CN114142471B - Ship comprehensive power system reconstruction method considering communication faults - Google Patents
Ship comprehensive power system reconstruction method considering communication faults Download PDFInfo
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- CN114142471B CN114142471B CN202111473462.1A CN202111473462A CN114142471B CN 114142471 B CN114142471 B CN 114142471B CN 202111473462 A CN202111473462 A CN 202111473462A CN 114142471 B CN114142471 B CN 114142471B
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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
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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
- H02J13/00004—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 the power network being locally controlled
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
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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
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
-
- 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
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/42—The network being an on-board power network, i.e. within a vehicle for ships or vessels
Abstract
The invention relates to a reconstruction method of a ship comprehensive power system in a partially observable state, which comprises the following steps: step 1, if an event is observed to occur, performing step 2, otherwise, waiting for an observable event; step 2, performing state estimation; step 3, judging whether the system can perform fault-tolerant control; step 4: judging whether the system fails, if so, performing step 5, otherwise, returning to step 1; step 5: judging whether the system can perform recovery operation or not, if so, triggering a corresponding event sequence by the controller after the staff agrees to perform recovery operation so that the system enters a recoverable state to wait for recovery event occurrence, otherwise, sending a signal that recovery operation cannot be performed; step 6: and if the recovery operation cannot be performed currently, performing reconstruction operation on the system with the aim of recovering the maximum load power, and waiting for the recovery operation. The invention can estimate the system state under partial observability, increase the reconstruction application scene and improve the coping capability of the system under faults.
Description
Technical Field
The invention relates to the technical field of ship comprehensive power systems, in particular to a reconstruction method for improving the vitality of a ship comprehensive power system, and especially relates to a reconstruction method for a ship comprehensive power system considering communication faults.
Background
Unlike land power systems, marine integrated power systems are highly integrated systems, which are equivalent to a small island micro-grid, and have the characteristics of small capacity, bad working environment, and the like. Compared with a land power system, the ship integrated power system is more fragile and is more prone to failure due to electrical and physical sealing, limited power generation capacity and complex operating conditions. When the ship operates on the sea, the ship is isolated and has no assistance in a severe environment, when equipment faults, combat damages, and management personnel operate improperly to damage facilities such as a communication system, the ship comprehensive power system operates under the condition of faults or abnormal operation, the state of certain electric equipment of the system is not considerable, the system cannot be clear of the current state, if the power supply is interrupted or a power grid is crashed due to improper treatment, the safety and the reliability of the system are greatly threatened, and the result of ship destruction and death is possibly caused, so that a reconstruction strategy under the condition of partial observability is needed to recover the performance of the power supply guarantee system.
However, there is no research on the reconfiguration of the ship comprehensive power system under partial observability, and as the system structure and complexity increase, state feedback of system equipment and communication between equipment are increasingly important, so the problem of communication interruption is one of the non-negligible problems in reconfiguration, however, the problem of reconfiguration of the system, which is caused by communication interruption and is not considerable in the state of the electrical equipment, is not fully considered at present.
Disclosure of Invention
According to the characteristics of the ship comprehensive power system, the invention provides a ship comprehensive power system reconstruction strategy considering partial observability based on a state estimation method aiming at the reconstruction problem of the whole ship power system in a partial observability state caused by cable faults and communication network faults due to internal factors or external factors of the ship comprehensive power system.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention relates to a reconstruction method of a ship comprehensive power system in a partially observable state, which specifically comprises the following steps:
step 1: if the occurrence of the event is observed, performing the step 2, otherwise, waiting for the considerable event;
step 2: after the state estimation is performed in the step 2, whether an uncontrollable event exists in the state needs to be checked to enable the system to enter an illegal state, and if yes, the last controllable event in the prefix symbol string of the uncontrollable entering the illegal state is forbidden.
Step 3: judging whether the system can perform fault-tolerant control, if so, disabling a corresponding event by the controller, otherwise, sending a signal of non-fault-tolerant control;
step 4: judging whether the system fails, if so, performing step 5, otherwise, returning to step 1;
step 5: judging whether the system can perform recovery operation or not, if so, triggering a corresponding event sequence by the controller after the staff agrees to perform recovery operation so that the system enters a recoverable state to wait for recovery event occurrence, otherwise, sending a signal that recovery operation cannot be performed;
step 6: and if the recovery operation cannot be performed currently, performing reconstruction operation on the system with the aim of recovering the maximum load power, and waiting for the recovery operation.
