CN116722944B - Equipment synchronous control method of distributed energy system - Google Patents
Equipment synchronous control method of distributed energy system Download PDFInfo
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- CN116722944B CN116722944B CN202310865032.7A CN202310865032A CN116722944B CN 116722944 B CN116722944 B CN 116722944B CN 202310865032 A CN202310865032 A CN 202310865032A CN 116722944 B CN116722944 B CN 116722944B
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/381—Dispersed generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/40—Synchronising a generator for connection to a network or to another generator
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- Synchronisation In Digital Transmission Systems (AREA)
Abstract
The invention discloses a device synchronous control method of a distributed energy system, which comprises the following steps: s1, initializing clock synchronization of a master station and a slave station, and measuring transmission delay and initial offset from the master station to the slave station; and S2, compensating clock drift according to equipment or user settings, and realizing rapid and accurate synchronous control between the master station and the slave station and between the slave station and the slave station. The invention not only can realize clock synchronization between the master station and a plurality of slave stations, but also can realize synchronous control of a plurality of slave stations and power equipment controlled by the slave stations through the I/O ports, and the slave stations work cooperatively. According to the equipment control requirement, a proper synchronization mode is selected, so that the power equipment in the distributed energy system can be rapidly and accurately synchronously controlled.
Description
Technical Field
The invention relates to the field of distributed energy systems, in particular to a device synchronous control method of a distributed energy system.
Background
In recent years, distributed energy sources such as wind energy, solar energy, natural gas, fuel cells and the like have been rapidly developed. Meanwhile, china is accelerating the reformation of the propulsion energy supply side, and the aim of realizing carbon neutralization is accelerated.
With the reform of the energy supply side of China, the development and application of the distributed energy in the energy industry in the new era will inject new vitality into the energy industry in China, and make great contribution to energy conservation and emission reduction, and realize ' carbon peak and ' carbon neutralization '.
Distributed integrated energy systems are playing an increasingly important role in industrial parks. Compared with the traditional centralized energy system, the distributed energy system has more power equipment with different properties, and the power equipment is dispersed in a wide physical space, and meanwhile, the power equipment in the distributed energy system is often required to realize accurate cooperation of a plurality of stations. Due to the delay of the network transmission signal, the synchronization of the clock signal also has errors. As shown in fig. 1 and fig. 2, when a system control command arrives at a slave station and a device controlled by the slave station, which are distributed in different physical positions, a clock error may exist, resulting in insufficient cooperative control precision, and the command activity is time-ordered and disordered, which greatly affects the performance of an energy system.
Disclosure of Invention
In order to solve the existing problems, the invention provides a device synchronous control method of a distributed energy system, which comprises the following specific scheme:
a device synchronous control method of a distributed energy system comprises the following steps:
s1, initializing clock synchronization of a master station and a slave station, and measuring transmission delay and initial offset from the master station to the slave station;
and S2, compensating clock drift according to equipment or user settings, and realizing rapid and accurate synchronous control between the master station and the slave station and between the slave station and the slave station.
Further, the initialization process in the step S1 includes the following steps:
s11, the master station acquires characteristic information of a slave station distributed clock;
s12, the master station sends a broadcast write command, writes in the registers of all the slave stations, captures the local time Tarrie (n) of the first leading bit of the data frame reaching the slave station port by all the slave stations, saves the data frame to the slave station registers, and then sequentially passes through all the slave stations in the system, is processed and returned by the last slave station, and in the data frame returning process, each slave station still records the data frame reaching time Tleave (n) and saves the data frame reaching time Tleave (n) to the registers of each slave station;
s13, the master station respectively reads the arrival time Tarrive (n) and Tleave (n) of each slave station data frame;
s14, the master station calculates the transmission delay Tdelay (n) and the initial offset Toffset (n) of each slave station;
s15, the master station uses a broadcast write command to write the transmission delay calculated in the step S14 into a transmission delay register of each slave station; and writing the initial offset into an initial time offset register of each slave station;
s16, the slave station adjusts the local clock according to the transmission delay and the initial offset;
and S17, after the initialization is finished, repeating the steps S4, S5 and S6 at regular clock cycles, and correcting the transmission delay to adapt to the influence of the physical condition change on the transmission delay.
