CN113258614B - Island micro-grid elastic distributed frequency and voltage recovery control method - Google Patents

Island micro-grid elastic distributed frequency and voltage recovery control method Download PDF

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CN113258614B
CN113258614B CN202110588609.5A CN202110588609A CN113258614B CN 113258614 B CN113258614 B CN 113258614B CN 202110588609 A CN202110588609 A CN 202110588609A CN 113258614 B CN113258614 B CN 113258614B
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frequency
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CN113258614A (en
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杜兆斌
詹浩钦
陈飞鸿
吴佳润
刘骐滔
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South China University of Technology SCUT
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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
    • H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
    • H02J3/48—Controlling the sharing of the in-phase component
    • 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
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • 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
    • H02J3/16—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/381—Dispersed generators
    • 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
    • H02J2300/00—Systems for supplying or distributing electric power characterised by decentralized, dispersed, or local generation
    • H02J2300/20—The dispersed energy generation being of renewable origin
    • 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
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/12—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation
    • 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
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/22—Flexible AC transmission systems [FACTS] or power factor or reactive power compensating or correcting units
    • 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

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Abstract

The invention discloses an island micro-grid elastic distributed frequency and voltage recovery control method, which specifically comprises the following steps: for an inverter type island micro-grid consisting of a plurality of distributed power supplies, each distributed power supply is in bidirectional communication with an adjacent distributed power supply to form a sparsely-communicated communication network, and any two distributed power supplies respectively receive a reference threshold signal; carrying out completely distributed secondary control on the island micro-grid based on a containment algorithm under a communication network; and introducing an auxiliary control signal to interactively combine with a control signal of an accommodation algorithm and carrying out improved voltage and frequency recovery control based on a competitive interaction idea. The method has better performance in a plurality of scenes such as load fluctuation, adjustment of upper and lower limits of voltage reference values, removal of distributed power supplies, communication time delay change, communication network attack and the like, and has the advantages of improving the operation level of the island micro-grid and improving the elasticity of the island micro-grid for dealing with false data injection attack.

Description

Island micro-grid elastic distributed frequency and voltage recovery control method
Technical Field
The invention relates to the technical field of microgrid control, in particular to an island microgrid elastic distributed frequency and voltage recovery control method.
Background
With the gradual advance of energy transformation and the proposal of a carbon neutralization target, renewable energy power generation is further developed and popularized globally. The island micro-grid is an important form for integrating renewable energy power generation, and can provide safe and reliable clean electric energy for remote areas such as rural areas, islands, military bases and the like. The island micro-grid widely adopts the safe and stable operation of a layered control framework guarantee system, the first layer of control adopts droop control to realize the equal division of active power and reactive power of distributed power supplies, and the second layer of control utilizes the communication network to interact electrical information such as frequency, voltage and the like between the distributed power supplies, so that the frequency and voltage recovery is realized. An island micro-grid which is highly integrated with a communication network is converted into a typical information physical system, and threats of extreme man-made attack events such as network attack and the like are faced. How to enhance the resilience against network attacks becomes a new challenge for islanding micro-grids. In the network attack to which the cyber-physical system may be subjected, the damage level that may be caused by the dummy data injection attack is the largest, which may cause the system to be unstable and even more serious accidents by changing the real data in the sensors and actuators. Therefore, how to resist the influence of false data injection attack on the distributed frequency and voltage recovery control of the island microgrid has important significance for the stable operation of the microgrid.
In addition, since the reactive-voltage droop control is to realize reactive power distribution by using local voltage variables of the distributed power supply, the voltage recovery and the reactive sharing have essential conflicts and need to be balanced in a conservative manner. In order to balance the two goals of voltage recovery and reactive power sharing, the existing method mainly controls the voltage average value of the distributed power supply to recover to a reference value and realizes reactive power sharing, or controls the reactive power average value of the distributed power supply to recover to the reference value and realizes voltage recovery. However, both of these methods have the potential of voltage or reactive power out-of-limit, especially in island micro-grids with mismatched line impedance and large reactive power variation. Further, the conventional consistency algorithm can realize frequency and voltage recovery of the islanded microgrid under the condition that the communication network is not attacked, however, when the communication network is attacked by false data injection, the frequency and voltage of the distributed power supply cannot be converged to the reference value under the control of the conventional consistency algorithm. Therefore, how to clearly control the voltage boundary and the reactive boundary provides a new balance method for voltage recovery and reactive sharing, and the method has important significance for improving the operation level of the island microgrid.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides an island microgrid elastic distributed frequency and voltage recovery control method capable of resisting unknown bounded false data injection attacks.
A second object of the present invention is to provide a storage medium.
It is a third object of the invention to provide a computing device.
In order to achieve the purpose, the invention adopts the following technical scheme:
an island microgrid elastic distributed frequency and voltage recovery control method is used for an inverter type island microgrid with a layered control architecture, wherein the island microgrid is provided with a plurality of distributed power supplies, and the island microgrid elastic distributed frequency and voltage recovery control method specifically comprises the following steps:
for an inverter type island micro-grid composed of a plurality of distributed power supplies, each distributed power supply is in bidirectional communication with an adjacent distributed power supply to form a sparsely communicated communication network, and any two distributed power supplies receive reference threshold signals respectively, wherein the reference threshold signals specifically comprise a voltage reference value upper limit, a voltage reference value lower limit, a frequency reference value upper limit and a frequency reference value lower limit;
carrying out completely distributed secondary control on the island micro-grid based on a containment algorithm under a communication network;
the method comprises the following steps of carrying out completely distributed secondary control on an island micro-grid based on a containment algorithm under a communication network, and specifically comprises the following steps:
performing voltage recovery and reactive power sharing control according to the upper limit of the voltage reference value and the lower limit of the voltage reference value based on a containment algorithm, so that the voltage of the distributed power supply is converged in a voltage convex hull formed by the upper limit of the voltage reference value and the lower limit of the voltage reference value;
and performing frequency recovery and active power equipartition control based on a containment algorithm according to the upper limit and the lower limit of the frequency reference value, so that the frequency of the distributed power supply is converged in a frequency convex hull formed by the upper limit and the lower limit of the frequency reference value.
