CN114937993A - State estimation method of remote terminal equipment of power system based on enhanced filter algorithm - Google Patents
State estimation method of remote terminal equipment of power system based on enhanced filter algorithm Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00004—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the power network being locally controlled
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
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- Feedback Control In General (AREA)
Abstract
The invention relates to the field of signal processing of an electric power system, and particularly discloses a state estimation method of electric power system remote terminal equipment based on an enhanced filter algorithm, which comprises the following steps: step S100: constructing a control feedback closed loop system based on an enhancement filter; step S200: inputting the signal with noise acquired by the remote terminal equipment into a control feedback closed loop system based on an enhancement filter in the step S100 for filtering processing; step S300: the signal with noise is filtered to obtain a filtered signal, so that the running state of the current power system can be accurately estimated according to the obtained filtered signal.
Description
Technical Field
The invention relates to the field of signal processing of an electric power system, and particularly discloses a state estimation method of electric power system remote terminal equipment based on an enhanced filter algorithm.
Background
The power system state estimation is one of core functions of an Energy Management System (EMS) of a power system dispatching center, and the function of the power system state estimation is to estimate the current operating state of the power system according to various measurement information of the power system. The safe and economic operation of modern power grids depends on an Energy Management System (EMS), and the functions of the energy management system can be divided into an online application for analyzing the real-time change of the power grid and an offline application for analyzing a typical power flow section. Power system state estimation can be said to be the basis for the high-level software of most online applications. If the power system state estimation result is inaccurate, any subsequent analysis and calculation cannot obtain an accurate result.
The Remote Terminal Unit (RTU) of the electric power system can be used for the fields of dynamic monitoring, system protection, system analysis and prediction and the like of the electric power system, is an important device for ensuring the safe operation of a power grid, and shows from the results of field tests, operation and application research: the synchronous phasor measurement technology is applied or has application prospects in the aspects of state estimation and dynamic monitoring, stable prediction and control, model verification, relay protection, fault positioning and the like of a power system, but the problem that how to effectively utilize RTU measurement in state estimation is the problem which must be faced and solved currently, and especially under the condition that a large amount of noise is mixed in a real-time measurement state, how to extract effective state filtering signals and other expanded signals has strong engineering significance.
Therefore, how to enhance the advantages of state estimation filtering in power system Remote Terminal Unit (RTU) measurement becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The technical problem to be solved by the present invention is to overcome the above defects in the prior art, and provide a state estimation method for a remote terminal device of an electric power system based on an enhanced filter algorithm, which introduces different sliding mode surface structure enhanced filter algorithms on the basis of a filter constructed for a second order system with disturbance, thereby enhancing the advantages of the remote terminal device of the electric power system in the aspect of state estimation filtering based on the enhanced filter state estimation method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a state estimation method of a remote terminal device of a power system based on an enhanced filter algorithm specifically comprises the following steps:
step S100: constructing a control feedback closed loop system of a second-order integral series system with disturbance;
step S200: inputting the noisy signal acquired by the remote terminal equipment of the power system into the control feedback closed-loop system constructed in the step S100 for filtering;
step S300: and performing state estimation on the operating state of the power system based on a tracking filtering signal obtained by filtering the noisy signal in step S200.
Further, the second-order integral series system control feedback closed loop system with disturbance constructed in step S100 is defined as formula (1):
wherein x ═ x 1 ,x 2 ] T Is a state variable, r is a constant, and r is equal to or less than u is a constraint condition of the control input u; the disturbance is a function of time t, including uncertainty and external disturbances; let d (x, t) denote and assume that they are globally bounded and Lipschitz contiguous.
Further, in step S300, the state estimation of the operating state of the power system includes:
step S301: for any given system initial state x 1 And x 2 Calculating whether the sliding mode surface can be reached or not by constructing a Lyapunov function;
step S302: for any given system initial state x 1 And x 2 Calculating whether the origin can be reached in a limited time by constructing a Lyapunov function;
the convergence of the state is evaluated based on the calculation results of step S301 and step S302.
