CN103023058A - Control method for high-voltage direct-current flexible system for supplying power to passive network - Google Patents

Control method for high-voltage direct-current flexible system for supplying power to passive network Download PDF

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CN103023058A
CN103023058A CN2013100033208A CN201310003320A CN103023058A CN 103023058 A CN103023058 A CN 103023058A CN 2013100033208 A CN2013100033208 A CN 2013100033208A CN 201310003320 A CN201310003320 A CN 201310003320A CN 103023058 A CN103023058 A CN 103023058A
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CN103023058B (en
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刘英培
栗然
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North China Electric Power University
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Abstract

A control method for a high-voltage direct-current flexible system for supplying power to a passive network includes: arranging a rectifier controller at the head end of a direct-current transmission line of the high-voltage direct-current flexible system, performing constant direct-current voltage control for a VSC (voltage source converter)-rectifier on the alternating-current system side, arranging a VSC-inverter controller at the tail end of the direct-current transmission line, and performing constant direct-current voltage control for the a VSC-inverter. A double closed-loop vector control policy is used for VSC-rectifier constant direct-current voltage control, fuzzy PI (proportional integral) control is used for an outer voltage loop, and current decoupling control is used for an inner voltage loop, so that active power and reactive power are controlled independently. The method avoids complicated offline parameter adjustment of a traditional PI adjustor and is capable of performing online PI parameter adjustment according to changes of the system running state and high in adaptive adjustment capability, the system is higher in response speed and control precision for various interferences and failures, and anti-interference capability and dynamic and steady-state performances of the system are improved.

Description

A kind of flexible DC power transmission system control method to the passive network power supply
Technical field
The present invention relates to the HVDC Transmission Technology field, particularly relate to a kind of flexible DC power transmission system control method to the passive network power supply.
Background technology
Since article one high voltage direct current transmission (HVDC) circuit was put into commercial operation in the world in 1954, HVDC is with its superior function, such as asynchronous networking between remote large volume transport power, AC network etc., be widely used in remote high-power transmission of electricity, submarine cable send electricity, with cable to aspects such as asynchronous contacts between the power supply of high density big city, AC system.But, because traditional HVDC adopts half control type thyristor as change of current device, needs AC network that converting commutating current is provided when commutation, what this just required that converter connects must be active network, the faults such as commutation failure occur in HVDC easily when inverter operation simultaneously.
Development along with power electronic technology, high voltage direct current transmission (VSC-HVDC) based on the voltage-source type converter is that flexible DC power transmission becomes study hotspot, VSC-HVDC has not only fundamentally solved the defective of traditional HVDC, also has the unrivaled advantage of traditional HVDC.The VSC-HVDC system adopts PWM technology and the all-controlling power electronics device take igbt (IGBT) as representative, because the electric current self-switching-off capability of VSC, so that the outstanding feature of VSC-HVDC can be operated in the passive inverter mode exactly, do not need to add commutation voltage, receiving-end system can be passive network, the defective that to have overcome traditional HVDC receiving-end system must be active network can be sent electricity for remote island load.Simultaneously, adopt the PWM technology to realize the decoupling zero control of active power and reactive power, can stablize ac bus voltage, even can when a top-cross streaming system fault, send power by opposite side, the Emergency Assistance of power is provided, and then improves power supply reliability and the quality of power supply.
The VSC-HVDC system is as a kind of New type of transmission, connecting small power station's (such as wind power generation, solar power generation etc.) of disperseing to electrical network, have broad application prospects to fields such as remote island load power supplies.
Decide alternating voltage control to the inversion side employing of passive network power supply VSC-HVDC system, in order to steady load voltage, improve the supply power voltage quality; The rectification side adopts constant DC voltage control, and in order to stable DC voltage, VSC provides voltage support for both sides.The constant DC voltage control strategy adopts the two closed-loop vector controls based on pi regulator usually, and interior ring adopts current feed-forward decoupling zero control, makes active current, reactive current follow the tracks of respectively the output valve of outer shroud voltage regulator and reactive power regulator.Most VSC-HVDC engineering all adopts trial and error procedure or empirical method to choose the pi regulator parameter, in the system debug process, need higher skill and experience, and the adjuster that obtains differs and makes surely systematic function reach optimum state, PI controls poor anti jamming capability, overshoot is large, and adjusts inconvenience.For the such multivariable of VSC-HVDC, close coupling, nonlinear system, pi regulator is difficult to satisfy the requirement of real system under different operating modes.
