AU2021229237B2

AU2021229237B2 - Regional coordinated voltage control method and apparatus for distribution network, and electronic device

Info

Publication number: AU2021229237B2
Application number: AU2021229237A
Authority: AU
Inventors: Yize Li; Shu Liu; Chao Lu; Bing Shen; Zhixiong SHI; Wei Xie; Jianping Yang; Lin Zhang; Chengbin ZHAO; Zheng Zhu
Original assignee: Tsinghua University; State Grid Shanghai Electric Power Co Ltd
Current assignee: Tsinghua University; State Grid Shanghai Electric Power Co Ltd
Priority date: 2020-09-21
Filing date: 2021-07-28
Publication date: 2023-03-02
Anticipated expiration: 2041-07-28
Also published as: AU2021229237A1; CN114256832A; WO2022057457A1

Abstract

Embodiments of the present disclosure provide a regional coordinated voltage control method and apparatus for a distribution network, and an electronic device. The method includes: initializing a control system of a target distribution network offline, and establishing a multi-step predicted state space model of the target distribution network; if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correcting the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and calculating a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, delivering a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network. The embodiments of the present disclosure can realize rapid regional coordinated voltage control of a distribution network, and avoid a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network. Initialize a control system of a target distribution network offline, and establish amulti-step predicted state space model of the target distribution 's01 network If it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correct the multi-step predicted state space model by performing state estimation and topology recognition on -\S102 the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model Calculate a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, deliver a first step _ S I03 in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network FIG. 1

Description

REGIONAL COORDINATED VOLTAGE CONTROL METHOD AND APPARATUS FOR DISTRIBUTION NETWORK, AND ELECTRONIC DEVICE TECHNICAL FIELD

[1] The present disclosure relates to the technical field of power system control, and in particular, to a regional coordinated voltage control method and apparatus for a distribution network, and an electronic device.

BACKGROUND

[2] With the large-scale access of distributed energy, electric vehicle charging and battery-swapping facilities, and distributed energy storage devices to a distribution network in recent years, interaction between a power grid and a power user becomes more frequent, and a voltage of the distribution network fluctuates more frequently and violently. A rapid voltage change affects users sensitive to voltage quality, such as semiconductor processing enterprises, automobile manufacturing enterprises, and other precision machining enterprises. This poses a new challenge to voltage control of the distribution network.

[3] At present, many voltage control methods are specifically provided for the distribution network, and are mainly classified into three types of control methods based on dependence of control on communication, namely, local control, distributed control, and centralized control. At present, the voltage of the distribution network is dispatched and controlled mostly through centralized control, specifically, by using a "hierarchical" control system. Based on different targets and time, primary voltage control (usually local control), secondary voltage control (usually regional coordinated control), and tertiary voltage control (usually trans-regional optimal control) are provided. The time ranges from seconds to minutes, and then to more than ten minutes.

[4] However, the existing voltage control methods for the distribution network, including a distributed control method based on a weak communication condition, a centralized hierarchical coordinated control method considering fast access of a control device, and an improved secondary voltage control method based on dynamic measurement information of a phasor measurement unit (PMU), usually perform optimization and find a solution based on a steady-state model. This makes it difficult for a regional distribution network to achieve rapid voltage coordination and optimization, and deal with a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation.

SUMMARY

[5] Embodiments of the present disclosure provide a regional coordinated voltage control method and apparatus for a distribution network, and an electronic device, to realize rapid regional coordinated voltage control of a distribution network, and avoid a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network.

[6] Embodiments of the present disclosure provide a regional coordinated voltage control method for a distribution network, including:

[7] initializing a control system of a target distribution network offline, and establishing a multi-step predicted state space model of the target distribution network;

[8] if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correcting the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and

[9] calculating a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, delivering a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network;

[10] wherein the step of establishing a multi-step predicted state space model of the target distribution network specifically includes:

[11] establishing a dynamic control model for devices of the target distribution network, and obtaining, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device;

[12] establishing, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network;

[13] obtaining, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time; and

[14] obtaining the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time domain control steps;

[14a] wherein the step of calculating a control command sequence by using the target multi-step predicted state space model specifically includes: optimizing the target multi-step predicted state space model by setting target error cost and control command cost, to obtain a predicted control optimization model of the system; and calculating, based on the predicted control optimization model of the system, a dynamic voltage control command sequence corresponding to a specified quantity of time-domain control steps, and using the dynamic voltage control command sequence as the control command sequence; wherein the predicted control optimization model of the system is specifically as follows: min J(k)= (Y(k) - YS, (k )T RY (- (k) - Y, (k)) +AU (k)T RAU (k): s.t. i(k)=AX,(k)+AU(k)+TAW(k)+(k); Umn< U (k) < Un AUm,< AU (k) < AUx(1 wherein in the formula (1), J(k) represents a target function, R ' =diag 12,...1)m PxP represents the target error cost, Ru=diag (r,r ,--,rL)nxnm 2 represents the control command cost, V(k) represents a predicted value, of a key bus voltage, corresponding to the quantity P of time domain prediction steps, Y"(k) represents a specified target value, x"(k) represents a state variable, U(k) represents a control input variable, Umax and Umn represent an upper limit and a lower limit of a control variable respectively, AU(k) represents a control increment, AU-x and AU n represent an upper limit and a lower limit of the control increment respectively,AW(k) a (k).. A=F , F represents a disturbance increment, )represents a prediction error compensation, ©=F -G T=F -Hx F G, H F ,and'x, , , and 3' represent corresponding coefficients of various variable vectors in the multi-step predicted state space model respectively; and correspondingly, the control command sequence is specifically as follows: u (k)=u (k - 1) + Au (k Ik); Au(k k) = KAU(k);

AU(k) = (()TR,©D+R. ) D R, (Y , (k) -AX, (k) -TrAW(k) - a(k)) (2),

wherein in the formula (2), K,=[InxnO . - nxnO represents a calculation coefficient of the

control increment, u(k -1) represents a control input variable at a time point k-1, and Au(kIk) represents a control increment relative to a time point k and calculated at the time point k; wherein the step of establishing a dynamic control model for devices of the target distribution network, and obtaining, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device; and establishing, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network specifically includes: the dynamic control model for devices of the target distribution network is established by analyzing the state of the voltage control device of the target distribution network, and order reduction and linear processing are performed on the dynamic control model to obtain the simplified equivalent model that reflects dominant control dynamics of the voltage control device, as shown in the following: Ak=AAX+BAU+EAW (3), in the formula (3), X e R" represents a state variable, U E R" represents a control input variable, W E R" represents a disturbance variable, A, B, E E R"" represent corresponding coefficients of various variable vectors in a state space equation respectively, and n represents an order of the state variable; a system network equation ", C(t)X is established based on network topology parameters of the target distribution network, and the system state space model that reflects the dynamic control relationship between the voltage control device and the key node voltage of the target distribution network is established based on the system network equation and the established simplified equivalent model of the voltage control model, as shown in the following: Ak = AAX + BAU + EAW tV,= C, (t) X (4) in the formula (4), V represents a key bus voltage of the system, and C, (t) represents an observation matrix of the key bus voltage of the system; wherein the step of obtaining, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time specifically includes: the system state space model is discretized to obtain a discrete system state space model, as shown in the following: AX (k +1)= AdAX (k)+ Bd A U (k)+ EA W (k) V,(k +1)=C(k) AX (k)+V, (k) (5), Ad - e, Bd- e TBdt, Ed- e^ TEdt, C (k)=C (kT) in the formula (5), " , and Ts represents a time interval; for the discrete system state space model, output variables of a state space equation and state variables are combined to obtain a time-discrete generalized state space model for a dynamic voltage control system, as shown in the following: X,(k+1) =AX,(k)+BAu(k)+E AW(k) V,(k) =C,(k)X(k) (6), in the formula (6), k represents a time point, X(k±1)=IAX(k±1) V,(k±1)]T, and corresponding coefficients of the variables in the state space equation are as follows:

