CN116488167B - Attack compensation data driving voltage safety control method, system, equipment and medium - Google Patents

Attack compensation data driving voltage safety control method, system, equipment and medium Download PDF

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CN116488167B
CN116488167B CN202310727556.XA CN202310727556A CN116488167B CN 116488167 B CN116488167 B CN 116488167B CN 202310727556 A CN202310727556 A CN 202310727556A CN 116488167 B CN116488167 B CN 116488167B
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attack
model
compensation
pseudo
data driving
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CN116488167A (en
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车伟伟
岳柏帆
金小峥
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Qingdao University
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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
    • 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
    • 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]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
    • Y04S40/20—Information technology specific aspects, e.g. CAD, simulation, modelling, system security

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention belongs to the technical field of nonlinear micro-grid voltage control, and discloses an attack compensation data driving voltage safety control method, an attack compensation data driving voltage safety control system, attack compensation data driving voltage safety control equipment and attack compensation data driving voltage safety control medium. The method comprises the following steps: providing a nonlinear system model of the micro-grid, acquiring pseudo-bias parameters based on a tight format dynamic linearization technology, and establishing an equivalent data model of the nonlinear system model; obtaining pseudo-bias parameters, and giving a model-free self-adaptive controller based on the equivalent data model and the pseudo-bias parameters; establishing an attack model of aperiodic DoS attack meeting the practical energy limit; designing a corresponding output compensation reconstruction mechanism; and an attack compensation framework is established, micro-grid attack compensation data based on an observer is given under the attack compensation framework to drive the secondary side voltage controller, and the attack compensation and tracking control targets are realized. The invention can solve the data driving control problem of the nonlinear micro-grid system under the condition that the network security is threatened, so as to maintain the stable operation of the system.