Summary of the invention
The object of the invention is to the drawback for prior art, providing a kind of can carry out the flexible DC power transmission system control method to the passive network power supply that online PI parameter is regulated according to the variation of system running state, to improve antijamming capability and the moving steady-state behaviour of transmission system.
Problem of the present invention realizes with following technical proposals:
A kind of flexible DC power transmission system control method to the passive network power supply, described method arranges rectifier controller at the DC power transmission line head end of flexible DC power transmission system, VSC-rectifier to the AC system side carries out constant DC voltage control, the DC power transmission line end arranges the VSC-circuit control device, the VSC-inverter is carried out deciding alternating voltage control, described VSC-rectifier constant DC voltage control adopts two closed-loop vector control strategies, wherein outer voltage adopts fuzzy PI hybrid control, interior ring adopts Current Decoupling control, thereby realizes the independent control of active power and reactive power.
Above-mentioned flexible DC power transmission system control method to the passive network power supply, the concrete steps of described VSC-rectifier constant DC voltage control are as follows:
A.
Figure 739641DEST_PATH_IMAGE001
Measurement module detects in real time to the direct voltage of flexible DC power transmission circuit, obtains the direct voltage actual value , and with the direct voltage set-point
Figure 907635DEST_PATH_IMAGE002
Compare, obtain the direct current voltage error signal;
B. the direct current voltage error signal is exported d axis AC current reference value through direct voltage Fuzzy PI Controller and follow-up current limit circuit
Figure 338616DEST_PATH_IMAGE003
C. the instantaneous reactive power computing module calculates according to current system alternating voltage, alternating current and obtains the reactive power actual value
Figure 435885DEST_PATH_IMAGE004
, with the reactive power set-point
Figure 471974DEST_PATH_IMAGE005
Compare, obtain idle error signal;
D. idle error signal obtains q axis AC current reference value through reactive power PI controller and current limit circuit
Figure 629286DEST_PATH_IMAGE006
E.
Figure 16405DEST_PATH_IMAGE003
With
Figure 651786DEST_PATH_IMAGE006
Through interior circular current decoupling zero control circuit output d axis AC voltage reference value
Figure 339119DEST_PATH_IMAGE007
With q axis AC voltage reference value
Figure 136174DEST_PATH_IMAGE008
F.
Figure 100387DEST_PATH_IMAGE007
With
Figure 273879DEST_PATH_IMAGE008
Through the two-phase rotational coordinates be tied to the two-phase rest frame coordinate transform (2r/2s) output two-phase rest frame (
Figure 815719DEST_PATH_IMAGE009
Coordinate system) under
Figure 783675DEST_PATH_IMAGE010
With
Figure 410965DEST_PATH_IMAGE011
G. adopt based on SVPWM (SVPWM) method pair With
Figure 518916DEST_PATH_IMAGE011
Modulate, resulting 6 road pwm signals are controlled respectively 6 IGBT operations of VSC-rectifier.
Above-mentioned flexible DC power transmission system control method to the passive network power supply, described direct voltage Fuzzy PI Controller adopts the second order mode fuzzy controllers, and its input signal is the direct current voltage error signal And rate of change signal
Figure 772359DEST_PATH_IMAGE013
, the specific works step of Fuzzy PI Controller is as follows:
The operation principle of Fuzzy PI Controller is as follows:
1. according to membership function to the input language variable
Figure 553234DEST_PATH_IMAGE014
With
Figure 69666DEST_PATH_IMAGE015
Carry out Fuzzy processing, obtain respectively fuzzy quantity
Figure 379424DEST_PATH_IMAGE016
With
Figure 981307DEST_PATH_IMAGE017
2. according to the fuzzy control rule of formulating pair With Carry out fuzzy reasoning, and the fuzzy quantity of the output of making a strategic decision out;
3. finish by fuzzy quantity to the accurately conversion of amount, the PI parameter of output dc voltage error by the ambiguity solution method , the pi regulator parameter is carried out on-line control.
Above-mentioned flexible DC power transmission system control method to the passive network power supply, described ambiguity solution method adopts weighted mean method.
