit is configured to acquire process data for recording an operating point of the power unit. In a particular embodiment, each power unit can have its assigned communication unit integrated. For example, the communication unit can be integrated into a control unit or controller of the power unit. The communication unit can be comprised of a communication interface and a processor. The communication interface can be configured to send the process data, or further data generated based on the process data, to at least one other communication unit.The respective processor is preferably configured to process the process data. Furthermore, the respective processor can be configured to generate additional data depending on the process data.

[0009] For the sake of simplicity, the relationships between nodes and communication units in this revelation are also expressed using the genitive case. Thus, an exemplary node to which an exemplary communication unit is assigned will henceforth be referred to as the node of the exemplary communication unit. Likewise, an exemplary communication unit assigned to an exemplary node can be referred to as the communication unit of the exemplary node. Generally, an assignment of an exemplary node to an exemplary communication unit is equivalent to an assignment of the exemplary communication unit to the exemplary node. The same applies to the assignment between the current units and the communication units.An exemplary current unit assigned to an exemplary communication unit of an exemplary node may hereinafter also be referred to as the exemplary current unit of the exemplary communication unit of the exemplary node, or, in short, as the exemplary current unit of the exemplary node. Conversely, this exemplary node may also be referred to as the node of the exemplary current unit.

[0010] The root tree structure can be represented graphically and indicates, in particular, how the nodes are connected to each other. Within the scope of this disclosure, each connection between a pair of nodes is referred to as an edge.

[0011] According to a first variant of the root tree structure, the root can be reached from any node via the edges of the root tree structure. In this first variant, the edges point towards the root. This first variant of the root tree structure is also referred to as "in-tree" or anti-arborescence.

[0012] According to a second variant of the root tree structure, all nodes are reachable from the root. In this second variant, the edges point away from the root. This second variant of the root tree structure is also referred to as "out-tree" or arborescence.

[0013] First edges run between the root and a first part of the nodes located in a first level of the root tree structure, starting from the root. Second edges run between the first part of the nodes and a second part of the nodes located in a second level of the root tree structure, starting from the root. It is also possible that third edges run between the second part of the nodes and a third part of the nodes located in a third level of the root tree structure, starting from the root. It is within the scope of the invention that the root tree structure has further levels containing further parts of the nodes, which are connected to the first, second, or third part of the nodes by means of further edges.

[0014] The root can be considered the highest level in the hierarchy of a root tree structure. The first level is the second highest in the hierarchy. The nodes located at the lowest levels of the root tree structure are the leaf nodes. Those nodes located within the root structure between the leaf nodes and the root are also called inner nodes.

[0015] Furthermore, the root tree structure specifies how data can be sent within the communication system, particularly between communication units. Data can only be transferred directly from a first example communication unit to a second example communication unit if the root tree structure has an edge between the node assigned to the first example communication unit and the node assigned to the second example communication unit.Data can be transferred indirectly from the first exemplary communication unit to a third exemplary communication unit of the communication units if a path leads from the node associated with the first exemplary communication unit to the node associated with the third exemplary communication unit via at least two edges.

[0016] The assignment of each communication unit to its respective node in the root tree structure therefore determines the path by which data can travel from that communication unit to another communication unit within that structure. In a broader sense, this assignment can also be understood as a localization of the respective communication unit within the root tree structure.

[0017] According to the invention, the second master communication unit is configured to receive information from the communication units of the nodes of a subtree suspended below it, which are directly connected to the second master communication unit via an edge of the root tree structure.

[0018] The subtree suspended below the second master communication unit usually has at least one node to which one of the first master communication units is assigned, and at least two leaf nodes.

[0019] In accordance with the invention, receiving information from the communication units of the nodes of the subtree directly connected to the second master communication unit via an edge of the root tree structure also includes receiving information from only one of the communication units of the nodes of the subtree, for example from the communication unit of one of the leaf nodes of the subtree or from the communication unit of one of the first master communication units.

[0020] Furthermore, according to the invention, the information is related to a deviation of a parameter value from its normal behavior for assessing the voltage quality of at least one AC voltage in the power grid. The AC voltage is applied to one or more of the current units assigned to the communication units of the leaf nodes or the first master communication units of the subtree. Conveniently, the information indicates the deviation of the parameter value. However, it is also possible for the information to contain data calculated as a function of the deviation. This could, for example, include an indication of whether the deviation exceeds a tolerated deviation.

[0021] In most cases, the information is related to a specific value of the parameter for assessing the voltage quality of a given alternating voltage applied to the respective current unit.

[0022] Each current unit preferably includes a measuring device and / or an evaluation unit for determining the respective value of the parameter used to assess the voltage quality of the respective alternating voltage applied to the respective current unit. This respective value is hereinafter referred to as the respective value of the parameter.

[0023] According to one possible embodiment, the parameter for assessing the voltage quality of at least one AC voltage can describe a specific voltage waveform of the AC voltage within one period. In this embodiment, the respective value of the parameter can specify a specific voltage waveform of the respective AC voltage within one period. It is also possible that the respective value of the parameter is a specific maximum value of the respective AC voltage. In particular, the value of the parameter for assessing the voltage quality of at least one AC voltage is a maximum value of this AC voltage.

[0024] In a further embodiment, the parameter for assessing the voltage quality of at least one AC voltage in the power grid includes its AC frequency, voltage level, waveform, harmonics, transients, and / or unbalanced load. In this case, the respective value of the parameter can specify the AC frequency, voltage level, etc., of the respective AC voltage applied to the respective current unit.

[0025] Regarding the AC voltage frequency, the measuring device can preferably be a frequency meter. This frequency meter could be, for example, a digital frequency counter, a pointer frequency meter, or a reed frequency meter. In the following, the AC voltage frequency is often referred to without generality. It is understood that this can also apply analogously to the voltage amplitude, waveform, harmonics, transients, and / or unbalanced load of the AC voltage.

[0026] With regard to voltage level, the respective measuring device can preferably be designed in the form of a voltage meter. Similarly, with regard to waveform, harmonics, transients, and unbalanced load, the respective measuring device can preferably be designed in the form of a waveform meter, harmonic meter, transient meter, or unbalanced load meter, respectively.

[0027] In a preferred embodiment, the respective frequency meter (voltage meter, waveform meter, etc.) is designed and configured to measure a first AC voltage frequency (voltage amplitude, waveform, etc.) on a first conductor of the respective current unit. In a further embodiment, the respective frequency meter (voltage meter, waveform meter, etc.) can be designed and configured to measure a first AC voltage frequency (voltage amplitude, waveform, etc.) on a first conductor, a second AC voltage frequency (voltage amplitude, waveform, etc.) on a second conductor, and a third AC voltage frequency (voltage amplitude, waveform, etc.) on a third conductor of the respective current unit.

[0028] The respective evaluation unit is preferably configured and designed to determine the respective value of the parameter as a function of at least the respective first AC voltage frequency (voltage amplitude, waveform, etc.). According to a simple embodiment, the respective value of the parameter can, for example, be equal to the respective first AC voltage frequency (voltage amplitude, etc.). In a preferred further development, the respective value of the parameter corresponds to a respective average value of the respective first and second AC voltage frequencies (voltage amplitude, etc.) or of the respective first, second, and third AC voltage frequencies (voltage amplitude, etc.).

[0029] Furthermore, each evaluation unit is preferably configured and designed to detect any deviation of the parameter's value from its normal behavior, hereinafter also referred to as the respective deviation. Each deviation is assigned to one of the current units. The respective deviations, taken together, are hereinafter also referred to as deviations.

[0030] The normal behavior of a parameter refers to the normal behavior of its respective value. This normal behavior can be defined, for example, by the parameter value lying within a predefined tolerance band with a lower and an upper limit. In this case, the evaluation unit can preferably be configured to check whether the difference between the parameter value and the upper limit is greater than zero, or whether the difference between the lower limit and the parameter value is greater than zero. In one possible embodiment, the lower limit can be a lower tolerated frequency (voltage level, etc.) and the upper limit can be an upper tolerated frequency (voltage level, etc.).

[0031] Detection of the respective deviation of the parameter value from the normal behavior of the parameter can be realized using the respective evaluation unit, for example, by the respective evaluation unit detecting whether the respective difference between the respective value of the parameter and the upper limit is greater than zero or whether the respective difference between the lower limit and the respective value of the parameter is greater than zero.

[0032] According to an advantageous embodiment, the communication units of the current units are each configured and designed to generate a respective message containing at least one specific piece of information about whether the respective value of the parameter deviates from the normal behavior and to send it to at least one communication unit of the communication units that is assigned to one of the nodes that is located above the node of the respective communication unit in the hierarchy of the root tree structure.

[0033] For example, each message can have a unique identification number indicating which communication unit generated it. The communication units can be configured to use a common communication protocol for sending and receiving messages.

