CN112994082B - Distributed elastic voltage recovery and current distribution method for direct-current micro-grid - Google Patents

Distributed elastic voltage recovery and current distribution method for direct-current micro-grid Download PDF

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CN112994082B
CN112994082B CN202110141118.6A CN202110141118A CN112994082B CN 112994082 B CN112994082 B CN 112994082B CN 202110141118 A CN202110141118 A CN 202110141118A CN 112994082 B CN112994082 B CN 112994082B
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郭方洪
李�赫
郑祥康
董辉
张文安
朱俊威
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Zhejiang University of Technology ZJUT
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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
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/388—Islanding, i.e. disconnection of local power supply from the network
    • 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
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers

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Abstract

A distributed elastic voltage recovery and current distribution method for a direct current micro-grid comprises the steps of firstly, carrying out modeling analysis on the direct current micro-grid, and considering the problem of bus voltage error caused by attack; constructing an intermediate observer; estimating the attack signal in real time; finally, designing a corresponding elastic controller to compensate the system; the control targets of secondary recovery of the DC bus voltage and proportional distribution of the current are achieved. The method of the invention considers the phenomenon of network attack in the direct current micro-grid system, and can observe the attack on the system in real time, thereby improving the overall reliability of the direct current micro-grid system.

Description

Distributed elastic voltage recovery and current distribution method for direct-current micro-grid
Technical Field
The invention belongs to the field of microgrid safety, and particularly relates to a distributed elastic voltage recovery and current distribution method for a direct-current microgrid.
Background
With the shortage of traditional energy supply and the improvement of power utilization reliability, a microgrid combining an energy storage unit, a load and a related control device becomes a flexible and advanced novel power supply mode based on a high-efficiency and clean Distributed Generation (DG), and is a hotspot of domestic and foreign research in recent years. The micro-grid can be operated in parallel with a large power grid, can also be operated in an isolated island mode under the condition of power grid faults, independently supplies power for local loads, and has high power supply safety and reliability.
With the shortage of traditional energy supply and the improvement of electricity utilization reliability, a new power supply mode of a micro-grid based on efficient and clean distributed energy (DG) and combining an energy storage unit, a load and a related control device is receiving more and more attention. In recent years, the dc micro-grid has become a hot spot of domestic and foreign research due to its characteristics such as high efficiency, reliability and flexibility. Inspired by the control mode of the traditional power system, a hierarchical control structure is generally adopted for realizing the energy management of the island type direct current micro-grid more efficiently. The whole control system is divided into three layers, the bottom layer mainly adopts distributed droop control to realize current proportional output, the two layers of control aim at eliminating the problem of voltage deviation caused by the droop function, and the third layer of control is the discussion of the optimization problem of the whole energy management system.
The function of the two-layer control in the aspect of ensuring the stability of the micro-grid in the island operation is very critical. Therefore, it is also an important field of research. In two-tier control of a microgrid, there are mainly three types of control strategies: centralized, decentralized, and distributed. The centralized control adopts an integrated controller to control the whole network; in the distributed control, a plurality of sub-controllers are adopted to control each DG, and no information interaction exists among the sub-controllers; the distributed control uses the information of the sub-controllers and the neighbors thereof for control, and has higher flexibility and reliability. But distributed control is very vulnerable to network attacks due to the many control decisions and information communication techniques involved. Additionally, distributed control requires only communication between neighbors for control, but the lack of a central controller for monitoring the activity of the participating power generation units results in distributed control facing more serious problems in grid network security.
In recent years, a microgrid control system, the internet of things and the internet have a highly integrated trend, so that the intelligent and information degree of the microgrid is improved, and more safety problems are brought. The network attack can cause the control algorithm to be invalid, the control target cannot be reached, and the problems of voltage deviation of the micro-grid and the like are caused. Even the whole network system may be crashed, causing serious economic loss and the like.
Various novel attack techniques and means aiming at the micro-grid emerge endlessly, and have serious influence on the national economic development, social stability and the like. For the security threat, it becomes more important to detect the system running state in time, find the suspicious behavior in real time, and observe and compensate the intrusion behavior. Many existing detection measures are based on matching conditions of an observer and cannot be met by many actual systems; some methods without observer matching conditions are proposed based on performance optimization, and the error range cannot be clearly obtained through theoretical analysis.
Disclosure of Invention
