CN115347559A - Load frequency safety control method of multi-region power system under denial of service attack - Google Patents
Load frequency safety control method of multi-region power system under denial of service attack 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
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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
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- H02J3/002—Flicker reduction, e.g. compensation of flicker introduced by non-linear load
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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
- H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
- H02J3/241—The oscillation concerning frequency
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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
- H02J2203/10—Power transmission or distribution systems management focussing at grid-level, e.g. load flow analysis, node profile computation, meshed network optimisation, active network management or spinning reserve management
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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
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Abstract
The invention discloses a load frequency safety control method of a multi-region power system under denial of service attack, which comprises the following steps: constructing a multi-region power system model; constructing a mathematical model of denial of service attack; constructing a distributed safety controller by combining the states of the multi-region power system; obtaining a multi-region closed-loop control power system according to the multi-region power system model, the denial of service attack mathematical model and the distributed security controller; performing load frequency stabilization and H on the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller; and carrying out safety control on the multi-region power system by adopting the distributed safety controller and the gain. The invention can effectively resist the adverse effect caused by a class of attacks and provides a key technical support for the safe and stable operation of the power system.
Description
Technical Field
The application relates to the field of load frequency control of a multi-region power system, in particular to a load frequency safety control method of the multi-region power system under the condition of denial of service attack.
Background
For decades, power systems have played an important role in many aspects of human life, such as transportation, medical, industrial, etc. Load frequency is an important indicator of stability of a multi-region power system, and frequency deviation may cause instability of the power system and may cause system breakdown in severe cases. Therefore, when the frequency changes, the tie line exchange frequency value and the grid frequency deviation value can be quickly adjusted to realize frequency control, which is of great significance to stable operation and guarantee of electric energy quality of a multi-region electric power system.
With the rapid development of network communication technology and computer technology, the open and free network environment brings some network security challenges while improving the operating efficiency of the power system. Network attackers can cause instability in the operation of power systems through replay attacks, denial of service attacks, spoofing attacks, and the like. Denial of service attacks are a common attack form, which mainly means that communication network resources are occupied by attackers, so that information transmission cannot be performed normally, and normal operation of a power system is disturbed.
Therefore, control and protection measures are taken for network attack in time, and the method has key value for improving the safety of the power system.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
(1) The multi-region power system is composed of a plurality of subsystems, most of the existing methods for designing the centralized controller need information of the whole multi-region power system, parameters of the whole multi-region power system are also needed when the gain of the centralized controller is solved, and certain complexity is brought to solving calculation;
(2) Network attack and load disturbance can cause great influence on the stability of a power system, and the method mainly aims at non-random network attack, H ∞ The performance index plays a great role in interference suppression, but at present, random network attack and H have not been achieved ∞ The performance is taken into account.
Disclosure of Invention
The embodiment of the application aims to provide a load frequency safety control method of a multi-region power system under a denial of service attack, so as to solve the problem of unstable load frequency of the multi-region power system under the denial of service attack in the related art.
According to a first aspect of the embodiments of the present application, a load frequency security control method for a multi-region power system under a denial of service attack is provided, including:
constructing a multi-region power system model;
constructing a mathematical model of denial of service attack;
constructing a distributed safety controller by combining the states of the multi-region power system;
obtaining a multi-region closed-loop control power system according to the multi-region power system model, the denial of service attack mathematical model and the distributed security controller;
performing load frequency stabilization and H on the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller;
and carrying out safety control on the multi-region power system by adopting the distributed safety controller and the gain.
Further, constructing a multi-zone power system model, comprising:
the multi-zone power system model is constructed as follows:
y i (t)＝C i x i (t) (2)
wherein N represents the number of regions, i represents the ith region, j represents the jth region, and x i (t)、u i (t)、w i (t) and y i (t) power system status, control inputs, load disturbances and measurement outputs for the ith zone, respectively,
Δf i 、
ΔE i and Δ σ i Respectively representing incremental frequency deviation, incremental change of generator output power, incremental change of position of speed regulator valve, incremental change of integral control and angular frequency deviationMove, A i Representing a given system matrix, E ij Representing a matrix of coefficients of the interconnection terms, B i Representing a given input matrix, F i Representing a matrix of perturbation terms coefficient, C i Outputting a matrix for a given measurement;
wherein
K sij 、R i 、
And
respectively, a power system model time constant, a power system gain, a tie line power synchronization coefficient of the regions i and j, a speed regulator speed regulation, a speed regulator time constant, an integral control gain and a region frequency deviation coefficient.
Further, constructing a mathematical model of denial of service attack, comprising:
adopting a Bernoulli stochastic process to construct a mathematical model of denial of service attack, wherein the model is as follows:
wherein beta is i (t) represents a Bernoulli random process, and when the value is 1, represents successful transmission of data; otherwise, attack occurs, and data cannot be transmitted;
representing the mathematical expectation of a denial of service attack.
