CN109245108A - distributed state estimation method and system - Google Patents
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- H—ELECTRICITY
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- H—ELECTRICITY
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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Abstract
The embodiment of the present invention provides a kind of distributed state estimation method and system, which comprises the state estimation that each sub-district calculate node carries out multiple sub-districts parallel in partition layer calculates, and the first sensitivity matrix and the second sensitivity matrix is calculated；Each interconnection region calculate node building estimation zoning, completes interconnection state estimation in cooperation layer, obtains interconnection and measures estimated value；After the state estimation for completing sub-district and interconnection estimation region parallel calculates, each sub-district calculate node receives interconnection and measures estimated value in partition layer, and calculates the mismatch amount of boundary interconnection estimated value and measure change vector to form sub-district；Change vector is measured according to the first sensitivity matrix, the second sensitivity matrix, sub-district, quantity of state and power measurement estimated value to each sub-district carry out coordination corrected Calculation；According to the convergence threshold of setting, judge whether the mismatch amount of interconnection estimated value meets convergence criterion, if so, obtaining coordinating calculated result.
Description
Technical Field
The invention relates to the field of state estimation, in particular to a distributed state estimation method and system.
Background
With the rapid development of new energy power generation, the power grid is required to further improve the capability of consuming the new energy power generation, and the coupling and integrity of regulation and control operation among regional power grids are increasingly improved, so that the requirement for carrying out overall monitoring and analysis of a multi-region control center of an interconnected power grid is increasingly urgent.
For a large-scale interconnected power grid with multiple control areas, the network scale and the measured data volume are huge, when the traditional Centralized State Estimation (CSE) method is applied to the global state estimation of the large-scale interconnected power grid, the predicament of dimension disaster is easily caused, the calculation speed is low, and the real-time requirement of power grid regulation and control operation is difficult to meet.
Disclosure of Invention
To solve the technical problems in the prior art, embodiments of the present invention provide a distributed state estimation method and system.
In a first aspect, an embodiment of the present invention provides a distributed state estimation method, which is applied to an interconnected power grid system, where the interconnected power grid system includes a two-layer structure including a coordination layer and a partition layer, the coordination layer includes a plurality of tie line regions, and the partition layer includes a plurality of independent peer sub-regions, where the method includes:
in the partition layer, each sub-area computing node carries out state estimation computation of a plurality of sub-areas in parallel, and a first sensitivity matrix and a second sensitivity matrix are obtained in the computation; the first sensitivity matrix is a sensitivity matrix of state quantity to quantity measurement, and the second sensitivity matrix is a sensitivity matrix of power measurement estimated value to the state quantity;
in the coordination layer, each tie line region calculation node constructs an estimation calculation region to complete the tie line state estimation and obtain a tie line measurement estimation value;
after the state estimation calculation of the subarea and the tie line estimation area is finished in parallel, each subarea calculation node in the subarea layer receives the tie line measurement estimation value and calculates the mismatching amount of the boundary tie line estimation value to form a subarea measurement change vector;
performing coordination correction calculation on the state quantity and the power measurement estimated value of each subarea according to the first sensitivity matrix, the second sensitivity matrix and the subarea measurement change vector;
and judging whether the mismatching amount of the estimated values of the tie lines meets the convergence criterion or not according to a set convergence threshold value of correction calculation, and if so, obtaining a coordination calculation result.
Optionally, the state estimation of the tie line region and the sub-region is independently and parallelly performed between the two structures of the coordination layer and the partition layer, and the tie line region and the sub-region state estimation are not mutually influenced.
After the coordination calculation result is obtained, the coordination calculation result can be sent to the calculation node of the coordination layer, and then the overall calculation result can be obtained through the summary and normalization processing.
In a second aspect, an embodiment of the present invention further provides a distributed state estimation system, where the system includes a two-layer structure including a coordination layer and a partition layer; the coordination layer comprises a plurality of tie line areas, and the partition layer comprises a plurality of independent peer-to-peer sub-areas; wherein, the peer subareas are in non-overlapping relation, and nodes at two ends of each tie line area are respectively positioned in different adjacent subareas; and a master-slave parallel computing model is formed between the coordination layer and the partition layer.
Compared with the prior art, the distributed state estimation method and the distributed state estimation system provided by the embodiment of the invention have the advantages that the states of the tie line regions and the sub-regions in the two-layer structures of the coordination layer and the partition layer are estimated and calculated independently, the two-layer structures cannot affect each other when the states of the two-layer structures are estimated and calculated respectively, and after the two-layer structures complete the states estimation and calculation respectively, the coordination correction calculation is carried out according to the estimation results obtained by the two-layer structures, so that the mismatching amount between the two-layer structures is reduced, and the coordination correction between the two-layer structures is realized. The method can realize the balance of the calculation efficiency and the calculation precision of the state estimation of the junctor estimation area, and the reliability of the obtained coordination calculation result is high after the coordination correction calculation of the boundary quantity of each subarea is completed by combining the junctor measurement estimation value and the sensitivity matrix. Because the state estimation calculation is independently carried out in parallel between the two layers of structures, the calculation speed is higher.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a distributed state estimation system according to an embodiment of the present invention.
