CN105305441B - A kind of state and parametric joint method for tracing - Google Patents
A kind of state and parametric joint method for tracing Download PDFInfo
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- CN105305441B CN105305441B CN201510850056.0A CN201510850056A CN105305441B CN 105305441 B CN105305441 B CN 105305441B CN 201510850056 A CN201510850056 A CN 201510850056A CN 105305441 B CN105305441 B CN 105305441B
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Abstract
The invention belongs to Automation of Electric Systems dispatching technique field more particularly to a kind of POWER SYSTEM STATE and parametric joint method for tracing, calculate electric power system tide, using the voltage magnitude of each node and phase angle as the true value of system state amount；Dominant parameters in Identification of Power System form dominant parameters set, choose one of those or several parameters, and error component is added to simulate parameter wrong in practical power systems；Simulation picks out suspicious parameter, records the state estimation result of current section during state tracking；The sum of weighting with parameter measurement residuals is object function；Find the estimated value of one group of state and parameter of target function value minimum on multiple sections；Using to the average weighted final estimated value of method calculating parameter of multibreak face parameter estimation result.Example show the dominant parameters of the present invention in systems there are when error still can accurate tracing system state, while corrected parameter value has good future in engineering applications.
Description
Technical field
The invention belongs to Automation of Electric Systems dispatching technique fields more particularly to a kind of POWER SYSTEM STATE to join with parameter
Close method for tracing.
Background technology
Power system state estimation be Energy Management System (Energy Management System, EMS) basis and
Core.Power system state estimation can be divided into static state estimation and dynamic state estimator (i.e. state tracking).If only requiring full
Foot can meet the requirements the security monitoring of electric system current operating conditions, then static state estimation.But to realize to electricity
The economic load dispatching and online preventive control of Force system then need to predict the state of future time instance, and static state is estimated no longer
It is applicable in, state tracking is needed to complete the function.
POWER SYSTEM STATE tracking is on the basis of the switch telemetering amount of electric system and correct network element parameter
It carries out.Inaccurate parameter can lead to the reduction of system local state estimated accuracy, and the analysis and decision of EMS can be caused when serious
Mistake.To ensure that system parameters are accurate, need that systematic parameter is recognized and estimated while state tracking.
Currently, existing state and parametric joint method for tracing are less, in addition have state tracking method needs mostly
Parameter identification and estimation program match, to exclude influence of the parameter error to state tracking result.State and parametric joint
In method for tracing, state estimation is carried out at the same time with parameter estimation procedure, can improve the precision and entirety of state estimation
Algorithm computational efficiency.
Invention content
For the precision for improving state estimation and whole algorithm computational efficiency, the present invention proposes a kind of state and parameter
Joint method for tracing, including：
Step 1 calculates electric power system tide, using the voltage magnitude of each node and phase angle as the true value of system state amount；
Dominant parameters in step 2, Identification of Power System form dominant parameters set, choose one of those or several ginsengs
Error component is added to simulate parameter wrong in practical power systems in number；
Step 3, simulation pick out suspicious parameter, record the state estimation result of current section during state tracking；
Step 4, with the sum of weighting of parameter measurement residuals for object function, seek the value of object function；
Step 5, the estimated value for finding one group of state and parameter of target function value minimum on multiple sections；
Step 6, using to the average weighted final estimated value of method calculating parameter of multibreak face parameter estimation result, and replace
Originally suspicious parameter.
The object function is：
Wherein,It indicates under kth section with the obtained state estimation result of m subparameter estimated results,
It indicates with the obtained estimates of parameters of state estimation result under kth section, including branch conductance parameterWith branch electricity
Receive parameterZ indicates measurement vector,Indicate measurement equation, R-1Indicate weight diagonal matrix.
