CN102290824A - Control method for stabilizing power fluctuation of wind power generating set - Google Patents

Control method for stabilizing power fluctuation of wind power generating set Download PDF

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CN102290824A
CN102290824A CN201110216886XA CN201110216886A CN102290824A CN 102290824 A CN102290824 A CN 102290824A CN 201110216886X A CN201110216886X A CN 201110216886XA CN 201110216886 A CN201110216886 A CN 201110216886A CN 102290824 A CN102290824 A CN 102290824A
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power
wind
energy storage
storage system
liquid vanadium
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CN102290824B (en
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王湘明
郭成广
董磊书
孙东华
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AUTOCONTROL TECHNOLOGY INSTITUTE OF SHENYANG UNIVERSITY OF TECHNOLOGY
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/76—Power conversion electric or electronic aspects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/10—Flexible AC transmission systems [FACTS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/40—Arrangements for reducing harmonics
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E70/00—Other energy conversion or management systems reducing GHG emissions
    • Y02E70/30—Systems combining energy storage with energy generation of non-fossil origin

Abstract

The invention discloses a control method for stabilizing power fluctuation of a wind power generating set and belongs to the technical field of wind power generation. The control method comprises the following steps of: 1, setting a battery management mechanism of a vanadium ion redox battery energy storage system; 2, regulating active power of the wind power generating set by using a first-order Butterworth low-pass filter; 3, determining active power compensated or absorbed by the vanadium ion redox battery energy storage system; 4, controlling transducers in a wind power generator and a single battery; 5, performing stabilizing control on grid-connected power of the whole wind power generating set by using the independent vanadium ion redox battery energy storage system; and 6, establishing a power control model of the vanadium ion redox battery energy storage system. The control method for stabilizing the power fluctuation of the wind power generating set has the advantages that: the stability of a grid-connected wind power generating set is improved; the control method is easy to realize; the problem that a strongly coupled system is difficult to control is solved; the stability of the wind power generating set can be effectively improved after the system has a fault; and the power output of the wind power generating set can be stabilized under quick disturbance of wind, so that the impact of the power fluctuation on a power grid is reduced.