As a preferred technical scheme, the voltage recovery and reactive power sharing control is carried out based on a containment algorithm according to a voltage reference value upper limit and a voltage reference value lower limit, and the voltage is controlled according to a voltage recovery and reactive power sharing control formula;
the voltage recovery and reactive power sharing control formula is specifically expressed as follows:
Figure BDA0003088599650000031
in the formula, Δ ViFor the voltage recovery control signal of the ith station distributed power supply,
Figure BDA0003088599650000032
is Δ ViDifferential form of (c)vControlling the gain for a first voltage, cQFor the first reactive control gain, aijRepresenting the communication conditions of a communication network node i and a communication network node j, wherein N is the total number of distributed power supplies in the islanding microgrid, N +1 represents the communication network node serial number of the upper limit of a voltage reference value, N +2 represents the communication network node serial number of the lower limit of the voltage reference value, voiIs the output voltage, v, of the ith distributed power supplyojIs the output voltage, v, of the jth distributed power supplyref,uIs the upper limit of the voltage reference value, vref,lTo the lower limit of the voltage reference value, QiFor the output reactive power of the ith distributed power supply, nQ,iIs the reactive droop coefficient, Q, of the ith distributed power supplyjOutput reactive power of jth distributed power supply, nQ,jThe index i represents a communication network node i, namely the ith distributed power supply, the index j represents a communication network node j, namely the jth distributed power supply, i and j are positive integers, a left symbol delta represents a recovery control signal of a corresponding parameter, and a superscript symbol is represented as a result of differentiation of the corresponding parameter, namely a differential form of the corresponding parameter.
As a preferred technical scheme, the voltage recovery and reactive power sharing control formula is in a matrix form, and is specifically converted through the following steps:
let Vi＝voi+cQnQ,iQi，Vref,u＝vref,u+cQnQ,iQi，Vref,l＝vref,l+cQnQ,iQi，
Figure BDA0003088599650000033
V＝[V1,...,VN]T，Vref＝[Vref,u,Vref,l]TIn which V isiRepresents the equivalent voltage, V, of the ith distributed power supplyref,uRepresents the upper limit of the equivalent voltage reference value, Vref,lRepresents the lower limit of the equivalent voltage reference value, V represents the equivalent voltage column vector,
Figure BDA0003088599650000041
a differential form, V, representing the column vector of equivalent voltagesrefRepresenting an equivalent voltage reference value column vector;
the conversion voltage recovery and reactive power sharing control formula is in a matrix form, namely expressed as:
Figure BDA0003088599650000042
in the formula L1、L2The first coefficient matrix and the second coefficient matrix extracted from the communication network Laplace matrix L,
Figure BDA0003088599650000043
representing a real number domain, wherein N is the total number of distributed power supplies in the island microgrid;
the communication network laplacian matrix L is represented as:
Figure BDA0003088599650000044
as a preferred technical scheme, the method is based on a containment algorithm and performs frequency recovery and active power sharing control according to a frequency reference value upper limit and a frequency reference value lower limit, and specifically performs voltage control according to a frequency recovery and active power sharing control formula;
the frequency recovery and active power equipartition control formula specifically comprises:
Figure BDA0003088599650000045
where omega is a frequency column vector,
Figure BDA0003088599650000046
in differential form of Ω, ΩrefFor a column vector of frequency reference values, Ωref,uFor the upper column vector, Ω, of the frequency reference valueref,lFor the lower column vector of the frequency reference value, ΩiIs the frequency of the ith distributed power supply, delta omega is the column vector of the frequency recovery control signal,
Figure BDA0003088599650000047
in differential form of Δ ω, cωControlling the gain for the first frequency, cPFor the first active control gain, ωiIs the output angular frequency, omega, of the i-th distributed power supplyref,uIs the upper limit of the angular frequency reference value, ωref,lIs the lower limit of the angular frequency reference value, PiFor the output active power of the ith distributed power supply, mP,iIs the active droop coefficient, L, of the ith distributed power supply1、L2The first coefficient matrix and the second coefficient matrix extracted from the communication network Laplace matrix L,
Figure BDA0003088599650000048
representing a real number domain, wherein N is the total number of distributed power supplies in the island micro-grid;
the communication network laplacian matrix L is represented as:
Figure BDA0003088599650000051
as a preferred solution, ω is setref,u＝ωref,lSo that the angular frequency of the whole microgrid is consistent in a steady state.
As a preferred technical scheme, the method also comprises the following steps: introducing an auxiliary control signal and a control signal of a containing algorithm to carry out interactive combination and carrying out improved voltage and frequency recovery control based on a competitive interaction idea, wherein the auxiliary control signal is used for compensating the influence caused by false data injection attack and comprises an auxiliary voltage control signal and an auxiliary frequency control signal;
the introduced auxiliary control signal is interactively combined with the control signal of the inclusive algorithm and the improved voltage and frequency recovery control is carried out based on the competitive interaction idea, and the method specifically comprises the following steps:
introducing an auxiliary voltage control signal and a control signal of a containing algorithm for interaction, and combining the auxiliary voltage control signal and the containing algorithm to carry out elastic distributed voltage recovery control based on a competitive interaction idea;
introducing an auxiliary frequency control signal and a control signal of an accommodation algorithm for interaction, and combining the auxiliary frequency control signal and the accommodation algorithm to carry out elastic distributed frequency recovery control based on a competitive interaction idea;
the competitive interaction idea is specifically based on a dynamic system interconnection competitive idea, and the competitive interaction idea comprises competitive interaction of a dynamic system between an auxiliary voltage control signal and a voltage control signal and competitive interaction of the dynamic system between an auxiliary frequency control signal and a frequency control signal.
As a preferred technical solution, the elastic distributed voltage recovery control is performed by combining an auxiliary voltage control signal and a containment algorithm based on a competitive interaction idea, specifically: controlling the voltage according to an elastic distributed voltage recovery control formula;
the elastic distributed voltage recovery control formula is specifically as follows:
Figure BDA0003088599650000052
where deltav is the voltage recovery control signal for the distributed power supply,
Figure BDA0003088599650000053
a differential form of Δ VWhere V is the column vector of the equivalent voltage,
Figure BDA0003088599650000054
in the form of a differential of the column vector of equivalent voltages, cvControlling the gain for a first voltage, VrefRepresenting the column vector of equivalent voltage reference values, VhIs an introduced auxiliary voltage control signal for compensating the influence caused by the false data injection attack, kV1、kV2And kV3A first auxiliary voltage control gain, a second auxiliary voltage control gain, a third auxiliary voltage control gain, d, which are respectively greater than 0VAnd dVhRespectively an unknown bounded voltage attack parameter, L, suffered by the voltage signal and an unknown bounded voltage attack parameter, suffered by the auxiliary voltage control signal1、L2Respectively a first coefficient matrix and a second coefficient matrix extracted from a communication network Laplace matrix L,
Figure BDA0003088599650000061
representing a real number domain, the communication network laplace matrix L is represented as:
Figure BDA0003088599650000062
as a preferred technical solution, the elastic distributed frequency recovery control is performed by combining an auxiliary frequency control signal and a containment algorithm based on a competitive interaction idea, specifically: controlling the frequency according to an elastic distributed frequency recovery control formula;
the elastic distributed frequency recovery control formula is specifically as follows:
Figure BDA0003088599650000063
where omega is a frequency column vector,
Figure BDA0003088599650000064
in differential form of Ω, ΩrefIs a frequency reference value sequenceVector, Δ ω is the column vector of the frequency recovery control signal,
Figure BDA0003088599650000065
in differential form of Δ ω, cωControlling the gain, Ω, for the first frequencyhIs an introduced auxiliary frequency control signal for compensating the influence caused by the false data injection attack, kΩ1、kΩ2And kΩ3A first auxiliary frequency control gain, a second auxiliary frequency control gain, a third auxiliary frequency control gain, d, which are respectively greater than 0ΩAnd dΩhFor unknown bounded frequency attack parameters, L, suffered by a frequency signal and by an auxiliary frequency control signal1、L2Respectively a first coefficient matrix and a second coefficient matrix extracted from a communication network Laplace matrix L,
Figure BDA0003088599650000066
representing a real number domain, the communication network laplace matrix L is represented as:
Figure BDA0003088599650000067
in order to achieve the second object, the invention adopts the following technical scheme:
a storage medium stores a program, and the program is executed by a processor to implement the island microgrid elastic distributed frequency and voltage recovery control method.
