CN103729232A - Double-network coupling structure co-simulation method and system - Google Patents
Double-network coupling structure co-simulation method and system Download PDFInfo
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Abstract
The invention relates to a double-network coupling structure co-simulation system. The double-network coupling structure co-simulation system comprises a system simulation module and a network simulation module. The system simulation module determines the scale and the node communication relation of the network simulation module according to a transmission network topology structure to be simulated and the network simulation module is set up. The system simulation module comprises multiple devices. The devices transmit operation states to the corresponding nodes in the network simulation module. The system can carry out system-class verification on construction and planning of an intelligent grid system. The double-network coupling structure co-simulation system is reliably customized special for the intelligent grid system and provides an effective simulation tool for observing coupling network system behavior. Influences on the system by a specific communication protocol are shielded, behavior of a communication system can be described more widely and the double-network coupling structure co-simulation system can truly reflect threats to reliability of the intelligent grid system by grid information transmission with time delay limitation.
Description
Technical field
The present invention relates to a kind of dual network coupled structure synergy emulation method and system.
Background technology
Intelligent grid (Smart Grid) is a kind of emerging technology, has represented a kind of brand-new model of energy management.It is based upon on basis integrated, high-speed bidirectional communication network, by infotech being implanted to the mode of conventional electric power infrastructure, on power infrastructures, extensively introduce advanced sensing and measuring technique, advanced control method and advanced decision support system (DSS) technology, seamless interconnected between power equipment and the two-way flow of electric current and information flow have been realized.Rely on energy flow and the information flow of this flexible configuration, management automation application miscellaneous can be used in intelligent grid widely.Make intelligent grid after the system failure self-healing ability, withstand natural calamities and outside destroy ability, the ability of optimizing the configuration of resources, compatible various energy resources form ability, promote user interaction formula ground to participate in the many aspects such as electric power dispatch management ability and embodied the special performance that is different from traditional electrical network, and then significantly improved the validity of electric system, dirigibility, intellectuality, and reliability.
The dual network coupled structure of intelligent grid uniqueness: intelligent grid is except the unique advantage in system management and control, user's participation, reply fault and attacking ability, from the angle of system architecture, it also has one significantly, be different from the notable feature of conventional information communication system, that is, intercouple, complementary communication network and electric power transmission network formed smart electric grid system jointly.
Because being one, network system wherein comprised various power electronic equipments across the huge and complicated system of sending out change adapted links defeated, such as stage transformers, and various current-voltage transformers etc.For realizing the Real-Time Monitoring to large scale electric network running status, in current smart electric grid system Construction Practice, the mode of generally using is as power equipment control device and power electronic equipment interconnection by a large amount of Intellectualized electric device (IED, Intelligent Electronic Device).Thus, the IED equipment with certain communication and computing function becomes the control device of power equipment, both real-time running state that can collecting device also carries out teletransmission by wired or wireless communication module, can be used as again the control command of agency (Agent) receiving remote of equipment, thereby by necessary communication facilities, as router, switch etc., form the two-way information transfer channel with other associated electrical power apparatus or remote control center.Further, total overall angle, by the IED equipment of carry, the various power equipments in network system can be realized interconnected, thereby form one, are the powerline network of basic communication node by IED.
From the angle of architecture, powerline network transmits on network across the electric power in original network system, is bearing electric power is transmitted to the effect that network running status is monitored and controlled.So, in smart electric grid system, formed two networks of throwing the net: in bottom be original power delivery networks, comprise the electric power transmission network of high pressure, and the distribution network of mesolow; In upper strata, the communication network being formed by the IED of power equipment carry.
From the pass of two kinds of networks, fasten, it is to intercouple and complementary that powerline network and electric power transmit network.On the one hand, the equipment that electric power networks is communication network, as IED, router, switch etc. provides normal work required electric power; Communication network is that electric power networks is delivered control command and transfer equipment state operational factor as the infrastructure of distribution of information on the other hand.
Thus, intercouple, complementary powerline network formed the most important system component of intelligent grid together with electric power networks.
The system reliability challenge that dual network coupled structure is brought
The management, control, the monitoring that at powerline network, are intelligent grid bring the huge while easily, and double-deck coupling network structure is also for the Stability and dependability of network system has brought new challenge.Theoretical and the method for original Power System Reliability takes in because of the communication reliability communication system not, thereby is difficult to be applicable to the fail-safe analysis of intelligent grid.For example, in powerline network, the delay requirement of communication is close to harsh, when existing transmission overtime, system is invalid message by the message depending on overtime transmission, thereby causes corresponding power grid control order to be difficult to produce actual equipment control result, and then causes electric power system fault.As can be seen here, the introducing of communication network will change original Power System Reliability, stability analysis greatly.Similarly, the fail-safe analysis of original communication system, owing to not embodying the objective law of electric power transfer, therefore is also difficult to be applicable to intelligent grid.
As the important means of scale complex system reliability consideration, in the system reliability of system emulation in quantitative evaluation intelligent grid dual network coupling situation, play a part to be difficult to substitute.First, the reliability consideration of system need to build on a large scale, the system environments higher with true environment similarity, thereby the validity of confirmation result of study.But for this critical infrastructures that involve the interests of the state and the people of electrical network, from technology and safety, directly to carry out the possibility of power test very little in consideration, therefore needs the simulated environment of tectonic system to carry out relevant system experimentation.Thus, can reflect that the analogue system of intelligent grid dual network coupled structure is just even more important comprehensively.Secondly, study the coupled structure of this uniqueness of communication network and electric power transmission network, need to carry out minute observation to smart electric grid system behavior, thereby find crucial system modelling parameter.From this angle, a set of press close to the simulated environment of real system also have researching value.
