CN110336275A - A kind of design method of the controller of isolated wind bavin hybrid power system - Google Patents

A kind of design method of the controller of isolated wind bavin hybrid power system Download PDF

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CN110336275A
CN110336275A CN201910615224.6A CN201910615224A CN110336275A CN 110336275 A CN110336275 A CN 110336275A CN 201910615224 A CN201910615224 A CN 201910615224A CN 110336275 A CN110336275 A CN 110336275A
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power system
hybrid power
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wind bavin
isolated wind
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CN110336275B (en
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胡松林
陈慧敏
赖向京
解相朋
岳东
马勇
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Nanjing Post and Telecommunication University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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
    • 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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • H02J3/386—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/14—Network architectures or network communication protocols for network security for detecting or protecting against malicious traffic
    • H04L63/1441—Countermeasures against malicious traffic
    • H04L63/1458—Denial of Service
    • 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]
    • 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
    • Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
    • Y04S40/20—Information technology specific aspects, e.g. CAD, simulation, modelling, system security

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  • Evolutionary Computation (AREA)
  • Wind Motors (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The application belongs to Design of Networking Control System technical field, and in particular to a kind of design method of the controller of isolated wind bavin hybrid power system, comprising the following steps: S1: establish the mathematical model of isolated wind bavin hybrid power system；S2: DoS attack model is introduced, to obtain the mathematical model by the isolated wind bavin hybrid power system under the influence of DoS attack；S3: the design criteria of the controller by the isolated wind bavin hybrid power system under the influence of DoS attack is established, determines controller gain matrix.

Description

A kind of design method of the controller of isolated wind bavin hybrid power system
Technical field
The application belongs to Design of Networking Control System technical field, and in particular to a kind of isolated wind bavin blended electric power The design method of the controller of system.
Background technique
The open communications infrastructure is embedded in isolated wind bavin hybrid power system, to support a large amount of data Exchange, however, open communication network is easy the DoS attack by extraneous malice in the limited situation of Internet resources (Denial of Service, Denial of Service attack), DoS attack can occupy communication channel, and consumption network bandwidth causes normal Communication be blocked, this will cause the normal operation of isolated wind bavin hybrid power system greatly to threaten even to make system Unstability.
The application is proposed in view of the drawbacks described above of the prior art.
Apply for content
The purpose of the application is to provide a kind of design method of the controller of isolated wind bavin hybrid power system, in Overcome or alleviated by the defect of prior art at least one aspect.
The technical solution of the application is:
A kind of design method of the controller of isolated wind bavin hybrid power system, comprising the following steps:
S1: the mathematical model of isolated wind bavin hybrid power system is established；
S2: DoS attack model is introduced, to obtain by the isolated wind bavin hybrid power system under the influence of DoS attack Mathematical model；
S3: establishing the design criteria of the controller by the isolated wind bavin hybrid power system under the influence of DoS attack, Determine controller gain matrix.
It further include introducing elastic event trigger mechanism in S2, to be based on according at least one embodiment of the application Mathematical model of the elastic event trigger mechanism by the isolated wind bavin hybrid power system under the influence of DoS attack；
It is to establish based on elastic event trigger mechanism by the isolated wind bavin blended electric power under the influence of DoS attack in S3 The design criteria of the controller of system, and further include determining event triggering matrix.
According at least one embodiment of the application, the mathematical modulo for the isolated wind bavin hybrid power system established in S1 Type are as follows:
Wherein,
X (t) is system mode vector；Y (t) is system output；u(t)∈R2×1For control input； ω(t)∈R2×1For Perturbation vector；A∈R11×11, B ∈ R11×2, D ∈ R11×2For sytem matrix；C∈R1×11For output matrix.
According at least one embodiment of the application,
C=[1 000000000 0]；
Wherein,
Kig=0.272 (puKw/Hz), Ktp=0.0014 (puKw/Hz), Tω=4.0 (s), Kpc=0.08 (puKw/Hz), Kp1=1.25, Kp2=1.0, Kp3=1.4, Tp1=0.60 (s), Tp2=0.041 (s), Tp3=1.0 (s), Kpt=81.3 (puKw/Hz), Tpt=16.3 (s), Kd1=0.64 (puKw/Hz), Td1=1.0 (s), Td2=2.0 (s), Td3=0.025 (s), Td4=3.0 (s), Rd=5.0 (puKw/Hz), Tbes=0.05 (s).
