CN114239287A - Layered modeling method and model analysis method for comprehensive energy information physical system - Google Patents

Layered modeling method and model analysis method for comprehensive energy information physical system Download PDF

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CN114239287A
CN114239287A CN202111560702.1A CN202111560702A CN114239287A CN 114239287 A CN114239287 A CN 114239287A CN 202111560702 A CN202111560702 A CN 202111560702A CN 114239287 A CN114239287 A CN 114239287A
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范宏
王宏祥
盛玥
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Shanghai University of Electric Power
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Abstract

The invention relates to a layered modeling method and a model analysis method of a comprehensive energy information physical system, which are divided from a functional level, the comprehensive energy information physical system is divided into an energy source layer, a transmission layer and an information layer, and based on a unified energy path theory, energy flow equations of three energy networks are expressed as a unified network matrix equation; establishing a transmission layer model describing a data transmission process; establishing an information layer model describing an optimization decision process of a control center; in order to realize the mixed solution of the energy flow and the information flow in the model, an energy-information flow mixed calculation method of the comprehensive energy information physical system is provided; and respectively carrying out security analysis on the energy network under a steady state scene and an information physical cooperation attack scene by using the comprehensive energy system algorithm. Compared with the prior art, the comprehensive energy system modeling method under the background of information physical fusion is explored, and the interaction between the information flow and the energy flow can be further evaluated from different angles in the future.

Description

Layered modeling method and model analysis method for comprehensive energy information physical system
Technical Field
The invention relates to an energy management technology, in particular to a layered modeling method and a model analysis method of a comprehensive energy information physical system.
Background
With the development of energy internet, the communication infrastructure in the integrated energy system is continuously improved, and the information network is increasingly complex, so that the integrated energy system is evolved into a typical information physical system. Integrated Energy Physical System (IECPS) not only has coupling of various Energy forms such as electricity, gas and heat, but also has coupling of an Energy network and an information network.
Any link in the closed loop process of state sensing, data transmission, optimization decision and instruction execution in the information network has a problem, which will have a bad influence on the safe and stable operation of the energy network. Therefore, the network security problem in the energy field is worth being further researched. The essence of the influence of network attack on the energy network is the interaction relationship between the energy flow and the information flow, and how to carry out quantitative analysis on the interaction relationship between the energy flow and the information flow by constructing a coupling model of the energy flow and the information flow is the theoretical basis of the next research.
Disclosure of Invention
Aiming at the problems of energy comprehensive management and energy network security, a layered modeling method and a model analysis method of a comprehensive energy information physical system are provided, and an IECPS modeling method in three energy forms of electricity, heat and gas is considered, so that the layered modeling method of the comprehensive energy information physical system and an energy-information flow hybrid calculation method are provided.
The technical scheme of the invention is as follows: a layered modeling method of a comprehensive energy information physical system specifically comprises the following steps:
1) the comprehensive energy information physical system is functionally divided into an energy source layer, a transmission layer and an information layer, and energy flow equations of three energy networks of electricity, heat and gas are expressed as a unified network matrix equation based on a unified energy path theory;
2) establishing a transmission layer model for describing a data transmission process by establishing a communication channel model of energy station operation data in an energy network and an interface model for connecting an energy layer and an information layer;
3) establishing an information layer model describing an optimization decision process of a control center;
4) to achieve a hybrid solution of energy flow and information flow in the model: reading specific parameters of the three energy networks, and solving energy flows of heat, gas and electricity nodes in the comprehensive energy information physical system according to energy flow equations of the electricity, heat and gas energy networks in the step 1) to obtain an energy flow matrix of an energy source layer; and updating the information layer model information receiving matrix according to the obtained energy flow matrix, outputting a control command to the energy source layer by the optimization decision of the control center, and updating the energy flow matrix according to the command by the energy source layer.
Further, the specific implementation method of the step 1) is as follows:
1.1) for the power grid energy flow model, adopting a direct current power flow model and having NeA node and BeThe matrix expression of the node injection power and branch load flow of the power grid of each branch is as follows:
Pe,inj＝Yeθ
Figure BDA0003420475380000021
in the formula, Pe,injIs NeDimension node injection power column vector, Pe,branIs NeA power flow matrix of order branches, theta being NeDimension node voltage phase angle column vector, YeIs NeOrder node susceptance matrix, AeIs NeA dimension unit row vector, a line, indicates multiplication of elements at corresponding positions of the matrix;
1.2) expressing the power grid energy flow model based on the matrix form formed in the step 1.1) as follows:
Pe＝diag(Pe,inj)+Pe,bran
in the formula, a diag () column vector in parentheses represents a diagonal matrix having the vector as a diagonal element, and if a matrix is in parentheses, the table representsA column vector representing the diagonal elements of the matrix; peThe diagonal element of (1) is the node injection power, an element greater than 0 indicates power injection, an element less than 0 indicates power outflow, PeThe off-diagonal element of the power grid is the active power flow of the branch, and has directivity;
1.3) for the heat supply network energy flow model, adopting the heat supply network water path and heat path model based on the unified energy path theory, N will be providedhA node and BhThe node injection thermal power and the pipe flow of the heat supply network of the branch are expressed as follows: ph,inj＝CpYhph(Ts-Tinj)
Figure BDA0003420475380000022
In the formula, Ph,injIs NhDimensional node injection thermal power column vector, Fh,branIs NhOrder pipe flow matrix, phIs NhPressure column vector of order node, YhIs NhOrder hydraulic node admittance matrix, CpIs the specific heat capacity of water, TsIs NhTemperature of heat supplied from the dimensional node, TinjIs NhDimension node regenerative temperature, Eh,bIs NhStep branch hydraulic pressure source parameter matrix, AhIs NhDimension unit row vector;
1.4) the heat supply network energy flow model based on the matrix form formed in step 1.3) is expressed as:
PFh＝diag(Ph,inj)+Fh,bran
in the formula, PFhThe diagonal element of (1) is a node to inject thermal power, the element is more than 0 to indicate thermal power injection, and the corresponding node is a heat source node; an element less than 0 indicates power out, indicating that the corresponding node is a heat load node. PF (particle Filter)hThe off-diagonal element of (1) is the pipeline flow, and the flow has directionality;
1.5) for the air network energy flow model, adopting an air path model based on a unified energy path theory and having NgA node and BgNodal injection flow of strip branch and moment of pipeline flowThe array expression is:
Fg,inj＝Ygpg
Figure BDA0003420475380000031
in the formula, Fg,injIs NgDimension node injection flow column vector, Fg,branIs NgOrder pipe flow matrix, pgAs a node pressure column vector, Eg,bAnd Kg,bN consisting of parameters of pressure source and controlled pressure source of each pipeline branchgOrder matrix, YgIs an air network node admittance matrix, AgIs NgDimension unit row vector;
1.6) the gas network energy flow model based on the matrix form composed in step 1.5) is expressed as:
Fg＝diag(Fg,inj)+Fg,bran
in the formula, FgThe diagonal element of (1) is the injection flow of the gas network node, the element is more than 0 to indicate that the natural gas is injected, and the corresponding node is a gas source node; an element less than 0 indicates that natural gas flows out, indicating that the corresponding node is a gas load node. FgThe off-diagonal element is the natural gas pipeline flow, and the flow has directionality;
1.7) energy station modeling method based on universal energy bus, wherein the energy bus and the coupling equipment are both regarded as nodes, and an energy flow matrix P of the energy station is establishedESAnd topology matrix TES：
Figure BDA0003420475380000032
In the formula, Fg,SIs the total natural gas consumption of the energy station, Fg,CHP1And Fg,CHP2Natural gas consumption, P, for two heat, electricity, gas co-production nodes, respectivelyh,CHP1And Ph,CHP2Output thermal power, P, for two cogeneration nodese,CHP1And Pe,CHP2Respectively is two heat, electricity and gasOutput electric power of a cogeneration node, Ph,LThe total thermal power output by the energy station.