[0034] The common communication protocol can, for example, be based on the Open Charge Point Protocol (OCPP), meaning it can include commands, modules, data types, and / or data structures of OCPP. OCPP typically involves the use of a central management system. However, in most applications of the invention, decentralized communication between the power units is provided. This may, among other things, result in a different application of the common communication protocol compared to the use of the known OCPP.

[0035] The electricity grid can include an extra-high voltage grid, a high voltage grid, a medium voltage grid and a low voltage grid.

[0036] For example, some of the electrical units can be connected to the low-voltage network and others to the medium-voltage network. The low-voltage network comprises alternating voltages up to 1000 volts and direct voltages up to 1500 volts. Each electrical unit can be connected to the power grid, particularly the low-voltage network, using a neutral conductor and three live conductors. The effective value of each live conductor relative to the neutral conductor, and preferably relative to a protective earth conductor, can be 230 volts. The effective value of any two live conductors can be 400 volts.

[0037] It is also possible that one or more of the power units are connected to the low-voltage network via a single live conductor and a neutral conductor. In this case, an alternating voltage of 230 volts is preferably present between the single live conductor and the neutral conductor.

[0038] In most cases, power is drawn from or supplied to each electrical unit using the alternating voltage applied to the three live conductors. This alternating voltage can be supplied to the electrical unit by the power grid in the form of three phase-shifted alternating voltages via the three live conductors and the neutral conductor. In this case, the power is preferably transferred from the power grid to the electrical unit using three-phase alternating current.

[0039] Furthermore, according to the invention, the second master communication unit is designed to control, in response to the receipt of the information and depending on the information, a power output and / or power input from the power units of the subtree to the power grid.

[0040] Preferably, the second master communication unit is configured to control, in response to and depending on the information received, the power supplied to and / or consumed by the power units of the subtree in such a way as to counteract any deviation in the parameter value. For this purpose, the second master communication unit can be configured to process the information into a processing result after receiving it. In particular, the second master communication unit can be configured to generate a command depending on the processing result and send the command to at least one of the first master communication units.

[0041] The command preferably includes instructions on how at least one of the power units of the nodes of the subtree should modify its respective power input or output. The at least one of the first master communication units can send the command to at least one of the communication units of the leaf nodes. The communication unit that receives the command from the at least one master communication unit is preferably configured to send the command to the control unit of the power unit associated with that communication unit. The control unit of that power unit is preferably configured to execute at least one of the instructions of the command in order to modify the power input or output of that power unit according to the at least one instruction of the command.The generation, transmission, and execution of the command described above provides an example of how the second master communication unit can control the power supplied to or received from the power grid by the power units of the nodes of the subtree by sending the command via at least one communication unit of the first master communication units to at least one communication unit of the leaf nodes.

[0042] Advantageously, the second master communication unit can be configured to reduce the power consumed jointly by the current units of the nodes in the subtree when the parameter value is below the lower limit. In this case, the command preferably includes an instruction to reduce the power consumed by at least one current unit of the subtree's current units or to increase the power delivered by at least one current unit of the subtree's current units.

[0043] Similarly, the second master communication unit can be configured to increase the power consumed jointly by the current units of the nodes in the subtree if the parameter value is above the upper limit. In this case, the command preferably includes an instruction to increase the power consumed by at least one current unit of the subtree's current units or to reduce the power output by at least one current unit of the subtree's current units.

[0044] By adjusting the jointly recorded power in such a way as to counteract the deviation of the parameter value for assessing voltage quality, for example, the mains frequency of the power grid can be stabilized using the communication system according to the invention.

[0045] In general, the proposed communication system allows for targeted control of the power grid frequency because the power supplied to or received from the grid by the power units of the subtree can be controlled using the second master communication unit. Regarding voltage level, waveform, harmonics, transients, and / or unbalanced load, the proposed communication system allows for targeted control of voltage level, waveform, harmonics, transients, and / or unbalanced load because the power supplied to or received from the grid by the power units of the subtree can be controlled using the second master communication unit. The root tree structure is particularly helpful in efficiently capturing information related to deviations throughout the entire power grid.Because the second master communication unit can receive information from at least one of the communication units of the nodes in the subtree, not all communication units need to be connected to a central communication unit to receive the information. Furthermore, the root tree structure allows the stream units of the subtree to be controlled by the second master communication unit, and thus by a communication unit assigned to a node located above the leaf nodes in the hierarchy. This makes it possible to control multiple stream units from a single communication unit without requiring each communication unit to be connected to that single communication unit.This in turn allows the total power delivered to the current units to be changed to such an extent that it has a measurable influence on the voltage quality of at least one alternating voltage, in particular on the alternating voltage frequency, voltage level, waveform, harmonics, transients or unbalanced load of several alternating voltages measurable in the power grid.

[0046] To reduce the power consumption, each power unit advantageously incorporates a battery system for intermediate energy storage. This allows the power unit to maintain a consistent supply voltage even though its power consumption is reduced. In this case, the supply voltage can be at least partially provided by the energy stored in the battery system. To increase the power consumption, the battery system of the respective power unit can, for example, be charged.

[0047] According to an advantageous embodiment, the first master communication units are each configured to send information to the second master communication unit of the node directly connected via an edge of the root tree structure. In this case, the second master communication unit is preferably arranged one hierarchy level above the first master communication units within the root tree structure.

[0048] According to a first variant of this embodiment, the first master communication units can each be configured to determine the information by independently measuring the parameter value. In this variant, the information is related to a deviation in the parameter value used to assess the voltage quality of the AC voltage applied to the respective first master communication unit.

[0049] According to a second variant of this embodiment, the first master communication units can each be configured to determine the information as a summary value of a parameter value received from at least one of the current units, which are assigned to the respective communication units of the leaf nodes of the respective first master communication unit, for assessing the voltage quality of the alternating voltage applied to the respective current unit.

[0050] In particular, the first master communication units are each designed to determine the information as the summary quantity depending on the respective values ​​of the parameter for assessing the voltage quality of the respective alternating voltage that is applied to the respective current unit that is assigned to the communication unit of the respective leaf node of the subtree of the respective first master communication unit.

[0051] For example, the summary value can be calculated as the average of the respective parameter values. Alternatively, it can be determined as the sum of the deviations of each parameter value from a target value. The summary value can, for instance, simplify the modeling, control, and / or regulation of the power consumed or delivered by the current units of the subtree. In this context, the summary value can be used as the controlled variable.

[0052] Both the first and second variants of this embodiment allow the information to be sent in bundled form from the respective first master communication unit to the second master communication unit. In particular, the information can be considered bundled information that summarizes measurements of the respective parameter values ​​for assessing the voltage quality of the respective AC voltage applied to the respective current unit of the subtree. Since both the first and second variants of this embodiment relate to the first, and in particular to each, of the first master communication units, changes in the respective parameter values ​​concerning the current units of the nodes of a respective subtree of the respective first master communication unit, which is connected to the respective first master communication unit, can thus be communicated quickly and efficiently within the communication system.

[0053] In an advantageous configuration, the first master communication units are configured to receive power information about the potential output and / or input power of the current units in their respective subtree. In this configuration, the information includes a specification of this power output. Furthermore, in this configuration, the second master communication unit is configured to control the power output and / or input power from the current units in their subtree to the power grid, depending on the power output information provided.

[0054] This advanced training enables increased reliability in controlling the current units of the subtree of the second master communication unit to improve voltage quality in the power grid. Specifically, it allows for the control and / or regulation of the output and / or input power of the respective current units of the first master communication unit's subtree, based on the potential output and / or input power of those units. This can preferably be achieved using an evaluation unit of the second master communication unit's current unit.

[0055] In a further embodiment, as already described above, the second master communication unit is designed to process the received information into a processing result.

[0056] In a further development of this embodiment, the communication system comprises several second master communication units, including the aforementioned second master communication unit, which are directly interconnected via edges of the root tree structure. In this embodiment, preferably one of the second master communication units is positioned above at least two other second master communication units in the hierarchy of the root tree structure, with the node of this second master communication unit forming the root of the root tree structure.

[0057] According to a first variant of this design, the second master communication units are each configured to generate a respective command, depending on the processing result, to control the power supplied to the power grid by the current units of the subtree of the respective second master communication unit and / or the power received from the power grid.

[0058] Furthermore, in this first variant, the second master communication units are each configured to send the respective command to the communication unit whose node is directly connected to the respective second master communication unit via a branch of the root tree structure extending away from the root. The respective command corresponds to the communication unit whose node is directly connected to the respective second master communication unit via a branch of the root tree structure extending away from the root, and which then sends the respective command.

[0059] The respective communication unit to which the respective second master communication unit sends the respective command can in particular be one of the first master communication units.

[0060] Furthermore, the respective communication unit to which the respective second master communication unit sends the respective command can, for example, be one of the other second master communication units. In particular, the second master communication unit whose node forms the root can send the respective command generated by this second master communication unit to each of the other second master communication units whose nodes are located below the root. In this case, the second master communication units are advantageously configured to process the received command into further commands and send these further commands to the communication units whose nodes are directly connected to this second master communication unit via an edge of the tree structure in the direction away from the root.These can be, in particular, respective parts of the first master communication units whose nodes are directly connected to the node of the respective second master communication unit.

