CN110979105B - Design method for external power supply access scheme of through bilateral traction power supply system - Google Patents
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Abstract
The invention discloses a method for designing an external power supply access scheme of a run-through bilateral traction power supply system in the field of planning of traction power supply systems of electrified railways, which comprises the following steps: s1, acquiring load process data of the through bilateral traction power supply system, acquiring a position information set input into a traction substation and an external power supply node position information set, and constructing an initial position information set; s2, establishing a target function which penetrates through an external power supply planning optimization model of the bilateral traction power supply system, and establishing constraint conditions of the optimization model; and S3, solving the optimization model according to the objective function and the constraint condition. The invention can effectively reduce the investment cost of the transmission network line between external power supplies, can effectively reduce the investment cost of the treatment project required by treating the unbalance of the three-phase voltage and voltage, and saves the investment cost for running through the running loss period of the bilateral traction power supply system.
Description
Technical Field
The invention relates to the field of planning of traction power supply systems of electrified railways, in particular to a design method of an external power supply access scheme of a through bilateral traction power supply system.
Background
Due to the fact that partial areas of the electrified railway approach are not covered by a power grid or lack of powerful power supply support, the power supply of a single external power supply cannot meet the huge power requirements of high-speed motor train units and freight trains, and the voltage drop of a contact network is caused in severe cases, so that the driving safety is endangered. On the other hand, the electric phase separation arranged in the traction substation and the tail end subarea causes serious speed loss of the train, increases the energy consumption of the system, and can prevent the train from passing through the electric phase separation when the electric phase separation with the gradient of 30 per mill is passed. Therefore, a through bilateral traction power supply system needs to be constructed, and the advantages of the through bilateral traction power supply system are that at least half of the number of electric phase splitting is cancelled, the power supply capacity of the traction power supply system is greatly improved, the loss is reduced, and the win-win goal is achieved.
However, the key technical problem to be solved urgently by the through bilateral traction power supply system is how to solve the problem of current passing through a traction network and the problem of serious three-phase voltage unbalance. Therefore, the above-mentioned key technical problems should be solved at the same time when external power access scheme planning is developed.
Disclosure of Invention
The invention provides a design method of an external power supply access scheme of a through bilateral traction power supply system aiming at solving the problems in the prior art, and aims to obtain an external power supply access scheme meeting the power supply requirement, and effectively reduce the investment cost of a power transmission network circuit between external power supplies, the treatment project investment cost required by treating the three-phase voltage unbalance, the running loss of the through bilateral traction power supply system and the traction network through current.
In order to achieve the above purpose, the invention provides the following technical scheme:
a through bilateral traction power supply system external power supply access scheme design method comprises the following steps:
s1, acquiring load process data of the through bilateral traction power supply system, and acquiring a position information set input into a traction substation and an external power supply node position information set;
s2, establishing a target function of the external power supply planning optimization model of the run-through bilateral traction power supply system according to the load process data of the run-through bilateral traction power supply system, the position information collection input to the traction substation and the position information collection of the external power supply node, wherein the target function is as follows: the sum of the investment cost of the transmission network line, the investment of the three-phase voltage unbalance treatment project and the expected running loss value of the through bilateral traction power supply system is minimized;
establishing a constraint condition of an optimization model according to load process data of a through bilateral traction power supply system and a three-phase voltage unbalance limit value;
and S3, solving the objective function and the constraint condition to obtain an optimized external power access scheme of the through bilateral traction power supply system.
As a preferred embodiment of the present invention, the objective function is,
the subscript l represents the line number of an external power supply, g represents the number of a three-phase voltage unbalance treatment device of the traction substation, tt represents the number of a traction transformer of the traction substation, q represents the number of a traction network between two adjacent traction substations, and omegaLRepresents the newly-built line collection of the external power supply omegaGDevice for treating three-phase voltage unbalance of representative traction substationTRepresenting a collection of traction transformers, omega, of a traction substationQNRepresenting a traction network aggregation between two adjacent traction substations. c. ClFor the investment cost of newly-built line l, ulPut a decision variable, u, for line ll1 is investment line l, ul0 is a non-investment linegInvestment cost v of three-phase voltage unbalance treatment device g for newly-built traction substationgPutting into operation decision variable v of three-phase voltage unbalance treatment device ggThree-phase voltage unbalance treatment device g, v for investment constructiong0 is no investment to build three-phase voltageA balance treatment device g is arranged on the upper portion of the device,in order to achieve active power loss during the operation of the line l,the active power loss when a single-phase traction transformer tt of a traction substation operates,in order to provide active power loss during operation of the traction network q,representing expected value of running loss, sigma, of through bilateral traction power supply system1、σ2And σ3The weight coefficients are respectively the investment cost of the transmission network line, the investment of the three-phase voltage unbalance treatment project and the expected value of the running loss of the run-through bilateral traction power supply system.