Further, the specific implementation method of step 3) is as follows:
3.1) the information layer receives the power flow information and the topology information of the electric, thermal and gas network in the energy source layer and the running information of the energy source station to form a power flow information receiving matrix of the energy source layer
Figure BDA0003420475380000041
And network topology receiving matrix
Figure BDA0003420475380000042
3.2) the information layer carries out optimization decision according to the specified optimization target based on the two matrixes obtained in the step 3.1), and the information layer carries out optimization decision according to a generalized optimization decision function
Figure BDA0003420475380000043
Adjusting the injection power and branch switching-on and switching-off states of each node of the energy network and the energy station;
3.3) control commands through the download channel Tk,downThe actuator is transmitted to the energy source layer by the communication substation node;
and 3.4) smoothly executing the control command by the energy source layer to promote the energy flow and the network topology of the whole system to change, redistributing the energy network flow, and updating the power grid, the heat supply network, the gas network and the energy station flow distribution.
Further, the specific implementation method of step 4) is as follows:
4.1) reading node branch parameter files of the electricity, gas and heat supply network and inputting energy station equipment parameters;
4.2) reading specific parameters of the heat supply network, and initializing hydraulic parameters and thermal parameters, namely water resistance, a water pressure source, thermal resistance and a hydraulic admittance matrix; initializing the thermal output of a power grid balance node CHP # 2;
4.3) initializing the energy flow matrix P of the energy stationESAnd topology matrix TES(ii) a Construction of energy layer topology matrix TkCommunication channel matrix Tk,upAnd Tk,downInterface matrix Ck1And Ck2；
4.4) solving the heat supply network energy flow based on the steps 1.3) and 1.4, wherein the heat supply network energy flow is calculated by calculating the value F of the pipeline flow of each iteration in the calculationh,bran,kWith a basic value f of the pipe flowbase,kTaking the difference err _ h as a convergence criterion, outputting the electric output and the gas consumption of the heat supply network balance node CHP #1 if the err _ h is less than or equal to a convergence threshold, otherwise, outputting the electric output and the gas consumption according to fbase,k+1＝(1-λ)Fh,bran,k+λfbase,kCalculating the updated flow base value again, wherein lambda is the updating step length until convergence, and outputting the electric output and the gas consumption of the heat supply network balance node CHP # 1;
4.5) reading specific parameters of the power grid, updating the electricity output of the CHP #1, solving the energy flow of the power grid based on the steps 1.1) and 1.2), calculating the heat output and the gas consumption of the CHP #2, and updating the gas consumption of the CHP #1 and the CHP # 2;
4.6) reading the specific parameters of the air network, and initializing the air path parameters, namely air resistance, air induction, air capacity, controlled air pressure source, air path admittance matrix and the like; solving the air network energy flow based on the steps 1.5) and 1.6), wherein the value v of the calculated pipeline flow speed of each iteration in the air network energy flow calculation is calculatedg,bran,kAnd the base value v of the flow velocity of the pipelinebase,kThe difference err _ g is used as a convergence criterion, if the err _ g is less than or equal to a convergence threshold value, an air network energy flow result is output, otherwise, the result is according to vbase,k+1＝(1-λ)vg,bran,k+λvbase,kUpdating the flow rate base value, calculating again until convergence, and outputting a gas network energy flow result; calculated value of pipe flow velocity
Figure BDA0003420475380000051
Fg,bran,kThe pipeline flow is defined as rho, the natural gas density is defined as rho, and the pipeline sectional area is defined as A;
4.7) judging whether the difference value between the heat output of the CHP #1 and the electric output of the CHP #2 in the two iterations is smaller than the convergence threshold value. If the heat power is not converged, updating the heat power output by the CHP #2 unit of the electrical balance node, and repeating the step 4.2) -the step 4.7), and if the heat power is converged, outputting an electric-gas-heat energy flow calculation result;
4.8) constructing an energy flow matrix P of the energy source layer according to the output electric-gas-heat energy flow calculation resulte、PFh、Fg、PES；
4.9) forming a power flow information receiving matrix based on the step 3.1)
Figure BDA0003420475380000052
And topology information receiving matrix
Figure BDA0003420475380000053
4.10) receiving the matrix according to the topology information
Figure BDA0003420475380000054
Judging whether the energy source layer is disconnected by a branch, if so, performing optimal load reduction calculation, and outputting a load reduction result and output adjustment results of the generator, the heat source and the air source; if no branch is disconnected, returning to the step 4.9), and finishing the calculation;
4.11) generating control commands for the information layer on the basis of the results of the optimization adjustments of steps 3.2) and 3.3) and step 4.10)
Figure BDA0003420475380000055
And forwarding to the energy source layer;
4.12) updating the energy flow based on the step 3.4), repeating the step 4.2) to the step 4.9), outputting the updated energy flow result and the information instruction generated in the step 4.11) before updating, and finishing the calculation.