Description

A kind of control method of stabilizing the fluctuation of the wind-powered electricity generation power of the assembling unit
Technical field
The invention belongs to technical field of wind power generation, particularly a kind of control method of stabilizing the fluctuation of the wind-powered electricity generation power of the assembling unit.
Background technology
The bottleneck that has become the restriction national economy sustainable development in short supply of electric power, in recent years, based on wind energy, the distributed power supply technology of renewable energy power generations such as solar energy has become the development priority of energy field.But because wind power generation has unstable and discontinuous intermittent characteristics, make large-scale wind power insert the stable operation that has had a strong impact on electrical network, moreover, many at present employings are directly regulated the mode of wind turbine running status or are come level and smooth its power output in conjunction with variable pitch and speed Control, but the regulating power of the method is very limited, can not guarantee to generate electricity and power continuously and steadily.
Summary of the invention
At the deficiency that prior art exists, the invention provides a kind of control method of stabilizing the fluctuation of the wind-powered electricity generation power of the assembling unit.
This control method based on the liquid vanadium energy storage system comprise wind-driven generator, controller, AC-DC converter, DC-AC converter, liquid vanadium cell, detection module 1 and detection module 2;
Detection module 1 is connected three phase network and wind-driven generator with detection module 2, the AC-DC converter is connected three phase network with the DC-AC converter, the liquid vanadium cell connects AC-DC converter and DC-AC converter, and controller is connection detection module 1, detection module 2, AC-DC converter, DC-AC converter and liquid vanadium cell respectively.
A kind of control method of stabilizing the fluctuation of the wind-powered electricity generation power of the assembling unit may further comprise the steps:
Step 1, the battery management mechanism of liquid vanadium energy storage system is set: provide instruction by controller, the charging voltage upper limit of monomer liquid vanadium cell is set, the discharge voltage lower limit, the setting controller rule makes it reach following target: if charging voltage is greater than the higher limit of terminal voltage, then stop charging, if charging voltage is lower than the lower limit of discharge voltage, even then discharge is the given signal of reference of monomer liquid vanadium cell active power
Figure BDA0000079736930000011
The given signal of reference of monomer liquid vanadium cell reactive power
Figure BDA0000079736930000012
Step 2, the active power that the single order Butterworth LPF is regulated the output of wind-powered electricity generation unit of passing through, the active power of output after filter process is as the given signal of reference of the active power of active power adjusting
Step 3, stabilize wind-powered electricity generation power of the assembling unit fluctuation control principle according to the liquid vanadium energy storage system, determine compensation of liquid vanadium energy storage system or the reactive power that absorbs, when the active power of output of wind-powered electricity generation unit during constantly through the active power of low pass filter output, needs the unnecessary power of control liquid vanadium energy storage system fast Absorption greater than this; Otherwise the liquid vanadium energy storage system needs to replenish fast the active power of difference, and it is P that the liquid vanadium energy storage system is stabilized wind-powered electricity generation power of the assembling unit fluctuation control principle Grid=P W+ P Ess, P WBe the active power of wind-driven generator output, P GridBe the power of input electrical network, P EssFor the liquid vanadium energy storage system is sent or power absorbed;
The frequency converter of step 4, control wind-driven generator and cell inside is determined by value and power reference according to the current reference value of four-quadrant frequency converter, sets up inverter current with reference to rule:
i dref * = ( P ref * - P ) / u d i qref * = ( Q ref * - Q ) / u d
In the following formula,
Figure BDA0000079736930000022
Given signal for the d shaft current;
Figure BDA0000079736930000023
Be the given signal of the reference of active power; P is measured actual active power; u dBe grid side d shaft voltage; Be the given signal of the reference of reactive power; Q is measured actual reactive power;
Step 5, be target with the wind-powered electricity generation unit power output after stabilizing, single wind-powered electricity generation unit as generator unit, the liquid vanadium energy storage system is configured in the bus position that the wind-powered electricity generation unit inserts electrical network, adopts independently the liquid vanadium energy storage system that the power that is incorporated into the power networks of whole wind group of motors is stabilized control; Thereby improve the fail safe and the reliability of wind-powered electricity generation set grid-connection.
Step 6, set up the power controlling models of liquid vanadium energy storage system, as shown in Figure 1:
The active power P of wind-powered electricity generation unit output wThrough after the Filtering Processing, as the given signal of the reference of active power
Figure BDA0000079736930000025
The given signal of the reference of active power The active power that will stabilize with the liquid vanadium cell relatively after, with d shaft voltage u dDoing the ratio computing, to obtain the electric current of d axle given
Figure BDA0000079736930000027
With the required i that stabilizes dRelatively the back is used for controlling the voltage given of d axle as the input of PI voltage regulator
Figure BDA0000079736930000028
And then with the given signal of being exported by reactive power outer shroud adjuster of q shaft voltage
Figure BDA0000079736930000029
Together control the pulse generator of SVPWM module, realize the independent control of active power and reactive power, when electrical network normally moved, the reactive power of setting combining inverter was output as 0.
Advantage of the present invention: the present invention can improve the stability of grid connected wind power unit by setting up corresponding wind-powered electricity generation unit and liquid vanadium cell Mathematical Modeling.Control method realizes simple, by the decoupling zero to electric current, respectively meritorious and reactive power is carried out decoupling zero, has overcome the difficult problem of strongly coupled system control.Can after breaking down, system effectively improve the wind-powered electricity generation set steady.Can under quick wind disturbance, the smooth wind power power of the assembling unit export, reduce the impact of power fluctuation electrical network.
Description of drawings
Fig. 1 is the power controlling models schematic diagram of liquid vanadium energy storage system of the present invention;
Fig. 2 is the structural representation of liquid vanadium energy storage system of the present invention;
Fig. 3 is that liquid vanadium energy storage system of the present invention is stabilized wind-powered electricity generation power of the assembling unit fluctuation control principle figure;