" C, (k) Ad I

Bs=(Bd C, k)Bd]T

ES=(Ed C, k)Ed] T

C,(k)=[0 (7);

wherein the step of obtaining the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time-domain control steps specifically includes: for the generalized state space model of the system, the specified quantity P of time-domain prediction steps and the specified quantity M of time-domain control steps are expanded to obtain the multi-step predicted state space model of regional voltage control of the target distribution network, as shown in the following: X(k)= FX (k)+GAU(k)+ HAW(k) LY(k)= FX(k) in the formula (8): X(k)=[X,(kk) X,(k1|k) X,(k+2|k) X,(k+P-1|k

AW(k)=(AW(klk) AW(k+1|k) AW(k+2|k) --- AW(k+Plk)] (

the corresponding coefficients of the variables in the state space equation are as follows:

F,=[A, A A --- A

B, 0 0 ... 0 AB, B, 0 --- 0

G,= . AA ..

. P-M A4-7B, A7-B, A- 3B~ --- ZA$B~ 1_r2n+m).Pxn.M

0 0 .- 07 AE E 0 --- 0 H,= A E AE E --- 0

A-,E A- 2 E, A- 3 E ... E ](2nm).Px2n.P

(k~k) 0 --- 0 0 Cj(k+1|k) --- 0

[15 0 0 -. C,(k+Plk)]P( 2 )P

[16] According to the regional coordinated voltage control method for a distribution network in an embodiment of the present disclosure, the step of correcting the multi-step predicted state space model specifically includes:

[17] performing state estimation and topology recognition on the target distribution network by using the distribution network synchronous measurement device, obtaining information of the voltage control device of the target distribution network and current network topology information of the target distribution network, and updating the multi-step predicted state space model based on the information of the voltage control device and the current network topology information; and

[18] determining an error compensation amount of an updated multi-step predicted state space model based on a prediction control amount of the multi-step predicted state space model at a previous time point and a current measurement control amount measured by the distribution network synchronous measurement device, and correcting the updated multi-step predicted state space model based on the error compensation amount.

[19] Paragraph [19] deleted intentionally.

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[22] According to the regional coordinated voltage control method for a distribution network in an embodiment of the present disclosure, the step of updating the multi-step predicted state space model specifically includes:

[23] recognizing dominant control parameters of the simplified equivalent model of the voltage control device by using the distribution network synchronous measurement device, obtaining the information of the voltage control device, and updating parameters of the simplified equivalent model of the voltage control device based on the information of the voltage control device; and

[24] performing topology recognition on the target distribution network, obtaining the current network topology information, updating admittance matrix parameters of the target distribution network based on the current network topology information, and re-establishing the multi-step predicted state space model.

[25] Paragraph [25] deleted intentionally.

[26] Paragraph [26] deleted intentionally.

[27] Paragraph [27] deleted intentionally.

[28] Paragraph [28] deleted intentionally.

[29] According to the regional coordinated voltage control method for a distribution network in an embodiment of the present disclosure, after the step of delivering a first step in the control command sequence as a control command, the method further includes:

[30] determining whether the target distribution network reaches the stable state again, and if the target distribution network reaches the stable state again, terminating voltage regulation and control, or if the target distribution network does not reach the stable state again, returning to the step performed when it is monitored that a disturbance exceeding the specified standard occurs on the target distribution network, and repeating the operation of regional coordinated voltage control of the target distribution network.

[31] The embodiments of the present disclosure further provide a regional coordinated voltage control apparatus for a distribution network, including:

[32] an initialization module, configured to initialize a control system of a target distribution network offline, and establish a multi-step predicted state space model of the target distribution network;

[33] an update module, configured to: if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correct the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and

[34] a control output module, configured to calculate a control command sequence by using the target

multi-step predicted state space model, and if it is determined that the target distribution network

reaches a closed-loop stable state, deliver a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network;

[34a] wherein the initialization module is specifically configured to:

establish a dynamic control model for devices of the target distribution network, and obtain, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device; establish, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network; obtain, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time; and obtain the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time domain control steps; wherein the control output module is specifically configured to: optimize the target multi-step predicted state space model by setting target error cost and control command cost, to obtain a predicted control optimization model of the system; and calculate, based on the predicted control optimization model of the system, a dynamic voltage control command sequence corresponding to a specified quantity of time-domain control steps, and using the dynamic voltage control command sequence as the control command sequence; wherein the predicted control optimization model of the system is specifically as follows: min J(k)=( (k) - Y, (k)) R ( (k) -Y, (k))+ AU(k)T RAU(k); s.t. 1 (k) =AX,(k) +<DAU (k) +TAW (k) +c(k): Us .Ut)<

Umn<AU(k)<AUmax(

wherein in the formula (1), J(k) represents a target function, R ' =diag( ' 2 , ... , PxmP

represents the target error cost, R=diag (rIr ,...,r,)nxnm 2 represents the control command cost, V(k) represents a predicted value, of a key bus voltage, corresponding to the quantity P of time

domain prediction steps, Y-et(k) represents a specified target value, x (k) represents a state variable, U(k) represents a control input variable, Uma and Uan represent an upper limit and a lower limit of a control variable respectively, AU(k) represents a control increment, AU-x and AUrm represent an upper limit and a lower limit of the control increment respectively,AW(k)

a(k) .. A=F, -F represents a disturbance increment, represents a prediction error compensation,

<D=F -G T=F -H F G, H F and x , I , and 3' represent corresponding coefficients of various variable vectors in the multi-step predicted state space model respectively; and correspondingly, the control command sequence is specifically as follows: u (k)=u (k - 1) + Au (k Ik); Au(k k) = KAU(k);

AU(k) = (()TR,©D+R. ) D R, (Y , (k) -AX, (k) -TrAW(k) - a(k)) (2),

wherein in the formula (2), K,= [Inn,0---0]nxnm represents a calculation coefficient of the

control increment, u(k -1) represents a control input variable at a time point k-1, and Au(kIk) represents a control increment relative to a time point k and calculated at the time point k; wherein when the initialization module is configured to: establish a dynamic control model for devices of the target distribution network, and obtain, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device, and establish, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network, the steps are specifically as follows: the dynamic control model for devices of the target distribution network is established by analyzing the state of the voltage control device of the target distribution network, and order reduction and linear processing are performed on the dynamic control model to obtain the simplified equivalent model that reflects dominant control dynamics of the voltage control device, as shown in the following: Ak=AAX+BAU+EAW (3), in the formula (3), X e R" represents a state variable, U E R represents a control input variable, WEe R represents a disturbance variable, A, B, E e R"" represent corresponding coefficients of various variable vectors in a state space equation respectively, and n represents an order of the state variable;

a system network equation ", C(t)X is established based on network topology parameters of the target distribution network, and the system state space model that reflects the dynamic control relationship between the voltage control device and the key node voltage of the target distribution network is established based on the system network equation and the established simplified equivalent model of the voltage control model, as shown in the following: Ak= AAX+BAU+EAW V = C, (t)x (4) in the formula (4), VI represents a key bus voltage of the system, and CI, (t) represents an observation matrix of the key bus voltage of the system; wherein when the initialization module is configured to: obtain, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time, the steps are specifically as follows: the system state space model is discretized to obtain a discrete system state space model, as shown in the following: rAX(k+1)= AAX(k)+Bd AU(k)+EAW(k) |V,(k+1)=C (k)AX(k)+V,(k) (5), Ad - e, Bd -f eTBdt, Ed -r eA TEdt, C,(k)=C, (kT,) in the formula (5), edO ,and Ts represents a time interval; for the discrete system state space model, output variables of a state space equation and state variables are combined to obtain a time-discrete generalized state space model for a dynamic voltage control system, as shown in the following: X,(k+1)=AX,(k)+BAu(k)+E AW(k) V,(k)= Cj(k)X,(k) (6), in the formula (6), k represents a time point, Xk±1)=IAX(k±1) V,(k±1)]T and corresponding coefficients of the variables in the state space equation are as follows:

As CkA

Bs=(Bd Ck)Bd]T

ES=(Ed Cik)Ed] T

C,(k)=[0] (7); wherein when the initialization module is configured to: obtain the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time domain control steps, the steps are specifically as follows: for the generalized state space model of the system, the specified quantity P of time-domain prediction steps and the specified quantity M of time-domain control steps are expanded to obtain the multi-step predicted state space model of regional voltage control of the target distribution network, as shown in the following:

X(k) =FX (k)+GAU(k)+HAW(k) Y(k)=F,X(k) (8), in the formula (8): X(k)=[(Xklk) X,4k1|k) XAk+2|k) --- Xjk+P-1|k

Y k =(V, k+1|k) V, (k+1|k) V, (k+2|k) --- V, (k+ P-1|k)]

AU(k)=(Au(klk) Au(k+1|k) Au(k+2|k) -.- Au(k+M-|k)] T AW(k+1|k) AW(k+2|k) -. AW(k+Plk)] AW(k)=(AW(klk) 2 xl (9); the corresponding coefficients of the variables in the state space equation are as follows: --- T F,= A A,~'~L4~ Af A~'(2n~rn)Px(2n~rn) 0 0 ... 0 AB, B, 0 --- 0 G=A2 B, AB, B -- 0 Gx= 0

P-M Aj-KB, A4- 2 B, A 3- B~ --- ~AB±nyx. 10 (2n+mi)-Pxn-M

0 0 .- 0 AE E 0 --- 0 H,= AE AE E -- 0

A-IE A - 2 E, A- 3 E ... E ](2nm).Px2n.P

(kIk) 0 --- 0 0 Cj(k+1|k) --- 0

0 0 -- C,(k+Plk)P(2 ±)P (10).

[35] The embodiments of the present disclosure further provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor performs steps of any one of the above-mentioned regional coordinated voltage control methods for a distribution network when executing the computer program.

[36] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium, storing a computer instruction, where a processor performs steps of any one of the above-mentioned regional coordinated voltage control methods for a distribution network when executing the computer instruction.

[37] The regional coordinated voltage control method and apparatus for a distribution network, and the electronic device that are provided in the embodiments of the present disclosure further consider a dynamic control feature of the voltage control device, to effectively improve a speed of coordinated optimization, realize rapid regional coordinated voltage control of a distribution network, and avoid a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network.

BRIEF DESCRIPTION OF THE DRAWINGS

[38] To describe the technical solutions in the embodiments of the present disclosure or in the prior art more clearly, the following briefly describes the accompanying drawings required for describing the embodiments or the prior art. Apparently, the accompanying drawings in the following description show some embodiments of the present disclosure, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts.

[39] FIG. 1 is a schematic flowchart of a regional coordinated voltage control method for a distribution network according to an embodiment of the present disclosure;

[40] FIG. 2 is a schematic flowchart of a regional coordinated voltage control method for a distribution network according to another embodiment of the present disclosure;

[41] FIG. 3 is a schematic structural diagram of a regional coordinated voltage control apparatus for a distribution network according to an embodiment of the present disclosure; and

[42] FIG. 4 is a schematic diagram of a physical structure of an electronic device according to an embodiment of the present disclosure.

DETAILED DESCRIPTION

[43] In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following clearly and completely describes the technical solutions in the embodiments of the present disclosure with reference to accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some rather than all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[44] To resolve a problem that it is difficult for a regional distribution network in the prior art to achieve fast coordinated voltage optimization and deal with a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation, the embodiments of the present disclosure further consider a dynamic control feature of a voltage control device, to effectively improve a speed of coordinated optimization, realize rapid regional coordinated voltage control of the distribution network, and avoid the voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network. The embodiments of the present disclosure are described in detail below by using a plurality of specific embodiments.

[45] FIG. 1 is a schematic flowchart of a regional coordinated voltage control method for a distribution network according to an embodiment of the present disclosure. As shown in FIG. 1, the method includes the following steps.

[46] S101: Initialize a control system of a target distribution network offline, and establish a multi step predicted state space model of the target distribution network.

[47] It can be understood that in this embodiment of present disclosure, the control system of the target distribution network is initialized first, including setting a quantity of time-domain prediction steps and a quantity of time-domain control steps. On this basis, based on analysis on a control state of a voltage control device in the control system and analysis on a network topology of the target distribution network, the multi-step predicted state space model of a control relationship between the voltage control device and a key node voltage of the network is established.

[48] S102: If it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correct the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model.

[49] It can be understood that the initial multi-step predicted state space model, obtained by performing the above step, of the target distribution network may be unstable and inaccurate. Therefore, in this embodiment of the present disclosure, after the multi-step predicted state space model of the target distribution network is established through initialization, whether there is a large voltage disturbance in the target distribution network, namely, whether the voltage disturbance exceeds the specified standard, is monitored. If it is monitored that the voltage disturbance exceeds the specified standard, whether the model needs to be optimized and updated is determined. If it is monitored that the voltage disturbance does not exceed the specified standard, online real-time monitoring is continuously performed.

[50] Specifically, if it is monitored that the large voltage disturbance occurs, dominant parameters of the voltage control device of the target distribution network are recognized by using the distribution network synchronous measurement device, and the state of the voltage control device is estimated. In addition, current network topology information of the target distribution network is recognized by using the distribution network synchronous measurement device. On this basis, parameter update and correction are performed on the multi-step predicted state space model established according to the above step, to obtain an updated model, namely, the target multi-step predicted state space model.

[51] S103: Calculate a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, deliver a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network.

[52] It can be understood that in this embodiment of the present disclosure, finally, the control command sequence, corresponding to the quantity of time-domain control steps, of voltage control of the target distribution network is calculated based on the obtained target multi-step predicted state space model. Then, it is necessary to determine whether the voltage control of the target distribution network has reached the closed-loop stable state. If the voltage control of the target distribution network has reached the closed-loop stable state, the first step in the control command sequence is delivered to the voltage control device as the control command. The voltage control device adjusts an output voltage of the network by executing the control command, to realize regional coordinated voltage control of the target distribution network.

[53] It can be understood that the above control command sequence carries a plurality of control commands that need to be delivered to the voltage control device, and the voltage control devicefinally stabilizes the system voltage by executing these control commands.

[54] The regional coordinated voltage control method for a distribution network provided in this embodiment of the present disclosure further considers a dynamic control feature of the voltage control device, to effectively improve a speed of coordinated optimization, realize rapid regional coordinated voltage control a distribution network, and avoid a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network.