The method for analyzing the comprehensive energy information physical system model established by the method comprises the following steps:
51) under a steady state scene, the model energy network and the information network operate normally without equipment failure and network attack interference, and the energy-information flow mixed calculation is equal to the single energy flow calculation;
52) energy flow calculation in the energy-information flow mixed calculation in the model is based on a unified energy path theory, and a base value correction method is adopted in the iteration process; for the mixed calculation of the energy-information flow in the model, a traditional IES multi-energy-flow calculation method based on a Newton Raphson method is adopted, and a Jacobian matrix is adopted in the iterative process;
53) respectively carrying out hybrid calculation on the energy-information flow provided by the step 4) and IES multi-energy flow calculation based on a Newton-Raphson method, comparing energy flow results obtained by calculation, and verifying the algorithm of the step 4) in the model;
54) breaking a line or a pipeline of an energy network to cause the energy network to generate a permanent fault and break the energy network, and then attacking and tampering state perception data or a control instruction through FDI (fully drawn instrumentation) to serve as an information physical cooperation attack mode;
55) the information layer takes the optimal load reduction of the energy network as an optimization decision target, and quantitatively analyzes the influence of the information physical cooperative attack on the running state of the comprehensive energy information physical system;
56) the attack mode process and the attack mode result are analyzed and compared, and a mode that a damage protection mechanism plays a role and the safe and stable operation of the comprehensive energy information physical system is seriously threatened is found out.
Further, the attack mode in the step 55) is divided into a physical attack only, an information physical cooperation attack up and an information physical cooperation attack down.
Further, the physical attack only means that the energy network branch is only under physical attack and permanent fault disconnection occurs.
Further, the above-mentioned information physical cooperation attack up refers to that, on the basis of physical attack only, FDI attack is implemented in the state sensing upload communication process, the overload branch tidal current information caused by physical attack is tampered to a normal tidal current value, and the disconnection state of the overload branch caused by protection action is tampered to a closing state.
Furthermore, the information physical cooperation attack down means that FDI attack is implemented on the control instruction downloading communication process on the basis of physical attack only, and the reclosing instruction string of the overload line after the branch overload of the information layer is eliminated is changed into a continuous disconnection instruction, so that reclosing failure is caused.
The invention has the beneficial effects that: the invention relates to a layered modeling method and a model analysis method of a comprehensive energy information physical system, which couple an energy flow and an information flow together through an IECPS (integrated electronic Power control System) integrated model by layered modeling of an energy source layer, a transmission layer and an information layer, and provide an energy-information flow mixed calculation method for fusion calculation. The validity of the IECPS hierarchical model and the hybrid calculation method provided by the invention is verified by the example analysis, and the IECPS hierarchical model and the hybrid calculation method can be applied to scenes such as steady state of the IECPS, network attack and the like. The method is used as the exploration of a comprehensive energy system modeling method under the background of information physical fusion, and the mutual influence between the information flow and the energy flow can be further evaluated from different angles through the theoretical method provided by the invention in the future.
Drawings
FIG. 1 is a flow chart of a layered modeling method of the integrated energy information physical system of the present invention;
FIG. 2 is a diagram of the overall architecture of the integrated energy information physical system;
FIG. 3 is a diagram of an IES example structure according to the present invention;
FIG. 4a is a comparison of grid subsystem energy flow results;
FIG. 4b is a graph comparing the energy flow results of the heat network subsystem;
FIG. 4c is a graph comparing the results of energy flow for the air network subsystem;
fig. 5 shows energy flow changes of the energy station before and after the cyber-physical cooperation attack.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the present invention provides a hierarchical modeling method and an energy-information flow hybrid calculation method for an integrated energy information physical system, including the following steps:
s1 is a diagram of the overall architecture of the integrated energy information physical system shown in fig. 2, which is divided into an energy source layer, a transport layer and an information layer from the functional level. Based on a unified energy path theory, expressing energy flow equations of three energy networks of electricity, heat and gas as a unified network matrix equation;
s2, establishing a transmission layer model describing the data transmission process;
s3, establishing an information layer model describing the optimization decision process of the control center;
s4 provides an IECPS energy-information flow mixed calculation method for realizing the mixed solution of the energy flow and the information flow in the model;
s5, security analysis is carried out on the energy network under a steady state scene and an information physical cooperation attack scene respectively through the comprehensive energy system algorithm.
Step S1 divides the IECPS into an energy layer, a transport layer, and an information layer from the functional level. Based on a unified energy path theory, an energy flow equation of three energy networks is expressed as a unified network matrix equation, and the specific steps are as follows:
step S11: for the power grid energy flow model, a direct current power flow model is adopted, and N is providedeA node and BeThe matrix expression of the node injection power and branch load flow of the power grid of each branch is as follows:
Pe,inj＝Yeθ
Figure BDA0003420475380000081
in the formula, Pe,injIs NeDimension node injection power column vector, Pe,branIs NeA power flow matrix of order branches, theta being NeDimension node voltage phase angle column vector, YeIs NeOrder node susceptance matrix, AeIs NeA dimension unit row vector,. mu.l, indicates multiplication of elements at corresponding positions of the matrix.
Step S12: the grid energy flow model in the form of a matrix formed based on step S11 can be expressed as:
Pe＝diag(Pe,inj)+Pe,bran
in the formula, diag () represents a diagonal matrix using a column vector as a diagonal element when the column vector is in parentheses, and represents a column vector composed of the diagonal elements of the matrix when the column vector is in parentheses; peThe diagonal element of (1) is the node injection power, an element greater than 0 indicates power injection, an element less than 0 indicates power outflow, PeThe off-diagonal element of (2) is the active power flow of the branch, and has directivity.