Further, the method for acquiring the characteristic information of the slave station distribution clock in step S11 is as follows: the master station reads all the secondary station characteristic information registers accessed in the network, and knows which secondary stations have distributed clocks and the number of supported distributed clock bits according to the secondary station characteristic information register flag bits.
Further, in step S14, the method for calculating the transmission delay and the initial offset is as follows: transmission delay Tdelay (n) = [ Tleave (n) -tarry (1) - (Tleave (1) -tarry (n)) ]/2 for each slave station; initial offset Toffset (n) =tarrive (n) -Tarrive (1) -Tdelay (n).
Further, in the step S2, accurate synchronous control or fast synchronous control can be selected according to the control characteristics, when the response time requirement in the control operation is high, fast synchronous control is selected, and when the precision requirement in the control operation is high, precision synchronous control is selected.
Further, the process of the fast synchronization control includes the steps of:
SA21, the master station reads a reference clock Tsys of a system time register of the slave station where the reference clock is located;
SA22, the master station writes the slave station control register, sends a quick synchronous command to the slave station needing quick synchronous control, and simultaneously writes a reference clock Tsys into the local system time register of the slave station;
SA23, the slave station calculates the local clock drift amount eta (n), adjusts the local clock according to eta (n), calculates a copy after the local clock adjustment according to Tsys_local (n) =Tlocal (n) -delta (n), stores the copy Tsys_local (n) as a new local clock Tlocal (n), and then the slave station checks and records the self state and the device I/O port state required to be synchronized according to the content of the quick synchronization command;
SA24, when the clock period arrives, the slave station sends an action command to the I/O port, reads the port state after the action and records the port state;
and SA25, the master station immediately reads the state of the slave station register in the next clock cycle of sending the quick synchronous command, checks the quick synchronous execution condition and returns prompt information to the user.
Further, the local clock drift amount eta (n) =tlocal (n) -Toffset (n) -Tdelay (n) -Tsys in step SA 23.
Further, the process of accurate synchronous control comprises the following steps:
SB21, the master station reads the reference clock Tsys of the system time register;
SB22, the master station writes the slave station control register, sends accurate synchronous command to the slave station needing accurate synchronous control, and writes the reference clock Tsys into the local system time register of the slave station;
SB23, the slave station calculates the local clock drift delta (n), adjusts the local clock according to delta (n), calculates the copy after the local clock adjustment according to Tsys_local (n) =Tlocal (n) -delta (n), and then stores the copy Tsys_local (n) as a new local clock Tlocal (n);
SB24, the slave station checks the self state and the device port state to be synchronized according to the accurate synchronous command content, and sets the status register flag bit after the slave station is ready;
SB25, the master station sends a read command in each clock period within the set longest response time, reads the status register flag bit of each slave station;
SB26, if all the slave station status register zone bits are read to be 1, the master station sends a write command to each slave station control register, otherwise, the slave station status register zone bit continues to be read in the next clock period, if the slave station status register zone bit is not waited to be 1 after the timeout, the slave station control timeout is returned;
SB27, after the slave station receives the master station control write command, sending an action command to the I/O port in the next clock cycle, recording the time Tcmd (n) of receiving the master station command and the time Tcmd (n) of the action of the I/O port controlled by the slave station, and then calculating a difference Tsc (n) =Tcmd (n) -Tcmd (n) and storing the difference Tsc (n) =Tcmd (n) -Tcmd (n) in a register;
SB28, the master station reads the slave station register state, checks the accurate synchronous execution condition and returns prompt information to the user.
Further, in step SB23, the local clock drift delta (n) =tlocal (n) -Toffset (n) -Tdelay (n) -Tsc (n) -Tsys.
