CN108448576A - Multi-machine power system wide area damper control method under elastic event trigger mechanism - Google Patents
Multi-machine power system wide area damper control method under elastic event trigger mechanism Download PDFInfo
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- CN108448576A CN108448576A CN201810311018.1A CN201810311018A CN108448576A CN 108448576 A CN108448576 A CN 108448576A CN 201810311018 A CN201810311018 A CN 201810311018A CN 108448576 A CN108448576 A CN 108448576A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention discloses the multi-machine power system wide area damper control methods under a kind of elastic event trigger mechanism, multi-machine power system is controlled by the wide-area damping control system that vector data concentrator, event trigger, PMU, generator and wide area damping control are built, wherein, the control method of the wide-area damping control system includes step S1：DoS attack model is established, to simulate real DoS attack；S2：Judge to control whether signal is blocked by the DoS attack, wide area damping control ensures the stability of the multi-machine power system according to judging result controller perturbation；S3：The status signal of each collected multi-machine power system is transferred to event trigger in vector data concentrator, judges whether the triggering algorithm for meeting event trigger；S4：Whether event trigger is transferred to wide area damping control in response to the judging result control signal of step S3, reduces the occupancy of limited-bandwidth resource；The invention can ensure that system safety, smoothly operation.
Description
Technical field
The present invention relates under power system controller design field more particularly to a kind of elastic event trigger mechanism
Multi-machine power system wide area damper control method.
Background technology
In recent years, as electric system scale is increasing, the interconnection between bulk power grid is also increasingly stronger, bulk power grid interconnection
The economy that system operation can be improved has become the inevitable choice of conservation-minded society, also to the various controls of operation of power networks
System proposes new requirement.These are asked in solution for GPF (General Protection False, control based on local measurement information and a small amount of area information
Faced when topic compared with difficulty, based on GPS technology structure Wide Area Measurement System make the wide area control considered from system perspective
System is got growing concern for.Construction dedicated network investment is huge, so building multi information shares the intelligent electric of identical platform
Net becomes Main way.Network control system often uses distributed control mode, the multidate information of acquisition and all kinds of controls
Signal is transmitted by network communication channel, and higher and higher with the opening of network, this will certainly just increase network attack
Possibility.The safety problem of network control system becomes a big research hotspot.For example, spoofing attack and Denial of Service attack
Communication port can be occupied Deng, Denial of Service attack, and consumption network bandwidth causes normally to communicate and is blocked；Signal transmission is hindered
Breaking, it is unstable to this may result in entire electric system.How when there is attack systems stabilisation, ensure operation, increase the bullet of controller
Property control performance is particularly important.At the same time, in multi-machine power system, multiple nodes share same limited bandwidth resources,
How bandwidth is saved, avoid congestion, the timeliness for increasing control is also critically important.Traditional periodic sampling mode will produce largely
Redundant signals increase network pressure, how to design effective control strategy, ensure system it is stable and it is intended that performance
Under the conditions of, the quantity forwarded of data packet is reduced, it is also urgent problem now to save valuable bandwidth resources.
Invention content
It is existing in the prior art it is a primary object of the present invention to solve the problems, such as, a kind of elastic event triggering machine is provided
Multi-machine power system wide area damper control method under system, specific technical solution are as follows：
It is a kind of elasticity event trigger mechanism under multi-machine power system wide area damper control method, the multi-machine power system to
Measure the wide-area damping control system control of data concentrator, event trigger, PMU, generator and wide area damping control structure
System, the vector data concentrator are used to record the data value of the PMU, and the event trigger is for responding the multimachine electricity
The sampled signal of Force system, and the sampled signal is sent to the wide area damping control, the wide area damping control
The multi-machine power system is controlled for sending out control signal；Wherein, the control method of the wide-area damping control system includes
Step：
S1：DoS attack model is established, to simulate real DoS attack；
S2：Judge to control whether signal is blocked by the DoS attack, the wide area damping control is according to judging result elasticity control
System ensures the stability of the multi-machine power system；
S3：The status signal of each collected multi-machine power system is transferred in the vector data concentrator described
Event trigger judges whether the triggering algorithm for meeting the event trigger；
S4：Whether the event trigger is transferred to the wide-area damping control in response to the judging result control signal of step S3
Device reduces the occupancy of limited-bandwidth resource.