The invention further improves that: the state estimation specifically comprises the following steps:
step 2-1: calculating the state of the system after the event observed at the moment according to the current state of the system;
step 2-2: calculating the state of the system after all the unobservable events occur when the system is in the state obtained in the step 1;
step 2-3: if the unobservable range does not exist, setting the controller to be empty, otherwise, calculating a forbidden event in the controller;
step 2-4: outputting a state estimate and events disabled in a state estimate based controller.
The invention has the beneficial effects that:
1. the invention utilizes the ship comprehensive power system state estimation method, can effectively calculate the current state of the system, and ensures that the system state is more definite;
2. compared with other reconstruction methods, the fault-tolerant control method of the ship comprehensive power system can effectively improve the operation efficiency of the system under faults and improve the capability of the system to cope with the faults.
3. Compared with other reconstruction methods, the method considers the reconstruction problem of the ship comprehensive power system under partial observability, can furthest reduce the influence of communication problems on the system, and simultaneously improves the system vitality.
Drawings
FIG. 1 is a flow chart of a ship integrated power system reconstruction under partial observation of the present invention.
Fig. 2 is a block diagram of a hybrid system of the present invention.
Fig. 3 is a state estimation flow chart of the present invention.
Fig. 4 is a block diagram of the ship integrated power system according to the present invention.
FIG. 5 is a graph of simulation results of the present invention.
Detailed Description
Embodiments of the invention are disclosed in the drawings, and for purposes of explanation, numerous practical details are set forth in the following description. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary.
1. Hybrid model of ship comprehensive power system
The invention adopts the hybrid automaton to model the ship comprehensive power system, namely, the differential equation is embedded into the automaton model, and the automaton model can be expanded. The present invention adopts a hybrid system architecture as shown in fig. 2, dividing the system into three parts: discrete controllers, interfaces, and continuously controlled systems. Wherein the discrete controller is described by an automaton whose behavior is controlled by discrete inputs and discrete events at the interface; the interface consists of an event generator and a control behavior generator, is a bridge for connecting a discrete dynamic system and a continuous variable dynamic system, and can exchange information of the two systems; a continuously controlled system is described by differential equations whose behavior is affected by continuous inputs and continuous disturbances. Thus, the continuous dynamic system and the discrete event dynamic system can be combined to form a hybrid system, and the two systems can mutually influence and interact, so that the system accords with the common influence of continuous dynamic and discrete events when the ship comprehensive power system is reconstructed.
The ship integrated power system can be represented by a hybrid automaton H:
H＝(Q，X，U，Init，f，∑，EG，T，R) (1)
in formula (1), Q represents a set of all discrete states;representing a set of continuous states in discrete states; q is a finite set, and Q is a finite set; />Is a continuous set of control inputs; />Representing an initial set of conditions; f: q X U.fwdarw.X is used to describe the evolution law (differential equation set) of q.epsilon.Q in continuous state. Sigma = Σ c ∪∑ uc Is a collection of discrete events Σ c Representing a set of controllable events, Σ uc Is an uncontrollable event set; EG is an event generator function; t: Σxq→2 Q Representing discrete state transition relationships; r: q X U2 X×U Is a reset relationship and also represents a control behavior generator function.
2. State estimation under partial observability
When the ship comprehensive power system is hit or fails due to self reasons, in order to ensure the system performance, the system needs to be subjected to fault reconstruction, so that the system is maintained in a safe state under a fault state or has an opportunity to be restored to a normal structure. The former needs fault-tolerant control, the latter needs to analyze the reconfigurability of the system, and the latter makes the system return to the normal state by judging whether the system can trigger an event or not, and finally makes the system enter the recovery state by controlling the language sequence of the hybrid automaton, and waits for the recovery command after the system fault is removed.
When a fault occurs, the system is controlled from the normal operation structure H i Entering fault structure H j Defining a fault structure H j Initial state set Q 0，j The method comprises the following steps:
defining all uncontrolled entry of illegal State sets Q il，j The state set of (2) is:
the fault tolerance control is: if and only ifWhen the system is in operation, fault-tolerant control can be performed, and the control strategy is as follows:
then the controller may never leave the system in an illegal state when the above conditions are met.
Define all state sets Q that enter the return to normal operation configuration re，j The method comprises the following steps:
when the system meets the fault-tolerant control condition, when meetingWhen the system is reconfigurable, the presence of the controller Φ (q) makes it possible for the system to return to a normal state.
Because of the occurrence of an unexpected event due to a fault, it is necessary to perform state estimation on the system according to the sequence of observable events, to determine the current state of the system, and to perform fault-tolerant control and reconstruction operations according to the obtained state estimation.