According at least one embodiment of the application, x (t)=[x1,…,x11]T；Wherein,
x1It is the increment variation of frequency, x2For diesel-driven generator active power increment variable quantity, x3Increase for speed regulation valve position Measure variable quantity, x5It is the increment variation of wind-power electricity generation unit frequency, x6For the variation of active power for wind power increment, x7It is that hydraulic pitch is made Dynamic device output increment changes x9It is the increment variation of battery active power, x4And x8It is virtual state variable, x10And x11It is to be used for The augmented state of systems stabilisation.
DoS attack model according at least one embodiment of the application, in S2 are as follows:Its In,
For the section of no DoS attack, fnStarting position of the n-th without attack section is represented, Signal normal transmission at this time；
To have the section of DoS attack, dnRepresent length of the n-th without attack section, fn+1 Representing n-th attack terminates, and signal is blocked at this time, is transmitted without data packet.
According at least one embodiment of the application, the elastic event trigger mechanism in S2 is determined by following formula:
Wherein,
δk,nIt (t) is error vector；W is triggering matrix to be asked；σ is bounded positive real number； ηk,n(t)∈[0,h),t∈Ik,n ∩Fn, h is the sampling period, k(n)∈sup{k∈N|tk,n+1H < fn+1+dn+1, tk,n+1H indicates the triggered time sequence that the (n+1)th hypoelasticity event trigger mechanism generates, dn+1(n+1)th time is represented without attack section Length.
According at least one embodiment of the application, based on elastic event trigger mechanism by DoS attack obtained in S2 Under the influence of isolated wind bavin hybrid power system mathematical model are as follows:
According at least one embodiment of the application, established in S3 based on elastic event trigger mechanism by DoS attack shadow The design criteria of the controller of isolated wind bavin hybrid power system under ringing is pushed away specifically by Lyapunov functional method Export.
According at least one embodiment of the application, established in S3 based on elastic event trigger mechanism by DoS attack Under the influence of isolated wind bavin hybrid power system controller design criteria, so that system is met H∞Performance indicator.
At least there are following advantageous effects in the application:
A kind of design method of the controller of isolated wind bavin hybrid power system is provided, by introducing DoS attack Model obtains the mathematical model by the isolated wind bavin hybrid power system under the influence of DoS attack, makes to design based on this method The controller of isolated wind bavin hybrid power system can guarantee the mixing of isolated wind bavin by DoS attack The internet security of electric system, from the DoS attack that can effectively resist extraneous malice.
Detailed description of the invention
Fig. 1 is the stream of the design method of the controller of isolated wind bavin hybrid power system provided by the embodiments of the present application Cheng Tu；
Fig. 2 is the isolated wind bavin hybrid power system block diagram provided by the embodiments of the present application with battery energy storage；
Fig. 3 is the structural representation of the isolated wind bavin hybrid power system provided by the embodiments of the present application by DoS attack Figure；
Fig. 4 is the operation principle schematic diagram of event trigger provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described.Obviously, described embodiment is only It is some embodiments of the present application, gives the preferred embodiment of the application instead of all the embodiments, in attached drawing.This Shen It can please realize in many different forms, however it is not limited to embodiment described herein, on the contrary, providing these implementations The purpose of example is to keep the understanding to disclosure of this application more thorough and comprehensive.Based on the embodiment in the application, ability Domain those of ordinary skill every other embodiment obtained without making creative work, belongs to the application The range of protection.
S1: the mathematical model of isolated wind bavin hybrid power system is established；
In actual conditions, isolated wind bavin hybrid power system, which is one, has probabilistic Complex Nonlinear System, During stable operation, the variation of active power is usually slow, and therefore, the dynamics for loading frequency control system is logical Often indicated by linear equation.The isolated wind bavin hybrid power system model of battery energy storage as shown in Figure 3, by a band pitching The wind-driven generator of angle controller, a diesel-driven generator with speed regulation device and batteries to store energy device composition, consider here Battery energy storage and the single order dynamic model of wind-driven generator be enough to analyze frequency regulation problem, wind-driven generator generates electricity Power, and compensating to fluctuation, active power is made of diesel engine unit and battery, wind-driven generator in four district works, When wind speed is lower than cutting speed or is higher than cutting speed, wind-driven generator and power grid are disconnected, and are only powered by diesel-driven generator, When wind speed is between truncation and rated wind speed, maximum power is tracked, obtains greatest benefit, dump power from wind-driven generator It is provided by diesel-driven generator.Between rated wind speed and truncation wind speed, wind energy conversion system is generated specified with the work of screw pitch control mode Power.
