CN-122008907-A - Pantograph type heavy truck battery and power grid power cooperative control method and system

CN122008907ACN 122008907 ACN122008907 ACN 122008907ACN-122008907-A

Abstract

The invention provides a cooperative control method and a cooperative control system for power of a pantograph type heavy truck battery and a power grid, and relates to the field of power supply, wherein the method comprises the steps of constructing heterogeneous state feature vectors based on state data and required power of a vehicle; the method comprises the steps of generating a battery output power reference instruction at the current moment according to a heterogeneous state feature vector through a strategy network based on a dual-channel feature decoupling mechanism, performing engineering constraint verification and cutting on the battery output power reference instruction to generate battery output power at the current moment, and calculating power grid side output power based on a coupling relation of battery-power grid power, the battery output power and demand power at the current moment.

Inventors

ZHOU ZIWEI
WANG QIANLIN
XU YAN
LIU ZHENDONG
ZHANG JIE

Assignees

昆明理工大学

Dates

Publication Date: 20260512
Application Date: 20260312

Claims (10)

1. The cooperative control method for the power of the pantograph type heavy truck battery and the power grid is characterized by comprising the following steps of: constructing heterogeneous state feature vectors based on the state data and the required power of the vehicle; Generating a battery output power reference instruction at the current moment according to the heterogeneous state feature vector through a strategy network based on a dual-channel feature decoupling mechanism; Executing engineering constraint checking and cutting on the battery output power reference instruction to generate battery output power at the current moment; And calculating the output power of the power grid side based on the coupling relation of the battery and the power of the power grid, the output power of the battery and the demand power at the current moment.
2. The cooperative control method of the pantograph type heavy truck battery and the power grid according to claim 1, wherein constructing the heterogeneous state feature vector based on the state data and the required power of the vehicle comprises: Based on the battery SOC values corresponding to a plurality of moments in the vehicle state data, the output power of the battery at the last moment, the battery voltage and the battery current, constructing internal battery energy characteristics corresponding to a plurality of moments; And constructing external traction characteristics corresponding to a plurality of moments based on the speeds and the required power corresponding to the moments in the state data of the vehicle, wherein the heterogeneous state characteristic vector comprises internal battery energy characteristics and external traction characteristics corresponding to the moments.
3. The cooperative control method of the pantograph type heavy truck battery and the power grid according to claim 2, wherein the policy network based on the dual-channel characteristic decoupling mechanism comprises an external load channel, an internal energy channel, a decoupling constraint module, a characteristic fusion module and a policy generation module; The external load channel is used for constructing an external load input sequence based on external traction characteristics corresponding to a plurality of moments and extracting external load characteristics from the external load input sequence; the internal energy channel is used for constructing an internal energy input sequence based on the internal battery energy characteristics corresponding to a plurality of moments and extracting the internal energy characteristics from the internal energy input sequence; The decoupling constraint module is used for decoupling the external load characteristic and the internal energy characteristic and generating the decoupled external load characteristic and internal energy characteristic; the feature fusion module is used for carrying out feature fusion on the decoupled external load features and the decoupled internal energy features to generate fusion features; The strategy generation module is used for generating a battery output power reference instruction based on the fusion characteristic.
4. The cooperative control method of the pantograph type heavy truck battery and the power grid according to claim 3, wherein the external load channel comprises an input sequence construction module, a feature extraction module, a feature compression and mapping module and a stability enhancement module; the input sequence construction module is used for constructing an external load input sequence based on external traction characteristics corresponding to a plurality of moments; the characteristic extraction module is used for extracting external load dynamic characteristics from an external load input sequence through a time sequence convolution network or a gating circulation unit; the characteristic compression and mapping module is used for generating initial external load characteristics based on the external load dynamic characteristics; The stability enhancement module is configured to generate an external load signature based on an initial external load signature, where the stability enhancement module includes at least a normalization layer and a Dropout layer.
5. The cooperative control method of power of a heavy truck battery and a power grid according to claim 4, wherein the decoupling constraint module decouples an external load characteristic and an internal energy characteristic to generate a decoupled external load characteristic and an internal energy characteristic, and the method comprises: And decoupling the external load characteristic and the internal energy characteristic by reducing the correlation and/or orthogonalization operation of the external load characteristic and the internal energy characteristic, and generating the decoupled external load characteristic and internal energy characteristic.
6. The cooperative control method of the pantograph type heavy truck battery and the power grid according to claim 4, wherein the feature fusion module performs feature fusion on the decoupled external load feature and internal energy feature, and generates fusion features, including: splicing the decoupled external load characteristics and the decoupled internal energy characteristics, and generating fusion weights; and carrying out feature fusion on the decoupled external load feature and the decoupled internal energy feature through fusion weights to generate fusion features.
7. The method of cooperative control of a heavy-duty battery and grid power of any one of claims 1 to 6, wherein performing engineering constraint checking and clipping on a battery output power reference command generates a battery output power, comprising: and performing engineering constraint verification and cutting on the battery output power reference instruction according to a constraint condition set to generate battery output power, wherein the constraint condition set comprises battery charge and discharge power boundary constraint, grid power supply capacity constraint, battery-grid power change constraint and SOC safety constraint.
8. The cooperative control method of a heavy-duty battery and power grid according to any one of claims 1 to 6, wherein calculating the power grid side output power based on the coupling relation of the battery-power grid, the battery output power and the current time demand power includes: Calculating initial grid side output power based on the coupling relation of battery-grid power, battery output power and current demand power; judging whether the initial power grid side output power meets the power grid power constraint condition, if so, taking the initial power grid side output power as the power grid side output power; If not, performing secondary compensation on the battery output power based on the power constraint condition of the power grid and the initial power grid side output power; and judging whether to adjust the required power at the current moment based on the battery output power after the secondary compensation and the battery output power constraint condition, if not, generating grid side output power based on the coupling relation of battery-grid power, the battery output power after the secondary compensation and the required power at the current moment, and if so, correcting the required power at the current moment based on the grid power constraint condition and the battery output power constraint condition.
9. The method of cooperative control of a heavy truck battery and grid power according to claim 8, wherein the performing secondary compensation on the battery output power based on the grid power constraint condition and the initial grid side output power comprises: determining a power compensation value based on the initial grid-side output power and the grid-side output power maximum value; and generating the battery output power after secondary compensation based on the battery output power and the power compensation value.
10. The cooperative control system for the pantograph type heavy truck battery and the power grid is characterized by being used for executing the cooperative control method for the pantograph type heavy truck battery and the power grid as claimed in any one of claims 1 to 9, and comprising the following steps: the data processing module is used for constructing heterogeneous state feature vectors based on the state data and the required power of the vehicle; The instruction generation module is used for generating a battery output power reference instruction at the current moment according to the heterogeneous state feature vector through a strategy network based on a dual-channel feature decoupling mechanism; the power generation module is used for executing engineering constraint verification and cutting on the battery output power reference instruction to generate battery output power at the current moment; The power calculation module is used for calculating the power grid side output power based on the coupling relation of the battery and the power grid power, the battery output power and the current time demand power.

