CN116014810A - Optimal configuration method and system for optical storage system of grid distribution network - Google Patents
Optimal configuration method and system for optical storage system of grid distribution network Download PDFInfo
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Abstract
The invention discloses an optimal configuration method and system for a grid-type power distribution network optical storage system, comprising the following steps: grid division is carried out on the power distribution network system; obtaining average load and minimum standby power of each grid; obtaining a light storage configuration strategy of a system according to the average load, the lowest standby power and a distributed light storage optimization planning model of each grid, wherein the distributed light storage optimization planning model aims at economy and reliability, and is constrained by dynamic balance of electric power and electricity, power balance, node voltage, distributed photovoltaic node installation capacity, distribution network distributed photovoltaic installation total amount and energy storage battery capacity; and carrying out balanced analysis on the economy and reliability of the optical storage configuration strategy of the system by using a Nash balancing method to obtain the optimal optical storage configuration strategy. And the economical efficiency and the stability of the operation of the power grid are ensured.
Description
Technical Field
The invention relates to the technical field of optimal configuration of power distribution network systems, in particular to an optimal configuration method and system for a grid power distribution network optical storage system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the maturation of photovoltaic power generation technology in recent years, more and more distributed photovoltaic power generation facilities are applied to each node of a power distribution network. Because the generated power of the photovoltaic is greatly influenced by time and meteorological factors due to the characteristics of the photovoltaic, a series of uncertainties can be brought to a power grid during grid connection, such as local voltage out-of-limit, large load power fluctuation and the like. The energy storage facility has good electric energy storage performance, enough charge and discharge power and capability of regulating and controlling power output time-space non-uniformity in a small range, so that the photovoltaic and the energy storage are matched for use, the in-situ consumption of renewable energy sources can be greatly promoted, and the electric energy quality of the distributed power supply is improved. In order to improve the overall safe and stable operation level of the distribution network in a certain area, the quantity and the position of photovoltaic and energy storage are required to be planned by taking gridding as a background.
(1) The China university of traffic Peng Chunhua et al proposes a power distribution network optical storage combined system planning method based on source-network-load collaborative optimization. Based on parallel iterative bipartite K-means- + clustering multi-scene technology, uncertainty of distributed photovoltaics and load is processed, an objective function with maximum regional light storage combined system investor benefit, maximum photovoltaic in-situ absorption rate and minimum node voltage deviation average value is established, and the objective function is solved by using a parallel double quantum differential evolution algorithm, so that the method can obviously improve in-situ absorption of the distributed photovoltaics and increase the benefit of regional energy investors.
However, in this method, the coverage area is smaller for the planning range of the optical storage system, and it is not suitable for planning and configuring the optical storage in a larger range.
(2) The university of south China's management university Wang Huimin et al proposes an active power distribution network distributed power supply planning method based on a double-layer particle swarm algorithm. The method comprises the steps of selecting a fan, a photovoltaic and a micro gas turbine as a distributed power supply to be planned, taking the minimum annual comprehensive cost as an objective function, taking various electric quantities such as the permeability of the distributed power supply, the annual maximum load interruption quantity, the installed capacity of the distributed power supply at a node to be planned and the like as constraint conditions, and establishing a distributed power supply planning model considering the response of a demand side. Based on the decomposition coordination thought, the model is decomposed into a planning layer and an operation layer, and a double-layer particle swarm algorithm is adopted for solving.
The method only analyzes the distributed power sources such as the fan and the photovoltaic power source, does not consider the configuration strategy of combining the energy storage and the power source, and can not better solve the problem of low electric energy utilization rate of the distributed power source.
(3) Fan Zhicheng at university of Hehai proposes an active distribution network distributed power planning model that accounts for fuzzy randomness. Aiming at the problem of unmatched power supply planning and grid structure of a power distribution network, a typical daily scene generation method for considering fuzzy randomness of DG output is firstly provided, and then a double-layer DG planning model of an active power distribution network is constructed by taking maximum annual income of a DG provider and minimum annual grid loss cost of a power distribution company as objective functions of an upper layer and a lower layer respectively. And finally, solving the planning model by adopting a GAMS-DICOPT solver and a self-adaptive weight discrete particle swarm algorithm.
