325 results about "Power exchange" patented technology

An electric motor based system includes an electric motor; an electric motor power controller for controlling the electric motor; a first control unit, adapted to provide first control signals for the electric motor power controller; an electric power storage device adapted to power the electric motor power controller; a first sensor adapted to determine information related to power exchange between the electric power storage device and the electric motor power controller; and a second control unit, wherein the second control unit is adapted to pass the first control signals, received from the first control unit, to the electric motor power controller in a first mode and adapted to provide second control signals for the electric motor power controller in a second mode; and the second control unit inputs and exploits the information.

The invention discloses a charging pile system management method based on dynamic load balancing, and particularly relates to the technical field of charging pile management, and the method comprises the steps: collecting time domain scheduling data of a charging pile side, a power grid side and a distributed renewable energy output device side, carrying out the fusion filtering, and obtaining a station-level state vector; generating a station-level prediction sequence of the charging pile in the next control period based on the station-level state vector and a rolling prediction model; an inner-layer controller reads the station-level state vector and the station-level prediction sequence, establishes a power prediction optimization model and solves the model, and outputs an expected station-level power trajectory and station-level power redundancy; a result output by the inner-layer controller is received, and a station-level power envelope curve and an energy storage charging and discharging set value are comprehensively solved and transmitted; the slope upper limit of the station-level power envelope curve is contracted based on the oscillation amplitude, the new slope upper limit is substituted into the next solution, the subsequent power change rate is limited, and the problem of unstable power exchange between the charging station and the superior power grid is effectively solved.

The present invention provides a battery swapping device and a battery swapping robot and a battery swapping station including the same. The battery swapping device includes a battery swapping platform, a battery tray, and a battery disassembly and assembly mechanism. The battery tray is used to carry a battery pack, and the battery tray is connected to the top of the battery swapping platform through a tray mounting mechanism along the disassembly and assembly direction of the battery pack; the battery disassembly and assembly mechanism is used to unlock or lock the fixed parts of the battery pack, and the battery disassembly and assembly mechanism is arranged on the battery tray. The battery tray can elastically move parallel to and / or perpendicular to the disassembly and assembly direction of the battery pack relative to the battery swapping platform; one end of the battery disassembly and assembly mechanism facing the fixed part can elastically move parallel to the disassembly and assembly direction of the battery pack relative to the battery tray and / or swing obliquely to the disassembly and assembly direction of the battery pack. The adaptability of the tray mounting mechanism, the battery tray, and the battery disassembly and assembly mechanism can be improved, so that the battery disassembly and assembly mechanism can be easily aligned with the fixed parts of the battery pack, and the battery swapping has high stability, fast working speed, and high efficiency.

The invention relates to the field of clean energy, and provides a distributed secondary control method based on deep reinforcement learning, and the method comprises the steps: S1, deploying a DDPG intelligent agent in a distributed micro-grid, and enabling the DDPG intelligent agent to be used for secondary control; s2, establishing a communication graph model of the distributed micro-grid based on a graph theory, so that each distributed power supply in the distributed micro-grid only exchanges control signals and voltage information with the adjacent distributed power supplies; and S4, regulating and controlling the output power of the distributed power supply by using the intelligent agent, and dynamically regulating the frequency and voltage secondary control signal according to the decision of the intelligent agent. Therefore, the dynamic adaptability and the system-level reliability of the distributed power system are improved.

The invention discloses a power system load frequency control method considering disturbance compensation and a related device, and belongs to the technical field of power system regulation and control. The method comprises the following steps: respectively carrying out frequency modulation characteristic analysis on a speed regulator, a prime mover and a generator-load of the power system, and establishing a subsystem nominal model of the multi-region interconnected power system; designing a disturbance observer to observe external unknown disturbance to obtain a disturbance estimation value, and further obtaining a subsystem load frequency control model containing disturbance compensation information; based on a distributed model prediction control strategy, a distributed model prediction controller considering disturbance compensation is designed according to the subsystem load frequency control model containing the disturbance compensation information; when a certain area in the interconnected power system is disturbed, the frequency deviation of each sub-area is adjusted to be zero through a distributed model prediction controller considering disturbance compensation, and it is ensured that power exchange between connecting lines in the sub-areas and the interconnected areas of the connecting lines is kept in a zero steady state.

