CN111368407A - Power information physical system modeling method and system considering multilayer coupling - Google Patents

Power information physical system modeling method and system considering multilayer coupling Download PDF

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CN111368407A
CN111368407A CN202010120262.7A CN202010120262A CN111368407A CN 111368407 A CN111368407 A CN 111368407A CN 202010120262 A CN202010120262 A CN 202010120262A CN 111368407 A CN111368407 A CN 111368407A
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power
information
communication
model
network
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董晓明
王超超
王成福
陈凡
王亚松
陈�全
郝旭鹏
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Shandong University
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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
    • 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
    • H02J3/04—Circuit arrangements for ac mains or ac distribution networks for connecting networks of the same frequency but supplied from different sources
    • H02J3/06—Controlling transfer of power between connected networks; Controlling sharing of load between connected networks
    • 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
    • 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
    • Y04S40/12—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 characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
    • Y04S40/128—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 characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment involving the use of Internet protocol

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Abstract

The modeling process is divided into three parts, namely a power network, a communication network and an information network, based on the idea of information physical fusion, and an uplink/downlink communication channel model responsible for information transmission is established for the monitoring and control functions of the power dispatching automation system and serves as a core component of the communication network. The power grid, the communication network and the information network are associated through establishing an inter-network interface model, a power information physical system integration model considering multilayer coupling is further obtained through derivation, a multilayer coupling association mechanism of the power CPS is determined, and therefore the power information physical system integration model considering multilayer coupling is established. The method has important significance for exploring researches in aspects of cyber attack risk propagation mechanism, cascading failure evolution process, security analysis, vulnerability assessment and the like of the CPS.

Description

Power information physical system modeling method and system considering multilayer coupling
Technical Field
The disclosure relates to the related technical field of operation scheduling and control of a power information physical fusion system, in particular to a power information physical system modeling method and system considering multilayer coupling.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The power information Physical System (CPS) is a multi-layer heterogeneous complex System as a mechanical link of intelligent power grid development, and takes a power primary System as a main body, integrates massive sensors, actuators, communication equipment and decision units, and adopts advanced computer, communication and control technologies to realize real-time sensing, dynamic control and information service of the whole System. Under the background, domestic and foreign scholars develop fruitful researches on a modeling method of the electric power CPS from different angles according to the operation characteristics of the electric power CPS, but the inventor finds that the existing modeling method for the electric power CPS is mostly directed at a single scene, a complete framework system is difficult to form, and the universality is poor.
Disclosure of Invention
The modeling method and the modeling system are based on the idea of information physical fusion, the whole modeling process is divided into three parts, namely a power network, a communication network and an information network, and an uplink/downlink communication channel model responsible for information transmission is established for the monitoring and control functions of the power dispatching automation system and serves as a core component of the communication network. The power grid, the communication network and the information network are associated through establishing an inter-network interface model, a power information physical system integration model considering multilayer coupling is further obtained through derivation, a multilayer coupling association mechanism of the power CPS is determined, and therefore the power information physical system integration model considering multilayer coupling is established. The method has important significance for exploring researches in aspects of cyber attack risk propagation mechanism, cascading failure evolution process, security analysis, vulnerability assessment and the like of the CPS.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
one or more embodiments provide a power information physical system modeling method considering multilayer coupling, including the steps of:
establishing a three-layer model framework of a power information physical system based on multilayer coupling characteristics, wherein the three-layer model framework comprises a power grid serving as a perception execution layer, a communication network serving as a communication layer and an information network decision control layer;
based on a power grid steady-state power flow equation, respectively carrying out hierarchical modeling on a power grid, a communication network and an information network according to a three-layer model framework;
establishing an uplink/downlink communication channel model for information transmission according to the monitoring function of the information network and the transmission direction of the information flow;
establishing a network interface model according to the uplink/downlink communication channel model, associating hierarchical models of the power grid, the communication grid and the information grid through the network interface model, obtaining a power information physical system integration model considering multilayer coupling according to association characteristics and coupling relations, and carrying out operation monitoring and scheduling control on power equipment of the power system according to the power information physical system integration model.
