Control method and control system

Abstract

In a digital twin simulation, control of the simulation target can be maintained even if a portion of the region or area constituting the simulation target becomes isolated. [Solution] A control system consisting of a server computer and an edge computer has a model in one of the computers and a pseudo-model corresponding to the model in the other computer. One computer generates first data to be used for predetermined processing in the other computer based on the model and transmits it to the other computer. The other computer executes predetermined processing in the other computer based on the first data received from the first computer, and if it cannot receive the first data from the first computer, it generates second data based on the pseudo-model and executes predetermined processing in the other computer based on the second data.

Description

Technical Field

[0001] The present invention relates to a control method and a control system.

Background Art

[0002] In recent years, due to the introduction of renewable energy power generation such as solar power in the power grid, the power flow changes have become more intense. Therefore, in the existing protection and control systems, it has become difficult to stably operate the power grid with operations based on preset values determined offline. Thus, studies are underway on a method of generating a protection and control scheme online using a digital twin of the power grid placed on a server and deploying it to the devices on the edge side of the power grid (see, for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-mentioned conventional technology, when a part of the system area constituting the power grid becomes an isolated grid due to a disaster or the like in the power grid, a protection and control scheme cannot be generated, resulting in the problem that protection and control cannot be continued. Such a problem is not limited to the power grid, but can widely occur in cases where the entire simulation target in the digital twin is divided by region or area, and the simulation target is controlled by the exchange of data between the digital twin and the devices on the edge side.

[0005] This invention has been made in consideration of the circumstances described above, and aims to enable the continuation of control of a simulation target even when a part of the region or area constituting the simulation target becomes isolated. [Means for solving the problem]

[0006] To achieve the above-mentioned objectives, the present invention, in one embodiment, provides a control method to be executed by a server-edge type control system comprising a server computer and an edge computer, wherein the control system has a model in at least one of the server computer and the edge computer, and a pseudo-model corresponding to the model in the other computer different from the first computer, and the first computer generates first data to be used in a predetermined process in the other computer based on the model and transmits it to the other computer, the other computer executes the predetermined process in the other computer based on the first data received from the first computer, and if the first data cannot be received from the first computer, generates second data based on the pseudo-model and executes the predetermined process in the other computer based on the second data. [Effects of the Invention]

[0007] According to the present invention, for example, even if a part of the region or area constituting the simulation target becomes isolated, control of the simulation target can be continued. [Brief explanation of the drawing]

[0008] [Figure 1A] A diagram showing the configuration (DT side) of the power grid protection and control system according to Embodiment 1. [Figure 1B] A diagram showing the configuration (edge ​​side) of the power grid protection and control system according to Embodiment 1. [Figure 2A]A diagram showing the scheme generation model (overall) (DT side) according to Embodiment 1. [Figure 2B] A diagram showing a pseudo-model for scheme generation (edge ​​side) according to Embodiment 1. [Figure 3] A flowchart illustrating the pseudo-model generation and update process according to Embodiment 1. [Figure 4] A flowchart illustrating the switching decision process according to Embodiment 1. [Figure 5] A diagram showing the configuration (DT side) of the power grid protection and control system according to Embodiment 2. [Figure 6] A diagram showing a pseudo-output model according to Embodiment 2. [Figure 7] A flowchart illustrating the pseudo-model generation and update process according to Embodiment 2. [Figure 8] A flowchart illustrating the switching decision process according to Embodiment 2. [Figure 9] A diagram illustrating computer hardware. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings.

[0010] [Embodiment 1] In a center-edge type power system protection and control system that controls a power system composed of multiple grid areas, there are cases where the protection and control scheme for a grid area during the next time slot (a fixed period such as 30 minutes) cannot be deployed from the center to the edge. In this case, there was a problem in that the protection and control of isolated grid areas, including the edge (edge ​​control device) where the protection and control scheme could not be deployed, could not be continued.

[0011] Therefore, in Embodiment 1, the generation models of the protection and control schemes are pre-duplicated on the center (digital twin server) side and the edge (edge control device) side. And when the protection and control scheme for the next time slot generated on the center side cannot be deployed to the edge side, the generation of the protection and control scheme is continued using the pseudo model arranged on the edge side until recovery. Thereby, the generation of the protection and control scheme can be continued even in a system area isolated from the power grid, enabling the protection and control of the isolated system.

[0012] (Configuration of the power system protection and control system S according to Embodiment 1) FIGS. 1A and 1B are diagrams showing the configuration of the power system protection and control system S according to Embodiment 1. The power system protection and control system S includes a digital twin server 1 and a plurality of edge control devices 3-i connected via a network N. The digital twin server 1 is an example of a server computer. The edge control device 3-i is an example of an edge computer.