When a significant event occurs, it is necessary to first calculate the set of states that the system is likely to reach directly, expressed by the reachable range OR ():
in the formula (20), the amino acid sequence of the compound,a previous state estimate that is a current state estimate; sigma E o，exd For a considerable event, then the state pre-estimate is +.>
Finally calculateAnd->Wherein->Is x (j) is relative to the unobservable range of a set of forbidden eventsIs the set of states that the system can reach from x (j) through some unobservable non-observable events, the definition of the non-observable range is as follows:
in summary, through the observable events occurring in the system, the state estimation can be performed on the system, as shown in fig. 3, which specifically includes the following steps:
step 2-1: calculating the state of the system after the event observed at the moment according to the current state of the system;
step 2-2: calculating the state of the system after all the unobservable events occur when the system is in the state obtained in the step 1;
step 2-3: if the unobservable range does not exist, setting the controller to be empty, otherwise, calculating a forbidden event in the controller;
step 2-4: outputting a state estimate and events disabled in a state estimate based controller.
After the state estimation is performed in the step 2, whether an uncontrollable event exists in the state needs to be checked to enable the system to enter an illegal state, and if yes, the last controllable event in the prefix symbol string of the uncontrollable entering the illegal state is forbidden.
If the current state is judged to possibly cause the system to enter an illegal state according to the state estimation, the fault-tolerant control of the upper section is adopted, and the forbidden operation can be enteredThe set of controllable events prevents the system from entering an illegal state, otherwise no action is taken.
When all elements in the state estimation of the system are recoverable, a recovery event can be triggered to return the system to a normal structure, and the recovery conditions under partial observability are as follows:
according to the above analysis, as shown in fig. 1, a reconstruction strategy based on state estimation specifically includes the following steps:
step 1: if the occurrence of the event is observed, performing the step 2, otherwise, waiting for the considerable event;
step 2: performing state estimation
Step 3: judging whether the system can perform fault-tolerant control, if so, disabling a corresponding event by the controller, otherwise, sending a signal of non-fault-tolerant control;
step 4: judging whether the system fails, if so, performing step 5, otherwise, returning to step 1;
step 5: judging whether the system can perform recovery operation or not, if so, triggering a corresponding event sequence by the controller after the staff agrees to perform recovery operation so that the system enters a recoverable state to wait for recovery event occurrence, otherwise, sending a signal that recovery operation cannot be performed;
step 6: and if the recovery operation cannot be performed currently, performing reconstruction operation on the system with the aim of recovering the maximum load power, and waiting for the recovery operation.
3. Calculation result
The invention carries out reconstruction simulation under partial observability on the comprehensive power system of the annular ship and is used for demonstrating the strategy reconstruction flow. The simplified structure of the marine integrated power system is shown in fig. 4, and the system is composed of 3 generators, a port bus, a right chord bus and the like, and the electric loads comprise a propulsion system, a communication system, a daily load and the like, and are divided into 3 types of loads described above, wherein the generator power is 36MW, the important load power is 36MW, the secondary load is 2MW, the unimportant load is 1MW, SWj represents a switching device (where j=1, 2,..24), each load state is represented by 1-4, the double-ended power supply equipment 1 represents no power supply, 2 represents port power supply, 3 represents right chord power supply, 4 represents double-ended power supply, the unimportant load 1 represents no power supply, 2 represents power supply, and the bus switch is similar to double-ended power supply equipment.
Assuming that the pre-fault zone 1 state is 4322, i.e. the generator is double-ended, the secondary load is powered by the right bus, the unimportant load is on-line, the bus switch sw6 is closed and sw7 is opened, and after 5 seconds, the port bus at zone 1 and the zone 2 secondary load fail to the right chord bus branch, resulting in the failure of the communication line of sw4, resulting in the uncontrollable state thereof, the failure of sw5, resulting in the uncontrollable opening thereof, and the uncontrollable state of sw 11. As shown in fig. 3. Defining an illegal state, in which the important load is powered off and the load is powered by two paths, for zone 1, as known from the second section,
has the following componentsThe system can perform fault-tolerant control, that is, when the secondary load is in 3 states, sw4 is forbidden to be closed, and when the fault is isolated, the system can perform recovery operation, and the recovery state set is as follows:
Q re，j ＝{1111，1121，1311，1321，3111，3121，3311，3321}
through the calculation, the method has the advantages that,for all 128 states, satisfy +.>A recovery operation may be performed.
After failure initial state x (0) = {4322}, since there is a disable event sw5 closed, thenAfter 2 seconds an uncontrollable event sw5 is observed to open, x (1) = {4122}, the same thing is->Because ofThen no recovery operation is possible at this point.
