CN114256832A - Regional coordination control method and device for power distribution network voltage and electronic equipment - Google Patents
Regional coordination control method and device for power distribution network voltage and electronic equipment Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for area coordination control of power distribution network voltage and electronic equipment, wherein the method comprises the following steps: initializing a target power distribution network control system in an off-line manner, and establishing a multi-step prediction state space model of the target power distribution network; if the situation that disturbance exceeding a set standard occurs in a target power distribution network is monitored, correcting the multi-step prediction state space model by carrying out state estimation and topology recognition on the target power distribution network based on a power distribution network synchronous measurement device, and obtaining the target multi-step prediction state space model; and calculating a control command sequence by using the target multi-step prediction state space model, and issuing the first step in the control command sequence as a control command to realize the regional coordination voltage control of the target power distribution network if the target power distribution network is judged to reach a closed loop stable state. The embodiment of the invention can realize the rapid regional coordination control of the voltage of the power distribution network and solve the problem of out-of-limit voltage amplitude caused by rapid, violent and frequent fluctuation of the voltage of the power distribution network.
Description
Technical Field
The invention relates to the technical field of power system control, in particular to a method and a device for area coordination control of distribution network voltage and electronic equipment.
Background
With the access of large-scale distributed energy sources, electric vehicle charging and replacing facilities, distributed energy storage and the like to the power distribution network in recent years, the interaction between the power grid and power users is more frequent, and the voltage fluctuation of the power distribution network becomes more frequent and severe. These rapid changes in voltage can have an impact on those voltage quality sensitive users, such as precision machining enterprises for semiconductor processing, automobile manufacturing, and the like. These problems all present new challenges to the voltage control of distribution networks.
At present, the specific methods for controlling the voltage of the power distribution network are various, and the method mainly comprises the following steps according to the degree of dependence of control on communication: and three control modes of local control, distributed control and centralized control are adopted. The existing actual power distribution network voltage scheduling and control mode mostly adopts a centralized control mode, and particularly adopts a layered and graded control system. According to different target and time scales, the method can be divided into the following steps: primary voltage control (typically local control), secondary voltage control (typically regional coordinated control), and tertiary voltage control (typically cross-regional optimal control), with time scales ranging from seconds, minutes to tens of minutes.
However, no matter the existing power distribution network voltage control method is a distributed control method based on weak communication conditions, a centralized hierarchical coordination control method after quick control equipment is connected, or an improved two-stage voltage control method based on synchronous Phasor Measurement Unit (PMU) dynamic measurement information, optimization solution is performed on multiple bases of a steady-state model, and a regional power distribution network is difficult to realize quick coordination and optimization of voltage and difficult to deal with the problem of voltage amplitude out-of-limit caused by quick, severe and frequent voltage fluctuation.
Disclosure of Invention
The embodiment of the invention provides a regional coordination control method and device for the voltage of a power distribution network and electronic equipment, which are used for realizing the rapid regional coordination control of the voltage of the power distribution network and solving the problem of out-of-limit voltage amplitude caused by rapid, severe and frequent fluctuation of the voltage of the power distribution network.
The embodiment of the invention provides a regional coordination control method for the voltage of a power distribution network, which comprises the following steps:
initializing a target power distribution network control system in an off-line manner, and establishing a multi-step prediction state space model of the target power distribution network;
if the situation that the disturbance exceeding a set standard occurs in the target power distribution network is monitored, correcting the multi-step prediction state space model by carrying out state estimation and topology recognition on the target power distribution network based on a power distribution network synchronous measurement device, and obtaining a target multi-step prediction state space model;
and calculating a control command sequence by utilizing the target multi-step prediction state space model, and issuing a first step in the control command sequence as a control command to realize the regional coordination voltage control of the target power distribution network if the target power distribution network is judged to reach a closed loop stable state.
According to the area coordination control method for the voltage of the power distribution network, the step of establishing the multi-step prediction state space model of the target power distribution network specifically comprises the following steps:
establishing an equipment dynamic control model of the target power distribution network, and acquiring a simplified equivalent model reflecting the dominant control dynamics of the voltage control equipment based on the equipment dynamic control model;
establishing a system state space model reflecting a dynamic control relation between the voltage control equipment and the voltage of the key node of the target power distribution network based on the simplified equivalent model and a system network equation of the target power distribution network;
based on the system state space model, obtaining a system generalized state space model in a dynamic voltage control time discrete form through discretization setting and variable combination;
and acquiring the multi-step prediction state space model based on the system generalized state space model and the set time domain prediction step number and time domain control step number.
According to the area coordination control method for the voltage of the power distribution network, according to an embodiment of the invention, the step of correcting the multi-step prediction state space model specifically includes:
performing state estimation and topology identification on the target power distribution network based on the power distribution network synchronous measurement device, acquiring voltage control equipment information and current network topology structure information of the target power distribution network, and updating the multi-step prediction state space model based on the voltage control equipment information and the current network topology structure information;
and determining the error compensation quantity of the updated multi-step prediction state space model based on the prediction control quantity of the multi-step prediction state space model at the last moment and the current measurement control quantity measured by the power distribution network synchronous measurement device, and correcting the updated multi-step prediction state space model based on the error compensation quantity.