The present invention's advanced optimizes：It further include step：The foundation of event trigger mechanism, and it is based on the DoS attack mould
Type and the event trigger mechanism establish multi-machine power system model mathematical control model.
The present invention's advanced optimizes：It further include step：The multi-machine power system mathematical control model stabilization is set up to cut
It changes a little.
The present invention's advanced optimizes：The modeling formula of the multi-machine power system mathematical control model is：
Wherein, AndMeet following relationship,The status signal of expression system,It is control output,It is the disturbing signal of finite energy,It is zero original state,It is constant matrices,It is weighting matrix,,WithIt is the triggering matrix of the trigger mechanism, for representing the wide area damp control
The performance of system processed；For non-attack section,To attack section.
The present invention's advanced optimizes：The multi-machine power system mathematical control model stablizes the condition that switching point is met
For：
,,,,.Wherein,, positive definite matrix,,It is asked for band
Dematrix,,,,,To meet the arbitrary constant of condition,It is sampling week
Phase.
The present invention's advanced optimizes：The triggering matrixWithSolution procedure be：First, given disturbance is pressed down
System is horizontal, preset the frequency parameter of unknown DoS, single section maximum attack lengthWith single section minimum
Without attack lengthAnd adjustable parameter,,,,,, if there is matrix,,With, and there are matrixes ,Meet following MATRIX INEQUALITIES：
Wherein：
,
,,
,,
,,
,,It is matrix to be asked, * is in matrix
Corresponding transposition item；Finally, trigger parameter is calculated according to MATRIX INEQUALITIES（）With matrix to be asked, and count
Calculate controller gain matrix。
The present invention's advanced optimizes：The modeling formula of the wide area damping control is：
In the embodiment of the present invention, by vector data concentrator, event trigger, PMU, generator and wide-area damping control
Device builds a wide-area damping control system for controlling multi-machine system, and switching system is set up in wide-area damping control system
System model and triggering algorithm, are blocked when controlling signal by DoS attack, then wide area damping control switching system pattern；Elasticity control
The stability of guarantee system processed；The status signal of each collected multi-machine power system is transferred in vector data concentrator
Event trigger judges whether to meet triggering algorithm；When meeting trigger condition, signal is sent to the wide-area damping control
Otherwise device is not sent；Compared with the existing technology, the advantage of the invention is that：It ensure that multi-machine power system in complex network ring
Safe and stable operation under border, while reducing the transmission quantity of redundant signals, network transmission pressure is alleviated, band is saved
The energy needed for wide resource and communication.
Description of the drawings
Fig. 1 is the flow diagram of the method for the invention；
Fig. 2 is that the structure composition of wide-area damping control system of the present invention is illustrated；
Fig. 3 is the operation principle schematic diagram of event trigger of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only
A part of the embodiment of the present invention gives presently preferred embodiments of the present invention instead of all the embodiments in attached drawing.The present invention can
To realize in many different forms, however it is not limited to embodiment described herein, on the contrary, provide the mesh of these embodiments
Be to make the disclosure of the present invention more thorough and comprehensive.Based on the embodiments of the present invention, the common skill in this field
The every other embodiment that art personnel are obtained without creative efforts belongs to the model that the present invention protects
It encloses.
Referring to Fig.2, in embodiments of the present invention, wide-area damping control system by vector data concentrator, event trigger,
PMU, generator and wide area damping control are built-up, and vector data concentrator is used to record the data value of PMU, and event is touched
Hair device is used to respond the sampled signal of multi-machine power system, and sampled signal is sent to wide area damping control；The present invention's
Wide-area damping control system is for controlling multi-machine power system, it is ensured that multi-machine power system is pacified under complex network environment
Entirely, even running.
Refering to fig. 1, in embodiments of the present invention, the multi-machine power system wide area under a kind of elastic event trigger mechanism is provided
Damping control method, including step S1：DoS attack model is established, to simulate real DoS attack；S2：Judging control signal is
No to be blocked by the DoS attack, the wide area damping control ensures the multimachine power train according to judging result controller perturbation
The stability of system；S3：The status signal of each collected multi-machine power system is passed in the vector data concentrator
It is handed to the event trigger, judges whether the triggering algorithm for meeting the event trigger；S4：The event trigger response
It whether is transferred to the wide area damping control in the judging result control signal of step S3, reduces accounting for for limited-bandwidth resource
With；Specifically, when judging result meets trigger condition, signal is sent to the wide area damping control, does not otherwise transmit,
Reduce the occupancy of limited-bandwidth resource.