The step 5 includes：
Step 501：The Measurement Biases phasor caused by parameter error on kth section is sought to branch where suspicious parameter
ξij,k,By ξij,kWith the trend compensation vector f of Branch Power Flow where suspicious parameterk|mBetween pass
System, can acquire vector fk|m, the relationship of the two expression formula is as follows, fk|m=L-1ξij,k,L-1Indicate that the inverse matrix of L, L={ 0, ± 1 } are
fk|mWith ξij,kIncidence matrix；If ξij,kCorresponding measurement branch direction and fk|mCorresponding direction of tide is consistent, then in L
Respective element takes 1；When direction corresponds to opposite, the respective element in L takes -1；If vector is not associated with, the respective element in L takes
0；fk|mIt is divided into effective power flow compensation vector fp,k|mWith reactive power flow compensation vector fq,k|m；Suspicious parameter place can be acquired by the two
The parameters revision amount Δ g of branch ijij|m+1With Δ bij|m+1, solving expression formula is：
V in formulai、VjRespectively node i, j voltage magnitude, θijPhase angle between node i and j, parameters obtained amendment
Measure Δ gij|m+1With Δ bij|m+1It can be used to correct suspicious parameterWithInnovation representation is：
Step 502：Step 501 parameters obtained estimated resultWithAgain the state for substituting into kth section chases after
Track process obtains one group of new quantity of state estimated value
Step 503：Step 4, step 501 and step 502 are re-started, repeats to limit number, finds out object function most
Small value.
The step 6 includes：
Step 601：Extract the corresponding state variable estimate of object function minimum valueState as kth section
Tracking is as a result, estimates of parametersParameter as+1 section of kth；
Step 602：Using to multibreak face parameter estimation resultThe average weighted final estimated value of method calculating parameter
Step 603：WithOriginal suspicious parameter is replaced in parameter database.
The present invention state and parametric joint method for tracing (Joint Tracking of State and Parameter,
JTSP) in estimation procedure feasible system state with suspicious dominant parameters while estimate, state tracking can be made not joined
The influence of number error, and suspicious dominant parameters can be corrected, there is higher computational efficiency, be suitable for practical engineering application.
Description of the drawings
Fig. 1 is the flow diagram of the state and parametric joint method for tracing of the present invention；
Fig. 2 a~2f are the parameter tracking situations of branch 4 under different parameters error in 14 node systems of IEEE；
Fig. 3 a~3f are the parameter tracking situations of branch 5 under different parameters error in 14 node systems of IEEE；
Fig. 4 a~4f are the parameter tracking situations of branch 10 under different parameters error in 14 node systems of IEEE.
Specific implementation mode
Below in conjunction with the accompanying drawings, it elaborates to embodiment.
The present invention proposes a kind of state and parametric joint method for tracing, as shown in Figure 1, including：
Step 1 calculates electric power system tide, using the voltage magnitude of each node and phase angle as the true value of system state amount；
Dominant parameters in step 2, Identification of Power System form dominant parameters set, choose one of those or several ginsengs
Error component is added to simulate parameter wrong in practical power systems in number；
Step 3, simulation pick out suspicious parameter, the state estimation result of record current section k during state tracking
Step 4, with the sum of weighting of parameter measurement residuals for object function, seek the value of object function；The target letter
Number is：
Wherein,It indicates under kth section with the obtained state estimation result of m subparameter estimated results,
It indicates with the obtained estimates of parameters of state estimation result under kth section, including branch conductance parameterWith branch electricity
Receive parameterZ indicates measurement vector,Indicate measurement equation, R-1Indicate weight diagonal matrix；When target letter
When numerical value is sufficiently small, corresponding state variable estimate and estimates of parameters are optimal result；
Step 5, the estimated value for finding one group of state and parameter of target function value minimum on multiple sections；
Step 501：The Measurement Biases phasor caused by parameter error on kth section is sought to branch where suspicious parameter
ξij,k,By ξij,kWith the trend compensation vector f of Branch Power Flow where suspicious parameterk|mBetween pass
System, can acquire vector fk|m, the relationship of the two expression formula is as follows, fk|m=L-1ξij,k,L-1Indicate that the inverse matrix of L, L={ 0, ± 1 } are
