513 results about "Emergency control" patented technology

The invention relates to the technical field of energy storage systems, in particular to a source network load storage coordination control method for multi-configuration network type energy storage coordination operation. According to the technical scheme, the source-network-load-storage coordinated control method for multi-construction-network-type energy storage coordinated operation comprises the following steps: generating a new energy output and load change trend through a dynamic prediction model based on historical power data, real-time load requirements and meteorological information; optimization is carried out to obtain a power generation plan containing a clean energy consumption target and economical efficiency constraints; decomposing the power generation plan into a photovoltaic power adjusting instruction, an energy storage charging and discharging instruction and a load control instruction according to the power grid safety priority, wherein the emergency control instruction is executed prior to the economic dispatching instruction; and controlling parallel operation of a plurality of pieces of networking type energy storage equipment, and realizing multi-machine power distribution and circulating current suppression through a virtual synchronous control technology. And through layered optimization scheduling and multi-machine cooperative control, the new energy consumption capability is remarkably improved, and the phenomenon of abandoning light and wind is reduced.

The invention belongs to the technical field of digital twinning, and discloses a hydraulic engineering-oriented digital twinning model dynamic construction and risk assessment method, which comprises the steps of dividing a hydraulic engineering into a static basic component area and a dynamic response area, accessing historical hydraulic engineering data, combining BIM and a finite element analysis technology, and carrying out dynamic construction and risk assessment on a digital twinning model. Constructing a structure model of the static basic component area and an agent model of the dynamic response area; combining the structured model with the proxy model to obtain the hydraulic digital twin; state data in the water conservancy digital twinborn body operation process are collected, and a twinborn state sequence is generated; constructing a water conservancy semantic map, and carrying out semantic binding on the water conservancy digital twin, the real-time water conservancy data and the control logic; dynamically updating a twinning state sequence when the node state of the water conservancy semantic map changes by adopting an event-driven strategy; and the response time efficiency and the emergency regulation and control capability of the water conservancy project are further improved.

The invention relates to an intelligent safety protection management method and system. The method comprises the following steps: acquiring behavior data and position data of personnel in an industrial site; analyzing the behavior data and the position data by using a pre-trained personnel behavior model to obtain a behavior recognition result; according to the behavior recognition result and the current operation state of the target equipment, judging a risk level corresponding to the personnel behavior; based on the risk level, a corresponding safety response strategy is matched in the edge computing node, a control instruction is generated according to the safety response strategy, and the control instruction is used for driving the target device to execute a corresponding response action; and the voice interaction module is used for acquiring voice input of an on-site operator, performing semantic recognition on the voice input to obtain a voice recognition result, and executing corresponding emergency control operation to cover a current control instruction when the voice recognition result meets a preset emergency instruction condition. The method has the effect of improving the accuracy of intelligent safety management in the industrial environment.

The invention belongs to the technical field of unmanned aerial vehicle flight control, and particularly relates to an unmanned aerial vehicle intelligent dynamic obstacle avoidance method and system based on ultrasonic frequency self-adaption. The method comprises the following steps: 1, monitoring the position and distance of a static obstacle in real time, and adjusting the ultrasonic emission frequency; the neighborhood environment of the unmanned aerial vehicle is detected in real time through barometer equipment, the attitude, acceleration and angular velocity of the unmanned aerial vehicle are provided through an inertial sensor, and data are preprocessed after the surrounding environment of the unmanned aerial vehicle is comprehensively sensed; 2, performing a dual-stage mode of offline training and online updating through CNN-AE and LSTM decision engines, generating an obstacle avoidance path, and dynamically adjusting a flight strategy according to a real-time environment; 3, adaptively adjusting the reward weight according to the obstacle distance through a dynamic priority reward function, and guiding the unmanned aerial vehicle to make an optimal decision and path optimization in the flight process; and 4, through an emergency control module, triggering a local decision based on a Q value table when communication is interrupted, and ensuring that the unmanned aerial vehicle can still fly safely under an abnormal condition.