Above-mentioned flexible DC power transmission system control method to the passive network power supply, the obfuscation of direct current voltage error signal and rate of change signal thereof are conciliate the used membership function of blurring process and are all chosen Triangleshape grade of membership function.
The present invention adopts two closed-loop vector control strategies that rectifier is carried out constant DC voltage control, and wherein outer voltage adopts fuzzy PI hybrid control, and interior ring adopts Current Decoupling control, has realized the independent control of active power and reactive power.Described method has avoided the loaded down with trivial details offline parameter of traditional PI adjuster to regulate, can carry out online PI parameter according to the variation of system running state regulates, adaptive adjustment capability is strong, so that there is the faster control precision of response speed and Geng Gao in system to various interference and fault, improved antijamming capability and the moving steady-state behaviour of system.
Description of drawings
Fig. 1 is provided by the invention to passive network confession power flexible DC power transmission system and rectifier control principle block diagram;
Fig. 2 is direct voltage fuzzy PI hybrid control principle schematic provided by the invention;
Fig. 3 is Triangleshape grade of membership function schematic diagram provided by the invention;
Fig. 4 is the control system hardware circuit implementation schematic diagram of flexible DC power transmission provided by the invention system rectifier;
Used list of reference numerals is in accompanying drawing or the literary composition:
HVDC: high voltage direct current transmission, VSC-HVDC: flexible DC power transmission,
Figure 709911DEST_PATH_IMAGE001
: the direct voltage of flexible DC power transmission circuit,
Figure 98167DEST_PATH_IMAGE002
: the direct voltage set-point,
Figure 323612DEST_PATH_IMAGE004
: the reactive power actual value,
Figure 506332DEST_PATH_IMAGE005
: the reactive power set-point,
Figure 551648DEST_PATH_IMAGE003
: d axis AC current reference value,
Figure 478016DEST_PATH_IMAGE006
: q axis AC current reference value,
Figure 26809DEST_PATH_IMAGE007
: d axis AC voltage reference value, : q axis AC voltage reference value,
: α axis AC voltage reference value under the rest frame,
Figure 377522DEST_PATH_IMAGE011
: β axis AC voltage reference value under the rest frame,
: the direct current voltage error signal,
Figure 836502DEST_PATH_IMAGE015
: the direct current voltage error change rate signal,
Figure 856411DEST_PATH_IMAGE016
:
Figure 859002DEST_PATH_IMAGE014
Fuzzy quantity, :
Figure 608969DEST_PATH_IMAGE015
Fuzzy quantity,
Figure 850595DEST_PATH_IMAGE018
: the pi regulator parameter,
Figure 922456DEST_PATH_IMAGE019
: AC system voltage,
Figure 831506DEST_PATH_IMAGE020
: VSC-rectifier AC voltage;
1, AC system, 2, the AC filter, 3, converter reactor, 4, the VSC-rectifier, 5, capacitor, 6, earth electrode, 7, DC power transmission line, 8, capacitor, 9, the VSC-inverter, 10, converter reactor, 11, the AC filter, 12, the far-end load.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Referring to Fig. 1, flexible DC power transmission of the present invention system comprises:
AC system 1 is connected with the AC filter.
AC filter 2 is connected with converter reactor 3 with AC system 1, is used for filtering AC harmonic wave.
Converter reactor 3 is connected with VSC-rectifier 4 with AC filter 2, is the tie of AC and converter energy exchange, also plays certain filter action simultaneously.
VSC-rectifier 4 is connected with capacitor 5 with converter reactor 3, and this VSC runs on rectification state, is used for the alternating current of AC system 1 is converted to direct current, is transported on the DC power transmission line 7.
Capacitor 5 is connected with DC power transmission line 7 with VSC-rectifier 4, supports for two ends VSC provides direct voltage, and the impulse current when the simultaneous buffering converter bridge arm is turn-offed also can play certain filter action.
Earth electrode 6 is used to direct voltage to provide with reference to zero potential, and DC transmission system adopts bipolar operation.
DC power transmission line 7 is connected with VSC-rectifier 4, capacitor 5, capacitor 8 and VSC-inverter 9, connects two ends VSC, is used for the direct current power transmission.
VSC-inverter 9 is connected with capacitor 8, DC power transmission line 7 and converter reactor 10, and this VSC runs on inverter mode, is used for the direct current on the DC power transmission line is converted to alternating current, supplies with the far-end island load.