Fig. 4 is a control method flow chart of the present invention;
Fig. 5 is the fundamental diagram of liquid vanadium cell of the present invention.
Embodiment
The present invention is described in detail with Figure of description in conjunction with specific embodiments.
This control method based on the liquid vanadium energy storage system as shown in Figure 2, comprise wind-driven generator, controller, AC-DC converter, DC-AC converter, liquid vanadium cell, detection module 1 and detection module 2;
Wherein detection module 1 and detection module 2 are all selected WE150 type detection module for use, and AC-DC converter and DC-AC converter are all selected the WE300 converter for use, and controller is selected the WE-1000 controller for use, and the liquid vanadium cell is selected VRB-4000 liquid vanadium cell for use;
Detection module 1 is connected three phase network and wind-driven generator with detection module 2, the AC-DC converter is connected three phase network with the DC-AC converter, the liquid vanadium cell connects AC-DC converter and DC-AC converter, and controller is connection detection module 1, detection module 2, AC-DC converter, DC-AC converter and liquid vanadium cell respectively.
A kind of control method of stabilizing the fluctuation of the wind-powered electricity generation power of the assembling unit may further comprise the steps: as shown in Figure 4,
Step 1, the battery management mechanism of liquid vanadium energy storage system is set: provide instruction by controller WE-1000 controller, the charging voltage upper limit that the monomer vanadium cell is set is no more than 1.75V, and the discharge voltage lower limit is not less than 0.8V.The setting controller rule makes it reach following target: if charging voltage greater than the higher limit of terminal voltage or be lower than the lower limit of discharge voltage, then stops charging and discharge, even the active power of battery output and input is given The reactive power of battery output and input is given Q ref * = 0 ;
Step 2, the active power that the single order Butterworth LPF is regulated the output of wind-powered electricity generation unit of passing through, in the active power of wind-powered electricity generation unit output, the composition of frequency more than 0.01Hz is bigger to electric network influencing, and the output after filter process is given as the active power adjusting
Figure BDA0000079736930000033
Step 3, stabilize wind-powered electricity generation power of the assembling unit fluctuation control principle according to the liquid vanadium energy storage system and determine compensation of liquid vanadium energy storage system or the reactive power that absorbs, as shown in Figure 3, among the figure, it is P that the liquid vanadium energy storage system is stabilized wind-powered electricity generation power of the assembling unit fluctuation control principle Grid=P W+ P Ess, P WBe the active power of wind-driven generator output, P GridBe the power of input electrical network, P EssFor the liquid vanadium energy storage system is sent or power absorbed.When the active power of output of wind-powered electricity generation unit during constantly through the active power of low pass filter output, needs the unnecessary power of control liquid vanadium energy storage system fast Absorption greater than this; Otherwise the liquid vanadium energy storage system needs to replenish fast the active power of difference; As shown in Figure 5, liquid vanadium cell operation principle is as follows:
The reaction that takes place when the liquid vanadium cell discharges and recharges can be expressed as:
Anodal:
Figure BDA0000079736930000034
Negative pole:
Figure BDA0000079736930000035
Its operation principle is: the liquid vanadium cell is the cell reaction active material with the vanadium ion solution of different valence state, and both positive and negative polarity electrolyte is stored in respectively in two fluid reservoirs.During work, inject the electrolyte into pile, separate with ionic membrane between the pile both positive and negative polarity by pump.When battery operated, the conducting by the cationic directional migration in the electrolyte.The gross energy of VRB depends on active chemistry quantity; Gross power is directly proportional with battery pile motor area; Discharge and recharge the circulation rate decision of maximum rate by pump;
The frequency converter of step 4, control wind-driven generator and liquid vanadium cell inside is determined by value and power reference according to the current reference value of four-quadrant frequency converter, sets up inverter current with reference to rule:
i dref * = ( P ref * - P ) / u d i qref * = ( Q ref * - Q ) / u d
In the following formula,
Figure BDA0000079736930000042
Given signal for the d shaft current;
Figure BDA0000079736930000043
Be the given signal of the reference of active power; P is measured actual active power; u dBe grid side d shaft voltage;
Figure BDA0000079736930000044
Be the given signal of the reference of reactive power; Q is measured actual reactive power;
Step 5, be target with the wind-powered electricity generation unit power output after stabilizing, single wind-powered electricity generation unit as generator unit, the liquid vanadium energy storage system is configured in the bus position that the wind-powered electricity generation unit inserts electrical network, adopt independently the liquid vanadium energy storage system that the power that is incorporated into the power networks of whole wind group of motors is stabilized control, thereby improve the fail safe and the reliability of wind-powered electricity generation set grid-connection;
Step 6, set up the power controlling models of liquid vanadium energy storage system, as shown in Figure 1:
The active power P of wind-powered electricity generation unit output wThrough after the Filtering Processing, as the reference-input signal of active power outer shroud adjuster
Figure BDA0000079736930000045
The active power that will stabilize with the liquid vanadium cell relatively after, with d shaft voltage u dDoing the ratio computing, to obtain the electric current of d axle given
Figure BDA0000079736930000046
With the required i that stabilizes dRelatively the back is used for controlling the voltage given of d axle as the input of PI voltage regulator
Figure BDA0000079736930000047
And then with the given signal of being exported by reactive power outer shroud adjuster of q shaft voltage
Figure BDA0000079736930000048
Together control the pulse generator of SVPWM module, realize the independent control of active power and reactive power.When electrical network normally moved, the reactive power of setting combining inverter was output as 0.
In the test, drag the 10kw asynchronous generator as prime mover, utilize the WE-1000 controller to regulate frequency converter to regulate the rotating speed of dragging motor, the accidental fluctuation of simulation wind speed with the 15kw asynchronous machine.After the rotating speed of dragging motor produces the accidental fluctuation effect by Frequency Converter Control, the fluctuation that utilizes liquid vanadium energy storage system control strategy to stabilize output of a generator, after the liquid vanadium energy storage system is stabilized, the power that generating set is input to electrical network becomes smoother, has reduced the impact to electrical network.