As a preferable aspect of the present invention, the constraint conditions include: the method comprises the steps of node active power balance constraint, transmission capacity constraint of a transmission line, traction network through current constraint, traction substation three-phase voltage unbalance constraint and contact network working voltage fluctuation constraint.
As a preferred solution of the present invention, the formula of the node active power balance constraint is,
wherein p istsLoad active power, p, of traction substation ts for connection to external power i nodedIs the active power, omega, of other loads d on the external power supply inodeTS,iRepresenting a set of traction substations, Ω, located at the i-node of an external power supplyD,iRepresenting other sets of loads, Ω, at the external supply i-nodeL,iRepresents a power transmission line collection omega with a node i as a head end and a node j as a tail endL,jRepresenting a power transmission line collection with a node j as a head end and a node i as a tail end,pl,ijand pl,jiFor the active power transmitted on the transmission line l, the external power supply nodes at the head end and the tail end are respectively a node i and a node j, ij represents the node from the external power supply node i at the head end to the external power supply node j at the tail end, and ji represents the node from the external power supply node j at the tail end to the external power supply node i at the head end.
As a preferred aspect of the present invention, the transmission capacity constraint of the transmission line is formulated as,
wherein f islFor transmission capacity of transmission line, -fl min、fl maxRespectively the lower limit and the upper limit of the power flow of the transmission line l, ulPut a decision variable, Ω, for line lLAnd a new line set represents the external power supply, and the subscript l represents the line number of the external power supply.
As a preferred scheme of the invention, the transmission capacity constraint of the transmission line is converted into a mixed integer linear constraint expression which is easy to solve by a Big-M method:
-ulM1≤fl≤ulM2
wherein M is1And M2Is a positive number of ulAnd (5) putting decision variables for the line l.
As a preferred embodiment of the present invention, the traction network through-current constraint is formulated as,
wherein the subscripts x and x 'both represent a phase of the phase sequence a, b, c, satisfying x ≠ x',andare respectively flow-through tractionThe actual through-current and through-current allowed values of the lead net,andrespectively representing two-phase current flowing into the single-phase traction transformer tt, epsilon being the ratio of the voltage at the high-voltage side of the single-phase traction transformer tt to the traction voltage, Zs,iEquivalent impedance, Z, at external power supply node i for traction substation ts accessttImpedance, Z, of single-phase traction transformer tt of traction transformerqTo the impedance of the traction network, Zl,tsiTo connect the line impedance between the traction substation ts and the external power supply node i.
As a preferred scheme of the invention, the three-phase voltage unbalance constraint of the traction substation is expressed by a formula,
wherein,for negative-sequence currents, VUF, generated by traction substations ts*For three-phase voltage unbalance limits, UqFor drawing net pressure, SdcAnd epsilon is the ratio of the voltage of the high-voltage side of the single-phase traction transformer tt to the traction measurement voltage, which is the short-circuit capacity of the traction transformer.
As a preferred scheme of the invention, the fluctuation constraint of the working voltage of the overhead line system is expressed by a formula,
wherein,andrespectively the lowest voltage and the highest voltage, U, allowed by a contact network when the traction power supply system operates normallyqIs the working voltage of the contact net.
Based on the same conception, the invention also provides a through bilateral traction power supply system external power supply access scheme design system, which comprises at least one processor and a memory in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the above.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides an optimization model for external power supply planning of a through bilateral traction power supply system, so that the provided external power supply access scheme can effectively reduce the investment cost of a transmission network line between external power supplies, can effectively reduce the investment cost of treatment engineering required for treating three-phase voltage unbalance, and saves the investment cost for the running loss period of the through bilateral traction power supply system.