Prior art:
As a kind of new latticed form, intelligent grid was just occurring in recent years.And the coupling dependence of its communication network and electric power transmission network is also just gradually by researcher is familiar with after 2009.Therefore, the up to the present rarely seen collaborative simulation instrument that can be used for intelligent grid dual network coupled structure, as for specially for the emulation tool of system reliability there are no relevant report.Existing analogue system is mainly divided three classes: the first kind is original emulation tool that can be used for network system reliability consideration, as Matlab etc.; Equations of The Second Kind is the emulation tool for communication network, as NS2, and OPNET etc.; The 3rd class is the associative simulation instrument for intelligent grid, as Omnet++-OpenDSS etc.
Electric network reliability emulation tool based on Matlab:
Due to electric system be one extensive, time the complication system that becomes, to the emulation of electric system, according to the difference of its focus, can be divided into several classes, the flowmeter calculation that has a tidal wave of, electromagnetic transient simulation, control protection emulation etc.Wherein trend calculating is the substantially electric calculating of one of determining systematic steady state running status in the situation that of given power system network structure, parameter and boundary condition, and its operation result is also the basis of stability of power system, Calculation of Reliability and fault analysis.Therefore according to system load flow result of calculation, carry out stability of power system analysis and become the Main Means of network system reliability consideration.
At present, the emulation tool that allows user to carry out power grid stability analysis by the calculating of operational system trend is more, but Matlab is because of its flexible use and powerful function, becomes gradually the most general electric network reliability emulation tool of use.Take Matlab as basis, the open source software Matpower that is more absorbed in electric power system tide and Optimal Power Flow calculating also becomes wieldy network system Reliablility simulation instrument gradually.
Communication network simulation tool:
Along with the fast development of communication network, for the research of communication network new mechanism and overall system performance, also become gradually the importance of communication network research.But in real network environment, carry out performance study, not only costly, and be difficult to collection, statistics and analysis system performance information.Thus, by building on computers the mode of virtual network platform, realize the Main Means for communication network simulation that is modeled to real network environment.
Existing communication network simulation tool has a variety of, wherein the most frequently used OPNET, NS2, the OMNet++ etc. of comprising.These emulation tools are mainly paid close attention to the design of network communication mechanism, the performance of the network equipment, the ruuning situation of communication protocol etc.
Intelligent grid associative simulation instrument:
Along with the proposition of intelligent grid concept, increasing researcher starts to consider the emulation tool of existing communication network and electric system simulation instrument to combine, for the mutual situation of dual network of simulated intelligence electrical network.Wherein most typical is the combination of OMNeT++-OpenDSS.The former is simulation software conventional in communication network, and the latter, towards distribution network, has possessed the function of multiple electric system simulation, and the flowmeter that has a tidal wave of is calculated, protective current calculating etc.Can be used for observing concrete a certain communication mechanism or the impact of agreement on distribution network system.
Summary of the invention
Although the each own a variety of emulation tools of network system and communication network in prior art, also there is the emulation tool of the smart grid-oriented of realizing in conjunction with two kinds of network simulation tool designs, but for the real-time Stable reliability analysis of intelligent grid, existing instrument has been difficult to relevant artificial tasks, and the shortcoming of prior art mainly concentrates on following two aspects:
1. electrical network, simulation of communication network instrument independently use and are all difficult to reflect coupling network interaction relationship
Not hard to imagine, iff the emulation tool with electrical network or communication network, carry out the research of intelligent grid Reliablility simulation, both sides are all difficult to the influence factor of bipartite network to be taken into account.As use the grid simulation instruments such as Matlab, and the probability distribution of communication network bust this is difficult to embody in the trend of Matlab is calculated, and the emulation tool of design is difficult to catch this interactional system action of two-tier network thus.
2. for existing associative simulation instrument, communication network side emulation tool is often too focused on the impact of communication protocol, mechanism, is difficult to reflect the impact of communications network system reliability on network system reliability
Existing associative simulation instrument is too focused on the impacts of details on network system such as communication network transmission mechanism, agreement, and is unfavorable for the system reliability of quantitative evaluation dual network coupled structure.Main cause is, the abstraction hierarchy of two networks is inconsistent.In network system, carry out trend while being calculated as basic fail-safe analysis, ignored the transient effect causing due to device or device properties completely, and the analysis of carrying out from stable state angle.Corresponding with it, the impact of the concrete agreement of communication network, mechanism all should belong to the transient behavior of communication network.Should carry out communication network further abstractly, shield concrete procotol, the impact of mechanism on communication network transmission reliability, the steady-state analysis with the corresponding realization of steady-state analysis of network system to communication network.