The invention is suitable for the technical field of integrated energy microgrid scheduling, and provides a power distribution network random distributed robust optimization scheduling method of an integrated energy microgrid group, comprising the following steps: constructing a DN structure comprising a plurality of microgrids; the DN day-ahead scheduling optimization model containing the IEMGs pays attention to operation cost and constraint conditions; for the DN, the problem of non-convex nonlinear optimization including line loss is solved; for the IEMG, the model is used for processing a convex optimization problem considering WT and PV output power uncertainty; power exchange is carried out between the DN and the IEMG through a connecting line, so that a double-layer model framework is constructed to analyze the system; the solving process is a double-layer optimization iteration process, an outer layer obtains an interaction power value between the DN and the IEMG by using an ATC method, and an inner layer uses Camp; the CG method solves the problem of random distribution robust optimization of IEMG. According to the method, the carbon emission and the operation cost of the system can be effectively reduced, meanwhile, stable operation of the DN is ensured, and a theoretical basis is provided for efficient utilization of ammonia energy in the DN.

The present disclosure relates to the technical field of new energy power generation, and provides an operation control method for an electric-hydrogen coupling system, and an electric-hydrogen coupling system. According to the present disclosure, prediction related parameters corresponding to power station power and power station power instruction related parameters are acquired, and in order to achieve optimal economic efficiency while meeting grid power exchange limitation requirements, a power station power adjustment instruction and an electrolytic cell power adjustment instruction corresponding to each moment are acquired.

The invention relates to the field of power distribution system simulation, in particular to a power distribution and micro-grid coordination wide-area balance regulation and control method and system in a multi-micro-grid access scene, and the method comprises the steps: carrying out the cluster division of a plurality of micro-grids based on the electrical coupling degree and net power between the micro-grids; using a pre-constructed multi-energy coupling source load prediction model to cluster resources of an area where the micro-grid is located, and performing load prediction on the divided clusters based on the clustered resources to obtain a group composed of the clusters, the resources and corresponding loads; based on the group, a target cascade method is adopted to solve a pre-constructed zone area or micro-grid layer optimization model, a feeder line level optimization model and a region layer optimization model to realize dispatching optimization of the power distribution network and the micro-grid; by constructing the multi-layer optimization model, the power exchange cost, the power generation cost and the environment cost between the micro-grid and the power distribution network can be optimized, and economic operation of the system is achieved.

A photovoltaic system, relating to the field of power conversion devices. The photovoltaic system comprises: a photovoltaic module (12), which is used for supplying power to an energy storage module (11) and / or an inverter circuit (21); the energy storage module (11), which is used for receiving the power that is output by the photovoltaic module (12), or supplying power to the inverter circuit (21) when the photovoltaic module (12) does not operate; and the inverter circuit (21), which is used for inverting to a power grid the power supplied by the photovoltaic module (12) and / or the energy storage module (11). The photovoltaic module (12) and the energy storage module (11) can be directly connected to the inverter circuit (21), thereby preventing the loss caused by the conversion of a direct current-direct current module during the power exchange between the photovoltaic module (12) and the energy storage module (11). In addition, the power exchange between the photovoltaic module (12) and the energy storage module (11) is completed on a low-voltage side, thereby ensuring better safety.