[0061] In general, the root tree structure preferentially indicates the direction within the communication system in which the command(s) and / or subsequent commands can be sent using the communication units. Advantageously, the root tree structure for propagating the command(s) and / or subsequent commands is designed as the first variant of the root tree structure mentioned above, i.e., as an in-tree. This means that the command(s) and / or subsequent commands can only be sent in the direction away from the root towards the nodes of the communication units. This makes it possible to control the communication units, and thus the power units, from a single point, namely the communication unit of the node that forms the root, hereinafter referred to as the root node.The first variant of the root tree structure can be realized in particular by the feature described above, in which the respective command is sent to the respective communication unit, whose node is directly connected to the respective second master communication unit via a branch of the root tree structure in the direction away from the root.

[0062] According to a second variant of the aforementioned configuration, the second master communication units are each configured, depending on the processing result (provided the respective second master communication unit is not the root of the root tree structure), to send the processing result as information to the next second master communication unit. The next second master communication unit is assigned to a node directly connected to the root via an edge of the root tree structure.

[0063] In a preferred further development, processing the information for the processing result using the respective second master communication unit takes into account further information received by the respective processing second master communication unit. This further information was preferably received from communication units of different nodes. These communication units of the different nodes can, for example, be the first master communication units. Alternatively or additionally, it can be provided that these communication units of the different nodes include communication units of the leaf nodes. The further information can, for example, be the specific information mentioned above.

[0064] Advantageously, the root tree structure indicates the direction within the communication system in which information and / or specific information can be sent using the communication units. Specifically, the root tree structure for disseminating information and / or specific information is configured as the second variant of the root tree structure mentioned above, i.e., as an out-tree. This means that information and / or specific information can only be sent in the direction of the root from the nodes of the communication units to another node of a further communication unit. This simplifies the efficient aggregation of specific information into the aforementioned summary quantity within the communication system.

[0065] In a further embodiment, the first master communication units are each configured to control the current units of the nodes of the respective subtree of the respective first master communication unit upon receiving the respective command and / or the respective subsequent command. According to one embodiment, the respective commands and / or the respective subsequent commands can contain instructions specifying how the power of the respective current unit of the respective subtree is to be changed. The communication unit of the respective current unit of the respective subtree can be identified based on the respective instruction of the respective command and / or the respective subsequent command.In this case, the first master communication units can send the respective instructions of the respective command and / or the respective subsequent command to the communication unit identifiable by the respective instruction.

[0066] In particular, the respective instructions of the respective command can specify a setpoint for the power input or output of the respective current unit of the subtree of the respective first master communication unit. According to one possible configuration, one of the second master communication units can be configured to determine the setpoints depending on the information, in particular depending on further information, preferably depending on specific information.

[0067] According to a further embodiment, the first master communication units can each be configured to determine the respective setpoint of the input or output power of the respective current unit of the subtree of the respective first master communication unit, depending on the respective command. In this case, the first master communication units generate the instructions that specify how the power of the respective current unit of the respective subtree is to be changed.

[0068] In a preferred further development, the hierarchy of the root tree structure is adapted to a hierarchical structure of the power grid. In particular, the power grid has several hierarchical network levels, whereby the arrangement of the nodes of the hierarchical root tree structure corresponds at least partially to the network levels.

[0069] According to one variant, the hierarchical structure of the power grid can be defined by different voltage levels. These voltage levels preferably include an extra-high voltage level, a high voltage level, a medium voltage level, and a low voltage level. In this variant, the arrangement of the nodes in the hierarchical root tree structure corresponds, at least partially, to the voltage levels. This has the advantage that the control of the power units for each voltage level is easier to manage. In particular, controlling and / or regulating the voltage quality for each selected voltage level can be implemented more easily.

[0070] Alternatively or additionally, the hierarchical structure of the electricity grid can be defined by dividing it into local grids with their respective geographical coverage areas. Such a division can preferably be implemented within the voltage levels. This assumes that the power units are located at specific geographical locations. The division of the electricity grid into local grids could, for example, involve subdivisions into federal states, regions, and cities and towns.

[0071] According to a preferred embodiment, those communication units of the power units each form a group whose nodes are directly connected to one of the first or second master communication units via an edge of the tree structure in the direction away from the root. In this embodiment, the communication units are assigned to the groups such that within each group are those communication units whose geographical locations of the assigned power units are all within one of the geographical coverage areas. This has the advantage that the control of the power units for each geographical coverage area is easier to manage. In particular, the control and / or regulation of a specific voltage quality for a selected geographical coverage area can be implemented more easily.The geographical coverage can be defined, for example, by the federal states, their regions, or their cities or towns.

[0072] However, in principle, the classification of communication units into groups based on their geographical locations can also be carried out independently of the local characteristics of the power grid. According to one possible configuration, those communication units whose nodes are directly connected to one of the first or second master communication units via an edge of the tree structure in the direction away from the root can each form a group. In this configuration, the assignment of communication units to groups is carried out such that within each group are the communication units whose geographical locations of the associated power units are all within a geographical region predefined for the group. This has the advantage that the control of the power units is easier to manage for each geographical region.In particular, controlling and / or regulating a specific voltage quality for a selected geographical region can be implemented more easily. These geographical regions can be defined, for example, similarly to the geographical coverage provided by federal states, their regions, or their cities or towns.

[0073] In one possible approach, communication units are assigned to groups in such a way that the number of communication units within each group is less than or equal to a predefined maximum value. This limits the communication overhead within the groups. The maximum value depends primarily on the performance of the communication interfaces of the communication units.

[0074] Alternatively, the communication units can be assigned to groups such that the number of communication units within each group is greater than or equal to a predefined minimum value. This is particularly advantageous when the overall value is calculated as the average of the individual parameter values. The larger the minimum value, the smaller the fluctuations in the overall value generally are. This can increase the reliability of the communication system.

[0075] According to the invention, the communication units are configured to determine the first and second master communication units using a peer-to-peer communication method. This peer-to-peer communication method ensures that the communication units are equal. This has the advantage that no central communication unit is required to determine the first and second master communication units.

[0076] An advantageous further development of this design involves determining the first and second master communication units in such a way that the communication units of one hierarchical level of the root tree structure determine the first and second master communication units of the next higher level in the direction of the root. This can, in particular, reduce data traffic in the peer-to-peer communication process.

[0077] Practically speaking, the first and second master communication units are determined based on a criterion. This criterion could, for example, be a criterion that considers the respective network latency of the first and second master communication units when communicating with other communication units. For instance, the first and / or second master communication units could be those communication units within the respective group that exhibit the lowest network latency.

[0078] Alternatively or additionally, the criterion can consider the data transmission rates of the communication units when communicating with other communication units. For example, the first and / or second master communication units can be those communication units within the respective group that exhibit the highest data transmission rate within that group.

[0079] Alternatively or additionally, the criterion can take into account the availability of the communication units. For example, the first and / or second master communication units could be those with the highest availability within their respective groups.

[0080] Alternatively or additionally, the criterion can consider the respective performance of the communication units when processing data exchanged with other communication units. For example, the first and / or second master communication units can be those communication units within the respective group that exhibit the highest performance in processing data exchanged with other communication units within that group.

[0081] In an advantageous embodiment, the power units are at least partially configured as charging stations for charging via grid-to-vehicle and / or discharging via vehicle-to-grid of the batteries of electrically powered vehicles. When the power units are at least partially configured as charging stations, they collectively offer a comparatively large potential for both receiving and delivering power to the power grid. The potential for receiving power can be realized through grid-to-vehicle charging, preferably at night. The potential for delivering power can be realized through vehicle-to-grid discharging, advantageously during the day.

[0082] If the power units are partially designed as charging stations, the control of their output and / or input power, particularly with the help of the second master communication unit, can have a comparatively large impact on the voltage quality of the power grid. Furthermore, the charging stations enable the absorption of significant amounts of power during nighttime hours, because vehicle batteries are typically charged at night.

[0083] This is advantageously achieved by controlling the power units using the communication system. In this way, the power units can be controlled in such a way that during nighttime hours there is a sufficient reduction in the power produced by the power plants to maintain the grid frequency and / or the frequency, voltage level, waveform, harmonics and / or transients of the AC voltages applied to the power units.

[0084] The batteries of each vehicle are configured to power an electric motor of that vehicle. The charging stations are preferably designed to provide a specific charging voltage for charging the battery or multiple batteries of the respective vehicle, or for charging multiple batteries of two or more vehicles.

[0085] In most applications, vehicle batteries can be charged using direct current (DC). According to a first variant, at least some of the charging stations each have an electronically controlled charger. The charger is preferably designed and configured to convert the alternating current (AC) voltage present at the charging station into a DC voltage for charging the vehicle's battery. This DC voltage can then be applied to the vehicle's battery, which can be charged using the charging station, via charging cables. In this case, the DC voltage corresponds to the charging voltage provided by the charging station.