The method considers the output randomness of the distributed power supply, uses a typical daily scene generation method to carry out fuzzy simulation, solves on the basis of a design objective function, and finally obtains the collaborative optimization result of the distributed power supply and the grid.
The method (1) solves the optimal solution after designing a plurality of objective functions, but the weights and the distribution among a plurality of targets are not clear, so that three aspects of investment income, photovoltaic in-situ absorption rate and node voltage deviation cannot be balanced. In the method (2), the unified planning of the distributed power supply and the energy storage is not considered, so that the on-site energy consumption is difficult to realize, and the problem of low electric energy utilization rate of the distributed power supply cannot be well solved. The objective function designed by the method (3) is mainly economical, the running reliability of the power distribution network is not considered enough, and the optimal configuration result may have lower reliability.
Disclosure of Invention
In order to solve the problems, the invention provides an optimal configuration method and an optimal configuration system for a grid-type power distribution network optical storage system, wherein the grid is used as an object to conduct optical storage planning and configuration, so that photovoltaic on-site consumption is facilitated, the influence of the optical storage system on the power distribution network cannot overflow to nearby grids, when the grid is used as the object to conduct optical storage planning and configuration, a distributed optical storage optimal planning model is established from the angles of reliability and economy, after the optical storage configuration strategy of the system is obtained through the distributed optical storage optimal planning model, the reliability and economy of the configuration strategy are balanced through a Nash balancing method, and therefore the optimal configuration strategy is selected, and the economy and reliability of optical storage configuration are balanced and improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
in a first aspect, a method for optimizing configuration of an optical storage system of a meshed power distribution network is provided, including:
grid division is carried out on the power distribution network system;
obtaining average load and minimum standby power of each grid;
obtaining a light storage configuration strategy of a system according to the average load, the lowest standby power and a distributed light storage optimization planning model of each grid, wherein the distributed light storage optimization planning model aims at economy and reliability, and is constrained by dynamic balance of electric power and electricity, power balance, node voltage, distributed photovoltaic node installation capacity, distribution network distributed photovoltaic installation total amount and energy storage battery capacity;
and carrying out balanced analysis on the economy and reliability of the optical storage configuration strategy of the system by using a Nash balancing method to obtain the optimal optical storage configuration strategy.
In a second aspect, an optimal configuration system of an optical storage system of a meshed power distribution network is provided, including:
the grid division module is used for carrying out grid division on the power distribution network system;
the demand acquisition module is used for acquiring the average load and the lowest standby power of each grid;
the optical storage configuration strategy acquisition module is used for acquiring an optical storage configuration strategy of the system according to the average load of each grid, the lowest standby power and the distributed optical storage optimization planning model, wherein the distributed optical storage optimization planning model aims at economy and reliability, and takes dynamic balance of electric power and electric quantity, power balance, node voltage, distributed photovoltaic node installation capacity, distributed photovoltaic installation total amount of a distribution network and energy storage battery capacity as constraints;
the optimal optical storage configuration strategy acquisition module is used for carrying out balanced analysis on the economy and reliability of the optical storage configuration strategy of the system through a Nash balancing method to obtain the optimal optical storage configuration strategy.
In a third aspect, an electronic device is provided, including a memory, a processor, and computer instructions stored in the memory and running on the processor, where the computer instructions, when executed by the processor, perform the steps described in a method for optimizing configuration of an optical storage system of a grid-type power distribution network.
In a fourth aspect, a computer readable storage medium is provided for storing computer instructions that, when executed by a processor, perform the steps of a method for optimizing configuration of an optical storage system of a meshed distribution network.
Compared with the prior art, the invention has the beneficial effects that:
1. the grid is used as an object for light storage planning and configuration, so that photovoltaic on-site digestion is facilitated, the influence of a light storage system on a power distribution network is not overflowed to nearby grids, the requirements of light energy resources among different grids can be fully coordinated, the relative independence of the grids can enable the light storage system to purposefully compensate the defects of the light storage system in the power distribution aspect, and the economical efficiency and the stability of the power grid operation are ensured.