Step S13: for the heat supply network energy flow model, a heat supply network water path and heat path model based on the unified energy path theory is adopted, and N is obtainedhA node and BhThe node injection thermal power and the pipe flow of the heat supply network of the branch are expressed as follows: ph,inj＝CpYhph(Ts-Tinj)
Figure BDA0003420475380000082
In the formula, Ph,injIs NhDimensional node injection thermal power column vector, Fh,branIs NhOrder pipe flow matrix, phIs NhPressure column vector of order node, YhIs NhOrder hydraulic node admittance matrix, CpIs the specific heat capacity of water, TsIs NhTemperature of heat supplied from the dimensional node, TinjIs NhDimension node regenerative temperature, Eh,bIs NhStep branch hydraulic pressure source parameter matrix, AhIs NhDimension unit row vector.
Step S14: the heat supply network energy flow model in the form of a matrix formed based on step S13 can be expressed as:
PFh＝diag(Ph,inj)+Fh,bran
in the formula, PFhThe diagonal element of (1) is a node to inject thermal power, the element is more than 0 to indicate thermal power injection, and the corresponding node is a heat source node; an element less than 0 indicates power out, indicating that the corresponding node is a heat load node. PF (particle Filter)hThe off-diagonal element of (1) is the pipe flow, which has directionality.
Step S15: for the energy flow model of the air network, an air path model based on a unified energy path theory is adopted, and N is providedgA node and BgThe matrix expression of the node injection flow and the pipeline flow of each branch is as follows:
Fg,inj＝Ygpg
Figure BDA0003420475380000091
in the formula, Fg,injIs NgDimension node injection flow column vector, Fg,branIs NgOrder pipe flow matrix, pgAs a node pressure column vector, Eg,bAnd Kg,bN consisting of parameters of pressure source and controlled pressure source of each pipeline branchgOrder matrix, YgIs an air network node admittance matrix, AgIs NgDimension unit row vector.
Step S16: the gas grid energy flow model in the form of a matrix formed based on step S15 can be expressed as:
Fg＝diag(Fg,inj)+Fg,bran
in the formula, FgThe diagonal element of (1) is the injection flow of the gas network node, the element is more than 0 to indicate that the natural gas is injected, and the corresponding node is a gas source node; an element less than 0 indicates that natural gas flows out, indicating that the corresponding node is a gas load node. FgThe off-diagonal element of (2) is the natural gas pipeline flow, and the flow has directionality.
Step S17: the energy station modeling method based on the universal energy bus takes the energy bus and the coupling equipment as nodes to establish an energy flow matrix P of the energy stationESAnd topology matrix TES：
Figure BDA0003420475380000092
In the formula, Fg,SIs the total natural gas consumption of the energy station, Fg,CHP1And Fg,CHP2Consumption of natural gas, P, for two CHP (Heat, Electricity, gas Co-production nodes) respectivelyh,CHP1And Ph,CHP2Respectively output thermal power of two CHPs, Pe,CHP1And Pe,CHP2Output electric power of two CHPs respectively, Ph,LThe total thermal power output by the energy station.
In step S2, a transmission layer model describing the data transmission process is established, and the specific steps are as follows:
step (ii) ofS21: communication channel model: definition of Tk,upK is an uploading communication channel matrix responsible for uploading operation data of each energy network and energy station from an energy layer RTU sensor to a transmission layer communication substation, and T isk,downAnd k belongs to (e, h, g, ES) a download communication channel matrix which is responsible for downloading information layer control commands from the transmission layer communication substation to the energy layer RTU actuator, wherein e represents a power grid, h represents a heat grid, g represents an air grid, and ES represents an energy station. The matrix expression for the communication channel is:
Figure BDA0003420475380000101
Figure BDA0003420475380000102
in the formula, the elements in the two communication channel matrixes are 1 and 0, the element of 1 indicates that an uploading or downloading channel exists between the RTU corresponding to each node or branch of the energy source layer and the communication substation, and the element of 0 indicates that the channel does not exist.
Step S22: an interface model: the transport layer connects the energy source layer and the information layer, and thus the interface model includes an interface model of the energy source layer and the transport layer and an interface model of the transport layer and the information layer.
The interface model of the energy source layer and the transmission layer represents whether the nodes and the branches of the energy source layer have hardware for information interaction with the communication substation of the transmission layer, namely whether the nodes and the branches are configured with RTUs. Interface models of the transmission layer and the information layer should represent whether a monitoring and scheduling relation exists between the communication substation and the superior energy management system.
Interface matrix C of energy source layer and transmission layerk1The matrix expression of (a) is:
Figure BDA0003420475380000103
wherein k is formed by (e, h, g, ES), Ck1The element in (1) is composed of 1 and 01 indicates that the corresponding node or branch is installed with an RTU, and an element of 0 indicates that the corresponding node or branch is not installed with an RTU.
Interface matrix C of transmission layer and information layerk2The matrix expression of (a) is:
Figure BDA0003420475380000104
wherein k is ∈ (e, h, g, ES), Ck2The element in (1) is composed of 1 and 0, the element of 1 indicates that the energy network node or the transmission layer communication substation node corresponding to the branch can be monitored and scheduled by the superior energy management system, and the element of 0 indicates that the corresponding communication substation node cannot be monitored and scheduled by the superior energy management system.
In step S3, an information layer model describing the optimization decision process of the control center is established, and the specific classification is as follows:
step S31: an information layer in the IECPS receives the power flow information and the topology information of the electric, thermal and gas network in the energy source layer and the operation information of the energy source station to form a power flow information receiving matrix of the energy source layer
Figure BDA0003420475380000111
And network topology receiving matrix
Figure BDA0003420475380000112
Deriving the expressions of the two matrixes according to the energy layer model and the transmission layer model as follows:
Figure BDA0003420475380000113
Figure BDA0003420475380000114
step S32: the information layer carries out optimization decision according to the specified optimization target based on the two matrixes obtained in the step S31, and the information layer carries out optimization decision according to a generalized optimization decision function
Figure BDA0003420475380000115
Adjusting the injection power and the branch switching-on and switching-off states of each node of the energy network and the energy station, wherein the adjustment quantity can be expressed as:
Figure BDA0003420475380000116
in the formula, GkThe diagonal element of (a) may represent a node injection power adjustment instruction of a power grid and a heat supply network, a node injection flow adjustment instruction of an air grid, or an energy station node power adjustment instruction; gkThe off-diagonal elements of (a) may represent the switching on and off commands for each energy network branch and energy station branch.