[0086] According to a second variant, at least some of the vehicles may have their own charger. In this case, the charger is designed and configured to convert the alternating current (AC) supplied by the charging station into a direct current (DC) for charging the vehicle's battery. In this second variant, the AC supplied corresponds to the charging voltage provided by the charging station.

[0087] Furthermore, a method for controlling power generators and / or power consumers, called power units, of a power grid using a communication system is proposed. The communication system can be configured according to one of the variants described above. At a minimum, the communication system has communication units and a hierarchical root tree structure with a root and nodes. Each node is assigned one of the communication units. Each communication unit is also assigned one of the power units. Some of the communication units are first master communication units, and at least one is a second master communication unit. The communication units in the root tree structure immediately above the leaf nodes of the nodes are the first master communication units.The communication unit above the first master communication units in the root tree structure is the second master communication unit.

[0088] In the first step of the process, the second master communication unit receives information from the communication units of the nodes of a subtree below it, which are directly connected to the second master communication unit via an edge of the root tree structure. This information relates to a deviation of a parameter value used to assess the voltage quality of at least one AC voltage in the power grid from the parameter's normal behavior. Specifically, the information can be structured according to one of the variants described above. The AC voltage is applied to one or more of the current units, which are assigned to the communication units of the leaf nodes or to the first master communication units of the subtree.

[0089] In a second step of the process, the second master communication unit, in response to the receipt of the information and depending on the information, controls a power output and / or power input from the power units of the subtree to the power grid.

[0090] Furthermore, a computer program product with processor-executable program instructions for carrying out the procedure is proposed. The processors are preferably processors of the aforementioned communication units.

[0091] Preferred embodiments are explained in more detail with reference to the following figures. Components with the same reference numerals in different figures describe the same components. The schematic representation shows... Fig. 1 power units connected to a power grid, each with a communication unit; Fig. 2 a communication system that connects the communication units of the in Fig. 1 shows current units; Fig. 3. A root tree structure to define possible communication paths within the system. Fig. 1 communication system shown; Fig. 4 the power grid to which the in Fig. 1 are connected to the power units shown; Fig. 5 a time course of a network frequency of the in Fig. 4 shown power grid; Fig. 6 communication paths within the in Fig. 1 communication system shown for disseminating information about the in Fig. 1 current units shown; Fig. 7 communication paths within the in Fig. 1 communication system shown for disseminating commands to control the in Fig. 1 Fig. 8 steps of a procedure for controlling the in Fig. 1 unit of electricity shown. Fig. 9 another networking option for communication units of the in Fig. 2 communication systems shown; Fig. 10. Another root tree structure to specify possible communication paths within the in Fig. 9 shown variant of the communication system;

[0092] Fig. Figure 1 shows current units 10, including, for example, a first current unit 101, a second current unit 102, a j-th current unit 10 j , a (j+1)-th current unit 10 j+1 , a third current unit 103, a sixth current unit 106, an eighth current unit 108 and an nth current unit 10 n . Dash-like lines between the second current unit 102 and the j-th current unit 10 j and between the (j+1)th current unit 10 j+1 and the nth current unit 10 n indicate that the power units are not 10 more in Fig. The current units shown may include 1. A single current unit, representing all current units 10, will be referred to below as current unit 10. i called. The power units 10 are connected to a power grid 1. The respective power unit 10 i A system can be configured as either an individual electricity consumer or an individual electricity producer. An individual electricity producer could be, for example, a power plant, such as a nuclear or coal-fired power plant, a wind farm, or a photovoltaic system. An individual electricity consumer could be an individual household, an industrial plant, or a charging station for charging or discharging the batteries of electric vehicles.

[0093] The power units 10 are each set up and trained to provide a respective power output using a respective power unit 10. ito receive or supply alternating current from the power grid 1.

[0094] Furthermore, in Fig. 1. Communication units of a communication system 2 are shown. Communication system 2 is in Fig. 2 shown separately. The communication units are each assigned to one of the 10 current units. As in Fig. As shown in Figure 1, the first current unit 101 has a first communication unit 141, the second current unit 102 has a second communication unit 142, and the j-th current unit 10 j a j-th communication unit 14 j , the j+1-th current unit 10 j+1 a j+1-th communication unit 14 j+1 , the third power unit 103 a third communication unit 143, the sixth power unit 106 a sixth communication unit 146, the eighth power unit 108 an eighth communication unit 148 and the nth power unit 101 an nth communication unit 14n assigned. Semicolon-like lines between the second communication unit 142 and the j-th communication unit 14 j and between the (j+1)th communication unit 14 j+1 and the nth communication unit 14 n indicate that the communication unit en 14 further not in Fig. The communication units shown may include 1.

[0095] The in Fig. The communication units shown in Figure 1 are referred to collectively as communication units 14 below. Each individual communication unit, representing all communication units, is referred to as 14 below. i designated. At the in Fig. In the configuration of the power units 10 and the communication units 14 shown in Figure 1, the communication units 14 are each integrated into the power units 10.

[0096] The communication system 2 has a hierarchical root tree structure 23, which can be represented graphically. The root tree structure 23 specifies how information can be exchanged between the communication units 14.

[0097] Fig. Figure 3 shows a graphical representation of a variant of the hierarchical root tree structure 23 of the communication system 2. The root tree structure 23 has nodes 20. The nodes 20 are each assigned to a communication unit of the communication units 14. Accordingly, a first node 201 is assigned to the first communication unit 141, a second node 202 to the second communication unit 142, and a j-th node 20 j the j-th communication unit 14 j , a j+1-th node 20 j+1 the j+1th communication unit 14 j+1, a third node 203 of the third communication unit 143, a sixth node 206 of the sixth communication unit 146, an eighth node 208 of the eighth communication unit 148 and an nth node 20 n the nth communication unit 14 n assigned. A single node of the nodes 20 of the root tree structure 23 is subsequently referred to as the respective node 20. i This term is used when it represents all nodes 20.

[0098] The root tree structure 23 shows, according to the in Fig. The example shown in Figure 3 shows a first hierarchy level 31, a second hierarchy level 32, and a third hierarchy level 33. The first hierarchy level 31 forms the top hierarchy level of the root tree structure 23 and contains the sixth node 206. The second hierarchy level 32 contains the third node 203 and the eighth node 208. The third hierarchy level 33 contains the first node 201, the second node 202, and the j-th node 20. j , the j+1-th node 20 j+1 and the nth node 20 n The nodes of the third hierarchy level 33, which forms the lowest hierarchy level of the root tree structure 23, are referred to below as leaf nodes. The second hierarchy level 32 is arranged between the lowest hierarchy level 33 and the highest hierarchy level 31.

[0099] Connections between the nodes 20 of the root tree structure 23 generally only exist between nodes 20 of different hierarchy levels. For example, in Fig. No connection is shown between the nodes within the lowest hierarchy level 33. The same applies to the nodes of the second hierarchy level 32. However, the root tree structure 23 shows connections between nodes of the second hierarchy level 32 and the first hierarchy level 31. For example, connections branch off from the eighth node 208 to several nodes of the lowest hierarchy level 33. The same applies to the third node 203.

[0100] The connections are in Fig. 3 are represented as lines and are referred to as edges below. Each edge between a given pair of nodes represents a communication link between the communication units assigned to the nodes of the corresponding pair. For example, there is a Fig. The exemplary first edge 301 shown in Figure 3 indicates that a communication connection exists, or at least can be established, between the first communication unit 141 and the eighth communication unit 148. For the sake of clarity, the further [unclear] are shown in Figure 3. Fig. 3 marked edges are not numbered.

[0101] Some of the communication units 14 are first master communication units, and at least one is a second master communication unit. In the case of the Fig. In the application case of communication system 2 shown in Figures 1 to 3, the sixth communication unit 146 is the second master communication unit. The eighth communication unit 148 and the third communication unit 143 are each the first master communication unit.

[0102] The first master communication units are those communication units that are assigned to the nodes in the root tree structure 23 that are located in the hierarchy level of the root tree structure 23 that is above the hierarchy level of the leaf nodes in the root tree structure 23.

[0103] At the in Fig. In the use case shown in Figure 3, the nodes assigned to the first master communication units are the nodes of the second hierarchy level 32. The second master communication unit is the communication unit whose nodes are located in a hierarchy level of the root tree structure 23 that is above those nodes assigned to the first master communication units. In the case shown in Fig. In the application case shown in 2, the sixth node 206, which is assigned to the second master communication unit, forms a root of the root tree structure 23.