According to the area coordination control method for the voltage of the power distribution network, the step of calculating the control command sequence by using the target multi-step prediction state space model specifically comprises the following steps:
optimizing and setting the target multi-step prediction state space model by setting target error cost and control command cost to obtain a system prediction control optimization model;
and calculating and acquiring a dynamic voltage control command sequence on a set time domain control step number as the control command sequence based on the system predictive control optimization model.
According to the area coordination control method for the voltage of the power distribution network, the step of updating the multi-step prediction state space model specifically comprises the following steps:
based on the synchronous measurement device of the power distribution network, identifying a leading control parameter of a model of the voltage control equipment, acquiring information of the voltage control equipment, and updating an equivalent model parameter of the voltage control equipment based on the information of the voltage control equipment;
and carrying out topology identification on the target power distribution network, acquiring the current network topology structure information, updating admittance matrix parameters of the target power distribution network based on the current network topology structure information, and reestablishing the multi-step prediction state space model.
According to the area coordination control method of the distribution network voltage, disclosed by the embodiment of the invention, the system prediction control optimization model is as follows:
Umin＜U(k)＜Umax；
ΔUmin＜ΔU(k)＜ΔUmax；
wherein J (k) is an objective function, Ry＝diag(λ1,λ2,…,λP)mP×mPAt a target error cost, Ru＝diag(r1,r2,…,rM)nM×nMIn order to control the cost of the command,
predicting the predicted value of step number P, Y in time domain for the key bus voltageset(k) To set the target value, Xs(k) Is a state variable, U (k) is a control input variable, UmaxAnd UminRespectively, the upper and lower limit constraints of the control variable, and delta U (k) is the control increment, delta UmaxAnd Δ UminUpper and lower limit constraints for control increment, Δ w (k) for perturbation increment, σ (k) for prediction error compensation term, Λ ═ Fy·Fx，Φ＝Fy·Gx，Γ＝Fy·Hx，Fx、Gx、HxAnd FyRespectively representing the coefficients corresponding to the variable vectors in the multi-step prediction state space model, wherein s.t. represents constraint conditions;
correspondingly, the control command sequence is specifically as follows:
u(k)＝u(k-1)+Δu(k|k)；
Δu(k|k)＝KmpcΔU(k)；
ΔU(k)＝(ΦTRyΦ+Ru)-1ΦTRy(Yset(k)-ΛXs(k)-ΓΔW(k)-σ(k))；
in the formula, Kmpc＝[In×n，0…0]n×nMU (k) is a control amount at time k, and u (k-1) is a control amount at time k-1.
According to the area coordination control method of the power distribution network voltage, after the step of issuing the first step in the control command sequence as the control command, the method further includes:
and judging whether the target power distribution network reaches a stable state again, if so, ending voltage regulation control, otherwise, returning to the step of if monitoring that the target power distribution network has disturbance exceeding a set standard, and repeatedly executing the region coordination voltage control operation of the target power distribution network.
The embodiment of the present invention further provides a device for area coordination control of the voltage of the power distribution network, including:
the initialization module is used for initializing a target power distribution network control system in an off-line manner and establishing a multi-step prediction state space model of the target power distribution network;
the updating module is used for correcting the multi-step prediction state space model and acquiring a target multi-step prediction state space model by carrying out state estimation and topology identification on the target power distribution network based on the power distribution network synchronous measurement device if the situation that the disturbance exceeding a set standard occurs to the target power distribution network is monitored;
and the control output module is used for calculating a control command sequence by utilizing the target multi-step prediction state space model, and issuing a first step in the control command sequence as a control command to realize the regional coordination voltage control of the target power distribution network if the target power distribution network is judged to reach a closed loop stable state.
The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the method implements any one of the steps of the above-mentioned method for area coordination control of power distribution network voltage.
The embodiment of the present invention further provides a non-transitory computer readable storage medium, on which computer instructions are stored, and when the computer instructions are executed by a computer, the steps of the method for area coordination control of power distribution network voltage according to any one of the above-mentioned embodiments are implemented.
According to the regional coordination control method and device for the voltage of the power distribution network and the electronic equipment, provided by the embodiment of the invention, by further considering the dynamic control characteristic of the voltage control equipment, the coordination optimization speed can be effectively improved, the rapid regional coordination control of the voltage of the power distribution network is realized, and the problem that the voltage amplitude is out of limit due to rapid, violent and frequent fluctuation of the voltage of the power distribution network is effectively solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for coordinating and controlling a region of a distribution network voltage according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for area coordination control of distribution network voltage according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for coordinating and controlling a region of a distribution network voltage according to an embodiment of the present invention;
fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Aiming at the problems that the voltage of a regional power distribution network is difficult to realize rapid coordination and optimization and the voltage amplitude is difficult to exceed the limit caused by rapid, severe and frequent fluctuation of the voltage in the prior art, the embodiment of the invention can effectively improve the coordination and optimization speed, realize rapid regional coordination and control of the voltage of the power distribution network and effectively solve the problem that the voltage amplitude is exceeded caused by rapid, severe and frequent fluctuation of the voltage of the power distribution network by further considering the dynamic control characteristic of the voltage control equipment. Embodiments of the present invention will be described and illustrated with reference to various embodiments.
