CN111725808B - Singular perturbation-based distributed convergence control method and system for comprehensive energy system - Google Patents
Singular perturbation-based distributed convergence control method and system for comprehensive energy system Download PDFInfo
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Abstract
The invention discloses a singular perturbation-based distributed convergence control method for a comprehensive energy system, which comprises the following steps of: the comprehensive energy system consists of a plurality of interactive new energy combined cooling heating and power systems, and each new energy combined cooling heating and power system is regarded as an intelligent agent with multi-time scale dynamic and used for modeling the comprehensive energy system; and constructing a distributed convergence controller consisting of a controller for synchronizing a slow time scale and a controller for synchronizing a fast time scale based on a model, so that state variables on different time scales in a voltage, frequency, power distribution and temperature energy network tend to be consistent. The controller can synchronize the temperature, the output voltage, the frequency and the power distribution of the new energy combined cooling heating and power system.
Description
Technical Field
The invention belongs to the technical field of energy control, and particularly relates to a singular perturbation method for a multi-time scale problem and an convergence control method for a multi-agent network.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
An Integrated Energy System (IES) refers to an energy network system formed by organically coordinating and optimizing different types of energy. The multi-energy complementary energy supply is one of key characteristics of the IES, and the comprehensive energy system integrates various energy hubs such as a wind power generation system, a photovoltaic power generation system and a gas combined cooling heating and power system, so that the cooperation of various energy flows such as electric power and heating power is promoted to a great extent, and the capacity of the comprehensive energy system for coping with load change is greatly improved. The IES can realize the cascade utilization of energy, improves the comprehensive utilization level of the energy, and has important practical significance for improving the utilization efficiency of the energy and constructing a clean, low-carbon, safe and efficient modern energy system.
The comprehensive energy system is composed of a plurality of energy hubs, each hub can be regarded as an intelligent agent, the energy hubs interact with each other, state transformation is very complex, a complex network system is formed, and a large amount of resources are consumed for centralized control. The comprehensive energy system is large in scale, has various energy input (renewable energy, natural gas and the like), has various energy utilization forms such as electricity, heat, cold and the like, has various energy conversion devices, and has strong coupling performance among the multi-energy flow networks due to the real-time interaction of multi-energy flows such as gas, electricity, heat and the like. In view of the above current situation, it is urgently needed to seek new ideas and methods to make a breakthrough from the perspective of a multi-agent network and the perspective of multi-energy flow coupling so as to improve the energy supply quality and the utilization rate of equipment and lay a solid foundation for the efficient, economic and environment-friendly operation of an energy network.
The inventor finds in research that the traditional centralized control method is difficult to ensure the quality of electric energy and heat energy in the comprehensive energy system and the utilization rate of equipment, and the control method of a single time scale without considering the coupling has larger deviation from the actual control method, while the existing control method for the comprehensive energy system is less and has defects, and cannot meet the actual requirements at present.
The inventor also finds in research that, in the related patents, the multi-time scale characteristic of the system and the interaction between the topological structure of the complex network information communication and the intelligent agent are not considered for the control of the integrated energy system, and the problems cannot be solved.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a distributed convergence control method of a comprehensive energy system based on singular perturbation, which describes and processes multiple time scales based on singular perturbation and realizes distributed convergence control by using a multi-agent network.
In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:
a singular perturbation-based distributed convergence control method for a comprehensive energy system comprises the following steps:
the comprehensive energy system consists of a plurality of interactive new energy combined cooling heating and power systems, and each new energy combined cooling heating and power system is regarded as an intelligent agent with multi-time scale dynamic and used for modeling the comprehensive energy system;
and constructing a distributed convergence controller consisting of a controller for synchronizing a slow time scale and a controller for synchronizing a fast time scale based on a model, so that state variables on different time scales in a voltage, frequency, power distribution and temperature energy network tend to be consistent.