In order to achieve the third object, the invention adopts the following technical scheme:
a computing device comprises a processor and a memory for storing a program executable by the processor, and when the processor executes the program stored by the memory, the island microgrid elastic distributed frequency and voltage recovery control method is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention adopts a containment algorithm of a multi-agent system theory, improves the containment algorithm into an elastic distributed frequency and voltage recovery control method, and introduces an auxiliary control signal to each distributed power supply to interact with corresponding frequency and voltage state quantities; when the island microgrid is attacked by unknown bounded false data injection, the inverter type distributed power supply can control the frequency in the neighborhood of a frequency convex hull formed by the upper limit of a frequency reference value and the lower limit of the frequency reference value on the basis of reducing the active average deviation, and can also control the voltage in the neighborhood of a voltage convex hull formed by the upper limit of a voltage reference value and the lower limit of the voltage reference value on the basis of reducing the reactive average deviation, so that the problem that the robustness of the existing island microgrid distributed frequency and voltage recovery control method under the false data injection attack is poor, and the problem that the voltage boundary and reactive boundary of the distributed power supply cannot be clearly controlled by the existing island microgrid distributed voltage recovery control method are solved The method has better performance in a plurality of scenes such as communication network attack and the like, and has the advantages of improving the operation level of the island micro-grid and improving the elasticity of the island micro-grid for dealing with false data injection attack.
(2) When unknown bounded false data injection attacks exist in three links of a sensor, an actuator and a communication network of an island micro-grid, the influence of the attacks on distributed control is relieved by combining a containment algorithm and an auxiliary control signal.
Drawings
Fig. 1 is a flowchart of steps of a method for controlling resilient distributed frequency and voltage recovery of an islanded microgrid in embodiment 1 of the present invention;
fig. 2 is a diagram of an island microgrid structure of a verification experiment in embodiment 2 of the present invention;
fig. 3 is a communication network topology diagram of each distributed power supply of the verification experiment in embodiment 2 of the present invention;
FIG. 4 is a communication network topology diagram of a verification experiment in the case of cutting off a distributed power supply in embodiment 2 of the present invention;
FIG. 5 is a graph showing the frequency change of the verification experiment in example 2 of the present invention;
FIG. 6 is a graph showing the voltage change in the verification experiment in example 2 of the present invention;
fig. 7 is a graph of active power variation of a verification experiment in embodiment 2 of the present invention;
FIG. 8 is a graph of the variation of reactive power for the verification experiment in example 2 of the present invention;
FIG. 9 is a graph showing the frequency change of the containment algorithm comparison in the verification experiment in example 3 of the present invention;
FIG. 10 is a graph of voltage changes compared by the inclusion algorithm of the validation experiment in example 3 of the present invention;
FIG. 11 is a graph of the variation of active power compared by the inclusion algorithm in the validation experiment in example 3 of the present invention;
fig. 12 is a graph of reactive power change compared by the containment algorithm in the verification experiment in example 3 of the present invention.
Detailed Description
In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item appearing before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
In the description of the present disclosure, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly unless otherwise explicitly stated or limited. For example, the connection can be fixed, detachable or integrated; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art. In addition, technical features involved in different embodiments of the present disclosure described below may be combined with each other as long as they do not conflict with each other.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
Example 1
As shown in fig. 1, the present embodiment provides an island microgrid elastic distributed frequency and voltage recovery control method, which is used for an inverter type island microgrid with a hierarchical control architecture, and the island microgrid is provided with a plurality of distributed power supplies. The method specifically comprises the following steps:
for an inverter type island micro-grid consisting of a plurality of distributed power supplies, each distributed power supply is in bidirectional communication with an adjacent distributed power supply to form a sparsely-communicated communication network, and any two distributed power supplies respectively receive a reference threshold signal; in practical application, the reference threshold signal specifically includes an upper voltage reference value limit, a lower voltage reference value limit, an upper frequency reference value limit, and a lower frequency reference value limit.
Carrying out completely distributed secondary control on the island micro-grid based on a containment algorithm under a communication network;
and introducing an auxiliary control signal to interactively combine with a control signal of an accommodation algorithm and carrying out improved voltage and frequency recovery control based on a competitive interaction idea.
In this embodiment, a completely distributed secondary control is performed on an island microgrid based on a containment algorithm in a communication network, and the specific steps include:
performing voltage recovery and reactive power sharing control according to the upper limit of the voltage reference value and the lower limit of the voltage reference value based on a containment algorithm, so that the voltage of the distributed power supply is converged in a voltage convex hull formed by the upper limit of the voltage reference value and the lower limit of the voltage reference value;
and performing frequency recovery and active power equipartition control based on a containment algorithm according to the upper limit and the lower limit of the frequency reference value, so that the frequency of the distributed power supply is converged in a frequency convex hull formed by the upper limit and the lower limit of the frequency reference value.
In this embodiment, the voltage convex hull and the frequency convex hull are specifically obtained through the following steps:
let the first set C be a real vector space
Figure BDA0003088599650000101
If for any of the elements x and y in the first set C, and any z ∈ [0,1 ]]If all satisfy the point (1-z) x + zy ∈ C, then the first set C is said to be convex. Let a second set X ═ { X in the first set C1,...,xpThe convex hull of (C) is the smallest convex set containing all the points of the second set X, which is the set of points in the first set C.
In this embodiment, the convex hull of the second set X is represented as:
Figure BDA0003088599650000102
in the formula xiRepresenting the ith element, a, in the convex hull of the second set XiRepresenting the coefficients corresponding to the ith element in the convex hull of the second set X, P representing the dimension of the real vector,
Figure BDA0003088599650000103
representing a real number domain.