Fig. 1 is a schematic flow chart of a method for area coordination control of a distribution network voltage according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s101, initializing a target power distribution network control system in an off-line mode, and establishing a multi-step prediction state space model of the target power distribution network.
It can be understood that, in the embodiment of the present invention, the initialization setting is performed first for the control system of the target power distribution network, including setting, for example, the time domain prediction step number and the time domain control step number. On the basis, a multi-step prediction state space model of the control relation between the voltage control equipment and the network key node voltage is established by combining the analysis of the control state of the voltage control equipment in the control system and the analysis of the network topology structure of the target power distribution network.
S102, if the situation that the disturbance exceeding a set standard occurs in the target power distribution network is monitored, the multi-step prediction state space model is corrected by carrying out state estimation and topology recognition on the target power distribution network based on the power distribution network synchronous measurement device, and the target multi-step prediction state space model is obtained.
It can be understood that after the initial multi-step prediction state space model of the target power distribution network is obtained according to the steps, the multi-step prediction state space model may be unstable and inaccurate. Therefore, after the multi-step prediction state space model of the target power distribution network is initially established, whether the voltage in the target power distribution network has large disturbance or not is monitored, namely whether the voltage disturbance exceeds a set standard or not is monitored. And if the monitored voltage disturbance exceeds a set standard, judging that the model needs to be optimized and updated. Otherwise, the online real-time monitoring is continued.
Specifically, if the voltage is monitored to have large disturbance, the leading parameters of the voltage control equipment of the target power distribution network are identified based on the power distribution network synchronous measurement device, the state of the voltage control equipment is estimated accordingly, and meanwhile, the current network topology structure information of the target power distribution network is identified based on the power distribution network synchronous measurement device. On the basis, parameter updating and correction are carried out on the multi-step prediction state space model established according to the steps, and the obtained updated model is the target multi-step prediction state space model.
S103, calculating a control command sequence by using the target multi-step prediction state space model, and issuing a first step in the control command sequence as a control command if the target power distribution network is judged to reach a closed loop stable state, so as to realize the regional coordination voltage control of the target power distribution network.
It can be understood that, in the embodiment of the present invention, a control command sequence of the voltage control of the target distribution network on the time-domain control step number is calculated according to the obtained target multi-step prediction state space model. And then, judging whether the voltage control of the target power distribution network reaches a closed loop stable state, if so, issuing the first step in the control command sequence as a control command to the voltage control equipment, and the voltage control equipment adjusts the network output voltage by executing the control command to realize the coordination control of the regional voltage of the target power distribution network.
It can be understood that the control command sequence carries a plurality of control commands to be issued to the voltage control device, and the voltage control device finally stabilizes the system voltage by executing the control commands.
According to the regional coordination control method for the voltage of the power distribution network, provided by the embodiment of the invention, by further considering the dynamic control characteristic of the voltage control equipment, the coordination optimization speed can be effectively improved, the rapid regional coordination control of the voltage of the power distribution network is realized, and the problem that the voltage amplitude is out of limit due to rapid, severe and frequent fluctuation of the voltage of the power distribution network is effectively solved.
The area coordination control method for the voltage of the power distribution network provided by each embodiment is optional, and the step of establishing the multi-step prediction state space model of the target power distribution network specifically comprises the following steps:
establishing an equipment dynamic control model of a target power distribution network, and acquiring a simplified equivalent model reflecting the dominant control dynamics of voltage control equipment based on the equipment dynamic control model;
establishing a system state space model reflecting a dynamic control relation between voltage control equipment and the voltage of a key node of a target power distribution network based on a simplified equivalent model and a system network equation of the target power distribution network;
based on a system state space model, obtaining the system generalized state space model in a dynamic voltage control time discrete form through discretization setting and variable combination;
and acquiring a multi-step prediction state space model based on the system generalized state space model and the set time domain prediction step number and time domain control step number.
Specifically, firstly, an equipment dynamic control model of a target power distribution network is established by analyzing the state of voltage control equipment of the target power distribution network, and the equipment dynamic control model is subjected to order reduction and linearization processing, so that a simplified equivalent model reflecting the dominant control dynamics of the voltage control equipment is obtained as follows:
wherein X ∈ RnFor the state variable, U ∈ RnTo control the input variables, W ∈ RnFor disturbance variable, A, B, E ∈ Rn×nThe coefficients are respectively corresponding to the variable vectors in the state space equation, and n is the state variable order.
Secondly, according to the network topology parameters of the target power distribution network, a system network equation is established as Vl＝Cm(t) X, and based on the system network equation and the established simplified equivalent model of the voltage control equipment, establishing a system state space model reflecting the dynamic control relation between the voltage control equipment and the voltage of the key node in the target power distribution network as follows:
in the formula, VlIs the system key bus voltage value, CmAnd (t) is a system key bus voltage value observation matrix.
