CN106506237B - A kind of Fault Locating Method and device of substation communication network - Google Patents
A kind of Fault Locating Method and device of substation communication network Download PDFInfo
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- CN106506237B CN106506237B CN201611123446.9A CN201611123446A CN106506237B CN 106506237 B CN106506237 B CN 106506237B CN 201611123446 A CN201611123446 A CN 201611123446A CN 106506237 B CN106506237 B CN 106506237B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
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- H—ELECTRICITY
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- H04B3/00—Line transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0631—Management of faults, events, alarms or notifications using root cause analysis; using analysis of correlation between notifications, alarms or events based on decision criteria, e.g. hierarchy, tree or time analysis
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0677—Localisation of faults
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Abstract
The embodiment of the invention provides a kind of Fault Locating Method of substation communication network and devices, can not analyze the technical issues of position occurs in it for solving existing network message analyzer.The method comprise the steps that obtaining network connection matrix according to the topology information of intelligent substation communication network, the transmission path of each link packet is obtained according to the topology and message transmissions mode of intelligent substation communication network and forms corresponding message transmissions path matrix, calculate by the first formula in the fault location matrix in first formula that there are location of faults in the maximum element of numerical value and the corresponding network of determination according to the network connection matrix and the message transmissions path matrix, the technical issues of position occurs in it can not be analyzed by solving existing network message analyzer.
Description
Technical field
The present invention relates to communication network failure positioning field more particularly to a kind of fault location sides of substation communication network
Method and device.
Background technique
Under intelligent substation technology mode, exchange network is instead of cable connection complicated in conventional substation, significantly
The capability of information sharing between station equipment is improved, for the realization more protection control strategy of advanced intelligent and more efficiently
Operation and maintenance system framework provides advantageous basis.The operation and maintenance system of complete set has been formd in conventional substation, but still
There are many O&M problems, if the failures such as cable connection broken string occur, cause secondary information transmission to be obstructed, need to pass through complexity
The line inspection work can just find out failure.The networking of intelligent substation is transmitted to information and increases more uncertainties, and mesh
The preceding method for searching these failures but still follows conventional lines the thinking of substation, and this aspect is in knowledge (such as net that should be grasped
Network topology and message distribution subscription relationship etc.) and fault location empirically give operations staff more stringent requirements are proposed；Another party
Face, man-made fault positioning accuracy and efficiency also it is difficult to ensure that, brought to secondary system of intelligent substation safe and reliable operation
Huge challenge.
Network message analyzer has become the standard configuration equipment of secondary system of intelligent substation, is to carry out substation communication network
The important auxiliary tool of fault diagnosis.The major function of network message analyzer is by collecting and parsing all reports in network
Text realizes the critical functions such as message accounting and analysis, network flow monitoring, message abnormal examination and alarm.
The presence or absence of failure and exception can be analyzed based on network message analyzer, but its occurrence cause and position can not be analyzed
It sets.As it can be seen that the function of current network message analysis instrument be only limitted to in network exception and failure alert, but final failure
The analysis of investigation and reason be intended to be completed by operations staff.But the data volume that NA is shown is inherently huge and mixes, especially
It is a large amount of bursts that NA is shown when occurrence of equipment port or link failure lead to information Transmission this kind catastrophe failure
Warning information can allow operations staff to have no way of doing it, so that fault diagnosis and analytic process are too dependent on producer and operations staff
Field experience, bring huge challenge to secondary system of intelligent substation safe and reliable operation.
Therefore, it is that those skilled in the art need to solve that existing network message analyzer, which can not analyze it position occurs,
Technical problem.
Summary of the invention
The embodiment of the invention provides a kind of Fault Locating Method of substation communication network and devices, existing for solving
Network message analyzer can not analyze its occur position the technical issues of.