The invention relates to the technical field of power distribution network self-balancing capability evaluation, in particular to a power distribution network self-balancing capability evaluation method and system. The method comprises the following steps: in the operation process of a power distribution network, acquiring real-time operation parameters of load concentration nodes, and recording the real-time operation parameters in a sampling time sequence form; when the collected real-time operation parameters exceed a preset stable threshold value, marking the node as a trigger node, recording a disturbance event of the node, and analyzing a recovery index of each node after each disturbance; calculating the power exchange capacity between the adjacent nodes based on the node recovery indexes, judging whether a synergistic effect exists between the nodes, calculating the relative recovery speed between the nodes, and identifying the node with the maximum recovery speed difference value as a self-balancing bottleneck node; through power distribution network self-balancing capability evaluation, the disturbance recovery characteristics of the power distribution network are quantified, bottleneck nodes are accurately identified, and effective evaluation of the self-balancing capability is realized.

The invention discloses an industrial park micro-grid optimization scheduling method based on electric furnace load active adjustment. The method comprises the following steps: constructing an economical operation objective function for generating power by using a thermal power generating unit to share blast furnace gas of a steel mill; dynamically adjusting the maximum exchange power between the micro-grid and the public grid by iterating the shrinkage constraint, and calculating a minimum feasible value to reduce basic electricity price expenditure; taking the gear of the electric furnace transformer as an adjusting variable, and constructing a load adjusting constraint model containing a fixed load and an adjustable load; the micro-grid adopts a double-bus topology, power mutual assistance is realized through a back-to-back converter, and a distributed power supply, an energy storage system and a new energy power generation set are configured. The method can efficiently utilize energy and reduce the operation cost; the public network expenditure is reduced by dynamically optimizing power exchange; the system flexibility is improved by flexibly regulating and controlling the load; new energy fluctuation is stabilized, and stability is enhanced; the double-bus structure realizes grid-connected and off-grid switching, improves reliability, and is suitable for iron and steel enterprises to improve the utilization rate of renewable energy sources and reduce operation cost.

The invention discloses a regional power distribution method and system for distributed new energy consumption, and relates to the technical field of power systems, and the method comprises the steps: obtaining regional power distribution network data, and constructing a power distribution network analysis model; based on the power distribution network analysis model, dividing the regional power distribution network into a plurality of energy autonomous units by calculating the electrical distance and the power sensitivity; calculating an energy complementation index and a load elastic coefficient of each energy autonomous unit, and constructing a unit feature model; dynamically adjusting the active power and reactive power output of the distributed new energy in each energy autonomous unit according to the unit characteristic model; and monitoring the operation state of the energy autonomous units, implementing a cooperative control strategy, and adjusting power exchange between the energy autonomous units. According to the energy autonomous unit division method provided by the invention, the tightly coupled node group can be accurately identified, the nearby consumption and efficient utilization of new energy are realized, and the power transmission and distribution loss is reduced.

The invention discloses a hybrid micro-grid group power coordination control method and device. The method comprises the following steps: establishing a hybrid micro-grid group topological structure; each alternating-current sub-network collects the bus frequency of the corresponding alternating-current bus, and each direct-current sub-network collects the bus voltage of the corresponding direct-current bus; when the bus frequency of the alternating current subnet or the bus voltage of the direct current subnet fluctuates in a first preset range, the alternating current subnet and the direct current subnet adopt adaptive droop control to realize power coordination; when the bus frequency of the alternating-current subnet or the bus voltage of the direct-current subnet fluctuates within a second preset range, the alternating-current subnet and the direct-current subnet achieve power coordination through power exchange; and when the bus frequency of the AC subnet or the bus voltage fluctuation of the DC subnet exceeds a second preset range, controlling the power output of the energy storage subnet to realize power coordination, and the method can improve the robustness of the system.

The invention relates to the technical field of power grid inspection, and provides a power distribution network inspection planning method based on a double-layer optimization algorithm, and the method comprises the steps: carrying out the optimization iteration of an unmanned plane inspection path model based on type 1 station information and an energy consumption optimal principle, and generating an unmanned plane inspection path; generating a battery replacement space window based on the unmanned aerial vehicle routing inspection path, performing iterative optimization on the routing inspection trolley path model based on the battery replacement space window and the type 2 station information, and generating a routing inspection trolley routing inspection path; the inspection trolley and the unmanned aerial vehicle inspect each inspection site according to the corresponding inspection path, and the unmanned aerial vehicle flies to the corresponding inspection trolley in the battery replacement space window to perform battery replacement operation. According to the method, the battery replacement space window is generated through the unmanned aerial vehicle routing inspection path subjected to iterative optimization, then the routing inspection path of the routing inspection trolley is further subjected to energy consumption priority optimization with the battery replacement constraint, the unmanned aerial vehicle endurance supplement problem is converted into a typical time space window problem, the endurance supplement cost is remarkably reduced, and the routing inspection efficiency is improved.