According to a further technical scheme, a communication topology of the integrated energy system is described by using a graph gamma (V, E), wherein the graph gamma is composed of a point set V and an edge set E, the point set V is an intelligent agent represented by a point set V and the edge set E is an edge set V, and the edge set V is an intelligent agent represented by a point set V and the edge set E is an intelligent agent represented by a point set V
Representing information interactions between agents.
In a further technical scheme, the dynamics of two time scales of the ith agent are described based on a singular perturbation method, and the aim is to enable the variables of different time scales on different agents to gradually tend to be the same.
In a further technical scheme, a small parameter epsilon is a typical characteristic of a singular perturbation system, and epsilon is made to be 0 to carry out system degradation.
In a further technical scheme, the controller for synchronizing the slow time scale is dynamically obtained based on the independent slow time scale.
According to the further technical scheme, for the fast state variable, the slow variable is kept unchanged in the transient process of the fast variable, an equation set for describing the fast change component is obtained, and finally the controller of the synchronous fast time scale is obtained.
The above one or more technical solutions have the following beneficial effects:
the control strategy disclosed by the disclosure has the effect of enabling output voltages and the like of different new energy combined cooling heating and power systems in a comprehensive energy system to be consistent, for example: if the voltages are different, backflow may be formed, so that the output voltages of all the combined supply systems are the same.
The method and the system have the advantages that the virtual agents are arranged in the network, and the state value of each agent is the value which is expected to be reached by all agents in the network. Under the action of the controller, the states of all the intelligent agents gradually tend to the expected values.
The singular perturbation-based method for describing and processing the multi-time scale problem in the technical scheme of the disclosure is an effective method, and the distributed convergence control of the multi-agent network is a control method gradually applied to various network systems. The distributed controller based on the neighbor information of the intelligent agent is designed for the comprehensive energy system, and the controller can synchronize the temperature, the output voltage, the frequency and the power distribution of the new energy combined cooling heating and power system.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a communication topology diagram of an integrated energy system according to an embodiment of the present invention;
fig. 2 is a flow chart of the design of the distributed controller of the neighbor information of the agent according to the embodiment of the present invention.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. 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 invention 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 exemplary embodiments according to the invention. 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.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
Referring to fig. 2, the embodiment discloses a singular perturbation-based distributed convergence control method for an integrated energy system, which models the integrated energy system and designs a distributed convergence controller, so that state variables of voltage, frequency, power distribution, temperature and the like in an energy network on different time scales tend to be consistent.
In the specific steps, firstly, a comprehensive energy system is modeled, the comprehensive energy system is composed of a plurality of new energy combined cooling heating and power systems which interact with each other, and each new energy combined cooling, heating and power system can be regarded as an intelligent agent with multi-time scale dynamic.
Referring to fig. 1, a communication topology of an integrated energy system may be described using a graph Γ (V, E), which is composed of a set of points V ═ 1.. and n } representing an agent and an edge set E
Representing information interactions between agents.
The adjacency matrix of the definition map is G ═ Gij]n×nWherein g isii0, if there is an information interaction between agents i and j, gij>0, otherwise 0. Let the matrix that can exchange information with agent i be the neighbor matrix of i, all neighbors of i being denoted Ni＝{j∈V(i,j)∈E}。
Consider the situation that the comprehensive energy system contains n new forms of energy combined cooling heating and power system (agent). Constructing a database according to field data, adopting a mechanism modeling and data modeling method, and describing two time scale dynamics of the ith agent based on a singular perturbation method:
wherein
Representing states at different time scales. x is the number ofi(t) is a state of slow time scale representing the temperature of the agent output; y isi(t) represents a state of fast time scale, representing voltage frequency and power distribution alpha of the agent outputi(t)＝Pi/Pi,max。ui(t)∈RmIs the input quantity of the combined cooling heating and power system, the small parameter epsilon is the typical characteristic of the singular perturbation system, 0<ε<<1, showing that the states vary over different time scales.