The model of isolated wind bavin hybrid power system can be described with the form of state space, obtain isolated wind bavin The mathematical model of hybrid power system:
System mode vector in formula
X (t)=[x1,…,x11]T=[Δ f Δ Pgd x3 x4 ΔFt x6 x7 x8 ΔPbes x10 x11]T, control defeated Enter u (t) ∈ R2×1, perturbation vector ω (t) ∈ R2×1, sytem matrix A ∈ R11×11, B ∈ R11×2, D ∈ R11×2, output matrix C ∈ R1×11, A, B, C, D be expressed as follows:
C=[1 000000000 0]
X (t)=[x1,…,x11]T=[Δ f Δ Pgd x3 x4 ΔFt x6 x7 x8 ΔPbes x10 x11]T
U (t)=[u1(t) u2(t)]T, w (t)=[w1(t) w2(t)]T=[Δ Pl ΔPiw]T, y (t)=x1(t)=Δ f
Wherein, x1=Δ f is the increment variation of frequency, x2=Δ PgdFor diesel-driven generator active power increment variable quantity, x3For speed governing valve positional increment variable quantity, x5=Δ FtIt is the increment variation of wind-power electricity generation unit frequency, x6For active power for wind power Increment variation, x7It is hydraulic pitch actuator output increment variation x9=Δ PbesIt is the increment variation of battery active power, x4With x8It is virtual state variable, x10And x11It is the augmented state for systems stabilisation, y (t) is system output, u1(t)、u2(t) it is Control input vector, w1(t)=Δ Pl、w2(t)=Δ PiwFor perturbation vector.Wherein, Kig=0.272 (puKw/Hz), Ktp= 0.0014(puKw/Hz), Tω=4.0 (s), Kpc=0.08 (puKw/Hz), Kp1=1.25, Kp2=1.0, Kp3=1.4, Tp1= 0.60 (s), Tp2=0.041 (s), Tp3=1.0 (s), Kpt=81.3 (puKw/Hz), Tpt=16.3 (s), Kd1=0.64 (puKw/Hz), Td1=1.0 (s), Td2=2.0 (s), Td3=0.025 (s), Td4=3.0 (s), Rd=5.0 (puKw/Hz), Tbes =0.05 (s).S2: introducing DoS attack model, and introduces elastic event trigger mechanism, to obtain based on elastic event touching Mathematical model of the hair mechanism by the isolated wind bavin hybrid power system under the influence of DoS attack；
The application fully understands DoS attack and elastic event trigger mechanism to isolation by way of founding mathematical models The influence of formula wind bavin hybrid power system, detailed process is as follows for foundation:
Firstly, in above-mentioned isolated wind bavin hybrid power system, the state equation of system are as follows:
Secondly, considering the influence of DoS attack, DoS attack model is established, and DoS attack is introduced to isolated wind bavin and is mixed It closes in electric system, specifically, DoS attack signal is the signal to attack of one group of finite energy, it is logical that limited carrier frequency channel break can be occupied Letter, passes through formulaTo indicate；Wherein, gatherIndicate no DoS attack Section, fnStarting position of the n-th without attack section is represented, at this time signal normal transmission；And Indicate the section of DoS attack, dnRepresent length of the n-th without attack section, fn+1Representing n-th attack terminates, and believes at this time It number is blocked, is transmitted without data packet.The control input of system passes through formula It indicates, K is control gain, tk,n+1H indicates the triggered time sequence that the (n+1)th hypoelasticity event trigger mechanism generates, x (tk,n+ 1H) indicate that controller successfully triggers the state vector at moment.According to the condition in document: condition 1: given parametersAnd TDR > 0 ∈, for all R >=0 t ∈, DoS attack frequency n (t) meets relational expressionWherein,It is a upper limit of DoS attack switch average frequency in the unit time.
Condition 2: given parameters R >=0 ν ∈ and R > 1 T ∈, for all t ∈ R >=0, it is full that DoS attacks total time m (t) Sufficient relational expressionWherein,It is the upper limit of DoS attack average duration in the unit time.