Technical matters to be solved by this invention is, for the deficiencies in the prior art, provide a kind of with quantitative evaluation can only electrical network the reliability of two net coupled structures, and to catch the mutual system action of dual network under stable situation be target, by introducing the higher communication network simulation tool of abstraction hierarchy, design the dual network coupled structure synergy emulation method of realization together with grid simulation instrument.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of dual network coupled structure synergy emulation method, specifically comprises the following steps:
Step 1: constructing system emulation module;
Step 2: system emulation module, according to the transport network topology structure of wanted emulation, is determined scale and the node communication relation of network simulation module, sets up network simulation module;
Step 3: the multiple equipment in system emulation module are sent to the corresponding node in network simulation module by running status;
Step 4: judge by the node state in network simulation module whether the corresponding device in system emulation module exists fault, if, send and do not receive in time that the node set of warning information and the source node information of the corresponding equipment that has fault, to system emulation module, carry out step 5; Otherwise, carry out step 6;
Step 5: system emulation module judges whether to have the node of not receiving in time warning information, and if so, receiving equipment maximum load value, recalculates trend value, determines the equipment state in system emulation module, jumps to step 3; Otherwise, remove primary fault equipment, recalculate trend value, determine the equipment state in system emulation module;
Step 6: the running status of the multiple equipment in the system emulation module of output stable state is to user.
The invention has the beneficial effects as follows: the present invention, for the emulation of intelligent grid dual network coupled system provides new simulation means, utilizes the method to carry out system-level checking to the construction of smart electric grid system and planning; Aim at the customization of smart electric grid system reliability, can be used for the system reliability emulation under intelligent grid communication network and electric power networks coupled structure, for the system action of observation coupling network provides effective emulation tool; The present invention has carried out abstract to the transmission state of communication network in communication network simulation module, shielded the impact of concrete communication protocol on system, by the mode of transmission of messages success ratio, portray the transmission performance of communication network, can summarize widely the behavior of communication system; The present invention, by special delay requirement is encompassed in communication system of power grids transmission, can truly reflect and have the electric network information of time delay restriction to transmit the threat that smart electric grid system reliability is brought.
On the basis of technique scheme, the present invention can also do following improvement.
Further, between described step 2 and step 3, also there is step 2.5;
Step 2.5: system emulation module is to the distribution of the nodes of network simulation module input artificial network, default warning information propagation delay, default transmission of messages success ratio and the default required propagation delay time of transmission success message.
Adopt the beneficial effect of above-mentioned further scheme to be, the nodes by system emulation module to network simulation module input artificial network; Warning information propagation delay, alarm information only has the at the appointed time interior node that arrives to be just regarded as effectively, and any message dilivery that exceedes time delay all can miss the Optimal Control time because of message and be regarded as invalid message; Transmission of messages success ratio, thus make communication network simulation module determine that whether each transmission of messages is successful with appointment probability; The distribution of the required propagation delay time of transmission success message, determines whether deliver successful message exceedes propagation delay time, if exceeded, is still unsuccessful delivery.
Further, the corresponding device sending a warning message to system emulation module in described step 4 specifically comprises the following steps:
Step 4.1: the corresponding device in network simulation module exists a node of fault as source node;
Step 4.2: according to the node degree of source node, warning information is sent to the destination node being associated;
Step 4.3: choose successfully at random node according to transmission of messages success ratio from destination node;
Step 4.4: whether the time that judges transmitting warning information is greater than warning information propagation delay, if so, carry out step 4.7; Otherwise, carry out step 4.5;
Step 4.5: successful transmission successful node was sorted from small to large and deposits transmission of messages list of thing according to the transmission time;
Step 4.6: judged whether to reach the default node transmission time, if so, carry out step 4.7; Otherwise, cancel in order a successful node in the list of breath transmission events, using this successful node as source node, jump to step 4.2;
Step 4.7: described destination node is added to and do not receive in time warning information set;
Step 4.8: network simulation module will not receive that the source node in warning information set and step 4.1 is sent to system emulation module in time.
Node degree refers to and the number on the limit that this node is associated, the node number being connected with this node.
Described step 5 specifically comprises the following steps:
Step 5.1: judge and do not receive in time whether warning information set is empty, if so, removes the equipment flow state that source node is corresponding, carry out step 5.2; Otherwise, carry out step 5.3;
Step 5.2: the current flow state of output system emulation module, recalculates trend value;
Step 5.3: the fixing trend value of not receiving in time node in warning information set, the ultimate load of multiple equipment of the outside input of reception, recalculates trend value;
Step 5.4: judge whether to exist faulty equipment, if so, jump to step 3; Otherwise, jump to 5.2.
Technical matters to be solved by this invention is, for the deficiencies in the prior art, provide a kind of with quantitative evaluation can only electrical network the reliability of two net coupled structures, and to catch the mutual system action of dual network under stable situation be target, by introducing the higher communication network simulation tool of abstraction hierarchy, design the dual network coupled structure collaborative simulation system of realization together with grid simulation instrument.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of dual network coupled structure collaborative simulation system, comprises system emulation module and network simulation module;
Described system emulation module, according to the transport network topology structure of wanted emulation, is determined scale and the node communication relation of network simulation module, sets up network simulation module;
Described system emulation module comprises multiple equipment, and described multiple equipment is sent to the corresponding node in network simulation module by running status;
The state of the synchronisation of nodes corresponding device in described network simulation module, and send warning information according to the equipment failure in system emulation module, and node set and the corresponding source node information transmitting system emulation module that has the equipment of fault of warning information will do not received in time;
Described system emulation module judges whether to have the node of not receiving in time warning information, and if so, receiving equipment maximum load value, recalculates trend value, determines the equipment state in system emulation module; Otherwise, remove primary fault equipment, recalculate trend value, determine the equipment state in system emulation module; And the running status of the multiple equipment in the system emulation module of stable state is exported to user.