Further, combining the states of the multi-zone power system to construct a distributed safety controller, comprising:
combining the states of the multi-region power system, constructing a distributed safety controller as follows:
u i (t)＝β i (t)K i x i (t) (4)
wherein K is i Is the gain of the decentralized security controller.
Further, according to the multi-region power system model, the mathematical model of denial of service attack and the distributed security controller, a multi-region closed-loop control power system is obtained, which includes:
according to the equations (1) - (4), the multi-zone closed-loop control power system can be obtained as follows:
further, load frequency stabilization and H are carried out on the multi-zone closed-loop control power system ∞ Analyzing the performance and solving the gain of the decentralized safety controller, comprising:
mathematical expectations for a given denial of service attack
And interference suppression coefficient gamma, if matrix Q exists i > 0 and scalar τ i > 0, the following matrix inequality is satisfied:
wherein
The multi-zone power system can be stabilized and H-controlled by the decentralized safety controller ∞ Performance, and the gain of the decentralized safety controller is found by:
according to a second aspect of the embodiments of the present application, there is provided a load frequency security control device for a multi-region power system under a denial of service attack, including:
the first construction module is used for constructing a multi-region power system model;
the second construction module is used for constructing a denial of service attack mathematical model;
the third construction module is used for constructing a distributed safety controller by combining the states of the multi-region power system;
the calculation module is used for obtaining a multi-region closed-loop control power system according to the multi-region power system model, the denial-of-service attack mathematical model and the distributed security controller;
a solving module for stabilizing load frequency and H of the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller;
and the control module is used for carrying out safety control on the multi-region power system by adopting the distributed safety controller and the gain.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method as described in the first aspect.
According to a fourth aspect of embodiments herein, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method according to the first aspect.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
it can be known from the above embodiments that, in the present application, for the unstable problem of the load frequency of the multi-region power system under the denial of service attack, the influence of the model of the multi-region power system and the random denial of service attack is considered at the same time, the distributed security controller is constructed, and it is right that the multi-region closed-loop control power system performs the load frequency stabilization and the H-shaped load frequency stabilization ∞ Analyzing the performance, solving the gain of the distributed safety controller, and meeting the requirements of stable load frequency and H of a multi-region power system ∞ The performance is improved, and therefore the safety stability of the load frequency of the multi-region power system is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a flowchart illustrating a load frequency security control method of a multi-region power system under a denial of service attack according to an exemplary embodiment.
Fig. 2 is a schematic diagram illustrating incremental frequency offset change for an open loop condition for a multi-zone power system, according to an exemplary embodiment.
FIG. 3 is a control input schematic of a multi-zone power system shown in accordance with an exemplary embodiment.
Fig. 4 is a schematic diagram illustrating an incremental frequency offset change in a closed loop condition for a multi-zone power system according to an exemplary embodiment.
Fig. 5 is a block diagram illustrating a load frequency security control apparatus of a multi-region power system under a denial of service attack in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.
Fig. 1 is a flowchart illustrating a load frequency security control method of a multi-region power system under a denial of service attack according to an exemplary embodiment, where the method may include the following steps, as shown in fig. 1:
s11: constructing a multi-region power system model;
s12: constructing a mathematical model of denial of service attack;
s13: constructing a distributed safety controller by combining the states of the multi-region power system;
s14: obtaining a multi-region closed-loop control power system according to the multi-region power system model, the denial of service attack mathematical model and the distributed security controller;
s15: performing load frequency stabilization and H on the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller;
s16: and carrying out safety control on the multi-region power system by adopting the distributed safety controller and the gain.
It can be known from the above embodiments that, in the present application, for the problem of unstable load frequency of the multi-region power system under the denial of service attack, the influence of the model of the multi-region power system and the random denial of service attack is considered at the same time, the distributed security controller is constructed, and it is right that the multi-region closed-loop control power system performs load frequency stabilization and H ∞ Analyzing the performance, and solving the gain of the distributed safety controller, thereby satisfying the load frequency stability and H of the multi-region power system ∞ The performance is improved, and therefore the safety stability of the load frequency of the multi-region power system is improved.