The application introduces elastic event trigger mechanism for DoS attack, can be effective while reducing network communication pressure The DoS attack of extraneous malice is resisted, used elastic event trigger mechanism is to pass through formulaCome what is determined, wherein k, l are positive integer, ηk,n(t)∈[0, h),t∈Ik,n∩Fn, δk,n(t)=x (tk,n+1h)-x(t-ηk,n(t)), W is the positive definite weighting matrix with appropriate dimension, and σ is Bounded positive real number, and divide event sectionDefinitionW is triggering matrix to be asked, δk,nIt (t) is error vector, tk,n+1H indicates the triggered time sequence that the (n+1)th hypoelasticity event trigger mechanism generates, dn+1(n+1)th time is represented without attack section Length.The application can effectively save broadband resource, reduce the transmission of network by introducing elastic event trigger mechanism Pressure can thus realize the maximization of function in limited broadband resource.
The application can guarantee the internet security of isolated wind bavin hybrid power system by introducing DoS attack, consider DoS attack influence and design flexibility event trigger mechanism save Internet resources, obtain meeting with based on elastic event trigger mechanism The mathematical model of isolated wind bavin hybrid power system under the influence of by DoS attack:
System mode vector in formula
X (t)=[x1,…,x11]T=[Δ f Δ Pgd x3 x4 ΔFt x6 x7 x8 ΔPbes x10 x11]T,
Control input u (t) ∈ R2×1, perturbation vector ω (t) ∈ R2×1, sytem matrix A ∈ R11×11, B ∈ R11×2, D ∈ R11 ×2, output matrix C ∈ R1×11, A, B, C, D are the matrixes of known appropriate dimension；
S3: it establishes based on elastic event trigger mechanism by the isolated wind bavin hybrid power system under the influence of DoS attack Controller design criteria, determine event trigger matrix W, and determine controller gain matrix K.
In the embodiment of the present application, to R >=0 parameter v ∈ of given DoS attack,T ∈ R > 1, TD∈R > 0 and Disturbance Rejection are horizontalAnd adjustable parameter αi,μi,σ,si,fi,εi,ρiSo that being based under DoS attack The isolated wind bavin hybrid power system of elastic event trigger mechanism is exponentially stable and meets H∞Performance indicator If there is positive definite symmetric matricesWith the matrix of appropriate dimensionMeet following linear MATRIX INEQUALITIES:
In formula, I is the unit matrix of appropriate dimension, and * is corresponding transposition item in matrix.Wherein,
Λ1=[C ∏1000 0], Λ2=[C ∏200 0],
Controller gain matrix can be calculated according to above-mentioned linear matrix inequality
Under DoS attack, the control based on elastic event trigger mechanism is designed in isolated wind bavin hybrid power system Device guarantees that isolated wind bavin hybrid power system can not only reduce the transmission quantity of redundant signals, can also be in the DoS being subjected to Safe and stable operation when attack.
The controller design method of isolated wind bavin hybrid power system, initially sets up isolation disclosed in above-described embodiment The mathematical model of formula wind bavin hybrid power system, is then introduced into event trigger mechanism into controller, to reach saving network The effect of broadband resource；The DoS attack model of building is introduced in isolated wind bavin hybrid power system model simultaneously, thus Realize that isolated wind bavin hybrid power system model can effectively resist the DoS of extraneous malice while saving Internet resources Attack；The controller based on elastic event trigger mechanism is finally designed, guarantees that isolated wind bavin hybrid power system can be It is safe and stable when the DoS attack being subjected to run and meet H∞Performance indicator.Compared with prior art, based on the above embodiment The controller of the controller design method design of disclosed isolated wind bavin hybrid power system, can not only make isolated wind bavin Hybrid power system resists a degree of DoS attack, guarantees the safe and stable operation of system, and reduce redundant signals Transmission quantity alleviates network transmission pressure, energy needed for saving bandwidth resources and communication.
The above is only the preferred embodiments of the application, are not intended to limit the scope of the patents of the application, although referring to aforementioned reality Example is applied the application is described in detail, it, still can be to aforementioned each tool for coming for those skilled in the art Technical solution documented by body embodiment is modified, or carries out equivalence replacement to part of technical characteristic.All benefits The equivalent structure made of present specification and accompanying drawing content is directly or indirectly used in other related technical areas, Similarly within the application scope of patent protection.