The invention discloses a control method and system for a single-stage three-port V2G charging device, and relates to the technical field of charging pile converters, and the method comprises the steps: constructing a structure of a three-port converter, and obtaining a working mode of the converter; a phase shift control mode is adopted between the ports and between the two bridge arms of the full-bridge circuit; bidirectional power flow of energy between a power grid and a new energy automobile battery is completed, and multifunctional charging and discharging management is achieved. The converter is of a single-stage structure and has high power density, and flexible and bidirectional power exchange between alternating current and direct current ports can be achieved without a two-stage structure. In order to improve the efficiency of the converter, a phase shift angle is calculated by taking power as a constraint condition and taking current stress and soft switching as optimization targets, a three-port converter optimization modulation strategy which is suitable for the topology and takes a wide soft switching range and low current stress into account is designed, and efficient and reliable operation of the converter in three working modes of V2G, G2V and H2L can be realized.

The invention provides a robust optimization scheduling method for participation of a virtual power plant in an electric power market, and the method comprises the following steps: constructing a mathematical model of a power exchange station, an energy storage unit, a diesel generator, the behavior of participation in the electric power market, and the voltage of a power distribution network under a framework of the virtual power plant; constructing an uncertain set representing photovoltaic power generation and power conversion demands by using the predicted value and the fluctuation value under the confidence interval; establishing a two-stage robust optimization model by taking virtual power plant profit maximization as an objective function; and decomposing the two-stage robust optimization model into a main problem, a sub-problem outer layer and a sub-problem inner layer by adopting a nested column and constraint generation algorithm, adding the sub-problem inner layer into the constraint of the sub-problem outer layer by adopting a Kuhn-Tuck condition, and performing iterative solution through external and internal loops to obtain a scheduling scheme of the virtual power plant. According to the method, the income and the regulation and control capability of the virtual power plant in a complex power market environment are remarkably improved.

The invention discloses a multi-microgrid intelligent power distribution system joint optimization operation method based on energy interaction, and the method comprises the following steps: 1), taking the minimum total operation cost of the power generation cost, the environment cost and the power exchange cost between the power generation cost and a power distribution network as a target, and building a bottom layer multi-microgrid system optimization model; 2) constructing an optimization model of an upper-layer intelligent power distribution system, considering the cost of power purchase of an upper-layer power grid, the cost of controllable distributed power generation, the cost of load demand response compensation and the cost of interaction with a multi-microgrid system, and establishing a model by taking the minimum total operation cost and the minimum payload peak-valley difference of the intelligent power distribution network as targets; 3) converting the upper-layer model and the lower-layer model into a second-order cone programming problem and a mixed integer linear programming problem respectively by using a second-order cone relaxation method and a linearization method to solve the two-order cone programming problem and the mixed integer linear programming problem; according to the invention, the operation cost of the intelligent power distribution system and the multi-microgrid system can be reduced, the load fluctuation condition of the intelligent power distribution system is reduced, and the electric energy quality of the intelligent power distribution system is improved.