Based on the problems, the invention provides a distributed elastic voltage recovery and current distribution method for a direct-current micro-grid. The method can accurately and quickly track the attack signal, ensures that the output current in the direct-current microgrid is distributed in proportion, further realizes the secondary recovery of the direct-current bus voltage, simultaneously observes the state quantity and the attack quantity by constructing the technology of the intermediate observer, and proves that the state of the error system is consistent and finally bounded by theoretical analysis.
The present invention provides the following solutions to solve the above technical problems:
a distributed elastic voltage recovery and current distribution method for a direct-current micro-grid comprises the following steps:
1) establishing a direct current microgrid model under attack, wherein the process is as follows:
1.1) based on a droop control equation, a direct current bus voltage equation can be obtained as shown in the formula (1):
Vb＝V*-(Ri+di)Ii (1)
wherein VbIs the value of the bus voltage, V*Is a voltage reference value, RiIs line impedance, diIs the sag factor, IiIs an output current;
1.2) in order to solve the problem of bus voltage deviation caused by the droop function, adding a distributed two-layer control input as shown in formula (2):
Figure BDA0002927338960000021
wherein
Figure BDA0002927338960000022
Is the original control input for the ith DG,
Figure BDA0002927338960000023
is the original control input for the jth DG,
Figure BDA0002927338960000024
proportional and integral coefficients, alpha, of the controllers of the ith DG, respectivelyi，
Figure BDA0002927338960000025
Error gain coefficient for ith DG;
1.3) further, the following attack signals are assumed to be received at the bus voltage measurement:
Figure BDA0002927338960000031
wherein
Figure BDA0002927338960000032
Is an injection fault voltage value;
analyzing the attacked system to obtain an equation after attack as shown in (4):
Figure BDA0002927338960000033
where u is the input control signal, udIs the original distributed controller urIs an elastic controller to be designed;
finally, the obtained system state equation is shown as the formula (5):
Figure BDA0002927338960000034
where x (t) is the state quantity, ur(t) is the elastic control input, f (t) is the attack signal;
2) an intermediate observer is constructed, and the process is as follows:
2.1) based on the above analysis, defining intermediate variables as shown in equation (6):
ξ(t)＝f(t)-ωBTx(t) (6)
wherein B isTIs the transpose of the matrix B, and omega is an adjustable parameter;
2.2) designing an intermediate observer as shown in formula (7):
Figure BDA0002927338960000035
wherein
Figure BDA0002927338960000036
Is an observed value of x (t),
Figure BDA0002927338960000037
is an observed value of xi (t),
Figure BDA0002927338960000038
is the observed value of f (t);
Figure BDA0002927338960000039
Figure BDA00029273389600000310
and F is the intermediate observer gain, the observer gain, g, is obtained by constructing a matrix inequalityiIs a pinning factor;
3) the distributed elastic controller is designed to recover the bus voltage, and by the observer and the observation error analysis constructed above, for the ith DG, the elastic controller can be designed as follows:
Figure BDA0002927338960000041
wherein WiIs the ith controller gain.
Further, an intermediate observer is constructed in the step 2) to estimate the attack signal in real time, a distributed elastic controller is constructed in the step 3) to perform secondary recovery on the bus voltage of the system after attack, the current is output according to a set proportion, the bus voltage can still accurately track the reference value of 48V under the disturbance of changing load and the like, the disturbance rejection capability is strong, and the reliability of the direct-current microgrid is further improved.
The working principle of the invention is as follows: firstly, analyzing the DC micro-grid system after being attacked to obtain a bus voltage equation and establish a system state model; and further constructing an intermediate observer to realize real-time estimation on the attack, and finally designing a distributed two-layer elastic controller to realize secondary recovery of bus voltage and proportional output of current.
The invention has the following beneficial effects: compared with the traditional two-layer elastic control of the direct current micro-grid, the method can completely compensate the attack signal and counteract the influence of the attack signal on the direct current micro-grid. And only the bus voltage is used as feedback input, so that the observed quantity can be reduced, and the communication cost can be effectively reduced. Under the characteristics of not influencing the rapidity, the robustness and the like of an original system, the bus voltage of the direct-current micro-grid can still accurately track the voltage reference value after being attacked. The adopted intermediate observer is not limited by observer matching conditions, attack is estimated in real time, safe operation of the system is guaranteed, and required parameters can be measured through the sensor.
Drawings
FIG. 1 is a network communication topology diagram of a DC microgrid;
FIG. 2 is a block diagram of an attack model architecture;
FIG. 3 is a comparison graph of bus voltage and output current before and after the primary and secondary control after adding an attack signal;
FIG. 4 is a comparison graph of bus voltage and output current before and after the proposed elastic control after adding an attack signal;
FIG. 5 is a comparison graph of bus voltage and output current before and after an additional load is applied to the attack signal;
FIG. 6 is a graph comparing bus voltage and output current before and after adding an attack signal and adding an additional DG;
fig. 7 is a flow chart of an implementation of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention are further described below with reference to the accompanying drawings and practical experiments.
Referring to fig. 1 to 7, a distributed elastic voltage recovery and current distribution method for a dc microgrid includes the following steps:
1) establishing a direct current microgrid model under attack, wherein the process is as follows:
1.1) based on a droop control equation, a direct current bus voltage equation can be obtained as shown in the formula (1):
Vb＝V*-(Ri+di)Ii (1)
wherein VbIs the value of the bus voltage, V*Is a voltage reference value, RiIs line impedance, diIs the sag factor, IiIs an output current;