2. When the grid is used as an object for optical storage planning and configuration, a distributed optical storage optimization planning model is established from the angles of reliability and economy, after the optical storage configuration strategy of the system is obtained through the distributed optical storage optimization planning model, the reliability and the economy of the configuration strategy are balanced through a Nash balancing method, so that the optimal configuration strategy is selected, and the economy and the reliability of optical storage configuration are balanced and improved.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application.
Fig. 1 is a flow chart of the method disclosed in example 1.
The specific embodiment is as follows:
the invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
In this embodiment, a method for optimizing configuration of an optical storage system of a meshed power distribution network is disclosed, as shown in fig. 1, including:
s1: and carrying out grid division on the power distribution network system.
Grid division is carried out on the power distribution network system, and the divided grids comprise urban grids, rural grids, industrial load grids, living load grids, plain grids and mountain hills grids.
S2: the average load and the lowest standby power for each grid are obtained.
And (3) for the divided grids, acquiring basic information of the grids, including the grid area, the types and the number of load nodes in the grids and the topological connection relation, the capacity of an upper public substation, the total number of outlet intervals, the length of lines, geographic information in the grids and the like, analyzing the difference of photovoltaic energy storage configuration conditions among the grids according to the basic information of the grids, and obtaining the demand degree of different grids for the photovoltaic energy storage as shown in a table 1.
TABLE 1 differential analysis of photovoltaic energy storage configuration conditions between grids
The extent of demand for optical storage by different grids is measured by the comprehensive power failure probability value of the load nodes in the grids. For the grid with larger comprehensive power failure probability, the distributed power sources such as the optical storage and the like can supply power on site after the load node is powered off, so that the power supply reliability is improved, the demand level for the optical storage is higher, and the power supply device for the optical storage is characterized in that: the grid has the total power generation capacity of the local distributed power supply except the electric energy transmitted by the upper-level public transformer substation.
S3: and obtaining an optical storage configuration strategy of the system according to the average load, the lowest standby power and the distributed optical storage optimization planning model of each grid, wherein the distributed optical storage optimization planning model aims at economy and reliability, and is constrained by dynamic balance of electric power and electricity, power balance, node voltage, distributed photovoltaic node installation capacity, distribution network distributed breadth installation total amount and energy storage battery capacity.
The economy takes investment cost as an evaluation index, and comprises light storage investment construction cost, light storage facility operation and maintenance cost, electricity purchasing cost from a large power grid and low-storage high-emission income of an energy storage battery.
The overall economy of the distribution network is determined by the economy of each grid, and in each grid, the investment and cost of distributed photovoltaic and energy storage are mainly on early construction, operation and maintenance, and for the overall distribution network, the light storage investment can be expressed as:
wherein C is eco As a function of the overall economy of the objective,
representing the investment and construction costs of optical storage,/-for>
Representing the operation and maintenance cost of the optical storage facility, C buy The electricity purchasing cost from a large power grid is C pro Is the benefit of low storage and high emission of the energy storage battery.
Wherein r is 0 Taking 0.06 as the discount rate; y is the planning year, the general distributed photovoltaic is taken for 20 years, and the energy storage battery is taken for 10 years;
and->
Representing the photovoltaic and energy storage investment construction cost of unit capacity; n is the grid number; />
The actual grid-connected capacity of the jth photovoltaic energy storage battery in the ith grid.
Wherein lambda is the conversion ratio of operation and maintenance cost, and 0.1 is taken here;
the electricity discarding cost is the unit capacity of the distributed photovoltaic; />
A theoretical value of the j-th photovoltaic grid-connected capacity in the i-th grid; />
Real-time electricity price is a unit of electricity purchase from a large power grid; />
And the charge and discharge power values of the energy storage battery nodes are respectively.
In the method, in the process of the invention,
and the electricity is purchased for the main network of the optical storage node.