[0013] In this embodiment, it is assumed that the power system K consists of nine system areas K-i (i = 1, 2, ···, 9). The plurality of system areas K-i correspond to a plurality of regions of the power system K. FIG. 1A shows the configuration of the digital twin server 1 (DT side). FIG. 1B shows the configuration of the plurality of edge control devices 3-i (edge side) for each system area K-i.

[0014] (Configuration of the digital twin server 1) As shown in FIG. 1A, the digital twin server 1 has a data integration unit 11, a state prediction unit 12, a scheme generation unit 13, a pseudo model generation / updating unit 14, and an input / output I / F (Interface) 15.

[0015] The data integration unit 11 inputs the state performance value (system area K-i) and demand prediction value (system area K-i) of each system area K-i received from a plurality of edge control devices 3-i to the pseudo-model generation / updating unit 14. Further, the data integration unit 11 integrates the state performance value (system area K-i) and demand prediction value (system area K-i) of each system area K-i received from a plurality of edge control devices 3-i to create the state performance value (overall) and demand prediction value (overall) of the entire power system K. The data integration unit 11 inputs the created state performance value (overall) and demand prediction value (overall) to the state prediction unit 12.

[0016] The state prediction unit 12 acquires, as external information 2, weather information and data regarding the configuration of each system area K-i of the power system K. Further, the state prediction unit 12 acquires the state performance value (overall) and demand prediction value (overall) from the data integration unit 11. Then, the state prediction unit 12 uses the state prediction model (overall) 12D to predict the system states of the power system K and each system area K-i at the next time slot based on the external information 2, the state performance value (overall), and the demand prediction value (overall). The system state is, for example, the temperature, active power, reactive power, opening / closing state of the circuit breaker, tap state of the transformer, etc. at the measurement point provided for each system area K-i. The state prediction model (overall) 12D is a known prediction model for estimating the system states of the power system K and each system area K-i.

[0017] The scheme generation unit 13 uses the scheme generation model (overall) 13D to generate the first protection / control scheme SC1 (first scheme) of each system area K-i based on the system states of the power system K and each system area K-i predicted by the state prediction unit 12. The scheme generation unit 13 transmits the generated first protection / control scheme SC1 of the system area K-i to the edge control device 3-i (system area K-i) respectively. The protection / control scheme is, for example, a set value or algorithm for protection and control to be implemented for the power system K and each system area K-i. Protection is a function for maintaining the reliability of power, such as a protection relay that disconnects the target equipment when the current or voltage of the equipment is excessive.

[0018] The pseudo-model generation / update unit 14 generates or updates the scheme generation model (overall) 13D based on the status actual values ​​(system area Ki) and demand forecast values ​​(system area Ki) input from the data integration unit 11, and stores it in the memory area of ​​the digital twin server 1. The pseudo-model generation / update unit 14 also generates or updates the scheme generation pseudo-model 31D for each system area Ki based on the status actual values ​​(system area Ki) and demand forecast values ​​(system area Ki), and transmits them to the edge control devices 3-i. Each edge control device 3-i stores the scheme generation pseudo-model 31D received from the pseudo-model generation / update unit 14 in its memory area.

[0019] The input / output interface 15 transmits instructions from operator h to each edge control device 3-i for switching and resetting the protection and control scheme in each system area Ki.

[0020] (Configuration of Edge Control Device 3-i) As shown in Figure 1B, each of the multiple edge control devices 3-i is provided for each of the multiple system areas Ki that constitute the power system K. Each of the edge control devices 3-i includes a scheme generation unit 31, a scheme generation pseudo-model 31D, a switching determination unit 32, a fixed scheme 32D, a scheme reception / setting unit 33, one or more virtual IEDs (Intelligent Electronic Devices) 34, a demand forecasting unit 35, a demand forecasting model 35D, and a data conversion / transmission unit 36.

[0021] The scheme generation unit 31 generates a second protection and control scheme SC2 (second scheme) using the scheme generation pseudo-model 31D received from the digital twin server 1. The scheme generation pseudo-model 31D is a pseudo-model for generating the second protection and control scheme SC2. The second protection and control scheme SC2 is a scheme for protecting and controlling the grid area Ki when the grid area Ki targeted for protection and control by the edge control device 3-i having the scheme generation unit 31 becomes an isolated grid from the power grid K.