One or more embodiments provide a power information physics system modeling system considering multi-layer coupling, including:
a framework building module: the system is configured for establishing a three-layer model framework of a power information physical system based on multilayer coupling characteristics, and comprises a power grid serving as a perception execution layer, a communication network serving as a communication layer and an information network decision control layer;
a hierarchical modeling module: the three-layer model framework is configured for carrying out hierarchical modeling on a power grid, a communication network and an information network respectively based on a power grid steady-state power flow equation;
a communication channel model building module: configured to establish an uplink/downlink communication channel model for information transfer according to a monitoring function of an information network and a transfer direction of an information flow;
a fusion module: the method is configured to establish an inter-grid interface model according to an uplink/downlink communication channel model, associate hierarchical models of a power grid, a communication grid and an information grid through the inter-grid interface model, obtain an integrated model of the power information physical system considering multilayer coupling according to association characteristics and coupling relations, and perform operation monitoring and scheduling control on power equipment of the power system according to the integrated model of the power information physical system.
An electronic device comprising a memory and a processor and computer instructions stored on the memory and executed on the processor, the computer instructions, when executed by the processor, performing the steps of the above method.
A computer readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the method described above.
Compared with the prior art, the beneficial effect of this disclosure is:
the modeling method is used for modeling the electric power information physical system from the perspective of multi-layer coupling, and aims to fully reflect the interaction mechanism among the physical process of power grid operation, the information transmission process and the information processing process, and clarify the functions of the electric power grid, the communication network, the information network and interfaces among all networks, so that a perfect model foundation is laid for operation monitoring and dispatching control of the electric power system, the analysis effect and the overall performance of the electric power information physical fusion system are favorably improved, and the operation safety and the operation reliability of the electric power system are improved.
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The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.
FIG. 1 is a flow chart of a method of example 1 of the present disclosure;
FIG. 2 is a schematic diagram of a model framework of a power information physical fusion system according to embodiment 1 of the present disclosure;
FIG. 3 is a simplified topological diagram of a power information physical fusion system according to embodiment 1 of the present disclosure;
fig. 4 is an IEEE 9 node system diagram in an example of embodiment 1 of the present disclosure;
fig. 5 is a loss load amount of an example of embodiment 1 of the present disclosure under different fault lines of an IEEE 9 node system.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.
In one or more embodiments, as shown in fig. 1 and 2, a modeling method for a power information physical system considering multi-layer coupling includes the following steps:
step 1, establishing a three-layer model framework of a power information physical system based on multilayer coupling characteristics, wherein the three-layer model framework comprises a power grid serving as a perception execution layer, a communication network serving as a communication layer and an information network decision control layer;
step 2, based on a power grid steady-state power flow equation, respectively carrying out hierarchical modeling on a power grid, a communication network and an information network;
step 3, establishing an uplink/downlink communication channel model for information transmission according to the monitoring function of the information network and the transmission direction of the information flow;
and 4, establishing an inter-network interface model according to the uplink/downlink communication channel model, associating hierarchical models of the power grid, the communication grid and the information grid through the inter-network interface model, obtaining an integrated model of the power information physical system considering multilayer coupling, and carrying out operation monitoring and scheduling control on power equipment of the power system according to the integrated model of the power information physical system.
In step 1, a three-layer model framework of the power information physical system: the method can be established according to the structural characteristics of the electric power information physical system, and specifically comprises the following steps:
the structure characteristics of the electric power information physical system are as follows: the interconnection mode including power network, communication network and information network is the layering connection, and through installing sensor acquisition system parameter and the operational data on electric power primary equipment, then gather to the station, upload to communication substation node (front-end processor port) through the communication channel of going upward, the front-end processor has the effect of receiving, preliminary treatment and distribution information, and its a plurality of ports can support different telemechanical communication stipulations to port quantity can expand according to the system scale, consequently abstracts the front-end processor port as communication substation node. The front-end processor carries out data preprocessing and then transmits information to the control center, the control center selectively sends out scheduling instructions after carrying out analysis and decision on the data, the scheduling instructions are firstly sent to each communication substation node, and then control signals are sent to the actuator to be executed through the downlink communication channel, so that the operation of the power grid is regulated and controlled. The dispatching control center of the current information network adopts the principle of 'unified dispatching, hierarchical management and hierarchical control', has no specific form with respect to a topological structure, and in order to ensure the real-time property, confidentiality and reliability of dispatching commands, communication channels are mostly laid correspondingly according to the position of primary equipment of an electric power system, plant stations and communication substations adopt point-to-point type connection in one-to-one correspondence, and one channel can transmit multiplex signals, namely multiplexing.
Based on the structural characteristics of the power information physical system, a three-layer model framework of the power information physical system is established, as shown in fig. 1, and comprises a perception execution layer, a communication layer and a decision control layer.