Thirdly, discretizing the obtained system state space model to obtain a discrete system state space model as follows:
in the formula (I), the compound is shown in the specification,
Cs(k)＝Cm(kTs)，Tsare time intervals.
Then, aiming at the discrete system state space model, combining the state equation output variables and the state variables to obtain a dynamic voltage control system generalized state space model in a discrete form on a time domain as follows:
wherein k is a time point, Xs(k+1)＝[ΔX(k+1) Vl(k+1)]TThe coefficients corresponding to the variable vectors in the state space equation are respectively:
and finally, obtaining an initial multi-step prediction state space model of the target power distribution network based on the obtained system generalized state space model. That is, the generalized state space model of the system is expanded according to the preset time domain prediction step number P and the time domain control step number M, and the multi-step prediction state space model of the voltage control of the target power distribution network region is obtained as follows:
in the formula:
the coefficients corresponding to the variable vectors in the state space equation are as follows:
the method for area coordination control of the voltage of the power distribution network provided by the embodiments is optional, and the step of correcting the multi-step prediction state space model specifically includes:
performing state estimation and topology identification on a target power distribution network based on a power distribution network synchronous measurement device, acquiring voltage control equipment information and current network topology structure information of the target power distribution network, and updating a multi-step prediction state space model based on the voltage control equipment information and the current network topology structure information;
and determining the error compensation quantity of the updated multi-step prediction state space model based on the prediction control quantity of the multi-step prediction state space model at the last moment and the current measurement control quantity measured by the power distribution network synchronous measuring device, and correcting the updated multi-step prediction state space model based on the error compensation quantity.
Specifically, the embodiment of the invention firstly utilizes a power distribution network synchronous measuring device to measure the state parameters of the power distribution network, respectively carries out voltage control state estimation and network topology identification on a target power distribution network based on the state parameters, and correspondingly and respectively obtains basic information of voltage control equipment such as a generator, a load and the like in the current target power distribution network and network topology structure parameters. And then updating the network parameters of the multi-step prediction state space model by using the basic information of the voltage control equipment and the network topology structure parameters, thereby realizing model updating.
Then, the embodiment of the invention predicts the voltage control result of the next moment, namely the current moment, according to the previous moment measurement value measured by the synchronous measurement device of the power distribution network by using the updated step prediction state space model, so as to obtain the predicted control quantity of the previous moment. Meanwhile, the current measurement control quantity of the target power distribution network is measured by using the power distribution network synchronous measuring device. And then, determining the error compensation quantity of the updated multi-step prediction state space model by comparing the prediction control quantity at the last moment with the measured current measurement control quantity, and carrying out feedback compensation correction on the updated multi-step prediction state space model according to the error compensation quantity.
The embodiment of the invention is based on a synchronous measurement device of the power distribution network, and performs feedback compensation correction on the initially established multi-step prediction state space model, so that the control system can reach a stable state more quickly, and the control efficiency is improved.
The method for area coordination control of the voltage of the power distribution network provided by the embodiments is optional, and the step of calculating the control command sequence by using the target multi-step prediction state space model specifically comprises the following steps: optimizing and setting a target multi-step prediction state space model by setting a target error cost and a control command cost to obtain a system prediction control optimization model; and calculating and acquiring a dynamic voltage control command sequence on the set time domain control step number as a control command sequence based on a system predictive control optimization model.
Specifically, in the embodiments of the present invention, the target multi-step prediction state space model obtained according to the above embodiments is optimized and set, including setting a target error cost and a control command cost in a control process, and determining an optimization target for voltage control in a target power distribution network region according to the target error cost and the control command cost, so as to obtain a system prediction control optimization model.
The area coordination control method for the voltage of the power distribution network provided by the embodiments is optional, and the system prediction control optimization model is specifically as follows:
Umin＜U(k)＜Umax；
ΔUmin＜ΔU(k)＜ΔUmax；
wherein J (k) isAn objective function, Ry＝diag(λ1,λ2,…,λP)mP×mPAt a target error cost, Ru＝diag(r1,r2,…,rM)nM×nMIn order to control the cost of the command,
predicting the predicted value of step number P, Y in time domain for the key bus voltageset(k) To set the target value, Xs(k) Is a state variable, U (k) is a control input variable, UmaxAnd UminRespectively, the upper and lower limit constraints of the control variable, and delta U (k) is the control increment, delta UmaxAnd Δ UminUpper and lower limit constraints for control increment, Δ w (k) for perturbation increment, σ (k) for prediction error compensation term, Λ ═ Fy·Fx，Φ＝Fy·Gx，Γ＝Fy·Hx，Fx、Gx、HxAnd FyAnd respectively representing coefficients corresponding to variable vectors in the multi-step prediction state space model, wherein s.t. represents constraint conditions.
And then, by utilizing the system predictive control optimization model, calculating the characteristic quantity according to the measurement value of the distribution network synchronous measurement device, namely calculating the dynamic voltage control command sequence on the control time domain (namely the time domain control step number).
