CN112685867A - Micro-grid information physical system unified modeling method based on interlayer coupling characteristics - Google Patents
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Abstract
The invention discloses a unified modeling method of a micro-grid information physical system based on interlayer coupling characteristics, which comprises the following steps: (1) establishing a system architecture of a micro-grid CPS according to structural characteristics of an information system and a physical system in the micro-grid; (2) based on the CPS system architecture of the micro-grid, the CPS of the micro-grid is abstracted into a three-layer structure which comprises a physical layer, a communication layer and an information layer, wherein the layers interact with each other through information flow and energy flow; (3) establishing a simplified network topological graph of the CPS hierarchical structure of the microgrid by using a graph theory method, and accordingly establishing a hierarchical model of the CPS of the microgrid; (4) and (4) building an interface model between the CPS layers of the microgrid to form a complete CPS model of the microgrid. The method can be used for analyzing various problems such as interaction mechanism of an information system and a physical system in the micro-grid, and has important significance for realizing the unified modeling and the optimized control of the micro-grid CPS.
Description
Technical Field
The invention belongs to the field of modeling of an information physical fusion system, and particularly relates to a unified modeling method of a microgrid information physical system based on interlayer coupling characteristics.
Background
In order to realize the consumption of large-scale renewable energy sources and improve the utilization efficiency of the energy sources, the concept of a micro-grid is provided. The microgrid is a component of a smart grid, in which physical devices are increasingly integrated with information and communication technologies, and can be regarded as a typical Cyber Physical System (CPS). The CPS is a system which deeply fuses a physical system and an information system and integrates computing, communication and control capabilities, so that the physical system has the functions of dynamic sensing, real-time analysis, scientific decision, accurate control and remote cooperation.
The CPS enables the units of the micro-grid system to have stronger cooperative capability, the overall optimization control capability of the system is greatly improved, and new risks are brought. The vulnerability of the whole system is increased by the deep fusion of an information system and a physical system in the microgrid, and the fault of the information side or the physical side can be transmitted to the other side through the coupling relationship between the information side and the physical side, so that the fault is caused. And as the physical system in the microgrid CPS increasingly depends on the information system, when the information system fails (communication packet loss, communication disturbance and communication delay), the failure of the physical side is caused, and further the stable operation of the whole microgrid system is influenced. Therefore, the research on the coupling relationship and the interaction mechanism between the information system and the physical system is helpful for solving the problem of the security risk brought by the CPS, and the model of the system is the basis for researching the coupling between the information system and the physical system, so that the establishment of the unified model of the CPS of the microgrid is a problem to be solved urgently at present.
At present, for modeling of the CPS of the power grid, scholars at home and abroad develop a series of researches on modeling of the CPS of the power grid from different angles, and the researches can be divided into the following categories: 1) modeling from the action angle of an information system on a physical system, wherein discrete information in the information system is used as an input variable of a physical equipment model in the physical system for modeling, and a model for describing continuous and discrete interaction between a generator and a load is established; 2) modeling is carried out from the coupling angle of an information physical system, a power grid CPS information flow-energy flow hybrid calculation model is established, state quantities in the power grid CPS are equivalent to a data node form, a mapping relation between data nodes is abstracted to be data branches, a power grid CPS static model is established based on a node-branch incidence matrix, and the coupling relation between information flow and energy flow in the power grid CPS is described more comprehensively; 3) the method is characterized in that an angle modeling of the interdependence of an information system and a physical system is realized, the method abstracts the electric power CPS into an electric power network and an information network by utilizing a complex network theory, and an electric power CPS model with one-to-one interdependence, partial interdependence and one-to-many interdependence is constructed. In a one-to-one interdependence model, each physical node is monitored and controlled by one and only one information node from which the control center collects information. In the partial interdependence model, a certain decoupling node exists, namely the decoupling node can normally work without depending on other nodes, and the nodes of the remaining two networks are in one-to-one interdependence relation. In the one-to-many interdependence model, each physical node is monitored by a plurality of information nodes, so that data can be protected from network attack.