The sensing execution layer is an actual power network and comprises power primary equipment, corresponding secondary equipment and the like and is responsible for the reliable operation of all links of power generation, transmission, transformation, distribution and utilization, wherein a Remote Terminal Unit (RTU) (comprising a sensor, an actuator and the like) is used as a connection interface of the power network and a communication network, and each station RTU can communicate with a communication substation node in point-to-point connection with the station RTU, namely a front-end processor port, and is used for realizing the information acquisition and control instruction execution of a power grid.
The communication layer is the layer where the communication network is located, and comprises an uplink/downlink communication channel and a communication substation node which is a front-end processor port, wherein the communication substation node is used as an interface between the communication network and the information network and is used for realizing acquisition information uploading and control center command downloading.
The decision control layer, namely a control center of the information network, is used as a brain for operation control of the power dispatching automation system and is configured to realize data monitoring of each link of the power grid, monitoring of the operation state and state estimation of the whole power grid, optimization decision, automatic control and the like.
Further, according to the above proposed CPS three-layer model framework, the main devices and interfaces of the power information physical system can be abstracted into points, and the information channels can be abstracted into edges, as shown in fig. 3, the power CPS simplifies the topological diagram.
And step 2, based on a power grid steady-state power flow equation, considering a communication transmission process and an information decision process, and respectively carrying out hierarchical modeling on the power grid, the communication network and the information network.
2.1 the modeling of the power grid includes establishing a power grid model and a power grid-communication network interface model, and optionally, the embodiment models the power grid based on a direct current load flow calculation method. The specific process is as follows:
firstly, the Hadamard product multiplication method operation rule of the matrix is explained, and the same-order matrix A, B ∈ M is definedm×nAnd then:
1) of matrix A and matrix BThe Dama product can be expressed as Ao and satisfies Ao ∈ Mm×nI.e. the hadamard product of the two matrices is of the same order as the original matrix.
2)(Ao)ij＝ijbijThat is, the hadamard product of the matrix is equal to the product of the corresponding position elements of the two matrices:
Figure BDA0002392748520000071
2.1.1 establishing a power grid model: and modeling the power grid by adopting a direct current power flow calculation method, wherein the power grid model comprises a power grid power flow model and a power grid topological structure matrix.
Defining a topology G into which a power grid is abstractedp＝(Np,Bp)，NpAnd BpRespectively, node and branch sets, | N, of the systempI represents the number of nodes, | BpAnd | represents the number of branches. For the | N, according to the assumed conditions of the AC power grid complex power expression and the DC power flow modelpIn a system with I nodes, the direct current power flow matrix expression of the node injection power is as follows:
P＝B'θ (2)
in the formula, P is the node injection active power phasor, B' is the system node susceptance matrix, and theta is the node voltage phase angle phasor.
Order matrix
Figure BDA0002392748520000072
Branch flow matrix
Figure BDA0002392748520000073
The expression of (a) is:
F＝(θA-ATθT)oB' (3)
in the formula, o represents the hadamard product of the matrix. Defining a grid power matrix
Figure BDA0002392748520000074
Representing node injection power and branch exchange power, combining the formula (2) and the formula (3) to obtain a power network model obtained based on a direct current power flow equationThe power flow model of the power network is as follows:
Poriginal＝diag(B′θ)+(θA-ATθT)oB′ (4)
wherein, P is the node injection active power phasor B ', B' is the system node susceptance matrix, theta is the node voltage phase angle phasor, diag is the diagonal element matrix of the node injection power phasor P, PoriginalThe diagonal elements of (b) represent the nodes injecting active power (P)i> 0 is an implant, PiLess than 0 is outflow), the off-diagonal element represents the active power of the branch and meets the trend directivity Poriginal(i,j)＝-Poriginal(j,i)。
Defining a power grid topology matrix in addition to a power flow model
Figure BDA0002392748520000081
The diagonal elements of the matrix T are 0 and the off-diagonal elements Tij∈ {0,1}, if Tij＝ji1 means that the branch i-j is connected, if Tij＝ji0, indicates that branch i-j is open. According to the topological relation of each node of the power grid, establishing a power grid topological structure matrix as follows:
Figure BDA0002392748520000082
2.1.2 modeling of the power grid-communication network interface: the method comprises the steps of obtaining the node position of an RTU unit installed on the power grid, establishing a remote terminal unit matrix according to the node position, namely modeling a power grid-communication network interface, and representing whether a communication line between the power grid and the communication network can establish a connection path or not.