The invention has the beneficial effects that:
the invention not only can realize clock synchronization between the master station and a plurality of slave stations, but also can realize synchronous control of a plurality of slave stations and power equipment controlled by the slave stations through the I/O ports, and the slave stations work cooperatively. According to the equipment control requirement, a proper synchronization mode is selected, so that the power equipment in the distributed energy system can be rapidly and accurately synchronously controlled.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a control structure in a distributed energy system.
FIG. 2 is a schematic diagram of the result of synchronization inconsistencies in a system.
Fig. 3 is a flow chart for initializing the synchronization of clocks of the master station and the slave station.
Fig. 4 is a flowchart of the synchronization control process.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
A device synchronous control method of a distributed energy system comprises the following steps:
s1, initializing clock synchronization of a master station and a slave station, and measuring transmission delay and initial offset from the master station to the slave station in the process of initialization.
As shown in fig. 3, the step S1 specifically includes the following steps:
s11, the master station acquires characteristic information of a slave station distributed clock, and the method comprises the following steps: the master station reads all the secondary station characteristic information registers accessed in the network, and knows which secondary stations have distributed clocks and the number of supported distributed clock bits according to the secondary station characteristic information register flag bits.
And S12, the master station transmits a broadcast write command, writes the broadcast write command into the registers of all the slave stations, captures the local time Tarrie (n) of the first leading bit of the data frame reaching the slave station port by all the slave stations, saves the local time Tarrie (n) into the slave station registers, sequentially processes and returns the data frame through all the slave stations in the system by the last slave station, and keeps the data frame arrival time Tleave (n) in the data frame returning process by all the slave stations.
S13, the master station reads the arrival time Tarrive (n) and Tleave (n) of each slave station data frame respectively.
S14, the master station calculates the transmission delay Tdelay (n) and the initial offset Toffset (n) of each slave station. The method for calculating the transmission delay and the initial offset comprises the following steps: transmission delay Tdelay (n) = [ Tleave (n) -tarry (1) - (Tleave (1) -tarry (n)) ]/2 for each slave station; initial offset Toffset (n) =tarrive (n) -Tarrive (1) -Tdelay (n).
S15, the master station uses a broadcast write command to write the transmission delay calculated in the step S14 into a transmission delay register of each slave station; and writes an initial offset into an initial time offset register of each slave station.
S16, the slave station adjusts the local clock according to the transmission delay and the initial offset.
And S17, after the initialization is finished, repeating the steps S4, S5 and S6 at regular clock cycles, and correcting the transmission delay to adapt to the influence of the physical condition change on the transmission delay.
And S2, compensating clock drift according to equipment or user settings, and realizing rapid and accurate synchronous control between the master station and the slave station and between the slave station and the slave station.
As shown in fig. 4, in step S2, accurate synchronous control or fast synchronous control may be selected according to the control characteristics, where fast synchronous control is selected when the response time requirement in the control operation is high, and where accuracy requirement in the control operation is high, accuracy synchronous control is selected.
The process of the fast synchronous control comprises the following steps:
SA21, the master station reads the reference clock Tsys of the system time register.
SA22, the master station writes the slave station control register, sends a quick synchronization command to the slave station which needs quick synchronization control, and simultaneously writes the reference clock Tsys into the local system time register of the slave station.
SA23, the slave station calculates the local clock drift eta (n), adjusts the local clock according to eta (n), calculates a copy after the local clock adjustment according to Tsys_local (n) =Tlocal (n) -delta (n), stores the copy Tsys_local (n) as a new local clock Tlocal (n), and then checks and records the self state and the device I/O port state required to be synchronized according to the content of the quick synchronization command. Wherein the local clock drift amount eta (n) =tlocal (n) -Toffset (n) -Tdelay (n) -Tsys.
And SA24, when the clock cycle arrives, the slave station sends an action command to the I/O port, reads the port state after the action and records the port state.