Compared with the prior art, the invention and the preferred scheme thereof input the noisy signal acquired by the remote terminal equipment into the second-order series control feedback closed-loop system based on disturbance, thereby obtaining the filtered signal after filtering processing, and further carrying out accurate state estimation on the current power system running state according to the obtained filtered signal; the enhancement filter is constructed by introducing different sliding mode surfaces, so that the advantage of the state estimation method of the remote terminal equipment (RTU) equipment enhancement filter algorithm in the aspect of filtering is effectively enhanced.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention;
FIG. 2 is a diagram illustrating a comparison of states of different filtering algorithm systems according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating the comparison of the effect of different filter algorithms in tracking filtering of sinusoidal signals according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating comparison of effects of different filter algorithms in tracking step signals according to an embodiment of the present invention.
Detailed Description
In order to make the features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail as follows:
it should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, the method for estimating a state of a remote terminal device of an electrical power system based on an enhanced filter algorithm provided in this embodiment specifically includes the following steps:
step S100: constructing a control feedback closed loop system of a second-order integral series system with disturbance;
step S200: inputting a signal with noise acquired by a Remote Terminal Unit (RTU) of the power system into a control feedback closed loop system based on an enhanced filter algorithm in step S100 for filtering;
step S300: the signal with noise is filtered to obtain a tracking filtering signal, so that the running state of the power system can be accurately estimated according to the obtained tracking filtering signal.
In the embodiment, a signal with noise acquired by remote terminal equipment is input to a second-order series control feedback closed-loop system based on disturbance, so that a filtered signal after filtering processing is obtained, and accurate state estimation can be performed on the current operating state of the power system according to the obtained filtered signal; the enhancement filter is constructed by introducing different sliding mode surfaces, so that the advantage of the state estimation method of the remote terminal equipment (RTU) equipment enhancement filter algorithm in the aspect of filtering is effectively enhanced.
Specific implementations of the steps are further described below.
Step S100: constructing a control feedback closed loop system of a second-order integral series system with disturbance;
the second-order integral series system control feedback closed loop system with disturbance constructed in the step S100 is defined as formula (1):
wherein x ═ x 1 ,x 2 ] T Is a state variable, r is a constant, and r is equal to or less than u is a constraint condition of the control input u; the disturbance is a function of time t, including uncertainty and external disturbances. They are denoted by d (x, t) and are assumed to be globally bounded and Lipschitz contiguous.
Step S200: inputting a signal with noise acquired by a Remote Terminal Unit (RTU) of the power system into a control feedback closed loop system based on an enhanced filter algorithm in step S100 for filtering;
step S300: the signal with noise is filtered to obtain a tracking filtering signal, so that the running state of the power system can be accurately estimated according to the obtained tracking filtering signal.
In this embodiment, the convergence evaluation for accurately estimating the current operating state of the power system is calculated by constructing a lyapunov function, and whether the current operating state can reach the sliding mode surface or not and whether the current operating state can reach the origin within a limited time or not is determined.
In this embodiment, a lyapunov function is constructed to evaluate the convergence and the convergence time of a Remote Terminal Unit (RTU) of an electric power system based on an enhanced filter algorithm state estimation method, and the evaluation specifically includes the steps of:
step S301: let s sign (p) and take the Lyapunov function v (x) p | its derivative form:
to prove that
The full conditions are as follows:
the upper bound of the disturbance is then correspondingly determined as:
as shown above, an x from time t 0 is estimated 0 Begins to reach the trajectory of the switch curve; suppose that:
where μ (x, t) > 0 is a given function; from this assumption and the differentiation of the Lyapunov function, one can obtain:
the solution of this differential equation (4) is:
|p|＝ce -∫μ(x,t)dt
where c is a constant, which may be chosen as c ═ p 0 If, | then there are:
|p|＜|p 0 ||e -μ(x,t)
if let mu 0 Min μ (x, t), then we can estimate that x when | p | < ε (where ε is a given normal number), x 0 The convergence time from time t-0 to the switching curve is as follows:
step S302: taking the Lyapunov function as:
it corresponds to a differential of
To prove
The full conditions are as follows:
the upper bound of the perturbation is then:
also, the convergence time for the state on the switch curve to be driven to the origin can be estimated; suppose that:
where v (x, t) > 0 is a given function. According to this assumption, there are:
the solution to the differential equation is:
V＝αe -∫ν(x,t)dt
where α is a constant, and may be taken as α ═ V 0 L; thus:
V＜|V 0 |e -ν(x,t)
if v is ordered 0 Min μ (x, t), then calculate V < ε 1 (wherein ε 1 Is a given normal number), the convergence time for the state on the switch curve to be driven to the origin is:
wherein, when the parameters r and θ are properly adjusted, the method proposed by the embodiment is robust to a kind of disturbance. The stability found in the approach mode is a sufficient condition for its use in the slip mode, since the upper bound of the disturbance satisfies:
at time t equal to 0, from x 0 The starting trajectory will converge to the origin within a limited time, less than t, where t is t 1 +t 2 Giving out; by adjusting the gain of the parameters, the total time can be managed, and the original point robustness is stabilized.