[0022] The switching determination unit 32 selects and outputs one of the following as the protection and control scheme to be actually used: the first protection and control scheme SC1 (first scheme), the second protection and control scheme SC2 (second scheme), or the fixed scheme 32D (third scheme). If the reception of the first protection and control scheme SC1 from the digital twin server 1 is not normal, or if the switching determination unit 32 receives a switching instruction from operator h, it switches from the first protection and control scheme SC1 to the second protection and control scheme SC2 and outputs it. Also, if the reception of the first protection and control scheme SC1 from the digital twin server 1 is restored, or if the switching determination unit 32 receives a switchback instruction from operator h, it switches back from the second protection and control scheme SC1 to the first protection and control scheme SC2 and outputs it. Furthermore, if the switching determination unit 32 switches to the second protection and control scheme SC1 but the frequency fluctuations input from the data conversion and transmission unit 36 ​​fluctuate and the system becomes unstable, it switches again from the second protection and control scheme SC1 and outputs the fixed scheme 32D. The fixed scheme 32D is a protection and control scheme for the system area Ki that includes a margin that allows for safe protection and control.

[0023] The scheme reception and setting unit 33 sets the first protection and control scheme SC1, the second protection and control scheme SC2, or the fixed scheme 32D output by the switching determination unit 32 as the protection and control scheme SC to be used for the protection and control of each system area Ki in the virtual IED 34.

[0024] The virtual IED34 is a virtual IED that implements control and protection functions for the power system K, built on a general-purpose server's VM (Virtual Machine) or container. The virtual IED34 has a device control unit 341 and a sensor data acquisition unit 342. The virtual IED34 is connected to the controlled equipment 37 (such as generators and transformers) in the system area Ki controlled by the edge control device 3-i that has the virtual IED34, via a network compliant with, for example, the IEC61850 / SCL (Substation Configuration Language) standard.

[0025] The sensor data acquisition unit 342 acquires sensor signals from the controlled device 37 and inputs sensor data based on the sensor signals to the device control unit 341 and the data conversion / transmission unit 36. The sensor signals are output signals from sensors provided to acquire physical quantities related to the operation of the controlled device 37 or physical quantities in the vicinity of the controlled device 37.

[0026] The device control unit 341 generates a control signal based on the protection / control scheme SC input from the scheme reception / setting unit 33 and the sensor data input from the sensor data acquisition unit 342, and inputs it to the controlled device 37.

[0027] The demand forecasting unit 35 uses the demand forecasting model 35D to generate predicted power demand values ​​for the grid area Ki controlled by the edge control device 3-i having the demand forecasting unit 35, and inputs the generated demand forecast values ​​to the data conversion and transmission unit 36.

[0028] The data conversion and transmission unit 36 ​​transmits the sensor data input from the virtual IED 34 as actual status values ​​(system area Ki) and the demand forecast values ​​input from the demand forecast unit 35 as demand forecast values ​​(system area Ki) to the digital twin server 1. The data conversion and transmission unit 36 ​​also extracts frequency fluctuations from the sensor data input from the virtual IED 34 and inputs them to the switching determination unit 32.

[0029] (Scheme generation model (overall) 13D (DT side) related to Embodiment 1) Figure 2A shows the scheme generation model (overall) 13D (DT side) according to Embodiment 1. Each system area Ki has nodes / branches 131 such as generators, transformers, and consumer loads, and transmission lines 132 connecting the nodes / branches 131 to each other.

[0030] Each grid area Ki has power inflow and outflow with its neighboring grid areas. Grid area K-1 is adjacent to grid areas K-2, K-4, K-6, and K-8. Grid area K-2 is adjacent to grid areas K-1, K-3, and K-9. Grid area K-3 is adjacent to grid areas K-2 and K-4. Grid area K-4 is adjacent to grid areas K-1, K-3, and K-5. Grid area K-5 is adjacent to grid areas K-4 and K-6. Grid area K-6 is adjacent to grid areas K-1, K-5, and K-7. Grid area K-7 is adjacent to grid areas K-6 and K-8. Grid area K-8 is adjacent to grid areas K-1, K-7, and K-9. Grid area K-9 is adjacent to grid areas K-2 and K-8.

[0031] Note that in Figure 2A, for the sake of explanation, all system areas Ki are shown to have the same configuration, but different configurations are also acceptable.