The database is constructed to obtain the following actual form of the state equation, and a model is constructed according to the state required to be synchronized and corresponding to the data of the state required to be correlated, namely the data of voltage, frequency, temperature and the like.
In this embodiment, the change of different time scales, i.e. voltage, frequency, power, current, etc., can be completed on a time scale of millisecond, while the change of temperature, etc., needs to be completed on a time scale of minute, and in the integrated energy system, the two states are coupled with each other, mutually affect each other, and cannot be independently found, so that a model as shown in (1) can be built, and the model can show the multi-time scale characteristic and the coupling characteristic of the state in the intelligent agent.
The matrix in the system (1) satisfies (A)22,B2) And
is controllable, the aim being to let the variables at different time scales on different agents gradually approach the same, i.e.
The basic idea of the singular perturbation method is as follows: the slow variable remains unchanged during the transient state of the fast state variable, whereas the fast variable has reached a quasi-steady state when the slow variable changes significantly.
Let ε be 0, the system degrades to
Wherein xis(0)＝xi(0) According to (2.2), there can be obtained
yis(t) is a fast variable yiA quasi-steady state value of (t). In the above equation, a reversible matrix A is required22If the matrix is not reversible in the built model, the solution can be solved by adding a tiny perturbation parameter to the matrix according to the fact that the eigenvalues in the perturbation theory of the matrix are continuous, because the characteristic polynomial of the matrix is a polynomial of matrix elements, which is a continuous function of the matrix.
Substituting (3) into (2.1) can obtain independent slow time scale dynamics
Wherein
Based on xi≈xisThe controller for synchronizing the slow time scale is:
the controller is derived from a standard multi-agent distributed convergence controller.
Feedback controller gain K1Is composed of
Positive definite matrix P1For the solution of the following rica-ti matrix inequality, the tool box of matlab can be used for solving:
wherein Q1Is a positive definite matrix.
For fast state variables, the slow variable remains unchanged during the transient state of the fast variable, i.e. xi＝xisC, and can be considered as
Then the subtraction of (1.2) and (2.2) yields the system of equations describing the fast-changing component:
wherein y isif＝yi-yis，uif＝ui-uis. Variable yifReflecting the change in the gap between the fast variable and the fast variable quasi-steady state value.
We perform a time scale transformation, let τεStretch the time scale to variable y ═ t/epsiloniOn the time scale of the transient process, one can obtain:
the controller for synchronizing the fast time scale is as follows:
considering the practical application, the virtual variables can be replaced by the following forms
Feedback controller gain K2Is composed of
Positive definite matrix
Is the solution of the following ricattes matrix inequality, which can be solved by the matlab toolbox:
wherein Q2Is a positive definite matrix.
The two controllers are combined to obtain the controller capable of synchronizing different time scale states of the comprehensive energy system
ui(t)＝uis(t)+uif(τε) (10)
A distributed controller based on intelligent neighbor information is designed for an integrated energy system, and the controller can synchronize the temperature, the output voltage, the frequency and the power distribution of a new energy combined cooling heating and power system.
In this embodiment, each agent receives information of agents around itself, and then compares the states according to the control strategy, and the controller outputs the result to gradually reduce the difference between the output states of different new energy combined cooling heating and power systems until the output voltages of all new energy combined cooling and heating and power systems are the same, the output frequency is the same, and the output hot water temperature is the same.
Example two
The present embodiment is directed to a computing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the singular perturbation based distributed convergence control method for an integrated energy system in the first embodiment.
EXAMPLE III
An object of the present embodiment is to provide a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of implementing the singular perturbation based distributed convergence control method of the integrated energy system of the first example.