(2) According to the method, the mixed integer linear programming model is established, so that the optimization solver can be used for solving directly, and the complexity of solving the mixed integer nonlinear model is avoided.
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FIG. 1 is a flow chart of a method for designing an external power access scheme for a run-through bilateral traction power supply system according to the present invention;
fig. 2 is a schematic diagram of a through bilateral traction power supply system and an external power supply in embodiment 2 of the present invention;
fig. 3 is a schematic diagram of an external power supply scheme of a through bilateral traction power supply system optimized by the present invention in embodiment 2 of the present invention;
fig. 4 is a schematic diagram of an external power supply scheme of the single-side traction power supply system optimized by the present invention in embodiment 2 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
The flow chart of the design method of the external power supply access scheme of the through bilateral traction power supply system is shown in figure 1, and the specific steps comprise:
step 1: and inputting parameters of railway lines, trains and schedules by using a professional traction load process simulation platform, such as ELBAS/WEBANET software or OpenPowerNet, and simulating to obtain load process data of the run-through bilateral traction power supply system. And inputting the position information collection of the traction substation and the external power supply node to obtain an initial position information collection.
And 2, step: the objective function for establishing an external power supply planning optimization model of the run-through bilateral traction power supply system is as follows: the objective function is to minimize the sum of the investment cost c of the transmission network line, the investment g of the three-phase voltage unbalance treatment project and the expected value F of the running loss of the through bilateral traction power supply system.
In the formula (1), subscript l represents a line number of an external power supply, g represents a three-phase voltage unbalance treatment device number of a traction substation, tt represents a traction transformer number of the traction substation, and t represents a traction network number between two adjacent traction substations. OmegaLRepresents the newly-built line collection of the external power supply omegaGDevice for treating three-phase voltage unbalance of representative traction substationTRepresenting a collection of traction transformers, omega, of a traction substationQNRepresenting the traction network collection between two adjacent traction substations. c. ClFor the investment cost of newly-built line l, ulPut a decision variable, u, for line ll1 is the investment to construct the line l, ul0 is a non-investment linegInvestment cost v of three-phase voltage unbalance treatment device g for newly-built traction substationgFor the unbalanced treatment of three-phase voltage dressPut-in decision variable of g, vgThree-phase voltage unbalance treatment device g, v for investment constructiongAnd 0 is a three-phase voltage unbalance treatment device g which is not invested in construction.In order to achieve active power loss during the operation of the line l,for the active power loss when a single-phase traction transformer tt of a traction substation operates,in order to provide active power loss during operation of the traction network q,and the expected value of the running loss of the through bilateral traction power supply system is shown. Sigma1、σ2And σ3The weight coefficients are respectively the investment cost of the transmission network line, the investment of the three-phase voltage unbalance treatment project and the expected value of the running loss of the run-through bilateral traction power supply system.
And step 3: and establishing constraint conditions of an optimization model according to the operating parameters of the external power supply and the run-through bilateral traction power supply system and the three-phase voltage unbalance limit value.
The method comprises node power balance constraint, transmission capacity constraint of a power transmission line, traction network through current constraint, traction substation three-phase voltage unbalance constraint and contact network working voltage constraint.
Node active power balance constraint:
in the formula (2), ptsLoad active power, p, of traction substation ts for connection to external power i nodedActive power of other loads d on an external power supply node i; the subscript ts represents the traction substation load connected to the external power i node, d represents the external powerOther loads on the power inode. OmegaTS,iRepresenting a set of traction substations, Ω, located at the i-node of an external power supplyD,iRepresenting other loads at the i node of the external power supply, omega Li representing the power transmission line set with the i node as the head end and the j node as the tail end, omegaL,jAnd representing a power transmission line collection taking the node j as a head end and the node i as a tail end. p is a radical ofl,ijAnd pl,jiFor the active power transmitted on the transmission line l, the external power supply nodes at the head end and the tail end are respectively a node i and a node j, ij represents the node from the external power supply node i at the head end to the external power supply node j at the tail end, and ji represents the node from the external power supply node j at the tail end to the external power supply node i at the head end.