Fig. 2 is an expanded model diagram of a certain interconnect system partition and a tie line region in an example provided by the embodiment of the present invention.
Fig. 3 is a flowchart of a distributed state estimation method according to an embodiment of the present invention.
Fig. 4 is a flowchart of a distributed state estimation method according to an example provided by the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In view of the slow calculation speed of the existing system architecture and the state estimation method, and the fact that the obtaining method of the sub-region coordination reference value and the coordination correction effect of the node voltage amplitude mismatch are not considered in the existing estimation algorithm, the invention provides a set of complete distributed state estimation architecture system suitable for a master-slave mode regulation and control management mode so as to realize parallel independent calculation, improve the calculation efficiency and effectively improve the state estimation performance of the interconnected power grid.
First embodiment
The present embodiment provides a distributed state estimation system 10, and the partition hierarchy of the system is shown in fig. 1. In the distributed state estimation system 10, there are a large number of computing nodes, and the execution subject for each computing node may be a network-connectable device such as a server, a personal computer, or a mobile device, and has an arithmetic processing capability.
As shown in FIG. 1, the distributed state estimation system 10 includes a two-layer structure of a coordination layer and a partition layer, and a master-slave parallel computation model is formed between the coordination layer and the partition layer. The partition layer can perform tasks such as state estimation calculation, coordination correction calculation and the like, the coordination layer can perform state estimation calculation and can also perform task scheduling on the partition layer, and a small amount of data interaction exists between the two layers.
The coordination layer includes a plurality of tie line regions, each tie line region can obtain a corresponding tie line estimation region (tie line estimation region 1, tie line estimation region 2 … … tie line estimation region M in fig. 1) after region expansion, and the partition layer includes a plurality of independent peer sub-regions (sub-region 1, sub-region 2 … … sub-region N in fig. 1). Wherein, each peer subregion does not overlap each other, and the both ends node in each tie line region is located different adjacent subregion respectively.
At least two nodes in each tie line area are respectively positioned in adjacent subareas, correspondingly, a plurality of internal nodes are arranged in each subarea, and the same subarea can be connected with a plurality of tie line areas.
Wherein, a tie line estimation region at least covers a tie line region, and a tie line region at least contains a tie line. One tie-line estimation region performs data interaction with only two subregions, but each region can be performed independently in parallel when performing estimation calculations.
In one example, as shown in FIG. 2, the distributed state estimation system 10 includes adjacent sub-regions i and j. The sub-area i and the sub-area j are not overlapped with each other and can independently perform operation. There may be a plurality of tie lines between sub-region i and sub-region j, each tie line may correspond to a tie line region, and the nodes at both ends of the tie line are located in sub-region i and sub-region j, respectively. For example, two nodes a and b in the tie line region a corresponding to the mth tie line are located in the sub-regions i and j, respectively.
In FIG. 2, "a, a1、a2、a3、a4、a5、a6、a7、a8、b、b1、b2、b3、b4、b5、refi、refj"denotes a node.
In an embodiment, the sub-regions i and j may be respectively and independently subjected to state estimation calculation to obtain corresponding sub-region estimation results, and may further be calculated to obtain corresponding sub-region sensitivity matrices. Meanwhile, the estimation and calculation opportunity of the subareas is fully utilized, and the estimation and calculation can be independently performed in parallel in each connecting line area.
In the above stage, the state estimation calculation process of the sub-regions i and j in the partition layer and the state estimation calculation process of the tie line estimation region in the coordination layer do not affect each other, and the state estimation calculation between the two layers of structures can be executed in parallel.
The buffer area and the sensitivity area in fig. 2 may be both understood as a tie line estimation area obtained by extending a tie line area, that is, the tie line estimation area may cover only one node extending from a boundary node or may cover a plurality of nodes extending from the boundary node. That is, the tie line estimation region is dynamically scalable. As an embodiment, when adding a node to the tie line estimation area, the node may be added by integrating the connection relationship and the sensitivity of the network topology, a specific adding method is according to the breadth searching method, and of course, other methods may be used to add the node to change the tie line estimation area.
The state estimation calculation of the coordination layer can be performed by the tie line regions divided in the distributed state estimation system 10 and the tie line estimation regions obtained by the extension.
As an embodiment, when performing state estimation calculation for each tie line estimation region in the coordination layer and for each sub-region in the partition layer, the state estimation calculation may be implemented using Weighted Least Squares (WLS).
In the system, the coordination layer and the partition layer can perform parallel and independent state estimation calculation, and the system can perform coordination correction calculation on estimation results obtained by the coordination layer and the partition layer respectively. This is because the estimated values obtained by the two-layer structure for the same boundary node may be different, for example, the tie line estimation result obtained by the tie line area a about the node a and the sub-area estimation result obtained by the sub-area i about the node a may be different, so that the difference between the two estimation results needs to be corrected, that is, the mismatch amount of the estimated values needs to be corrected in a coordinated manner. When the correction calculation is carried out, besides the mismatch amount of the power estimation value, the coordinate correction can be carried out on the sub-zone boundary power and the voltage amplitude of the tie line node, so that the calculation accuracy of the coordinate correction under the condition of only considering the mismatch amount of the corresponding power estimation value can be improved.