The invention discloses a self-adaptive control method for operation of a coupler unhooking robot under multiple working conditions, and relates to the technical field of coupler unhooking, and the method comprises the steps: obtaining a target unhooking robot, and collecting and obtaining an operation environment data flow and a coupler state data flow; working condition sensing and coupler recognition are conducted, and the current working condition and coupler feature information are obtained; performing traversal retrieval and adaptive adjustment in the unhooking strategy database, and determining target unhooking strategy parameters; and executing unhooking operation according to the target unhooking strategy parameters, and performing adaptive closed-loop control and abnormal emergency control on the target unhooking robot based on the unhooking operation state data flow. The technical problems that in the prior art, a car coupler unhooking robot is difficult to adapt to complex and various working conditions, and consequently the unhooking operation accuracy, safety and efficiency are poor are solved, accurate sensing of the working conditions of the car coupler unhooking robot is achieved, and the technical effect of improving the unhooking operation accuracy, safety and efficiency is achieved.

The present invention belongs to the field of smart power grids and power system automation control. Disclosed is a load emergency control method based on a dynamic event triggering mechanism, which method comprises: on the basis of an indicator of safe operation of a system, performing region division on a distribution network; proposing an adaptive load level division method based on user response willingness, and by taking the minimization of the system operation cost of the distribution network as an objective, establishing a precise load control model of the distribution network; and using a dynamic event triggering mechanism to reduce communication between substations and a master station of the distribution network, so as to realize effective exchange and precise execution of load control policy information. The method of the present invention can precisely realize precise control of a load, and can effectively alleviate communication transmission pressure of a distribution network, thereby ensuring the stability of a power grid and the continuous supply of critical loads.

The invention relates to the technical field of coal mining equipment, and discloses a mining roadway stability real-time monitoring and early warning system which comprises the following steps: S1, multi-source sensor network deployment, S2, data transmission and preprocessing, S3, stability index dynamic calculation, S4, fusion early warning model construction and S5, graded early warning triggering. Roadway surrounding rock deformation, stress, vibration and environmental parameters are collected in real time through a multi-source sensing network, efficient data transmission and preprocessing are achieved in combination with an industrial looped network, surrounding rock strain energy density, displacement convergence rate, support failure coefficient and other key indexes are dynamically calculated, a fusion early warning model is constructed based on machine learning, and the early warning accuracy is improved. According to the method, accurate evaluation of the stability level is achieved, grading alarm and emergency control are automatically triggered when a threshold value is reached, a'perception-analysis-decision-response 'closed loop is formed through the design, the real-time performance of roadway stability monitoring and the early warning reliability are remarkably improved, and accidents such as roof fall and wall caving are effectively prevented.

The invention discloses a data interaction self-adaptive method for a photovoltaic protocol converter, and particularly relates to the technical field of power grid dispatching cooperative control. The method comprises the following steps: monitoring and calculating a voltage instantaneous change rate of a grid-connected point of a power grid in real time, and comparing the voltage instantaneous change rate with a threshold value; when a threshold value is exceeded, synchronously collecting a current phase and generating a voltage and current phase difference change direction; extracting a voltage high-frequency component, analyzing frequency band energy distribution through wavelet packet decomposition, and calculating a Shannon entropy representing an energy concentration ratio; when the phase difference change direction accords with a preset power grid short-circuit fault feature and the Shannon entropy value is lower than a preset entropy threshold value, determining that a power grid transient event occurs; at the moment, a data caching mechanism of the protocol converter is stopped immediately, and a real-time stream transmission channel is activated; an emergency control instruction issued by a power grid dispatching system is directly transmitted to the photovoltaic inverter through the channel; and when the voltage instantaneous change rate is continuously lower than the preset threshold value for a preset duration, recovering the data caching mechanism of the protocol converter.