Wherein, DoS attack model is used to simulate a kind of special circumstances of real DoS attack；In addition, further including establishing event
Trigger mechanism, is then based on DoS attack model and event trigger mechanism establishes multi-machine power system model mathematical control model, with
And it sets up multi-machine power system mathematical control model and stablizes switching point.
Specifically, the modeling formula of multi-machine power system mathematical control model is：
Wherein, AndMeet following relationship,The status signal of expression system,It is control output,It is the disturbing signal of finite energy,It is zero original state,It is constant matrices,It is weighting matrix,,WithIt is the triggering matrix of the trigger mechanism, for representing wide-area damping control system
The performance of system；For non-attack section,To attack section.
Further, multi-machine power system mathematical control model stablizes the condition that is met of switching point and is：
,,,,.Wherein,, positive definite matrix,,It is asked for band
Dematrix,,,,,To meet the arbitrary constant of condition,It is sampling week
Phase.
Further, matrix is triggeredWithSolution procedure be：First, horizontal to given Disturbance Rejection, in advance
First set the frequency parameter of unknown DoS, a section maximum attack lengthWith single section minimum without attack lengthAnd adjustable parameter,,,,,, if there is matrix,,With, and deposit
In matrix ,Meet following MATRIX INEQUALITIES：
Wherein：
,
,,
,,
,,
,,It is matrix to be asked, * is in matrix
Corresponding transposition item；Finally, trigger parameter is calculated according to MATRIX INEQUALITIES（）With matrix to be asked, and count
Calculate controller gain matrix。
Further, the modeling formula of wide area damping control is：
Preferably, the specific steps of the method provided by the present invention are illustrated for being established to n electro-mechanical force system models：
（1）Multi-machine power system model foundation
In n electromechanics Force systems, each generator is portrayed by 3 rank mathematical models, when control is not added, takes state variable, wherein,,,Indicate theThe power deviation of a generator,It indicates
TheA control input,It is inputted for additional excitation, and, it is simultaneously
It is feedback of status output,Indicate theThe excitation of a generator inputs.State-space expression after then linearizing：
（1）
Wherein,,,,,,,,
,, for the ease of the design of controller, state variable is newly defined as
, wherein,,.In view of external disturbance is to power train
The influence of system derives available by simple mathematicalThe state equation expression formula of electromechanical Force system：
（2）
WhereinThe status signal of expression system,It is control output,It is the disturbing signal of energy bounded,,,It is the common matrix with suitable dimension,,It is weighting matrix.,Available model（1）In data simple computation.
（2）Introduce unknown period DoS attack model
DoS attack model is built, DoS signals are the signal to attack of one group of finite energy, can occupy limited carrier frequency channel break communication,
Expression formula is：
WhereinIt is number of times of attack,Indicate theA to start without attack section, signal transmission is normal,Indicate no attack
Siding-to-siding block length.I.e.It isA H-hour.Sequential is attacked to meet, therefore, it is capped that section is not had.It is attacked in DoS
Under the influence of hitting, expression formula（2）In control inputIt can be written as form：,
WhereinIndicate that a series of control signals are successfully updated the moment, i.e., event trigger mechanism generate
Signal is controlled,It is the sampling period,With.In order to
Convenient succinct, definition is described below,,
In conjunction with the above, multi-machine power system expression formula when considering to have attack is：
With
（3）Introduce event trigger mechanism
Following event trigger mechanism is designed for attack, ensures system（2）Under the action of controller while asymptotically stability,
Reduce network communication pressure.Without the attack moment, event trigger mechanism ensures electric system asymptotically stability, trigger conditions
For：
,（3）
In formula,For positive integer,It is the positive definite weighting matrix with appropriate dimension,It is bounded positive real number,It is sampling week
Phase,It is present sample signal,It is the sampled signal for the trigger last time sending controller to.If trigger condition at
It is vertical, then the sampled value at PMU current times is recorded, and be transferred to controller.If not, do not record adopting for current time then
Sample value.But when there is signal to attack to occur, this trigger condition cannot be used directly.The present invention is to above-mentioned trigger condition thus
Adjustment appropriate is carried out, the present invention, which defines the event triggering moment when signal to attack occurs, to be met
Define two segmentation equations：
Final mask is：
Wherein AndMeet following relationship
(3) formula shows：Trigger condition is only related with present sample signal and a preceding trigger signal, preset tactile when meeting
When clockwork spring part, then present sample signal is sent to controller end, and a secondary control signal is updated by controller.