[0032] (Scheme generation pseudo-model 31D (edge ​​side) according to Embodiment 1) Figure 2B shows a pseudo-model 31D (edge ​​side) for scheme generation according to Embodiment 1. As an example, Figure 2B shows a pseudo-model 31D for scheme generation of grid area K-1. In the pseudo-model 31D for scheme generation of grid area K-1, each generator 311g is set to output the total amount of electricity flowing into / out of grid area K-1 from each of the adjacent grid areas K-2, K-4, K-6, and K-8. The output value of each generator 311g is expressed by a predetermined mathematical formula with a sign or a fixed value. The output value of the generator 311g is represented by a positive sign for the electricity flowing out to grid area K-1 and by a negative sign for the electricity flowing in from grid area K-1.

[0033] (Pseudo-model generation and update process according to Embodiment 1) Figure 3 is a flowchart illustrating the pseudo-model generation and update process according to Embodiment 1. The pseudo-model generation and update process is the process of creating a scheme generation pseudo-model 31D for each system area Ki. The pseudo-model generation and update process is executed each time that new status actual values ​​(system area Ki) and demand forecast values ​​(system area Ki) for each system area are obtained from the data integration unit 11 by the pseudo-model generation and update unit 14.

[0034] First, in step S11, the pseudo-model generation and update unit 14 obtains new status and actual values ​​(system area Ki) and demand forecast values ​​(system area Ki) for each system area Ki from the data integration unit 11. Then, the pseudo-model generation and update unit 14 updates the scheme generation pseudo-model (overall) 13D by setting the newly obtained status and actual values ​​(system area Ki) and demand forecast values ​​(system area Ki).

[0035] Next, in step S12, the pseudo-model generation / update unit 14 selects a system area Kj (j=1, 2, ..., 9) for which to create a scheme generation pseudo-model 31D. Next, in step S13, the pseudo-model generation / update unit 14 selects one of the system areas Kk (k≠j) adjacent to the system area Kj selected in step S12. Next, in step S14, the pseudo-model generation / update unit 14 calculates the total amount of typical electricity flowing in / out between the system area Kj selected in step S12 and the system area Kk selected in step S13, and creates an approximate formula to represent its change over time. However, if the change over time is small, a fixed value may be used. "Typical electricity" is calculated based on statistical values ​​such as the average value with outliers excluded.

[0036] Next, in step S15, the pseudo-model generation and update unit 14 replaces the scheme generation pseudo-model 31D for the grid area Kk selected in step S13 with an approximate model of a hypothetical generator that outputs power according to the approximate formula or fixed values ​​calculated in step S14.

[0037] Next, in step S16, the pseudo-model generation / update unit 14 determines whether it has replaced the scheme generation pseudo-models 31D of all system areas Kk adjacent to the system area Kj selected in step S13 with approximate models. If the pseudo-model generation / update unit 14 has replaced the scheme generation pseudo-models 31D of all system areas Kk with approximate models (step S16 YES), it proceeds to step S17. On the other hand, if there are scheme generation pseudo-models 31D of system areas Kk that have not been replaced with approximate models (step S16 NO), the pseudo-model generation / update unit 14 returns to step S13.

[0038] In step S17, the pseudo-model generation and update unit 14 extracts the system area Kj and the adjacent system area Kk, which has been replaced with an approximate model, from the scheme generation model (overall) 13D to create the scheme generation pseudo-model 31D for system area Kj. The pseudo-model generation and update unit 14 then deploys the scheme generation pseudo-model 31D to system area Kj via the network N.

[0039] (Switching determination process related to Embodiment 1) Figure 4 is a flowchart showing the switching decision process according to Embodiment 1. The switching decision process is executed by the switching decision unit 32 of the system area Ki each time the first protection and control scheme SC1 is periodically received from the scheme generation unit 13 of the digital twin server 1, or each time a switching / switchback instruction is received from operator h of the digital twin server 1.

[0040] First, in step S21, the switching determination unit 32 determines whether it has received the first protection and control scheme SC1, which is periodically transmitted from the digital twin server 1, at the scheduled time. If the switching determination unit 32 has received the first protection and control scheme SC1 at the scheduled time (step S21 YES), it proceeds to step S22. On the other hand, if the switching determination unit 32 has received the first protection and control scheme SC1 outside of the scheduled time (step S21 NO), it proceeds to step S23.

[0041] In step S22, the switching determination unit 32 determines whether it has received a switching instruction from operator h from the digital twin server 1. If the switching instruction has been received (step S22YES), the switching determination unit 32 moves the process to step S23; if the switching instruction has not been received (step S22NO), it returns the process to step S21.

[0042] In step S23, the switching determination unit 32 switches from the first protection and control scheme SC1 to the second protection and control scheme SC2. By switching to the second protection and control scheme SC2, the switching determination unit 32 outputs the second protection and control scheme SC2 to the scheme reception and setting unit 33.