The invention relates to the technical field of underground coal mine safety, and discloses an underground coal mine early warning system and method. The method comprises the following steps: collecting multidimensional monitoring data of an underground coal mine environment; performing dynamic window division on the multi-dimensional monitoring data to generate a data fragment set; performing abnormal mode recognition based on the data fragment set, and extracting abnormal feature points exceeding a dynamic threshold in each data fragment; inputting the abnormal feature points into a pre-constructed space-time correlation model, and analyzing diffusion paths of the abnormal feature points in a time dimension and a space dimension; according to the diffusion path, generating an abnormal propagation map containing the propagation direction and the intensity attenuation gradient of the abnormal feature points; hierarchical clustering is carried out on the abnormal propagation atlas, and abnormal clusters with similar propagation characteristics are divided; generating an early warning signal containing a priority label by using the spatial and temporal distribution characteristics of the abnormal cluster; performing synchronous verification on the early warning signal and underground equipment state data, and screening out a target early warning signal needing to be responded; and triggering a corresponding emergency control instruction according to the target early warning signal.

The invention discloses a power grid air-ground cooperative emergency control system and method based on unmanned aerial vehicle multi-agent reinforcement learning, and belongs to the technical field of power system emergency control and intelligent cooperation. Comprising the following steps: a central coordination unit obtains a voltage state and a load importance degree of a power grid node and a position, energy and a communication state of an unmanned aerial vehicle cluster in real time, an emergency priority node is identified based on voltage recovery deviation and communication link quality, dynamic clustering is carried out, and a comprehensive communication demand priority of each node cluster is calculated; according to the method, the strong coupling optimization problem of power grid voltage recovery and emergency communication guarantee in a disaster environment is solved, the power supply reliability, the communication connectivity and the emergency response efficiency of the system are improved, the energy utilization of the unmanned aerial vehicle is optimized at the same time, and the energy utilization rate of the unmanned aerial vehicle is improved. The method is suitable for rapid recovery and cooperative scheduling of key infrastructures in extreme scenes such as earthquakes and typhoons.

The invention relates to the technical field of coal underground gasification control, in particular to a stable control method for the gasification process of deep coal passing through dirt band. The gas pressure distribution data and the pore change characteristic data of the deep coal gasification area are collected in real time through the distributed sensor array, the gas dynamic correction permeability is generated, the gas injection pressure is adjusted and dynamically corrected according to the gas dynamic correction permeability, and the gas pressure is kept stable; screening a potential risk area through a main stress direction deviation angle and a stress concentration coefficient in the dirt band layer, analyzing a shear stress threshold value of the potential risk area based on a stress-strain coupling model, and judging a stability evaluation index of the potential risk area; and when the stability evaluation index is lower than a threshold value, a multi-stage emergency regulation and control mechanism is triggered, and a dirt band layer reinforcement intervention scheme is generated. By means of multi-source data fusion and a dynamic feedback mechanism, the limitation of a traditional method for lagging response of the instability risk of the dirt band layer is broken through, and full-closed-loop intelligent stable control over the gasification process is achieved.

The invention relates to the technical field of sewage treatment automatic control, and discloses a control system for a sewage treatment plant, which comprises a multi-modal biosensing module, the multi-modal biosensing module is deployed in an anaerobic zone and an aerobic zone of a biochemical reaction tank, and a cloud edge collaborative data processing module comprises an edge calculation module and a cloud optimization platform. The edge calculation module preprocesses data collected by the multi-mode biosensing module and executes emergency control, the cloud optimization platform operates the multi-target dynamic optimization module and the digital twin model, and the self-adaptive decoupling controller receives control parameters output by the multi-target dynamic optimization module. By deploying the multi-modal biosensing modules in the anaerobic zone and the aerobic zone, the real-time acquisition of biochemical reaction parameters of each zone along the way is realized, and the microbial metabolic activity change in the biological reaction process can be accurately captured in combination with the pretreatment of the edge calculation module and the analysis of the cloud optimization platform.