[0104] The second master communication unit is configured to receive information from those communication units 14 of the nodes 20 that are directly connected to node 206 of the second master communication unit via an edge of the root tree structure 23 and belong to a respective subtree 21, 22 of node 206 of the second master communication unit. The respective subtree 21, 22 of the second master communication unit includes the nodes from hierarchy levels 32, 33 of the root tree structure 23 that are located below the node of the second master communication unit, and the edges that connect these nodes of hierarchy levels 32, 33 to each other and to node 206 of the second master communication unit. Fig. Figure 3 shows the subtrees 21 and 22 in the form of a first subtree 21 and a second subtree 22.

[0105] The information relates to a deviation of a parameter value used to assess the voltage quality of at least one of the AC voltages applied to the current units 10 from the normal behavior of the parameter value. The at least one of the AC voltages is specifically applied to one or more of the current units 10 that are assigned to the communication units of the leaf nodes or to the first master communication units of the first subtree 21 and the second subtree 22.

[0106] In the Fig. In the configurations shown in 1 to 10, the parameter for assessing the voltage quality is, for example, a frequency of the respective current unit 10. i applied alternating voltage.

[0107] Conveniently, the information indicates the deviation of the parameter's value. However, it is also possible for the information to contain data calculated based on this deviation. This could, for example, include an indication of whether the deviation exceeds a tolerated value.

[0108] Preferably, the information is related to a respective value of the parameter for assessing the voltage quality of the respective alternating voltage applied to the respective current unit 10. i is pending.

[0109] Fig. Figure 4 shows a simplified design of the power grid 1. The power grid has an extra-high voltage level 41, a high voltage level 42, a medium voltage level 43 with a medium-voltage network, and a low voltage level 44 with one or more low-voltage networks. In many cases, power plants, such as nuclear and coal-fired power plants, are connected to the power grid 1 at the extra-high voltage level. At the high voltage level, industrial and medium-sized power plants and industrial consumers can be connected to the power grid 1. At the medium voltage level, municipal power plants, wind farms, solar power plants, municipal power grids, and local distribution networks are often connected to the power grid 1. Within the local distribution networks and city networks, there can be individual low-voltage networks that are connected to the power grid 1 at the low voltage level. Fig. Figure 4 further shows a first substation 45 for transforming an extra-high voltage provided by the power plants into a high voltage, a second substation 46 for transforming the high voltage into a medium voltage and a third substation 47 for transforming the medium voltage into a low voltage.

[0110] According to one possible configuration, the power units 10 can be connected via their respective terminals 111, 112, 113, ...116, ...118, ...11 j , 11 j+1 , .... 11 n , hereinafter also referred to as terminals 11 or respective terminal 11 i The respective connection 11 i Preferably, in the case of a direct connection to one of the low-voltage networks, it has at least one neutral conductor and three live conductors.

[0111] The current units 10 each have a measuring device 121, 122, 123, ...126, ...128, ...12 j , 12 j+1 , .... 12 n , hereinafter also referred to as measuring instruments 12 or respective measuring instrument 12 i designated, for measuring the respective value of the parameter for assessing the voltage quality of the current unit 10 i applied alternating voltage. In the following, it will be assumed by way of example that the measuring devices 12 are designed as frequency measuring devices in order to determine the respective frequency of the current unit 10. i to measure the applied alternating voltage. The respective frequency of the current unit 10 i In this embodiment, the applied alternating voltage corresponds to the respective value of the parameter for assessing the voltage quality of the current unit 10. i applied alternating voltage.

[0112] The 10 connected to the respective power uniti The respective alternating voltage is supplied by the power grid 1 via the respective connection 11. i to the respective power unit 10 i The measuring devices 12 are each connected to a respective evaluation unit 131, 132, 133, ...136, ...138, ...13 j , 13 j+1 , .... 13 n , hereinafter also referred to as the respective evaluation unit 13 i designated, for the transmission of the respective measured value of the parameter from the respective measuring device 12 i to the respective evaluation unit 13 i tied together.

[0113] During a transmission of the respective power from the power grid 1, for example from the medium-voltage grid or from one of the low-voltage grids, to the respective power unit 10 i and the associated use of this respective service can lead to fluctuations in the grid frequency 50 of the power grid 1, which in Fig. As shown in Figure 5, the power grid 1 typically has a nominal frequency 51, which in Europe, for example, is 50 Hz. Generally, the grid frequency 50 can fluctuate within a range of approximately 0.2 Hz around the nominal frequency 51. Such fluctuation of the grid frequency 50 can be considered normal behavior. In other words, the grid frequency 50 behaves normally if it fluctuates within a tolerance band with an upper limit frequency 52 of approximately 50.2 Hz and a lower limit frequency 53 of approximately 49.8 Hz.

[0114] For the sake of simplicity, it is assumed in the following that the grid frequency 50 is approximately constant throughout the entire power grid 1 at any given time. If one or more of the power inputs or outputs of the power units 10 change, this can result in a change in the grid frequency 50 throughout the entire power grid 1. Generally, if the power inputs of the power units 10 increase while the power supplied by the generators in the power grid 1 remains constant, the grid frequency 50 decreases. Conversely, if the power inputs of the power units 10 decrease while the power supplied by the generators remains constant, the grid frequency 50 increases.

[0115] In order to check whether the mains frequency 50 deviates from the normal behavior of the mains frequency 50 at the respective current unit 10 iAny deviation is preferably measured at the current units 10 using the respective measuring device 12. i the respective frequency of the respective current unit 10 i measured at applied alternating voltage.

[0116] Advantageously, the respective measuring device sends 12 i the respective measured frequency to the respective evaluation unit 13 i .

[0117] The respective evaluation unit 13 i is advantageously designed and configured to determine whether there is a deviation of the respective measured frequency from the normal behavior of the mains frequency 50. For example, the respective evaluation units 13 ibe trained and equipped to calculate a respective first difference amount, which indicates a respective difference between the respective measured frequency and the upper cutoff frequency 52, and a respective second difference value, which indicates a respective difference between the lower cutoff frequency 53 and the respective measured frequency. In this context, the respective evaluation unit 13 i be trained and equipped to check whether the respective first difference value or the respective second difference value is greater than zero or greater than or equal to zero.

[0118] If this condition, hereinafter referred to as the respective deviation condition, is met, then the respective deviation of the respective measured frequency from the normal behavior of the mains frequency 50 exists.

[0119] Preferably, the respective evaluation unit sends 13 ithe respective determined deviation of the parameter value from the normal behavior, in particular the respective deviation of the respective measured frequency from the nominal frequency 51, or the respective value itself to the respective communication unit 14 i , if the respective deviation condition is met.

[0120] According to one possible design, it may be provided that the respective communication unit 14 i a respective message is sent to the communication unit whose node in the root tree structure 23 is immediately above the node of the respective communication unit 14. i is ordered when the respective deviation condition is met. In the case of the Fig. In the application examples shown in 1 to 8, these communication units are the first master communication units.

[0121] Advantageously, each message contains information about whether the respective deviation condition is met. According to one possible configuration, the first master communication units can be configured by receiving the respective message from the respective communication unit 14. i to detect whether the respective deviation condition is met. In this variant, the message can, for example, have a sender identification feature, so that the first master communication units can detect from which of the 14 leaf node communication units they received the respective message. According to an advantageous further development, the messages each exhibit the respective deviation of the measured frequency from the nominal frequency 51.

[0122] In a further advantageous embodiment, the messages each contain respective performance information about a respective potential level of output or absorbable power of the respective power unit 10. i of the node of the respective subtree 21, 22 of the corresponding first master communication unit 148 or 143. A further development of this configuration can provide that the respective first master communication unit 148 or 143 receives the respective power information of the respective current unit 10. i from the respective communication unit 14 i detected that the respective deviation of the parameter value at the respective current unit is 10 i is available.

[0123] In most cases, each message contains specific information about the respective power unit 10. iThe respective specific information includes, in particular, information on whether the respective deviation condition is met, the respective deviation of the respective measured frequency from the nominal frequency 51 and / or the respective power information of the respective current unit 10. i on.

[0124] The root tree structure 23 preferentially specifies that the respective specific information within the communication system 2 is only accessible from the respective communication unit 14. i can be sent to another communication unit of the communication units 14 if the other communication unit is assigned to a node that is located in a hierarchy level of the root tree structure 23 that is above the hierarchy level of the node of the respective communication unit 14 i is arranged. This is in Fig. 6 is represented by the fact that the edges have arrows pointing from the nodes of the lowest hierarchy level 33 to the nodes of the middle hierarchy level 32 and from the nodes of the middle hierarchy level 32 to the nodes of the highest hierarchy level 31. In other words, the root tree structure 23 is designed to disseminate the respective specific information in the form of the second variant of the root tree structure mentioned above, that is, as an out-tree.

[0125] The first master communication units, in particular communication unit 148 and communication unit 143, are preferably each configured to determine the aforementioned information as a summary value of a parameter received by at least one of the current units 10. In particular, the first master communication units are each configured to determine the information as a summary value depending on the specific information, especially the respective specific information. For example, the information can be in the form of an average value of the respective deviation of the respective measured frequency from the nominal frequency 51.