The embodiment of the present invention provides a kind of Fault Locating Method of substation communication network, comprising:
S1: obtaining network connection matrix according to the topology information of intelligent substation communication network, logical according to intelligent substation
The topology and message transmissions mode of communication network obtain the transmission path of each link packet and form corresponding message transmissions path square
Battle array；
S2: described first is calculated by the first formula according to the network connection matrix and the message transmissions path matrix
There are location of faults in the maximum element of numerical value and determining corresponding network in fault location matrix in formula；
First formula are as follows:
Wherein, Km×mFor intermediary matrix, Cm×mFor the network connection matrix, Dm×mFor the message transmissions path matrix,
Gm×mFor the fault location matrix, m is the quantity of intelligent substation communication network middle port, and p is the message chain alerted
Road, n are the message link shared in communication network.
Preferably, after the step S1 further include:
The MMS warning information in communication network is monitored by network message analyzer, is obtained according to the MMS warning information
The message link alerted.
Preferably, before the step S1 further include:
Real-time reception simultaneously parses the MMS warning information in communication network, if in the MMS warning information including MMS message
Chain rupture warning information, then enter step S1.
Preferably, the step S2 is specifically included:
First public affairs are calculated by the first formula according to the network connection matrix and the message transmissions path matrix
Fault location matrix in formula；
It is g according to element maximum in fault location matrixijIf i-j corresponds to physical connection, illustrate that failure occurs
On optical fiber between port i or j or two port, if i-j corresponds to logical connection, illustrate that failure is present in the logical connection
On corresponding interchanger.
Preferably, described that network connection matrix is obtained according to the topology information of intelligent substation communication network specifically: net
Network connection matrix Cm×mSpecifically for the correspondence between description substation communication network port, obtained by following formula:
Wherein,
There are mainly two types of the connection relationships: physical connection and logic connecting relation, wherein the physical connection between port is closed
Owner will be established by physical medias such as optical fiber, and logic connecting relation mainly passes through interchanger and builds to the exchange control logic of message
Vertical.
Preferably, described that each link packet is obtained according to the topology and message transmissions mode of intelligent substation communication network
Transmission path simultaneously forms corresponding message transmissions path matrix specifically: if a link packet is from port a to the transmission of port b
Path is Pa-b={ a-c, c-b } then defines a message transmissions path square according to the transmission path of this message and following formula
Battle array Dm×m:
Wherein,
The embodiment of the present invention provides a kind of fault locator of substation communication network, based on a kind of above-mentioned substation
The Fault Locating Method of communication network is positioned, comprising:
Matrix obtains module, for obtaining network connection matrix, root according to the topology information of intelligent substation communication network
The transmission path of each link packet is obtained according to the topology and message transmissions mode of intelligent substation communication network and is formed corresponding
Message transmissions path matrix；
Formula computing module, for public by first according to the network connection matrix and the message transmissions path matrix
Formula calculates the maximum element of numerical value in the fault location matrix in first formula and determines that there are failures in corresponding network
Position.
Preferably, the fault locator of a kind of substation communication network provided in an embodiment of the present invention further include:
Warning message link obtains module, and the MMS for being monitored in communication network by network message analyzer alerts letter
Breath obtains the message link alerted according to the MMS warning information.
Preferably, the fault locator of a kind of substation communication network provided in an embodiment of the present invention further include:
Real-time monitoring module for real-time reception and parses the MMS warning information in communication network, if the MMS is alerted
Include MMS message chain rupture warning information in information, then executes matrix and obtain module.
Preferably, the formula computing module specifically includes:
Matrix calculation unit, for public by first according to the network connection matrix and the message transmissions path matrix
Formula calculates the fault location matrix in first formula；
Location determination unit, for being g according to element maximum in fault location matrixijIf i-j corresponds to physics company
It connects, then illustrates that failure occurs, if i-j corresponds to logical connection, to illustrate on the optical fiber between port i or j or two port
Failure is present on the corresponding interchanger of the logical connection.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The embodiment of the present invention obtains network connection matrix according to the topology information of intelligent substation communication network, according to intelligence
The topology and message transmissions mode of substation communication network obtain the transmission path of each link packet and form corresponding message and pass
Defeated path matrix calculates described first by the first formula according to the network connection matrix and the message transmissions path matrix
The maximum element of numerical value and determine in corresponding network there are location of fault solve existing in fault location matrix in formula
Some network message analyzers can not analyze the technical issues of position occurs in it.
