CN110224404A - Electric system distributed robust state estimation method based on split matrix technology - Google Patents
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Classifications
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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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- H02J3/382—
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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
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/70—Smart grids as climate change mitigation technology in the energy generation sector
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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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- 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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/22—Flexible AC transmission systems [FACTS] or power factor or reactive power compensating or correcting units
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Abstract
The present invention discloses a kind of electric system distributed robust state estimation method based on split matrix technology, and the metric data according to provided by synchronous phasor measurement unit carries out real-time online estimation to POWER SYSTEM STATE.The present invention is according to geographic area or topological structure, entire electric system is divided into several subregions not overlapped, using split matrix technology, each sub-regions are equipped with region estimation center, implement distributions estimation, the reduction for realizing all subregion state estimation variable dimension, to reduce calculation amount.Also, each sub-regions are only changed sides boundary's nodal information with Neighborhood Intersection, and the measuring value in subregion is only uploaded to region estimation center, and data transmission distance shortens, and thereby reduce traffic.The present invention meets the mode of smart grid multilayer multizone distributed AC servo system, can meet the following smart grid growth requirement.
Description
Technical field
The present invention relates to Power System Analysis and control field, particularly relate to a kind of power train based on split matrix technology
System distributed robust state estimation method.
Background technique
Power system state estimation is to realize that power system security, reliable, economy, efficient operation play important supporting role.
By the way that metric data provided by measurement system is filtered and is handled, the real-time status amount of electric system is estimated, for control
System provides real time data.Traditional such as weighted least-squares method (Weighted Least Squares, WLS), it is secondary often
The method for estimating state such as number method (Quadratic Constant, QC), multiple process (Multiple Segment, MS), use
Metric data from monitoring Control & data acquisition (Supervisory Control And Data Acquisition,
SCADA) system, sample frequency is not high enough, while because of the factors such as electromagnetic environment, device precision, communication noise in transmit process
Influence, error in measurement is relatively large.Development and global positioning system (Global with technologies such as power electronics, communications
Position System, GPS) and dipper system (Beidou System, BDS) time service module production cost decline, it is synchronous
Phasor measurement unit (Phasor Measurement Unit, PMU) is able to promotion and application.Compared with SCADA, PMU sampling frequency
Rate and the metric data precision of acquisition significantly improve.But it is influenced by communication failure, noise and various environment, PMU is measured
Value also has exceptional value and bad data occurs, and is especially apparent under harsh conditions, measures noise and even follows non-gaussian distribution.So
And noise is assumed to be Gaussian Profile by Legacy Status estimation method, so that state estimation model is not accurate enough, leads to state estimation
As a result also inaccurate.
Since two thousand and ten, nationwide integrated power grid scale nearly doubles.Raising and distributed type renewable energy because of power demand
The access of the actives such as source, electric car load, energy-storage system etc., grid branch is more and more, the power grid scale companion of rapid expansion
With the increase of measuring equipment, a large amount of metric data is produced.Transmission directly contributes data communication amount significantly at a distance
The problems such as increase, for data transmission network, more stringent requirements are proposed for state estimation operation.If all measuring values are sent to together
One control centre, a large amount of data need efficient process, it is desirable that control centre's computing capability is very strong, this need it is very high at
This.If hardware performance does not meet demand, it will lead to excessively slow etc. new problems of data overload, arithmetic speed, seriously affect electric system
The stability and safety of operation.Traffic and calculation amount how to be reduced with save the cost, is that Power system state estimation assistant officer waits for
It solves the problems, such as.
Summary of the invention
It is a primary object of the present invention to overcome the above-mentioned deficiency of standing state estimation model and method, it is contemplated that PMU will
It is widely used under the trend of electric system, proposes that a kind of electric system distributed robust state based on split matrix technology is estimated
Meter method.Bulk power grid is divided into several subregions not overlapped by the invention, and each sub-regions are equipped with local control centre.This
Ground control centre is responsible for state variable and boundary's nodal information of only changing sides with Neighborhood Intersection in estimation region, can reduce calculation amount and communication
Amount.