The invention discloses a gas leakage monitoring system for an environment-friendly ring main unit, and belongs to the technical field of environment-friendly ring main unit monitoring. The system comprises a real-time acquisition looped network supervision platform, and a joint data real-time acquisition and storage module, an external environment gas dynamic analysis module, an internal environment gas risk analysis module and an emergency regulation and control decision processing module which are in communication connection with the real-time acquisition looped network supervision platform; multi-source data fusion monitoring of internal and external environments of the ring main unit is realized through the joint data real-time acquisition and storage module, the one-sidedness problem of single parameter monitoring is solved, and the leakage risk identification accuracy is improved; second-level data processing and grading risk early warning are realized by means of a real-time algorithm, and the fault response time is shortened; a grading emergency response mechanism is established based on the comprehensive risk index, different risks are precisely handled, and the operation and maintenance cost is reduced while the equipment safety is guaranteed.

The invention discloses an unmanned aerial vehicle emergency control management method and system based on digital twinning, and belongs to the technical field of unmanned aerial vehicle control. The system comprises an unmanned aerial vehicle data acquisition module which acquires image data in an emergency area and parameter records of an unmanned aerial vehicle; the virtual scene construction module is used for constructing a virtual scene by using a digital twinning technology, and mapping and dividing a three-dimensional grid in real time; the emergency route analysis module is used for planning a feasible route for each unmanned aerial vehicle in the virtual scene and screening out key routes; the execution scheme planning module is used for analyzing each scheme according to the key route planning scheme so as to set a communication scheme; and the operation visualization module is used for supervising each unmanned aerial vehicle to fly according to the communication scheme and displaying a virtual scene in real time through a visualization page of the command center. According to the invention, through digital twin-driven multi-source sensing fusion, dynamic grid adaptation and nonlinear anti-interference path planning, the environment modeling precision and communication link reliability of the unmanned aerial vehicle group in a disaster environment are improved.

The invention discloses a method, a system, equipment and a medium for evaluating stable operation capability of an isolated network of a regional power grid. The method comprises the following steps: acquiring related data of an isolated network system; based on related data of the isolated network system, initial equivalent inertia and initial power deviation are obtained through calculation; based on the frequency deviation value of the isolated network system, operating equipment of the isolated network system is adjusted, and equivalent inertia and power deviation are calculated and updated; calculating a disturbance frequency change rate according to the equivalent inertia and the power deviation; and judging a corresponding relation between the power deviation and the disturbance frequency change rate, and obtaining an evaluation result of the stable operation capability of the isolated network system. According to the isolated network stability quantitative evaluation method constructed based on the frequency change rate, only two core parameters of the system inertia and the new energy proportion are needed, complex modeling and time-consuming simulation are not needed, and the evaluation efficiency is improved through a dynamic parameter updating mechanism of high-frequency generator tripping and low-frequency load shedding in combination with a simplified frequency response model; whether the isolated network is endangered to collapse is determined in real time, and an emergency control decision basis is provided for power grid personnel.

The invention discloses an electric power system emergency control method and system fusing DRL and STGNN. The method comprises the steps that an international standard example IEEE-39 model is built, electric power data are collected, and a data set is built; and performing feature extraction on the data in the data set, inputting the obtained features into the improved DDPG model fused with the DRL, and outputting a generator tripping action vector. And optimizing the generator tripping action vector, and updating network parameters in the model. According to the power system emergency control method and system fusing the DRL and the STGNN provided by the invention, the perception capability of the transient response time-space change trend is effectively improved through the time-space diagram neural network, and the real-time performance and the accuracy of the model are improved. On the basis, through the DRL model, learning of a complex control strategy is achieved, effective actions can be rapidly obtained, and the effectiveness of an emergency control scheme is improved.