In addition, present invention method, which also passes through the MMS warning information in real-time monitoring communication network, realizes communication network
The real-time monitoring of network.
Present invention method fault location range has enough accuracy, operation maintenance personnel can be instructed to quickly find
Abort situation, the normal operation of fast quick-recovery substation communication network greatly improves the O&M efficiency of intelligent substation, and improves
The operational reliability of secondary system of intelligent substation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of one embodiment of the Fault Locating Method of substation communication network provided in an embodiment of the present invention
Schematic diagram；
Fig. 2 is a kind of another embodiment of the Fault Locating Method of substation communication network provided in an embodiment of the present invention
Schematic diagram；
Fig. 3 is a kind of one embodiment of the fault locator of substation communication network provided in an embodiment of the present invention
Schematic diagram；
Fig. 4 is an a kind of application examples of the Fault Locating Method of substation communication network provided in an embodiment of the present invention
Schematic diagram.
Specific embodiment
The embodiment of the invention provides a kind of Fault Locating Method of substation communication network and devices, existing for solving
Network message analyzer can not analyze its occur position the technical issues of.
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Referring to Fig. 1, the embodiment of the present invention provides an a kind of implementation of the Fault Locating Method of substation communication network
Example, comprising:
101: network connection matrix is obtained according to the topology information of intelligent substation communication network, it is logical according to intelligent substation
The topology and message transmissions mode of communication network obtain the transmission path of each link packet and form corresponding message transmissions path square
Battle array；
102: calculating described the by the first formula according to the network connection matrix and the message transmissions path matrix
There are location of faults in the maximum element of numerical value and determining corresponding network in fault location matrix in one formula；
First formula are as follows:
Wherein, Km×mFor intermediary matrix, Cm×mFor the network connection matrix, Dm×mFor the message transmissions path matrix,
Gm×mFor the fault location matrix, m is the quantity of intelligent substation communication network middle port, and p is the message chain alerted
Road, n are the message link shared in communication network.
It is to a kind of implementation of the Fault Locating Method of substation communication network provided in an embodiment of the present invention above
Example is described in detail, below will be to a kind of Fault Locating Method of substation communication network provided in an embodiment of the present invention
Another embodiment is described in detail.
Referring to Fig. 2, the embodiment of the present invention provides an a kind of implementation of the Fault Locating Method of substation communication network
Example, comprising:
201: real-time reception simultaneously parses the MMS warning information in communication network, if in the MMS warning information including MMS
Message chain rupture warning information, then enter step 201.
202: network connection matrix is obtained according to the topology information of intelligent substation communication network, it is logical according to intelligent substation
The topology and message transmissions mode of communication network obtain the transmission path of each link packet and form corresponding message transmissions path square
Battle array；
203: the MMS warning information in communication network being monitored by network message analyzer, according to the MMS warning information
Obtain the message link alerted.
204: calculating described the by the first formula according to the network connection matrix and the message transmissions path matrix
Fault location matrix in one formula；
205: being g according to element maximum in fault location matrixijIf i-j corresponds to physical connection, illustrate that failure is sent out
On the raw optical fiber between port i or j or two port, if i-j corresponds to logical connection, illustrate that failure is present in the logic
It connects on corresponding interchanger.
First formula are as follows:
Wherein, Km×mFor intermediary matrix, Cm×mFor the network connection matrix, Dm×mFor the message transmissions path matrix,
Gm×mFor the fault location matrix, m is the quantity of intelligent substation communication network middle port, and p is the message chain alerted
Road, n are the message link shared in communication network.