[0043] Next, in step S24, the switching determination unit 32 monitors the system status (frequency fluctuations, etc.) of the system area Ki. In step S24, monitoring results may be received and used from an existing system stabilization system.

[0044] Next, in step S25, the switching determination unit 32 determines whether the process currently has received a switching instruction in step S22. If the process has been determined to have received a switching instruction (step S25YES), the switching determination unit 32 moves the process to step S26. On the other hand, if the process has been determined to have not received a switching instruction (step S25NO), the switching determination unit 32 moves the process to step S28.

[0045] In step S26, the switching determination unit 32 determines whether it has received a cutback instruction from operator h on the digital twin server 1. If the switching determination unit 32 has received a cutback instruction (step S26YES), it moves the process to step S27; if it has not received a cutback instruction (step S26NO), it returns the process to step S24.

[0046] In step S27, the switching determination unit 32 switches back from the second protection / control scheme SC2 to the first protection / control scheme SC1. By switching back to the first protection / control scheme SC1, the switching determination unit 32 outputs the first protection / control scheme SC1 to the scheme reception / setting unit 33. When step S27 is completed, the switching determination unit 32 terminates its processing.

[0047] On the other hand, in step S28, the switching determination unit 32 determines whether the reception of the first protection and control scheme SC1 from the digital twin server 1 has been restored. If the reception of the first protection and control scheme SC1 has been restored (step S28 YES), the switching determination unit 32 moves the process to step S27. On the other hand, if the reception of the first protection and control scheme SC1 has not been restored (step S28 NO), the switching determination unit 32 moves the process to step S29.

[0048] In step S29, the switching determination unit 32 determines whether the protection and control of the grid area Ki is operating stably with the second protection and control scheme SC2. Stable operation of protection and control means, for example, that the monitoring results of the grid status (frequency fluctuations, etc.) are within the threshold range. If the protection and control of the grid area Ki is operating stably with the second protection and control scheme SC2 (step S29 YES), the switching determination unit 32 returns to step S24. On the other hand, if the protection and control of the grid area Ki is not operating stably with the second protection and control scheme SC2 (step S29 NO), the switching determination unit 32 moves to step S30.

[0049] In step S30, the switching determination unit 32 switches the protection and control scheme from the second protection and control scheme SC2 to the fixed scheme 32D. When step S30 is completed, the switching determination unit 32 terminates its processing.

[0050] According to Embodiment 1 described above, even if a part of the grid area becomes an isolated grid due to the interruption of power lines or network N, the generation of the protection and control scheme can be continued by implementing changes to the adaptive protection and control scheme, thereby avoiding the shutdown of generators in the isolated grid.

[0051] For example, consider a case in power system K where the transmission line connecting system area A and system area B is interrupted, leaving system area B isolated. Even if there are still generators such as hydroelectric or wind power plants capable of generating electricity in system area B, the isolation may cause unexpected and rapid frequency fluctuations, leading to the generators shutting down for protection, and potentially resulting in a blackout in system area B. Blackouts occur when the protection and control scheme is fixed and cannot withstand rapid frequency fluctuations.

[0052] Therefore, as in Embodiment 1, by implementing a change in the adaptive protection and control scheme, if the generators in grid area B can continue to generate power, a blackout in grid area B can be avoided, and power supply to other grid areas can be restored quickly.

[0053] [Embodiment 2] When predicting near-future demand and grid conditions on the digital twin side, calculations are performed based on data collected from each edge device. However, there was a problem in that predictions could not be continued if data could not be collected from some grid areas.

[0054] Therefore, in Embodiment 2, a pseudo-output model is prepared on the digital twin side that simulates output values ​​for each grid area. Then, if the digital twin side is unable to collect data from some grid areas due to some factor, the pseudo-output model is used to generate substitute values ​​for the output values. Thus, even if data cannot be collected from some grid areas, the digital twin side can continue to predict demand and grid status using these substitute values.

[0055] (Configuration of the power grid protection and control system 2S according to Embodiment 2) Figure 5 shows the configuration (DT side) of the power system protection and control system 2S according to Embodiment 2. The power system protection and control system 2S differs from the power system protection and control system S of Embodiment 1 in that it has a digital twin server 1B instead of the digital twin server 1. Otherwise, it is the same as Embodiment 1.

[0056] Digital twin server 1B differs from digital twin server 1 in that the input / output interface 15 is omitted, and the pseudo-model generation / update unit 14B is replaced with the pseudo-model generation / update unit 14. Digital twin server 1B also differs from digital twin server 1 in that it has an upstream switching determination unit 16 and pseudo-output models 17D-j (j=1, 2, ..., 9) for each system area Kj. Otherwise, it is the same as embodiment 1.