The invention discloses a multi-modal data fusion battery replacement guiding method and system, a storage medium and a battery replacement station, and belongs to the technical field of new energy automobile battery replacement, and the method comprises the steps: obtaining the position information of a battery pack and the ground clearance of the battery pack, and calculating the pixel point coordinates of a battery replacement guiding frame corresponding to the current height of the battery pack; identifying the battery pack to obtain a detection rectangular frame pixel point coordinate of the battery pack; if the detection rectangular frame of the battery pack is completely located in the battery replacement guide frame, comparing and matching the pixel point coordinates of the battery replacement guide frame with the pixel point coordinates of the detection rectangular frame, and if the detection rectangular frame of the battery pack is completely located in the battery replacement guide frame, obtaining the coordinates of the battery pack, converting the coordinates of the battery pack into the coordinates of the battery pack based on a battery replacement robot coordinate system, and forming a complete battery pack position information data packet; and controlling the battery replacing robot to complete battery replacing operation according to the battery pack position information data packet. And through multi-modal data fusion, millimeter-level accurate positioning of a three-dimensional space of the battery pack is realized, and the docking success rate of the battery replacement robot is remarkably improved.

The utility model relates to a new energy vehicle battery replacement lifting device, and belongs to the technical field of new energy vehicle battery replacement. The lifting device comprises a machine frame, a front lifting mechanism and a rear lifting mechanism, the front lifting mechanism and the rear lifting mechanism each comprise a bearing frame, a lifting frame arranged on the bearing frame and a shear type lifting structure used for driving the lifting frame to ascend and descend, and the bearing frames are fixedly arranged on the machine frame or arranged on the machine frame in a position-adjustable mode. The lifting frame is arranged on the bearing frame through the shear type lifting structure; the lifting frame is provided with a lifting plane or a lifting point used for lifting and leveling the new energy vehicle. And the height position of the lifting point is adjustable. The number of lifting points on the lifting mechanism is four, and the distance between every two adjacent lifting points is adjustable. The lifting device is simple in structure, convenient to operate, stable in lifting process, stable and reliable in lifting and supporting, small in space required by each part, and very suitable for lifting of a new energy vehicle during battery replacement.

The invention discloses an interface method for a VSC direct current system mixed granularity model and an alternating current system electromechanical transient model. The method comprises the steps that a mixed granularity simulation framework is constructed, wherein an electromechanical transient phasor model is adopted on the alternating current side, and a simplified electromagnetic transient instantaneous value model considering electromagnetic characteristics is adopted on the direct current side; the VSC converter adopts a unified equivalent model, and various types of converters are adapted through parameter configuration; a low-voltage side bus of the converter transformer is arranged at the interface position of the simulation framework and the alternating current system; simulation and interaction rules are configured, wherein the simulation step length of each direct-current power grid is independently set; the alternating current system provides port voltage and alternating current control information for the simulation framework, the simulation framework is equivalent to the alternating current system as a power source, and power exchange is realized through the converter station; in one time step calculation of the electromechanical transient state, the simulation framework changes along with the alternating current side information, a historical simulation state is taken back, and direct current side simulation in the alternating current time step is carried out again until the power interaction deviation converges.

The invention belongs to the technical field of new energy heavy truck chassis battery swap stations, and particularly relates to a PLC control-based battery swap station liquid cooling control system, which comprises a PLC controller, and the PLC controller comprises a signal acquisition unit, a logic control unit, a data storage unit, a control output unit, a bus and a 485 communication port. And the signal acquisition is realized by a plurality of sensors for acquiring liquid cooling data of the battery swap station. According to the liquid cooling control system for the battery swap station based on PLC control, the actual state of each sensor is obtained through conversion calculation according to the collected signals of the temperature sensor, the pressure sensor, the liquid level sensor and the like through the PLC, a compressor and an outer fan are automatically controlled through Modbus communication to control the work of a refrigerating system, the liquid outlet temperature is kept within a set value range, and the working efficiency is improved. The superheat degree of the system is calculated according to the exhaust temperature of the compressor, and the superheat degree of the system is controlled through an expansion valve controller; and finally, the cooling liquid output by the system is controlled by controlling the rotating speed of the water pump to ensure that sufficient cooling liquid flows into the charging bag for cooling.