The far-end load is connected with AC filter 11, is one and exchanges power load.
Referring to Fig. 1, VSC-rectifier provided by the present invention is decided the direct voltage Fuzzy PI and is adopted two closed-loop vector control strategies, comprises the steps:
The first step: Measuring circuit detects in real time to direct voltage, obtains the direct voltage actual value
Figure 426752DEST_PATH_IMAGE001
, and with the direct voltage set-point
Figure 302305DEST_PATH_IMAGE002
Compare, obtain the direct current voltage error signal;
Second step: the direct current voltage error signal is exported d axis AC current reference value through direct voltage fuzzy PI hybrid control and follow-up current limit circuit
Figure 800282DEST_PATH_IMAGE003
The 3rd step: the instantaneous reactive power computing module calculates according to current system alternating voltage, alternating current and obtains the reactive power actual value
Figure 837508DEST_PATH_IMAGE004
, with the reactive power set-point
Figure 584884DEST_PATH_IMAGE005
Compare, obtain idle error signal;
The 4th step: idle error signal obtains q axis AC current reference value through reactive power PI control and current limit circuit
Figure 998548DEST_PATH_IMAGE006
The 5th step:
Figure 882190DEST_PATH_IMAGE003
With
Figure 90318DEST_PATH_IMAGE006
Through interior circular current decoupling zero control output d axis AC voltage reference value
Figure 59411DEST_PATH_IMAGE007
With q axis AC voltage reference value
Figure 745607DEST_PATH_IMAGE008
The 6th step:
Figure 483756DEST_PATH_IMAGE007
With Through the two-phase rotational coordinates be tied to the two-phase rest frame coordinate transform (2r/2s) output two-phase rest frame ( Coordinate system) under
Figure 809061DEST_PATH_IMAGE010
With
Figure 136137DEST_PATH_IMAGE011
The 7th step:
Figure 951646DEST_PATH_IMAGE010
With
Figure 98594DEST_PATH_IMAGE011
Adopt based on SVPWM (SVPWM) method, export 6 IGBT operations of 6 road PWM control VSC-rectifier.
Described direct voltage fuzzy PI hybrid control can guarantee control precision and the control effect of direct voltage according to the different operating condition on-line control PI of system parameter, has improved system response time and antijamming capability.
Described employing current limit circuit, because external interference may produce very high transient current, this will cause two ends VSC overload, and then destroy power electronic device, so the current limit circuit is arranged, when very high transient current produces, limits it and be the upper current limit value.
Described employing SVPWM method has guaranteed that VSC-rectifier switch frequency is constant, and the harmonic wave of generation is less.
Above-mentioned seven steps decide the direct voltage fuzzy PI hybrid control and realize by software programming, and are carried out by digital signal processor (DSP).
Referring to Fig. 2, be direct voltage fuzzy PI hybrid control principle schematic.
Dotted line institute frame partly is direct voltage Fuzzy PI Controller internal structure among Fig. 2.Realization is to the pi regulator parameter
Figure 657751DEST_PATH_IMAGE018
Real-time online regulate.The present invention adopts the second order mode fuzzy controllers, so its input signal is the direct current voltage error signal
Figure 370492DEST_PATH_IMAGE012
And rate of change signal
Figure 825745DEST_PATH_IMAGE013
, this structure has reflected that fuzzy controller has the nonlinear PD control rule, thereby is conducive to guarantee Systems balanth, and can reduce the overshoot of response process and slacken its oscillatory occurences.
Figure 256726DEST_PATH_IMAGE014
With Through obfuscation, fuzzy reasoning and three processes of ambiguity solution, the PI parameter of direct current voltage error this moment is regulated in final output
Figure 390084DEST_PATH_IMAGE018
, the pi regulator parameter is carried out on-line control.
Need to prove that the input language variable of fuzzy controller is
Figure 547396DEST_PATH_IMAGE014
With , the output language variable is
Figure 569896DEST_PATH_IMAGE018
The Linguistic Value of linguistic variable is more, then formulates control law Vietnamese side just, becomes more complicated but fuzzy control rule is corresponding; Linguistic Value is very few, becomes coarse so that describe variable, causes the performance depreciation of controller.So the present invention is for the input language variable
Figure 726070DEST_PATH_IMAGE014
,
Figure 54283DEST_PATH_IMAGE015
And output variable
Figure 194278DEST_PATH_IMAGE018
All choose seven Linguistic Values, be respectively: " in negative large, negative, negative little, zero, just little, center, honest ".