Transmission capacity constraint of the transmission line:
in the formula (3), flFor transmission capacity of transmission line, -fl min、fl maxRespectively the lower limit and the upper limit of the power flow of the transmission line l, ulPut a decision variable, Ω, for line lLAnd a new line set represents the external power supply, and the subscript l represents the line number of the external power supply.
And (3) restraining the current passing through the traction network:
in the formula (4), subscripts x and x ' both represent a certain phase of the phase sequence a, b, c, but the values of the subscripts x and x ' cannot be consistent at the same time, namely x is not equal to x ',andrespectively the actual through current and the allowable through current value flowing through the traction network,andrespectively representing two-phase current flowing into the single-phase traction transformer tt, epsilon being the ratio of the voltage at the high-voltage side of the single-phase traction transformer tt to the traction voltage, Zs,iEquivalent impedance, Z, at external power supply node i for traction substation ts accessttImpedance, Z, of single-phase traction transformer tt of traction transformerqTo the impedance of the traction network, Zl,tsiTo connect the line impedance between the traction substation ts and the external power supply node i.
Three-phase voltage unbalance constraint of traction substation
In the formula (5), the first and second groups,for negative-sequence currents, VUF, generated by traction substations ts*Is a three-phase voltage unbalance limit value, U, specified in the three-phase voltage unbalance (GB/T15543-qFor drawing net pressure, SdcAnd epsilon is the ratio of the voltage of the high-voltage side of the single-phase traction transformer tt to the traction measurement voltage, which is the short-circuit capacity of the traction transformer.
Constraint of working voltage fluctuation of contact network
In the formula (6), according to the design specification of railway electric traction power supply (TB 10009-2016),andrespectively for traction power supply systemThe lowest voltage and the highest voltage allowed by the contact system in normal operation.
And 4, step 4: and (3) establishing an optimization model according to the objective function obtained in the step (2) and the constraint condition obtained in the step (3), further processing the mixed integer nonlinear constraint in the optimization model, and converting the mixed integer nonlinear constraint into a mixed integer linear programming model easy to solve. And solving the solution by using a mixed integer optimization solver (such as CUROBI), calculating the optimal power flow distribution, and obtaining a final external power supply access scheme for the through bilateral traction power supply system.
Due to the presence of the variable u of 0-1lAnd a continuous variable flThe formula (3) is nonlinear constraint, and the product is converted into a mixed integer linear constraint expression which is easy to solve by adopting a Big-M method:
-ulM1≤fl≤ulM2 (7)
wherein M is1And M2Is a sufficiently large positive number.
Example 2
In the embodiment of the invention, a certain scheme for accessing the external power supply of the electrified railway by adopting a through bilateral traction power supply system is optimized as an example, and the topological structure of the external power supply is shown in fig. 2. The short-circuit capacity of each 220kV substation is 1500 MVA. And single-phase traction transformers are adopted in the 9 traction substations. Sigma1、σ2And σ3Assigned values of 0.4, 0.3, respectively. The average load data of 9 traction substations penetrating through the bilateral traction power supply system is obtained by respectively simulating by using a professional traction load simulation platform (such as OpenPowerNet, ELBAS/WEBANET and the like), and is shown in Table 1.
TABLE 1 average load of traction substation (bilateral supply)
Traction substation | Average load/MVA | Traction substation | Average load/MVA |
ZBQ | 63.2225 | SQQ | 64.4 |
GJQ | 85.4975 | BDQ | 95.87 |
KDQ | 45.43 | XLQ | 37.34 |
CYQ | 41.305 | LLQ | 45.02 |
CDQ | 56.88 |
And (3) substituting the load data in the table 1 into an optimization model to obtain an external power access scheme of the through bilateral traction power supply system shown in fig. 3, wherein S1-S5 are serial numbers of a planned newly-built 220kV power supply point, and LLQ ZBQ are names of 9 newly-built traction substations. The mileage of the transmission line is shown in table 2, the total mileage is 812 kilometers, and a 220kV transformer substation is matched with 16 intervals. According to the measurement and calculation, the total investment of the external power transmission line is about 100 million yuan. It should be noted that in order to satisfy the traction network crossing current constraint, 2 electrical phases must be provided for the full line.