1.2) in order to solve the problem of bus voltage deviation caused by the droop function, adding a distributed two-layer control input as shown in formula (2):
Figure BDA0002927338960000051
wherein
Figure BDA0002927338960000052
Is the original control input for the ith DG,
Figure BDA0002927338960000053
is the original control input for the jth DG,
Figure BDA0002927338960000054
proportional and integral coefficients, alpha, of the controllers of the ith DG, respectivelyi，
Figure BDA0002927338960000055
Error gain coefficient for ith DG;
1.3) further, the following attack signals are assumed to be received at the bus voltage measurement:
Figure BDA0002927338960000056
wherein
Figure BDA0002927338960000057
Is an injection fault voltage value;
analyzing the attacked system to obtain an equation after attack as shown in (4):
Figure BDA0002927338960000058
where u is the input control signal, udIs the original distributed controller urIs an elastic controller to be designed;
finally, the obtained system state equation is shown as the formula (5):
Figure BDA0002927338960000059
where x (t) is the state quantity, ur(t) is the elastic control input, f (t) is the attack signal;
2) an intermediate observer is constructed, and the process is as follows:
2.1) based on the above analysis, defining intermediate variables as shown in equation (6):
ξ(t)＝f(t)-ωBTx(t) (6)
wherein B isTIs the transpose of the matrix B, and omega is an adjustable parameter;
2.2) designing an intermediate observer as shown in formula (7):
Figure BDA0002927338960000061
wherein
Figure BDA0002927338960000062
Is an observed value of x (t),
Figure BDA0002927338960000063
is an observed value of xi (t),
Figure BDA0002927338960000064
is the observed value of f (t);
Figure BDA0002927338960000065
Figure BDA0002927338960000066
and F is the intermediate observer gain, the observer gain, g, is obtained by constructing a matrix inequalityiIs a pinning factor;
3) the distributed elastic controller is designed to recover the bus voltage, and by the observer and the observation error analysis constructed above, for the ith DG, the elastic controller can be designed as follows:
Figure BDA0002927338960000067
wherein WiIs the ith controller gain.
Therefore, real-time estimation of an attack signal is realized by the middle observer (7), compensation recovery of system frequency is realized by the elastic controller (8), and output active power distribution as required is maintained.
In order to visually verify the effect of the strategy provided by the invention, the following experiment effects are respectively explained by examples:
table 1 gives the main electrical parameters and controller parameters.
Figure BDA0002927338960000068
Figure BDA0002927338960000071
TABLE 1
The invention sets an island type direct current micro-grid system consisting of 4 DGs, wherein 3 DGs are conventional and one is a standby DG. Its physical connections and its corresponding communication topology are shown in fig. 1. The experimental platform adopted mainly comprises two parts: the physical connections of the entire MG system and the main controller of the DG are modeled and simulated in a real-time simulator OP5600, while the distributed two-layer controller proposed herein is implemented on a Digital Signal Processor (DSP) controller board. The Modbus TCP/IP communication protocol is used for communication among the distributed DSP controllers.
When the system is injected with a value of
Figure BDA0002927338960000072
In the attack signal of (3), although the output current can be distributed according to a predetermined proportion under the original distributed two-layer control strategy, the bus voltage has a significant steady-state error, the bus voltage is 43V, and still deviates from the reference voltage value by 48V, and the result is shown in fig. 3.
Fig. 4 is a graph showing the results of the experiment using the flexible control strategy of the present invention. It can be seen that when the system adopts the control strategy proposed in the present invention, the system bus voltage can reach the reference 48V only after a short adjustment time, and the output current of each DG can still be accurately distributed according to the original proportion. The two experimental results show that the control strategy can compensate the DC micro-grid system after being attacked, so that the system bus voltage can be recovered to the reference value under the condition of not influencing the output current distribution precision.
Further, the performance of the proposed control strategy is further examined under varying load conditions. Fig. 5 shows waveforms of bus voltage and current with additional load added in the dc microgrid system. It can be seen from the figure that when an extra load is added, the output current is increased to a certain extent, but the overall ratio can still be distributed according to a given proportion, and the bus voltage is always maintained at 48V while the proportion distribution is kept unchanged. Next, when the standby DG is connected to the bus, the system bus voltage can be stabilized at 48V after a period of time adjustment, and the output current can be redistributed according to the predetermined ratio I1:I2:I3:I4The output was performed at 2:3:6:6, and the experimental waveform is shown in fig. 6. The experimental results show that the control strategy provided by the invention can realize frequency recovery and accurate active power distribution, and can also perform effective control response under the condition of changing system load. Meanwhile, the control target can still be completed by changing the number of DGs, and the plug-and-play function is realized
From the experimental results, the direct-current microgrid voltage recovery and current distribution method based on distributed two-layer elastic control can effectively estimate and compensate the attack signals in real time, so that the attacked direct-current microgrid system can realize secondary recovery of bus voltage and proportional distribution of output current.
The embodiments of the present invention have been described and illustrated in detail above with reference to the accompanying drawings, but are not limited thereto. Many variations and modifications are possible which remain within the knowledge of a person skilled in the art, given the concept underlying the invention.