Optionally, according to the foregoing embodiments, the control command sequence specifically includes:
u(k)＝u(k-1)+Δu(k|k)；
in the formula:
Δu(k|k)＝KmpcΔU(k)；
ΔU(k)＝(ΦTRyΦ+Ru)-1ΦTRy(Yset(k)-ΛXs(k)-ΓΔW(k)-σ(k))；
Kmpc＝[In×n，0…0]n×nMu (k) is a control amount at time k, and u (k-1) is a control amount at time k-1.
The method for area coordination control of the voltage of the power distribution network provided by the embodiments is optional, and the step of updating the multi-step prediction state space model specifically includes: based on a synchronous measurement device of the power distribution network, identifying a leading control parameter of a model of the voltage control equipment, acquiring information of the voltage control equipment, and updating an equivalent model parameter of the voltage control equipment based on the information of the voltage control equipment; and carrying out topology identification on the target power distribution network, acquiring current network topology structure information, updating admittance matrix parameters of the target power distribution network based on the current network topology structure information, and reestablishing a multi-step prediction state space model.
Specifically, when the system multi-step prediction state space model is updated, firstly, a measurement value of a target power distribution network control process is obtained based on a power distribution network synchronous measurement device, and then a control process characteristic value is formed based on the measurement value. And then, identifying the leading control parameters of the voltage control equipment (such as a generator, a controller and the like) model by using the characteristic values of the control process, and updating equivalent model parameters of the voltage control equipment according to the identification result.
Meanwhile, the network topology structure of the target power distribution network is identified based on the measured control process measurement value, and the network topology structure information of the current network can be obtained. And then updating admittance matrix parameters of the multi-step prediction state space model of the target power distribution network based on the network topology structure information, and reestablishing the multi-step prediction state space model of the target power distribution network control system through initialization setting according to the updated result to realize model updating.
According to the embodiment of the invention, the leading control parameters and the network topology structure parameters of the current voltage control equipment are identified on line, and the dynamic voltage prediction control model of the power distribution network is re-established based on the leading control parameters and the network topology structure parameters, so that the prediction control model is closer to the actual network, the accuracy is higher, and the regional voltage control can be realized more accurately.
Further, on the basis of the foregoing embodiments, after the step of issuing the first step in the control command sequence as the control command, the method for area coordination control of the voltage of the power distribution network according to the embodiments of the present invention further includes: and judging whether the target power distribution network reaches a stable state again, if so, ending the voltage regulation control, otherwise, returning to the step of monitoring the disturbance exceeding the set standard of the target power distribution network, and repeatedly executing the region coordination voltage control operation of the target power distribution network.
Specifically, in the embodiment of the present invention, after the control command is issued to the voltage control device to perform the area voltage control, the control result is also monitored. That is, after issuing a control command and waiting for a set time period, monitoring whether the voltage control of the target distribution network is recovered to be stable or reaches a new stable operation state, if so, judging that the voltage regulation of the region is finished, and controlling the voltage output by the current control parameter of the voltage control equipment. Otherwise, returning to the step of detecting whether the system has large disturbance, and re-executing the steps of model establishment, correction, control command calculation and control command issuing described in the above embodiment until the target distribution network area voltage is stable.
Referring to fig. 2, a schematic flow chart of a method for area coordination control of distribution network voltage according to another embodiment of the present invention is shown, and fig. 2 shows a more specific processing flow according to an embodiment of the present invention, which includes:
step 1, initializing a regional voltage control system of a target power distribution network offline to obtain an initial multi-step prediction state space model of the regional voltage control system, namely, establishing a dynamic control model of voltage control equipment of the target power distribution network and a network equation of the power distribution network, and establishing a multi-step prediction state space model of the power distribution network system based on the model and the equation;
step 2, monitoring whether the regional voltage control system has large disturbance, if so, turning to step 3, otherwise, continuing on-line real-time monitoring;
step 3, based on the measurement information of the power distribution network synchronous measurement device, performing state estimation and topology identification on a target power distribution network, acquiring basic information of current voltage control equipment such as a system generator and a load and topological structure parameters of the power network of the target power distribution network, and based on the basic information, identifying and updating a voltage control equipment model and a system network equation again to obtain an updated multi-step prediction state space model;
step 4, determining error compensation quantity of the multi-step prediction state space model based on a difference value between the last time prediction of the prediction model and the current time output measurement of the power distribution network synchronous measurement device, and performing feedback correction on the multi-step prediction state space model according to the error compensation quantity;
step 5, based on the system multi-step prediction state space model obtained in the step 1, a system prediction control optimization model can be obtained, and according to the characteristic quantity obtained by calculation of the measured value of the distribution network synchronous measurement device, the system prediction control optimization model is used for calculation to obtain a control command sequence;
step 6, judging whether the closed-loop control of the current voltage control system is stable, if so, turning to step 7, otherwise, returning to step 2;
step 7, according to the dynamic voltage control command sequence obtained in step 5, selecting the first step (u (k) in the above embodiment) as a control command to be issued;
and 8, judging whether the voltage control system reaches a stable operation state again at the next moment, if so, stopping the adjustment control of the current round, and otherwise, returning to the step 2.