And SA25, the master station immediately reads the state of the slave station register in the next clock cycle of sending the quick synchronous command, checks the quick synchronous execution condition and returns prompt information to the user.
The process of accurate synchronization control in step S2 includes the steps of:
SB21, the master station reads the reference clock Tsys of the system time register;
SB22, the master station writes the slave station control register, sends accurate synchronous command to the slave station needing accurate synchronous control, and writes the reference clock Tsys into the local system time register of the slave station;
SB23, the slave station calculates the local clock drift delta (n), adjusts the local clock according to delta (n), calculates the copy after the local clock adjustment according to Tsys_local (n) =Tlocal (n) -delta (n), and then stores the copy Tsys_local (n) as a new local clock Tlocal (n); wherein the local clock drift delta (n) =tlocal (n) -Toffset (n) -Tdelay (n) -Tsc (n) -Tsys.
SB24, the slave station checks the self state and the device port state to be synchronized according to the accurate synchronous command content, and sets the status register flag bit after the slave station is ready;
SB25, the master station sends a read command in each clock period within the set longest response time, reads the status register flag bit of each slave station;
SB26, if all the slave station status register zone bits are read to be 1, the master station sends a write command to each slave station control register, otherwise, the slave station status register zone bit continues to be read in the next clock period, if the slave station status register zone bit is not waited to be 1 after the timeout, the slave station control timeout is returned;
SB27, after the slave station receives the master station control write command, sending an action command to the I/O port in the next clock cycle, recording the time Tcmd (n) of receiving the master station command and the time Tcmd (n) of the action of the I/O port controlled by the slave station, and then calculating a difference Tsc (n) =Tcmd (n) -Tcmd (n) and storing the difference Tsc (n) =Tcmd (n) -Tcmd (n) in a register;
SB28, the master station reads the slave station register state, checks the accurate synchronous execution condition and returns prompt information to the user.
The invention not only can realize clock synchronization between the master station and a plurality of slave stations, but also can realize synchronous control of a plurality of slave stations and power equipment controlled by the slave stations through the I/O ports, and the slave stations work cooperatively. According to the equipment control requirement, a proper synchronization mode is selected, so that the power equipment in the distributed energy system can be rapidly and accurately synchronously controlled.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The equipment synchronous control method of the distributed energy system is characterized by comprising the following steps of:
s1, initializing clock synchronization of a master station and a slave station, and measuring transmission delay and initial offset from the master station to the slave station;
s2, compensating clock drift according to equipment or user settings, and realizing rapid and accurate synchronous control between the master station and the slave station as well as between the slave station and the slave station; the accurate synchronous control or the quick synchronous control can be selected according to the control characteristics, when the response time requirement in the control operation is high, the quick synchronous control is selected, and when the precision requirement in the control operation is high, the precision synchronous control is selected; the process of accurate synchronous control comprises the following steps:
SB21, the master station reads the reference clock Tsys of the system time register;
SB22, the master station writes the slave station control register, sends accurate synchronous command to the slave station needing accurate synchronous control, and writes the reference clock Tsys into the local system time register of the slave station;
SB23, the slave station calculates the local clock drift delta (n), adjusts the local clock according to delta (n), calculates the copy after the local clock adjustment according to Tsys_local (n) =Tlocal (n) -delta (n), and then stores the copy Tsys_local (n) as a new local clock Tlocal (n);
SB24, the slave station checks the self state and the device port state to be synchronized according to the accurate synchronous command content, and sets the status register flag bit after the slave station is ready;
SB25, the master station sends a read command in each clock period within the set longest response time, reads the status register flag bit of each slave station;
SB26, if all the slave station status register zone bits are read to be 1, the master station sends a write command to each slave station control register, otherwise, the slave station status register zone bit continues to be read in the next clock period, if the slave station status register zone bit is not waited to be 1 after the timeout, the slave station control timeout is returned;
SB27, after the slave station receives the master station control write command, sending an action command to the I/O port in the next clock cycle, recording the time Tcmd (n) of receiving the master station command and the time Tcmd (n) of the action of the I/O port controlled by the slave station, and then calculating a difference Tsc (n) =Tcmd (n) -Tcmd (n) and storing the difference Tsc (n) =Tcmd (n) -Tcmd (n) in a register;
SB28, the master station reads the slave station register state, checks the accurate synchronous execution condition and returns prompt information to the user.