[55] According to the regional coordinated voltage control method for a distribution network in this embodiment, optionally, the step of establishing a multi-step predicted state space model of the target distribution network specifically includes:

[56] establishing a dynamic control model for devices of the target distribution network, and obtaining, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of the voltage control device;

[57] establishing, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and the key node voltage of the target distribution network;

[58] obtaining, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time, in other words, performing discretized setting on the control model to convert a continuous-time model into a time-discrete model; and

[59] obtaining the multi-step predicted state space model based on the generalized state space model of the system, the specified quantity of time-domain prediction steps, and the specified quantity of time-domain control steps.

[60] Specifically, at first, the dynamic control model for devices of the target distribution network is established by analyzing the state of the voltage control device of the target distribution network, and order reduction and linear processing are performed on the dynamic device control model to obtain the simplified equivalent model that reflects dominant control dynamics of the voltage control device, as shown in the following: Ak=AAX+BAU+EAW (3)

[61] In the formula (3), X e R" represents a state variable, U E R" represents a control input variable, WE R" represents a disturbance variable, A, B, E e R"'" represent corresponding coefficients of various variable vectors in a state space equation respectively, and n represents an order of the state variable.

[62] Then, the system network equation , C" (t) X is established based on network topology parameters of the target distribution network, and the system state space model that reflects the dynamic control relationship between the voltage control device and the key node voltage of the target distribution network is established based on the system network equation and the established simplified equivalent model of the voltage control model, as shown in the following: Ak = AAX + BAU + EAW tV,=C",(t) X (4)

[63] In the formula (4), V represents a key bus voltage of the system, and C, (t) represents an observation matrix of the key bus voltage of the system.

[64] Then, the obtained system state space model is discretized to obtain a discrete system state space model, as shown in the following: AX(k+1)= AdAX(k)+BdAU(k)+Ed AW(k) |V,(k+1)=C (k) AX(k)+V,(k) (5) Ad - e, Bd -f e T Bdt, Ed -r eA T Edt, C (k)=C (kT)

[65] In the formula (5), O " , and ,

represents a time interval.

[66] After that, for the above discrete system state space model, an output variable of the state space equation and the state variable are combined to obtain the time-discrete generalized state space model for a dynamic voltage control system, as shown in the following: X,(k +1)= AX,(k)+BAu(k)+ E AW(k) V,(k) C,(k)X,(k) (6)

[67] In the formula (6), k represents a time point, X,(k+1)=[AXk±1) VK(k+1)]T, and the corresponding coefficients of the variables in the state space equation are as follows:

As CkA

Bs=(Bd Ck)Bd]T

ES=(Ed Cik)Ed] T

C,(k)=[0 I] (7)

[68] Finally, the initial multi-step predicted state space model of the target distribution network is obtained based on the above generalized state space model of the system. In other words, for the generalized state space model of the system, the specified quantity P of time-domain prediction steps and the specified quantity M of time-domain control steps are expanded to obtain the multi-step predicted state space model of regional voltage control of the target distribution network, as shown in the following: X(k)= FX, (k) + G,AU(k) + H.AW (k) Y (k)= F,.X(k)(8

[69] In the formula (8): X(k)=[X,(klk) X,(k+1|k) X,4k+2|k) -.. X (k+P-1|k)f

Y(k)=(V,(k+1|k) V,(k+1|k) V,(k+2|k) .- V,(k+P-1|k

AU(k)=[Au(klk) Au(k+1|k) Au(k+2|k) -.. Au(k+M-1|k)Mxl

AW(k)=(AW(klk) AW(k+1|k) AW(k+2|k) --- AW(k+Plk)] 9

[70] The corresponding coefficients of the variables in the state space equation are as follows:

F~=[A 4~ A A~'(2nrni)Px(2nrni) 0 0 ... 0 AB, B, 0 --- 0 A,2B AB B G,= 0 P-M Aj-KB, A- 2B~ A 3- B, --- ~ABJ_ =o0 ](2n+mi)-Pxn-M

0 0 .- 0 AE E 0 --- 0 H,= A 2E, A4E E --- 0

A-E A -2E A -3 E ... E ](2nrn).Px2n.P

(k~k) 0 --- 0 0 Cj(k+1|k) --- 0

( _0 0 --- C(Jk+Pjk)P( 2 ±)P (10)

[71] According to the regional coordinated voltage control method for a distribution network in this embodiment, optionally, the step of correcting the multi-step predicted state space model specifically includes:

[72] performing state estimation and topology recognition on the target distribution network by using the distribution network synchronous measurement device, obtaining information of the voltage control device of the target distribution network and the current network topology information of the target distribution network, and updating the multi-step predicted state space model based on the information of the voltage control device and the current network topology information; and

[73] determining an error compensation amount of an updated multi-step predicted state space model based on a prediction control amount of the multi-step predicted state space model at a previous time point and a current measurement control amount measured by the distribution network synchronous measurement device, and correcting the updated multi-step predicted state space model based on the error compensation amount.

[74] Specifically, in this embodiment of the present disclosure, state parameters of the distribution network are measured by using the distribution network synchronous measurement device, voltage control state estimation and network topology recognition are performed on the target distribution network based on the measured state parameters, and the basic information of the voltage control device such as an electric generator or a load, and the network topology parameters of the current target distribution network are obtained. Then, network parameters of the multi-step predicted state space model are updated based on the basic information of the voltage control device and the network topology parameters, to update the model.

[75] After that, in this embodiment of the present disclosure, the updated multi-step predicted state space model is used to predict a voltage control result at a next time point, namely, at a current time point, based on a measurement value measured by the distribution network synchronous measurement device at the previous time point, to obtain the prediction control amount at the previous time point. In addition, the current measurement control amount of the target distribution network is measured by using the distribution network synchronous measurement device. After that, the error compensation amount of the updated multi-step predicted state space model is determined by comparing the prediction control amount at the previous time point and the measured current measurement control amount, and feedback compensation and correction are performed on the updated multi-step predicted state space model based on the error compensation amount.

[76] In this embodiment of the present disclosure, feedback compensation and correction are performed on the initially established multi-step predicted state space model by using the distribution network synchronous measurement device. This enables the control system to reach the stable state more quickly, and facilitates improvement of control efficiency.

[77] According to the regional coordinated voltage control method for a distribution network in this embodiment, optionally, the step of calculating a control command sequence by using the target multi step predicted state space model specifically includes: optimizing the target multi-step predicted state space model by setting target error cost and control command cost, to obtain a predicted control optimization model of the system; and calculating a dynamic voltage control command sequence corresponding to the specified quantity of time-domain control steps based on the predicted control optimization model of the system, and using the dynamic voltage control command sequence as the control command sequence.

[78] Specifically, in this embodiment of the present disclosure, the target multi-step predicted state space model obtained according to the above embodiments is optimized, including setting the target error cost and the control command cost in a control process. Based on this, an optimization target of regional voltage control of the target distribution network is determined, and the predicted control optimization model of the system is obtained.