The embodiment of the invention realizes the rapid regional coordination control of the voltage of the power distribution network based on the synchronous measurement device of the power distribution network, and solves the problem that the voltage amplitude is out of limit due to rapid, severe and frequent fluctuation of the voltage of the power distribution network.
The embodiment of the invention further monitors the voltage control running state of the system after the control command is issued, establishes a new control process when the control command is not stable, can ensure a stable control result, and effectively solves the problem of voltage amplitude out-of-limit caused by rapid, violent and frequent voltage fluctuation.
Based on the same inventive concept, the embodiments of the present invention provide a device for area-coordinated control of voltage of a distribution network according to the above embodiments, where the device is used to implement area-coordinated control of voltage of the distribution network in the above embodiments. Therefore, the description and definition in the area coordination control method for the distribution network voltage in each embodiment may be used for understanding each execution module in the embodiment of the present invention, and specific reference may be made to the above embodiment, which is not described herein again.
According to an embodiment of the present invention, a structure of a device for area coordination control of distribution network voltage is shown in fig. 3, which is a schematic structural diagram of a device for area coordination control of distribution network voltage provided in an embodiment of the present invention, and the device may be used to implement area coordination control of distribution network voltage in the above-mentioned method embodiments, and the device includes: an initialization module 301, an update module 302, and a control output module 303. Wherein:
the initialization module 301 is configured to initialize a target distribution network control system offline, and establish a multi-step prediction state space model of the target distribution network; the updating module 302 is configured to, if it is monitored that the target power distribution network has disturbance exceeding a set standard, correct the multi-step prediction state space model by performing state estimation and topology identification on the target power distribution network based on the power distribution network synchronous measurement device, and obtain a target multi-step prediction state space model; the updating module 302 is configured to calculate a control command sequence by using the target multi-step prediction state space model, and if it is determined that the target power distribution network reaches the closed-loop stable state, issue a first step in the control command sequence as a control command to implement the regional coordinated voltage control of the target power distribution network.
Specifically, the initialization module 301 performs initialization setting on the control system of the target power distribution network, including setting of time domain prediction step numbers and time domain control step numbers, for example. On the basis, the initialization module 301 establishes a multi-step prediction state space model of the control relationship between the voltage control equipment and the network key node voltage by combining the analysis of the control state of the voltage control equipment in the control system and the analysis of the network topology structure of the target power distribution network.
Then, the updating module 302 monitors whether the voltage in the target distribution network has large disturbance, that is, whether the voltage disturbance exceeds a set standard. And if the monitored voltage disturbance exceeds a set standard, judging that the model needs to be optimized and updated. Otherwise, the online real-time monitoring is continued.
Specifically, if the update module 302 monitors that the voltage has large disturbance, the dominant parameters of the target distribution network voltage control device are identified based on the distribution network synchronous measurement device, and the state of the voltage control device is estimated accordingly. Meanwhile, the updating module 302 identifies the current network topology information of the target distribution network based on the distribution network synchronous measurement device. The updating module 302 updates and corrects the parameters of the multi-step prediction state space model established according to the above steps, and the obtained updated model is the target multi-step prediction state space model.
Finally, the updating module 302 calculates a control command sequence of the voltage control of the target distribution network on the time-domain control steps according to the obtained target multi-step prediction state space model. Then, the updating module 302 needs to determine whether the voltage control of the target power distribution network reaches the closed-loop stable state, and if so, issues the first step in the control command sequence as a control command to the voltage control device. And the voltage control equipment adjusts the network output voltage by executing the control command, so that the coordination control of the regional voltage of the target power distribution network is realized.
According to the regional coordination control device for the voltage of the power distribution network, provided by the embodiment of the invention, by further considering the dynamic control characteristic of the voltage control equipment, the coordination optimization speed can be effectively improved, the rapid regional coordination control of the voltage of the power distribution network is realized, and the problem that the voltage amplitude is out of limit due to rapid, severe and frequent fluctuation of the voltage of the power distribution network is effectively solved.
It is understood that, in the embodiment of the present invention, each relevant program module in the apparatus of each of the above embodiments may be implemented by a hardware processor (hardware processor). Moreover, the area coordination control device for the distribution network voltage according to the embodiment of the present invention can implement the area coordination control process for the distribution network voltage according to each of the method embodiments by using the program modules, and when the device is used for implementing the area coordination control for the distribution network voltage according to each of the method embodiments, the beneficial effects produced by the device according to the embodiment of the present invention are the same as those of the corresponding method embodiments, and the device according to the embodiment of the present invention may refer to the method embodiments, and are not described herein again.
As another aspect of the present invention, the present embodiment provides an electronic device according to the above embodiments, where the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method for area-coordinated control of the distribution network voltage according to the above embodiments.
Further, the electronic device of the embodiment of the present invention may further include a communication interface and a bus. Referring to fig. 4, an entity structure diagram of an electronic device provided in an embodiment of the present invention includes: at least one memory 401, at least one processor 402, a communication interface 403, and a bus 404.