The invention relates to the technical field of artificial intelligence, and particularly discloses a large model generation content authenticity verification and traceability tracking system, which is characterized in that content generation data and content source data of a large model are acquired in real time, and contradictory fluctuation characteristic values are extracted in combination with fast Fourier transform; a source distribution characteristic value is calculated by using multi-dimensional statistical characteristics and an isolated forest algorithm; constructing the two types of features into a large model operation state feature vector, inputting the large model operation state feature vector into an artificial intelligence real evaluation model based on support vector machine training, carrying out fusion analysis, and outputting a quantitative real score; according to the method, the full-process automation from state sensing, intelligent evaluation to closed-loop control is realized, the intelligent level and the autonomous risk response capability of a large-scale model system are improved, and the real level of the currently generated content is judged according to the scoring result. Good application prospects and engineering practical values are realized.

The invention discloses an intelligent packaging system based on counting and classification of surgical instruments, relates to the technical field of medical equipment management, and aims to solve the technical problems of high error rate, low packaging efficiency and difficulty in instrument management traceability in the conventional manual counting process in the surgical instrument management process. The multi-modal image acquisition module is used for acquiring multi-modal image data and related auxiliary information of surgical instruments, and comprises an algorithm processing anti-interference module, a data verification and correction center, an instrument process management adaptation module, an information extraction and tracking module, an emergency control interaction module, an intelligent packaging reminding module, a data storage interaction module and a standard parameter library dynamic updating module. Through the standard parameter library dynamic updating module and the in-use instrument parameter regular correction mechanism, real-time synchronization of the standard parameter library and the actual instrument state is achieved, the problem of recognition precision attenuation caused by a traditional static parameter library is effectively solved, and the applicability and reliability of the management system are remarkably improved.

The embodiment of the invention provides a smart city fire-fighting automatic fire extinguishing system and method based on an Internet of Things large model and a medium, and belongs to the technical field of city fire fighting. The system comprises an emergency supervision management platform and an emergency supervision sensing network platform, wherein the emergency supervision management platform is configured to obtain emergency monitoring data; based on the emergency monitoring data and the regional feature data, determining emergency prevention data of the prevention region; determining emergency control parameters based on the emergency prevention data; based on the emergency control parameters, fire extinguishing control signals are sent to a fire extinguishing device installed in the prevention area through the emergency supervision sensing network platform, so that the fire extinguishing device is driven to execute emergency fire extinguishing according to the emergency control parameters. The system can improve disaster response speed and resource utilization efficiency, so that fire extinguishing efficiency is improved, and disaster loss is reduced.

The invention discloses a power system cascading failure chain modeling and blocking method, device and system considering source-load double-end uncertainty, and a medium. The method comprises the steps of constructing source-load uncertainty input distribution (wind power introduces Weibull distribution based on a wind speed segmented power model, photovoltaic introduces Beta distribution based on an irradiance output model, and a load side introduces a normal distribution fluctuation model); an MSFF method is adopted to construct a unified source-load stochastic power flow model, and a multi-scene power flow state set is obtained; introducing a power flow out-of-limit criterion and a hidden fault probability function, building a cascading fault propagation model fusing wind-solar load uncertainty, and dynamically simulating fault chain evolution; and formulating a staged collaborative blocking strategy (cutting off non-critical load emergency control, quickly responding a battery energy storage system and dynamically adjusting a critical line protection constant value) to realize real-time fault suppression. Simulation shows that the method is suitable for power system security defense in a high-proportion new energy penetration scene, and has good engineering adaptability and dynamic control performance.

The invention discloses a multi-modal deep reinforcement learning gas leakage decision optimization method based on optical flow, and the method comprises the steps: carrying out the constraint and correction based on a pixel motion field in combination with wind speed estimation, and obtaining an optical flow reconstruction wind field; based on plume probability distribution, combining with an image intensity and radiation transmission model, obtaining concentration field estimation, fusing gas concentration data and an optical flow reconstruction wind field, and forming full-field state description; establishing a convective diffusion model, predicting the concentration field at the next moment through the convective diffusion model based on the full-field state, establishing a convective diffusion model, and predicting the concentration field at the next moment through the convective diffusion model based on the full-field state. According to the technical scheme of the invention, the dynamic evolution precision of gas leakage can be effectively improved by introducing the wind field reconstruction method of the optical flow and the scatter-free constraint, the prediction stability is improved, the physical consistency of the wind field and the concentration distribution is ensured, and stronger data support is provided for emergency control.