[0126] In the Fig. In the embodiments illustrated in Figures 1 to 6, the eighth communication unit 148, which forms one of the first master communication units, is configured to calculate a first piece of information as a first summary value depending on the specific information that the eighth communication unit 148 receives from the communication units of those nodes that are arranged below the node assigned to the eighth communication unit 148. According to one embodiment, the eighth communication unit 148 preferably calculates the first summary value in the form of a first average value of the respective deviation of the respective measured frequency from the nominal frequency 51 that the eighth communication unit 148 receives from the communication units of the first subtree 21.

[0127] Similarly, the third communication unit 143, which forms another of the first master communication units, is configured to calculate a second piece of information as a second summary value depending on the specific information that the third communication unit 143 receives from the communication units of those nodes that are arranged below the node assigned to the third communication unit 143. According to one embodiment, the third communication unit 143 preferably calculates the second summary value in the form of a second mean value of the respective deviation of the respective measured frequency from the nominal frequency 51, which the third communication unit 143 receives from the communication units of the second subtree 22.

[0128] In an alternative embodiment, the first master communication units can each be configured to transmit the information by independently measuring the value of the parameter at the respective current unit 10. i , which is assigned to the respective first master communication unit, such as the eighth current unit 108 or the third current unit 103. In this case, the first piece of information can be information indicating whether the frequency measured with the aid of measuring device 128 deviates from the nominal frequency 51 within the tolerance range described above. Similarly, the second piece of information can be information indicating whether the frequency measured with the aid of measuring device 123 deviates from the nominal frequency 51 within the tolerance range described above.

[0129] The first master communication units, in particular the eighth communication unit 148 and the third communication unit 143, are each trained to send the first information or the second information to the second master communication unit 206.

[0130] The second master communication unit, i.e., in the embodiments shown in the figures, the sixth communication unit 146, is configured to control, in response to the receipt of the information, in particular the first and / or the second information, and depending on the information, in particular the first and / or the second information, a power delivered and / or power received by the current units 10 of the respective subtree 21, 22 to the power grid 1.

[0131] The second master communication unit can achieve this, for example, by generating a first command and a second command based on the first and second pieces of information. Advantageously, the second master communication unit processes the first and second pieces of information into a processing result, in particular into another summary value. The processing result can represent an assessment of the voltage quality of a part of the power grid 1. This part of the power grid 1 specifically includes those current units of the current units 10 that are assigned to the communication units of the nodes belonging to all subtrees of the node assigned to the second master communication unit.

[0132] The further summarizing quantity can, in particular, be configured as an average of the frequency deviations measured at the current units of the communication units of the nodes of all subtrees of the second master communication unit. If the further summarizing quantity deviates from its normal behavior, the generation of the first and second commands is advantageously triggered using the second master communication unit. According to a preferred embodiment, the normal behavior of the further summarizing quantity can be described analogously to the normal behavior of the network frequency 50. Thus, in this embodiment, the behavior of the further summarizing quantity can be considered normal if its value lies within the tolerance band with the upper cutoff frequency 52 of approximately 50.2 Hz and the lower cutoff frequency 53 of approximately 49.8 Hz.

[0133] The first instruction advantageously includes at least a first instruction specifying how the total power output or input of the current units assigned to the nodes of the first subtree 21 is to be modified. The second instruction advantageously includes at least a second instruction specifying how the total power output or input of the current units assigned to the nodes of the second subtree 22 is to be modified.

[0134] Advantageously, the second master communication unit generates the first command, in particular the first instruction, depending on a potential level of total output or absorbable power of the current units of the first subtree 21. Similarly, the second master communication unit can preferably generate the second command, in particular the second instruction, depending on a potential level of total output or absorbable power of the current units of the second subtree 22.

[0135] In particular, the second master communication unit is designed to generate the first and second commands in such a way as to counteract any deviation of the further summarizing quantity from normal behavior of the further summarizing quantity.

[0136] For example, if the mean of the measured frequencies is above the nominal frequency 51, the second master communication unit generates the first and second commands such that the instructions of the first and second commands specify an increase in the power consumed jointly by the current units of the first subtree 21 and the second subtree 22. If the current units of the first and second subtree 21, 22 together feed power into the power grid 1, the second master communication unit generates the first and second commands such that the instructions of the first and second commands specify a decrease in the power delivered to the power grid 1 by the current units of the first and second subtree 21, 22.

[0137] Conversely, if the mean of the measured frequencies is below the nominal frequency 51, the second master communication unit preferably generates the first and second commands such that the instructions of the first and second commands specify that the power consumed jointly by the current units of the first subtree 21 and the second subtree 22 should be reduced. If the current units of the first and second subtree 21, 22 together feed power into the power grid 1, the second master communication unit generates the first and second commands such that the instructions of the first and second commands specify that the power delivered jointly to the power grid 1 by the current units of the first and second subtree 21, 22 should be increased.

[0138] The first master communication units, i.e., in the application example shown in the figures, the eighth communication unit 148 and the third communication unit 143, are each configured to control, based on the receipt of the first or second command, those current units of the current units 10 that are assigned to the nodes of the respective subtrees of the first master communication units, i.e., the first subtree 21 or second subtree 22.

[0139] For this purpose, the first master communication units are preferably configured to generate further commands depending on a command received from the second master communication unit and to send them to the communication units of the leaf nodes that are connected to the node of the respective first master communication unit. In particular, the eighth communication unit 148 generates further commands depending on the first command. The first further commands each contain an instruction on the height at which the respective current unit 10 i , which belongs to that communication unit 14 i is assigned to receive the respective first subsequent order, which is to increase or decrease its output or input power.

[0140] The eighth communication unit 148 preferably generates the respective first further command depending on the respective potential level of output or input power of the respective power unit 14. i , which belongs to that communication unit 14 i is assigned to receive the respective first subsequent command.

[0141] Similarly, the third communication unit 143 can generate further commands depending on the second command. Each of these further commands contains an instruction specifying the height at which the respective current unit 10 should be set. i , which belongs to that communication unit 14 iThe third communication unit 143 is assigned to receive the respective second further command, which is to increase or decrease its output or input power. The respective second further command is preferably generated by the third communication unit 143 depending on the respective potential level of output or input power of the respective power unit 14. i , which belongs to that communication unit 14 i is assigned to receive the respective second further command.

[0142] The root tree structure 23 preferentially specifies that the first and second commands and the first and second subsequent commands within the communication system 2 are only issued by the respective communication unit 14. ican be sent to another communication unit of the communication units 14 if the other communication unit is assigned to a node that is located in a hierarchy level of the root tree structure 23 that is below the hierarchy level of the node of the respective communication unit 14 i is arranged. This is in Fig. 7 is represented by the fact that the edges have arrows pointing from the nodes of the top hierarchy level 31 to the nodes of the middle hierarchy level 32 and from the nodes of the middle hierarchy level 32 to the nodes of the bottom hierarchy level 33. In other words, the root tree structure 23 for distributing the above-mentioned commands is formed in the form of the first variant of the root tree structure mentioned above, that is, as an in-tree.

[0143] Fig. Figure 8 shows steps of a procedure for controlling the power units 10 using the communication system 2. In a first step 801 of the procedure, the second master communication unit receives information from the communication units 14 of the nodes of the subtree below it, which are directly connected to the node of the second master communication unit via an edge of the root tree structure. The subtree can be, for example, the first subtree 21 or the second subtree 22. The sixth communication unit 146 can receive the information, for example, in the form of the first information from the eighth communication unit 148. It is also possible that the eighth communication unit 148 or the third communication unit 143 receives one of the respective specific pieces of information from the respective communication unit 14. iin the form of information forwarded to the sixth communication unit 146. The information received by the sixth communication unit 146 can also be in the form of a summary of all specific information and / or the first information and / or the second information.

[0144] In a second step 802 of the procedure, the second master communication unit, in response to receiving the information and depending on the information, controls the power supplied and / or absorbed by the current units 10 of the subtree to the power grid 1. The second master communication unit can accomplish this by sending the first command to the eighth communication unit 148 and / or by sending the second command to the third communication unit 143. Preferably, sending the first command causes the eighth communication unit 148 to process the first command, in particular to generate the first subsequent commands, and to control the respective absorbed or supplied power of the respective current unit of the leaf nodes of the first subtree 21.Similarly, sending the second command can cause the third communication unit 143 to process the second command, in particular to generate the second further commands, and to control the respective power received or delivered by the respective current unit of the leaf nodes of the second subtree 22.

[0145] Fig. Figure 9 shows a further embodiment of communication system 2, in which communication system 2 has several second master communication units, including the second master communication unit 146, a first further second master communication unit 147, and a second further second master communication unit 145. The second master communication units 145, 146, and 147 are, according to the [reference to be added], Fig. In the embodiment shown in Figure 9, the second master communication unit 145 and the second master communication unit 146 are interconnected in such a way that information is exchangeable between the second master communication unit 145 and the first master communication unit 147. This is demonstrated in particular by means of a Fig. The new hierarchical root tree structure 24 of the communication system 2 is recognizable as shown in Figure 10.