The memory 401, the processor 402 and the communication interface 403 complete mutual communication through the bus 404, and the communication interface 403 is used for information transmission between the electronic device and the power distribution network device; the memory 401 stores a computer program operable on the processor 402, and the processor 402 executes the computer program to implement the steps of the method for area-coordinated control of the distribution network voltage according to the embodiments described above.
It is understood that the electronic device at least includes a memory 401, a processor 402, a communication interface 403 and a bus 404, and the memory 401, the processor 402 and the communication interface 403 are connected in communication with each other through the bus 404, and can perform communication with each other, such as program instructions of a region coordination control method for reading a distribution network voltage from the memory 401 by the processor 402. In addition, the communication interface 403 may also implement communication connection between the electronic device and the distribution network device, and may complete mutual information transmission, such as reading of the distribution network voltage control device information through the communication interface 403.
When the electronic device is running, the processor 402 calls the program instructions in the memory 401 to perform the methods provided by the above-mentioned method embodiments, including for example: initializing a target power distribution network control system in an off-line manner, and establishing a multi-step prediction state space model of the target power distribution network; if the situation that disturbance exceeding a set standard occurs in a target power distribution network is monitored, correcting the multi-step prediction state space model by carrying out state estimation and topology recognition on the target power distribution network based on a power distribution network synchronous measurement device, and obtaining the target multi-step prediction state space model; and calculating a control command sequence by utilizing the target multi-step prediction state space model, and issuing the first step in the control command sequence as a control command if the target power distribution network is judged to reach a closed loop stable state, so as to realize the regional coordination voltage control of the target power distribution network and the like.
The program instructions in the memory 401 may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Alternatively, all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, where the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Embodiments of the present invention further provide a non-transitory computer readable storage medium according to the above embodiments, on which computer instructions are stored, and when the computer instructions are executed by a computer, the method for area coordination control of distribution network voltage according to the above embodiments is implemented, for example, the method includes: initializing a target power distribution network control system in an off-line manner, and establishing a multi-step prediction state space model of the target power distribution network; if the situation that disturbance exceeding a set standard occurs in a target power distribution network is monitored, correcting the multi-step prediction state space model by carrying out state estimation and topology recognition on the target power distribution network based on a power distribution network synchronous measurement device, and obtaining the target multi-step prediction state space model; and calculating a control command sequence by utilizing the target multi-step prediction state space model, and issuing the first step in the control command sequence as a control command if the target power distribution network is judged to reach a closed loop stable state, so as to realize the regional coordination voltage control of the target power distribution network and the like.
As a further aspect of the embodiments of the present invention, the present embodiment further provides a computer program product according to the above embodiments, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer being capable of executing the area coordination control method for distribution network voltage provided by the above method embodiments, the method comprising: initializing a target power distribution network control system in an off-line manner, and establishing a multi-step prediction state space model of the target power distribution network; if the situation that disturbance exceeding a set standard occurs in a target power distribution network is monitored, correcting the multi-step prediction state space model by carrying out state estimation and topology recognition on the target power distribution network based on a power distribution network synchronous measurement device, and obtaining the target multi-step prediction state space model; and calculating a control command sequence by using the target multi-step prediction state space model, and issuing the first step in the control command sequence as a control command to realize the regional coordination voltage control of the target power distribution network if the target power distribution network is judged to reach a closed loop stable state.
According to the electronic device, the non-transitory computer readable storage medium and the computer program product provided by the embodiments of the present invention, by executing the steps of the method for area coordination control of the voltage of the power distribution network described in the above embodiments, the dynamic control characteristic of the voltage control device is further considered, the coordination optimization speed can be effectively improved, the fast area coordination control of the voltage of the power distribution network is realized, and the problem that the voltage amplitude is out of limit due to fast, severe and frequent fluctuations of the voltage of the power distribution network is effectively solved.
It is to be understood that the above-described embodiments of the apparatus, the electronic device and the storage medium are merely illustrative, and that elements described as separate components may or may not be physically separate, may be located in one place, or may be distributed on different network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a usb disk, a removable hard disk, a ROM, a RAM, a magnetic or optical disk, etc., and includes several instructions for causing a computer device (such as a personal computer, a server, or a network device, etc.) to execute the methods described in the method embodiments or some parts of the method embodiments.
In addition, it should be understood by those skilled in the art that in the specification of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the embodiments of the invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A regional coordination control method for the voltage of a power distribution network is characterized by comprising the following steps:
initializing a target power distribution network control system in an off-line manner, and establishing a multi-step prediction state space model of the target power distribution network;
if the situation that the disturbance exceeding a set standard occurs in the target power distribution network is monitored, correcting the multi-step prediction state space model by carrying out state estimation and topology recognition on the target power distribution network based on a power distribution network synchronous measurement device, and obtaining a target multi-step prediction state space model;
and calculating a control command sequence by utilizing the target multi-step prediction state space model, and issuing a first step in the control command sequence as a control command to realize the regional coordination voltage control of the target power distribution network if the target power distribution network is judged to reach a closed loop stable state.