With reference to figure 3, obfuscation of the present invention is conciliate the used membership function of blurring process and is all chosen Triangleshape grade of membership function.Among Fig. 3, ordinate is exact value
Figure 102191DEST_PATH_IMAGE021
Degree of membership.Seven selected Linguistic Values " in negative large, negative, negative little, zero, just little, center, honest " correspond respectively to " NB, NM, NS, ZE, PS, PM, PB " in Fig. 3.
The operation principle of Fuzzy PI Controller is as follows:
The first step: input language variable With
Figure 611987DEST_PATH_IMAGE015
Carry out obtaining respectively fuzzy quantity after the Fuzzy processing according to membership function
Figure 239277DEST_PATH_IMAGE016
With
Second step: will
Figure 612807DEST_PATH_IMAGE016
With
Figure 282822DEST_PATH_IMAGE017
Carry out fuzzy reasoning, namely carry out fuzzy reasoning according to the fuzzy control rule of formulating, and the fuzzy quantity of the output of making a strategic decision out;
Need to prove that the formulation of fuzzy control rule and fuzzy reasoning decision-making are the key components of design of Fuzzy Controller, it directly affects the quality of control system.Among the present invention, different
Figure 600671DEST_PATH_IMAGE022
Lower, the principle that fuzzy control rule is set is:
(1) when
Figure 647125DEST_PATH_IMAGE016
Larger, have preferably fast tracking performance for making system, should get larger
Figure 632398DEST_PATH_IMAGE023
, for fear of system responses larger overshoot appears simultaneously, and the reply integral action is limited, and usually gets
(2) when
Figure 809619DEST_PATH_IMAGE016
When being in median size, have less overshoot for making system, should get less
Figure 863025DEST_PATH_IMAGE023
With suitable
Figure 233964DEST_PATH_IMAGE025
(3) when
Figure 714624DEST_PATH_IMAGE016
Hour, have preferably steady-state behaviour for making system, should get larger
Figure 803803DEST_PATH_IMAGE023
With
The 3rd step: the output fuzzy quantity is carried out defuzzification, namely finish by fuzzy quantity to the accurately conversion of amount, output parameter by the ambiguity solution method , the pi regulator parameter is carried out on-line control.Ambiguity solution method of the present invention adopts weighted mean method.
With reference to figure 4, be the control system hardware circuit implementation schematic diagram of flexible DC power transmission system rectifier.Comprise:
Voltage detecting is for detection of AC system voltage , VSC-rectifier AC voltage
Figure 848802DEST_PATH_IMAGE020
And direct voltage
Figure 775170DEST_PATH_IMAGE001
Figure 589542DEST_PATH_IMAGE019
With
Figure 943163DEST_PATH_IMAGE020
Being used for reactive power calculates.
The voltage modulate circuit is transformed into the receptible voltage range of DSP to the magnitude of voltage of voltage detection module output (within 0 ~ 3V).
Current detecting is for detection of the three-phase current of AC system
Figure 741355DEST_PATH_IMAGE026
, be used for reactive power and calculate.
The voltage modulate circuit is transformed into the receptible voltage range of DSP to the magnitude of voltage of current detection module output (within 0 ~ 3V).
The present invention adopts DSP TMS320F2812 as control chip, and there are ADC module, EV module etc. in its inside.Adopt the inner ADC module of DSP to realize that analog signal is to the conversion of digital signal.
The VSC-rectifier is decided direct voltage fuzzy PI hybrid control strategy common software programming realization, is carried out the program of writing by DSP.DSP is by the final output of EV module 6 road PWM, because the supply power voltage of dsp chip is 0 ~ 3V, this 6 road PWM can not directly drive the VSC-rectifier.
The driving isolation circuit is used for the VSC-rectifier is raised and then driven to 6 road PWM level of DSP output; Play simultaneously the buffer action of weak electric signal and forceful electric power, avoid forceful electric power to affect weak electric signal.