TABLE 2 traction substation access scheme (bilateral supply)
The installation capacity results of the three-phase voltage unbalance treatment device of the traction substation are shown in table 3, and the installation capacity of the full-line three-phase voltage unbalance compensation device is 185.06 MVA. According to the survey, the current converter manufacturing cost is 500 yuan/kVA, and the initial investment cost is 0.9253 yuan.
TABLE 3 traction substation three-phase voltage unbalance and management device installation capacity (bilateral supply)
When single-side power supply is adopted, average load data of 9 traction substations are shown in table 4.
TABLE 4 average load of traction substation (single side power supply)
Traction substation | Average load/MVA | Traction substation | Average load/MVA |
ZBQ | 86.05 | SQQ | 106.85 |
GJQ | 124.60 | BDQ | 80.44 |
KDQ | 46.59 | XLQ | 39.62 |
CYQ | 38.14 | LLQ | 59.04 |
CDQ | 90.75 |
Under the condition of unilateral power supply, although no traction network passes through current constraint, the influence of a traction power supply system structure is limited, and the number of full-line power split phases still reaches 9. Load data in the table 4 are brought into an optimization model, power required by a locomotive is only supplied by a single traction substation due to the adoption of unilateral power supply, and when a grid structure of a bilateral power supply traction power supply system is adopted, the tail end voltage of a traction network is difficult to meet constraint conditions, so that two 220kV substations S2-1 and S2-2 need to be newly built at the power grid side, and an external power supply access scheme of the unilateral traction power supply system shown in the figure 4 is obtained, wherein S1-S5 are planned newly built 220kV power supply point numbers, and LLQ-ZBQ are names of 9 newly built traction substations. The mileage of the transmission line is shown in table 5, the total construction mileage of the transmission line is 1161 km, two 220kV transformer substations are newly built, and the 220kV transformer substations are matched with 16 intervals. According to the measurement and calculation, the total investment of the external power transmission line is about 120 billion yuan.
TABLE 5 traction substation access scheme (unilateral supply)
The installation capacity results of the three-phase voltage unbalance treatment device of the traction substation are shown in table 6, and the installation capacity of the full-line three-phase voltage unbalance compensation device is 86.34 MVA. The current converter cost obtained by investigation is 500 yuan/kVA, and the initial investment cost is 0.431 yuan.
TABLE 6 unbalance of three-phase voltage of traction substation and installation capacity of treatment device (unilateral power supply)
Through comprehensive comparison and selection, compared with a single-side traction power supply system, the long and large ramp section with a weak external power supply has the advantages that the external power supply investment cost can be effectively reduced and the electric split-phase quantity can be greatly reduced by penetrating through the double-side traction power supply system.
Claims (9)
1. A design method for an external power supply access scheme of a through bilateral traction power supply system is characterized by comprising the following steps:
s1, acquiring load process data of the through bilateral traction power supply system, and acquiring a position information set input into a traction substation and an external power supply node position information set;
s2, establishing a target function of the external power supply planning optimization model of the run-through bilateral traction power supply system according to the load process data of the run-through bilateral traction power supply system, the position information collection of the input traction substation and the position information collection of the external power supply node, wherein the target function is as follows: the sum of the investment cost of the transmission network line, the investment of the three-phase voltage unbalance treatment project and the expected running loss value of the through bilateral traction power supply system is minimized;
establishing a constraint condition of an optimization model according to the load process data of the run-through bilateral traction power supply system and the three-phase voltage unbalance limit value;
s3, solving the objective function and the constraint condition to obtain an optimized external power access scheme of the through bilateral traction power supply system;
the objective function is defined as the function of the target,
the subscript l represents the line number of an external power supply, g represents the number of a three-phase voltage unbalance treatment device of the traction substation, tt represents the number of a traction transformer of the traction substation, q represents the number of a traction network between two adjacent traction substations, and omegaLRepresents the newly-built line collection of the external power supply omegaGDevice for treating three-phase voltage unbalance of representative traction substationTRepresents a traction transformer collection of a traction substation, omegaQNRepresenting a traction network collection between two adjacent traction substations; c. ClFor the investment cost of newly-built line l, ulPut a decision variable, u, for line ll1 is the investment to construct the line l, ul0 is a non-investment linegInvestment cost v of three-phase voltage unbalance treatment device g for newly-built traction substationgFor the decision variables v of the three-phase voltage unbalance control device ggThree-phase voltage unbalance treatment device g, v for investment constructiong0 is a three-phase power without investmentA pressure unbalance treatment device g is arranged on the device,in order to achieve active power loss during the operation of the line l,the active power loss when a single-phase traction transformer tt of a traction substation operates,in order to provide active power loss during operation of the traction network q,representing expected value of running loss, sigma, of through bilateral traction power supply system1、σ2And σ3The weight coefficients are respectively the investment cost of the transmission network line, the investment of the three-phase voltage unbalance treatment project and the expected value of the running loss of the run-through bilateral traction power supply system.