In the embodiment, based on a containing algorithm, voltage recovery and reactive power sharing control are carried out according to an upper voltage reference value limit and a lower voltage reference value limit, and voltage is controlled according to a voltage recovery and reactive power sharing control formula;
the voltage recovery and reactive power sharing control formula is specifically expressed as follows:
Figure BDA0003088599650000111
in the formula, Δ ViFor the voltage recovery control signal of the ith station distributed power supply,
Figure BDA0003088599650000112
is DeltaViDifferential form of (c)vControlling the gain for a first voltage, cQFor the first reactive control gain, aijRepresents the communication situation of a communication network node i and a communication network node j, aij1 denotes with communication, aijWhen the number of the distributed power supplies in the island micro-grid is 0, N is the total number of the distributed power supplies in the island micro-grid, N +1 represents the serial number of the communication network node of the upper limit of the voltage reference value, N +2 represents the serial number of the communication network node of the lower limit of the voltage reference value, voiIs the output voltage, v, of the ith distributed power supplyojIs the output voltage, v, of the jth distributed power supplyref,uIs the upper limit of the voltage reference value, vref,lTo the lower limit of the voltage reference value, QiFor the output reactive power of the ith distributed power supply, nQ,iIs the reactive droop coefficient, Q, of the ith distributed power supplyjFor the output reactive power of the jth distributed power supply, nQ,jAnd the reactive droop coefficient of the jth distributed power supply is shown. In practical application, the subscript i represents a communication network node i, i.e. the ith distributed power supply, the subscript j represents a communication network node j, i.e. the jth distributed power supply, and i and j are positive integers.
In the present embodiment, the left symbol Δ represents the recovery control signal for the corresponding parameter, and the upper symbol · represents the result of differentiation of the corresponding parameter, that is, the differential form of the corresponding parameter.
In this embodiment, the voltage recovery and reactive power sharing control formula is in a matrix form, and specifically, the conversion is performed through the following steps:
let Vi＝voi+cQnQ,iQi，Vref,u＝vref,u+cQnQ,iQi，Vref,l＝vref,l+cQnQ,iQi，
Figure BDA0003088599650000113
V＝[V1,...,VN]T，Vref＝[Vref,u,Vref,l]T，ViRepresents the equivalent voltage, V, of the ith distributed power supplyref,uRepresents the upper limit of the equivalent voltage reference value, Vref,lRepresents the lower limit of the equivalent voltage reference value, V represents the equivalent voltage column vector,
Figure BDA0003088599650000116
a differential form, V, representing the column vector of equivalent voltagesrefRepresenting an equivalent voltage reference value column vector;
the conversion voltage recovery and reactive power sharing control formula is in a matrix form, namely expressed as:
Figure BDA0003088599650000114
where deltav is the voltage recovery control signal for the distributed power supply,
Figure BDA0003088599650000115
in differential form of Δ V, V representing the equivalent voltage column vector, L1、L2The first coefficient matrix and the second coefficient matrix extracted from the communication network Laplace matrix L,
Figure BDA0003088599650000121
wherein the communication network Laplace matrix is L ═ Lij]∈R(N+2)×(N+2)，lijFor communication network node i and communication network nodeThe communication network laplacian element value of point j;
when the value of i is equal to j,
Figure BDA0003088599650000122
when i ≠ j, lij＝-aijI.e. the communication network laplacian matrix L is represented as:
Figure BDA0003088599650000123
in the embodiment, frequency recovery and active power equipartition control are performed according to an upper frequency reference value limit and a lower frequency reference value limit based on a containment algorithm, and voltage is controlled specifically according to a frequency recovery and active power equipartition control formula;
the frequency recovery and active power equipartition control formula specifically comprises:
Figure BDA0003088599650000124
where omega is a frequency column vector,
Figure BDA0003088599650000125
in differential form of Ω, ΩrefFor a column vector of frequency reference values, Ωref,uFor the upper column vector, Ω, of the frequency reference valueref,lFor the lower column vector of the frequency reference value, ΩiIs the frequency of the ith distributed power supply, delta omega is the column vector of the frequency recovery control signal,
Figure BDA0003088599650000126
in the form of a differential of Δ ω, Δ ω is a column vector of the frequency recovery control signal,
Figure BDA0003088599650000127
in differential form of Δ ω, cωControlling the gain for the first frequency, cPFor the first active control gain, ωiIs the output angular frequency, omega, of the i-th distributed power supplyref,uIs the upper limit of the angular frequency reference value, ωref,lIs the lower limit of the angular frequency reference value, PiFor the output active power of the ith distributed power supply, mP,iThe active droop coefficient of the ith distributed power supply is shown. Specifically, Ωref＝[Ωref,u,Ωref,l]T，Ωref,u＝ωref,u+cPmP,iPi，Ωref,l＝ωref,l+cPmP,iPi，Ω＝[Ω1,...,ΩN]T，Ωi＝ωi+cPmP,iPi；
Because the angular frequency of the whole microgrid is consistent when the microgrid operates in a steady state, omega is setref,u＝ωref,l。
In this embodiment, the method for introducing the auxiliary control signal to interactively combine with the control signal of the inclusive algorithm and performing the improved voltage and frequency recovery control based on the competitive interaction idea includes the following specific steps:
introducing an auxiliary voltage control signal and a control signal of a containing algorithm for interaction, and combining the auxiliary voltage control signal and the containing algorithm to carry out elastic distributed voltage recovery control based on a competitive interaction idea; in practical application, on the basis of voltage recovery and reactive power sharing control based on a containment algorithm, an auxiliary control signal and a containment algorithm control signal are introduced for interaction, and a voltage recovery and reactive power sharing control method based on the containment algorithm is improved into an elastic distributed voltage recovery control method.
Introducing an auxiliary frequency control signal and a control signal of an accommodation algorithm for interaction, and combining the auxiliary frequency control signal and the accommodation algorithm to carry out elastic distributed frequency recovery control based on a competitive interaction idea; in practical application, on the basis of the frequency recovery and the active power equipartition control based on the inclusive algorithm, the frequency recovery and active power equipartition control method based on the inclusive algorithm is improved into an elastic distributed frequency recovery control method by introducing an auxiliary control signal to interact with a inclusive algorithm control signal.
In this embodiment, the competitive interaction idea is specifically based on the dynamic system interconnection competitive idea, that is, the competitive interaction between the auxiliary voltage control signal and the voltage control signal of the dynamic system and the competitive interaction between the auxiliary frequency control signal and the frequency control signal of the dynamic system are included.
In this embodiment, the elastic distributed voltage recovery control is performed based on a competitive interaction idea in combination with an auxiliary voltage control signal and a containment algorithm, and specifically, the voltage is controlled according to an elastic distributed voltage recovery control formula.