Step S33: control commands passing through the downstream channel Tk,downThe RTU actuator is transmitted to the energy layer from the communication substation node, and the control instruction expression finally executed by the energy layer is as follows:
Figure BDA0003420475380000117
Figure BDA0003420475380000118
Figure BDA0003420475380000119
in the formula (I), the compound is shown in the specification,
Figure BDA00034204753800001110
injecting power into the nodes of the power grid, the heat supply network or the energy station after being regulated by the information layer;
Figure BDA00034204753800001111
injecting flow into the node of the air network after being adjusted by the information layer;
Figure BDA0003420475380000121
branch switching-on and switching-off instructions of each energy network and each energy station; e'kN is such that the diagonal element is 0 and the remaining elements are 1kAn order matrix.
Step S34: the smooth execution of the control instruction by the energy source layer prompts the energy flow and the network topology of the whole system to change, and the energy network trend is redistributed:
the power grid load flow redistribution expression is as follows:
Figure BDA0003420475380000122
Figure BDA0003420475380000123
Figure BDA0003420475380000124
the heat supply network power flow redistribution expression is as follows:
Figure BDA0003420475380000125
Figure BDA0003420475380000126
Figure BDA0003420475380000127
the redistribution expression of the gas network tide is as follows:
Figure BDA0003420475380000128
Figure BDA0003420475380000129
Figure BDA00034204753800001210
the redistribution expression of the power station tide is as follows:
Figure BDA00034204753800001211
in the formula (I), the compound is shown in the specification,
Figure BDA00034204753800001212
energy flow matrices, Y, for the electric, thermal, gas network and energy station, respectively, after tidal current redistributionk', k is the opening and closing command of following branch circuit
Figure BDA00034204753800001213
Varying energy network node admittance matrix, θ ', p'h、p'gAnd respectively a power grid node voltage phase angle, heat supply network node pressure and a power grid node pressure column vector after the power flow is redistributed. PE'S,branFor injecting instructions according to energy station nodes
Figure BDA00034204753800001214
And recalculating the obtained branch energy flow matrix of the energy station by combining the energy conversion coefficient and the distribution coefficient.
In step S4, in order to realize the hybrid solution of the energy stream and the information stream in the model, an IECPS energy-information stream hybrid calculation method is proposed, which specifically includes the following steps:
step S41: reading node branch parameter files of electricity, gas and heat supply networks and inputting energy station equipment parameters;
step S42: reading specific parameters of a heat supply network, and initializing hydraulic parameters and thermal parameters, namely water resistance, a water pressure source, thermal resistance, a hydraulic admittance matrix and the like; initializing the thermal output of a power grid balance node CHP # 2;
step S43: initializing an energy flow matrix P of an energy stationESAnd topology matrix TES(ii) a Construction of energy layer topology matrix TkCommunication channel momentMatrix Tk,upAnd Tk,downInterface matrix Ck1And Ck2；
Step S44: solving the heat supply network energy flow based on the steps S13 and S14, and calculating a value F in the heat supply network energy flow calculation according to the pipeline flow of each iterationh,bran,kWith a basic value f of the pipe flowbase,kTaking the difference err _ h as a convergence criterion, outputting the electric output and the gas consumption of the heat supply network balance node CHP #1 if the err _ h is less than or equal to a convergence threshold, otherwise, outputting the electric output and the gas consumption according to fbase,k+1＝(1-λ)Fh,bran,k+λfbase,kAnd (lambda is an updating step length), calculating the updated flow basic value again until convergence, and outputting the electric output and the gas consumption of the heat supply network balance node CHP # 1.
Step S45: and reading specific parameters of the power grid, updating the electricity output of the CHP #1, solving the energy flow (direct current flow) of the power grid based on the steps S11 and S12, calculating the heat output and the gas consumption of the CHP #2, and updating the gas consumption of the CHP #1 and the CHP # 2.
Step S46: reading specific parameters of the gas network, and initializing gas path parameters, namely gas resistance, gas sensing, gas capacity, a controlled gas pressure source, a gas path admittance matrix and the like; solving the air network energy flow based on the steps S15 and S16, wherein the value v of the pipe flow velocity of each iteration is calculated in the air network energy flow calculationg,bran,kAnd the base value v of the flow velocity of the pipelinebase,kThe difference err _ g is used as a convergence criterion, if the err _ g is less than or equal to a convergence threshold value, an air network energy flow result is output, otherwise, the result is according to vbase,k+1＝(1-λ)vg,bran,k+λvbase,kAnd updating the flow rate base value, calculating again until convergence, and outputting a gas network energy flow result. (Note: calculated pipe flow Rate
Figure BDA0003420475380000131
Fg,bran,kρ is the natural gas density and a is the pipeline cross-sectional area) for pipeline flow.
Step S47: and judging whether the difference value between the heat output of the CHP #1 and the electric output of the CHP #2 in the two iterations is smaller than the convergence threshold value. If the power is not converged, updating the output heat power of the CHP #2 unit, repeating the step S42-the step S47, and if the power is converged, outputting the calculation result of the electricity-gas-heat energy flow;
step S48: according to the output electricity-gas-heat energyEnergy flow matrix P for constructing energy source layer by using flow calculation resulte、PFh、Fg、PES；
Step S49: forming a power flow information receiving matrix based on step S31
Figure BDA0003420475380000141
And topology information receiving matrix
Figure BDA0003420475380000142
Step S410: receiving a matrix according to topology information
Figure BDA0003420475380000143
And judging whether the energy source layer is disconnected by branches, if yes, performing optimal load reduction calculation, and outputting a load reduction result and output adjustment results of the generator, the heat source and the air source. If no branch is disconnected, returning to the step S49, and finishing the calculation;
step S411, generating control commands for information layers based on the optimized adjustment results of steps S32 and S33 and step S410
Figure BDA0003420475380000144
And forwarding to the energy source layer;
and S412, updating the energy flow based on the step S34, repeating the steps S42-S49, outputting the updated energy flow result and the information command generated in the step S411 before updating, and finishing the calculation.