[79] According to the regional coordinated voltage control method for a distribution network in this embodiment, optionally, the predicted control optimization model of the system is specifically as follows: min J(k)=(i(k) - Y, (k) R ((k) -Y, (k))+ AU(k)T R AU (k): s.t. (k)=AX (k)+AU(k)+TAW(k)+(k); Umn< U (k)< U.; AU 1 i<AU(k)<AUnax,(1

[80] In the formula (1), J(k) represents a target function, R =diag (,12,... ,P)mPxmP representsthe

target error cost, R,=diag(r,r 2 ,--,r)MxM represents the control command cost, Y(k) represents a predicted value, of the key bus voltage, corresponding to the quantity P of time-domain

prediction steps, represents a specified target value, (k) represents the state variable, U(k) represents the control input variable, Umax and Un' represent an upper limit and a lower

limit of a control variable respectively, AU(k) represents a control increment, AUm- and AUmn represent an upper limit and a lower limit of the control increment respectively, AW(k)represents a a(k) .. A=F-F F=F -G disturbance increment, represents a prediction error compensation, ' X, 3'

T=F, - Hx F G, H F , and x x, x, and ' represent corresponding coefficients of various variable vectors in the multi-step predicted state space model respectively.

[81] After that, the dynamic voltage control command sequence in control time domain (in other words, corresponding to the quantity of time-domain control steps) can be calculated by using the predicted control optimization model of the system based on a feature amount calculated based on the measurement value of the distribution network synchronous measurement device.

[82] According to the above embodiments, optionally, the control command sequence is specifically as follows: u (k) = u(k - 1) + Au (k Ik); Au(kIk)=K,,AU(k);

AU(k) = ((DTRD+R.- (D R, (Y , (k) -AX, (k) -TrAW(k) - a(k)) (2)

[83] In the formula (2), K0.,=[InxnO-Ol]nxnm represents a calculation coefficient of the control increment, (k-1) represents a control input variable at a time point k-1, and Au(k k) represents a control increment relative to a time point k and calculated at the time point k.

[84] According to the regional coordinated voltage control method for a distribution network in this embodiment, optionally, the step of updating the multi-step predicted state space model specifically includes: recognizing dominant control parameters of the simplified equivalent model of the voltage control device by using the distribution network synchronous measurement device, obtaining the information of the voltage control device, and updating parameters of the simplified equivalent model of the voltage control device based on the information of the voltage control device; and performing topology recognition on the target distribution network, obtaining the current network topology information, updating admittance matrix parameters of the target distribution network based on the current network topology information, and re-establishing the multi-step predicted state space model.

[85] Specifically, when the multi-step predicted state space model of the system is updated, a measurement value of the control process of the target distribution network is obtained by using the distribution network synchronous measurement device, and then an eigenvalue of the control process is constituted based on the measurement value. Then, the dominant control parameters of the simplified equivalent model of the voltage control device (such as the electric generator or a controller) are recognized based on the eigenvalue of the control process, and the parameters of the simplified equivalent model of the voltage control device are updated based on a recognition result.

[86] In addition, the current network topology information can be obtained by recognizing a network topology of the target distribution network based on the measurement value of the control process. After that, the admittance matrix parameters of the multi-step predicted state space model of the target distribution network are updated based on the network topology information. Based on an updated result, the multi-step predicted state space model of the control system of the target distribution network is re-established through initialization, to update the model.

[87] In this embodiment of the present disclosure, the current dominant control parameters of the voltage control device and the network topology parameters are recognized online, and based on this, the dynamic voltage prediction control model of the distribution network is re-established, so that the prediction control model more approximates an actual network, has higher accuracy, and can realize regional voltage control more accurately.

[88] Further, after the step of delivering a first step in the control command sequence as a control command, the regional coordinated voltage control method for a distribution network in this embodiment of the present disclosure further includes: determining whether the target distribution network reaches the stable state again, and if the target distribution network reaches the stable state again, terminating voltage regulation and control, or if the target distribution network does not reach the stable state again, returning to the step performed when it is monitored that a disturbance exceeding the specified standard occurs on the target distribution network, and repeating the operation of regional coordinated voltage control of the target distribution network.

[89] Specifically, in this embodiment of the present disclosure, a control result is further monitored after the control command is delivered to the voltage control device for regional voltage control. In other words, after specified duration after the control command is delivered, whether the voltage control of the target distribution network recovers to the stable state or reaches a new stable running state is monitored. If the voltage control of the target distribution network recovers to the stable state or reaches a new stable running state, it is determined that the regional voltage regulation is completed, and voltage output is controlled based on current control parameters of the voltage control device. If the voltage control of the target distribution network does not recover to the stable state or reach a new stable running state, the step of detecting whether a large disturbance occurs on the system, and the steps of model establishment, correction, control command calculation, and control command delivery are performed till a regional voltage of the target distribution network is stable.

[90] FIG. 2 is a schematic flowchart of a regional coordinated voltage control method for a distribution network according to another embodiment of the present disclosure. As shown in FIG. 2, a specific processing flow includes the following steps:

[91] Step 1: Initialize a regional voltage control system of a target distribution network to obtain an initial multi-step predicted state space model of the regional voltage control system, in other words, establish a dynamic control model of voltage control devices of the target distribution network and a system network equation of the target distribution network, and establish the multi-step predicted state space model of the system of the distribution network based on the model and the equation.

[92] Step 2: Monitor whether there is a large disturbance on the regional voltage control system, and perform step 3 if there is a large disturbance, or continue online real-time monitoring if there is no large disturbance.

[93] Step 3: Perform state estimation and topology recognition on the target distribution network based on measurement information of a distribution network synchronous measurement device, obtain basic information of the voltage control device such as an electric generator or a load of the current system, and topology parameters of a power network of the target distribution network, and recognize and update the model of the voltage control device and the system network equation based on the obtained basic information of the voltage control device and the obtained topology parameters to obtain an updated multi-step predicted state space model.

[94] Step 4: Determine an error compensation amount of the multi-step predicted state space model based on a difference between a predicted value of the predicted model at a previous time point and a measurement value output by the distribution network synchronous measurement device at a current time point, and perform feedback correction on the multi-step predicted state space model based on the error compensation amount.

[95] Step 5: Obtain a predicted control optimization model of the system based on the multi-step predicted state space model, obtained in step 1, of the system, and calculate a control command sequence by using the predicted control optimization model of the system based on a feature amount calculated based on the measurement value of the distribution network synchronous measurement device.

[96] Step 6: Determine whether closed-loop control of the current voltage control system is stable, and perform step 7 if the closed-loop control of the current control system is stable, or return to step 2 if the closed-loop control of the current control system is not stable.

[97] Step 7: Deliver a first step (u(k) in the above embodiment) in the dynamic voltage control command sequence obtained in step 5 as a control command.

[98] Step 8: Determine, at a next time point, whether the voltage control system runs stably again, and stop the current regulation and control if the voltage control system runs stably again, or return to step 2 if the voltage control system does not run stably again.

[99] In this embodiment of the present disclosure, rapid regional coordinated voltage control is achieved for a distribution network by using the distribution network synchronous measurement device, thereby avoiding a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network.

[100] In this embodiment of the present disclosure, after the control command is delivered, a voltage control state of the system is further monitored, and a new control process is established when the voltage control state of the system is not stable. This can ensure a stable control result, and effectively eliminate the voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation.

[101] Based on the same inventive concept, an embodiment of the present disclosure provides a regional coordinated voltage control apparatus for a distribution network according to the above embodiment. The apparatus is configured to realize regional coordinated voltage control of the distribution network in the above embodiments. Therefore, the description and definition in the regional coordinated voltage control method for a distribution network in the above embodiments can be used for the understanding of each execution module in the embodiments of the present disclosure. Reference may be made to the above embodiments, and details are not described herein again.