In this embodiment, the elastic distributed voltage recovery control formula is specifically:
Figure BDA0003088599650000131
in the formula VhIs an introduced auxiliary voltage control signal for compensating the influence caused by the false data injection attack, kV1、kV2And kV3A first auxiliary voltage control gain, a second auxiliary voltage control gain, a third auxiliary voltage control gain, d, which are respectively greater than 0VAnd dVhRespectively unknown bounded voltage attack parameter suffered by the voltage signal V and the auxiliary voltage control signal VhAn unknown bounded voltage attack parameter is suffered. Wherein, Vh＝[Vh1,...,VhN]T，dV＝[dV1,...,dVN]T，dVh＝[dVh1,...,dVhN]T。
In practical application, the elastic distributed voltage recovery control formula is provided with two dynamic systems, namely a dynamic system of a voltage recovery control signal of the distributed power supply and a dynamic system of an auxiliary voltage control signal, and false data injection attack is resisted through interconnection competition of the two dynamic systems. Under the attack of false data injection, the voltage is controlled by adopting an elastic distributed voltage recovery control formula, so that the voltage of the distributed power supply is converged in the neighborhood of a voltage convex hull formed by the upper limit of a voltage reference value and the lower limit of the voltage reference value.
In this embodiment, the elastic distributed frequency recovery control is performed based on the competitive interaction idea in combination with the auxiliary frequency control signal and the inclusive algorithm, and specifically, the frequency is controlled according to the elastic distributed frequency recovery control formula.
In this embodiment, the elastically distributed frequency recovery control formula is specifically:
Figure BDA0003088599650000141
in the formula of omegahIs an introduced auxiliary frequency control signal for compensating the influence caused by the false data injection attack, kΩ1、kΩ2And kΩ3A first auxiliary frequency control gain, a second auxiliary frequency control gain, a third auxiliary frequency control gain, d, which are respectively greater than 0ΩAnd dΩhAn unknown bounded frequency attack parameter and an auxiliary frequency control signal omega, respectively, suffered by the frequency signal omegah(ii) an unknown bounded frequency attack parameter suffered from, wherein Ωh＝[Ωh1,...,ΩhN]T，dΩ＝[dΩ1,...,dΩN]T，dΩh＝[dΩh1,...,dΩhN]T。
In practical application, the elastic distributed frequency recovery control formula is provided with two dynamic systems, namely a dynamic system of a frequency recovery control signal of a distributed power supply and a dynamic system of an auxiliary frequency control signal, and false data injection attack is resisted through interconnection competition of the two dynamic systems. Under the attack of false data injection, the frequency is controlled by adopting an elastic distributed frequency recovery control formula, so that the frequency of the distributed power supply is converged in the neighborhood of a frequency convex hull formed by the upper limit of the frequency reference value and the lower limit of the frequency reference value.
Example 2
In the embodiment 2, a verification experiment is performed on the basis of the embodiment 1, and the island microgrid adopting the containment algorithm is analyzed, wherein the island microgrid elastic distributed frequency and voltage recovery control method provided in the embodiment 1 is specifically adopted on the basis of the containment algorithm. Although the traditional consistency algorithm can realize the frequency and voltage recovery of the island microgrid under the condition that the communication network is not attacked, when the communication network is attacked by false data injection, the frequency and voltage of the distributed power supply cannot be converged to the reference value under the control of the traditional consistency algorithm.
In this embodiment, an island microgrid adopting a conventional consistency algorithm is taken as an example, wherein the operating principle of an inverter type island microgrid specifically includes: the inverter type island micro-grid takes an inverter type distributed power supply as a power generation main body, and the dynamic model description of the inverter type distributed power supply connected with the grid through an inductance-capacitance filter and a voltage and current inner ring controller thereof is as follows:
Figure BDA0003088599650000151
Figure BDA0003088599650000152
Figure BDA0003088599650000153
Figure BDA0003088599650000154
Figure BDA0003088599650000155
Figure BDA0003088599650000156
Figure BDA0003088599650000157
Figure BDA0003088599650000158
Figure BDA0003088599650000159
Figure BDA00030885996500001510
wherein the subscript i denotes the ith distributed power supply, LfiAnd RfiRespectively representing filter inductance and resistance, CfiDenotes the filter capacitance, LciAnd RciRespectively representing the coupled inductance and resistance, ildiAnd ilqiInverter output filter inductor current, v, representing d-axis and q-axis, respectivelydiAnd vqiInverter output port voltages, v, representing d-axis and q-axis, respectivelyodiAnd voqiRepresenting the output capacitor voltages, i, of the d-and q-axes, respectivelyodiAnd ioqiRepresenting the output inductor current, v, of d and q axes respectivelybdiAnd vbqiRepresenting the grid-connected bus voltage, omega, of the d-and q-axes, respectivelyiRepresenting the output angular frequency of the distributed power supply.
Figure BDA00030885996500001511
And
Figure BDA00030885996500001512
voltage reference values of output ports of the inverter respectively representing d-axis and q-axis
Figure BDA00030885996500001513
Figure BDA00030885996500001514
Thereby omitting the modulation process of the inverter and,
Figure BDA00030885996500001515
and
Figure BDA00030885996500001516
the reference values of the inverter output filter inductor current of the d axis and the q axis are respectively represented. OmegabRepresenting the nominal angular frequency of the system, KPCiAnd KICiRespectively representing the proportional coefficient and the integral coefficient of the current proportional-integral controller,
Figure BDA0003088599650000161
and
Figure BDA0003088599650000162
reference values of inverter output capacitance voltage, F, representing d-axis and q-axis respectivelyiRepresenting current feed-forward gain for adjusting output impedance and improving immunity of the inverter, KPViAnd KIViRespectively representing the proportional coefficient and the integral coefficient of the voltage proportional-integral controller.
In this embodiment, for an islanded microgrid that employs a hierarchical control architecture, the islanded microgrid includes primary control and secondary control.
In practical application, the primary control is specifically realized by adopting droop control at a primary control layer, and the specific process is represented as follows:
ωi＝ωn,i-mP,iPi
voi＝Vn,i-nQ,iQi
in the formula of omegaiAnd voiRespectively representing the angular frequency and amplitude reference value omega of the voltage of the output capacitor of the ith distributed power supplyn,iAnd Vn,iRespectively representing the rated angular frequency and the rated voltage of the ith distributed power supply; piAnd QiRespectively representing the output active power and reactive power of the ith distributed power supply; m isP,iAnd nQ,iAnd respectively representing the active droop coefficient and the reactive droop coefficient of the ith distributed power supply.
In practical application, the secondary control specifically includes generating a compensation term in the secondary control layer and adding the compensation term to the primary controller, so as to compensate the angular frequency and voltage deviation caused by the droop control, and the specific process is represented as follows:
ωi＝ωn,i-mP,iPi+Δωi
voi＝Vn,i-nQ,iQi+ΔVi
in the formula, delta omegaiAnd Δ ViThe angular frequency compensation term and the voltage compensation term are generated by a secondary controller of the ith distributed power supply respectively.