As can be seen from the above, modeling methods for the power grid CPS have long times, but the hierarchical characteristics of the information system are generally not considered, modeling is performed for a specific application function, the model has no universality, and meanwhile, existing research objects are mostly directed at large power grids and rarely relate to micro power grids. Therefore, the invention provides a micro-grid CPS unified modeling method based on interlayer coupling characteristics by taking a micro-grid as a research object and fully considering the coupling relationship between an information system and a physical system and the hierarchical characteristics of the information system.
Disclosure of Invention
Aiming at the problems that the modeling of the CPS of the power grid is generally poor in model universality, mostly aims at a specific application function to perform modeling, and does not consider the self hierarchical characteristics of an information system, the invention provides a CPS unified modeling method of the micro power grid based on the interlayer coupling characteristics by taking the micro power grid as a research object.
A micro-grid CPS unified modeling method based on interlayer coupling characteristics comprises the following steps:
s1: according to the structure of a physical system and an information system in a microgrid, a microgrid CPS system architecture is built, the microgrid CPS is abstracted into a 3-layer layered structure based on the architecture, and the physical layer, the communication layer and the information layer are sequentially arranged from bottom to top;
s2: abstracting main equipment in each layer of the microgrid CPS into points, abstracting the connection relation between the equipment into edges, and forming a physical layer simplified network topology, an information layer simplified network topology and a corresponding relation of the nodes between the two layers;
s3: establishing a model of each level based on a simplified network topological graph of each level of the micro-grid CPS;
s4: establishing an interface model between layers by adopting a matrix method;
s5: based on the coupling relationship among three layers of a physical layer, a communication layer and an information layer, namely, the physical layer uploads power flow information (node power information and branch flow information) and a topological structure to the information layer through the communication layer, the information layer takes the information uploaded by the communication layer as input, generates a control instruction (a power adjustment instruction and a topological structure adjustment instruction) after optimization decision and sends the control instruction to the physical layer, and the physical layer and the information layer are closely coupled through the communication layer to establish a micro-grid CPS unified model based on interlayer coupling characteristics.
In the method for unified modeling of the micro-grid CPS based on the interlayer coupling characteristics, in S1, the three-layer micro-grid CPS specifically includes:
physical layer: the system mainly comprises devices such as a distributed power supply, an energy storage device, a power electronic conversion device, a monitoring protection device, a load and the like in the microgrid, wherein the devices are connected with each other through a power grid in the microgrid to form the bottommost layer in the microgrid CPS, and can be sensed and controlled;
a communication layer: the micro-grid CPS communication system mainly comprises a plurality of communication devices, a communication protocol, an uplink/downlink transmission channel and the like, wherein the communication devices mainly comprise a router, a switch and the like, the devices are mutually connected through a communication network to form a communication layer of the micro-grid CPS, and the micro-grid CPS communication system is mainly responsible for information acquisition and control instruction transmission;
information layer: the control center of the micro-grid CPS is mainly responsible for data monitoring and optimization decision of the whole micro-grid CPS, analyzing information uploaded by a communication layer and generating a corresponding control instruction for issuing.
The simplified network topology map only comprises a physical layer and an information layer.
The modeling method of each level in the S3 is as follows:
s30: the physical layer model is characterized by a direct current power flow model, and a matrix is definedTRepresenting the topology, the matrix, of the physical layerPRepresenting a power matrix of nodes in a physical layer, the matrixZRepresenting branch flow matrices, matrices
Representing the power flow distribution matrix in the physical layer, there are:
whereindiag(P) Representing a node power matrixPThe diagonal elements of the matrix, the matrixTAnd the simplified network topology in S2 is a one-to-one correspondence, in which the matrixTAll diagonal elements in the group are 0, and off-diagonal elements are 0 or 1; the off-diagonal element is 0 to indicate that the node i and the node j in the network topology are disconnected, and 1 to indicate that the node i and the node in the network topology are disconnectedj are communicated, namely a connecting edge exists;
s31: the model of the communication layer is characterized by a communication channel between the physical layer and the communication layer, and an uplink communication channel matrix is defined asC upThe downlink communication channel matrix isC down；
S32: modeling an information layer: the control center is used as a control center of the micro-grid CPS and mainly responsible for data monitoring, optimization decision and control instruction issuing of the whole micro-grid CPS; defining a node injection power monitoring matrix of an information layer to a physical layer as
Indicating that the injected power of the node can be monitored and regulated; defining all branch circuit breaker on-off monitoring matrix of information layer to physical layer as
Indicating that the on-off state of the branch circuit breaker can be monitored; an optimization decision function defining an information layer asGAdopts a particle swarm optimization algorithm to satisfy
The function is to convert the uploaded information into corresponding decision result and send the result to the communication layer, wherein
Represents oneN pLine ofN pMatrix of columnsR，N pIndicating the number of nodes in the physical layer.