In the specific implementation of S1: constructing a multi-region power system model;
specifically, a linear model is adopted to represent a system which is close to a normal point to operate, and a multi-region power system is described to be composed of a plurality of linear systems, so that the analysis difficulty is reduced. Each of which represents a power system area, while each area is also affected by the other areas. The multi-zone power system model constructed in this example is as follows:
y i (t)＝C i x i (t) (2)
wherein N represents the number of regions, i represents the ith region, j represents the jth region, and x i (t)、u i (t)、w i (t) and y i (t) are respectively the i-th zoneThe power system state, control inputs, load disturbances and measurement outputs of the domain,
Δf i 、
ΔE i and Δ σ i Respectively representing incremental frequency offset, incremental change in generator output power, incremental change in governor valve position, incremental change in integral control, and angular frequency offset, A i Representing a given system matrix, E ij Representing a matrix of coefficients of the interconnection terms, B i Representing a given input matrix, F i Representing a disturbance term coefficient matrix, C i Outputting a matrix for a given measurement;
wherein
K sij 、R i 、
And
respectively, a power system model time constant, a power system gain, a tie line power synchronization coefficient of the areas i and j, a speed regulator speed regulation, a speed regulator time constant, an integral control gain and an area frequency deviation coefficient.
In a specific implementation of S12: constructing a mathematical model of denial of service attack;
in particular, network attacks are generally unpredictable, generally cannot predict when they occur, and are random, and therefore, in order to better describe the stochastic nature of the network attack model, a stochastic process is used for modeling.
Because the signal can be subjected to malicious network attack frequently in the transmission process, the denial of service attack is a common attack form, a Bernoulli random process is adopted to construct a mathematical model of the denial of service attack, and the model is as follows:
wherein beta is i (t) represents a Bernoulli random process, and when the value is 1, represents successful transmission of data; otherwise, attack occurs, and data cannot be transmitted;
representing the mathematical expectation of a denial of service attack. In this application, it is assumed that a denial of service attack has occurred in the transmission channel from the sensor to the decentralized security controller, and therefore the signal received by the decentralized security controller is β i (t)x i (t)。
In a specific implementation of S13: constructing a distributed safety controller by combining the states of the multi-region power system;
in particular, a decentralized safety controller is designed based on the information obtained from the individual power system area transmissions. Compared with the traditional centralized controller design method which needs the information of the whole multi-region power system, the distributed design scheme needs less information, and the information transmission quantity is reduced.
In this embodiment, the distributed safety controller is constructed by combining the states of the multi-region power system as follows:
u i (t)＝β i (t)K i x i (t) (4)
wherein K i Is the gain of the decentralized safety controller.
In a specific implementation of S14: obtaining a multi-region closed-loop control power system according to the multi-region power system model, the denial of service attack mathematical model and the distributed security controller;
specifically, according to the formulas (1) to (4), the multi-zone closed-loop control power system can be obtained as follows:
in the specific implementation of S15: performing load frequency stabilization and H on the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller;
specifically, the load frequency is stable and H ∞ The main ideas of the performance analysis are as follows: by constructing the Lyapunov function
Performing derivation calculation on the function; first, when w i (t) ≡ 0 analyzing the stability of the closed-loop control power system (equation (5)); then, at the zero initial state of the system and w i (t) not always zero, study H in combination with formula (2) ∞ Performance, i.e.
Mathematical expectations for a given denial of service attack
And interference suppression coefficient gamma, if matrix Q is present i > 0 and scalar τ i > 0, the following matrix inequality is satisfied:
wherein
By the above analysis, satisfying the formula (6) satisfies the stability and H ∞ The performance requirements.
And finally, obtaining a solving method of the controller gain through a linear matrix inequality technology. The multi-region power system can realize stability and H under the action of the distributed safety controller ∞ Performance, and the gain of the decentralized safety controller is found by:
the method requires only a single regional power system parameter rather than the entire multi-regional power system parameter, thereby reducing computational complexity.
In a specific implementation of S16: and carrying out safety control on the multi-region power system by adopting the distributed safety controller and the gain.
The controller gain obtained in S15 is applied to the multi-region power system load frequency control to verify the effectiveness of the present invention.
The system parameters take the values as follows:
the mathematical expectation in a denial of service attack is 0.9 and the interference suppression coefficient γ 2 If =34.5, by solving the matrix inequality of step 4, the following controller gain is obtained:
K 1 ＝[-65.3204 -33.9662 -4.8524 -70.0146 -5.3359],
K 2 ＝[-66.1738 -27.5546 -3.5297 -67.6696 -5.3791],
K 3 ＝[-79.0223,-41.1601,-4.7533,-81.2568,-7.0430],
in the simulation, the initial state of the system is x 1 (0)＝[-2 -3 1 1 2] T ，x 2 (0)＝[1 2 1 1 2] T And x 3 (0)＝[-2 -3 3 5 -2] T All load disturbances are
Fig. 2 shows the load frequency variation of a multi-zone power system without control input, and it can be seen that the open-loop system is unstable. Fig. 3 shows the designed control input, and it can be seen from fig. 4 that the load frequency of the multi-zone power system gradually approaches zero with the increase of time under the control input.
Corresponding to the embodiment of the load frequency safety control method of the multi-region power system under the denial of service attack, the application also provides an embodiment of a load frequency safety control device of the multi-region power system under the denial of service attack.