The invention relates to the field of valve sealing structures, and particularly discloses an aircraft pneumatic electromagnetic valve sealing structure and a machining method thereof.The aircraft pneumatic electromagnetic valve sealing structure comprises a sealing structure body, a side wall groove is formed in one end of the sealing structure body, and the sealing structure body comprises any one of a first sealing structure and a second sealing structure; according to the first sealing structure, a plurality of annular bionic grooves which are arranged up and down are formed in the inner circumferential face of the side wall groove, and a plurality of concentrically-distributed annular bionic grooves are formed in the bottom end face of the side wall groove. According to the second sealing structure, a plurality of linear bionic grooves which are distributed in a circumferential array mode are formed in the inner circumferential face of the side wall groove, and a plurality of divergently-distributed linear bionic grooves are formed in the bottom end face of the side wall groove. According to the method, the micro-nano bionic sealing structure is machined on the electromagnetic valve sealing surface through the femtosecond laser micro-nano machining technology, the roughness consistency and the bonding strength of the rubber bonding surface of the pneumatic sealing element are improved, the sealing performance of the pneumatic element is guaranteed, and the reliability of an airplane emergency control system is guaranteed.

[Problem] To provide an unmanned aerial vehicle, a method for controlling an unmanned aerial vehicle, a program, a control system, and a control device with which it is possible to detect an unexpected object during flight and perform appropriate emergency control. [Solution] An unmanned aerial vehicle according to one embodiment of the present invention comprises: an imaging device that is provided to the unmanned aerial vehicle and generates a captured image; an object detection unit that detects an object from the captured image; a determination unit that determines whether the object detected by the object detection unit satisfies a predetermined condition; and a flight control unit that, when the determination unit determines that the condition is satisfied, causes the own vehicle body to execute emergency control.

The invention discloses a fault early warning method and system for an anti-wind-disturbance multi-rotor unmanned aerial vehicle. Comprising the following steps: synchronously acquiring multiple data through a main processing link and an auxiliary processing link; generating a future disturbance torque sequence facing the wind disturbance priority and a first risk assessment value; generating a flight attitude deviation sequence facing the attitude priority and a second risk assessment value; obtaining an early warning grade and a corresponding composite feedforward control instruction; monitoring the attitude stability of the unmanned aerial vehicle; when the main processing link fails, an emergency control instruction is generated according to the evaluation result of the auxiliary processing link; and if the attitude angular velocity after differential compensation is not reduced to the safety threshold, upgrading the early warning level and switching the control link. According to the invention, through synchronous acquisition of the main link and the auxiliary link, asymmetric fusion driven by the task context label and redundancy switching, context-adaptive parallel early warning control is realized, and the problems of single early warning upgrade path and lack of context-adaptive parallel decision in the prior art are solved.

The invention relates to the technical field of open caisson construction, in particular to an open caisson construction method suitable for a soft soil foundation, which comprises the following steps: excavating a foundation pit, pre-reinforcing the foundation, constructing a cushion layer, manufacturing an open caisson in sections, arranging a monitoring system, sinking in stages and partial pressure, dynamically adjusting hydraulic jacking force and finally sinking and sealing bottom. Wherein dynamic adjustment of hydraulic jacking force is realized through arrangement of a monitoring system, which is a main invention point of the invention, during sinking, data is fed back through a tilt angle sensor, a laser displacement meter and an earth pressure sensor, the jacking force is corrected according to a formula, and dynamic correction and emergency control are combined; accurate and intelligent control of open caisson construction is achieved, and the safety, efficiency and quality of soft soil foundation open caisson construction are improved.