In the embodiment of the present invention, by vector data concentrator, event trigger, PMU, generator and wide-area damping control
Device builds a wide-area damping control system for controlling multi-machine system, and switching system is set up in wide-area damping control system
System model and triggering algorithm, are blocked when controlling signal by DoS attack, then wide area damping control switching system pattern；Elasticity control
The stability of guarantee system processed；The status signal of each collected multi-machine power system is transferred in vector data concentrator
Event trigger judges whether to meet triggering algorithm；When meeting trigger condition, signal is sent to the wide-area damping control
Otherwise device is not sent；Compared with the existing technology, the advantage of the invention is that：It ensure that multi-machine power system in complex network ring
Safe and stable operation under border, while reducing the transmission quantity of redundant signals, network transmission pressure is alleviated, band is saved
The energy needed for wide resource and communication.
The foregoing is merely a prefered embodiment of the invention, the scope of the claims of the present invention is not intended to limit, although with reference to aforementioned reality
Applying example, invention is explained in detail, still can be to aforementioned each tool for those skilled in the art comes
Technical solution recorded in body embodiment is modified, or carries out equivalence replacement to which part technical characteristic.Every profit
The equivalent structure made of description of the invention and accompanying drawing content is directly or indirectly used in other related technical areas,
Similarly within scope of patent protection of the present invention.
Claims (7)
1. the multi-machine power system wide area damper control method under elastic event trigger mechanism, which is characterized in that the multimachine electricity
The wide area damp that Force system is built by vector data concentrator, event trigger, PMU, generator and wide area damping control
Control system controls, and the vector data concentrator is used to record the data value of the PMU, and the event trigger is for responding
The sampled signal of the multi-machine power system, and the sampled signal is sent to the wide area damping control, the wide area
Damping controller controls the multi-machine power system for sending out control signal；Wherein, the control of the wide-area damping control system
Method processed includes step：
S1：DoS attack model is established, to simulate real DoS attack；
S2：Judge to control whether signal is blocked by the DoS attack, the wide area damping control is according to judging result elasticity control
System ensures the stability of the multi-machine power system；
S3：The status signal of each collected multi-machine power system is transferred in the vector data concentrator described
Event trigger judges whether the triggering algorithm for meeting the event trigger；
S4：Whether the event trigger is transferred to the wide-area damping control in response to the judging result control signal of step S3
Device reduces the occupancy of limited-bandwidth resource.
2. the multi-machine power system wide area damper control method under elasticity event trigger mechanism according to claim 1,
It is characterized in that, further includes step：The foundation of event trigger mechanism, and machine is triggered based on the DoS attack model and the event
System establishes multi-machine power system model mathematical control model.
3. the multi-machine power system wide area damper control method under elasticity event trigger mechanism according to claim 2,
It is characterized in that, further includes step：It sets up the multi-machine power system mathematical control model and stablizes switching point.
4. the multi-machine power system wide area damper control method under elasticity event trigger mechanism according to claim 2,
It is characterized in that, the modeling formula of the multi-machine power system mathematical control model is：
Wherein, AndMeet following relationship,The status signal of expression system,It is control output,It is the disturbing signal of finite energy,It is zero original state,It is constant matrices,It is weighting matrix,,WithIt is the triggering matrix of the trigger mechanism, for representing the wide area damp control
The performance of system processed；For non-attack section,To attack section.