The invention has the beneficial effects as follows: the present invention, for the emulation of intelligent grid dual network coupled system provides new simulation means, utilizes this system to carry out system-level checking to the construction of smart electric grid system and planning; Transfer the customization of smart electric grid system reliability to, can be used for the system reliability emulation under intelligent grid communication network and electric power networks coupled structure, for the system action of observation coupling network provides effective emulation tool; The present invention has carried out abstract to the transmission state of communication network in communication network simulation module, shielded the impact of concrete communication protocol on system, by the mode of transmission of messages success ratio, portray the transmission performance of communication network, can summarize widely the behavior of communication system; The present invention, by special delay requirement is encompassed in communication system of power grids transmission, can truly reflect and have the electric network information of time delay restriction to transmit the threat that smart electric grid system reliability is brought.
On the basis of technique scheme, the present invention can also do following improvement.
Further, described system emulation module is to the distribution of the nodes of network simulation module input artificial network, default warning information propagation delay, default transmission of messages success ratio and the default required propagation delay time of transmission success message.
Adopt the beneficial effect of above-mentioned further scheme to be, the nodes by system emulation module to network simulation module input artificial network; Warning information propagation delay, alarm information only has the at the appointed time interior node that arrives to be just regarded as effectively, and any message dilivery that exceedes time delay all can miss the Optimal Control time because of message and be regarded as invalid message; Transmission of messages success ratio, thus make communication network simulation module determine that whether each transmission of messages is successful with appointment probability; The distribution of the required propagation delay time of transmission success message, determines whether deliver successful message exceedes propagation delay time, if exceeded, is still unsuccessful delivery.
Further, described network simulation module comprises source node processing module, transport module, successfully chooses module, judge module, node processing module and output module;
Described source node processing module exists a node of fault as source node corresponding device;
Described transport module sends to warning information according to the node degree of source node the destination node being associated;
The described module of successfully choosing is chosen successfully node at random according to transmission of messages success ratio from destination node;
Whether described judge module is greater than warning information propagation delay for judging the time of transmitting warning information, if so, described destination node is added to and does not receive in time warning information set, and will not receive in time that warning information set is sent to output module; Otherwise, successful transmission successful node was sorted from small to large and deposits transmission of messages list of thing according to the transmission time, and transmission of messages list of thing is sent to node processing module;
Described node processing module is cancelled the each successful node in the list of breath transmission events in order, using this successful node as source node, and the warning information of source node is sent to transport module, until reached the default node transmission time;
Described output module will not receive that warning information set and initial source node are sent to system emulation module in time.
Node degree refers to and the number on the limit that this node is associated, the node number being connected with this node.
Further, described system emulation module comprises system judge module and load receiver module;
Described system judge module does not receive for judging whether warning information set is empty, if so, removes the equipment flow state that source node is corresponding, and the current flow state of output system emulation module, recalculates trend value in time; Otherwise, fix and do not receive in time the trend value of node in warning information set and send to load receiver module;
Described load receiver module receives the ultimate load of multiple equipment and the trend value of the node that system judge module sends of outside input, recalculates trend value.
Simulation frame comprises two submodules, electric system simulation module and powerline network emulation module.Two electric power transmission network and powerline networks that module is used for respectively in emulation dual network.In short, between two modules, there are three kinds alternately.First, at the beginning of framework is set up, first electric system simulation module forms the electric power transmission network of wanted emulation, determines afterwards network size and the node communication relation of powerline network according to electric power transmission network topology.After this two kinds have been embodied under dual network coupled structure alternately, the behavior of the reciprocal effect of two networks.On the one hand, in electric system, power equipment reports and submits current device running status situation (comprising electric current, voltage, phase place etc.) to node corresponding in powerline network, and node judges whether to exist equipment failure.If the fault of existence, starts to start the process of transmitting of warning information, and the end-state of transmission of messages is fed back to electric system simulation module.Electric system is delivered success or not according to warning information and is determined the action that in next round iteration, equipment should be taked: if certain equipment is normally received warning information, when next round electric system computing, process accordingly, as reducing voltage, the fault recoveries such as electric current are moved; If certain equipment is not received warning information, mean in next round electric system computing and can not process fault, still keep original equipment state.Thus, according to the warning information delivery state of communication network, the starting condition of next round computing is determined in electric system, then notifies electric power networks emulation module by operation result, forms closed loop cycle iteration.When iteration finishes, simulation frame will finally be exported new systematic steady state state, i.e. new electric current, voltage, phase angular dimensions etc. in electrical network.
Accompanying drawing explanation
Fig. 1 is a kind of dual network coupled structure synergy emulation method process flow diagram described in the specific embodiment of the invention 1;
Fig. 2 is the detail flowchart of step 4 in a kind of dual network coupled structure synergy emulation method described in the specific embodiment of the invention 1;
Fig. 3 is the detail flowchart of step 5 in a kind of dual network coupled structure synergy emulation method described in the specific embodiment of the invention 1;
Fig. 4 is a kind of dual network coupled structure collaborative simulation system block diagram described in the specific embodiment of the invention 2.
In accompanying drawing, the list of parts of each label representative is as follows:
1, system emulation module, 11, system judge module, 12, load receiver module, 2, network simulation module, 21, source node processing module, 22, transport module, 23, successfully choose module, 24, judge module, 25, node processing module, 26, output module.