In the method for modeling the micro-grid CPS based on the interlayer coupling characteristics, the interlayer interface model in S4 includes a physical layer-communication layer interface model and a communication layer-information layer interface model, and the modeling steps are as follows:
s40: physical layer-communication layer interface modeling
Establishing an interface model of a physical layer and a communication layer by using information interaction between equipment in the physical layer and the communication layer, wherein the information interaction is characterized by a sensor and an actuator in the physical layer, and a definition relation is definedConnection matrixSAndRrespectively indicating whether a sensor and an actuator are embedded in the equipment;
s41: communication layer-information layer interface modeling
Establishing an interface model of the communication layer and the information layer by using information uploaded to the information layer by the communication layer and a control instruction issued by the information layer to the communication layer, wherein the information uploaded to the information layer by the communication layer comprises a power flow information matrix
Physical layer equipment node topological structure matrix
(ii) a The control instruction issued by the information layer to the communication layer comprises a power adjustment instruction matrix of the information layer to the physical layer node
Topological structure regulating instruction matrix of information layer to physical layer topological structure regulation
。
In the method for the CPS unified modeling of the micro-grid based on the interlayer coupling characteristics, the CPS unified modeling implementation process of the micro-grid based on the interlayer coupling characteristics in the step S5 is as follows:
s50: definition of
Expressing the Hadamard product of the matrix, the operation rule is the product of the corresponding position elements of the two matrices, and the physical layer uploads the power flow information matrix to the information layer
Topological structure matrix
The expression is as follows:
s51: the control instruction after decision of the information layer forms a power adjustment instruction matrix by the power adjustment instruction
Topological structure regulating instruction matrix formed by topological structure regulating instruction
Are respectively:
s52: definition of
，
，
Respectively representing a power adjustment matrix, a physical layer topology change matrix and a power flow power matrix which are issued to the physical layer equipment nodes through the information layer, wherein the CPS unified model of the micro-grid is as follows:
wherein the content of the first and second substances,
and
for new system topologies
The negative of the lower node admittance matrix and the branch power matrix,
phase angle, matrix, representing node voltageKCalculating a matrix of branch load flows of the system.
Compared with the prior art, the invention has the beneficial effects that: 1) the defect of poor model universality in the existing modeling is overcome; 2) the hierarchical modeling is easy to analyze an interaction mechanism between an information system and a physical system in the micro-grid CPS, and is beneficial to clearing a system fault propagation mechanism caused by the micro-grid CPS being attacked from the outside.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a system architecture of a micro grid CPS;
FIG. 3 is a hierarchical structure of a microgrid CPS;
fig. 4 is a simplified topology diagram of a microgrid CPS.
Detailed Description
The following detailed description of specific embodiments of the invention is provided in connection with the accompanying drawings. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
As shown in fig. 1, the invention discloses a micro-grid CPS unified modeling method based on interlayer coupling characteristics, which comprises the following specific steps:
step 1: establishing a system architecture of a micro power grid CPS;
fig. 2 shows an architecture of the microgrid CPS, wherein the double-line arrows represent the energy flow and the single-line arrows represent the information flow of the microgrid CPS. Physical devices (distributed power supplies, power electronic devices, energy storage devices and various types of loads) in the micro-grid CPS are connected together through a power network to form a physical system in the micro-grid CPS, and information network devices (sensors, servers and CPS real-time networks) are connected together through a communication network to form an information system in the micro-grid CPS.