Fig. 5 is a block diagram illustrating a load frequency security control apparatus of a multi-region power system under a denial of service attack according to an exemplary embodiment. Referring to fig. 5, the apparatus includes:
a first building module 21, configured to build a multi-region power system model;
a second construction module 22, configured to construct a denial of service attack mathematical model;
a third building module 23, configured to build a distributed safety controller in combination with the state of the multi-zone power system;
the calculation module 24 is configured to obtain a multi-region closed-loop control power system according to the multi-region power system model, the denial-of-service attack mathematical model, and the distributed security controller;
a solving module 25 for load frequency stabilization and H of the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller;
a control module 26 for performing safety control on the multi-zone power system by using the distributed safety controller and the gain.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement without inventive effort.
Correspondingly, the present application also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the load frequency security control method of the multi-region power system under the denial of service attack as described above.
Accordingly, the present application also provides a computer readable storage medium, on which computer instructions are stored, and the instructions, when executed by a processor, implement the load frequency security control method of the multi-region power system under the denial of service attack as described above.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (9)
1. A load frequency safety control method of a multi-region power system under a denial of service attack is characterized by comprising the following steps:
constructing a multi-region power system model;
constructing a mathematical model of denial of service attack;
constructing a distributed safety controller by combining the states of the multi-region power system;
obtaining a multi-region closed-loop control power system according to the multi-region power system model, the denial of service attack mathematical model and the distributed security controller;
performing load frequency stabilization and H on the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller;
and carrying out safety control on the multi-region power system by adopting the distributed safety controller and the gain.
2. The method of claim 1, wherein constructing a multi-zone power system model comprises:
the multi-zone power system model is constructed as follows:
y i (t)＝C i x i (t) (2)
wherein N represents the number of regions, i represents the ith region, j represents the jth region, and x i (t)、u i (t)、w i (t) and y i (t) power system status, control inputs, load disturbances and measurement outputs for the ith zone, respectively,
Δf i 、
ΔE i and Δ σ i Respectively representing incremental frequency offset, incremental change in generator output power, incremental change in governor valve position, incremental change in integral control, and angular frequency offset, A i Representing a given system matrix, E ij Representing a matrix of coefficients of the interconnection terms, B i Representing a given input matrix, F i Representing a matrix of perturbation terms coefficient, C i Outputting a matrix for a given measurement;
wherein
K sij 、R i 、
And
respectively, a power system model time constant, a power system gain, a tie line power synchronization coefficient of the regions i and j, a speed regulator speed regulation, a speed regulator time constant, an integral control gain and a region frequency deviation coefficient.
3. The method of claim 2, wherein constructing a mathematical model of a denial of service attack comprises:
adopting a Bernoulli stochastic process to construct a mathematical model of denial of service attack, wherein the model is as follows:
wherein beta is i (t) represents a Bernoulli random process, and when the value is 1, represents successful transmission of data; otherwise, attack occurs, and data cannot be transmitted;
representing the mathematical expectation of a denial of service attack.
4. The method of claim 3, wherein building a decentralized safety controller in conjunction with a multi-zone power system state comprises:
combining the states of the multi-region power system, constructing a distributed safety controller as follows:
u i (t)＝β i (t)K i x i (t) (4)
wherein K i Is the gain of the decentralized safety controller.
5. The method of claim 4, wherein deriving a multi-zone closed-loop control power system from the multi-zone power system model, the denial of service attack mathematical model, and the distributed security controllers comprises:
according to the equations (1) - (4), the multi-zone closed-loop control power system can be obtained as follows:
6. the method of claim 5, wherein load frequency stabilization and H for the multi-zone closed loop control power system is performed ∞ Analyzing the performance and solving the gain of the decentralized safety controller, comprising:
mathematical expectations for a given denial of service attack
And interference suppression coefficient gamma, if matrix Q is present i > 0 and scalar τ i > 0, the following matrix inequality is satisfied:
wherein
The multi-zone power system can be stabilized and H-controlled by the decentralized safety controller ∞ Performance, and the gain of the decentralized safety controller is found by:
7. a load frequency safety control method of a multi-region power system under a denial of service attack is characterized by comprising the following steps:
the first construction module is used for constructing a multi-region power system model;
the second construction module is used for constructing a denial of service attack mathematical model;
the third construction module is used for constructing a distributed safety controller by combining the states of the multi-region power system;
the calculation module is used for obtaining a multi-region closed-loop control power system according to the multi-region power system model, the denial-of-service attack mathematical model and the distributed security controller;
a solving module for load frequency stabilization and H of the multi-region closed-loop control power system ∞ Analyzing the performance and solving the gain of the distributed safety controller;
and the control module is used for carrying out safety control on the multi-region power system by adopting the distributed safety controller and the gain.
8. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
9. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out the steps of the method according to any one of claims 1-6.
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