[0146] The new root tree structure 24 has a fifth node 205 as its root. The fifth node 205 forms the top hierarchy level 101 of the root tree structure 24 and is assigned to the communication unit 145. The sixth node 206 and a seventh node 207 are arranged in a second-highest hierarchy level 102 of the root tree structure 24. The sixth node 206 is, as in the Fig. The exemplary embodiments of communication system 2 described in sections 1 to 8 are assigned to communication unit 146. From the sixth node 206, the following branches branch off, as described in Fig. 6 and in Fig. Figure 7 shows the first subtree 21 and the second subtree 22. For the sake of clarity, only the eighth node 208 and the third node 203 of subtrees 21 and 22 are shown in Figure 7. Fig. 10 is marked.

[0147] The seventh node 207 is assigned to a seventh communication unit 147 of communication system 2. Further subtrees branch off from the seventh node 207, for example, a third subtree 25, a fourth subtree 26, a fifth subtree 27, and a sixth subtree 28. Subtrees 25, 26, 27, and 28 are in Fig. 10 are only indicated by dashed lines. Subtrees 25, 26, 27, 28 can, for example, be structured similarly to subtrees 21, 22. However, it is also possible that the further subtrees 25, 26, 27, 28 have more hierarchy levels than subtrees 21, 22. For the sake of simplicity, however, it will be assumed in the following that the further subtrees 25, 26, 27, 28 are structured in the same way as the first subtree 21 and the second subtree 22. Each node of the further subtrees 25, 26, 27, 28 is assigned one communication unit from the communication units 14. For the sake of simplicity, these communication units are in Fig. 9 are not represented individually, but rather in the form of a first further part 91 of communication units of communication units 14 and a second further part 92 of communication units of communication units 14. The communication units of the first and second further parts 91, 92 are each connected to the seventh communication unit 147 for the transmission of information. The first further part 91 and the second further part 92 of communication units are represented in the Fig. In the embodiment shown in Figure 9, each communication unit is configured analogously to a first part 90 of the communication units 14. The communication units of the first further part 91 and the second further part 92 are preferably further divided into respective current units, which, for the sake of simplicity, are also not shown in Fig. The units shown in 9 are integrated. Each of the additional power units has a connection to which it is connected to the power grid 1, a measuring device, and an evaluation unit analogous to those shown in Fig. 1 shown current units 101, 102, 10 j , 10 j+1 , 10 n , 103, 108 on.

[0148] The second master communication units 145, 146, and 147 are each configured to generate a command to control the power output of the current units 10 and to send the respective command to the communication unit whose node is directly connected to the respective second master communication unit via a branch of the root tree structure 24 extending away from the root. In the case of the sixth communication unit 146, the respective command can be the aforementioned first and / or second command.

[0149] If one of the second master communication units 145, 146, 147 is not the communication unit forming the root of the tree structure, here the second further second master communication unit 145, this second master communication unit is preferentially configured to send a respective processing result as respective information to the next second master communication unit of the second master communication units. In this case, the next second master communication unit is assigned to a node directly connected to the root via an edge of the root tree structure. In the case of the Fig. In the application example shown in 9, the next second master communication unit is communication unit 145. The respective processing result can be preferentially determined by the respective second master communication unit, which is not the root of the communication unit forming the root tree structure, depending on the specific information about the respective stream units 10. i of the respective communication units 14, which are assigned to the nodes that are part of a respective subtree of the second master communication unit in question. The respective subtree can, for example, be one of the in Fig. The 10 further subtrees shown are 25, 26, 27, 28.

[0150] In the case of the sixth communication unit 146, the processing result can be determined, as described above, for example, depending on the first and second information.

[0151] The next second master communication unit is advantageously configured to generate a master instruction set, depending on the respective processing results it receives from the second master communication units of the nodes located below the root node of the root tree structure 24. The master instruction set contains, in particular, master instructions specifying how the power input or output of the current units assigned to the nodes located in the root tree structure 24 at the hierarchy level below the root node is to be modified. The master instructions are advantageously adapted to the potential level of power input or output of the current units of the respective subtree assigned to the respective second master communication unit.

[0152] Advantageously, the master instructions are prioritized over the instructions generated by the second master communication units that do not form the next second master communication unit. This can be implemented, for example, by having the second master communication unit 146 overwrite the instructions of the first and second commands described above when it receives the master instruction set. This overwriting is preferably done by replacing these instructions with the master instructions.

[0153] This can be useful, for example, if the average of all measured frequencies of the current units of subtrees 21 and 22 of the communication unit 146 node is 2% below the nominal frequency 51, and another average of the measured frequencies of the current units assigned to the nodes of subtrees 25, 26, 27, and 28 of the communication unit 147 node is 2% above the nominal frequency 51. In this case, the power input or output of the current units of the communication unit 146 and communication unit 147 subtrees should not be changed, as the respective deviations of the measured frequencies from the nominal frequency 51 cancel each other out. However, such information about this compensation can only be acquired with the help of the next second master communication unit 145.

[0154] According to a specific configuration, the communication units 146 and 147 can be configured to send their respective specific information, or further information generated therefrom, to the next second master communication unit 145 only when a condition from a set of predefined conditions is met. The set of predefined conditions can, in particular, describe extreme situations within the power grid 1. One of the predefined conditions can, for example, be met when a temporal change in the mean values ​​of the measured frequencies exceeds a maximum tolerated mean value.Another of the specified conditions can be met if there is a minimum probability of a successful reduction or increase of the grid frequency 50 due to a change in the total power received or delivered by the nodes assigned to one of the subtrees 21, 22, 25, 26, 27, 28. For example, this can prevent the next second master communication unit 145 from initiating compensation measures to stabilize the grid frequency 50 during the day, when relatively few vehicles are connected to the charging stations compared to nighttime hours.

[0155] The power units 10 are each located at a specific geographic location. This geographic location can be described, for example, by GPS coordinates. Preferably, the communication units 14 are divided into groups. Advantageously, those communication units whose nodes belong to a subtree of one of the first master communication units form a group. For example, those communication units of the communication units 14 whose nodes belong to the first subtree 21 can form a first group. Those communication units of the communication units 14 whose nodes belong to the second subtree 22 can form a second group.Those communication units of the communication units 14 whose nodes belong to the third subtree 25, fourth subtree 26, fifth subtree 27 or sixth subtree 28 can accordingly form a third, fourth, fifth or sixth group.

[0156] The allocation of communication units 14 to the respective group is preferably carried out such that each group contains those communication units whose geographical locations of the power units assigned to them are all situated within a geographical region specified for that group. This geographical region could, for example, comprise a district or a city. Thus, the communication units of the first group could be assigned to those power units located within the catchment area of ​​Munich. Similarly, the communication units of the second group could be assigned to those power units located within the catchment area of ​​Augsburg.

[0157] According to an alternative configuration, the communication units can be assigned to the respective group in such a way that the communication units within each group are those whose geographical locations correspond to the respective power units assigned to them and are all within the same geographical coverage area of ​​power grid 1. The in Fig. The schematically shown power grid 1 can have a further subdivision within the network levels into local power grids with the respective geographical coverage.

[0158] The assignment of communication units to the respective groups can be particularly useful in the following areas: Fig. 3 root tree structure shown 23 as well as the one in Fig. The new root tree structure shown in 24 is influenced by 10. In other words, root tree structures 23 and 24 depend on this assignment.

[0159] The communication units 14 are advantageously configured to determine the first master communication units within their respective group using a peer-to-peer communication procedure. In this peer-to-peer communication procedure, the communication units 14 within the respective group have equal rights to select the respective first master communication unit for that group. The selection of the respective first master communication unit is advantageously based on one of the criteria mentioned above. These criteria can include, as described above, the respective network latency, the respective data transmission rate, the respective availability, and / or the performance of the respective communication unit 14 when transmitting data exchanged with other communication units 14. i .

[0160] The in Fig.The second master communication unit 146 shown in Figure 3 is advantageously also determined using the peer-to-peer communication method. Here, the peer-to-peer communication method is preferably carried out among the first master communication units 148 and 143, meaning that only these two communication units are entitled to vote in the peer-to-peer communication method. Similarly, the second master communication unit 147 can be determined using the peer-to-peer communication method carried out among the first master communication units of subtrees 25, 26, 27, and 28.

[0161] The second master communication units 146 and 147 can be understood as the respective master communication units of their respective regions. For example, the second master communication unit 146 can be considered the master communication unit of the Southern Bavaria region and the second master communication unit 147 the master communication unit of the Northern Bavaria region.