fk|mWith ξij,kIncidence matrix.If ξij,kCorresponding measurement branch direction and fk|mCorresponding direction of tide is consistent, then in L
Respective element takes 1；When direction corresponds to opposite, the respective element in L takes -1；If vector is not associated with, the respective element in L takes
0；fk|mIt is divided into effective power flow compensation vector fp,k|mWith reactive power flow compensation vector fq,k|m；Suspicious parameter place can be acquired by the two
The parameters revision amount Δ g of branch ijij|m+1With Δ bij|m+1, solving expression formula is：
V in formulai、VjRespectively node i, j voltage magnitude, θijPhase angle between node i and j, parameters obtained amendment
Measure Δ gij|m+1With Δ bij|m+1It can be used to correct suspicious parameterWithInnovation representation is：
Step 502：Step 501 parameters obtained estimated resultWithAgain the state for substituting into kth section chases after
Track process obtains one group of new quantity of state estimated value
Step 503：Step 4, step 501 and step 502 are re-started, repeats to limit number, finds out object function most
Small value；
Step 6, using to the average weighted final estimated value of method calculating parameter of multibreak face parameter estimation result, and replace
Originally suspicious parameter；
Step 601：(generally work as iterations m after interactive iteration several times>When 20, the minimum value of object function is reachable
To sufficiently small), extract target function value J (x each timek|m), find out the corresponding state variable estimate of object function minimum valueState tracking as kth section is as a result, estimates of parametersParameter as+1 section of kth；
Step 602：Because unavoidably there is error in system measurements, therefore the parameter estimation result of each sectionIt can not
Energy infinite approach parameter true value, but can stablize in the relatively small neighbourhood near true value.To obtain more accurate parametric results,
Using to multibreak face parameter estimation resultThe average weighted final estimated value of method calculating parameter
Step 603：WithOriginal suspicious parameter is replaced in parameter database.
To make those skilled in the art more fully understand the present invention and understanding the present invention compared with the advantages of the prior art, Shen
It asks someone further to be illustrated in conjunction with specific embodiments.
Setting utilizes the performance of ieee standard system test state and parametric joint tracing algorithm.Experiment is surveyed using full dose,
Measuring value by the result of Load flow calculation Additive White Noise (mean value 0, standard deviation 1e-4) obtain.Test environment is
PC machine, CPU are Intel (R) Celeron (R) E3200, dominant frequency 2.40GHz, memory 2.00GB.
1. system data
Transmission line of electricity can be considered as to the transformer branch that no-load voltage ratio is 1 in system model.Line parameter circuit value value in following table is
Perunit value on the basis of 100MVA.
1 IEEE of table, 14 node system parameters
The results are shown in Table 2 for each node voltage amplitude and phase angle obtained by 14 node system Load flow calculations of IEEE, these numbers
According to as the true value for succeeding state tracking result verification.
2 IEEE of table, 14 node system quantity of state truth tables
2. error is arranged
The branch that number is 4,5,8,9 and 10 is branch where the dominant parameters in 14 node systems of IEEE.The present invention selects
Take the B of these branchesijParameter estimated, BijTrue value can be acquired by line parameter circuit value in table 4.Respectively in the B of these branchesij
The parameter error that ± 5%, ± 10% and ± 20% is added in parameter, simulates the wrong parameter in real system.
Treating the electrical quantity of measurement, to add mean value be 0 standard deviation is 10 with true value-4White Gaussian noise, simulation system measure
Value.
3.JTSP simulation results
Fig. 2 a~2f, Fig. 3 a~3f, Fig. 4 a~4f show respectively branch 4,5,10 under different parameter error levels
JTSP algorithms using the present invention carry out the result versus time curve of parameter Estimation.Horizontal axis is time cross section sequence in figure
Number；The longitudinal axis is estimates of parameters or parameter true value, unit pu.Blue curve is the curve of parameter estimation result, black in figure
Line indicates suspicious parameter true value.Within the short time of emulation, it is believed that parameter true value does not change.From Fig. 2 a~2f, Fig. 3 a~
3f, Fig. 4 a~4f qualitative can find out, under parameter errors at different levels, the estimated result of multibreak face dominant parameters is all attached in true value
Closely, and estimated result fluctuation is little.Parameter estimation result in quantitative response Fig. 2 a~2f, Fig. 3 a~3f, Fig. 4 a~4f in table 3
Mean value and variance.