[0057] The pseudo-model generation and update unit 14B combines the calculation results for each system area Kj using the "typical amount of electricity flowing in / out from each system area Kj to the adjacent system area Kk" calculated when creating the scheme generation pseudo-model 31D for each system area Kj. By combining the calculation results for each system area Kj, a pseudo-output model 17D-j for each system area Kj is generated. The pseudo-model generation and update unit 14B saves the generated pseudo-output models 17D-j to the memory area.

[0058] The upstream switching determination unit 16 determines whether it has received the actual status value (system area Km) and the forecast demand value (system area Km) for each system area Km from multiple edge control devices 3-m (m=1, 2, ..., 9). The upstream switching determination unit 16 then acquires a pseudo-output model 17D-m for system area Kp for which it has not received the data. The upstream switching determination unit 16 then estimates the actual status value (system area Kp) and the forecast demand value (system area Kp) for system area Kp as pseudo-output values, based on the pseudo-output model 17D-m for system area Kp and the current time. The estimated value at the current time t1 based on the pseudo-output model 17D-m becomes the actual status value (system area Km). The estimated value at a future time t2 based on the pseudo-output model 17D-m becomes the forecast demand value (system area Km).

[0059] The upstream switching determination unit 16 transmits the estimated status actual value (system area Kp) and demand forecast value (system area Kp) to the data integration unit 11 in place of the status actual value and demand forecast value for system area Kp that it would have originally received. When the data integration unit 11 creates the status actual value (overall) and demand forecast value (overall), it uses the estimated status actual value (system area Kp) and demand forecast value (system area Kp) that it received in place of the status actual value (system area Kp) and demand forecast value (system area Kp) that it would have originally received. The status forecast unit 12 predicts the system state of power system K for the next time slot based on the status actual value (overall) and demand forecast value (overall) created using the estimated status actual value (system area Kp) and demand forecast value (system area Kp).

[0060] (Simulated output model 17D-m according to Embodiment 2) Figure 6 shows a simulated output model 17D-m according to Embodiment 2. As shown in Figure 6(a), all of the observed values ​​(actual state values) calculated when creating the scheme generation simulated model 31D for grid area Kj, which are "typical amounts of electricity 61 flowing in / out from grid area Kj to the adjacent grid area Kn," are combined. Then, a simulated output model 17D-j is created in which the power output source of grid area Kj shown in Figure 6(b) is replaced with a single generator 311g.

[0061] (Pseudo-model generation and update process according to Embodiment 2) Figure 7 is a flowchart showing the pseudo-model generation and update process according to Embodiment 2. The pseudo-model generation and update process according to Embodiment 2 differs from the protection and control generation pseudo-model generation and update process according to Embodiment 1 in that it has step S18 following step S17, and is otherwise the same as Embodiment 1.

[0062] In step S18, the pseudo-model generation and update unit 14B uses the calculation result of "typical power flowing in / out from grid area Kj to grid area Kk" which was calculated when creating the scheme generation pseudo-model in step S14. The pseudo-model generation and update unit 14B then combines the calculation results for grid area Kj and saves it as the pseudo-output model 17D-j for grid area Kj.

[0063] (Switching determination process related to Embodiment 2) Figure 8 is a flowchart showing the switching decision process according to Embodiment 2. The switching decision process according to Embodiment 2 is periodically executed by the upstream switching decision unit 16.

[0064] First, in step S31, the upstream switching determination unit 16 determines whether it has received the actual status value (system area Km) and the forecast demand value (system area Km) for each system area Km from all edge control devices 3-m (m=1, 2, ..., 9). If the upstream switching determination unit 16 has received data from all system areas Km (step S31YES), it moves to step S34, and if there are system areas Km from which data has not been received (step S31NO), it moves to step S32.

[0065] In step S32, the upstream switching determination unit 16 identifies the grid area Kn that is not receiving data. Next, in step S33, the upstream switching determination unit 16 obtains a pseudo-output model 17D-n for the grid area Kn identified in step S32. Then, based on the current time and the pseudo-output model 17D-n, the upstream switching determination unit 16 obtains estimated values ​​for the actual state and demand forecast of grid area Kn.

[0066] Next, in step S34, the upstream switching determination unit 16 combines the data received in step S31 and the data estimated in step S33 and transmits it to the data integration unit 11.