Example four
The present embodiment aims to provide a singular perturbation based distributed convergence control system for an integrated energy system, including:
the information acquisition unit is used for acquiring real-time state information of the comprehensive energy system;
the transmission unit is used for acquiring information and transmitting the information to the control unit and the neighbor intelligent agent of the control unit;
a control unit configured to include:
the model building module is used for modeling a comprehensive energy system, the comprehensive energy system is composed of a plurality of interactive new energy combined cooling heating and power systems, and each new energy combined cooling and power system is regarded as an intelligent agent with multi-time scale dynamic;
the distributed convergence controller building module is used for building a distributed convergence controller consisting of a controller for synchronizing a slow time scale and a controller for synchronizing a fast time scale on the basis of a model;
and the execution mechanism of the subsystem executes the command of the distributed convergence controller, so that state variables on different time scales in the voltage, frequency, power distribution and temperature energy source network tend to be consistent.
In another embodiment, a singular perturbation based distributed convergence controller for an integrated energy system is disclosed, wherein the controller is configured to:
firstly, modeling a comprehensive energy system;
and then, constructing a distributed convergence controller consisting of a controller for synchronizing a slow time scale and a controller for synchronizing a fast time scale based on the model, so that state variables on different time scales in the voltage, frequency, power distribution and temperature energy network tend to be consistent.
The steps involved in the apparatuses of the above second, third and fourth embodiments correspond to the first embodiment of the method, and the detailed description thereof can be found in the relevant description of the first embodiment. The term "computer-readable storage medium" should be taken to include a single medium or multiple media containing one or more sets of instructions; it should also be understood to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by a processor and that cause the processor to perform any of the methods of the present invention.
Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using general purpose computer means, or alternatively, they can be implemented using program code that is executable by computing means, such that they are stored in memory means for execution by the computing means, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps of them are fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. A singular perturbation-based distributed convergence control method for a comprehensive energy system is characterized by comprising the following steps:
the comprehensive energy system consists of a plurality of interactive new energy combined cooling heating and power systems, and each new energy combined cooling heating and power system is regarded as an intelligent agent with multi-time scale dynamic and used for modeling the comprehensive energy system;
the communication topology of the integrated energy system is described by using a diagram Γ ═ (V, E), wherein the diagram Γ is composed of a point set V and an edge set E, the point set V ═ { 1.., n } represents an agent, and the edge set represents an agent
Representing information interactions between agents;
constructing a database according to field data, adopting a mechanism modeling and data modeling method, and describing two time scale dynamics of the ith agent based on a singular perturbation method:
wherein
Representing states of different time scales, xi(t) is a state of slow time scale representing the temperature of the agent output; y isi(t) represents a state of fast time scale, representing voltage frequency and power distribution alpha of the agent outputi(t)＝Pi/Pi,max；ui(t)∈RmIs the input quantity of the combined cooling heating and power system, the small parameter epsilon is the typical characteristic of the singular perturbation system, 0<ε<<1, showing the state changes on different time scales;
the small parameter epsilon is a typical characteristic of a singular perturbation system, epsilon is 0 to carry out system degradation to obtain a synchronous slow time scale controller and a synchronous fast time scale controller, and the two controllers are combined to obtain controllers which can synchronize different time scale states of the comprehensive energy system, namely a distributed convergence controller;
and constructing a distributed convergence controller consisting of a controller for synchronizing a slow time scale and a controller for synchronizing a fast time scale based on a model, so that state variables on different time scales in a voltage, frequency, power distribution and temperature energy network tend to be consistent.
2. The singular perturbation-based distributed convergence control method for the integrated energy system according to claim 1, wherein the singular perturbation-based method is used for describing the two time scale dynamics of the ith agent, and the aim is to make the variables of different time scales on different agents gradually tend to be the same.
3. The singular perturbation-based distributed convergence control method of the integrated energy system according to claim 1, wherein the controller for synchronizing the slow time scales is dynamically obtained based on the independent slow time scales.
4. The singular perturbation-based distributed convergence control method for the comprehensive energy system according to claim 1, wherein for the fast state variable, the slow variable is kept unchanged in the transient process of the fast variable, an equation set describing fast change components is obtained, and finally the controller of the synchronous fast time scale is obtained.