In practical application, in order to recover the frequency and the voltage, a traditional consistency algorithm is generally adopted, and the specific process is represented as follows:
Figure BDA0003088599650000171
Figure BDA0003088599650000172
in the formula betaω、βP、βvAnd betaQA second frequency control gain, a second active control gain, a second voltage control gain and a second reactive control gain, ω, each being greater than 0refAnd vrefFrequency and voltage reference values, respectively. giTo contain the gain, g is when the distributed power supply can receive the reference value i1, otherwise gi＝0。
As shown in FIG. 2, an island microgrid of 380V/50Hz with 4 inverter type distributed power supplies is taken as an example for explanation. Each inverter type distributed power supply is used as a power generation main body and is provided with an independent distributed power supply, and each distributed power supply is electrically connected with the controller and used for receiving a control signal sent by the controller. Each distributed power supply is also electrically connected with one end of an LC filter (inductance-capacitance filter) respectively, and the other end of the inductance-capacitance filter is connected to form a node, specifically: the first distributed power supply DG #1 is connected with the first inductance-capacitance filter to form a node # 1; correspondingly, a second distributed power supply DG #2 is connected to the second lc filter to form a node # 2; the third distributed power supply DG #3 is connected with the third inductance-capacitance filter to form a node # 3; fourth distributed power supply DG #4 is connected to the fourth lc filter to form node # 4. The node #1 and the node #2 are connected by a line12 circuit, the node #2 is also connected by a line23 circuit, the node #3 is also connected by a line34 circuit, the node #4 is connected by a line34 circuit, each of which is a connection node, and the line12 circuit, the line23 circuit, and the line34 circuit are all arranged as an LR series circuit. And carrying out bidirectional communication on the distributed power supplies with adjacent serial numbers, selecting a first distributed power supply DG #1 to receive an upper limit of a reference value, and selecting a third distributed power supply DG #3 to receive a lower limit of the reference value.
Furthermore, it is obvious to those skilled in the art that the micro-grid of multiple distributed power sources can be set up according to actual situations: for the microgrid with N distributed power supplies, at least N-1 communication lines are needed to enable the N distributed power supplies to be communicated, so that a path is formed, and any distributed power supply can interact with the rest distributed power supplies.
The information of the load, the line, the distributed power controller parameters and the like is specifically referred to table 1.
Table 1 islanding microgrid parameter table
Figure BDA0003088599650000181
As shown in table 1, in this embodiment, the performance of the island microgrid elastic distributed frequency and voltage recovery control method in multiple scenarios, such as load fluctuation, adjustment of upper and lower limits of voltage reference values, removal of distributed power supplies, communication delay variation, communication network attack, and the like, is mainly simulated and analyzed.
In practical application, the set control parameters are specifically as follows: c. Cω＝cP＝cQ＝10，cv＝0.2，kΩ1＝kV1＝2，kΩ2＝kV2＝10，kΩ3＝kV3100. Attack signal is applied to DG # 3: dΩ3＝-π(rad/s)，dV3-8V. Apply attack signal to DG # 2: dΩh2＝π(rad/s)，dVh2＝20V。
In order to better verify the performance of the islanded microgrid elastic distributed frequency and voltage recovery controller, the embodiment takes simulation events without network attack and with network attack as examples for explanation, in addition, a person skilled in the art can adjust the events according to actual situations, and the embodiment does not limit parameters of the network attack.
The simulation events are set as follows:
1) when the time T is 0s, the micro-grid isolated island operates, and only one controller of the distributed power supply is started;
2) when the time T is 1.0s, the island microgrid elastic distributed frequency and voltage recovery controller is started, the communication topology between distributed power supplies is specifically shown in fig. 3, the upper limit of a given voltage reference value is 390V, the lower limit of the voltage reference value is 380V, and the upper limit and the lower limit of the frequency reference value are both 50 Hz;
3) when the time T is 5.0s, an attack signal d is applied to DG #3Ω3And dV3And persists at a subsequent event;
4) when the time T is 10.0s, the upper limit of the voltage reference value is modified to 380V, and the lower limit of the voltage reference value is modified to 370V;
5) when the time T is 15.0s, an attack signal d is applied to DG #2Ωh2And dVh2And persists at a subsequent event;
6) when the time T is 19.0s, the node #2 load L2 is cut off by 50%;
7) when the time T is 28.0s, the upper limit of the voltage reference value is modified to be 390V;
8) when the time T is 37.0s, the node #3 load L3 is cut off by 50%;
9) when the time T is 46.0s, the distributed power supply DG #4 exits from operation, and the communication topology of the remaining distributed power supplies is specifically shown in fig. 4.
As shown in fig. 5 to 8, based on the simulation results of the network attack, when the time T is 5.0s, the distributed generator DG #3 is under attack, and the frequency, voltage, active power and reactive power of the distributed generator are slightly shifted, but the shift amount is obviously reduced compared with the injection attack amount. When T is 15.0s, the distributed generator DG #2 is attacked, and the frequency, voltage, active power, and reactive power of the distributed generator also slightly shift. Despite the attack signal dΩ3、dV3、dΩh2And dVh2And in the continuous existence of subsequent simulation events, the distributed power supply can maintain good frequency recovery, voltage recovery, active power equalization and reactive power equalization effects.
Example 3
In order to further verify the effectiveness of the method of this embodiment, this embodiment performs comparative simulation on the method before improvement and the method after improvement, and in this embodiment 3, on the basis of embodiment 2, the method before improvement and the method after improvement are respectively adopted for verification by DG # 1. The method before improvement specifically comprises the steps of performing voltage recovery and reactive power equipartition control on the basis of a containment algorithm according to an upper voltage reference value limit and a lower voltage reference value limit, and performing frequency recovery and active power equipartition control on the basis of a containment algorithm according to an upper frequency reference value limit and a lower frequency reference value limit; the improved method specifically comprises the steps of introducing an auxiliary control signal to be interactively combined with a control signal of an accommodation algorithm and carrying out improved voltage and frequency recovery control based on a competitive interaction idea.
In practical application, the control parameters of the inclusion algorithm in the method before improvement are set as follows: c. Cω＝cP＝cQ＝30，cv1.5; setting parameters in the improved method: c. Cω＝cP＝cQ＝30，cv＝1.5，kΩ1＝kV1＝2，kΩ2＝kV2＝2，kΩ3＝kV3＝100。
The simulation events are set as follows:
1) when the time T is 0s, the micro-grid isolated island operates, and only one controller of the distributed power supply is started;
2) when the time T is 1.0s, the island microgrid elastic distributed frequency and voltage recovery controller is started, the communication topology among distributed power supplies is shown in a combined manner in fig. 3, the upper limit of a given voltage reference value is 390V, the lower limit of the voltage reference value is 380V, and the upper limit and the lower limit of the frequency reference value are both 50 Hz;
3) and when the time T is 5.0s, applying dynamic all-node attack signals to the communication network:
Figure BDA0003088599650000201
and persists in subsequent events, wherein d ═ dΩ T dV T]TFor all distributed power communications network frequency and voltage attack signals,
Figure BDA0003088599650000202
representing a kronecker product, psi is a column vector composed of a frequency signal and a voltage signal, sigma is a first attack signal related parameter, and B is a second attack signal related parameter, specifically psi ═ ΩT VT]T，σ＝diag{-2,-5}；
Figure BDA0003088599650000203
4) When the time T is 10.0s, the upper limit of the voltage reference value is modified to 380V, and the lower limit of the voltage reference value is modified to 370V;
5) when the time T is 19.0s, the node #2 load L2 is cut off by 50%;
6) when the time T is 28.0s, the upper limit of the voltage reference value is modified to be 390V;
7) when the time T is 37.0s, the node #3 load L3 is cut off by 50%;
8) when the time T is 46.0s, the distributed power supply DG #4 exits from operation, and the communication topology of the remaining distributed power supplies is shown in fig. 4.