It is described that network connection matrix is obtained according to the topology information of intelligent substation communication network specifically: network connection square
Battle array Cm×mSpecifically for the correspondence between description substation communication network port, obtained by following formula:
Wherein,
There are mainly two types of the connection relationships: physical connection and logic connecting relation, wherein the physical connection between port is closed
Owner will be established by physical medias such as optical fiber, and logic connecting relation mainly passes through interchanger and builds to the exchange control logic of message
Vertical.
The transmission road that each link packet is obtained according to the topology and message transmissions mode of intelligent substation communication network
Diameter simultaneously forms corresponding message transmissions path matrix specifically: if a link packet is from port a to the transmission path of port b
Pa-b={ a-c, c-b } then defines a message transmissions path matrix D according to the transmission path of this message and following formulam×m:
Wherein,
It is to a kind of another reality of the Fault Locating Method of substation communication network provided in an embodiment of the present invention above
Example is applied to be described in detail, it below will be to a kind of fault locator of substation communication network provided in an embodiment of the present invention
One embodiment be described in detail.
Referring to Fig. 3, the embodiment of the present invention provides an a kind of implementation of the fault locator of substation communication network
Example, the Fault Locating Method based on a kind of above-mentioned substation communication network are positioned, comprising:
Matrix obtains module 301, for obtaining network connection matrix according to the topology information of intelligent substation communication network,
The transmission path of each link packet is obtained according to the topology and message transmissions mode of intelligent substation communication network and is formed corresponding
Message transmissions path matrix；
Formula computing module 302, for passing through the according to the network connection matrix and the message transmissions path matrix
One formula calculates the maximum element of numerical value in the fault location matrix in first formula and determines exist in corresponding network
Location of fault.
A kind of fault locator of substation communication network provided in an embodiment of the present invention further include:
Warning message link obtains module 303, for monitoring the MMS alarm in communication network by network message analyzer
Information obtains the message link alerted according to the MMS warning information.
A kind of fault locator of substation communication network provided in an embodiment of the present invention further include:
Real-time monitoring module 304 for real-time reception and parses the MMS warning information in communication network, if the MMS is accused
Include MMS message chain rupture warning information in alert information, then executes matrix and obtain module 301.
The formula computing module 302 specifically includes:
Matrix calculation unit 401, for passing through the according to the network connection matrix and the message transmissions path matrix
One formula calculates the fault location matrix in first formula；
Location determination unit 402, for being g according to element maximum in fault location matrixijIf i-j corresponds to physics
Connection then illustrates that failure occurs, if i-j corresponds to logical connection, to say on the optical fiber between port i or j or two port
Bright failure is present on the corresponding interchanger of the logical connection.
It is to a kind of implementation of the fault locator of substation communication network provided in an embodiment of the present invention above
Example is described in detail, below will be to a kind of Fault Locating Method of substation communication network provided in an embodiment of the present invention
One application examples is described in detail.
Referring to Fig. 4, one of a kind of Fault Locating Method of substation communication network provided in an embodiment of the present invention is answered
Use-case includes:
According to the topology information of intelligent substation communication network, the connection matrix C of communication network is formedm×m；
By the topology and message transmissions mode of intelligent substation communication network, analysis obtains the transmission road of each link packet
Diameter forms corresponding message transmissions path matrix Dm×m；
Then received using network message analyzer come the moment and parse the MMS warning information in communication network；
Once there is MMS message chain rupture warning information, then all messages that chain rupture occurs are collected；
Fault diagnosis matrix G is calculated using the first formulam×m, and select its greatest measure element；
According to greatest measure member, usually position occurs for positioning failure.
1) substation communication network port connection relationship matrix
Define Matrix Cm×mCorrespondence between substation communication network port described, wherein m is that intelligent substation is logical
The quantity of communication network middle port.