A method of setting up and / or maintaining an emergency call may include a voice connection and / or data connection between a vehicle and an emergency control center. The vehicle executes at least one first protocol to transmit connection set-up data according to the at least one first protocol between the vehicle and at least one server of a server infrastructure outside the vehicle provided for the emergency call, so that the voice connection and / or data connection is set up between the vehicle and the server infrastructure. The voice connection and / or the data connection is continued by the server infrastructure by execution of at least one second protocol via a public telephone network to the emergency control center, so that voice data and / or information data are exchanged between the vehicle and the emergency call center in each case via the emergency call.

The invention discloses an emergency control method and an emergency control system considering network construction type energy storage power fast regulation, and belongs to the technical field of power systems and automation thereof. Operation information of a tie line is collected in real time, energy storage adjustable capacity is evaluated, when it is detected that the tie line is broken due to a fault, power vacancy is calculated based on an equal-capacity cutting-off principle, and the energy storage power fast regulation is completed. For a power receiving system, network construction type energy storage is preferentially called to carry out power fast adjustment, and load removal is carried out cooperatively when the energy storage capability is insufficient; and for a power delivery system, the new energy unit with the corresponding capacity is directly cut off. Through issuing a power adjusting instruction and an emergency control instruction, energy storage is driven to execute large-step fast adjustment and self-response fine adjustment, and finally fast and stable operation of the isolated network is realized. According to the method, the problem of frequency stability when the high-proportion new energy is connected to the isolated grid for operation is effectively solved, and the toughness and the safe operation level of the high-proportion new energy connected to the grid are remarkably improved.

The invention relates to the technical field of power system operation and control, in particular to a safety operation and maintenance scheduling device and method for a wind, light and storage integrated system, and the device comprises a field sensing unit which is used for collecting the real-time operation data of wind, light and storage equipment; the edge calculation and autonomous control unit is used for local data processing, short-time prediction and emergency control when communication is abnormal or a safety index is out of limit; the central optimization and safety management platform is used for fusing and standardizing the data, evaluating the safety state of the system based on a double-domain safety redundancy index, evaluating energy storage life consumption through a coupling model, generating a scheduling instruction considering economical efficiency, safety and life by adopting opportunity constraint optimization, and sending the scheduling instruction to the central optimization and safety management platform; security verification and stable execution of the instruction are guaranteed through shadow simulation, strategy progressive switching and a security instruction shielding module; and the man-machine interaction application unit is used for visual monitoring, strategy recommendation and history redisk.

The invention provides a control method and device, a controller, a computer readable storage medium and a micro-grid, and is applied to the technical field of micro-grids, so as to improve the power angle stability after a certain branch in the micro-grid breaks down. The control method can be executed through a controller in the micro-grid. The controller can firstly obtain a plurality of simplified branch transient power transmission capability indexes corresponding to a plurality of branches of the micro-grid. And then, when the duration that the minimum value in the transient power transmission capacity indexes of the plurality of simplified branches is smaller than a preset index threshold value is longer than a preset duration, controlling the network construction type energy storage to execute emergency control operation. Wherein the emergency control operation comprises a first operation and a second operation. The first operation is to reduce the amplitude of the output voltage frequency and the amplitude of the output voltage phase of the grid-forming energy storage. And the second operation is to reduce the output power of the network construction type energy storage. On the basis, the power angle stability after a certain branch in the micro-grid breaks down can be improved through control over network-forming type energy storage.

The invention discloses a power grid frequency coordinated regulation and control method and device based on coordination of three defense lines, and the method comprises the steps: carrying out the control cost analysis, constructing an interconnected power grid active frequency response model based on the control cost analysis, and building an active frequency response control strategy of coordination of the three defense lines on this basis, wherein the three defensive lines comprise prevention control, emergency control and correction control, and finally, a target function is constructed by taking the minimum total cost of the three stages of prevention control, emergency control and correction control as a target, so that the optimization space for coordinated operation of the three defensive lines for power system frequency stability is improved, and the control target of safety and economy coordination is further realized. The relationship between the control cost and the system frequency safety is coordinated, and the purpose of safe and economic cooperative control of the alternating-current and direct-current hybrid system for the frequency stability problem is achieved.