2. The method according to claim 1, wherein the initialization procedure in step S1 comprises the steps of:
s11, the master station acquires characteristic information of a slave station distributed clock;
s12, the master station sends a broadcast write command, writes in the registers of all the slave stations, captures the local time Tarrie (n) of the first leading bit of the data frame reaching the slave station port by all the slave stations, saves the data frame to the slave station registers, and then sequentially passes through all the slave stations in the system, is processed and returned by the last slave station, and in the data frame returning process, each slave station still records the data frame reaching time Tleave (n) and saves the data frame reaching time Tleave (n) to the registers of each slave station;
s13, the master station respectively reads the arrival time Tarrive (n) and Tleave (n) of each slave station data frame;
s14, the master station calculates the transmission delay Tdelay (n) and the initial offset Toffset (n) of each slave station;
s15, the master station uses a broadcast write command to write the transmission delay calculated in the step S14 into a transmission delay register of each slave station; and writing the initial offset into an initial time offset register of each slave station;
s16, the slave station adjusts the local clock according to the transmission delay and the initial offset;
and S17, after the initialization is finished, repeating the steps S14, S15 and S16 at regular clock cycles, and correcting the transmission delay to adapt to the influence of the physical condition change on the transmission delay.
3. The method according to claim 2, wherein the method for acquiring the characteristic information of the slave station distribution clock in step S11 is as follows: the master station reads all the secondary station characteristic information registers accessed in the network, and knows which secondary stations have distributed clocks and the number of supported distributed clock bits according to the secondary station characteristic information register flag bits.
4. The method according to claim 2, wherein the calculating method of the transmission delay and the initial offset in step S14 is as follows: transmission delay Tdelay (n) = [ Tleave (n) -tarry (1) - (Tleave (1) -tarry (n)) ]/2 for each slave station; initial offset Toffset (n) =tarrive (n) -Tarrive (1) -Tdelay (n).
5. The method according to claim 1, characterized in that: in step SB23, the local clock drift delta (n) =tlocal (n) -Toffset (n) -Tdelay (n) -Tsc (n) -Tsys.
6. The method according to claim 1, wherein the fast synchronization control procedure comprises the steps of:
SA21, the master station reads a reference clock Tsys of the system time register;
SA22, the master station writes the slave station control register, sends a quick synchronous command to the slave station needing quick synchronous control, and simultaneously writes a reference clock Tsys into the local system time register of the slave station;
SA23, the slave station calculates the local clock drift amount eta (n), adjusts the local clock according to eta (n), calculates a copy after the local clock adjustment according to Tsys_local (n) =Tlocal (n) -delta (n), stores the copy Tsys_local (n) as a new local clock Tlocal (n), and then the slave station checks and records the self state and the device I/O port state required to be synchronized according to the content of the quick synchronization command;
SA24, when the clock period arrives, the slave station sends an action command to the I/O port, reads the port state after the action and records the port state;
and SA25, the master station immediately reads the state of the slave station register in the next clock cycle of sending the quick synchronous command, checks the quick synchronous execution condition and returns prompt information to the user.
7. The method according to claim 6, wherein: the local clock drift amount eta (n) =tlocal (n) -Toffset (n) -Tdelay (n) -Tsys in step SA 23.
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| CN111478834A (en) * | 2020-03-25 | 2020-07-31 | 武汉迈信电气技术有限公司 | EtherCAT master station synchronization method based on non-real-time system |
| CN112564938A (en) * | 2020-11-06 | 2021-03-26 | 华南理工大学 | Equipment controller reconfigurable system based on EtherCAT protocol and implementation method |
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