[0162] To make communication system 2 as fault-tolerant as possible, the first and / or second master communication units are advantageously monitored by the other communication units of communication units 14. Such monitoring can, for example, include checking the respective network latency, data transmission rate, availability, or performance of the respective master communication unit. If one of the respective master communication units does not exhibit the required network latency, data transmission rate, availability, or data processing performance, this master communication unit is advantageously replaced by another communication unit of communication units 14 using the peer-to-peer communication method.In order to monitor the respective master communication unit, the other communication units can send test messages to the master communication units at regular intervals.

[0163] The next second master communication unit 145 is preferably also determined using the peer-to-peer communication method. Here, the peer-to-peer communication method is preferably only carried out among the second master communication units 146 and 147. The second master communication unit 145 can be considered, based on the example above, as the master communication unit of the federal state of Bavaria.

Claims

[1] Communication system (2) for controlling power generators and / or power consumers, called power units (10), of a power grid (1), wherein the communication system (2) comprises communication units (14) and a hierarchical root tree structure (23, 24) with a root and nodes (20), wherein - each of the nodes (20) is assigned one of the communication units (14), - each of the communication units (14) is assigned one of the current units (10), wherein some of the communication units (14) are first master communication units and at least one is a second master communication unit, wherein the communication units (14) in the root tree structure (23, 24) immediately above leaf nodes of the nodes (20) are the first master communication units and the communication unit (14) above the first master communication units in the root tree structure (23, 24) is the second master communication unit, - the second master communication unit is configured to receive information (801) from the communication units (14) of the nodes (20) of a subtree (21, 22, 25, 26, 27, 28) hanging below it, which are directly connected to the node (20) of the second master communication unit via an edge of the root tree structure (23, 24), - the information relating to a deviation of a parameter value for assessing the voltage quality of at least one AC voltage of the power grid (1) from the normal behavior of the parameter value, wherein the AC voltage is applied to one or more of the current units (10) which are assigned to the communication units (14) of the leaf nodes or the first master communication units of the subtree (21, 22, 25, 26, 27, 28), - the second master communication unit is trained to control (802) the power delivered and / or power received by the current units (10) of the subtree (21, 22, 25, 26, 27, 28) to the power grid (1) in response to the receipt of the information and depending on the information, and - the communication units (14) are trained to determine the first and second master communication units using a peer-to-peer communication procedure. [2] Communication system (2) according to claim 1, wherein the first master communication units are each configured to send the information to the second master communication unit of the node (20) directly connected via an edge of the root tree structure (23, 24), wherein - the first master communication units are each trained to determine the information by their own measurement of the parameter's value or - the first master communication units are each configured to determine the information as a summary value of a parameter received from at least one of the current units (10) which are assigned to the respective communication units (14) of the leaf nodes of the respective first master communication unit, for assessing the voltage quality of the alternating voltage applied to the respective current unit (10). [3] Communication system (2) according to claim 1 or 2, wherein the first master communication units are configured to receive power information about the respective potential level of power output and / or absorbable power of the current units (10) of their respective subtree (21, 22, 25, 26, 27, 28), wherein the information includes a specification of this power information, wherein the second master communication unit is configured to control the power output and / or absorbed power from the current units (10) of their subtree (21, 22, 25, 26, 27, 28) to the power grid (1) depending on the specification of the power information. [4] Communication system (2) according to one of the preceding claims, wherein the second master communication unit is configured to process the information (801) into a processing result after receiving it. [5] Communication system (2) according to claim 4, wherein the communication system (2) comprises several second master communication units, including the second master communication unit mentioned above, which are each directly connected to each other via edges of the root tree structure (23, 24), wherein the second master communication units are each configured, depending on the processing result, either - to generate a respective command to control the power and to send the respective command to the respective communication unit (14), whose node (20) is directly connected to the respective second master communication unit via a branch of the root tree structure (23, 24) in the direction away from the root, - unless the respective second master communication unit is the communication unit (14) forming the root of the root tree structure (23, 24), the processing result is to be sent as information to a next second master communication unit of the second master communication units, wherein the next second master communication unit is assigned to a node (20) directly connected via an edge of the root tree structure (23, 24) in the direction of the root. [6] Communication system (2) according to claim 5 wherein processing of the information to the processing result using the respective second master communication unit takes into account further information received by the respective processing second master communication unit, which was received by communication units (14) of different nodes (20). [7] Communication system (2) according to claim 5 or 6, wherein the first master communication units are each configured to perform control of the current units (10) of the nodes (20) of a subtree (21, 22, 25, 26, 27, 28) of the respective first master communication unit on the basis of the receipt of the respective command. [8] Communication system (2) according to claim 5 or 6, wherein the second master communication units are each configured to process the respective command into respective further commands upon receipt of the respective command and to send the respective further commands to the communication units (14) whose nodes (20) are directly connected to this second master communication unit via an edge of the tree structure in the direction away from the root. [9] Communication system (2) according to one of the preceding claims, wherein the power units (10) have the communication units (14) integrated. [10] Communication system (2) according to one of the preceding claims, wherein the hierarchy of the root tree structure (23, 24) is adapted to a hierarchical structure of the power grid (1). [11] Communication system (2) according to one of the preceding claims, wherein the power grid (1) has several hierarchical network levels, wherein the arrangement of the nodes (20) of the hierarchical root tree structure (23, 24) is at least partially in accordance with the network levels. [12] Communication system (2) according to claim 11, wherein - the power units (10) are located at geographical locations, - within the network levels, a subdivision of the electricity network (1) into local electricity networks with respective geographical coverages is given, - those communication units (14) each form a group whose nodes (20) are directly connected to one of the first or second master communication units via an edge of the tree structure in a direction away from the root, - the communication units (14) are assigned to the groups in such a way that within each group there are communication units (14) whose geographical locations of the assigned power units (10) are located together in one of the geographical coverages. [13] Communication system (2) according to any one of the preceding claims 1-12, wherein - the power units (10) are located at geographical locations, - those communication units (14) each form a group whose nodes (20) are directly connected to one of the first or second master communication units via an edge of the tree structure in a direction away from the root, - the communication units (14) are assigned to the groups in such a way that within each group there are communication units (14) whose geographical locations of the assigned power units (10) are located together in a geographical region specified for the group. [14] Communication system (2) according to claim 12 or 13, wherein the assignment of the communication units (14) to the groups is such that within the respective group the number of communication units (14) - is less than or equal to a given maximum value or - is greater than or equal to a given minimum value. [15] Communication system (2) according to one of the preceding claims, wherein the first and second master communication units are determined such that the communication units (14) of a hierarchy level (31, 32, 33) of the root tree structure (23, 24) determine the first and second master communication units of the next higher level in the direction of the root. [16] Communication system (2) according to one of the preceding claims, wherein the determination of the first and second master communication units is based on a criterion, the criterion comprising at least one of: - Network latency when communicating with other communication units (14), - Data transmission rates when communicating with other communication units (14), - Availability, - Performance in processing data exchanged with other communication units (14). [17] Communication system (2) according to one of the preceding claims, wherein the power units (10) are at least partially designed in the form of charging stations for charging via grid-to-vehicle and / or for discharging via vehicle-to-grid of batteries of electrically powered vehicles. [18] Communication system (2) according to one of the preceding claims, wherein the parameter for assessing the voltage quality of the alternating voltage comprises: the alternating voltage frequency of the alternating voltage and / or a shape of a voltage waveform of the alternating voltage, e.g., within a period of the alternating voltage and / or a maximum value of the alternating voltage and / or harmonics and / or transients and / or an unbalanced load of the alternating voltage. [19] Method for controlling electricity generators and / or electricity consumers, called electricity units (10), of an electricity network (1) using a communication system (2), wherein the communication system (2) comprises communication units (14) and a hierarchical root tree structure (23, 24) with a root and nodes (20), wherein - each of the nodes (20) is assigned one of the communication units (14), - each of the communication units (14) is assigned one of the current units (10), wherein some of the communication units (14) are first master communication units and at least one is a second master communication unit, wherein the communication units (14) in the root tree structure (23, 24) immediately above leaf nodes of the nodes (20) are the first master communication units and the communication unit (14) above the first master communication units in the root tree structure (23, 24) is the second master communication unit, - the second master communication unit receives information (801) from the communication units (14) of the nodes (20) of a subtree (21, 22, 25, 26, 27, 28) of the second master communication unit which are directly connected to the node (20) of the second master communication unit via an edge of the root tree structure (23, 24), - the information relating to a deviation of a parameter value for assessing the voltage quality of at least one AC voltage of the power grid (1) from the normal behavior of the parameter value, wherein the AC voltage is applied to one or more of the current units (10) which are assigned to the communication units (14) of the leaf nodes or the first master communication units of the subtree (21, 22, 25, 26, 27, 28), - the second master communication unit, in response to the receipt (801) of the information and depending on the information, controls (802) a power output and / or power input from the power units (10) of the subtree (21, 22, 25, 26, 27, 28) to the power grid (1), and - the communication units (14) are trained to determine the first and second master communication units using a peer-to-peer communication procedure. [20] Computer program product comprising program instructions executable by processors for carrying out the method according to claim 19.

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