As shown in fig. 9 to 12, the method before the improvement and the method after the improvement are applied to DG #1 as an example. When a communication network of the island micro-grid is attacked by false data injection of all nodes, stable operation of the island micro-grid can be ensured by adopting the method before the improvement and the method after the improvement, however, the inhibiting effect of the method before the improvement on the communication network attack is obviously weaker than that of the method after the improvement. Under the action of the method before improvement, the frequency and the voltage have larger deviation from the reference value, and the voltage exceeds the lower limit of the reference value during operation. Under the action of the improved method, the frequency, the voltage, the active power and the reactive power of the distributed power supply are stably maintained in a reasonable neighborhood of a reference value, and the dynamic response speed is higher.
Based on the analysis, the method before improvement adopts a containment algorithm of a multi-agent system theory, has the advantage of improving the operation level of the island microgrid, and has the advantages that the improved method is used for carrying out elastic distributed voltage recovery control and elastic distributed frequency recovery control by combining auxiliary control signals and the containment algorithm, and introducing auxiliary control signals to each distributed power supply to interact with corresponding frequency and voltage state quantities, so that the operation level of the island microgrid is further improved, and the elasticity of the island microgrid for dealing with false data injection attacks is improved.
Example 4
This embodiment provides a storage medium, which may be a storage medium such as a ROM, a RAM, a magnetic disk, an optical disk, or the like, where one or more programs are stored, and when the programs are executed by a processor, the islanding microgrid elastic distributed frequency and voltage recovery control method of embodiment 1 is implemented.
Example 5
The present embodiment provides a computing device, which may be a desktop computer, a notebook computer, a smart phone, a PDA handheld terminal, a tablet computer, or other terminal devices with a display function, where the computing device includes a processor and a memory, where the memory stores one or more programs, and when the processor executes the programs stored in the memory, the islanding microgrid elastic distributed frequency and voltage recovery control method of the above embodiment 1 is implemented.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (8)

1. An island microgrid elastic distributed frequency and voltage recovery control method is used for an inverter type island microgrid with a layered control architecture, and is characterized in that the island microgrid elastic distributed frequency and voltage recovery control method specifically comprises the following steps:
for an inverter type island micro-grid composed of a plurality of distributed power supplies, each distributed power supply is in bidirectional communication with an adjacent distributed power supply to form a sparsely communicated communication network, and any two distributed power supplies receive reference threshold signals respectively, wherein the reference threshold signals specifically comprise a voltage reference value upper limit, a voltage reference value lower limit, a frequency reference value upper limit and a frequency reference value lower limit;
carrying out completely distributed secondary control on the island micro-grid based on a containment algorithm under a communication network;
the method comprises the following steps of carrying out completely distributed secondary control on an island micro-grid based on a containment algorithm under a communication network, and specifically comprises the following steps:
performing voltage recovery and reactive power sharing control according to the upper limit of the voltage reference value and the lower limit of the voltage reference value based on a containment algorithm, so that the voltage of the distributed power supply is converged in a voltage convex hull formed by the upper limit of the voltage reference value and the lower limit of the voltage reference value;
the control method comprises the steps of performing voltage recovery and reactive power sharing control based on a containment algorithm according to an upper voltage reference value limit and a lower voltage reference value limit, and specifically controlling voltage according to a voltage recovery and reactive power sharing control formula;
the voltage recovery and reactive power sharing control formula is specifically expressed as follows:
Figure FDA0003605392700000011
in the formula, Δ ViFor the voltage recovery control signal of the ith station distributed power supply,
Figure FDA0003605392700000012
is DeltaViDifferential form of (c)vControlling the gain for a first voltage, cQFor the first reactive control gain, aijRepresenting communications network node i and communications network node jAnd (3) determining the situation, wherein N is the total number of distributed power supplies in the island microgrid, N +1 represents the serial number of the communication network nodes of the upper limit of the voltage reference value, N +2 represents the serial number of the communication network nodes of the lower limit of the voltage reference value, voiIs the output voltage, v, of the ith distributed power supplyojIs the output voltage of the jth distributed power supply, vref,uIs the upper limit of the voltage reference value, vref,lTo the lower limit of the voltage reference value, QiFor the output reactive power of the ith distributed power supply, nQ,iIs the reactive droop coefficient, Q, of the ith distributed power supplyjFor the output reactive power of the jth distributed power supply, nQ,jThe reactive droop coefficient of the jth distributed power supply is represented by a subscript i, the communication network node i is represented by the subscript j, the communication network node j is represented by the subscript j, the ith distributed power supply is represented by the subscript j, the i and the j are positive integers, the left-hand symbol delta is represented by a recovery control signal of a corresponding parameter, and the upper-hand symbol delta is represented by a result obtained by differentiating the corresponding parameter, namely a differential form of the corresponding parameter;
performing frequency recovery and active power equipartition control according to the upper limit and the lower limit of the frequency reference value based on a containment algorithm, so that the frequency of the distributed power supply is converged in a frequency convex hull formed by the upper limit and the lower limit of the frequency reference value;
the method comprises the steps of performing frequency recovery and active power equipartition control based on a containment algorithm according to a frequency reference value upper limit and a frequency reference value lower limit, and specifically performing voltage control according to a frequency recovery and active power equipartition control formula;
the frequency recovery and active power equipartition control formula specifically comprises:
Figure FDA0003605392700000021
where omega is a frequency column vector,
Figure FDA0003605392700000022
in differential form of Ω, ΩrefFor a column vector of frequency reference values, Ωref,uFor the upper row direction of the frequency reference valueAmount omegaref,lFor the lower column vector of the frequency reference value, omegaiIs the frequency of the ith distributed power supply, delta omega is the column vector of the frequency recovery control signal,
Figure FDA0003605392700000023
in differential form of Δ ω, cωControlling the gain for the first frequency, cPFor the first active control gain, ωiIs the output angular frequency, omega, of the i-th distributed power supplyref,uIs the upper limit of the angular frequency reference value, ωref,lIs the lower limit of the angular frequency reference value, PiFor the output active power of the ith distributed power supply, mP,iIs the active droop coefficient, L, of the ith distributed power supply1、L2The first coefficient matrix and the second coefficient matrix extracted from the communication network Laplace matrix L,
Figure FDA0003605392700000024
Figure FDA0003605392700000025
representing a real number domain, wherein N is the total number of distributed power supplies in the island micro-grid;
the communication network laplacian matrix L is represented as:
Figure FDA0003605392700000026
and N is the total number of the distributed power supplies in the island micro-grid.