Embodiment
Below in conjunction with accompanying drawing, principle of the present invention and feature are described, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, be a kind of dual network coupled structure synergy emulation method process flow diagram described in the specific embodiment of the invention 1, specifically comprise the following steps:
Step 1: constructing system emulation module;
Step 2: system emulation module, according to the transport network topology structure of wanted emulation, is determined scale and the node communication relation of network simulation module, sets up network simulation module;
Step 3: the multiple equipment in system emulation module are sent to the corresponding node in network simulation module by running status;
Step 4: judge by the node state in network simulation module whether the corresponding device in system emulation module exists fault, if, send and do not receive in time that the node set of warning information and the source node information of the corresponding equipment that has fault, to system emulation module, carry out step 5; Otherwise, carry out step 6;
Step 5: system emulation module judges whether to have the node of not receiving in time warning information, and if so, receiving equipment maximum load value, recalculates trend value, determines the equipment state in system emulation module, jumps to step 3; Otherwise, remove primary fault equipment, recalculate trend value, determine the equipment state in system emulation module;
Step 6: the running status of the multiple equipment in the system emulation module of output stable state is to user.
Wherein, between step 2 and step 3, be also provided with step 2.5: system emulation module is to the distribution of the nodes of network simulation module input artificial network, default warning information propagation delay, default transmission of messages success ratio and the default required propagation delay time of transmission success message.
Nodes by from system emulation module to network simulation module input artificial network; Warning information propagation delay, alarm information only has the at the appointed time interior node that arrives to be just regarded as effectively, and any message dilivery that exceedes time delay all can miss the Optimal Control time because of message and be regarded as invalid message; Transmission of messages success ratio, thus make communication network simulation module determine that whether each transmission of messages is successful with appointment probability; The distribution of the required propagation delay time of transmission success message, determines whether deliver successful message exceedes propagation delay time, if exceeded, is still unsuccessful delivery.
As shown in Figure 2, the corresponding device sending a warning message to system emulation module in described step 4 specifically comprises the following steps:
Step 4.1: the corresponding device in network simulation module exists a node of fault as source node;
Step 4.2: according to the node degree of source node, warning information is sent to the destination node being associated;
Step 4.3: choose successfully at random node according to transmission of messages success ratio from destination node;
Step 4.4: whether the time that judges transmitting warning information is greater than warning information propagation delay, if so, carry out step 4.7; Otherwise, carry out step 4.5;
Step 4.5: successful transmission successful node was sorted from small to large and deposits transmission of messages list of thing according to the transmission time;
Step 4.6: judged whether to reach the default node transmission time, if so, carry out step 4.7; Otherwise, cancel in order a successful node in the list of breath transmission events, using this successful node as source node, jump to step 4.2;
Step 4.7: described destination node is added to and do not receive in time warning information set;
Step 4.8: network simulation module will not receive that the source node in warning information set and step 4.1 is sent to system emulation module in time.
Node degree refers to and the number on the limit that this node is associated, the node number being connected with this node.
As shown in Figure 3, described step 5 specifically comprises the following steps:
Step 5.1: judge and do not receive in time whether warning information set is empty, if so, removes the equipment flow state that source node is corresponding, carry out step 5.2; Otherwise, carry out step 5.3;
Step 5.2: the current flow state of output system emulation module, recalculates trend value;
Step 5.3: the fixing trend value of not receiving in time node in warning information set, the ultimate load of multiple equipment of the outside input of reception, recalculates trend value;
Step 5.4: judge whether to exist faulty equipment, if so, jump to step 3; Otherwise, jump to 5.2.
As shown in Figure 4, for a kind of dual network coupled structure collaborative simulation system described in the specific embodiment of the invention 2, comprise system emulation module 1 and network simulation module 2;
Described system emulation module 1, according to the transport network topology structure of wanted emulation, is determined scale and the node communication relation of network simulation module, sets up network simulation module 2;
Described system emulation module 1 comprises multiple equipment, and described multiple equipment is sent to the corresponding node in network simulation module by running status;
The state of the synchronisation of nodes corresponding device in described network simulation module 2, and send warning information according to the equipment failure in system emulation module 1, and node set and the corresponding source node information transmitting system emulation module 1 that has the equipment of fault of warning information will do not received in time;
Described system emulation module 1 judges whether to have the node of not receiving in time warning information, and if so, receiving equipment maximum load value, recalculates trend value, determines the equipment state in system emulation module 1; Otherwise, remove primary fault equipment, recalculate trend value, determine the equipment state in system emulation module 1; And the running status of the multiple equipment in the system emulation module 1 of stable state is exported to user.
Described system emulation module 1 is to the distribution of the nodes of network simulation module input artificial network, default warning information propagation delay, default transmission of messages success ratio and the default required propagation delay time of transmission success message.
By system emulation module 1, to network simulation module 2, inputted the nodes of artificial network; Warning information propagation delay, alarm information only has the at the appointed time interior node that arrives to be just regarded as effectively, and any message dilivery that exceedes time delay all can miss the Optimal Control time because of message and be regarded as invalid message; Transmission of messages success ratio, thus make communication network simulation module determine that whether each transmission of messages is successful with appointment probability; The distribution of the required propagation delay time of transmission success message, determines whether deliver successful message exceedes propagation delay time, if exceeded, is still unsuccessful delivery.