In the method, in the process of the invention,
the load amounts before and after the node energy storage battery acts are respectively calculated.
The reliability is evaluated by taking total power failure loss as an evaluation index.
After the optical storage system is connected, the total outage loss of the power distribution network can be described as
Wherein C is loss The method is a reliability index of the power distribution network, and has the meaning of total power failure loss; n (N) n The number of load nodes within each grid;
the power failure loss and the power failure probability of each kilowatt hour of the load nodes in the grid are respectively; s is S i,j Is the load node state, 0Indicating power failure, 1 indicating normal; p (P) i,j (t) represents the actual power consumption of the node, defined as
In the method, in the process of the invention,
is node power demand; />
And power emitted by the node optical storage system.
The constraint conditions include: dynamic balance of electric power and electric quantity, power balance constraint, node voltage constraint, distributed photovoltaic node installation capacity constraint, distribution network distributed breadth installation total amount constraint and energy storage battery capacity constraint.
Wherein, electric power electric quantity dynamic balance is formula (8), and the inside light of net stores up and will be done the on-the-spot consumption, and the power does not overflow, does not also have the electric quantity breach, realizes electric power electric quantity dynamic balance, in the planning year:
P trans +P PV -P load ≥P spare (8)
wherein P is trans Average power transmission for upper level public transformer station in grid year, P PV Annual average power production, P, for an in-grid light storage system load P is the annual average load in the grid spare The grid minimum standby power is used in the planning period.
The power balance constraint is equation (9).
Wherein P is i 、Q i Active power and reactive power of node i respectively; u (U) i 、U j The voltages at nodes i and j, respectively; b (B) ij 、G ij Conductivity and electricity between nodes i and j, respectivelyA sodium; θ ij Is the voltage phase angle between nodes i and j.
The node voltage constraint is equation (10).
In U i,min 、U i,max The upper and lower voltage limits of node i, respectively.
The distributed photovoltaic node installation capacity constraint is formula (11).
In the method, in the process of the invention,
and installing a photovoltaic capacity upper limit value for the node i.
The total amount of distributed photovoltaic installation of the distribution network is constrained to be formula (12).
Wherein P is i load Load power for node i; lambda (lambda) PV Is the proportionality coefficient of the distributed photovoltaic grid connection and the total load.
The energy storage battery is constrained to be (13) - (15)
SOC min ≤SOC≤SOC max (13)
0≤P ES (t)≤P ES-max (14)
In SOC min 、SOC max Respectively the upper limit value and the lower limit value of the charge state of the energy storage battery; p (P) ES-max 、
The maximum values of the charge and discharge power and the installation capacity of the energy storage battery of the node i are respectively obtained.
And inputting average load and minimum standby power in each grid into a constructed distributed optical storage optimization planning model, solving the model through a multi-objective genetic algorithm to obtain an optical storage configuration strategy of the system, wherein the result is a solution set formed by a series of optimal solutions and is reflected in an image to be a curve, namely a Prato curve.
S4: and carrying out balanced analysis on the economy and reliability of the optical storage configuration strategy of the system by using a Nash balancing method to obtain the optimal optical storage configuration strategy.
In order to balance the effect of economic and reliability considerations on the optimal solution, consider using the Nash equalization strategy. The Nash balancing method converts multiple targets into single targets, can reflect dimension differences, orders of magnitude and probabilities of two game parties, balances objective functions in two aspects of economy and reliability by applying the method, and can find the optimal solution of the optical storage configuration on the basis of considering investment cost and power supply reliability. The Nash equalization objective function is expressed in terms of the formula:
max(u 1 (x)-d 1 )(u 2 (x)-d 2 )(16)
wherein u is 1 、u 2 Indicating the direction of interest of the negotiating parties, (d) 1 ,d 2 ) To negotiate the breaking point.
According to the invariance of linear transformation of Nash equilibrium, an equilibrium optimization model for carrying out equilibrium analysis on the economy and reliability of the optical storage configuration strategy of the system by using the Nash equilibrium method optimization model can be expressed as follows:
wherein C denotes an objective function, C eco 、c loss Respectively refer to two game parties, C eco 、C loss The reliability index and the economical index are loss margins of two game parties respectively.