[0067] The embodiments described above were explained using a power system protection and control system as an example. However, the application of the present invention is not limited to the protection and control of power systems. That is, it is broadly applicable to control systems in which the simulation target on the digital twin server is divided into regions or areas, and mutual processing continues through mutual data exchange between the digital twin server and edge control devices for each region or area. For example, it can be applied to control systems including digital twins of infrastructure systems such as electricity, water, and gas, and digital twins for predicting the movement of vehicles and people and traffic congestion.

[0068] (Effects of Embodiments 1 and 2) In the above-described embodiment, at least one of the server computer (digital twin server 1) and edge computers (multiple edge control devices 3-i) has a model (scheme generation model 13D or demand forecasting model 35D). The other computer, which is different from the first computer, has a pseudo-model corresponding to this model (scheme generation pseudo-model 31D corresponding to scheme generation model 13D or pseudo-output model 17D-j corresponding to demand forecasting model 35D). One computer generates first data (first protection / control scheme SC1 or demand forecast value) used for processing in the other computer based on this model and transmits it to the other computer. The other computer also performs predetermined processing in the other computer (control based on the first protection / control scheme SC1 or state forecasting based on demand forecast value and generation of the first protection / control scheme SC1) based on the first data received from the first computer. If the other computer cannot receive the first data from the first computer, it generates second data (second protection / control scheme SC2 or pseudo-output value for each system area) based on the pseudo-model. The other computer then performs a predetermined process based on the second data.

[0069] Therefore, according to the above embodiment, even if a power grid area becomes an isolated grid due to a disaster or the like, the adaptive protection system can continue to protect and control the grid area, thereby maintaining the grid stability of that grid area.

[0070] Furthermore, in the above embodiment, in cases where it is desired to prioritize and control certain grid areas at a high frequency, such as during emergencies, prediction and scheme generation are performed in real time only for the relevant grid areas, rather than the entire power system, in response to the operator h's switching instruction. On the other hand, for grid areas other than the relevant grid areas, prediction and scheme generation are performed by switching to a pseudo-model. While prediction and scheme generation for the entire grid on the digital twin side requires enormous computational resources, by performing real-time data updates for only certain grid areas, prediction and scheme regeneration can be performed at short intervals.

[0071] Furthermore, in the above-described embodiment, when expanding the area where adaptive protection is implemented, in response to operator h's switching instruction, the operation and implementation effects are first verified using a simulated model on both the digital twin side and the edge side for the new system area. If there are no problems, the system can then be switched back to the actual system in response to operator h's cutback instruction, enabling the smooth implementation of adaptive protection.

[0072] (Hardware configuration of Computer 1000) Figure 9 shows an example of the hardware configuration of computer 1000. Computer 1000 implements the power system protection and control systems S, 2S, digital twin server 1, and edge control device 3-i by executing a predetermined program.

[0073] The computer 1000 comprises a processor 1001 including a CPU, a main memory 1002, an auxiliary memory 1003, a network interface 1004, an input device 1005, and an output device 1006, all interconnected via an internal communication line 1007 such as a bus.

[0074] The processor 1001 controls the operation of the entire computer 1000. The main memory 1002 is composed of, for example, volatile semiconductor memory and is used as the work memory of the processor 1001. The auxiliary storage device 1003 is composed of a large-capacity non-volatile storage device such as a hard disk drive, SSD (Solid State Drive), or flash memory and is used to retain various programs and data for a certain period of time.

[0075] The executable program 1003a stored in the auxiliary storage device 1003 is loaded into the main memory device 1002 when the computer 1000 starts up or when needed, and is executed by the processor 1001.

[0076] The executable program 1003a may be recorded on a non-temporary recording medium, read from the non-temporary recording medium by a media reader, and loaded into the main memory 1002. Alternatively, the executable program 1003a may be obtained from an external computer via a network and loaded into the main memory 1002.

[0077] The auxiliary storage device 1003 stores various executable programs 1003a.

[0078] The network interface 1004 is an interface device for connecting computer 1000 to various networks within the system or for communicating with other computers. The network interface 1004 consists of, for example, a NIC (Network Interface Card) such as a wired LAN (Local Area Network) or a wireless LAN.

[0079] The input device 1005 consists of a keyboard, a pointing device such as a mouse, and is used by the user to input various instructions and information into the computer 1000. The output device 1006 consists of a display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display, or an audio output device such as a speaker, and is used to present necessary information to the user when needed.