[102] FIG. 3 is a schematic structural diagram of a regional coordinated voltage control apparatus for a distribution network according to an embodiment of the present disclosure. The apparatus may be configured to realize regional coordinated voltage control of the distribution network in the above method embodiments. The apparatus includes an initialization module 301, an update module 302, and a control output module 303.

[103] The initialization module 301 is configured to initialize a control system of a target distribution network offline, and establish a multi-step predicted state space model of the target distribution network; the update module 302 is configured to: if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correct the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and the control output module 303 is configured to calculate a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, deliver a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network.

[104] Specifically, the initialization module 301 initializes the control system of the target distribution network, including setting a quantity of time-domain prediction steps and a quantity of time-domain control steps. On this basis, based on analysis on a control state of a voltage control device in the control system and analysis on a network topology of the target distribution network, the initialization module 301 establishes the multi-step predicted state space model of a control relationship between the voltage control device and a key node voltage of the network.

[105] After that, the update module 302 monitors whether a large voltage disturbance occurs on the target distribution network, namely, whether the voltage disturbance exceeds the specified standard. If it is monitored that the voltage disturbance exceeds the specified standard, whether the model needs to be optimized and updated is determined. If it is monitored that the voltage disturbance does not exceed the specified standard, online real-time monitoring is continuously performed.

[106] Specifically, if it is monitored that a large voltage disturbance occurs, the update module 302 recognizes dominant parameters of the voltage control device of the target distribution network by using the distribution network synchronous measurement device, and estimates a state of the voltage control device. In addition, the update module 302 recognizes current network topology information of the target distribution network by using the distribution network synchronous measurement device. The update module 302 performs parameter update and correction on the multi-step predicted state space model established according to the above step to obtain an updated model, namely, the target multi step predicted state space model.

[107] Finally, the update module 302 calculates the control command sequence, corresponding to the quantity of time-domain control steps, of voltage control of the target distribution network based on the obtained target multi-step predicted state space model. Then, the update module 302 needs to determine whether the voltage control of the target distribution network has reached the closed-loop stable state. If the voltage control of the target distribution network has reached the closed-loop stable state, the first step in the control command sequence is delivered to the voltage control device as the control command. The voltage control device adjusts an output voltage of the network by executing the control command, to realize regional coordinated voltage control of the target distribution network.

[108] The regional coordinated voltage control apparatus for a distribution network provided in this embodiment of the present disclosure further considers a dynamic control feature of the voltage control device, to effectively improve a speed of coordinated optimization, realize rapid regional coordinated voltage control of a distribution network, and avoid a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network.

[109] It can be understood that in the embodiments of the present disclosure, relevant program modules in the apparatus in the above embodiments can be realized by a hardware processor. Moreover, the regional coordinated voltage control apparatus for a distribution network in the embodiments of the present disclosure can realize the process of regional coordinated voltage control of the distribution network in the above method embodiments by using the above program modules. A beneficial effect produced by the apparatus in the embodiments of the present disclosure when the apparatus is used to realize regional coordinated voltage control of the distribution network in the above method embodiments is the same as that of the corresponding above method embodiments. Reference may be made to the above method embodiments, and details are not described herein again.

[110] According to still another aspect, the embodiments of the present disclosure provide an electronic device based on the above embodiments. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor performs steps of the regional coordinated voltage control method for a distribution network in the above embodiments when executing the computer program.

[111] Further, the electronic device in the embodiments of the present disclosure may further include a communications interface and a bus. FIG. 4 is a schematic diagram of a physical structure of an electronic device according to an embodiment of the present disclosure. The electronic device includes at least one memory 401, at least one processor 402, a communications interface 403, and a bus 404.

[112] The memory 401, the processor 402, and the communications interface 403 communicate with each other through the bus 404. The communications interface 403 is configured to transmit information between the electronic device and a distribution network device. The memory 401 stores a computer program executable on the processor 402. The processor 402 realizes the steps of the regional coordinated voltage control method for a distribution network voltage in the above embodiments when executing the computer program.

[113] It can be understood that the electronic device includes at least the memory 401, the processor 402, the communications interface 403, and the bus 404. The memory 401, the processor 402, and the communications interface 403 are communicatively connected to each other through the bus 404, and communicate with each other. For example, the processor 402 reads, from the memory 401, a program instruction of the regional coordinated voltage control method for a distribution network. In addition, the communications interface 403 can also realize a communicative connection between the electronic device and the distribution network device, to complete mutual information transmission, such as reading information of a voltage control device of a distribution network through the communications interface 403.

[114] When the electronic device runs, the processor 402 calls the program instruction in the memory 401 to execute the method in the above method embodiments, for example, including: initializing a control system of a target distribution network offline, and establishing a multi-step predicted state space model of the target distribution network; if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correcting the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and calculating a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, delivering a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network.

[115] The program instruction in the memory 401 can be implemented as a software functional unit and be stored in a computer-readable storage medium when sold or used as a separate product. Alternatively, all or some of the steps of the above method embodiments may be implemented by a program instructing relevant hardware. The program may be stored in a computer-readable storage medium. When the program runs, the steps of the above method embodiments are performed. The foregoing storage medium includes: any medium that can store program code, such as a USB disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc.

[116] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium based on the above embodiments. The non-transitory computer-readable storage medium stores a computer instruction. A computer executes the computer instruction to perform the steps of the regional coordinated voltage control method for a distribution network in the above embodiments, for example, including: initializing a control system of a target distribution network offline, and establishing a multi-step predicted state space model of the target distribution network; if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correcting the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and calculating a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, delivering a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network.

[117] According to yet another aspect, the embodiments of the present disclosure further provide a computer program product based on the above embodiments. The computer program includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes a program instruction. A computer executes the program instruction to execute the regional coordinated voltage control method for a distribution network in the above method embodiments. The method includes: initializing a control system of a target distribution network offline, and establishing a multi-step predicted state space model of the target distribution network; if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correcting the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and calculating a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, delivering a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network.

[118] The electronic device, the non-transitory computer-readable storage medium, and the computer program product provided in the embodiments of the present disclosure further consider a dynamic control feature of the voltage control device by performing the steps of the regional coordinated voltage control method for a distribution network in the above embodiments, to effectively improve a speed of coordinated optimization, realize rapid regional coordinated voltage control of a distribution network, and avoid a voltage amplitude violation caused by rapid, violent and frequent voltage fluctuation of the distribution network.

[119] It can be understood that the above-described embodiments of the apparatus, electronic device, and storage medium are merely examples, where units described as separate components may or may not be physically separated, that is, the units may be located in one place, or may be distributed to a plurality of network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement the embodiments without creative efforts.

[120] Through the description of the foregoing implementations, those skilled in the art can clearly understand that the implementations can be implemented by means of software plus a necessary universal hardware platform, or certainly, can be implemented through hardware. Based on such an understanding, the technical solution, in essence, or the part contributing to the prior art may be embodied as a software product. The computer software product may be stored in a computer-readable storage medium, such as a USB disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and includes a plurality of instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method in the embodiments or parts of the embodiments.

[121] In addition, those skilled in the art should understand that terms "including", "containing" or any other variants thereof in this application are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such a process, method, article, or device. In the case that there are no more restrictions, an element limited by the statement "includes a ... " does not exclude the presence of additional identical elements in the process, the method, the article, or the device that includes the element.