Inputting the reliability and economy corresponding to the optical storage configuration strategy of the system into an equalization optimization model (17) for solving, and obtaining the optimal optical storage configuration strategy.
The optimal light storage configuration strategy is selected by comprehensively considering the reliability and economy of the system, and when the optimal light storage configuration strategy is used for carrying out power distribution network system configuration, the reliability and economy of the light storage configuration are comprehensively improved.
In the optimization configuration method of the optical storage system of the grid-type power distribution network, an optical storage collaborative planning strategy is provided under the grid-type background of the power distribution network, and in practice, a plurality of feeder lines are arranged on the power distribution network in a region, but the existing optical storage planning strategy can only achieve the optimal configuration on the limited 10kV feeder lines, so that the problems that the photovoltaic cannot be absorbed in situ, the adjacent line voltage is out of limit and the like can be caused, if the power distribution network is segmented, the optical storage configuration can be effectively solved by taking the blocks as units. The method disclosed in this embodiment therefore selects planning based on the gridded background. The grid distribution network has higher power supply independence, and each grid is provided with a plurality of feeder lines, so that the photovoltaic on-site digestion can be effectively promoted and the power supply reliability can be improved by utilizing the characteristics; the method comprises the steps of constructing a gridding distributed optical storage optimization planning model for balanced improvement of economy and reliability, taking the economy and reliability of an optical storage system configured in grids as an objective function, wherein the overall economy of a power distribution network is determined by the economy of each grid, the investment of distributed photovoltaics and energy storage in each grid mainly depends on early construction and operation maintenance, the reliability is determined by power outage loss in the planning period, and constraint conditions comprise: the grid layer photovoltaic configuration model can consider various operation scenes in a planning period, and has near-far-term adaptability; and solving the multi-objective optimization problem of the optical storage system by using a game method. In the distribution network, the access of the optical storage facilities can greatly increase the reliability of the nodes, but on the other hand, the investment can also be correspondingly increased, so that a balance point needs to be found between the reliability and the economy. The solution idea based on the combination of the multi-objective genetic algorithm and the Nash equalization disclosed in the embodiment firstly utilizes the multi-objective genetic algorithm to obtain a Pareto curve, then utilizes the Nash game method to search for an equalization point of economy and reliability on the basis of comprehensive optimization of economy and reliability targets, and finally integrally promotes comprehensive indexes of the light storage system connected to the lower power distribution network.
According to the optimal configuration method for the grid-type power distribution network optical storage system, the quantity and the positions of the optical storage systems are planned and configured by taking the power supply grids as units, so that the running economy and the power supply reliability of the whole power distribution network in the area are optimal, meanwhile, the optical storage planning and configuration are carried out by taking the grids as objects, the photovoltaic on-site digestion is facilitated, the influence of the optical storage system on the power distribution network cannot overflow to nearby grids, in addition, the requirements of optical energy resources among different grids can be fully coordinated, the relative independence of the grids can enable the optical storage system to pointedly compensate the defects in the power distribution aspect, and the running economy and stability of the power grid are guaranteed.
Example 2
In this embodiment, an optical storage system optimization configuration system of a meshed power distribution network is disclosed, including:
the grid division module is used for carrying out grid division on the power distribution network system;
the demand acquisition module is used for acquiring the average load and the lowest standby power of each grid;
the optical storage configuration strategy acquisition module is used for acquiring an optical storage configuration strategy of the system according to the average load of each grid, the lowest standby power and the distributed optical storage optimization planning model, wherein the distributed optical storage optimization planning model aims at economy and reliability, and takes dynamic balance of electric power and electric quantity, power balance, node voltage, distributed photovoltaic node installation capacity, distributed photovoltaic installation total amount of a distribution network and energy storage battery capacity as constraints;
the optimal optical storage configuration strategy acquisition module is used for carrying out balanced analysis on the economy and reliability of the optical storage configuration strategy of the system through a Nash balancing method to obtain the optimal optical storage configuration strategy.