In step S5, security analysis is performed on the energy network in a steady-state scenario and an information physical cooperation attack scenario respectively by using an integrated energy system example, which specifically includes the following steps:
step S51: under a steady state scene, the IECPS energy network and the information network operate normally, no equipment fault and network attack interference exist, and energy-information flow mixed calculation is equal to single energy flow calculation;
step S52: the energy flow calculation in the energy-information flow mixed calculation is based on the uniform energy path theory (ECT), and a base value correction method is adopted in the iterative process;
step S53: a jacobian matrix is adopted in the traditional iterative process based on an IES multi-energy flow calculation of a Newton-Raphson (NR) method;
step S54: respectively carrying out the energy-information flow mixed calculation proposed by the step S4 and the IES multi-energy flow calculation based on the NR method on the calculation example, and comparing the energy flow results obtained by calculation;
step S55: breaking a line or a pipeline of an energy network to cause the energy network to generate a permanent fault and break the energy network, and then attacking and tampering state perception data or a control instruction through FDI (fully drawn instrumentation) to serve as an information physical cooperation attack mode;
step S56: the information layer takes the optimal load reduction of the energy network as an optimization decision target, quantitatively analyzes the influence of the physical information collaborative attack on the operating state of the IECPS, and has three specific attack modes: the method is divided into physical attack only, information physical cooperative attack up and information physical cooperative attack down.
The physical attack only means that the energy network branch is only attacked physically and is disconnected due to permanent fault.
The physical information collaborative attack up refers to that FDI attack is implemented on the basis of physical attack only in the process of state perception uploading communication, the load flow information of the overload branch caused by the physical attack is tampered to be a normal flow value, and the disconnection state of the overload branch caused by protection action is tampered to be a closing state.
The information physical cooperation attack down means that FDI attack is implemented on the control instruction downloading communication process on the basis of physical attack only, and a reclosing instruction string of an overload line is changed into a continuous disconnection instruction after the branch is eliminated by an information layer and overload is caused, so that reclosing failure is caused.
Step S57: the method is characterized in that the processes and results of the three attack modes are analyzed and compared, and a mode which has the function of damaging a protection mechanism and seriously threatens the safe and stable operation of the IECPS is found out.
In the energy-information flow hybrid calculation adopted in this embodiment, in order to verify the effectiveness of the proposed IECPS hierarchical model and the energy-information flow hybrid calculation method, a comprehensive energy system composed of an IEEE39 node power grid-6 node heat supply network-7 node air grid shown in fig. 3 is used as an example for simulation verification, and energy conversion is realized between each energy network through two CHP units. Based on the calculation example, the effectiveness of the theoretical method is verified under a steady-state scene and an information physical cooperation attack scene respectively.
According to the above method, fig. 4a to 4c are respectively a comparison of energy flow results of the power grid subsystem, the heat supply network subsystem, and the air network subsystem; fig. 5 shows the energy flow matrix change of the energy station before and after the attack. Table 1 shows the energy flow results of the energy station; table 2 shows the optimization decision instructions with the optimal load reduction as the target; table 3 compares the process and results for the three challenge modes. The energy flow results are obtained by comparison, the results of the two calculation methods are approximate, the calculation errors are within 3%, the iteration times of the energy flow calculation adopting the ECT method are 17, the iteration times of the energy flow calculation adopting the NR method are 25, and the energy flow calculation adopting the ECT method has lower calculation complexity and fewer iteration times compared with the energy flow calculation adopting the NR method. The results of the three attack modes are compared, and the influence of physical attack on the running state of the energy network is the minimum in the three attack modes, because after physical failure occurs, the control center can minimize the system loss through the optimization decision process under the action of the protection mechanism, but the synergistic attack up and down both destroy the process of the protection mechanism, so that the protection effect is invalid, the system loss is obviously increased, and the safe and stable running of the IECPS is seriously threatened. In conclusion, the correctness of the layered modeling method and the model analysis method of the comprehensive energy information physical system provided by the invention is proved.
TABLE 1
Figure BDA0003420475380000161
TABLE 2
Figure BDA0003420475380000162
TABLE 3
Figure BDA0003420475380000163
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. A layered modeling method of a comprehensive energy information physical system is characterized by comprising the following steps:
1) the comprehensive energy information physical system is functionally divided into an energy source layer, a transmission layer and an information layer, and energy flow equations of three energy networks of electricity, heat and gas are expressed as a unified network matrix equation based on a unified energy path theory;
2) establishing a transmission layer model for describing a data transmission process by establishing a communication channel model of energy station operation data in an energy network and an interface model for connecting an energy layer and an information layer;
3) establishing an information layer model describing an optimization decision process of a control center;
4) to achieve a hybrid solution of energy flow and information flow in the model: reading specific parameters of the three energy networks, and solving energy flows of heat, gas and electricity nodes in the comprehensive energy information physical system according to energy flow equations of the electricity, heat and gas energy networks in the step 1) to obtain an energy flow matrix of an energy source layer; and updating the information layer model information receiving matrix according to the obtained energy flow matrix, outputting a control command to the energy source layer by the optimization decision of the control center, and updating the energy flow matrix according to the command by the energy source layer.