Parameter Estimation situation under 3 same branch different parameters error of table
It can be seen that under parameter errors at different levels from table 3 and Fig. 2 a~2f, Fig. 3 a~3f, Fig. 4 a~4f, a branch
The fluctuation of the parameter estimation result on road at any time is little, therefore can take the mean value conduct of each section parameter estimated result in simulations
Final argument correction value.Row have been write in a certain parameter error, the estimated value of suspicious dominant parameters and its compared with true value in table 4
Relative error, and the average absolute for listing state tracking result of JTSP algorithms when there are parameter error of the present invention is missed
Difference.When measurement index is single on discontinuity surface state variable estimate mean absolute error, specific formula is as follows：
Table 4JTSP simulation results
In table 4 as can be seen that it is overall apparently, when database original parameter compared with circuit actual parameter error between a certain range
When, JTSP algorithms of the invention can relatively accurately estimate that parameter value, estimated result are no more than ± 2% compared with true value error, ginseng
Number estimated result is reliable.Result when state estimation result is compared with printenv error is increased slightly, this is because after parameter Estimation
There are still a small amount of errors compared with true value for parameter value, inevitably reduce the precision of state estimation result, but state variable is estimated
The mean absolute error of value still can be controlled in smaller range (ξ in tableV(k), ξθ(k) 0.02) data are no more than, therefore state is estimated
It is also reliable to count result.
To sum up, of the invention when system line is there are when parameter error by the simulating, verifying of 14 node systems of IEEE
JTSP methods can correct mistake parameter, while the variation of accurate tracing system quantity of state, parameter Estimation and state estimation
As a result degree of precision is all had, carried algorithm has a good application prospect.
This embodiment is merely preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.
Claims (3)
1. a kind of state and parametric joint method for tracing, which is characterized in that including：
Step 1 calculates electric power system tide, using the voltage magnitude of each node and phase angle as the true value of system state amount；
Dominant parameters in step 2, Identification of Power System form dominant parameters set, choose one of those or several parameters, add
Enter error component to simulate parameter wrong in practical power systems；
Step 3, simulation pick out suspicious parameter, record the state estimation result of current section during state tracking；
Step 4, with the sum of weighting of parameter measurement residuals for object function, seek the value of object function；
Step 5, the estimated value for finding one group of state and parameter of target function value minimum on multiple sections；
Step 6, using to the average weighted final estimated value of method calculating parameter of multibreak face parameter estimation result, and replace original
Suspicious parameter；
The object function is：
Wherein,It indicates under kth section with the obtained state estimation result of m subparameter estimated results,Indicate with
The obtained estimates of parameters of state estimation result under kth section, including branch conductance parameterWith branch susceptance parameterZ indicates measurement vector,Indicate measurement equation, R-1Indicate weight diagonal matrix.
2. method according to claim 1, which is characterized in that the step 5 includes：
Step 501：The Measurement Biases phasor ξ caused by parameter error on kth section is sought to branch where suspicious parameterij,k,By ξij,kWith the trend compensation vector f of Branch Power Flow where suspicious parameterk|mBetween relationship, can
Acquire vector fk|m, the relationship of the two expression formula is as follows, fk|m=L-1ξij,k,L-1It is expressed as fk|mWith ξij,kIncidence matrix L inverse square
Battle array；fk|mIt is divided into effective power flow compensation vector fp,k|mWith reactive power flow compensation vector fq,k|m；Suspicious parameter institute can be acquired by the two
In the parameters revision amount Δ g of branch ijij|m+1With Δ bij|m+1, solving expression formula is：
V in formulai、VjRespectively node i, j voltage magnitude, θijPhase angle between node i and j, parameters obtained correction amount
gij|m+1With Δ bij|m+1It can be used to correct suspicious parameterWithInnovation representation is：
Step 502：Step 501 parameters obtained estimated resultWithAgain the state tracking mistake of kth section is substituted into
Journey obtains one group of new quantity of state estimated value
Step 503：Step 4, step 501 and step 502 are re-started, repeats to limit number, finds out the minimum value of object function.
3. method according to claim 1, which is characterized in that the step 6 includes：
Step 601：Extract the corresponding state variable estimate of object function minimum valueState tracking knot as kth section
Fruit, estimates of parametersParameter as+1 section of kth；
Step 602：Using to multibreak face estimates of parametersThe average weighted final estimated value of method calculating parameter
Step 603：WithOriginal suspicious parameter is replaced in parameter database.
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