Example 3
In this embodiment, an electronic device is disclosed that includes a memory, a processor, and computer instructions stored on the memory and running on the processor, where the computer instructions, when executed by the processor, perform the steps described in the method for optimizing configuration of a grid-type power distribution network optical storage system disclosed in embodiment 1.
Example 4
In this embodiment, a computer readable storage medium is disclosed for storing computer instructions that, when executed by a processor, perform the steps of a method for optimizing configuration of a meshed power distribution network optical storage system disclosed in embodiment 1.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (10)
1. The optimal configuration method for the optical storage system of the grid distribution network is characterized by comprising the following steps of:
grid division is carried out on the power distribution network system;
obtaining average load and minimum standby power of each grid;
obtaining a light storage configuration strategy of a system according to the average load, the lowest standby power and a distributed light storage optimization planning model of each grid, wherein the distributed light storage optimization planning model aims at economy and reliability, and is constrained by dynamic balance of electric power and electricity, power balance, node voltage, distributed photovoltaic node installation capacity, distribution network distributed photovoltaic installation total amount and energy storage battery capacity;
and carrying out balanced analysis on the economy and reliability of the optical storage configuration strategy of the system by using a Nash balancing method to obtain the optimal optical storage configuration strategy.
2. The optimal configuration method for the optical storage system of the meshed distribution network according to claim 1, wherein the grids partitioned by the system comprise urban grids, rural grids, industrial load grids, living load grids, plain grids and mountain hills grids.
3. The optimal allocation method for the optical storage system of the grid-type power distribution network according to claim 1, wherein the economy comprises optical storage investment construction cost, optical storage facility operation and maintenance cost, electricity purchasing cost from a large power grid and low storage and high-emission benefits of energy storage batteries.
4. The optimal configuration method for the optical storage system of the grid-type power distribution network according to claim 1, wherein the reliability takes total outage loss as an evaluation index.
5. The optimal configuration method for the optical storage system of the meshed distribution network according to claim 1, wherein the average load and the minimum standby power of each grid are determined according to the grid area, the types, the numbers and the topological connection relations of load nodes in the grid, the capacity of an upper public substation, the total number of outlet intervals and the line length, and geographic information in the grid.
6. The optimal configuration method for the optical storage system of the grid-type power distribution network according to claim 1, wherein average load and minimum standby power of each grid are input into a distributed optical storage optimal planning model, and the model is solved through a multi-objective genetic algorithm to obtain an optical storage configuration strategy of the system.
7. The optimization configuration method of the optical storage system of the grid-type power distribution network according to claim 1, wherein the equalization optimization model adopted when the economic and reliability of the optical storage configuration strategy of the system is subjected to equalization analysis by using the Nash equalization method optimization model is as follows:
wherein C denotes an objective function, C eco 、c loss Respectively refer to two game parties, C eco 、C loss The reliability index and the economical index are loss margins of two game parties respectively.
8. An optimal configuration system for an optical storage system of a grid-type power distribution network is characterized by comprising the following components:
the grid division module is used for carrying out grid division on the power distribution network system;
the demand acquisition module is used for acquiring the average load and the lowest standby power of each grid;
the optical storage configuration strategy acquisition module is used for acquiring an optical storage configuration strategy of the system according to the average load of each grid, the lowest standby power and the distributed optical storage optimization planning model, wherein the distributed optical storage optimization planning model aims at economy and reliability, and takes dynamic balance of electric power and electric quantity, power balance, node voltage, distributed photovoltaic node installation capacity, distributed photovoltaic installation total amount of a distribution network and energy storage battery capacity as constraints;
the optimal optical storage configuration strategy acquisition module is used for carrying out balanced analysis on the economy and reliability of the optical storage configuration strategy of the system through a Nash balancing method to obtain the optimal optical storage configuration strategy.
9. An electronic device comprising a memory and a processor and computer instructions stored on the memory and running on the processor, which when executed by the processor, perform the steps of a method as claimed in any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of a method as claimed in any one of claims 1 to 7.
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