2. The layered modeling method of the integrated energy information physical system according to claim 1, characterized in that the step 1) is realized by the following steps:
1.1) for the power grid energy flow model, adopting a direct current power flow model and having NeA node and BeThe matrix expression of the node injection power and branch load flow of the power grid of each branch is as follows:
Pe,inj＝Yeθ
Figure FDA0003420475370000011
in the formula, Pe,injIs NeDimension node injection power column vector, Pe,branIs NeA power flow matrix of order branches, theta being NeDimension node voltage phase angle column vector, YeIs NeOrder node susceptance matrix, AeIs NeA dimension unit row vector, a line, indicates multiplication of elements at corresponding positions of the matrix;
1.2) expressing the power grid energy flow model based on the matrix form formed in the step 1.1) as follows:
Pe＝diag(Pe,inj)+Pe,bran
in the formula, diag () represents a diagonal matrix using a column vector as a diagonal element when the column vector is in parentheses, and represents a column vector composed of the diagonal elements of the matrix when the column vector is in parentheses; peThe diagonal element of (1) is the node injection power, an element greater than 0 indicates power injection, an element less than 0 indicates power outflow, PeThe off-diagonal element of the power grid is the active power flow of the branch, and has directivity;
1.3) for the heat supply network energy flow model, adopting the heat supply network water path and heat path model based on the unified energy path theory, N will be providedhA node and BhThe node injection thermal power and the pipe flow of the heat supply network of the branch are expressed as follows:
Ph,inj＝CpYhph(Ts-Tinj)
Figure FDA0003420475370000021
in the formula, Ph,injIs NhDimensional node injection thermal power column vector, Fh,branIs NhOrder pipe flow matrix, phIs NhPressure column vector of order node, YhIs NhOrder hydraulic node admittance matrix, CpIs the specific heat capacity of water, TsIs NhTemperature of heat supplied from the dimensional node, TinjIs NhDimension node regenerative temperature, Eh,bIs NhStep branch hydraulic pressure source parameter matrix, AhIs NhDimension unit row vector;
1.4) the heat supply network energy flow model based on the matrix form formed in step 1.3) is expressed as:
PFh＝diag(Ph,inj)+Fh,bran
in the formula, PFhThe diagonal element of (1) is a node to inject thermal power, the element is more than 0 to indicate thermal power injection, and the corresponding node is a heat source node; an element less than 0 indicates power out, indicating that the corresponding node is a heat load node. PF (particle Filter)hThe off-diagonal element of (1) is the pipeline flow, and the flow has directionality;
1.5) for the air network energy flow model, adopting an air path model based on a unified energy path theory and having NgA node and BgThe matrix expression of the node injection flow and the pipeline flow of each branch is as follows:
Fg,inj＝Ygpg
Figure FDA0003420475370000022
in the formula, Fg,injIs NgDimension node injection flow column vector, Fg,branIs NgOrder pipe flow matrix, pgAs a node pressure column vector, Eg,bAnd Kg,bN consisting of parameters of pressure source and controlled pressure source of each pipeline branchgOrder matrix, YgIs an air network node admittance matrix, AgIs NgDimension unit row vector;
1.6) the gas network energy flow model based on the matrix form composed in step 1.5) is expressed as:
Fg＝diag(Fg,inj)+Fg,bran
in the formula, FgThe diagonal element of (1) is the injection flow of the gas network node, the element is more than 0 to indicate that the natural gas is injected, and the corresponding node is a gas source node; an element less than 0 indicates that natural gas flows out, indicating that the corresponding node is a gas load node. FgThe off-diagonal element is the natural gas pipeline flow, and the flow has directionality;
1.7) energy station modeling method based on universal energy bus, wherein the energy bus and the coupling equipment are both regarded as nodes, and an energy flow matrix P of the energy station is establishedESAnd topology matrix TES：
Figure FDA0003420475370000031
In the formula, Fg,SIs the total natural gas consumption of the energy station, Fg,CHP1And Fg,CHP2Natural gas consumption, P, for two heat, electricity, gas co-production nodes, respectivelyh,CHP1And Ph,CHP2Output thermal power, P, for two cogeneration nodese,CHP1And Pe,CHP2Respectively the output electric power of two heat, electricity and gas co-production nodes, Ph,LThe total thermal power output by the energy station.
3. The layered modeling method of the integrated energy information physical system according to claim 2, wherein the step 3) is implemented as follows:
3.1) the information layer receives the power flow information and the topology information of the electric, thermal and gas network in the energy source layer and the running information of the energy source station to form a power flow information receiving matrix of the energy source layer
Figure FDA0003420475370000032
And network topology receiving matrix
Figure FDA0003420475370000033
3.2) the information layer carries out optimization decision according to the specified optimization target based on the two matrixes obtained in the step 3.1), and the information layer carries out optimization decision according to a generalized optimization decision function
Figure FDA0003420475370000034
Adjusting the injection power and branch switching-on and switching-off states of each node of the energy network and the energy station;
3.3) control commands through the download channel Tk,downThe actuator is transmitted to the energy source layer by the communication substation node;
and 3.4) smoothly executing the control command by the energy source layer to promote the energy flow and the network topology of the whole system to change, redistributing the energy network flow, and updating the power grid, the heat supply network, the gas network and the energy station flow distribution.
4. The layered modeling method of the integrated energy information physical system according to claim 3, wherein the step 4) is realized by the following specific method:
4.1) reading node branch parameter files of the electricity, gas and heat supply network and inputting energy station equipment parameters;
4.2) reading specific parameters of the heat supply network, and initializing hydraulic parameters and thermal parameters, namely water resistance, a water pressure source, thermal resistance and a hydraulic admittance matrix; initializing the thermal output of a power grid balance node CHP # 2;
4.3) initializing the energy flow matrix P of the energy stationESAnd topology matrix TES(ii) a Construction of energy layer topology matrix TkCommunication channel matrix Tk,upAnd Tk,downInterface matrix Ck1And Ck2；
4.4) solving the heat supply network energy flow based on the steps 1.3) and 1.4, wherein the heat supply network energy flow is calculated by calculating the value F of the pipeline flow of each iteration in the calculationh,bran,kWith a basic value f of the pipe flowbase,kTaking the difference err _ h as a convergence criterion, outputting the electric output and the gas consumption of the heat supply network balance node CHP #1 if the err _ h is less than or equal to a convergence threshold, otherwise, outputting the electric output and the gas consumption according to fbase,k+1＝(1-λ)Fh,bran,k+λfbase,kThe updated flow basic value is calculated again, and lambda is the updating stepThe length is long until convergence, and the electric output and the gas consumption of a heat supply network balance node CHP #1 are output;
4.5) reading specific parameters of the power grid, updating the electricity output of the CHP #1, solving the energy flow of the power grid based on the steps 1.1) and 1.2), calculating the heat output and the gas consumption of the CHP #2, and updating the gas consumption of the CHP #1 and the CHP # 2;