In the electric power information physical fusion system, a remote terminal unit RTU at the electric power network side has the functions of 'four remote', namely 'remote measurement, remote signaling, remote control and remote regulation', and RTU equipment terminals are provided with various sensors, actuators and communication modules and are main telecontrol equipment connected with a communication network. The RTU is used as a modular information measurement and control unit for distributing telecontrol equipment in each station, is suitable for long-distance communication and severe working environment, and is a key interface of a power network and a communication network.
Definition of
Figure BDA0002392748520000091
For the remote terminal unit matrix, whether each node of the power grid is provided with an RTU unit is shown:
Figure BDA0002392748520000092
in the formula, matrix element Rij∈ {0,1}, diagonal element R ii1 denotes that node i is equipped with an RTU unit, R ii0 means that node i is not equipped with an RTU unit; off diagonal element R ij1 denotes that branches i-j are equipped with RTU units, R ij0 means that the branch i-j is not provided with an RTU unit.
2.2 communication network modeling: the method comprises the steps of establishing a communication channel model and a communication network-information network interface model.
2.2.1 communication channel modeling: and establishing a channel matrix which indicates whether the uplink and downlink data communication can be established or not according to a point-to-point communication mode, wherein each element in the matrix represents a communication line for connecting two nodes. May include an upstream communication channel matrix and a downstream communication channel matrix.
Establishing an uplink communication channel matrix according to point-to-point communication between a station and a communication substation as follows:
Figure BDA0002392748520000093
in the formula, matrix element Cup,ij∈ {0,1}, diagonal element C up,ii1 represents that an uplink data communication channel exists between the RTU sensor installed at the node i of the power network and the communication substation node, and the transmission content is the injection power information of the node i, Cup,iiIf 0, it means that there is no uplink communication channel; off diagonal element C up,ij1 represents that an RTU sensor arranged on a branch i-j of the power network and a communication substation node have an uplink data communication channel, the transmission content is the transmission power information of the branch i-j and the on-off state of a circuit breaker, and Cup,ijTable when being equal to 0Indicating that the upstream communication channel is not present.
Establishing a downlink communication channel matrix according to point-to-point communication between a station and a communication substation as follows:
Figure BDA0002392748520000101
in the formula, matrix element Cdown,ij∈ {0,1}, diagonal element C down,ii1 indicates that a downlink data communication channel exists between the RTU actuator installed at the power network node i and the communication substation node, and the transmission content is a power adjustment signal of the node i, Cdown,iiIf 0, it means that the downlink communication channel does not exist; off diagonal element C down,ij1 represents that a downlink data communication channel exists between the RTU actuator installed on the branch i-j of the power network and the communication substation node, and the transmission content is a breaker opening and closing instruction of the branch i-j, Cdown,ijAnd 0 indicates that the downlink communication channel does not exist.
2.2.2 communication network-information network interface modeling: aiming at the monitoring function of the information network and the transmission direction of the information flow, a communication network-information network interface model is established, and the model comprises an information receiving matrix of a communication substation node and an information sending matrix of the communication substation node.
The information receiving matrix of the communication substation node comprises a tide information receiving matrix corresponding to the communication substation node
Figure BDA0002392748520000102
And topology information receiving matrix
Figure BDA0002392748520000103
The information sending matrix of the communication substation node comprises an active adjustment instruction sending matrix corresponding to the communication substation node
Figure BDA0002392748520000104
And circuit breaker opening and closing instruction sending matrix
Figure BDA0002392748520000105
The information receiving matrix of the communication substation node: definition of
Figure BDA0002392748520000106
Defining for the receiving matrix of the tidal current information of the communication substation node, corresponding to the 'telemetric' signal
Figure BDA0002392748520000107
The topology information receiving matrix corresponds to a "remote signaling" signal. The information receiving matrix is:
Figure BDA0002392748520000111
Figure BDA0002392748520000112
where o represents the Hadamard product of the matrix,
Figure BDA0002392748520000113
for remote terminal unit matrix: indicating whether each node of the power network is provided with an RTU unit, CupIn order to be a matrix of the upstream communication channels,
Figure BDA0002392748520000114
Figure BDA0002392748520000115
for the grid power matrix: and (4) representing node injection power and branch exchange power, and T is a power grid topological structure matrix.
The information transmission matrix model of the communication substation node is as follows: definition of
Figure BDA0002392748520000116
The active adjustment instruction sending matrix for the communication substation node is a diagonal matrix, which indicates that the control center forwards the active adjustment instruction after decision making to the plant station RTU for execution through the communication substation node, and the information sending matrix model established corresponding to the remote adjustment signal is as follows:
Figure BDA0002392748520000117
in the formula, DiAdjustment of active power for node i of the power network, Di> 0 indicates an increase in injected power (generator added output or cut load) at this node, Di< 0 indicates that the node injected power is reduced (generator reduced output or increased load).