Described network simulation module 2 comprises source node processing module 21, transport module 22, successfully chooses module 23, judge module 24, node processing module 25 and output module 26;
Described source node processing module 21 exists a node of fault as source node corresponding device;
Described transport module 22 sends to warning information according to the node degree of source node the destination node being associated;
The described module 23 of successfully choosing is chosen successfully node at random according to transmission of messages success ratio from destination node;
Whether described judge module 24 is greater than warning information propagation delay for the time that judges transmitting warning information, if so, described destination node is added to and does not receive in time warning information set, and will not receive in time that warning information set is sent to output module 26; Otherwise, successful transmission successful node was sorted from small to large and deposits transmission of messages list of thing according to the transmission time, and transmission of messages list of thing is sent to node processing module 25;
Described node processing module 25 is cancelled the each successful node in the list of breath transmission events in order, using this successful node as source node, and the warning information of source node is sent to transport module 22, until reached the default node transmission time;
Described output module 26 will not receive that warning information set and initial source node are sent to system emulation module 1 in time.
Node degree refers to and the number on the limit that this node is associated, the node number being connected with this node.
Described system emulation module 1 comprises system judge module 11 and load receiver module 12;
Described system judge module 11 does not receive for judging whether warning information set is empty, if so, removes the equipment flow state that source node is corresponding, and the current flow state of output system emulation module 1, recalculates trend value in time; Otherwise, fix and do not receive in time the trend value of node in warning information set and send to load receiver module 12;
Described load receiver module 12 receives the ultimate load of multiple equipment and the trend value of the node that system judge module sends of outside input, recalculates trend value.
Simulation frame comprises two submodules, electric system simulation module and powerline network emulation module.Two electric power transmission network and powerline networks that module is used for respectively in emulation dual network.In short, between two modules, there are three kinds alternately.First, at the beginning of framework is set up, first electric system simulation module forms the electric power transmission network of wanted emulation, determines afterwards network size and the node communication relation of powerline network according to electric power transmission network topology.After this two kinds have been embodied under dual network coupled structure alternately, the behavior of the reciprocal effect of two networks.On the one hand, in electric system, power equipment reports and submits current device running status situation (comprising electric current, voltage, phase place etc.) to node corresponding in powerline network, and node judges whether to exist equipment failure.If the fault of existence, starts to start the process of transmitting of warning information, and the end-state of transmission of messages is fed back to electric system simulation module.Electric system is delivered success or not according to warning information and is determined the action that in next round iteration, equipment should be taked: if certain equipment is normally received warning information, when next round electric system computing, process accordingly, as reducing voltage, the fault recoveries such as electric current are moved; If certain equipment is not received warning information, mean in next round electric system computing and can not process fault, still keep original equipment state.Thus, according to the warning information delivery state of communication network, the starting condition of next round computing is determined in electric system, then notifies electric power networks emulation module by operation result, forms closed loop cycle iteration.When iteration finishes, simulation frame will finally be exported new systematic steady state state, i.e. new electric current, voltage, phase angular dimensions etc. in electrical network.
Below divide the collaborative simulation framework of communication network, the invention of electric power networks two parts place of matchmakers.
1. communication network simulation tool bag (network simulation module)
As previously mentioned, communication network simulation wishes to shield concrete agreement and mechanism,, is indifferent to the details of concrete message transmitting procedure that is, is only concerned about the statistical property of communication success ratio.Therefore the instrument generally not using in the selection of emulation tool bag, as NS2, OMNeT++ etc., but select the NetworkX[1 for Complex Networks Analysis].NetworkX is a kind of for studying the Python software package of network structure, variation.
The network generation method providing based on NetworkX, regards the IED of carry on power equipment as communication node, and with this communication node in correspondence with link the limit of all being regarded as between points.According to the correspondence between grid nodes, determine that the degree of node in simulating scenes distributes (that is, the node number of neighbor node around) afterwards, thereby generate communication network according to the degree distribution function of node.
2. electric power networks emulation tool bag (system emulation module)
When selecting electric power networks emulation tool bag, following two principles, is first can move with trend to be calculated as basic network system steady-state analysis; Next is to have certain compatibility with the NetworkX kit of communication network.According to these two principles, choose PYPOWER[2] as electric power networks emulation tool bag.
On the one hand, PYPOWER has inherited trend completely and has calculated the most popular Matpower[3 in field] computing power of software package in Steady-State Analysis of Power System; On the other hand, because PYPOWER is used Python exploitation, be easy to realize the system integration with the same NetworkX software package that is programming realizes based on Python.
The generation method of electric power networks has two classes: the first kind, and PYPOWER can directly read IEEE Test Case that network system is general as test case, thereby imports corresponding power network topology; Equations of The Second Kind, as the Python version of Matpower, PYPOWER has kept the data description method of Matpower for the electric system importing completely.The data layout requirement that user can receive according to PYPOWER, is described the electric system of customization, is written into afterwards PYPOWER and carries out corresponding system load flow analysis.
Meanwhile, because the node of communication network (IED by carry forms) is corresponding one by one with the power equipment of network system, therefore in simulation frame, be written into electric power networks and also determined simultaneously the number of nodes of communication network.As for the topology of communication network, communication network simulation tool bag NetworkX distributes and generates according to the degree between node again.
Dual network coupled system simulation process
The simulation process of dual network coupled structure is embodied under two kinds of scenes: system normal operating condition, system failure running status.
1. system normal operating condition.At system normal operating condition, communication network just periodically gathers power electronic equipment parameter, thereby what in communication network, occur is periodic network traffics.Due in this monitoring scene without any equipment control action, even if thereby occur communication network bust this on system stability also without any impact.Therefore the normal operating condition of system is not within the scope of the simulating scenes of this framework.