4.6) reading the specific parameters of the air network, and initializing the air path parameters, namely air resistance, air induction, air capacity, controlled air pressure source, air path admittance matrix and the like; solving the air network energy flow based on the steps 1.5) and 1.6), wherein the value v of the calculated pipeline flow speed of each iteration in the air network energy flow calculation is calculatedg,bran,kAnd the base value v of the flow velocity of the pipelinebase,kThe difference err _ g is used as a convergence criterion, if the err _ g is less than or equal to a convergence threshold value, an air network energy flow result is output, otherwise, the result is according to vbase,k+1＝(1-λ)vg,bran,k+λvbase,kUpdating the flow rate base value, calculating again until convergence, and outputting a gas network energy flow result; calculated value of pipe flow velocity
Figure FDA0003420475370000041
Fg,bran,kThe pipeline flow is defined as rho, the natural gas density is defined as rho, and the pipeline sectional area is defined as A;
4.7) judging whether the difference value between the heat output of the CHP #1 and the electric output of the CHP #2 in the two iterations is smaller than the convergence threshold value. If the heat power is not converged, updating the heat power output by the CHP #2 unit of the electrical balance node, and repeating the step 4.2) -the step 4.7), and if the heat power is converged, outputting an electric-gas-heat energy flow calculation result;
4.8) constructing an energy flow matrix P of the energy source layer according to the output electric-gas-heat energy flow calculation resulte、PFh、Fg、PES；
4.9) forming a power flow information receiving matrix based on the step 3.1)
Figure FDA0003420475370000042
And topology information receiving matrix
Figure FDA0003420475370000043
4.10) receiving moments from topology informationMatrix of
Figure FDA0003420475370000044
Judging whether the energy source layer is disconnected by a branch, if so, performing optimal load reduction calculation, and outputting a load reduction result and output adjustment results of the generator, the heat source and the air source; if no branch is disconnected, returning to the step 4.9), and finishing the calculation;
4.11) generating control commands for the information layer on the basis of the results of the optimization adjustments of steps 3.2) and 3.3) and step 4.10)
Figure FDA0003420475370000051
And forwarding to the energy source layer;
4.12) updating the energy flow based on the step 3.4), repeating the step 4.2) to the step 4.9), outputting the updated energy flow result and the information instruction generated in the step 4.11) before updating, and finishing the calculation.
5. The method for analyzing the integrated energy information physical system model established according to the method of claim 4, wherein: the method comprises the following steps:
51) under a steady state scene, the model energy network and the information network operate normally without equipment failure and network attack interference, and the energy-information flow mixed calculation is equal to the single energy flow calculation;
52) energy flow calculation in the energy-information flow mixed calculation in the model is based on a unified energy path theory, and a base value correction method is adopted in the iteration process; for the mixed calculation of the energy-information flow in the model, a traditional IES multi-energy-flow calculation method based on a Newton Raphson method is adopted, and a Jacobian matrix is adopted in the iterative process;
53) respectively carrying out hybrid calculation on the energy-information flow provided by the step 4) and IES multi-energy flow calculation based on a Newton-Raphson method, comparing energy flow results obtained by calculation, and verifying the algorithm of the step 4) in the model;
54) breaking a line or a pipeline of an energy network to cause the energy network to generate a permanent fault and break the energy network, and then attacking and tampering state perception data or a control instruction through FDI (fully drawn instrumentation) to serve as an information physical cooperation attack mode;
55) the information layer takes the optimal load reduction of the energy network as an optimization decision target, and quantitatively analyzes the influence of the information physical cooperative attack on the running state of the comprehensive energy information physical system;
56) the attack mode process and the attack mode result are analyzed and compared, and a mode that a damage protection mechanism plays a role and the safe and stable operation of the comprehensive energy information physical system is seriously threatened is found out.
6. The method for analyzing the comprehensive energy information physical system model established according to the method of claim 5, wherein the attack mode in the step 55) is divided into physical attack only, cyber-physical cooperative attack up and cyber-physical cooperative attack down.
7. The method for analyzing the integrated energy information physical system model established according to the method of claim 6, wherein the physical attack only means that the energy network branches are only under physical attack and permanent fault disconnection occurs.
8. The method for analyzing the integrated energy information physical system model established according to the method of claim 6, wherein the cyber-physical cooperation attack up refers to that FDI attack is implemented on the state perception uploading communication process on the basis of physical attack only, the flow information of the overload branch caused by the physical attack is tampered to a normal flow value, and the disconnection state of the overload branch caused by the protection action is tampered to a closing state.
9. The method for analyzing the comprehensive energy information physical system model established according to the method of claim 6, wherein the cyber-physical cooperation attack down means that FDI attack is implemented on the control instruction downloading communication process on the basis of physical attack only, and a reclosing instruction string of an overload line is changed into a continuous disconnection instruction after a branch is eliminated by an information layer and then reclosing failure is caused.
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114912845A (en) * 2022-06-20 2022-08-16 国网辽宁省电力有限公司电力科学研究院 IECPS energy-information flow mixed calculation method
CN115577479A (en) * 2022-10-08 2023-01-06 国网浙江省电力有限公司宁波供电公司 Construction method of regional cold, hot and gas carbon flow calculation model
CN116579611A (en) * 2023-05-16 2023-08-11 中国电力工程顾问集团有限公司 Method for identifying weak links of comprehensive energy information physical system
CN118095802A (en) * 2024-04-26 2024-05-28 国网浙江省电力有限公司营销服务中心 Multi-flow fusion manufacturing industrial system layering modeling method and system
CN118095802B (en) * 2024-04-26 2024-09-27 国网浙江省电力有限公司营销服务中心 Multi-flow fusion manufacturing industrial system layering modeling method and system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114912845A (en) * 2022-06-20 2022-08-16 国网辽宁省电力有限公司电力科学研究院 IECPS energy-information flow mixed calculation method
CN115577479A (en) * 2022-10-08 2023-01-06 国网浙江省电力有限公司宁波供电公司 Construction method of regional cold, hot and gas carbon flow calculation model
CN116579611A (en) * 2023-05-16 2023-08-11 中国电力工程顾问集团有限公司 Method for identifying weak links of comprehensive energy information physical system
CN118095802A (en) * 2024-04-26 2024-05-28 国网浙江省电力有限公司营销服务中心 Multi-flow fusion manufacturing industrial system layering modeling method and system
CN118095802B (en) * 2024-04-26 2024-09-27 国网浙江省电力有限公司营销服务中心 Multi-flow fusion manufacturing industrial system layering modeling method and system

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