For the region 2 to be considered,there are 160 states not listed here, and when sw24 is open in region 3, the set of recoverable states is:
assuming that the pre-failure zone 2 state is 4234, the post-failure initial stageInitial state x (0) = {4234}, there is a disable event sw10 and sw13 closed, thenRegion 2 may not be subject to a reconstruction operation. This was simulated for 8s as shown in fig. 5.
Simulation shows that after the 5 th second fails, the system power is reduced by 2MW, the 7 th second sw5 turns on the system power to 78MW, and then the system performs reconstruction operation, namely the sw5 is closed, and the system power is increased to 80MW.
The invention can estimate the system state under partial observability, increase the reconstruction application scene and improve the coping capability of the system under faults.
The foregoing description is only illustrative of the invention and is not to be construed as limiting the invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the present invention, should be included in the scope of the claims of the present invention.
Claims (4)
1. A ship comprehensive power system reconstruction method considering communication faults is characterized in that: the reconstruction method utilizes state estimation to complete reconstruction, and specifically comprises the following steps:
step 1: starting to wait for an observable event, if the occurrence of the event is observed, performing step 2, otherwise, waiting for the observable event;
step 2: performing state estimation;
step 3: judging whether the system can perform fault-tolerant control, if so, disabling a corresponding event by the controller, otherwise, sending a signal of non-fault-tolerant control;
step 4: judging whether the system fails, if so, performing step 5, otherwise, returning to step 1;
step 5: judging whether the system can perform recovery operation or not, if so, triggering a corresponding event sequence by the controller after the staff agrees to perform recovery operation so that the system enters a recoverable state to wait for recovery event occurrence, otherwise, sending a signal that recovery operation cannot be performed;
step 6: if the recovery operation is not currently possible, performing the reconstruction operation on the system with the maximum recovery load power as a target, and waiting for the recovery operation, wherein:
the state estimation in the step 2 specifically includes the following steps:
step 2-1: calculating the state of the system after the event observed at the moment according to the current state of the system;
step 2-2: calculating the state of the system after all the unobservable events occur when the system is in the state obtained in the step 1;
step 2-3: if the unobservable range does not exist, setting the controller to be empty, otherwise, calculating a forbidden event in the controller;
step 2-4: outputs a state estimate and events disabled in the state estimate based controller,
after the state estimation is performed in the step 2, whether an uncontrollable event exists in the state needs to be checked to enable the system to enter an illegal state, and if yes, the last controllable event in the prefix symbol string of the uncontrollable entering the illegal state is forbidden.
2. The method for reconstructing the comprehensive power system of the ship taking communication faults into consideration as recited in claim 1, wherein the method comprises the following steps of: modeling the ship comprehensive power system by adopting a hybrid automaton, and dividing the ship comprehensive power system into three parts: the system comprises a discrete controller, an interface and a continuous controlled system, wherein the behavior of the discrete controller is controlled by discrete input and discrete events at the interface, the interface consists of an event generator and a control behavior generator, the continuous controlled system is described by a differential equation, and the behavior of the continuous controlled system is influenced by continuous input and continuous disturbance.
3. The ship integrated power system reconstruction method considering communication faults according to claim 1 or 2, wherein: the ship comprehensive power system is represented by a hybrid automaton H:
H＝(Q，X，U，Init，f，∑，EG，T，R)
wherein: q represents a set of all discrete states;representing a set of continuous states in discrete states, Q.u.X representing a state space, Q being a finite set; />Is a continuous set of control inputs; />Representing an initial set of conditions; f: q X U → X is used to describe the evolution law of Q ε Q in continuous state, Σ= Σ c ∪∑ uc Is a collection of discrete events Σ c Representing a set of controllable events, Σ uc Is an uncontrollable event set; EG is an event generator function; t: Σxq→2 Q Representing discrete state transition relationships; r: q X U2 X×U Is a reset relationship and also represents a control behavior generator function.
4. The method for reconstructing the comprehensive power system of the ship taking communication faults into consideration as recited in claim 2, wherein the method comprises the following steps of: the fault-tolerant control in the step 3 has a control strategy of:
when the conditions are met, the discrete controller enables the ship comprehensive power system to never enter an illegal state;
define all state sets Q that enter the return to normal operation configuration re，j The method comprises the following steps:
the saidWhen the comprehensive power system of the ship meets the fault-tolerant control condition, when the comprehensive power system of the ship meets the fault-tolerant control conditionWhen the integrated power system of the vessel is reconfigurable, the presence controller phi (q) makes it possible to return the integrated power system of the vessel to a normal state,
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