2. The method according to claim 1, wherein the step of establishing the multi-step predictive state space model of the target distribution network specifically comprises:
establishing an equipment dynamic control model of the target power distribution network, and acquiring a simplified equivalent model reflecting the dominant control dynamics of the voltage control equipment based on the equipment dynamic control model;
establishing a system state space model reflecting a dynamic control relation between the voltage control equipment and the voltage of the key node of the target power distribution network based on the simplified equivalent model and a system network equation of the target power distribution network;
based on the system state space model, obtaining a system generalized state space model in a dynamic voltage control time discrete form through discretization setting and variable combination;
and acquiring the multi-step prediction state space model based on the system generalized state space model and the set time domain prediction step number and time domain control step number.
3. The method for area-coordinated control of distribution network voltage according to claim 1 or 2, wherein the step of correcting the multi-step predictive state space model specifically comprises:
performing state estimation and topology identification on the target power distribution network based on the power distribution network synchronous measurement device, acquiring voltage control equipment information and current network topology structure information of the target power distribution network, and updating the multi-step prediction state space model based on the voltage control equipment information and the current network topology structure information;
and determining the error compensation quantity of the updated multi-step prediction state space model based on the prediction control quantity of the multi-step prediction state space model at the last moment and the current measurement control quantity measured by the power distribution network synchronous measurement device, and correcting the updated multi-step prediction state space model based on the error compensation quantity.
4. The method for area-coordinated control of distribution network voltage according to claim 1 or 2, wherein the step of calculating a control command sequence using the target multi-step predictive state space model specifically comprises:
optimizing and setting the target multi-step prediction state space model by setting target error cost and control command cost to obtain a system prediction control optimization model;
and calculating and acquiring a dynamic voltage control command sequence on a set time domain control step number as the control command sequence based on the system predictive control optimization model.
5. The method according to claim 3, wherein the step of updating the multi-step predictive state space model specifically comprises:
based on the synchronous measurement device of the power distribution network, identifying a leading control parameter of a model of the voltage control equipment, acquiring information of the voltage control equipment, and updating an equivalent model parameter of the voltage control equipment based on the information of the voltage control equipment;
and carrying out topology identification on the target power distribution network, acquiring the current network topology structure information, updating admittance matrix parameters of the target power distribution network based on the current network topology structure information, and reestablishing the multi-step prediction state space model.
6. The method according to claim 4, wherein the system predictive control optimization model is specifically as follows:
Umin＜U(k)＜Umax；
ΔUmin＜ΔU(k)＜ΔUmax；
wherein J (k) is an objective function, Ry＝diag(λ1,λ2,…,λP)mP×mPAt a target error cost, Ru＝diag(r1,r2,…,rM)nM×nMIn order to control the cost of the command,
predicting the predicted value of step number P, Y in time domain for the key bus voltageset(k) To set the target value, Xs(k) Is a state variable, U (k) is a control input variable, UmaxAnd UminRespectively, the upper and lower limit constraints of the control variable, and delta U (k) is the control increment, delta UmaxAnd Δ UminUpper and lower limit constraints for control increment, Δ w (k) for perturbation increment, σ (k) for prediction error compensation term, Λ ═ Fy·Fx，Φ＝Fy·Gx，Γ＝Fy·Hx，Fx、Gx、HxAnd FyRespectively representing the coefficients corresponding to the variable vectors in the multi-step prediction state space model, wherein s.t. represents constraint conditions;
correspondingly, the control command sequence is specifically as follows:
u(k)＝u(k-1)+Δu(k|k)；
Δu(k|k)＝KmpcΔU(k)；
ΔU(k)＝(ΦTRyΦ+Ru)-1ΦTRy(Yset(k)-ΛXs(k)-ΓΔW(k)-σ(k))；
in the formula, Kmpc＝[In×n，0…0]n×nMU (k) is a control amount at time k, and u (k-1) is a control amount at time k-1.
7. The method for area-coordinated control of voltage of a power distribution network according to claim 1, wherein after the step of issuing the first step in the control command sequence as a control command, the method further comprises:
and judging whether the target power distribution network reaches a stable state again, if so, ending voltage regulation control, otherwise, returning to the step of if monitoring that the target power distribution network has disturbance exceeding a set standard, and repeatedly executing the region coordination voltage control operation of the target power distribution network.
8. A device for regional coordinated control of distribution network voltage, comprising:
the initialization module is used for initializing a target power distribution network control system in an off-line manner and establishing a multi-step prediction state space model of the target power distribution network;
the updating module is used for correcting the multi-step prediction state space model and acquiring a target multi-step prediction state space model by carrying out state estimation and topology identification on the target power distribution network based on the power distribution network synchronous measurement device if the situation that the disturbance exceeding a set standard occurs to the target power distribution network is monitored;
and the control output module is used for calculating a control command sequence by utilizing the target multi-step prediction state space model, and issuing a first step in the control command sequence as a control command to realize the regional coordination voltage control of the target power distribution network if the target power distribution network is judged to reach a closed loop stable state.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method for zone-coordinated control of a distribution network voltage according to any of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a computer, implement the steps of the method for coordinated zone control of distribution network voltage according to any of claims 1 to 7.
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