2. The island microgrid elastic distributed frequency and voltage recovery control method according to claim 1, characterized in that the voltage recovery and reactive power equipartition control formulas are in a matrix form, and are converted by the following steps:
let Vi＝voi+cQnQ,iQi，Vref,u＝vref,u+cQnQ,iQi，Vref,l＝vref,l+cQnQ,iQi，
Figure FDA0003605392700000031
V＝[V1,...,VN]T，Vref＝[Vref,u,Vref,l]TIn which V isiRepresents the equivalent voltage, V, of the ith distributed power supplyref,uRepresents the upper limit of the equivalent voltage reference value, Vref,lRepresents the lower limit of the equivalent voltage reference value, V represents the equivalent voltage column vector,
Figure FDA0003605392700000036
a differential form, V, representing the column vector of equivalent voltagesrefRepresenting an equivalent voltage reference value column vector;
the conversion voltage recovery and reactive power sharing control formula is in a matrix form, namely expressed as:
Figure FDA0003605392700000032
in the formula L1、L2The first coefficient matrix and the second coefficient matrix extracted from the communication network Laplace matrix L,
Figure FDA0003605392700000033
Figure FDA0003605392700000034
representing a real number domain, wherein N is the total number of distributed power supplies in the island micro-grid;
the communication network laplacian matrix L is represented as:
Figure FDA0003605392700000035
3. island according to claim 1The elastic distributed frequency and voltage recovery control method of the microgrid is characterized in that omega is setref,u＝ωref,lSo that the angular frequency of the whole microgrid is consistent in a steady state.
4. An island microgrid elastic distributed frequency and voltage recovery control method according to claim 1, characterized by further comprising the steps of: introducing an auxiliary control signal and a control signal of a containing algorithm to carry out interactive combination and carrying out improved voltage and frequency recovery control based on a competitive interaction idea, wherein the auxiliary control signal is used for compensating the influence caused by false data injection attack and comprises an auxiliary voltage control signal and an auxiliary frequency control signal;
the introduced auxiliary control signal is interactively combined with the control signal of the inclusive algorithm and the improved voltage and frequency recovery control is carried out based on the competitive interaction idea, and the method specifically comprises the following steps:
introducing an auxiliary voltage control signal and a control signal of a containing algorithm for interaction, and combining the auxiliary voltage control signal and the containing algorithm to carry out elastic distributed voltage recovery control based on a competitive interaction idea;
introducing an auxiliary frequency control signal and a control signal of an accommodation algorithm for interaction, and combining the auxiliary frequency control signal and the accommodation algorithm to carry out elastic distributed frequency recovery control based on a competitive interaction idea;
the competitive interaction idea is specifically based on a dynamic system interconnection competitive idea, and the competitive interaction idea comprises competitive interaction of a dynamic system between an auxiliary voltage control signal and a voltage control signal and competitive interaction of the dynamic system between an auxiliary frequency control signal and a frequency control signal.
5. The island microgrid elastic distributed frequency and voltage recovery control method according to claim 4, characterized in that the elastic distributed voltage recovery control is carried out by combining an auxiliary voltage control signal and a containment algorithm based on a competitive interaction idea, specifically: controlling the voltage according to an elastic distributed voltage recovery control formula;
the elastic distributed voltage recovery control formula is specifically as follows:
Figure FDA0003605392700000041
where deltav is the voltage recovery control signal for the distributed power supply,
Figure FDA0003605392700000042
in the differential form of av, V is the equivalent voltage column vector,
Figure FDA0003605392700000043
in differential form of the column vector of equivalent voltages, cvControlling the gain for a first voltage, VrefRepresenting the column vector of equivalent voltage reference values, VhIs an introduced auxiliary voltage control signal for compensating the influence caused by the false data injection attack, kV1、kV2And kV3A first auxiliary voltage control gain, a second auxiliary voltage control gain, a third auxiliary voltage control gain, d, each being greater than 0VAnd dVhL is an unknown bounded voltage attack parameter suffered by the voltage signal and an unknown bounded voltage attack parameter suffered by the auxiliary voltage control signal respectively1、L2Respectively a first coefficient matrix and a second coefficient matrix extracted from a communication network Laplace matrix L,
Figure FDA0003605392700000044
Figure FDA0003605392700000045
representing a real number domain, the communication network laplace matrix L is represented as:
Figure FDA0003605392700000046
and N is the total number of the distributed power supplies in the island micro-grid.
6. The island microgrid elastic distributed frequency and voltage recovery control method according to claim 4, characterized in that the elastic distributed frequency recovery control is carried out by combining an auxiliary frequency control signal and a containment algorithm based on a competitive interaction idea, specifically: controlling the frequency according to an elastic distributed frequency recovery control formula;
the elastic distributed frequency recovery control formula is specifically as follows:
Figure FDA0003605392700000051
where omega is a frequency column vector,
Figure FDA0003605392700000052
in differential form of Ω, ΩrefIs a column vector of frequency reference values, Δ ω is a column vector of frequency recovery control signals,
Figure FDA0003605392700000053
in differential form of Δ ω, cωControlling the gain, Ω, for the first frequencyhIs an introduced auxiliary frequency control signal for compensating the influence caused by the false data injection attack, kΩ1、kΩ2And kΩ3A first auxiliary frequency control gain, a second auxiliary frequency control gain, a third auxiliary frequency control gain, d, each being greater than 0ΩAnd dΩhFor unknown bounded frequency attack parameters, L, suffered by a frequency signal and by an auxiliary frequency control signal1、L2Respectively a first coefficient matrix and a second coefficient matrix extracted from a communication network Laplace matrix L,
Figure FDA0003605392700000054
Figure FDA0003605392700000055
representing a real number domain, the communication network laplace matrix L is represented as:
Figure FDA0003605392700000056
and N is the total number of the distributed power supplies in the island micro-grid.
7. A storage medium storing a program, wherein the program when executed by a processor implements the islanded microgrid elastic distributed frequency and voltage recovery control method according to any one of claims 1 to 6.
8. A computing device comprising a processor and a memory for storing a program executable by the processor, wherein the processor, when executing the program stored in the memory, implements a method for island microgrid resilient distributed frequency and voltage recovery control as claimed in any one of claims 1 to 6.
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