The invention belongs to the technical field of power systems, and particularly relates to a day-ahead scheduling method for a building light storage direct-flexible energy microgrid with friendly power exchange. Comprising the steps that a mathematical model of the negative carbon building light storage direct-flexible energy microgrid is constructed, so that the complex operation characteristics of the negative carbon building light storage direct-flexible energy microgrid are converted into quantifiable optimization problems; wherein the mathematical model comprises a power generation constraint model, a power balance constraint model, a peak-valley difference and volatility constraint model, a storage battery constraint model, a phase change heat storage system operation constraint model and a water supply system operation constraint model; constructing a target function of an optimal scheduling model by taking the minimum total operation cost of the negative carbon building light-storage direct-flexible energy microgrid in a scheduling period as a target; wherein the total operation cost comprises an economic cost item, an environmental cost item and a power grid interaction optimization demand cost item. After the heat and water storage system is introduced, except for the friendly cost of a power grid, other costs are remarkably reduced.

The invention provides a multi-vehicle and multi-station-oriented power conversion scheduling method and device. The method provided by the invention is applied to a server, and the method comprises the following steps: for each vehicle in a scheduling domain, screening out reachable stations of the vehicle from all stations in the scheduling domain; for each reachable station of each first type of vehicles, determining batteries which can be provided for the first type of vehicles by the reachable station, and determining a list formed by identifiers of the batteries which can be provided for the first type of vehicles in all the reachable stations of the first type of vehicles and preset identifiers as an available battery list of the first type of vehicles; constructing a target optimization problem by taking maximization of global fitness as a target based on a genetic algorithm; and solving an optimal solution of the target optimization problem by using a genetic algorithm, and recommending a battery replacement battery for each first type of vehicle according to the optimal solution. According to the multi-vehicle and multi-station-oriented power conversion scheduling method and device provided by the invention, efficient and accurate power conversion scheduling can be realized, and the operation efficiency of the electric vehicle in each scene is ensured.

The invention provides a direct-current bus voltage control method of a station multi-terminal direct-current system, which is applied to a system comprising a direct-current bus and a plurality of ports connected to the direct-current bus, and the plurality of ports comprise at least one grid-connected converter connected to an alternating-current network. Performing active power exchange on an alternating current network; and enabling the grid-connected converter to adopt a network construction converter control method based on the virtual synchronous model, and stabilizing the voltage of the direct current bus by adjusting the active power exchanged to the alternating current network by the grid-connected converter. The problems that in the prior art, it is difficult to provide alternating-current side support while stabilizing the direct-current bus voltage, and the adaptability to power grid state changes is insufficient are effectively solved, and the overall stability and reliability of the station multi-terminal direct-current system are enhanced.

The present invention provides a new energy vehicle battery swapping station without lifting, which includes a vehicle passage platform and a container system. The vehicle passage platform is installed inside the container system. A battery swapping mechanism and a vehicle positioning device are installed on the vehicle passage platform, and the vehicle positioning device is located on one side of the battery swapping mechanism. The battery swapping mechanism moves along the vehicle passage platform. A battery storage system, a power supply and distribution system, and a fire protection system are arranged outside the vehicle passage platform, and the battery storage system, the power supply and distribution system, and the fire protection system are arranged side by side with the vehicle positioning device. The present invention does not need to lift the light truck vehicle. The battery height and the offset of the battery of the light truck vehicle are measured respectively by a vision component, and at the same time, the traction mechanism and the locking and unlocking device of the battery swapping mechanism are controlled to be parallel to the battery, achieving the purpose of facilitating the quick extraction of the battery and replacing it with a new battery.