[122] Lots of specific details are described in the description of the embodiments of the present disclosure. However, it should be understood that the embodiments of the present disclosure can be practiced without the specific details. In some embodiments, well-known methods, structures and techniques are not shown in detail to avoid obscuring the understanding of this specification. Similarly, it should be understood that in order to simplify the disclosure of the embodiments of the present disclosure and help understand one or more aspects of the present disclosure, in the above description of exemplary embodiments of the embodiments of the present disclosure, various features in the embodiments of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof.

[123] Finally, it should be noted that the foregoing embodiments are only used to illustrate the technical solutions in the embodiments of the present disclosure, and are not intended to limit the technical solutions in the embodiments of the present disclosure. Although the embodiments of the present disclosure are described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions to some technical features therein. These modifications or substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

[124] The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that such prior art forms part of the common general knowledge.

[125] It will be understood that the terms "comprise" and "include" and any of their derivatives (e.g. comprises, comprising, includes, including) as used in this specification, and the claims that follow, is to be taken to be inclusive of features to which the term refers, and is not meant to exclude the presence of any additional features unless otherwise stated or implied.

Claims

CLAIMS:

1. A regional coordinated voltage control method for a distribution network, comprising:

initializing a control system of a target distribution network offline, and establishing a multi-step predicted state space model of the target distribution network;

if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correcting the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and

calculating a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, delivering a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network;

wherein the step of establishing a multi-step predicted state space model of the target distribution network specifically comprises:

establishing a dynamic control model for devices of the target distribution network, and obtaining, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device;

establishing, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network;

obtaining, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time; and

obtaining the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time domain control steps;

wherein the step of calculating a control command sequence by using the target multi-step predicted state space model specifically comprises:

optimizing the target multi-step predicted state space model by setting target error cost and control command cost, to obtain a predicted control optimization model of the system; and calculating, based on the predicted control optimization model of the system, a dynamic voltage control command sequence corresponding to a specified quantity of time-domain control steps, and using the dynamic voltage control command sequence as the control command sequence; wherein the predicted control optimization model of the system is specifically as follows: min J(k)=( (k) - Y , (k)) R ( (k) - Y, (k))+ AU(k)T RAU(k); s.t. (k)=AX,(k)+ AU(k)+TAW(k)+a(k): Umn< U(k)< Umax( AU, < AU (k) < MA ; wherein in the formula (1), J(k) represents a target function, R ' 1 2,..., xm Px=diagP( represents the target error cost, Ru=diag (rIr ,...,r)nxUm 2 represents the control command cost, V(k) represents a predicted value, of a key bus voltage, corresponding to the quantity P of time domain prediction steps, Y-et(k) represents a specified target value, x (k) represents a state variable, U(k) represents a control input variable, Uma and Umn represent an upper limit and a lower limit of a control variable respectively, AU(k) represents a control increment, AU-x and AUrn represent an upper limit and a lower limit of the control increment respectively,AW(k) a(k) . . A=F -F represents a disturbance increment, )represents a prediction error compensation, @=F3' -G , F=F -H , and F G H F x, x , , and Y represent corresponding coefficients of various variable vectors in the multi-step predicted state space model respectively; and correspondingly, the control command sequence is specifically as follows: u (k)=u (k - 1) + Au (k Ik); Au(k k) = KAU(k);

wherein in the formula (2), KP=[,1`0---0]nxnm represents a calculation coefficient of the

control increment, u(k -1) represents a control input variable at a time point k-1, and Au(kIk) represents a control increment relative to a time point k and calculated at the time point k;

wherein the step of establishing a dynamic control model for devices of the target distribution network, and obtaining, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device; and establishing, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network specifically comprises: the dynamic control model for devices of the target distribution network is established by analyzing the state of the voltage control device of the target distribution network, and order reduction and linear processing are performed on the dynamic control model to obtain the simplified equivalent model that reflects dominant control dynamics of the voltage control device, as shown in the following:

AX =AAX+BAU+EAW (3),

in the formula (3), X e R" represents a state variable, U E R represents a control input variable, WEe R represents a disturbance variable, A, B, E e R"" represent corresponding coefficients of various variable vectors in a state space equation respectively, and n represents an order of the state variable;

a system network equation i= C, (t)X is established based on network topology parameters of the target distribution network, and the system state space model that reflects the dynamic control relationship between the voltage control device and the key node voltage of the target distribution network is established based on the system network equation and the established simplified equivalent model of the voltage control model, as shown in the following:

AX = AAX + BAU + EAW tV,= C, (t) X (4)

in the formula (4), V represents a key bus voltage of the system, and C (t) represents an observation matrix of the key bus voltage of the system;

wherein the step of obtaining, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time specifically comprises:

the system state space model is discretized to obtain a discrete system state space model, as shown in the following:

rAX(k+1)= AdAX(k)+BdAU(k)+EdAW(k) |V,(k+1)=C (k) AX(k)+V,(k) (5),

Ad -e^A, Bd (eUBt Ed -r eA T Edt, C (k>=C 1 (kT in the formula (5), AB e TO "' and Ts )

, represents a time interval; for the discrete system state space model, output variables of a state space equation and state variables are combined to obtain a time-discrete generalized state space model for a dynamic voltage control system, as shown in the following:

X,(k+1)=AX,(k)+BAu(k)+E AW(k) lj(k)=C(k)X,(k) (6),

in the formula (6), k represents a time point, X(k+1)=[AX(k+1) V,(k+1)], and corresponding coefficients of the variables in the state space equation are as follows:

Ad=

"CCk) Asd1 Bs=(Bd Cjk)Bd]T

ES=(Ed Ck)E] T

C,(k)=[0] (7);

wherein the step of obtaining the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time-domain control steps specifically comprises:

for the generalized state space model of the system, the specified quantity P of time-domain prediction steps and the specified quantity M of time-domain control steps are expanded to obtain the multi-step predicted state space model of regional voltage control of the target distribution network, as shown in the following:

X(k)~ (k)+GxAU(k)+ H AW (k) Y (k)= FX(k) (8),

in the formula (8):

rY(k)=-V,(k+1|k) X(k)=[(Xklk)

AU(k)=(Au(klk) X,4k1|k)

V,(k+1|k) XAk+2|k)

V,(k+2|k) - X k+P-1|k)

-.- V,(k+P-1|k

Au(k+1|k) Au(k+2|k) -.- Au(k+M-1|k)] P

T AW(k)=(AW(klk) AW(k+1|k) AW(k+2|k) -. AW(k+Plk)] 2 xl (9); the corresponding coefficients of the variables in the state space equation are as follows:

F~=[A 4~ A A~'(2nrni)Px(2nrni) 0 0 ... 0 AB, B, 0 --- 0 A 2B AB B G,= 0 P-M Aj-KB, A- 2B~ A 3- B, --- ~ABJ_ =o0 ](2n+mi)-Pxn-M

0 0 .- 0 AE E 0 --- 0 H,= A 2E, A4E E --- 0

A-E A -2E A -3 E ... E ](2nrn).Px2n.P

(k~k) 0 --- 0 0 Cj(k+1|k) --- 0

( _0 0 --- C(Jk+Pjk)P( 2 ±)P (10).

2. The regional coordinated voltage control method for a distribution network according to claim 1, wherein the step of correcting the multi-step predicted state space model specifically comprises:

performing state estimation and topology recognition on the target distribution network by using the distribution network synchronous measurement device, obtaining information of the voltage control device of the target distribution network and current network topology information of the target distribution network, and updating the multi-step predicted state space model based on the information of the voltage control device and the current network topology information; and

determining an error compensation amount of an updated multi-step predicted state space model based on a prediction control amount of the multi-step predicted state space model at a previous time point and a current measurement control amount measured by the distribution network synchronous measurement device, and correcting the updated multi-step predicted state space model based on the error compensation amount.