Wherein,
Here there are mainly two types of connection relationships: physical connection and logic connecting relation, wherein the physical connection between port
Relationship mainly passes through the foundation of the physical medias such as optical fiber, and logic connecting relation mainly passes through interchanger to the exchange control logic of message
It establishes.
2) definition of message transmissions path matrix
If a link packet is P from port a to the transmission path of port ba-b={ a-c, c-b }, then for this report
The transmission path of text can define a message transmissions path matrix Dm×m
Wherein,
3) alarm signal required for fault location
The realization of this method is needed using the MMS warning information in communication network, and MMS alerts and be divided into two kinds --- link
Interrupt alarm and data abnormality alarming.
The link down alarm of intelligent substation communication network includes that SV link and GOOSE link down alert two kinds, this
A kind of fault warning is the most universal, influences also maximum to relay protection system, and reason is even more varied, such as exchange hardware event
Barrier, port failure, fiber failure and interchanger forwarding mistake etc..General Influence range is larger when these failures occur, can
Energy one time trigger multilink of meeting interrupts alarm, seriously affects the safe operation of protection system, at this moment needs operations staff's energy
It is enough to analyze link down reason within a short period of time and provide fault location.Therefore, the event carried out for link down alarm
Barrier diagnosis is the emphasis of this chapter research.
The data exception alarm of communication network includes SV sampled data exception and GOOSE data exception, as multicast MAC is different
Often, APPID is abnormal, and quality position is abnormal etc..In view of the probability that error code occurs in a network for message is lower, if persistently there are data
Abnormality alarming, that failure cause can determine the equipment itself for being present in message transmission, and without excessive analysis, therefore, data are different
Often alarm is not this paper method for diagnosing faults emphasis of interest.
4) the realization formula of Fault Locating Method
In view of the probability that multiple failure occurs is very low, this method foundation only exists list in intelligent substation communication network
On the hypothesis basis of point.Usually when breaking down in communication network, it often will appear multilink and interrupt warning information.It is false
It is located at synchronization, a shared p message link alerts, and n message link is shared in communication network, then can be by the
One formula, that is, formula (1) positions network failure.Wherein matrix Gm×mIt is fault location matrix, Km×mIt is intermediary matrix.
After being calculated, fault location matrix Gm×mConnection corresponding to the middle maximum element of numerical value is in network
There are location of faults.If maximum element is g in fault location matrixij, while i-j corresponds to physical connection, then illustrates event
Barrier occurs on the optical fiber between port i or j or two port.If i-j corresponds to logical connection, illustrate that failure is present in this
On the corresponding interchanger of logical connection.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of Fault Locating Method of substation communication network characterized by comprising
S1: network connection matrix is obtained according to the topology information of intelligent substation communication network, according to intelligent substation communication net
The topology and message transmissions mode of network obtain the transmission path of each link packet and form corresponding message transmissions path matrix；
S2: first formula is calculated by the first formula according to the network connection matrix and the message transmissions path matrix
In fault location matrix in the maximum element of numerical value and determine that there are location of faults in corresponding network；
First formula are as follows:
Wherein, Km×mFor intermediary matrix, Cm×mFor the network connection matrix, Dm×mFor the message transmissions path matrix, Gm×mFor
The fault location matrix, m are the quantity of intelligent substation communication network middle port, and p is the message link alerted, and n is
The message link shared in communication network；
It is described that the transmission path of each link packet is obtained simultaneously according to the topology and message transmissions mode of intelligent substation communication network
Form corresponding message transmissions path matrix specifically: if a link packet is P from port a to the transmission path of port ba-b
={ a-c, c-b } then defines a message transmissions path matrix D according to the transmission path of this message and following formulam×m:
Wherein,
2. a kind of Fault Locating Method of substation communication network according to claim 1, which is characterized in that the step
After S1 further include:
The MMS warning information in communication network is monitored by network message analyzer, is obtained and is occurred according to the MMS warning information
The message link of alarm.