Through the system, the state estimation calculation can be independently carried out on the two-layer structure of the coordination layer and the partition layer respectively, the two-layer structure does not influence each other when the state estimation calculation is carried out respectively, and after the state estimation is finished on the two-layer structure respectively, the coordination correction can be carried out according to the estimation result obtained by the two-layer structure, so that the mismatching amount between the two-layer structure is reduced.
Further, the coordination calculation results obtained by the system are collected and normalized, so that the whole network estimation calculation results can be effectively obtained. Because the state estimation calculation is independently carried out in parallel between the two layers of structures, the operation speed is higher, the estimation results of other regions cannot be influenced by local bad data and unobservable factors, the influence of the local bad data and unobservable factors on the estimation results of the whole system can be reduced, and the real-time performance and the accuracy of the power grid regulation and control operation are improved.
Second embodiment
The embodiment provides a distributed state estimation method, which may be specifically referred to as a tie line decoupling-based distributed state estimation method. The method is applied to an interconnected power grid system, and for the architecture of the interconnected power grid system, reference is further made to the architecture of the distributed state system 10 described in the first embodiment.
Please refer to fig. 3, which is a flowchart illustrating a distributed state estimation method applied to the systems shown in fig. 1 and fig. 2 according to an embodiment of the present invention. The specific flow shown in fig. 3 will be described in detail below.
Step S310: in the partition layer, each sub-area computing node carries out state estimation computation of a plurality of sub-areas in parallel, and a first sensitivity matrix and a second sensitivity matrix are obtained in the computation. The first sensitivity matrix is a sensitivity matrix of state quantity to quantity measurement, and the second sensitivity matrix is a sensitivity matrix of power measurement estimated value to the state quantity.
Step S320: in the coordination layer, each tie line region calculation node constructs a self-estimation calculation region to complete the tie line state estimation and obtain a tie line measurement estimation value.
Specifically, each tie line area calculation node makes full use of multiple factors such as the sub-area estimation calculation opportunity and the comprehensive topological connection relation to construct an estimation calculation area, completes tie line state estimation, and obtains a tie line measurement estimation value. Here, the estimation calculation region is referred to as a tie line estimation region in the embodiment of the present invention.
Step S330: after the state estimation calculation of the subarea and the tie line estimation area is finished in parallel, each subarea calculation node in the subarea layer receives the tie line measurement estimation value and calculates the mismatching amount of the boundary tie line estimation value to form a subarea measurement change vector.
Step S340: and performing coordinated correction calculation on the state quantity and the power measurement estimated value of each subarea according to the first sensitivity matrix, the second sensitivity matrix and the subarea measurement change vector.
Step S350: and judging whether the mismatching amount of the estimated values of the tie lines meets the convergence criterion or not according to a set convergence threshold value of the coordination correction calculation, and if so, obtaining a coordination calculation result. The coordination calculation result includes a state quantity obtained by the coordination correction calculation and a power measurement estimation value (specifically, refer to equation (8)).
Before step S310, the characteristics of grid hierarchical and partitioned vertical regulation and control management and grid measurement and collection partitioned convergence may be followed, and the interconnected large grid is divided into a plurality of peer sub-areas and tie line estimation areas based on the division of the grid control area, so as to form a master-slave parallel computing model and a regulation and control management mode.
In one embodiment, before the state estimation, the interconnected power grid system may be divided into a coordination layer and a partition layer by using a node tearing method, so that the state estimation calculation can be performed independently and in parallel between the two layers of structures.
Step S310 and step S320 are respectively used as a step of performing state estimation calculation by the partition layer and the coordination layer, and step S310 and step S320 may be performed simultaneously. There may be various implementations of the tie-line estimation calculation region when the coordination layer forms the tie-line estimation calculation region, and the specific selection manner of the tie-line estimation region in the present invention should not be construed as a limitation to the present invention. Taking fig. 2 as an example, the tie line estimation area may directly use the end node area, may also use the buffer area, and may also use the sensitivity area, and of course, the tie line estimation area may also be an estimation calculation area determined in other manners. It should be noted that although the first sensitivity matrix from the subarea is used when forming the sensitivity region, since the first sensitivity matrix is a constant sensitivity matrix obtained in the initial iteration of the subarea estimation calculation and the tie line estimation region in the coordination layer can be quickly formed according to the matrix, the state estimation calculation in the coordination layer and the subarea layer can be almost completed in parallel.
In this embodiment, in step S310, each sub-region may obtain a respective first sensitivity matrix and a respective second sensitivity matrix. Each subarea can read the relevant model data in each subarea according to the measurement acquisition range, and the first sensitivity matrix and the second sensitivity matrix corresponding to each subarea are obtained through parallel calculation.
And each subarea computing node parallelly carries out state estimation and computation of a plurality of subareas, and estimation and computation results of the subareas can be obtained, wherein each subarea can carry out estimation and computation by adopting a WLS estimation method.