Claims (2)

1. A distributed elastic voltage recovery and current distribution method for a direct current micro-grid is characterized by comprising the following steps:
1) establishing a direct current microgrid model under attack, wherein the process is as follows:
1.1) based on a droop control equation, a direct current bus voltage equation can be obtained as shown in the formula (1):
Vb＝V*-(Ri+di)Ii (1)
wherein VbIs the value of the bus voltage, V*Is a voltage reference value, RiIs line impedance, diIs the sag factor, IiIs an output current;
1.2) in order to solve the problem of bus voltage deviation caused by the droop function, adding a distributed two-layer control input as shown in formula (2):
Figure FDA0003493175530000011
wherein
Figure FDA0003493175530000012
Is the original control input for the ith DG,
Figure FDA0003493175530000013
is the original control input for the jth DG,
Figure FDA0003493175530000014
proportional and integral coefficients, alpha, of the controllers of the ith DG, respectivelyi，
Figure FDA0003493175530000015
Error gain coefficient for ith DG;
1.3) further, the following attack signals are assumed to be received at the bus voltage measurement:
Figure FDA0003493175530000016
wherein
Figure FDA0003493175530000017
Is an injection fault voltage value;
analyzing the attacked system to obtain an equation after attack as shown in (4):
Figure FDA0003493175530000018
where u is the input control signal, udIs the original distributed controller urIs an elastic controller to be designed;
finally, the obtained system state equation is shown as the formula (5):
Figure FDA0003493175530000019
where x (t) is the state quantity, ur(t) is the elastic control input, f (t) is the attack signal;
2) an intermediate observer is constructed, and the process is as follows:
2.1) defining intermediate variables as shown in equation (6):
ξ(t)＝f(t)-ωBTx(t) (6)
wherein B isTIs the transpose of the matrix B, and omega is an adjustable parameter;
2.2) designing an intermediate observer as shown in formula (7):
Figure FDA0003493175530000021
wherein
Figure FDA0003493175530000022
Is detected by the measured values of (a) and (b),
Figure FDA0003493175530000023
is detected by the measured values of (a) and (b),
Figure FDA0003493175530000024
is the observed value of f (t);
Figure FDA0003493175530000025
Figure FDA0003493175530000026
and F is the intermediate observer gain, the observer gain, g, is obtained by constructing a matrix inequalityiIs the drag coefficient;
3) the distributed elastic controller is designed to recover the bus voltage, and the elastic controller can be designed as follows for the ith DG according to the analysis of a constructed observer:
Figure FDA0003493175530000027
wherein WiIs the ith controller gain.
2. The distributed elastic voltage recovery and current distribution method for the direct current micro-grid according to claim 1, wherein in the step 2), an intermediate observer is constructed to estimate the attack signal in real time; in the step 3), the distributed elastic controller is designed to ensure that the current is distributed according to the set distribution while the voltage of the system bus is recovered after the attack.
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