Step 2: establishing a hierarchical structure of a micro-grid CPS;
according to the architecture of the microgrid CPS system shown in fig. 2, a 3-layer structure of the microgrid CPS is abstracted as shown in fig. 3, and each layer is defined as follows:
physical layer: the micro-grid CPS mainly comprises devices such as a distributed power supply, an energy storage device, a power electronic conversion device, a monitoring protection device and a load in a micro-grid, wherein the devices are connected with each other through a power grid in the micro-grid to form the bottommost layer in the micro-grid CPS, and can be sensed and controlled.
A communication layer: the micro-grid CPS communication system mainly comprises communication equipment, a communication protocol, an uplink/downlink transmission channel and the like, wherein the communication equipment mainly comprises a router, a switch and the like, the equipment are mutually connected through a communication network to form a communication layer of the micro-grid CPS, and the communication layer is mainly responsible for information acquisition and control instruction transmission.
Information layer: the control center of the micro-grid CPS is mainly responsible for data monitoring and optimization decision of the whole micro-grid CPS, analyzing information uploaded by a communication layer and generating a corresponding control instruction for issuing.
And step 3: establishing a simplified topological graph of the microgrid CPS;
based on the hierarchical structure of the microgrid CPS shown in FIG. 3, the main devices in the microgrid CPS are abstracted into points by using a graph theory method, the connection relationship between the devices is abstracted into edges, and a physical layer simplified network topology, an information layer simplified network topology and a corresponding relationship between the two layers of nodes are formed, as shown in FIG. 4.
And 4, step 4: establishing a CPS (control performance Standard) layering model of the microgrid;
establishing a hierarchical model of the microgrid CPS based on the simplified topological graph of the microgrid CPS shown in FIG. 4, which specifically comprises the following parts:
1) physical layer modeling
According to the power system load flow calculation method, orderY 0And (3) representing a node admittance matrix of the system, and representing the power distribution characteristics of nodes and branches in the system by using a direct current power flow model. According to the simplified condition of the direct current power flow equation, for a system with n nodes, the direct current power flow equation of the node power is as follows:
in the formulaYRepresenting a node admittance matrixY 0The negative value of (a) is,
representing the phase angle of the node voltage and P representing the injected power at the node.
Order to
Then the power flow of the system branch can be expressed as:
in the formula
The Hadamard product of the matrix is expressed, and the operation rule is the product of the corresponding position elements of the two matrices.
Definition of
The power flow distribution matrix representing the nodes and branches includes:
whereindiag(P) Representing node injection power matrixPDiagonal element ofP ii，P ii>0 represents the node injected power and,P ii<0 represents the outgoing power of the node,
the off-diagonal element of (A) represents the branch power flow and satisfiesP ij=- P ji 。
Defining a physical layer topological structure matrix in a microgrid CPST，TThe non-diagonal element in (1) indicates that the branches i-j are connected, otherwise, the branches are disconnected,Tthe expression of (a) is as follows:
2) physical layer-communication layer modeling
The equipment in the physical layer of the micro-grid CPS carries out information interaction with the communication layer through embedding the sensors and actuators, thereby defining a matrixSAndRrespectively shows whether a sensor and an actuator are embedded in the equipment, namely:
wherein: off diagonal elementss ij=1, r ij =1 denotes a branch circuit, respectivelyi-jA sensor and an actuator are arranged, otherwise, the sensor and the actuator are not arranged; diagonal elements ii=1，r iiAnd =1 indicates that the node is equipped with a sensor and an actuator, respectively, and not otherwise.
Various sensors and actuators are installed in the physical layer as interfaces of the physical layer and the communication layer to define a matrixSIndicating whether a sensor, a matrix, is embedded in a device of the physical layerSOff diagonal elements of (1)s ij=1, representing a branchi-jA sensor is arranged in the device, and the device is provided with a sensor,s ij=0, for branchi-jNo sensor is installed; diagonal elements ii=1, indicating that a node is equipped with a sensor,s ii=0, represents a nodeNo sensor is installed. Matrix arrayRSimilarly, it indicates whether an executor is embedded in a device of the physical layer.