Description

Attack compensation data driving voltage safety control method, system, equipment and medium
Technical Field
The invention relates to the technical field of nonlinear micro-grid voltage control, in particular to an attack compensation data driving voltage safety control method, an attack compensation data driving voltage safety control system, attack compensation data driving voltage safety control equipment and attack compensation data driving voltage safety control medium.
Background
Microgrid voltage control is a common industrial process, and the operation process is quite complex. In a micro-grid system, secondary side voltage control is a link which is extremely nonlinear and full of time variability, and has practical significance on how to reasonably and timely adjust the regulating voltage of a generator to realize the tracking of the output voltage of a grid to an expected voltage value. The traditional model-based method often has the problem of excessively high modeling cost when controlling the output voltage of the power grid, and the control accuracy is seriously reduced due to the variation of model deviation. Therefore, developing an effective nonlinear control algorithm has been an important research direction in the field of automatic control, but the conventional model-based control theory is not suitable for such control problems.
The data-driven control technique is a new control method that has been developed in recent years, and that can control a system by using real-time measurement data without an accurate model. On one hand, the data driving control only depends on input and output data of the system, and has better effects on a control system which is difficult to build a mechanism model, is too complex and nonlinear and has inaccurate mechanism model and large uncertainty; on the other hand, many industrial processes generate and store large amounts of process data, which also creates conditions for data-driven applications, even in the absence of accurate process models, data-driven control can make efficient use of these online and offline data, directly design controllers, predict system dynamics, make decisions, and achieve efficient control of complex processes.
To ensure the control performance of the data driving control, it is necessary to ensure the reliability and availability of data to the maximum extent. In the current networking informatization era background, because the openness of the network physical system still has many data security threats, the network attack problem can influence the transmission of data and measurement information, and then influence the decision of a controller, so that the method is destructive to the normal operation of the information physical system, and is particularly important to the research of the normal operation of the system under the network attack.
Typically, data driven control will gather sufficient data information more or entirely through the networked system to optimize the data model online, which also makes the system more vulnerable to denial of service attacks. Denial of service attacks can destructively and periodically lead to blockage of the measurement data transmission channel, so that data required by parameter updating, data model optimization and control law updating cannot be transmitted in time, and data driving control cannot be corrected in time. In the secondary side voltage control process of the micro-grid, on-site data of the grid are collected and transmitted to a control center, the control center judges the operation working condition according to the operation data and adjusts an industrial control system in real time, network security threatens the connection between a production site and the control center, and safe operation is widely focused.
It can be seen that the key to data driven control is how to collect and use "data", while network security studies of networked systems closely related to data availability remain inadequate. It is also important to take advantage of the networked control and how to minimize the threat from the network. In addition, the research of the data driving control method considering attack compensation for nonlinear systems such as micro-grid secondary side voltage control has important significance. However, the existing methods may have various conservation limitations in aspects of algorithm design or attack compensation, and the application and development of the existing methods are greatly hindered.
Disclosure of Invention
The invention aims to provide an attack compensation data driving voltage safety control method, which is used for solving the data driving control problem of a nonlinear micro-grid system under the condition that network safety is threatened and maintaining the stable operation of the micro-grid system.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an attack compensation data driving voltage safety control method comprises the following steps:
step 1, firstly, a nonlinear system model is given, then pseudo bias parameters are obtained based on a tight format dynamic linearization technology, and an equivalent data model of the nonlinear system model is established;
step 2, giving a pseudo-bias parameter estimator for obtaining pseudo-bias parameters; then, based on the equivalent data model established in the step 1 and the estimated pseudo bias parameters, a model-free self-adaptive controller is provided;
step 3, establishing an attack model of aperiodic DoS attack meeting the practical energy limit;
step 4, designing an observer aiming at the attack model established in the step 3 based on the equivalent data model established in the step 1 and the model-free self-adaptive controller provided in the step 2, and designing a corresponding output compensation reconstruction mechanism;
and 5, establishing an attack compensation framework based on the observer and the output compensation reconstruction mechanism designed in the step 4, and providing an attack compensation data driving controller based on the observer under the attack compensation framework to realize attack compensation and tracking control targets.
In addition, on the basis of the attack compensation data driving voltage safety control method, the invention also provides an attack compensation data driving voltage safety control system which is adaptive to the attack compensation data driving voltage safety control method, and the attack compensation data driving voltage safety control system adopts the following technical scheme:
an attack compensation data driving voltage safety control system, comprising:
the data model construction module firstly gives a nonlinear micro-grid system model, then obtains pseudo-partial-guide parameters based on a tight format dynamic linearization technology, and establishes an equivalent data model of the nonlinear system model;
the pseudo-bias parameter calculation module is used for giving out a pseudo-bias parameter estimator which is used for acquiring pseudo-bias parameters, and then giving out a model-free self-adaptive controller based on an equivalent data model and the estimated pseudo-bias parameters;
the attack model construction module is used for establishing an attack model of the aperiodic DoS attack meeting the practical energy limit;