Definition of
Figure BDA0002392748520000118
The communication substation node circuit breaker opening and closing instruction transmission matrix represents that a control center sends an opening and closing instruction to a branch circuit i-j circuit breaker through the communication substation node, corresponds to a remote control signal, and has the expression:
Figure BDA0002392748520000119
in the formula, DijRepresenting the open and closed states of the circuit breakers of the branches i-j of the power network, D ij1 indicates that the i-j branch circuit breaker should be closed, D ij0 indicates that the branch i-j should be disconnected.
2.3 information network modeling: the method is used for establishing a scheduling monitoring relation between a control center and communication substation nodes in the information network. The specific method comprises the following steps:
step 1, establishing a top-bottom level relation between each node of a control center and a communication network node by adopting a mapping function, wherein the top-bottom level relation comprises control center-level subordination relation mapping and control center-communication node monitoring relation mapping;
step 2, obtaining a scheduling monitoring relation between a control center node and each communication substation node according to the established upper and lower level relation of the control center;
and 3, establishing an injection power monitoring relation matrix of all communication nodes and an opening and closing monitoring relation matrix of the control center to all branches according to the scheduling monitoring relation of each control node, namely an information network model.
The control center is a core decision unit of the power dispatching automation system, and can realize dispatching of unified dispatching, hierarchical management and hierarchical control, and the power control center in the power system comprises a plurality of levels and is represented as a multilayer structure in the model of fig. 3. For example, the control centers can be divided into national dispatches, network dispatches, provincial dispatches, local dispatches and county dispatches, each control center monitors the respective region according to the corresponding authority and responsibility, and uploads important information to the high-level control center.
The control center for analyzing the existing power system has the following characteristics:
1) the control center is divided into a plurality of levels, and one control center only belongs to a certain level.
2) A level may contain one or more control centers.
3) The higher-level control center has higher authority than the lower-level control center, can command the lower-level control center to execute a scheduling plan, allows cross-level management, and can directly send scheduling instructions to important communication substation nodes and execute the scheduling instructions under special conditions, namely, important power plants, transformer substations and the like can be directly regulated and controlled.
4) Under normal conditions, one communication substation node is monitored by at least one control center, and the priority of a superior control center is higher than that of an inferior control center, so that the superior control center and the inferior control center do not conflict with each other.
Establishing a control center upper and lower level relation by adopting a mapping function, wherein the method specifically comprises the following steps:
the "control center-level" dependency map may be: h (k, L)j)∈(0,1),H(k,Lj) 1 means that the control center k belongs to the j-th rank, H (k, L)j) If 0 indicates that the control center k does not belong to the j-th level, the control center may be in a normal standby non-operating state;
the "control center-communication node" monitoring relationship mapping may be: s (N)i,Uk)∈(0,1),S(Ni,Uk) 1 means that node i can be monitored by the control center k, S (N)i,Uk) 0 means that node i cannot be monitored by the control center k.
For any one communication substation node Ni(node i) whether or not it can be monitored by the control centerControllable definitional variable Vi∈ (0, 1):
Figure BDA0002392748520000131
in the above formula, N ═ Ni|i＝1,2,3,···,|Np| is a set of communication substation nodes in the communication network, wherein | N }pL is the total number of control nodes of the information layer, NiCorresponding to the nodes of the power grid one by one;
L＝{ L j1,2,3, Q is a control center level set, wherein Q is the level number of the control center, and L isjRepresenting a j-th level control center set;
U＝{ U k1,2,3, E is a set of communication substation nodes monitored by each control center, UkRepresenting a communication substation node set monitored by a kth control center;
w is a set of control centers, Wk∈ {0,1}, where k is 1,2,3, E is the total number of control centers, W k1 means that the control center k is in a normal operation state, WkA failure shutdown is indicated by 0, and includes a control center network attack, a deliberate breach, or a host failure.