2. The design method of the external power access scheme of the through bilateral traction power supply system according to claim 1, wherein the constraint condition includes: the method comprises the steps of node active power balance constraint, transmission capacity constraint of a transmission line, traction network through current constraint, traction substation three-phase voltage unbalance constraint and contact network working voltage fluctuation constraint.
3. The design method of the external power supply access scheme of the through bilateral traction power supply system according to claim 2, wherein the formula of the active power balance constraint of the node is,
wherein p istsLoad active power, p, of traction substation ts for connection to external power i nodedFor external power supplyActive power, omega, of other loads d on node iTS,iRepresenting a set of traction substations, Ω, located at the i-node of an external power supplyD,iRepresenting other sets of loads, Ω, at the external supply i-nodeL,iRepresents a power transmission line collection omega with a node i as a head end and a node j as a tail endL,jRepresenting a power transmission line set, p, with node j as the head end and node i as the tail endl,ijAnd pl,jiFor the active power transmitted on the transmission line l, the external power supply nodes at the head end and the tail end are respectively a node i and a node j, ij represents the node from the external power supply node i at the head end to the external power supply node j at the tail end, and ji represents the node from the external power supply node j at the tail end to the external power supply node i at the head end.
4. The design method of the external power access scheme of the through bilateral traction power supply system according to claim 2, wherein the transmission capacity constraint of the transmission line is formulated as,
wherein f islFor transmission capacity of transmission line, -fl min、fl maxRespectively the lower limit and the upper limit of the power flow of the transmission line l, ulPut a decision variable, Ω, for line lLAnd a new line set represents the external power supply, and the subscript l represents the line number of the external power supply.
5. The design method of the external power access scheme of the through bilateral traction power supply system according to claim 4, wherein the transmission capacity constraint of the transmission line is converted into a mixed integer linear constraint expression which is easy to solve by a Big-M method:
-ulM1≤fl≤ulM2
wherein M is1And M2Is a positive number of ulAnd (5) putting decision variables for the line l.
6. The design method of the external power supply access scheme of the through bilateral traction power supply system according to claim 2, wherein the traction network through current constraint is formulated as,
where the indices x and x 'each denote a certain phase of the phase sequence a, b, c, x ≠ x',andrespectively the actual through current and the through current allowable value flowing through the traction network,andrespectively representing two-phase current flowing into the single-phase traction transformer tt, epsilon being the ratio of the voltage at the high-voltage side of the single-phase traction transformer tt to the traction voltage, Zs,iEquivalent impedance, Z, at external supply node i for access to traction substation tsttImpedance, Z, of single-phase traction transformer tt of traction transformerqTo the impedance of the traction network, Zl,tsiTo connect the line impedance between the traction substation ts and the external power supply node i.
7. The design method of the external power supply access scheme of the through bilateral traction power supply system according to claim 2, wherein the constraint of the three-phase voltage unbalance of the traction substation is expressed by a formula,
wherein,for negative-sequence currents, VUF, generated by traction substations ts*For three-phase voltage unbalance limits, UqFor drawing net pressure, SdcAnd epsilon is the ratio of the voltage of the high-voltage side of the single-phase traction transformer tt to the traction measurement voltage, which is the short-circuit capacity of the traction transformer.
8. The design method of the external power supply access scheme of the through bilateral traction power supply system according to claim 2, wherein the constraint of the fluctuation of the working voltage of the overhead line system is expressed by a formula,
9. The design system of the external power supply access scheme of the through bilateral traction power supply system is characterized by comprising at least one processor and a memory which is in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.
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