Claims (10)

1. a kind of design method of the controller of isolated wind bavin hybrid power system, which comprises the following steps:
S1: the mathematical model of isolated wind bavin hybrid power system is established；
S2: DoS attack model is introduced, to obtain the mathematics by the isolated wind bavin hybrid power system under the influence of DoS attack Model；
S3: establishing the design criteria of the controller by the isolated wind bavin hybrid power system under the influence of DoS attack, determines control Device gain matrix processed.
2. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 1, feature It is,
It further include introducing elastic event trigger mechanism in the S2, to obtain based on elastic event trigger mechanism by DoS attack Under the influence of isolated wind bavin hybrid power system mathematical model；
It is to establish based on elastic event trigger mechanism by the isolated wind bavin blended electric power system under the influence of DoS attack in the S3 The design criteria of the controller of system, and further include determining event triggering matrix.
3. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 2, feature It is,
The mathematical model for the isolated wind bavin hybrid power system established in the S1 are as follows:
Wherein,
X (t) is system mode vector；Y (t) is system output；u(t)∈R2×1For control input；ω(t)∈R2×1For disturbance to Amount；A∈R11×11, B ∈ R11×2, D ∈ R11×2For sytem matrix；C∈R1×11For output matrix.
4. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 3, feature It is,
C=[1 000000000 0]；
Wherein,
Kig=0.272 (puKw/Hz), Ktp=0.0014 (puKw/Hz), Tω=4.0 (s), Kpc=0.08 (puKw/Hz), Kp1= 1.25 Kp2=1.0, Kp3=1.4, Tp1=0.60 (s), Tp2=0.041 (s), Tp3=1.0 (s), Kpt=81.3 (puKw/Hz), Tpt=16.3 (s), Kd1=0.64 (puKw/Hz), Td1=1.0 (s), Td2=2.0 (s), Td3=0.025 (s), Td4=3.0 (s), Rd=5.0 (puKw/Hz), Tbes=0.05 (s).
5. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 4, feature It is,
X (t)=[x1,…,x11]T；Wherein,
x1It is the increment variation of frequency, x2For diesel-driven generator active power increment variable quantity, x3For the variation of speed governing valve positional increment Amount, x5It is the increment variation of wind-power electricity generation unit frequency, x6For the variation of active power for wind power increment, x7It is that hydraulic pitch actuator is defeated Increment changes x out9It is the increment variation of battery active power, x4And x8It is virtual state variable, x10And x11It is for stability series The augmented state of system.
6. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 5, feature It is,
DoS attack model in the S2 are as follows:Wherein,
For the section of no DoS attack, fnStarting position of the n-th without attack section is represented, is believed at this time Number normal transmission；
To have the section of DoS attack, dnRepresent length of the n-th without attack section, fn+1It represents N-th attack terminates, and signal is blocked at this time, transmits without data packet.
7. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 6, feature It is,
Elastic event trigger mechanism in the S2 is determined by following formula:
Wherein,
δk,nIt (t) is error vector；W is triggering matrix to be asked；σ is bounded positive real number；ηk,n(t)∈[0,h),t∈Ik,n∩Fn, h For the sampling period,k(n)∈sup{k∈N|tk,n+1H < fn+1+dn+1}；tk,n+1H table Show the triggered time sequence that elastic event trigger mechanism generates, dn+1Represent (n+1)th length without attack section.
8. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 7, feature It is,
Based on elastic event trigger mechanism by the isolated wind bavin blended electric power system under the influence of DoS attack obtained in the S2 The mathematical model of system are as follows:
9. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 8, feature It is,
It establishes based on elastic event trigger mechanism in the S3 by the isolated wind bavin hybrid power system under the influence of DoS attack The design criteria of controller derived specifically by Lyapunov functional method.
10. a kind of design method of the controller of isolated wind bavin hybrid power system according to claim 9, feature It is,
Established in the S3 based on elastic event trigger mechanism by the isolated wind bavin blended electric power system under the influence of DoS attack The design criteria of the controller of system, makes system meet H∞Performance indicator.
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CN109802446A (en) * 2019-01-08 2019-05-24 上海电力学院 Wind bavin based on cloud model stores up hybrid power system electric voltage frequency sliding-mode control
CN109672177A (en) * 2019-01-18 2019-04-23 南京邮电大学 LOAD FREQUENCY quantization control method based on event trigger mechanism under a kind of DoS attack

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