Formula (13) indicates that at least one control center k is required to work normally, and a monitoring relation exists between the control center k and the node i, and the control center k belongs to a certain level, so that the node i can be monitored. V i1 means that the communication node i can be monitored by at least one control center, V i0 means that the communication node i cannot be monitored by any control center. Thus, according to Vi(i＝1,2,3,···,|Np|) value, obtaining the scheduling monitoring relation between the control center and each communication substation node, and defining the injection power monitoring relation matrix of the control center to all communication nodes
Figure BDA0002392748520000141
Namely, the information network model, the expression of which is:
Figure BDA0002392748520000142
in the formula, ViThat is, 1 indicates that the injection power information of the communication node i can be monitored by the control center, the injection power of the corresponding power grid node can be regulated, and ViAnd 0 means that the node i loses the monitoring of the control center and cannot be normally scheduled.
On-off monitoring relation matrix of control center for all branches
Figure BDA0002392748520000143
Whether the state of the branch circuit breaker can be monitored by the control center or not is represented by the following expression:
Figure BDA0002392748520000144
in the formula, Vij＝Vji＝Vi∪Vj∈ (0,1), the circuit breaker status of a branch i-j can be monitored by a control center as long as one of the two nodes is controllableij＝VjiThe opening and closing state of the circuit breaker of the branch i-j can be monitored by a control center according to the condition that 1 represents, and Vij＝VjiAnd 0 represents that the opening and closing states of the circuit breakers of the branches i-j lose the monitoring of the control center.
2.4 consider a multi-layer coupled power information physical system integration model.
The power grid, the communication network and the information network are subjected to hierarchical modeling, and an integrated model of the power information physical system considering the multilayer coupling characteristics is established according to the association characteristics and the coupling relation.
Generalized optimization decision function for defining information network control center
Figure BDA0002392748520000151
Figure BDA0002392748520000152
The actual function can be determined according to specific control targets, and only specification is required for realizing integrated modelingIts input and output variables.
Definition of
Figure BDA0002392748520000153
After the control center is decided, an injection power matrix, a power grid topology change matrix and a power flow distribution matrix (including node injection power and branch power) for power grid scheduling are respectively carried out, because the coupling characteristics and the incidence relation among layers are considered in the modeling process of each layer, the formula (2) to (15) are combined, and the integrated model of the power information physical system considering the multilayer coupling characteristics is obtained by directly superposing:
Figure BDA0002392748520000154
b' is a node susceptance matrix changing along with the topological structure of the system, theta is a node voltage phase angle phasor, and F is a branch power matrix changing along with the power flow.
In this embodiment, on the basis of the dc power flow model, a communication transmission process and an information decision process are considered, and a power grid, a communication network and an information network are hierarchically modeled to form a power information physical system model considering a multilayer coupling characteristic, and the method has the following advantages:
1) the model considers the difference of information transmission directions, establishes an uplink/downlink communication channel of a communication network, simultaneously considers the monitoring, decision and control functions of the information network, embodies the principles of 'unified scheduling, hierarchical management and hierarchical control' of a scheduling center, and realizes the integrated modeling of the power information physical fusion system considering the multilayer coupling characteristics.
2) The model considers the electrical parameter characteristics, the power flow distribution characteristics and the topological structure characteristics of the power grid, better accords with the system operation condition, and has clear architecture and better universality.
The method of this embodiment is further described below with reference to the drawings and examples.
In order to verify the effectiveness of the proposed model, an electric power information physical system is constructed in a simulation mode on the basis of an IEEE 9 node testing system, and the influence of the information network sensing system operation parameters and decision generation control instructions on the system state is quantitatively analyzed under the condition of power grid faults by taking the minimum tangential load as a target function on the basis of a load flow calculation and topology analysis method, so that the effectiveness of the model is verified.
The topology and node numbering of the IEEE 9 node system is shown in fig. 4, where the numbers indicate the nodes, the system includes 3 generators, 3 transformer branches (2-7, 3-9, 1-4), 6 transmission line branches, and 3 equivalent load nodes, since the system does not specify the branch capacity, in order to facilitate the determination of the branch overload situation, the load rate α of all branches is assumed to be 40% when the system is operating normally, and the transmission power is considered to be out of limit when the load rate exceeds 100%.
According to the definition, the RTU matrix R and the uplink communication channel matrix C of the 9-node system in normal operationupAnd a downlink communication channel matrix CdownCan be expressed as:
Figure BDA0002392748520000171
obtaining a node susceptance matrix B' and a topological structure matrix T according to the system parameters and the topological structure, and obtaining a power grid power matrix P through load flow calculationoriginalAnd further obtain a tide information receiving matrix
Figure BDA0002392748520000172
And topology information receiving matrix
Figure BDA0002392748520000173
For the control center to analyze and make decisions.