In sum, compared with prior art, the constant DC voltage control of rectifier provided by the invention adopts two closed-loop vector control strategies, wherein outer voltage adopts fuzzy PI hybrid control, interior ring adopts Current Decoupling control, realized the independent control of active power and reactive power, described method has avoided the loaded down with trivial details offline parameter of traditional PI adjuster to regulate, can carry out online PI parameter according to the variation of system running state regulates, adaptive adjustment capability is strong, so that there is the faster control precision of response speed and Geng Gao in system to various interference and fault, improved antijamming capability and the moving steady-state behaviour of system.

Claims (5)

1. flexible DC power transmission system control method to passive network power supply, it is characterized in that, described method arranges rectifier controller at the DC power transmission line head end of flexible DC power transmission system, VSC-rectifier to the AC system side carries out constant DC voltage control, the DC power transmission line end arranges circuit control device, the VSC-inverter is carried out deciding alternating voltage control, described VSC-rectifier constant DC voltage control adopts two closed-loop vector control strategies, wherein outer voltage adopts fuzzy PI hybrid control, interior ring adopts Current Decoupling control, thereby realizes the independent control of active power and reactive power.
2. a kind of flexible DC power transmission system control method to passive network power supply according to claim 1 is characterized in that the concrete steps of described VSC-rectifier constant DC voltage control are as follows:
A. the direct voltage of flexible DC power transmission circuit detected in real time, obtained the direct voltage actual value
Figure 2013100033208100001DEST_PATH_IMAGE001
, and with the direct voltage set-point
Figure 668451DEST_PATH_IMAGE002
Compare, obtain the direct current voltage error signal;
B. the direct current voltage error signal is exported d axis AC current reference value through direct voltage Fuzzy PI Controller and follow-up current limit circuit
Figure 2013100033208100001DEST_PATH_IMAGE003
C. calculate according to current system alternating voltage, alternating current and obtain the reactive power actual value
Figure 83252DEST_PATH_IMAGE004
, with the reactive power set-point
Figure 2013100033208100001DEST_PATH_IMAGE005
Compare, obtain idle error signal;
D. idle error signal obtains q axis AC current reference value through reactive power PI controller and current limit circuit
Figure 88117DEST_PATH_IMAGE006
E.
Figure 57210DEST_PATH_IMAGE003
With Through interior circular current decoupling zero control circuit output d axis AC voltage reference value
Figure 2013100033208100001DEST_PATH_IMAGE007
With q axis AC voltage reference value
Figure 12713DEST_PATH_IMAGE008
F. With
Figure 316973DEST_PATH_IMAGE008
Through the two-phase rotational coordinates be tied to the two-phase rest frame coordinate transform (2r/2s) output two-phase rest frame (
Figure 2013100033208100001DEST_PATH_IMAGE009
Coordinate system) under
Figure 72439DEST_PATH_IMAGE010
With
G. adopt based on SVPWM (SVPWM) method pair
Figure 930674DEST_PATH_IMAGE010
With
Figure 746183DEST_PATH_IMAGE011
Modulate, resulting 6 road pwm signals are controlled respectively 6 IGBT operations of VSC-rectifier.
3. a kind of flexible DC power transmission system control method to the passive network power supply according to claim 2 is characterized in that described direct voltage Fuzzy PI Controller adopts the second order mode fuzzy controllers, and its input signal is the direct current voltage error signal And rate of change signal
Figure 2013100033208100001DEST_PATH_IMAGE013
4. a kind of flexible DC power transmission system control method to the passive network power supply according to claim 3 is characterized in that described ambiguity solution method adopts weighted mean method.
5. a kind of flexible DC power transmission system control method to passive network power supply according to claim 4, it is characterized in that the obfuscation of direct current voltage error signal and rate of change signal thereof is conciliate the used membership function of blurring process and all chosen Triangleshape grade of membership function.
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CN108206533A (en) * 2018-03-12 2018-06-26 长沙理工大学 A kind of flexible direct current power transmission system Inverter control parameter tuning method
CN110148953A (en) * 2019-05-30 2019-08-20 国家电网有限公司 A kind of additional wind-powered electricity generation undulated control method suitable for flexible direct current high speed loop
CN113555860A (en) * 2021-07-28 2021-10-26 国网甘肃省电力公司 Improved bridge type superconducting fault current limiter and resistance value adjusting method thereof
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