Description

Pantograph type heavy truck battery and power grid power cooperative control method and system Technical Field The invention relates to the field of power supply, in particular to a cooperative control method and system for pantograph type heavy truck batteries and power grid power. Background The electrified highway system is taken as an important way for reducing oil consumption and carbon emission of a heavy vehicle, the pantograph type heavy truck takes electricity by virtue of a vehicle-mounted pantograph and a road side contact network, and a power battery forms a double-power-source system, so that the output power of the battery and the output power of a power grid are required to be dynamically distributed in real time in operation. However, the heavy pantograph truck faces the dual challenges of grid-side transient power impact severe constraint and power battery life guarantee. At present, a rule control method, a model predictive control method or a static optimization method is mostly adopted for the research of power distribution between a battery and a power grid, but obvious defects exist. On the one hand, the existing method regards battery state (such as SOC) and transient driving requirement (such as traction power) as flattened input when processing input information, and does not consider the coupling heterogeneity of the battery state (such as SOC) and the transient driving requirement (such as traction power) in time scale and physical dimension. The external traction requirement of the vehicle is influenced by various factors such as road gradient, vehicle speed and the like, the vehicle has high-frequency and strong random dynamic change characteristics, the battery state has accumulation and slow change characteristics, the accumulation and slow change characteristics are obviously different in time scale and physical properties, the processing mode cannot accurately reflect actual conditions, and the accuracy of power distribution is affected. On the other hand, on the aspect of power grid stability guarantee, the existing power distribution method mostly aims at meeting the instantaneous traction requirement of vehicles and lacks an endophytic constraint mechanism aiming at the dynamic response characteristic of a catenary power supply system. In actual operation, when the working condition is suddenly changed, the output power of the power grid side can be greatly fluctuated, and the fluctuated power is easy to generate current impact on the road side converter device and the contact net, so that the safety and the reliability of a power supply system are affected. For example, when the vehicle suddenly accelerates or decelerates, the existing method cannot timely and effectively adjust the power distribution, so that the output power at the power grid side cannot be stably transited, and the risk of power supply system faults is increased. Therefore, a cooperative control method and a cooperative control system for the power of the pantograph type heavy truck battery and the power grid are required to be provided, so that the abrupt change of the output power of the power grid side is restrained while the response performance of the traction power is ensured, and the cooperative control effect of long-service-life operation of the battery and smooth output of the power grid is realized. Disclosure of Invention The invention provides a cooperative control method and a cooperative control system for power of a pantograph type heavy truck battery and a power grid, wherein the cooperative control method comprises the steps of constructing heterogeneous state feature vectors based on state data and required power of a vehicle; the method comprises the steps of generating a battery output power reference instruction at the current moment according to a heterogeneous state feature vector through a strategy network based on a dual-channel feature decoupling mechanism, executing engineering constraint verification and cutting on the battery output power reference instruction to generate battery output power at the current moment, and calculating grid side output power based on a coupling relation of battery-grid power, the battery output power and required power at the current moment. Further, based on state data and required power of the vehicle, constructing heterogeneous state feature vectors, wherein the heterogeneous state feature vectors comprise internal battery energy features corresponding to a plurality of moments based on battery SOC values corresponding to the plurality of moments, output power of a battery at the last moment, battery voltage and battery current, and external traction features corresponding to the plurality of moments based on speeds and required power corresponding to the plurality of moments in the state data of the vehicle. The strategy network based on the dual-channel feature decoupling mechanism comprises an external load channel, an internal energy ch