2. system failure running status.Different from system normal operating condition, during system failure running status, network system will complete various control actions according to the instruction of communication system, therefore the system action in malfunction just can reflect the system performance of dual network coupled structure, and then embodies the system reliability of whole coupling dual network structure.The emphasis of this simulation frame is also in the simulation completing system failure state.
System breaks down may two kinds of situations, and one is that first fault occurs on power equipment, and equipment alarm information transmits in communication network afterwards; Another kind is that fault is started in the bust this (propagation delay time exceedes threshold value, or channel-failures) of communication network, causes the power equipment cannot be harmonious owing to not being subject to action command.Without loss of generality, in ensuing simulation algorithm design, first assumed fault occurs in electric power networks.First electrical equipment fault will be caught by IED subsidiary on power equipment, and first this IED initiates warning information propagation according to the message path of setting before at communication network afterwards.
Under concrete failure condition, the simulation algorithm of communication network and electric power networks is as following table 1, shown in table 2.
According to the algorithm shown in table 1, simulation process is as follows:
1. generate the electric system for the treatment of emulation.Electric system generation method has two classes, the first kind, and PYPOWER can directly read IEEE Test Case that network system is general as test case, thereby imports corresponding power network topology; Equations of The Second Kind, user can, according to the electric power data form of PYPOWER definition, be described the electric system for the treatment of emulation, is written into afterwards PYPOWER and carries out electric system structure.
2. corresponding 1 electric system generating builds powerline network.When generating corresponding powerline network, need to input four variablees:
A. the nodes to electric power networks emulation module input artificial network by electric system simulation module;
B. warning information propagation delay, alarm information only has the at the appointed time interior node that arrives to be just regarded as effectively, and any message dilivery that exceedes time delay all can miss the Optimal Control time because of message and be regarded as invalid message;
C. the success ratio of each message dilivery, thus make communication network simulation module determine that whether each transmission of messages is successful with appointment probability;
D. delivering the distribution of the required propagation delay time of success message, determine whether deliver successful message exceedes propagation delay time, if exceeded, is still unsuccessful delivery.
3. communication network module enters warning information iterative process.Shown in powerline network emulation module:
A, from network, take out arbitrarily first alarm source, according to the node degree of alarm source, determine the target that warning information is delivered for the first time, and from deliver target, choose at random and send successful node according to warning information transmission success rate;
B, according to the propagation delay time of delivering success message random generation that distribute, send successful node and receive the alarm information time used, and by its in chronological sequence order put into transmission of messages list of thing;
C, in current time, be less than under the condition of alarm propagation time delay, eject successively and the transmission of current point in time recent news, and using the node of this transmission of messages as alarm source, repeat to generate the message dilivery sequence take this node as alarm source, also according to time sequencing, add transmission of messages list of thing, iteration repeats a, b, c, until arrive alarm propagation time delay, alarm propagation time delay is inputted voluntarily by user;
D, when arriving alarm propagation time delay, so far represent that alarm information transmitting procedure all completes, the set of node of warning information is received in emulation module output, and does not receive in time the set of node of warning information.
Table 1 communication network warning information pass-algorithm
After finishing communication network module emulation, what next carry out is electric power networks emulation.Simulation process is as follows:
4. electric system simulation starts front preparation work.In preparation work, should input three amounts to electric system simulation module:
4.1 do not receive the set of node S of warning information in time
overdue, the representative of node in set should be received warning information and the node do not received, it is constant that the corresponding power equipment of these nodes will be held existing charge capacity (electric current, voltage, phasing degree) in the continuation of insurance of grid simulation relaying;
4.2 power equipment carrying ultimate loads, the maximum current that can bear, voltage or phasing degree, the maximum fault-tolerant ability of expression power equipment;
The 4.3 primary fault points that start most.
Table 2 electric power networks fault derivative algorithm
5. after turns on power system emulation module, first network system removes initial trouble spot, and re-start trend calculate, the new electric system result obtaining is designated as Casenormal, has described and remove the new trend of system behind trouble spot distribute (being electric current on each equipment, feeder line, voltage, phase angle etc.) in Casenormal.But in the system state of describing in the Casenormal fine collaborative situation that is only all devices, occur, all devices is all received warning information on time.But in reality, not all power equipment all can be received warning information on time, thereby makes a response.
5. judge whether the resultant set of node Soverdue that does not receive in time warning information of communication network simulation is empty.The node of on time not receiving warning information is listed in this set.
If a. this set is empty, system operates under Casenormal state, and simulation process also will be ended, and Casenormal is as final system state in output.
If b. this set is not empty, illustrative system is not worked in coordination with completely, has the equipment of not receiving alarm information.In this case, the equipment of not receiving alarm information will continue to keep original flow state (being electric current, voltage and phase angle).And recalculate overall flow state, be designated as Casefail.Reexamine the ultimate load that whether has the flow state of equipment to exceed the power equipment of system in new state Casefail.