3. The regional coordinated voltage control method for a distribution network according to claim 2, wherein the step of updating the multi-step predicted state space model specifically comprises: recognizing dominant control parameters of the simplified equivalent model of the voltage control device by using the distribution network synchronous measurement device, obtaining the information of the voltage control device, and updating parameters of the simplified equivalent model of the voltage control device based on the information of the voltage control device; and performing topology recognition on the target distribution network, obtaining the current network topology information, updating admittance matrix parameters of the target distribution network based on the current network topology information, and re-establishing the multi-step predicted state space model.

4. The regional coordinated voltage control method for a distribution network according to claim 1, wherein after the step of delivering a first step in the control command sequence as a control command, the method further comprises:

determining whether the target distribution network reaches the stable state again, and if the target distribution network reaches the stable state again, terminating voltage regulation and control, or if the target distribution network does not reach the stable state again, returning to the step performed when it is monitored that a disturbance exceeding the specified standard occurs on the target distribution network, and repeating the operation of regional coordinated voltage control of the target distribution network.

5. A regional coordinated voltage control apparatus for a distribution network, comprising:

an initialization module, configured to initialize a control system of a target distribution network offline, and establish a multi-step predicted state space model of the target distribution network;

an update module, configured to: if it is monitored that a disturbance exceeding a specified standard occurs on the target distribution network, correct the multi-step predicted state space model by performing state estimation and topology recognition on the target distribution network by using a distribution network synchronous measurement device, to obtain a target multi-step predicted state space model; and

a control output module, configured to calculate a control command sequence by using the target multi-step predicted state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, deliver a first step in the control command sequence as a control command to realize regional coordinated voltage control of the target distribution network; wherein the initialization module is specifically configured to: establish a dynamic control model for devices of the target distribution network, and obtain, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device; establish, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network; obtain, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time; and obtain the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time domain control steps; wherein the control output module is specifically configured to: optimize the target multi-step predicted state space model by setting target error cost and control command cost, to obtain a predicted control optimization model of the system; and calculate, based on the predicted control optimization model of the system, a dynamic voltage control command sequence corresponding to a specified quantity of time-domain control steps, and using the dynamic voltage control command sequence as the control command sequence; wherein the predicted control optimization model of the system is specifically as follows: min J(k)=( (k) - Y, (k)) R ( (k) -Y, (k))+ AU(k)T RAU(k); s.t. Y(k)=AX,(k)+<DAU(k)+TAW(k)+(k); Umin< U(k)< Umax( AUmnin< AU (k) < MA ; wherein in the formula (1), J(k) represents a target function, R' =diag 12,... I)PxP represents the target error cost, Ru=diag (rIr ,...,r)nxUm 2 represents the control command cost, V(k) represents a predicted value, of a key bus voltage, corresponding to the quantity P of time domain prediction steps, Y-et(k) represents a specified target value, x (k) represents a state variable, U(k) represents a control input variable, Umax and Umn represent an upper limit and a lower limit of a control variable respectively, AU(k) represents a control increment, AU- and

AUrmn represent an upper limit and a lower limit of the control increment respectively, AW(k) a(k) . . A=F F represents a disturbance increment, represents a prediction error compensation, <D=F3' x ,, an, F=F -H , and Yrepresent F G H F corresponding coefficients of

various variable vectors in the multi-step predicted state space model respectively; and

correspondingly, the control command sequence is specifically as follows:

u (k)=u (k - 1) + Au (k Ik); Au(kk) = K,,AU(k);

wherein in the formula (2), K,I = ,1`0---0]nxnm represents a calculation coefficient of the

wherein when the initialization module is configured to:

establish a dynamic control model for devices of the target distribution network, and obtain, based on the dynamic control model for devices, a simplified equivalent model that reflects dominant control dynamics of a voltage control device, and establish, based on the simplified equivalent model and a system network equation of the target distribution network, a system state space model that reflects a dynamic control relationship between the voltage control device and a key node voltage of the target distribution network, the steps are specifically as follows:

the dynamic control model for devices of the target distribution network is established by analyzing the state of the voltage control device of the target distribution network, and order reduction and linear processing are performed on the dynamic control model to obtain the simplified equivalent model that reflects dominant control dynamics of the voltage control device, as shown in the following:

AX =AAX+BAU+EAW (3),

in the formula (3), X e R" represents a state variable, U E R represents a control input variable, W E R" represents a disturbance variable, A, B, E e R"" represent corresponding coefficients of various variable vectors in a state space equation respectively, and n represents an order of the state variable;

a system network equation ", C(t)X is established based on network topology parameters of the target distribution network, and the system state space model that reflects the dynamic control relationship between the voltage control device and the key node voltage of the target distribution network is established based on the system network equation and the established simplified equivalent model of the voltage control model, as shown in the following:

AX = AAX + BAU + EAW |V,= C (t) X (4)

in the formula (4), V represents a key bus voltage of the system, and C", (t) represents an observation matrix of the key bus voltage of the system;

wherein when the initialization module is configured to:

obtain, through discretized setting and variable combination based on the system state space model, a generalized state space model of the system with discrete dynamic voltage control time, the steps are specifically as follows:

AX(k+1)= AdAX(k)+BdAU(k)+EAW(k) |V,(k+1)=C (k) AX(k)+V,(k) (5), T Ad-e , Bd -0 e , Bdt, Ed=- e T Edt, C (k)=C (kT) in the formula (5), edO , and Ts represents a time interval;

for the discrete system state space model, output variables of a state space equation and state variables are combined to obtain a time-discrete generalized state space model for a dynamic voltage control system, as shown in the following:

X,(k+1)=AX,(k)+BAu(k)+E AW(k) V,(k)= C (k)X, (k) (6),

in the formula (6), k represents a time point, Xk±1)=IAX(k±1) V,(k±1)]T and corresponding coefficients of the variables in the state space equation are as follows:

_C, (k) Ad I

B,=(Bd C, k)Bd]T

ES=(Ed C,(k)Ed] T

LC(k)=[0 (7);

wherein when the initialization module is configured to:

obtain the multi-step predicted state space model based on the generalized state space model of the system, a specified quantity of time-domain prediction steps, and a specified quantity of time domain control steps, the steps are specifically as follows:

X(k)~ (k)+GAU(k)+ H AW(k) Y (k)= FX(k) (8),

in the formula (8):

X(k)=[X,(klk) X,(k+1|k) X,(k+2|k) .- X,(k+P-1|k)

F~=[A 4~ A A~'(2nrni)Px(2nrni) 0 0 ... 0 AB, B, 0 --- 0 A 2B AB B G,= 0 P-M Aj-KB, A- 2 B~ A -3B, --- ~ABJ_ =o0 ](2n+mi)-Pxn-M

0 0 .- 0 AE E 0 --- 0 H,= A 2E, A4E E --- 0

A-E A -2E A -3 E ... E ](2nrn).Px2n.P

(k~k) 0 --- 0 0 Cj(k+1|k) --- 0

( _0 0 --- C(Jk+Pjk)P( 2 ±)P (10).

6. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor performs steps of the regional coordinated voltage control method for a distribution network according to any one of claims 1 to 4 when executing the computer program.

7. A non-transitory computer-readable storage medium, storing a computer instruction, wherein a processor performs steps of the regional coordinated voltage control method for a distribution network according to any one of claims 1 to 4 when executing the computer instruction.