Assuming that the system operates normally in an initial state, the capacity of a balancing unit (Gen1) is sufficient, and the total power balance of the whole network can be ensured. The fault of the line 7-8 causes an open circuit, and the system power flow is redistributed after transfer, thereby causing the overload of the transmission lines 4-6 and 8-9. Table 1 shows the running state of the system after the fault, the control parameters and the load loss corresponding to the control center command, and the serial numbers 1 to 4 respectively correspond to the running state and the load loss of the system under different control decision commands.
TABLE 1
Figure BDA0002392748520000174
Figure BDA0002392748520000181
The numbers 1 to 4 in Table 1 were analyzed to find that:
1) if the line 7-8 has transient faults, the reclosing command is received and then the reclosing is successful, and the system recovers the initial state;
2) if the line 7-8 has a permanent fault, reclosing fails, and the lines 4-6 and 8-9 are overloaded after the power flow is transferred;
3) the control center senses the branch overload, in order to prevent the overload from further causing cascading failure and system disconnection, the control center acquires system information and then carries out optimization decision, comprehensive regulation and control measures are adopted to regulate the active output and the load shedding of the generator set, the line overload is eliminated, and the system reaches a new steady state; the regulation strategy in the table is a random optimization result, the target is the least load loss amount, and economic operation is not involved.
4) If the control center fails to control in time, the protection device will cut off the overload circuit, resulting in disconnection of the system and loss of 100MW of load.
Similarly, fig. 4 shows the relationship between the failed line and the system load loss, assuming that lines 4-5, 5-7, 7-8, 8-9, 9-6, and 4-6 are permanently disconnected and the system will experience different degrees of cascading failure, respectively. Case 1 represents the power loss situation of the power information physical system, and case 2 represents the power loss situation of the power system, and the difference is that case 2 does not consider the power regulation effect of the control center on the power grid
Figure BDA0002392748520000191
And the opening and closing regulation and control function of the circuit breaker
Figure BDA0002392748520000192
As can be seen from FIG. 4, the power grid and the information communication grid are consideredThe control center can monitor and control the running state of the system, branch overload can be eliminated through on-line unit generated power rescheduling and controllable load shedding, and cascading failure of the system is effectively relieved or avoided, so that the safety and reliability of the running of the power grid are improved. Therefore, the information network plays an important supporting role in optimizing operation of the system, preventing cascading failure and system disconnection, and can reduce load loss to the maximum extent through timely regulation and control.
Example 2
The embodiment provides a power information physical system modeling system considering multilayer coupling, which comprises:
a framework building module: the system is configured for establishing a three-layer model framework of a power information physical system based on multilayer coupling characteristics, and comprises a power grid serving as a perception execution layer, a communication network serving as a communication layer and an information network decision control layer;
a hierarchical modeling module: the three-layer model framework is configured for carrying out hierarchical modeling on a power grid, a communication network and an information network respectively based on a power grid steady-state power flow equation;
a communication channel model building module: configured to establish an uplink/downlink communication channel model for information transfer according to a monitoring function of an information network and a transfer direction of an information flow;
a fusion module: the method is configured to establish an inter-grid interface model according to an uplink/downlink communication channel model, associate hierarchical models of a power grid, a communication grid and an information grid through the inter-grid interface model, obtain an integrated model of the power information physical system considering multilayer coupling according to association characteristics and coupling relations, and perform operation monitoring and scheduling control on power equipment of the power system according to the integrated model of the power information physical system.
Example 3
The present embodiment provides an electronic device comprising a memory and a processor, and computer instructions stored on the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the steps of the method of embodiment 1.
Example 4
The present embodiment provides a computer readable storage medium for storing computer instructions which, when executed by a processor, perform the steps of the method of embodiment 1.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (10)

1. A modeling method of a power information physical system considering multilayer coupling is characterized by comprising the following steps:
establishing a three-layer model framework of a power information physical system based on multilayer coupling characteristics, wherein the three-layer model framework comprises a power grid serving as a perception execution layer, a communication network serving as a communication layer and an information network decision control layer;
based on a power grid steady-state power flow equation, respectively carrying out hierarchical modeling on a power grid, a communication network and an information network according to a three-layer model framework;
establishing an uplink/downlink communication channel model for information transmission according to the monitoring function of the information network and the transmission direction of the information flow;
establishing a network interface model according to the uplink/downlink communication channel model, associating hierarchical models of the power grid, the communication grid and the information grid through the network interface model, obtaining a power information physical system integration model considering multilayer coupling according to association characteristics and coupling relations, and carrying out operation monitoring and scheduling control on power equipment of the power system according to the power information physical system integration model.