Claims (2)

1. stabilize the control method that the wind-powered electricity generation power of the assembling unit fluctuates for one kind, it is characterized in that: adopt the liquid vanadium energy storage system, carry out as follows:
Step 1, the battery management mechanism of liquid vanadium energy storage system is set: provide instruction by controller, the charging voltage upper limit of monomer liquid vanadium cell is set, the discharge voltage lower limit, the setting controller rule makes it reach following target: if charging voltage is greater than the higher limit of terminal voltage, then stop charging, if charging voltage is lower than the lower limit of discharge voltage, even then discharge is the given signal of reference of monomer liquid vanadium cell active power
Figure FDA0000079736920000011
The given signal of reference of monomer liquid vanadium cell reactive power
Figure FDA0000079736920000012
Step 2, the active power that the single order Butterworth LPF is regulated the output of wind-powered electricity generation unit of passing through, the active power of output after filter process is as the given signal of reference of the active power of active power adjusting
Figure FDA0000079736920000013
Step 3, stabilize wind-powered electricity generation power of the assembling unit fluctuation control principle according to the liquid vanadium energy storage system, determine compensation of liquid vanadium energy storage system or the reactive power that absorbs, when the active power of output of wind-powered electricity generation unit during constantly through the active power of low pass filter output, needs the unnecessary power of control liquid vanadium energy storage system fast Absorption greater than this; Otherwise the liquid vanadium energy storage system needs to replenish fast the active power of difference, and it is P that the liquid vanadium energy storage system is stabilized wind-powered electricity generation power of the assembling unit fluctuation control principle Grid=P W+ P Ess, P WBe the active power of wind-driven generator output, P GridBe the power of input electrical network, P EssFor the liquid vanadium energy storage system is sent or power absorbed;
The frequency converter of step 4, control wind-driven generator and cell inside is determined by value and power reference according to the current reference value of four-quadrant frequency converter, sets up inverter current with reference to rule:
i dref * = ( P ref * - P ) / u d i qref * = ( Q ref * - Q ) / u d
In the following formula,
Figure FDA0000079736920000015
Given signal for the d shaft current;
Figure FDA0000079736920000016
Be the given signal of the reference of active power; P is measured actual active power; u dBe grid side d shaft voltage;
Figure FDA0000079736920000017
Be the given signal of the reference of reactive power; Q is measured actual reactive power;
Step 5, be target with the wind-powered electricity generation unit power output after stabilizing, single wind-powered electricity generation unit as generator unit, the liquid vanadium energy storage system is configured in the bus position that the wind-powered electricity generation unit inserts electrical network, adopts independently the liquid vanadium energy storage system that the power that is incorporated into the power networks of whole wind group of motors is stabilized control;
Step 6, set up the power controlling models of liquid vanadium energy storage system
The active power P of wind-powered electricity generation unit output wThrough after the Filtering Processing, as the given signal of the reference of active power
Figure FDA0000079736920000018
The given signal of the reference of active power
Figure FDA0000079736920000019
The active power that will stabilize with the liquid vanadium cell relatively after, with d shaft voltage u dDoing the ratio computing, to obtain the electric current of d axle given
Figure FDA0000079736920000021
With the required i that stabilizes dRelatively the back is used for controlling the voltage given of d axle as the input of PI voltage regulator
Figure FDA0000079736920000022
And then with the given signal of being exported by reactive power outer shroud adjuster of q shaft voltage Together control the pulse generator of SVPWM module, realize the independent control of active power and reactive power, when electrical network normally moved, the reactive power of setting combining inverter was output as 0.
2. the 1 described control method of stabilizing wind-powered electricity generation power of the assembling unit fluctuation as requested, it is characterized in that: the liquid vanadium energy storage system that is adopted comprises wind-driven generator, controller, AC-DC converter, DC-AC converter, liquid vanadium cell, detection module 1 and detection module 2;
Detection module 1 is connected three phase network and wind-driven generator with detection module 2, the AC-DC converter is connected three phase network with the DC-AC converter, the liquid vanadium cell connects AC-DC converter and DC-AC converter, and controller is connection detection module 1, detection module 2, AC-DC converter, DC-AC converter and liquid vanadium cell respectively.
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CN103117699A (en) * 2013-01-31 2013-05-22 浙江大学 Control method based on dual-vector resonance adjusting double-fed asynchronous wind driven generator
CN103606940A (en) * 2013-11-05 2014-02-26 国电南瑞科技股份有限公司 Distributed power stabilizing method applied in micro grid
CN103730902A (en) * 2013-11-26 2014-04-16 国家电网公司 Method and device for guiding force exertion of energy storage system for stabilizing wind and light power fluctuation
CN103954916A (en) * 2014-05-20 2014-07-30 国家电网公司 Wind and light energy storage power station battery monitoring system and monitoring method
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CN108199382A (en) * 2017-12-29 2018-06-22 重庆大学 Double-fed fan motor field fluctuations in wind speed emergency control method based on dynamic reactive constraint
CN111009908A (en) * 2018-12-20 2020-04-14 国网上海市电力公司 Scheme for realizing low-power phase modulation operation of gas turbine by utilizing electrical energy storage
CN111245019A (en) * 2020-03-09 2020-06-05 内蒙古工业大学 Hybrid energy storage control method and system for stabilizing wind power generation power fluctuation
CN113872475A (en) * 2021-09-29 2021-12-31 上海电气风电集团股份有限公司 Wind generating set, control method and device thereof and computer readable storage medium