In this embodiment, in step S320, each tie line region in the coordination layer is calculated by performing state estimation after selecting an appropriate estimation region, and nodes included in different estimation regions are different. In the present embodiment, this estimation region is referred to as a tie line estimation region.
In order to determine a suitable tie line estimation region, the present embodiment also provides a state estimation calculation method based on the tie line estimation region. The method has various specific implementation forms of the junctor estimation area.
In an embodiment, when the measurement information at both ends of the tie is sufficient and accurate, the end node region in fig. 2 formed by the nodes at both ends of the tie can be directly selected as the tie estimation region to implement estimation calculation.
In another embodiment, the estimation calculation is implemented by expanding outwards with the end node of the tie line as the center, expanding outwards the tie line region to obtain a tie line expansion region, and dynamically constructing the tie line estimation regions in different ranges by using the tie line expansion region as the tie line estimation region. The expansion mode mainly comprises two modes: one is to form the tie line buffer area in fig. 2 by taking the first-level neighbor buffer node outside each tie line node; the other mode is to synthesize the topological connection relation and the sensitivity relation of the state quantity to the quantity measurement, determine the tie line state estimation sensitive node, and form the connected sensitivity area in fig. 2.
It should be noted that, besides the above embodiments, a person skilled in the art may also determine the tie line estimation region in other ways, and the specific selection manner of the tie line estimation region should not be construed as limiting the invention.
Further, the WLS is used to complete the tie state estimation calculation after the tie estimation region is determined.
In step S330, the amount of mismatch in the boundary tie estimation values between the two structures, i.e., the coordination layer and the partition layer, can be obtained by combining the subregion estimation result and the tie estimation result. This is because the same tie line region in the coordination layer is associated with two adjacent sub-regions, and in the estimation calculation process of the whole system, different estimation values are often obtained for the boundary tie line nodes of each region, so that it is necessary to obtain the difference between the estimation results (i.e., the tie line measurement estimation values) of the coordination layer and the sub-region estimation calculation results in the partition layer (i.e., the mismatch amount of the boundary tie line estimation values), and perform a coordinated correction on the mismatch amount. The mismatch amount may be a mismatch amount of the power estimation value or a mismatch amount of the voltage estimation value. The purpose of the coordination correction is to minimize this mismatch amount.
The sub-area measurement change vector can be obtained by combining the mismatching quantities of the plurality of boundary tie line estimation values, and can be used as a parameter in the subsequent coordination correction calculation process.
In step S340, a coordination layer and a partition layer are used to perform coordination and correction calculation, and in one embodiment, step S340 may be performed by each sub-area calculation node in the partition layer. The first sensitivity matrix and the second sensitivity matrix can be used as constant elements in the whole estimation calculation process, the estimation result of the subarea can be corrected by combining the calculated subarea measurement change vector, and the correction calculation process comprises the coordination correction calculation of the state quantity and the power measurement estimation value of each subarea.
In the process of performing the coordination correction calculation, step S350 may be executed to determine whether an estimation calculation result meeting the convergence requirement is obtained according to a set convergence criterion, and if so, it is indicated that the iterative correction process has reached the standard, and a final coordination correction calculation result may be directly obtained; if not, the correction process is continuously executed to make the result converged. As an embodiment, before each iteration correction calculation is executed, convergence condition judgment is required.
In this embodiment, after obtaining the coordination calculation result, the method further includes step S360.
Step S360: and the sub-area computing nodes uniformly send the obtained coordination computing result to the tie line area computing node. And finally, the overall calculation result of the whole network distributed state estimation can be obtained through summarizing and normalizing.
By the method, the state estimation and calculation processes of the WLS are respectively adopted for the coordination layer and the partition layer to be executed in parallel and independently, and then the coordination and correction processes of the partition layer are combined, so that the calculation time for independently performing state estimation on each subarea of the partition layer is fully utilized, the state estimation and calculation of each tie line estimation area in the coordination layer are developed in parallel, and the balance between the calculation efficiency and the calculation precision of the tie line estimation is achieved. And then, the coordination and correction of the mismatching amount of the boundary estimation value of each subarea are finished in parallel based on the estimated value of the junctor measurement obtained by the estimation and calculation of the junctor and the sensitivity matrix (the first sensitivity matrix and the second sensitivity matrix). And finally, collecting and normalizing to obtain a whole network estimation result. The whole method realizes the streaming calculation processing of the distributed state estimation, completes the estimation calculation of each subarea and each tie line area in parallel and independently, has high parallelization degree and high calculation speed, realizes the dimensionality reduction calculation and subarea estimation decoupling of a complex power grid, reduces the local bad data pollution, can obtain an estimated section in a large range as far as possible when the local subarea measurement is poor, and has better application value. The influence of local bad data and unobservability on the estimation and calculation result of the whole network system can be reduced, and the real-time performance and the accuracy of the power grid regulation and control operation are improved.