If 1. had, become new trouble spot, be added into message event list, this list will continue to start the communication network simulation of next stage, because there is new equipment failure alarm;
If 2. do not have new trouble spot to produce, system emulation is ended to exit, and whole system operates in non-optimum state, but because this state does not exceed the maximum bearing ability of equipment, therefore also can not cause new equipment damage.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. a dual network coupled structure synergy emulation method, is characterized in that, specifically comprises the following steps:
Step 1: constructing system emulation module;
Step 2: system emulation module, according to the transport network topology structure of wanted emulation, is determined scale and the node communication relation of network simulation module, sets up network simulation module;
Step 3: the multiple equipment in system emulation module are sent to the corresponding node in network simulation module by running status;
Step 4: judge by the node state in network simulation module whether the corresponding device in system emulation module exists fault, if, send and do not receive in time that the node set of warning information and the source node information of the corresponding equipment that has fault, to system emulation module, carry out step 5; Otherwise, carry out step 6;
Step 5: system emulation module judges whether to have the node of not receiving in time warning information, and if so, receiving equipment maximum load value, recalculates trend value, determines the equipment state in system emulation module, jumps to step 3; Otherwise, remove primary fault equipment, recalculate trend value, determine the equipment state in system emulation module;
Step 6: the running status of the multiple equipment in the system emulation module of output stable state is to user.
2. a kind of dual network coupled structure synergy emulation method according to claim 1, is characterized in that, also has step 2.5 between described step 2 and step 3;
Step 2.5: system emulation module is to the distribution of the nodes of network simulation module input artificial network, default warning information propagation delay, default transmission of messages success ratio and the default required propagation delay time of transmission success message.
3. according to a kind of dual network coupled structure synergy emulation method described in claim 2 or 3, it is characterized in that, the corresponding device sending a warning message to system emulation module in described step 4 specifically comprises the following steps:
Step 4.1: the corresponding device in network simulation module exists a node of fault as source node;
Step 4.2: according to the node degree of source node, warning information is sent to the destination node being associated;
Step 4.3: choose successfully at random node according to transmission of messages success ratio from destination node;
Step 4.4: whether the time that judges transmitting warning information is greater than warning information propagation delay, if so, carry out step 4.7; Otherwise, carry out step 4.5;
Step 4.5: successful transmission successful node was sorted from small to large and deposits transmission of messages list of thing according to the transmission time;
Step 4.6: judged whether to reach the default node transmission time, if so, carry out step 4.7; Otherwise, cancel in order a successful node in the list of breath transmission events, using this successful node as source node, jump to step 4.2;
Step 4.7: described destination node is added to and do not receive in time warning information set;
Step 4.8: network simulation module will not receive that the source node in warning information set and step 4.1 is sent to system emulation module in time.
4. a kind of dual network coupled structure synergy emulation method according to claim 3, is characterized in that, described step 5 specifically comprises the following steps:
Step 5.1: judge and do not receive in time whether warning information set is empty, if so, removes the equipment flow state that source node is corresponding, carry out step 5.2; Otherwise, carry out step 5.3;
Step 5.2: the current flow state of output system emulation module, recalculates trend value;
Step 5.3: the fixing trend value of not receiving in time node in warning information set, the ultimate load of multiple equipment of the outside input of reception, recalculates trend value;
Step 5.4: judge whether to exist faulty equipment, if so, jump to step 3; Otherwise, jump to 5.2.
5. a dual network coupled structure collaborative simulation system, comprises system emulation module and network simulation module;
Described system emulation module, according to the transport network topology structure of wanted emulation, is determined scale and the node communication relation of network simulation module, sets up network simulation module;
Described system emulation module comprises multiple equipment, and described multiple equipment is sent to the corresponding node in network simulation module by running status;
The state of the synchronisation of nodes corresponding device in described network simulation module, and send warning information according to the equipment failure in system emulation module, and node set and the corresponding source node information transmitting system emulation module that has the equipment of fault of warning information will do not received in time;
Described system emulation module judges whether to have the node of not receiving in time warning information, and if so, receiving equipment maximum load value, recalculates trend value, determines the equipment state in system emulation module; Otherwise, remove primary fault equipment, recalculate trend value, determine the equipment state in system emulation module; And the running status of the multiple equipment in the system emulation module of stable state is exported to user.
6. a kind of dual network coupled structure collaborative simulation system according to claim 5, it is characterized in that, described system emulation module is to the distribution of the nodes of network simulation module input artificial network, default warning information propagation delay, default transmission of messages success ratio and the default required propagation delay time of transmission success message.
7. according to a kind of dual network coupled structure collaborative simulation system described in claim 5 or 6, it is characterized in that, described network simulation module comprises source node processing module, transport module, successfully chooses module, judge module, node processing module and output module;
Described source node processing module exists a node of fault as source node corresponding device;
Described transport module sends to warning information according to the node degree of source node the destination node being associated;
The described module of successfully choosing is chosen successfully node at random according to transmission of messages success ratio from destination node;
Whether described judge module is greater than warning information propagation delay for judging the time of transmitting warning information, if so, described destination node is added to and does not receive in time warning information set, and will not receive in time that warning information set is sent to output module; Otherwise, successful transmission successful node was sorted from small to large and deposits transmission of messages list of thing according to the transmission time, and transmission of messages list of thing is sent to node processing module;
Described node processing module is cancelled the each successful node in the list of breath transmission events in order, using this successful node as source node, and the warning information of source node is sent to transport module, until reached the default node transmission time;
Described output module will not receive that warning information set and initial source node are sent to system emulation module in time.
8. a kind of dual network coupled structure collaborative simulation system according to claim 7, is characterized in that, described system emulation module comprises system judge module and load receiver module;
Described system judge module does not receive for judging whether warning information set is empty, if so, removes the equipment flow state that source node is corresponding, and the current flow state of output system emulation module, recalculates trend value in time; Otherwise, fix and do not receive in time the trend value of node in warning information set and send to load receiver module;
Described load receiver module receives the ultimate load of multiple equipment and the trend value of the node that system judge module sends of outside input, recalculates trend value.
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