The present invention adopts the following technical scheme:
Electric system distributed robust state estimation method based on split matrix technology, which is characterized in that including as follows
Step:
1) power system network parameter is read；
2) PMU is installed in electric system respective nodes；
3) measuring value is read by PMU, is indicated with vector z (k), wherein k indicates sampling instant, it is assumed that electric system is the
The quantity of state at k moment is x (k), and state estimation model is as follows: z (k)=Hx (k)+ε (k), H are measurement matrixes, with power train
Network parameter of uniting is related with the installation site of PMU, and ε (k) is to measure noise；
4) t fitting of distribution is carried out to noise is measured according to measuring value historical data, then the probability density of i-th of measurement noise
Function are as follows:
Wherein, εiIt indicates to measure noise, Γ () is gamma function, ξiIt is proportionality coefficient, νiIt is form factor, i=
1 ..., m, wherein m is to measure number；
5) the robust exponentially stabilization method under t distribution is designed according to maximal possibility estimation criterion, maximal possibility estimation can wait
Effect is the following objective functions of minimum:
6) according to geographic area or network topology structure, entire power grid is divided into several nonoverlapping subregions,
In first of subregion quantity of state number be nl.Each subregion configures a local control centre, and the local control centre is negative
Duty calculates the state of corresponding sub-region, and passes through communication line and neighborhood control centre exchange boundary node information；
7) according to split matrix technology, with the alternative manner of parallel distributive, solution procedure 5) building robust state estimate
Meter problem finally obtains the state variable of each sub-regions；
8) maximum number of iterations p is setmax, when the number of iterations p is equal to pmaxWhen, output current time node state estimation
Value, otherwise returns to step 7).
By the above-mentioned description of this invention it is found that compared with prior art, the invention has the following beneficial effects:
(1) calculation amount and traffic can be reduced.It is established according to the methods of distributed optimization, split matrix and technology distributed
The whole network state estimation problem is divided into several sub-regions problems, the quantity of state of each sub-regions by robust exponentially stabilization method
Dimension becomes smaller, and the PMU measuring value in subregion only uploads to region estimation center rather than traditional control centre, data transmission
Distance shortens, and the local control centre of all subregion is responsible for inner zone status estimation and calculates, and each sub-regions are only with Neighborhood Intersection
It changes sides boundary's nodal information, calculation amount and traffic, save the cost can be reduced simultaneously.
(2) strong antijamming capability, precision are high.The present invention is mentioned by introducing t partition noise model, noise model accuracy
Height is reduced exceptional value and the weight of bad data, by the variation of its weight matrix to reduce it to state estimation result
Influence, improve the robustness of state estimation algorithm, improve estimated accuracy.
(3) application prospect is good.The present invention meets the development trend of smart grid layering and zoning control, to the big rule of PMU
Mould deployment is implemented with great practical value with distributed robust state estimation method.
Detailed description of the invention
Fig. 1 is the flow chart of the embodiment of the present invention.
Fig. 2 is that the present invention implements not to be overlapped multizone schematic diagram based on geographical location feature.
Fig. 3 is each sub-regions state estimation result convergent after the present invention is implemented.
Fig. 4 is the 13 voltage phasor real part estimated result of node after the present invention is implemented.
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Specific embodiment
Below by way of specific embodiment, the invention will be further described.
Electric system distributed robust state estimation method provided by the invention based on split matrix technology, process is as schemed
Shown in 1, comprising the following steps:
1) power system network parameter is read, the parameter includes power system network structure, line impedance, switch state
Deng formation node admittance matrix and node-branch incident matrix.
2) considerable for guarantee system, enough PMU are installed in 14 node system respective nodes of IEEE.As shown in Fig. 2, altogether
There are 6 PMU to be separately mounted to above node 2,4,6,7,9,13, obtains 12 voltage phasors (including real and imaginary parts) and 46
Electric current phasor (including real and imaginary parts).
3) measuring value z (k) is read.The relational expression of the measuring value z (k) and state vector x (k) at kth moment are as follows:
Z (k)=Hx (k)+ε (k)
Wherein, H is measurement matrix, related with power system network parameter and PMU installation site.ε (k) is to measure noise,
Traditional method assumes that as Gaussian Profile, the present invention considers that electromagnetic interference in actual environment, communication noise etc. influence, and is distributed with t
Noise model is replaced, can accurate and effective simulation gaussian sum non-Gaussian noise.
4) assume node voltage phasor measuring value noise and branch current phasor measuring value is according to t distribution probability density letter
What number generated:
Wherein, vi=3, ξi=0.005, i=1 ..., 58.It, can benefit if in actual application being other non-Gaussian noises
It is theoretical based on maximal possibility estimation with Matlab, t fitting of distribution is carried out to non-Gaussian noise, obtain specific scale parameter and
Form parameter.