Referring to fig. 4, the following describes the steps of the present invention in detail with reference to a complete example, which is illustrated by the adjacent sub-regions i, the sub-regions j and the tie-line regions a in fig. 2. In this example, a node tearing method or a branch cutting method is adopted to divide a power grid region to obtain a tie line partition decoupling model, so that each equal sub-region is not overlapped, and end nodes of the tie line region are respectively located in different adjacent sub-regions. Please refer to fig. 1 and 2 for the system architecture corresponding to the model. And then, according to the computing power of different computing nodes in the distributed network computing environment, the state estimation and coordination computation of a plurality of subareas and junctor areas are distributed, deployed and operated.
The state estimation calculation is realized by adopting the system architecture, and three influences are caused: firstly, the calculation model of each sub-area is consistent with the measurement acquisition range of the calculation model, the independence is strong, and the estimation result of the sub-area can still be obtained under the condition that the external sub-area or the global estimation is not converged; secondly, the estimation result of each sub-area is not interfered by the measurement quality of the adjacent sub-area, so that the residual pollution of the sub-area can be reduced; and thirdly, each subinterval has no information interaction, and the coordination layer and the partition layer perform state estimation in parallel, so that the parallelization degree is high, and the calculation speed is high.
Referring to fig. 4, the calculation processes of the coordination layer and the partition layer can be executed in parallel.
And for the coordination layer, after determining the network topology connection relation corresponding to the system architecture, further determining a connecting line estimation area, and realizing estimation calculation by adopting a WLS (wireless local area network). After completing the calculation of the tie line estimation, the tie line measurement estimation value in the result of the calculation of the tie line estimation is distributed to the subareas in the subarea layer, and the stage of dormancy waiting/restart activation is entered. And before the next estimated calculation of the connecting line, receiving the calculation result of the coordination correction of the subarea and obtaining the overall estimation result of the whole network through the summarizing and normalizing treatment.
For the subarea layer, when the tie line estimation calculation of the coordination layer is executed, the WLS state estimation and the sensitivity matrix calculation of each subarea can be carried out in parallel to obtain the subarea estimation result. And after receiving the tie line measurement estimation value sent by the coordination layer, completing the coordination correction calculation of the sensitivity matrix of each mismatching quantity until each mismatching quantity meets the convergence criterion, and obtaining a coordination calculation result. The coordination calculation result can be sent to a coordination layer for collection and normalization processing to obtain a whole network estimation result.
The following describes the process of obtaining the first sensitivity and the second sensitivity in the estimation calculation process for the sub-region, respectively. Taking sub-region i as an example, let m of sub-region iiThe dimension of the initial measurement vector is zi0，2(ni-1) the dimensional initial state vector is xi0. If the measurement vector has a small variation Δ ziWill result in a small change in the state vector Δ xi。
To analyze the sensitivity relationship between the state quantity and the quantity measurement, first, xi0M in the equation of the nearby pair non-linear measurementiDimensional nonlinear function vector hi(xi) Taylor expansion is performed, ignoring more than two non-linear terms. Then substituting the expansion into the target function J of WLSi(xi) In (1), let the measurement vector zi＝zi0+ΔziAnd after developing the formulation, let J be knowni(xi) When the minimum value is reached, the partial terms should be zero, and the following equation (1) can be obtained.
Wherein 2 (n) is a quantity of state versus quantity measuredi-1)×miThe sensitivity matrix is shown in formula (2).
The sensitivity relationship between the estimated power measurement value and the state quantity is illustrated, and the relationship between the estimated power measurement value and the state quantity in the sub-area i is shown in formula (3).
zwi＝hwi(xi) (3)
Let mwiVector z of dimensional power measurementwi＝zwi0+ΔzwiAt xi0Non-linear function vector h between nearby pair power measurement vector and state quantitywi(xi) Taylor expansion is carried out, and after the nonlinear terms are ignored, delta z can be obtainedwi＝Hwi(xi0)Δxi. The estimated value of power measurement is m of the state quantitywi×2(ni-1) sensitivity matrix see equation (4).
Wherein, in the above formula (1) to formula (4),a first sensitivity matrix is represented which is,representing a second sensitivity matrix, ziM representing a subregion iiDimension measurement vector, xi2 (n) representing the sub-region ii-1) a dimensional state vector,represents Hi(xi0) The transposed matrix of (1), wherein,hi(xi) Represents miNon-linear function vector of dimension, hwiRepresenting a non-linear function vector between the power quantity measurement and the state quantity. RiRepresents mi×miMeasure the error variance matrix in dimension, and
when each subarea carries out subarea estimation calculation, each tie line area calculation node can read a relevant (load flow) model and measurement data in the area, and synthesize various factors such as topological connection relation and the like to construct an estimation calculation area so as to complete the tie line state estimation. The state estimation of each peer-to-peer subarea and the junctor estimation area adopts distributed parallel computation, and no information interaction exists.
The tie line measurement estimation value sent from the coordination layer to the partition layer is used as a reference for the sub-area coordination correction calculation, and the calculation accuracy of a subsequent coordination correction algorithm is directly influenced. Therefore, it is necessary to select an appropriate tie line estimation region, eliminate interference of bad data, and determine an accurate tie line estimation value.