5. the multi-machine power system wide area damper control method under elasticity event trigger mechanism according to claim 3,
It is characterized in that, the multi-machine power system mathematical control model stablizes the condition that switching point is met and is：
,,,,；Wherein,, positive definite matrix,,It is asked for band
Dematrix,,,,,To meet the arbitrary constant of condition,It is sampling week
Phase.
6. the multi-machine power system wide area damper control method under elasticity event trigger mechanism according to claim 4,
It is characterized in that, the triggering matrixWithSolution procedure be：First, horizontal to given Disturbance Rejection, set in advance
The frequency parameter of fixed unknown DoS, single section maximum attack lengthWith single section minimum without attack lengthAnd
Adjustable parameter,,,,,, if there is matrix,,With, and there are matrixes ,Meet following MATRIX INEQUALITIES：
Wherein：
,
,,
,,
,,
,,Be matrix to be asked, * be in matrix with
Corresponding transposition item；Finally, trigger parameter is calculated according to MATRIX INEQUALITIES（）With matrix to be asked, and calculate
Go out controller gain matrix。
7. according to the multi-machine power system wide area damper control method under the elastic event trigger mechanism described in claim 1 ~ 6,
It is characterized in that, the modeling formula of the wide area damping control is：
。
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| CN109814381A (en) * | 2019-01-08 | 2019-05-28 | 华东理工大学 | A kind of Controller Design for Networked Control Systems method based on event triggering |
| CN110262347A (en) * | 2019-06-26 | 2019-09-20 | 南京邮电大学 | The wide area damping control construction method of multi-machine power system under Denial of Service attack |
| CN110277780A (en) * | 2019-07-18 | 2019-09-24 | 南京邮电大学 | Non-linear direct-current grid elasticity control method |
| CN110336275A (en) * | 2019-07-09 | 2019-10-15 | 南京邮电大学 | A kind of design method of the controller of isolated wind bavin hybrid power system |
| CN110932330A (en) * | 2019-12-20 | 2020-03-27 | 海南电网有限责任公司海口供电局 | Event trigger control method for nonlinear multi-machine power system |
| CN113224754A (en) * | 2021-05-12 | 2021-08-06 | 江苏电力信息技术有限公司 | Power system safety control method based on event trigger under replay attack |
| CN113341707A (en) * | 2021-05-13 | 2021-09-03 | 中国矿业大学 | Event trigger cooperative control method for multi-time scale multi-motor system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814381A (en) * | 2019-01-08 | 2019-05-28 | 华东理工大学 | A kind of Controller Design for Networked Control Systems method based on event triggering |
| CN109814381B (en) * | 2019-01-08 | 2022-07-12 | 华东理工大学 | Network control system controller design method based on event triggering |
| CN110262347A (en) * | 2019-06-26 | 2019-09-20 | 南京邮电大学 | The wide area damping control construction method of multi-machine power system under Denial of Service attack |
| CN110262347B (en) * | 2019-06-26 | 2021-06-29 | 南京邮电大学 | Wide area damping controller construction method of multi-machine power system under denial of service attack |
| CN110336275A (en) * | 2019-07-09 | 2019-10-15 | 南京邮电大学 | A kind of design method of the controller of isolated wind bavin hybrid power system |
| CN110336275B (en) * | 2019-07-09 | 2022-08-09 | 南京邮电大学 | Design method of controller of isolated wind-diesel hybrid power system |
| CN110277780A (en) * | 2019-07-18 | 2019-09-24 | 南京邮电大学 | Non-linear direct-current grid elasticity control method |
| CN110277780B (en) * | 2019-07-18 | 2022-08-12 | 南京邮电大学 | Elastic control method for nonlinear direct current micro-grid |
| CN110932330A (en) * | 2019-12-20 | 2020-03-27 | 海南电网有限责任公司海口供电局 | Event trigger control method for nonlinear multi-machine power system |
| CN110932330B (en) * | 2019-12-20 | 2022-05-03 | 海南电网有限责任公司海口供电局 | Event trigger control method for nonlinear multi-machine power system |
| CN113224754A (en) * | 2021-05-12 | 2021-08-06 | 江苏电力信息技术有限公司 | Power system safety control method based on event trigger under replay attack |
| CN113341707A (en) * | 2021-05-13 | 2021-09-03 | 中国矿业大学 | Event trigger cooperative control method for multi-time scale multi-motor system |
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