3) Communication layer modeling
Definition matrixC upRepresenting physical layer to communication layer data upstream communication channels, diagonal elementsC up,ii=1 indicates that there is an uplink communication channel between a sensor embedded in a physical layer device node i and a communication layer, and the uploaded content is power information of the node i, otherwise, there is no uplink communication channel; off diagonal elementsC up,ijAnd =1 represents that the sensor embedded in the physical layer branch i-j and the communication layer have an uplink communication channel, and the uploading content is the power flow on the branch i-j and the switching state of the circuit breaker, otherwise, the uploading content does not exist.
In the same way, a matrix can be definedC down Which represents the communication layer to physical layer data downlink communication channel and is not described in detail herein.
4) Communication layer-information layer modeling
Definition of
And
respectively representing a power flow information matrix uploaded to an information layer by a communication layer and a physical layer equipment node topological structure matrix, wherein the expressions of the power flow information matrix and the physical layer equipment node topological structure matrix are as follows:
definition of
A power adjustment instruction matrix for representing information layer to physical layer node
A topological structure adjustment instruction matrix for expressing the topological structure adjustment of the information layer to the physical layer, wherein the expressions of the topological structure adjustment instruction matrix and the topological structure adjustment instruction matrix are as follows:
in the formula (I), the compound is shown in the specification,u iiindicates the amount of power adjustment to node i,u ii>0 indicates node power increase, and vice versau ii<0 represents a node power reduction.
In the formula (I), the compound is shown in the specification,u ijrepresenting the switch-on/off control instruction of the information layer to the circuit breaker on the physical layer branch i-j,u ijand =1 represents a closing instruction of the i-j circuit breaker of the branch circuit, otherwise, the closing instruction is an opening instruction.
5) Information layer modeling
The information layer analyzes and optimizes the uploaded information from the communication layer and generates corresponding control commands to be issued, and the information layer defines a node injection power monitoring matrix of the physical layer as
Defining all branch circuit breaker on-off monitoring matrix of information layer to physical layer as
The expressions of the two are respectively as follows:
whereinV i=1 indicates that the injected power of the node can be monitored and regulated,V iand =0 the opposite. In the same wayV ij=V ji=1 indicates that the breaker on/off status of branch i-j can be monitored,V ij=V jiand =0 the opposite.
An optimization decision function defining an information layer asGAdopts a particle swarm optimization algorithm to satisfy
The function is to convert the uploaded information into corresponding decision result and send it to the communication layer, then there are:
wherein the content of the first and second substances,
represents oneN pLine ofN pMatrix of columnsR，N pIndicating the number of nodes in the physical layer.
And 5: establishing a CPS unified model of the microgrid;
definition of
，
，
Respectively representing power adjustment matrix and object issued to physical layer equipment node via information layerAnd (3) arranging a layer topology change matrix and a power flow power matrix, wherein the CPS unified model of the micro-grid is as follows:
wherein the content of the first and second substances,
and
for new system topologies
The negative of the lower node admittance matrix and the branch power matrix,
phase angle, matrix, representing node voltageKCalculating a matrix of branch load flows of the system.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A unified modeling method for a microgrid information physical system based on interlayer coupling characteristics is characterized by comprising the following steps:
s1: according to the structure of a physical system and an information system in a microgrid, a microgrid CPS system architecture is built, the microgrid CPS is abstracted into a 3-layer layered structure based on the architecture, and the physical layer, the communication layer and the information layer are sequentially arranged from bottom to top;
s2: the method of graph theory is adopted to abstract the connection relation between the devices in the physical layer and the information layer of the micro-grid CPS into nodes and edges to form a physical layer simplified network topology G pInformation layer simplified network topologyG vWhereinG pAndG vthe formalization of (a) is defined as follows:
whereinV pAndV crespectively representing nodes in the physical layer and the information layer,E pandE crespectively representing a connection edge set in a physical layer and an information layer;
s3: establishing a model of each level based on a simplified network topological graph of each level of the micro-grid CPS;
s4: establishing an interface model between layers by adopting a matrix method;
s5: based on the coupling relation among a physical layer, a communication layer and an information layer, namely, the physical layer uploads power flow information and a topological structure to the information layer through the communication layer, the information layer takes the information uploaded by the communication layer as input, generates a control command after optimization decision and sends the control command to the physical layer, and the physical layer and the information layer are closely coupled through the communication layer to establish a micro-grid CPS unified model based on interlayer coupling characteristics.