In this example, the selected tie line estimation region may be a tie line extension region, i.e., a region extending outward from the tie line region end node. In this example, various implementations of the tie line estimation region are provided. A sensitivity matrix (first sensitivity matrix) required for estimation is acquired from an adjacent sub-area, and state estimation of a tie line is performed. The state estimation of the tie line and the state estimation of each subarea adopt distributed parallel computation, and no information interaction exists. It should be noted that the process of acquiring the first sensitivity matrix by each tie-line is not understood to be an estimation calculation interaction between two layers of structures.
In this example, various ways of selecting the estimated area of the tie line are provided. First, when the measurement information at both ends of the tie line is sufficient and accurate, the end node area in fig. 2 formed by the nodes at both ends of the tie line is directly selected to implement estimation calculation, but this embodiment may cause system invisibility or inaccurate estimation when the measurement information amount is insufficient, and at this time, the tie line estimation calculation area needs to be expanded outward. And the second method is to expand the tie line area outwards according to the topological connection relation and the breadth searching mode. The expansion mode mainly comprises two implementation forms: one form is to form the tie buffer region in fig. 2 by taking the next-level neighbor buffer node outside each tie node, but this approach lacks rigorous theoretical guidance and the estimated quality is not necessarily optimal; the other form is that the topological connection relation and the sensitivity relation of the state quantity to the quantity measurement are synthesized, the connecting line state estimation sensitive node is determined, the connected sensitivity area in the figure 2 is formed, and the balance between the estimation calculation precision and the calculation efficiency is mainly considered in the process.
According to various embodiments of the tie line estimation region, the tie line estimation region is determined, WLS is adopted to complete the tie line state estimation calculation, and a tie line measurement estimation value can be obtained and sent to each sub-region of the partition layer.
The determination process of the tie line estimation region and the state estimation calculation process of the tie line estimation region can be basically maintained in parallel and independent with the estimation calculation process of each subarea, and the estimation calculation can be carried out by adopting a WLS method. Since the calculation scale of the tie line estimation region is not larger than the calculation scale of the subareas, the calculation efficiency of the distributed state estimation is not reduced.
After the estimation calculation is finished in the subarea and the tie line area respectively, each subarea calculation node obtains the tie line measurement estimation value obtained after the tie line estimation calculation, and the tie line measurement estimation value is used as the benchmark of the subarea coordination correction calculation for correction. It should be noted that, in the method according to the embodiment of the present invention, each sub-area computing node only needs to obtain a tie line measurement estimated value from the coordination layer once, so that the computing rate can be increased without repeatedly obtaining the estimated computing result of the tie line.
Of course, if the calculation result of the whole network estimation needs to be obtained many times, the estimated value of the tie line measurement can be obtained many times, so as to obtain the estimation result of the measured data section at different moments.
The coordination correction process will be described below. Assuming that there are l links between adjacent subregions i and j, the mth link in the link region a is selected, the subregion i contains the head end node a of the link, and the subregion j contains the tail end node b, as shown in fig. 2. The coordination correction process is described by taking the estimated areas of the sub-area i and the tie line area a as an example. Before the correction is made, the basic parameters need to be obtained: the first sensitivity matrix, the second sensitivity matrix and the sub-area measurement change vector.
Please refer to the above for the calculation process of the first sensitivity matrix and the second sensitivity matrix, which is not described herein again, and the calculation process of the sub-region measurement variation vector will be described below.
And the sub-area i calculation node receives the tie line measurement estimation value from the tie line area A calculation node, and calculates the mismatching amount of the tie line area A and the tie line branch power estimation value of the sub-area i boundary and the mismatching amount of the node voltage amplitude estimation value.
Then, the mismatching quantity of the branch power estimation value of the tie line between the sub-area i and all adjacent tie lines and the mismatching quantity of the node voltage amplitude estimation value are used as the sub-area measurement variation quantity, and a sub-area measurement variation vector is obtained, wherein the calculation process is as follows:
wherein,represents the measured variation vector of the sub-area i,respectively representing mismatching quantity of active power estimated values of branches at node a ends of the mth connecting line and no branchAnd k represents the iteration number of the coordination correction calculation, and represents an initial value of the coordination correction calculation when k is 0.
The calculation process of each mismatch amount will be explained below.
The branch power and the voltage amplitude of the a end of the mth tie line are respectively subjected to state estimation calculation by the tie line estimation areas corresponding to the subarea i and the tie line area A, and the subarea i is subjected to estimation calculation to obtain the line power and the voltage amplitude of the a end of the tie line which are respectively equal to(branch active power),(branch reactive power),(node voltage magnitude). And the line power and the voltage amplitude of the a end of the tie line are respectively P through estimation and calculation of the tie line area Aa,m,A(branch active power), Qa,m,A(branch reactive power), Ua,m,A(node voltage amplitude), these values are used as correction target values, and the values thereof are fixed.
After subtracting the corresponding tie line measurement estimated values of the two-layer structure of the coordination layer and the partition layer, the mismatching amount of the branch power (including the active power and the reactive power) at the a end of the tie line and the voltage amplitude estimated value can be obtained, please refer to formula (7).