2. The modeling method for the power information physical system considering the multilayer coupling as claimed in claim 1, wherein: and modeling the power grid by adopting a direct current power flow calculation method, wherein the power grid model comprises a power grid power flow model and a power grid topological structure matrix.
3. The modeling method for the power information physical system considering the multilayer coupling as claimed in claim 1, wherein:
the power grid power flow model of the power grid model comprises the following steps:
Figure FDA0002392748510000011
wherein o represents the Hadamard product of the matrix; p is B ' theta, P is node injection active power phasor, B ' is system node susceptance matrix, theta is node voltage phase angle phasor, diag (B ' theta) is diagonal element matrix of node injection power phasor P, and the matrix
Figure FDA0002392748510000021
NpIs the total number of nodes of the power grid;
or
According to the topological relation of each node of the power grid, establishing a power grid topological structure matrix as follows:
Figure FDA0002392748510000022
the diagonal elements of the matrix T are 0 and the off-diagonal elements Tij∈ {0,1}, if Tij＝Tji1 means that the branch i-j is connected, if Tij＝Tji0, indicates that branch i-j is open.
4. The modeling method for the power information physical system considering the multilayer coupling as claimed in claim 1, wherein: establishing an internetwork interface model comprises establishing a power network-communication network interface model and establishing a communication network-information network interface model;
the method for modeling the power grid-communication network interface specifically comprises the following steps: acquiring node positions of RTU units installed in the power grid, establishing a remote terminal unit matrix according to the node positions, namely modeling a power grid-communication network interface, and indicating whether a communication line between the power grid and the communication network can establish a connection path or not;
or
The method for modeling the communication network-information network interface specifically comprises the following steps: aiming at the monitoring function of an information network and the transmission direction of information flow, a tidal current information receiving matrix and a topological information receiving matrix corresponding to the communication substation node are established, and an active power adjusting instruction transmitting matrix and a breaker opening and closing instruction transmitting matrix corresponding to the communication substation node are established.
5. The modeling method for the power information physical system considering the multilayer coupling as claimed in claim 1, wherein: the communication network modeling comprises communication channel modeling: and establishing a channel matrix for indicating whether the uplink and downlink data communication is established or not according to a point-to-point communication mode, wherein each element in the matrix represents a communication line for connecting two nodes.
6. The modeling method for the power information physical system considering the multilayer coupling as claimed in claim 1, wherein: modeling an information network: the method is used for establishing a scheduling monitoring relation between a control center and communication substation nodes in an information network, and comprises the following steps:
establishing a top and bottom level relation between each node of the control center and the nodes of the communication network by adopting a mapping function, wherein the top and bottom level relation comprises control center-level subordination relation mapping and control center-communication node monitoring relation mapping;
according to the established upper and lower level relation of the control center, obtaining a scheduling monitoring relation between the control center node and each communication substation node;
and establishing an injection power monitoring relation matrix of all communication nodes and an opening and closing monitoring relation matrix of the control center to all branches according to the scheduling monitoring relation of each control node, namely an information network model.
7. The modeling method for the power information physical system considering the multilayer coupling as claimed in claim 1, wherein: the three-layer model framework of the power information physical system comprises a power grid serving as a perception execution layer, a communication network serving as a communication layer and an information network decision control layer.
8. A power cyber-physical system modeling system considering multi-layer coupling, comprising:
a framework building module: the system is configured for establishing a three-layer model framework of a power information physical system based on multilayer coupling characteristics, and comprises a power grid serving as a perception execution layer, a communication network serving as a communication layer and an information network decision control layer;
a hierarchical modeling module: the three-layer model framework is configured for carrying out hierarchical modeling on a power grid, a communication network and an information network respectively based on a power grid steady-state power flow equation;
a communication channel model building module: configured to establish an uplink/downlink communication channel model for information transfer according to a monitoring function of an information network and a transfer direction of an information flow;
a fusion module: the method is configured to establish an inter-grid interface model according to an uplink/downlink communication channel model, associate hierarchical models of a power grid, a communication grid and an information grid through the inter-grid interface model, obtain an integrated model of the power information physical system considering multilayer coupling according to association characteristics and coupling relations, and perform operation monitoring and scheduling control on power equipment of the power system according to the integrated model of the power information physical system.
9. An electronic device comprising a memory and a processor and computer instructions stored on the memory and executable on the processor, the computer instructions when executed by the processor performing the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium storing computer instructions which, when executed by a processor, perform the steps of the method of any one of claims 1 to 7.
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