5) the robust exponentially stabilization method under design t distribution.Based on the state estimator of maximal possibility estimation criteria construction,
It is equivalent to minimize following objective functions:
In order to minimize objective function, derivation can be carried out to J,
Wherein,
W=diag (ω1(k),…,ωm(k))
According to above-mentioned ωi(k) expression formula is learnt, if exceptional value or bad data occurs in measuring value, works as εi(k) after becoming larger,
ωi(k) become smaller, so that the influence of exceptional value or bad data to state estimation be made to reduce, improve the robustness of system.
ψ (e)=0 is enabled, is obtained by iterationThat is:
Wherein, the diagonal element of W by each measuring value residual error ei(k) it is determined with the parameter of probability density function.Repeatedly
During generation, W needs are updated.
6) according to geographic area or network topology structure, entire power grid is divided into several nonoverlapping subregions,
In first of subregion quantity of state number be nl.Each subregion configures a local control centre, which is responsible for calculating this
The state in region, and pass through communication line and neighborhood control centre exchange boundary node information.
7) according to split matrix technology, the robust state constructed using the alternative manner solution procedure (5) of parallel distributive
Estimator finally obtains the state variable of each sub-regions.Specific step is as follows:
By gain matrix G=HTWH splits into a diagonal matrix Ω and non-diagonal battle array Λ, i.e.,
G=Ω+Λ
Wherein,
Assuming that M is diagonal matrix, meets G=M-N there are two matrixes M and N.Then matrix M and N meets
WhereinIt is defined asα is a coefficient greater than 1/2.To guarantee distributed algorithm convergence,
The matrix M and N constructed needs further satisfaction condition: matrix (M-1N characteristic root) is less than 1, with ρ (M-1N it) < 1 indicates.
It is assumed that power grid is divided into S sub-regions, state estimator can be write as
Wherein p is the number of iterations, v=[v1,v2,...,vS]T=HTWz(k).Subregion l can be generalized into
(8) condition of convergence judges, maximum number of iterations p is arrangedmax=20, when the number of iterations p is equal to pmaxWhen, output is current
Moment node state estimated value jumps to and reads new measuring value progress subsequent time state estimation calculating, otherwise jump procedure 7).
To sum up, referring to Fig. 3, Fig. 4, the present invention can provide accurate state for electric system distributed AC servo system decision center
Estimator, to promoting smart grid development to be of great significance and practical application value.
The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited to this, all to utilize this
Design makes a non-material change to the present invention, and should all belong to behavior that violates the scope of protection of the present invention.
Claims (1)
1. the electric system distributed robust state estimation method based on split matrix technology, which is characterized in that including walking as follows
It is rapid:
1) power system network parameter is read；
2) PMU is installed in electric system respective nodes；
3) measuring value is read by PMU, is indicated with vector z (k), wherein k indicates sampling instant, it is assumed that electric system is in kth
The quantity of state at quarter is x (k), and state estimation model is as follows: z (k)=Hx (k)+ε (k), H are measurement matrixes, with electric system net
Network parameter is related with the installation site of PMU, and ε (k) is to measure noise；
4) t fitting of distribution is carried out to noise is measured according to measuring value historical data, then the probability density function of i-th of measurement noise
Are as follows:
Wherein, εiIt indicates to measure noise, Γ () is gamma function, ξiIt is proportionality coefficient, νiIt is form factor, i=1 ..., m,
Wherein m is to measure number；
5) the robust exponentially stabilization method under t distribution is designed according to maximal possibility estimation criterion, maximal possibility estimation can be equivalent to
Minimize following objective functions:
6) according to geographic area or network topology structure, entire power grid is divided into several nonoverlapping subregions, every height
Region configures a local control centre, which is responsible for calculating the state of corresponding sub-region, and passes through connection
Road and neighborhood control centre exchange boundary node information；
7) according to split matrix technology, with the alternative manner of parallel distributive, solution procedure 5) building robust exponentially stabilization ask
Topic, finally obtains the state variable of each sub-regions；
8) maximum number of iterations p is setmax, when the number of iterations p is equal to pmaxWhen, current time node state estimated value is exported, it is no
Then return to step 7).
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| CN113507130A (en) * | 2021-08-06 | 2021-10-15 | 剑科云智(深圳)科技有限公司 | Power grid state estimation method and system of real-time data communication system based on DPMU |
| CN114065118A (en) * | 2021-11-02 | 2022-02-18 | 厦门大学 | Power system robust state estimation method based on exponential function |
| CN114186528A (en) * | 2021-12-06 | 2022-03-15 | 成都华大九天科技有限公司 | IRdrop simulation method of large-scale array circuit |
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Application publication date: 20190910 |