In the formula (7), the reaction mixture is,respectively representing mismatching quantity of branch active power estimated values and branch reactive power estimated values of node a end of the mth connecting lineThe mismatch amount of the node voltage amplitude estimation value.
After the first sensitivity matrix, the second sensitivity matrix and the sub-area measurement change vector are obtained, iterative correction is carried out according to the following formula (8), and the state quantity and the power measurement estimated value after the coordination correction calculation of the sub-area i can be obtained. Please refer to formula (8).
In the formula (8), the reaction mixture is,respectively representing the state quantities before and after two iterative computations,respectively representing the power measurement estimated values before and after two times of iterative computation,represents the measured variation vector of the sub-area i,representing the state change vector of sub-field i.A first sensitivity matrix is represented which is,representing a second sensitivity matrix.
Before each iterative correction, whether the mismatching amount of the estimated value of the tie line is converged is judged according to a set convergence criterion of correction calculation, and the method specifically comprises the following steps: and taking the absolute value of the mismatching amount of the estimated value smaller than a convergence threshold value as a convergence criterion of the coordination correction calculation of each subarea in the subarea layer, respectively judging whether the mismatching amount of the branch active power estimated value, the mismatching amount of the branch reactive power estimated value and the mismatching amount of the node voltage amplitude estimated value are converged, and if so, obtaining a coordination calculation result.
Please refer to equation (9) for the convergence criterion.
In equation (9), ε represents a convergence threshold value.
When all estimated values of the power of all the tie line branches (including active power and reactive power) and all estimated values of the voltage amplitude of all the nodes between any subarea and the tie line area in the whole interconnection system meet the convergence criterion, the fact that the distributed state estimation calculation of the system achieves convergence can be judged. Before convergence, the sub-area only needs to obtain the estimated tie line measurement value from the coordination layer once as the reference value for coordination calculation.
After the distributed state estimation calculation of the system reaches convergence, all the subarea calculation nodes uniformly send the coordination calculation result to the corresponding tie line area calculation nodes, and the overall calculation result of the distributed state estimation of the system can be obtained through summarizing and normalizing.
Wherein, for the state estimation calculation of the whole system, an estimation result based on the unified reference node needs to be given. For example, ref in FIG. 2i、refjAnd the reference nodes can be respectively used as a subarea i and a subarea j for state estimation calculation.
After the coordination correction calculation is carried out on the sub-areas i and j, the voltage phase angles of the head end node a and the tail end node b of the mth connecting line obtained through calculation are respectively thetaa,ref,i、θb,ref,j. The voltage phase angles of the head end node a and the tail end node b of the mth junctor in the junctor area A, which are obtained by estimating and calculating the junctor area, are respectively thetaa,A、θb,A。
Now the voltage of the mth tie lineTaking the phase angle as a normalization reference to obtain ref in the sub-area iiThe voltage phase angle at the terminal node b of the tie line, which is the reference node, is: thetab,ref,i＝θa,ref,i-(θa,A-θb,A)。
Then thetab,ref,i、θb,ref,jOn the basis, if all node phase angles in the sub-area j are converted into the phase angles of the reference nodes in the corresponding sub-area i, the phase angle theta of a certain node f is converted into the phase angle theta of the reference node in the corresponding sub-area if,ref,jAdding the phase angle difference of the connecting line node b in the sub-area j to obtain thetaf,ref,i＝θf,ref,j+(θb,ref,i-θb,ref,j)。
For other details of the system in this embodiment, reference may be further made to the related description in the foregoing embodiments, and details are not repeated here.
In summary, by the method of the present invention, a tie line partition decoupling model can be provided to perform distributed state estimation calculation on an interconnection system, so that a coordination layer and a partition layer can independently complete respective state estimation calculation in parallel, and the calculation efficiency is improved. On the other hand, according to the tie line measurement estimation value issued by the coordination layer and the sensitivity matrix obtained through calculation, each subarea of the partition layer can realize coordination correction calculation of the mismatching amount of the boundary tie line estimation value in parallel, and finally the whole network estimation result can be obtained after summary normalization, so that the method has high engineering application value.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The distributed state estimation method is applied to an interconnected power grid system, the interconnected power grid system comprises a two-layer structure of a coordination layer and a partition layer, the coordination layer comprises a plurality of tie line areas, the partition layer comprises a plurality of independent sub-areas, and the method comprises the following steps:
in the partition layer, each sub-area computing node performs state estimation computation of a plurality of sub-areas in parallel, and a first sensitivity matrix and a second sensitivity matrix are obtained through computation; the first sensitivity matrix is a sensitivity matrix of state quantity to quantity measurement, and the second sensitivity matrix is a sensitivity matrix of power measurement estimated value to the state quantity;
in the coordination layer, each tie line region calculation node constructs an estimation calculation region, completes the state estimation calculation of the tie line and obtains a tie line measurement estimation value;
after the state estimation calculation of the subarea and the tie line estimation area is finished in parallel, each subarea calculation node in the subarea layer receives the tie line measurement estimation value and calculates the mismatching amount of the boundary tie line estimation value to form a subarea measurement change vector;
performing coordination correction calculation on the state quantity and the power measurement estimated value of each subarea according to the first sensitivity matrix, the second sensitivity matrix and the subarea measurement change vector;
and judging whether the mismatching amount of the estimated values of the tie lines meets the convergence criterion or not according to a set convergence threshold, if so, obtaining a coordination calculation result, wherein the coordination calculation result comprises the state quantity and the estimated value of the power measurement obtained after coordination correction calculation.