[0080] It should be noted that the present invention is not limited to the embodiments described above, and includes various forms. For example, the embodiments described above are explained in detail to make the present invention easier to understand, and it is not necessary to have all the configurations described. It is possible to replace some of the configurations of one embodiment or modified form with the configurations of another embodiment or modified form, or to add the configurations of another embodiment or modified form to the configuration of one embodiment or modified form. In other words, each embodiment or modified form can be combined with other embodiments or modified forms, or configurations can be deleted or added / substituted with other configurations. [Explanation of Symbols]

[0081] S,2S: Control system, 1,1B: Digital twin server, 3-i: Edge control device, 13D: Scheme generation model, 17D-j: Pseudo-output model, 31D: Scheme generation pseudo-model, 32D: Fixed scheme, 35D: Demand forecasting model, 37: Controlled equipment, 1000: Computer, K: Power grid, Ki: Grid area

Claims

1. A control method performed by a control system comprising a server computer and an edge computer, The control system is The server computer and the edge computer each have a model, and the other computer, which is different from the first computer, has a pseudo-model corresponding to the model. The aforementioned one computer, Based on the aforementioned model, first data used for a predetermined process in the other computer is generated and transmitted to the other computer. The other computer, Based on the first data received from the other computer, the predetermined processing is performed in the other computer. If the first data cannot be received from the one computer, the second data is generated based on the pseudo-model. Based on the second data, the predetermined processing is performed in the other computer. A control method characterized by having each of the following processes.

2. A control method according to claim 1, The control system is a power system protection and control system that performs protection and control of a power system consisting of multiple system areas. Multiple edge computers are provided for each system area, Each of the edge computers performs protection and control of each of the system areas. A control method characterized by the following:

3. A control method according to claim 2, The aforementioned computer is the server computer having the aforementioned model, The other computer is the plurality of edge computers having the pseudo-model. A control method characterized by the following:

4. A control method according to claim 3, The server computer has a scheme generation model, which generates a scheme for implementing protection and control of each of the system areas, The edge computer has a demand forecasting model for predicting the power demand of each grid area, The server computer has a pseudo-output model corresponding to the demand forecasting model, The edge computer has a scheme generation pseudo-model corresponding to the scheme generation model. A control method characterized by the following:

5. A control method according to claim 4, The scheme is a set value or algorithm for the protection and control to be implemented for each of the system areas. A control method characterized by the following:

6. A control method according to claim 4, Each of the aforementioned multiple edge computers, When the server computer receives the first scheme as the scheme, protection and control of each system area are performed based on the first scheme. If the first scheme cannot be received from the server computer or if a predetermined switching instruction is received from the server computer, a second scheme is generated based on the scheme generation pseudo-model to replace the first scheme, and the system switches to implementing the protection and control of each system area based on the second scheme. A control method characterized by having each of the following processes.

7. A control method according to claim 6, Each of the aforementioned multiple edge computers, If, after switching to the implementation of the protection and control of each system area based on the second scheme, reception of the first scheme from the server computer is restored or a predetermined switchback instruction is received from the server computer, the system will revert to the implementation of the protection and control of each system area based on the received first scheme. A control method characterized by having each of the following processes.

8. A control method according to claim 6, Each of the aforementioned multiple edge computers, After switching to the implementation of the protection and control of each system area based on the second scheme described above, it is determined whether the protection and control of each system area can be stably implemented. When the protection and control of each of the aforementioned system areas can be stably implemented, the implementation of the protection and control of each of the aforementioned system areas based on the second scheme is continued. If the protection and control of each of the aforementioned system areas cannot be stably implemented, the system will switch to implementing the protection and control of each of the aforementioned system areas based on a third scheme that replaces the second scheme. A control method characterized by having each of the following processes.

9. A control method according to claim 6, The aforementioned server computer From the plurality of edge computers, receive the power demand forecast values ​​for each grid area generated based on the demand forecasting model. Based on the received demand forecast values, the scheme is generated and the scheme generation model is updated. If there are any grid areas where the demand forecast values ​​could not be received from the multiple edge computers, a pseudo-output value is generated for that grid area based on the pseudo-output model, and the scheme generation and scheme generation model update are performed based on the pseudo-output value instead of the demand forecast value. A control method characterized by having each of the following processes.

10. A control system comprising a server computer and an edge computer, The control system is The server computer and the edge computer each have a model, and the other computer, which is different from the first computer, has a pseudo-model corresponding to the model. The aforementioned computer, Based on the aforementioned model, first data used for a predetermined process in the other computer is generated and transmitted to the other computer. The other computer is, Based on the first data received from the other computer, the predetermined processing is performed in the other computer. If the first data cannot be received from the one computer, the second data is generated based on the pseudo-model. Based on the second data, the predetermined processing is performed in the other computer. A control system characterized by the following:

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