2. The method for unified modeling of microgrid information physical system based on interlayer coupling characteristics of claim 1, characterized in that: the modeling method of each level in the S3 is as follows:
s30: the physical layer model is characterized by a direct current power flow model, and a matrix is definedTRepresenting the topology, the matrix, of the physical layerPRepresenting a power matrix of nodes in a physical layer, the matrixZRepresenting branch flow matrices, matrices
Representing the power flow distribution matrix in the physical layer, there are:
wherein the content of the first and second substances,diag(P) Representing a node power matrixPThe diagonal elements of (1);
s31: the model of the communication layer is characterized by a communication channel between the physical layer and the communication layer, and an uplink communication channel matrix is defined asC upThe method indicates whether the sensors and the communication layer arranged on the nodes and branches in the physical layer have uplink communication channels or not, and the downlink communication channel matrix isC downWhether an actuator and a communication layer which are arranged on a node and a branch in a physical layer have a downlink communication channel or not is represented;
s32: modeling an information layer: the control center is used as a control center of the micro-grid CPS and mainly responsible for data monitoring, optimization decision and control instruction issuing of the whole micro-grid CPS; defining a node injection power monitoring matrix of an information layer to a physical layer as
Indicating that the injected power of the node can be monitored and regulated; defining the on-off state monitoring matrix of all branch circuit breakers of the information layer to the physical layer as
Indicating that the on-off state of the branch circuit breaker can be monitored; an optimization decision function defining an information layer asGAdopts a particle swarm optimization algorithm to satisfy
The function is to convert the uploaded information into corresponding decision result and send the result to the communication layer, wherein
Represents oneN pLine ofN pMatrix of columnsR，N pIndicating the number of nodes in the physical layer.
3. The method for unified modeling of microgrid information physical system based on interlayer coupling characteristics of claim 1, characterized in that: the middle-level interface model in the S4 comprises a physical layer-communication layer interface model and a communication layer-information layer interface model, and the modeling steps are as follows:
s40: physical layer-communication layer interface modeling
Establishing an interface model of a physical layer and a communication layer by using information interaction between equipment in the physical layer and the communication layer, wherein the information interaction is characterized by a sensor and an actuator in the physical layer, and a correlation matrix is definedSAndRrespectively indicating whether a sensor and an actuator are embedded in the equipment;
s41: communication layer-information layer interface modeling
Establishing an interface model of the communication layer and the information layer by using information uploaded to the information layer by the communication layer and a control instruction issued by the information layer to the communication layer, wherein the information uploaded to the information layer by the communication layer comprises a power flow information matrix
Physical layer equipment node topological structure matrix
(ii) a The control instruction issued by the information layer to the communication layer comprises a power adjustment instruction matrix of the information layer to the physical layer node
Topological structure regulating instruction matrix of information layer to physical layer topological structure regulation
。
4. The method for unified modeling of microgrid information physical system based on interlayer coupling characteristics of claim 1, characterized in that: in S5, the implementation process of the micro-grid CPS unified modeling based on the interlayer coupling characteristics is as follows:
s50: definition of
Expressing the Hadamard product of the matrix, the operation rule is the product of the corresponding position elements of the two matrices, and the physical layer uploads the power flow information matrix to the information layer
Topological structure matrix
The expression is as follows:
s51: the control instruction after decision of the information layer forms a power adjustment instruction matrix by the power adjustment instruction
Topological structure regulating instruction matrix formed by topological structure regulating instruction
Are respectively:
s52: definition of
，
，
Respectively representing a power adjustment matrix, a physical layer topology change matrix and a power flow power matrix which are issued to the physical layer equipment nodes through the information layer, wherein the CPS unified model of the micro-grid is as follows:
wherein the content of the first and second substances,
and
for new system topologies
The negative of the lower node admittance matrix and the branch power matrix,
phase angle, matrix, representing node voltageKCalculating a matrix of branch load flows of the system.
5. The method for unified modeling of microgrid information physical system based on interlayer coupling characteristics of claim 1, characterized in that: the control instructions include power adjustment instructions and topology adjustment instructions.
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