2. The method of claim 1, wherein the method further comprises:
before state estimation calculation of the subareas and the tie line estimation areas is carried out, the interconnected power grid system is divided into a coordination layer structure and a subarea layer structure by adopting a node tearing method.
3. The method of claim 1, wherein the state estimation calculation is calculated using a weighted least squares estimation.
4. The method of claim 1, wherein each sub-zone computing node in the partition layer receives the tie line measurement estimate and computes a mismatch between boundary tie line estimates to form a sub-zone measurement variation vector, comprising:
each subarea calculation node in the subarea layer receives the tie line measurement estimation value from the tie line area calculation node, and calculates the mismatching amount of the tie line branch power estimation value and the mismatching amount of the node voltage amplitude estimation value at the boundary of the tie line area and the subarea;
taking the mismatching quantity of all the tie line branch power estimated values and the mismatching quantity of the node voltage amplitude estimated values between any sub-area and the adjacent tie line area as the sub-area measurement variable quantity, and obtaining a sub-area measurement variable vector, wherein the calculation process is as follows:
wherein, theA vector of measured changes representing a sub-area i, saidAnd respectively representing mismatching quantity of branch active power estimated values, mismatching quantity of branch reactive power estimated values and mismatching quantity of node voltage amplitude estimated values of the node a end of the ith connecting line, wherein k represents iteration times for performing coordination correction calculation.
5. The method of claim 1, wherein the performing the coordinated correction calculation for the state quantity and the power measurement estimation value of each sub-zone according to the first sensitivity matrix, the second sensitivity matrix and the sub-zone measurement variation vector comprises:
the iterative correction is carried out by using the following calculation formula:
wherein, theRespectively representIteratively calculating a state quantity twice before and after Respectively representing power measurement estimated values of two times before and after the iterative computation, theA vector of measured changes representing a sub-area i, saidA vector representing the change of state of a sub-area i, saidRepresenting a first sensitivity matrix, saidAnd representing a second sensitivity matrix, wherein k represents the iteration number of the coordinated correction calculation.
6. The method of claim 1, wherein said determining whether the mismatch amount of the estimated tie line values satisfies a convergence criterion, and if so, obtaining a coordination calculation result comprises:
respectively judging whether the mismatching amount of the active power estimated value of the branch of the connecting line, the mismatching amount of the reactive power estimated value of the branch and the mismatching amount of the node voltage amplitude estimated value meet the convergence criterion, and if so, obtaining a coordination calculation result;
wherein the convergence criterion is:
wherein, theRespectively representing the mismatching amount of the active power estimated value, the mismatching amount of the reactive power estimated value and the mismatching amount of the voltage amplitude estimated value of the node a end branch of the mth connecting line, wherein k represents the iteration number of the coordination correction calculation, and epsilon represents the convergence threshold value.
7. The method of claim 1, wherein the step of each tie-line region computation node constructing an estimated computation region comprises:
and directly selecting nodes at two ends of the connecting line to form an end node area, and taking the end node area as a connecting line estimation area to determine an estimation calculation area.
8. The method of claim 1, wherein each of the tie-line region computation nodes constructs an estimated computation region, further comprising:
and the link end nodes are used as centers to expand outwards, link expansion areas in different ranges are dynamically constructed, and the link expansion areas are used as link estimation areas to determine estimation calculation areas.
9. The method of any of claims 1-8, wherein the first sensitivity matrix is calculated by:
the second sensitivity matrix is obtained by the following calculation:
wherein, z isiM representing a subregion iiDimension measurement vector, xi2 (n) representing the sub-region ii-1) a dimensional state vector, saidRepresents the state quantity xiMeasuring z by pairi2 (n)i-1)×miA sensitivity matrix ofRepresents Hi(xi0) The transposed matrix of (2), whereinH isi(xi) Represents miA non-linear function vector of dimensions, said RiRepresents mi×miMeasure the error variance matrix in dimension, and
z iswiM representing a subregion iwiMeasure the power in dimension, saidRepresents the estimated value z of the power measurementwiFor state quantity xiM ofwi×2(ni-1) a sensitivity matrix, whereinH iswiRepresenting a non-linear function vector between the power quantity measurement and the state quantity.
10. A distributed state estimation system is characterized in that the system comprises a two-layer structure of a coordination layer and a partition layer; the coordination layer comprises a plurality of tie line areas, and the partition layer comprises a plurality of independent peer-to-peer sub-areas; wherein, the peer subareas are in non-overlapping relation, and nodes at two ends of each tie line area are respectively positioned in different adjacent subareas; and a master-slave parallel computing model is formed between the coordination layer and the partition layer.
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