3. a kind of Fault Locating Method of substation communication network according to claim 1, which is characterized in that the step
Before S1 further include:
Real-time reception simultaneously parses the MMS warning information in communication network, if in the MMS warning information including the chain rupture of MMS message
Warning information then enters step S1.
4. a kind of Fault Locating Method of substation communication network according to claim 1, which is characterized in that the step
S2 is specifically included:
It is calculated in first formula according to the network connection matrix and the message transmissions path matrix by the first formula
Fault location matrix；
It is g according to element maximum in fault location matrixijIf i-j corresponds to physical connection, illustrate that failure occurs in port
On optical fiber between i or j or two port, if i-j corresponds to logical connection, it is corresponding to illustrate that failure is present in the logical connection
Interchanger on.
5. a kind of Fault Locating Method of substation communication network according to claim 1, which is characterized in that the basis
The topology information of intelligent substation communication network obtains network connection matrix specifically: network connection Matrix Cm×mSpecifically for retouching
The correspondence between substation communication network port is stated, is obtained by following formula:
Wherein,
There are mainly two types of the connection relationships: physical connection and logic connecting relation, wherein the physical couplings master between port
It to be established by physical media, logic connecting relation mainly passes through what interchanger established the exchange control logic of message.
6. a kind of fault locator of substation communication network, based on one kind as described in any one of claim 1 to 5
The Fault Locating Method of substation communication network is positioned characterized by comprising
Matrix obtains module, for obtaining network connection matrix according to the topology information of intelligent substation communication network, according to intelligence
The topology and message transmissions mode of energy substation communication network obtain the transmission path of each link packet and form corresponding message
Transmission path matrix；
Formula computing module, by being passed through based on the first formula according to the network connection matrix and the message transmissions path matrix
It calculates the maximum element of numerical value in the fault location matrix in first formula and determines that there are the positions of failure in corresponding network
It sets；
It is described that the transmission path of each link packet is obtained simultaneously according to the topology and message transmissions mode of intelligent substation communication network
Form corresponding message transmissions path matrix specifically: if a link packet is P from port a to the transmission path of port ba-b
={ a-c, c-b } then defines a message transmissions path matrix D according to the transmission path of this message and following formulam×m:
Wherein,
7. a kind of fault locator of substation communication network according to claim 6, which is characterized in that further include:
Warning message link obtains module, for monitoring the MMS warning information in communication network, root by network message analyzer
The message link alerted is obtained according to the MMS warning information.
8. a kind of fault locator of substation communication network according to claim 6, which is characterized in that further include:
Real-time monitoring module for real-time reception and parses the MMS warning information in communication network, if the MMS warning information
In include MMS message chain rupture warning information, then execute matrix obtain module.
9. a kind of fault locator of substation communication network according to claim 6, which is characterized in that the formula
Computing module specifically includes:
Matrix calculation unit, by being passed through based on the first formula according to the network connection matrix and the message transmissions path matrix
Calculate the fault location matrix in first formula；
Location determination unit, for being g according to element maximum in fault location matrixijIf i-j corresponds to physical connection,
Illustrate that failure occurs, if i-j corresponds to logical connection, to illustrate that failure is deposited on the optical fiber between port i or j or two port
It is on the corresponding interchanger of the logical connection.
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| CN107864011B (en) * | 2017-09-18 | 2019-07-23 | 中国南方电网有限责任公司 | Merge the intelligent locating method of the protection channel abnormal position judgement of multi-source information |
| CN110879608B (en) * | 2019-10-18 | 2023-02-28 | 合肥工业大学 | Unmanned system formation rapid self-adaptive decision-making method and device under uncertain environment |
| CN112821565A (en) * | 2021-03-09 | 2021-05-18 | 国家电网有限公司 | Automatic defect positioning method for relay protection system level test |
| CN113740666B (en) * | 2021-08-27 | 2022-12-09 | 西安交通大学 | Method for positioning root fault of storm alarm in power system of data center |
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