The embodiment of the invention provides a flywheel direct-driven cogeneration unit dynamic adjusting system and a control method thereof, in the embodiment of the invention, a magnetic suspension technology is adopted to eliminate friction of a traditional mechanical bearing, and quick starting and stopping of the rotating speed of a flywheel are realized; the high-temperature superconducting magnetic clutch achieves instantaneous mechanical coupling / decoupling of the flywheel and the circulating pump through the zero resistance characteristic, and the response time is short. The frequency modulation requirement of a new energy power grid can be matched, and meanwhile hard constraint of thermal load fluctuation on electric energy output is avoided. The mechanical direct-drive path directly utilizes the kinetic energy of the flywheel to drive the circulating pump, so that a multi-stage energy conversion link in a traditional mode is omitted; the electric adjusting path realizes bidirectional power exchange between the flywheel and a power grid through an energy interface device, and the loss of an inverter is reduced; and the high-temperature superconducting magnetic clutch realizes zero-energy-loss transmission in a coupling state. The magnetic suspension flywheel set adopts a non-contact suspension technology, so that mechanical wear is eliminated; the high-temperature superconducting magnetic clutch achieves non-contact transmission through magnetic coupling, and friction loss is avoided.

The invention provides a regional balanced power supply method based on a virtual power plant. The method comprises the following steps: S1, acquiring position information and power information of all energy monomers participating in power compensation in a region covered by the virtual power plant; s2, a power exchange network is constructed, at least one power exchange station is arranged between every two adjacent energy single bodies, the power exchange stations are connected into the virtual power plant, and the power exchange stations are electrically connected with the power grid main network; s3, the virtual power plant obtains the energy single bodies needing power compensation, and power compensation is conducted on the energy single bodies according to the shortest path principle; according to the invention, the exchange base station is arranged to realize mutual power assistance among the distributed power supplies, and local consumption of the power distribution network is facilitated.

The invention provides a large power grid in-situ balance regulation and control method combining load and new energy power prediction, and the method comprises the steps: firstly, precisely predicting the renewable energy power generation power of the next day through employing a wind power and photovoltaic power generation calculation formula based on the weather data of sunlight intensity, wind speed and the like, thereby providing reliable data support for the regulation and control of a power grid; and the uncertainty caused by new energy power generation power fluctuation is effectively reduced. And secondly, by establishing a power distribution network and large power grid exchange power regulation model, quantitatively analyzing the operation characteristics of the power distribution network and the large power grid and the mutual relation thereof, determining the upper and lower limits of power exchange between the power distribution network and the large power grid, and optimizing the configuration of power resources. And finally, safe and stable operation of the power system is ensured, and meanwhile, on-site balance of the large power grid is realized, the operation cost of the large power grid is reduced, and the economic benefit is improved by optimizing scheduling and power exchange.

The invention relates to a DC voltage secondary ripple suppression method. The method comprises the steps of obtaining direct-current bus voltage; subtracting the DC bus voltage from the reference voltage to obtain an error signal; suppressing a fluctuation component corresponding to a target frequency in the error signal through a resonance controller to obtain a first adjusting quantity; performing steady-state adjustment on a direct-current component in the error signal through the adjustment controller to obtain a second adjustment variable; performing phase rotation on the first adjusting quantity at the target frequency through a phase adjuster to obtain the first adjusting quantity after phase adjustment; superposing the first adjusting quantity and the second adjusting quantity after phase adjustment to obtain a target direct current signal; acting the target direct current signal on an inverter to control the inverter to output a target current; the target current is used for adjusting instantaneous active power exchange between the inverter and the alternating current power grid so as to adjust the direct current bus voltage, and the direct current bus voltage without secondary ripples is obtained.

The invention discloses a robot battery replacing method, a robot battery replacing device, a robot and a storage medium. The method comprises the steps that the initial charge state of the robot is acquired; if the initial charge state is smaller than or equal to a first charge state threshold value, generating a battery replacement request for indicating a user to plug a charger to a charging port of the robot; when it is detected that the charging port is connected to a charger, the robot is controlled to be switched from battery circuit power supply to charger circuit power supply; when it is determined that the battery of the robot is replaced, removing prompt information is generated, and the removing prompt information is used for prompting a user to remove the charger from the charging port; and when it is detected that the charger is removed from the charging port, the robot is controlled to be switched from charger circuit power supply to battery circuit power supply. According to the method, the robot is kept in the power-on state all the time in the robot power conversion process, data loss caused by power failure of the robot in the robot power conversion process is avoided, and the power conversion reliability of the robot is improved.