Simulation verification will be performed based on the enhancement filter algorithm of the present embodiment designed as described above. The simulation includes two parts, firstly, the situation of the variable structure control strategy based on the supercoiled algorithm, which is common in the contrast enhancement filter algorithm (denoted as TOSMC) and the sliding mode variable structure control algorithm, in the process of moving the system state back to the origin, and secondly, the embodiment compares the capabilities of the differentiator based on the TOSMC and the differentiator based on the STA in the aspects of signal tracking and differential extraction. In the simulation process, the sampling step length of the simulation system is h-0.001 s, x 1 (0)＝0,x 2 (0)＝2，θ＝0.1,r＝80，α＝8,λ＝6。
The results of the simulation experiments are shown in fig. 2-4, which prove that the effect of the scheme provided by the embodiment is better than that of the prior art as comparison.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow of the flowcharts, and combinations of flows in the flowcharts, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.
The present invention is not limited to the above-mentioned preferred embodiments, and any other various forms of the state estimation method of the remote terminal device of the power system based on the enhancement filter algorithm can be derived from the teaching of the present invention.
Claims (3)
1. A state estimation method of a power system remote terminal device based on an enhanced filter algorithm is characterized by comprising the following steps:
step S100: constructing a control feedback closed loop system of a second-order integral series system with disturbance;
step S200: inputting the noisy signal acquired by the remote terminal equipment of the power system into the control feedback closed-loop system constructed in the step S100 for filtering;
step S300: and performing state estimation on the operating state of the power system based on a tracking filtering signal obtained by filtering the signal with noise in the step S200.
2. The method for estimating the state of the power system remote terminal equipment based on the enhancement filter algorithm according to claim 1, wherein the second-order integral series system control feedback closed-loop system with disturbance constructed in the step S100 is defined as formula (1):
wherein x ═ x 1 ,x 2 ] T Is a state variable, r is a constant, and r is equal to or less than u is a constraint condition of control input u; the disturbance is a function of time t, including uncertainty and external disturbances; let d (x, t) denote and assume that they are globally bounded and Lipschitz contiguous.
3. The method for estimating the state of the remote terminal device of the power system based on the enhancement filter algorithm according to claim 2, wherein the step S300 of estimating the state of the power system comprises the following specific steps:
step S301: for any given system initial state x 1 And x 2 Calculating whether the sliding mode surface can be reached or not by constructing a Lyapunov function;
step S302: for any oneGiven initial state x of the system 1 And x 2 Calculating whether the origin can be reached in a limited time by constructing a Lyapunov function;
the convergence of the state is evaluated based on the calculation results of step S301 and step S302.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016173229A1 (en) * | 2015-04-27 | 2016-11-03 | 华为技术有限公司 | Filter and power supply system |
| CN109888782A (en) * | 2019-04-10 | 2019-06-14 | 中国人民解放军国防科技大学 | Method for estimating state of sliding mode differentiator of PMU (phasor measurement Unit) equipment of rail transit power supply system |
| CN110058520A (en) * | 2019-04-02 | 2019-07-26 | 清华大学 | A kind of set time convergence output feedback model refers to control method |
| CN113093553A (en) * | 2021-04-13 | 2021-07-09 | 哈尔滨工业大学 | Adaptive backstepping control method based on instruction filtering disturbance estimation |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016173229A1 (en) * | 2015-04-27 | 2016-11-03 | 华为技术有限公司 | Filter and power supply system |
| CN110058520A (en) * | 2019-04-02 | 2019-07-26 | 清华大学 | A kind of set time convergence output feedback model refers to control method |
| CN109888782A (en) * | 2019-04-10 | 2019-06-14 | 中国人民解放军国防科技大学 | Method for estimating state of sliding mode differentiator of PMU (phasor measurement Unit) equipment of rail transit power supply system |
| CN113093553A (en) * | 2021-04-13 | 2021-07-09 | 哈尔滨工业大学 | Adaptive backstepping control method based on instruction filtering disturbance estimation |
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