5. Singular perturbation-based distributed convergence control system of comprehensive energy system, which is characterized by comprising:
the information acquisition unit is used for acquiring real-time state information of the comprehensive energy system;
the transmission unit is used for acquiring information and transmitting the information to the control unit and the neighbor intelligent agent of the control unit;
a control unit configured to include:
the model building module is used for modeling a comprehensive energy system, the comprehensive energy system is composed of a plurality of interactive new energy combined cooling heating and power systems, and each new energy combined cooling and power system is regarded as an intelligent agent with multi-time scale dynamic;
the communication topology of the integrated energy system is described using (V, E) diagram Γ, which consists of a set of points VAnd an edge set E, wherein the point set V is { 1.., n } represents an agent, and the edge set E represents an agent
Representing information interactions between agents;
constructing a database according to field data, adopting a mechanism modeling and data modeling method, and describing two time scale dynamics of the ith agent based on a singular perturbation method:
wherein
Representing states of different time scales, xi(t) is a state of slow time scale representing the temperature of the agent output; y isi(t) represents a state of fast time scale, representing voltage frequency and power distribution alpha of the agent outputi(t)＝Pi/Pi,max；ui(t)∈RmIs the input quantity of the combined cooling heating and power system, the small parameter epsilon is the typical characteristic of the singular perturbation system, 0<ε<<1, showing the state changes on different time scales;
the distributed convergence controller building module is used for building a distributed convergence controller consisting of a controller for synchronizing a slow time scale and a controller for synchronizing a fast time scale on the basis of a model;
the small parameter epsilon is a typical characteristic of a singular perturbation system, epsilon is 0 to carry out system degradation to obtain a synchronous slow time scale controller and a synchronous fast time scale controller, and the two controllers are combined to obtain controllers which can synchronize different time scale states of the comprehensive energy system, namely a distributed convergence controller;
and the execution mechanism of the subsystem executes the command of the distributed convergence controller, so that state variables on different time scales in the voltage, frequency, power distribution and temperature energy source network tend to be consistent.
6. A computing device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the singular perturbation based distributed convergence control method for an integrated energy system according to any one of claims 1 to 4 when the program is executed by the processor.
7. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of carrying out the singular perturbation based distributed convergence control method of an integrated energy system according to any one of the claims 1 to 4.
8. The distributed convergence controller of the comprehensive energy system based on the singular perturbation is characterized in that when the controller is constructed:
firstly, modeling a comprehensive energy system;
the communication topology of the integrated energy system is described by using a diagram Γ ═ (V, E), wherein the diagram Γ is composed of a point set V and an edge set E, the point set V ═ { 1.., n } represents an agent, and the edge set represents an agent
Representing information interactions between agents;
constructing a database according to field data, adopting a mechanism modeling and data modeling method, and describing two time scale dynamics of the ith agent based on a singular perturbation method:
wherein
Representing states of different time scales, xi(t) is a state of slow time scale representing the temperature of the agent output; y isi(t) represents a fast time scaleState of (2), representing voltage frequency and power distribution alpha of the output of the agenti(t)＝Pi/Pi,max；ui(t)∈RmIs the input quantity of the combined cooling heating and power system, the small parameter epsilon is the typical characteristic of the singular perturbation system, 0<ε<<1, showing the state changes on different time scales;
the small parameter epsilon is a typical characteristic of a singular perturbation system, epsilon is 0 to carry out system degradation to obtain a synchronous slow time scale controller and a synchronous fast time scale controller, and the two controllers are combined to obtain controllers which can synchronize different time scale states of the comprehensive energy system, namely a distributed convergence controller;
and then, constructing a distributed convergence controller consisting of a controller for synchronizing a slow time scale and a controller for synchronizing a fast time scale based on the model, so that state variables on different time scales in the voltage, frequency, power distribution and temperature energy network tend to be consistent.
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