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CN102593855A (en) * 2012-02-17 2012-07-18 合肥工业大学 Method for stabilizing fluctuation of output power of renewable energy power supply in power system
CN102664421B (en) * 2012-05-11 2014-09-24 中国电力科学研究院 Energy storage battery system power giving method for stabilizing wind power grid connection power fluctuation
CN102664421A (en) * 2012-05-11 2012-09-12 中国电力科学研究院 Energy storage battery system power giving method for stabilizing wind power grid connection power fluctuation
CN103036244A (en) * 2012-12-07 2013-04-10 重庆大学 Power optimal distribution control method of energy storage of all-vanadium redox flow battery used in high-capacity wind power plant
CN103117699A (en) * 2013-01-31 2013-05-22 浙江大学 Control method based on dual-vector resonance adjusting double-fed asynchronous wind driven generator
CN103117699B (en) * 2013-01-31 2015-03-18 浙江大学 Control method based on dual-vector resonance adjusting double-fed asynchronous wind driven generator
CN103606940A (en) * 2013-11-05 2014-02-26 国电南瑞科技股份有限公司 Distributed power stabilizing method applied in micro grid
CN103606940B (en) * 2013-11-05 2016-03-02 国电南瑞科技股份有限公司 A kind of distributed electrical source power being applied to micro-capacitance sensor stabilizes method
CN103730902A (en) * 2013-11-26 2014-04-16 国家电网公司 Method and device for guiding force exertion of energy storage system for stabilizing wind and light power fluctuation
CN103954916A (en) * 2014-05-20 2014-07-30 国家电网公司 Wind and light energy storage power station battery monitoring system and monitoring method
CN105186560A (en) * 2015-09-02 2015-12-23 国网上海市电力公司 Control method for stabilizing wind power fluctuation
CN108199382A (en) * 2017-12-29 2018-06-22 重庆大学 Double-fed fan motor field fluctuations in wind speed emergency control method based on dynamic reactive constraint
CN108199382B (en) * 2017-12-29 2020-09-22 重庆大学 Doubly-fed wind power plant wind speed fluctuation emergency control method based on dynamic reactive power constraint
CN111009908A (en) * 2018-12-20 2020-04-14 国网上海市电力公司 Scheme for realizing low-power phase modulation operation of gas turbine by utilizing electrical energy storage
CN111245019A (en) * 2020-03-09 2020-06-05 内蒙古工业大学 Hybrid energy storage control method and system for stabilizing wind power generation power fluctuation
CN113872475A (en) * 2021-09-29 2021-12-31 上海电气风电集团股份有限公司 Wind generating set, control method and device thereof and computer readable storage medium
CN113872475B (en) * 2021-09-29 2024-03-22 上海电气风电集团股份有限公司 Wind generating set, control method and device thereof and computer readable storage medium

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