the observer design and output compensation reconstruction module is used for designing an observer aiming at the established attack model based on the established data model and the given model-free self-adaptive controller and designing a corresponding output compensation reconstruction mechanism;
and an attack compensation data driving controller construction module based on the observer establishes an attack compensation framework based on the observer and an output compensation reconstruction mechanism, and gives the attack compensation data driving controller based on the observer under the attack compensation framework to realize attack compensation and tracking control targets.
In addition, on the basis of the attack compensation data driving voltage safety control method, the invention also provides computer equipment which comprises a memory and one or more processors.
The memory stores executable codes, and the processor is used for realizing the steps of the attack compensation data driving voltage safety control method when executing the executable codes.
Furthermore, on the basis of the attack compensation data driving voltage safety control method, the invention also provides a computer readable storage medium on which a program is stored. The program, when executed by the processor, is adapted to carry out the steps of the attack compensation data driving voltage safety control method described above.
Compared with the prior art, the invention has the following advantages:
as described above, the invention relates to a method, a system, a device and a medium for controlling the safety of attack compensation data driving voltage based on the voltage control of the secondary side of a micro-grid based on an observer. The invention correspondingly establishes the data model for the nonlinear micro-grid system to complete the control by using the data driving method, can only use the input and output data of the system to design the algorithm to control the system under the condition that the model information of the nonlinear system is unknown, and has better effect in solving the control of the nonlinear and unknown complex systems. In addition, because the availability and reliability of data cannot be guaranteed due to the existence of network security threat, the invention further provides an attack compensation framework formed based on an observer and an output compensation reconstruction mechanism aiming at the data driving control problem of the nonlinear micro-grid system under the network security threat so as to reduce the influence of aperiodic DoS attack on the system and optimize the tracking control performance of the system. Meanwhile, the invention eliminates the conservative limit on PPD parameter symbol by means of the established attack compensation frame and the data driving safety control algorithm provided on the basis, eliminates the assumption on the boundary of attack compensation signals, and has more application value. The method well solves the data driving control problem of the nonlinear micro-grid system under the condition that the network security is threatened, and maintains the stable operation of the micro-grid system.
Drawings
Fig. 1 is a flowchart of a method for attack compensation data driving voltage security control according to an embodiment of the present invention.
Fig. 2 is a block diagram of an attack compensation data driving voltage safety control system according to an embodiment of the present invention.
FIG. 3 is a schematic view of an attack model in an embodiment of the present invention.
FIG. 4 is a schematic diagram of the structure and operation of the compensation framework according to the embodiment of the present invention.
Detailed Description
Example 1
In consideration of the problem that a model-based control method needs accurate model and state measurement, the advantage of a data driving control method and the necessity of a network security control technology, the invention combines the observer-based data driving control method with a network attack compensation algorithm, and provides a micro-grid secondary side voltage control attack compensation data driving security control method based on an observer by utilizing real-time measurement data of the system, thereby improving the security and robustness of the system, realizing the control of a nonlinear micro-grid system, being expected to be applied to a wider nonlinear system and being beneficial to realizing a safer and more reliable automatic control system.
As shown in fig. 1, the attack compensation data driving voltage safety control method includes the following steps:
step 1, firstly, a nonlinear micro-grid system model is given, then pseudo bias parameters are obtained based on a tight format dynamic linearization technology, and an equivalent data model of the micro-grid system model is established.
The nonlinear microgrid system model is expressed as:
。
wherein ,is an unknown nonlinear power grid output function;it is the generator regulation input voltage at time k,、the power grid output voltages are k time and k+1 time respectively.
Assuming a nonlinear functionWith respect toIs continuous; nonlinear microgrid systems meet the generalized liphaty condition, that is to say for anyIf it meetsThe following formula holds:
. wherein Is a positive constant.
This is a common constraint in studying nonlinear systems, given the contextRelative toConstraint of rate of change.
Give a definition of。
For a type of nonlinear micro-grid system, there is a time-varying PPD parameter so that the micro-grid system can be converted into a tight format dynamic linearization data model as follows:。
wherein ,is bounded and meets。
wherein ,representation ofThe power grid output voltage increment at moment is expressed as。
Representation ofThe pseudo-bias of time instant is PPD parameter.
Representation ofThe generator at moment adjusts the input voltage increment, and the expression is。
Step 2, giving a pseudo-bias parameter estimator for obtaining pseudo-bias parameters; and then, giving a model-free self-adaptive controller based on the equivalent data model established in the step 1 and the estimated pseudo-bias parameters.
Cost function pairSolving the partial derivative and enabling the partial derivative to be equal to zero, so as to obtain the following pseudo partial derivative parameter estimator:
。
wherein ,is thatIs used for the estimation of the (c),representation ofIs used for the estimation of the (c),as the weight coefficient of the light-emitting diode,representation ofThe grid output voltage increment at the moment in time,representation ofThe generator at the moment adjusts the input voltage increment.
To introduce step coefficients to increase the flexibility of the algorithm. And, based on the target of enhancing the PPD parameter estimation algorithm liveness and tracking performance, a reset mechanism is introduced into the estimation algorithm, and the specific steps are as follows:
。
wherein ,is thatIs used for the initial value of (a),is a normal number of times,the value of (2) is small. When the estimated value of the PPD parameter or the control input increment value is too small, the reset mechanism resets the estimated value of the PPD parameter to an initial value.
Which is not generally available, the present invention introduces an algorithm to obtain an estimate thereof. Thus based on data model definition. To optimize tracking control performance, the following performance index is given:
。
wherein ,and (3) withThe same effect is achieved and the same effect is achieved,is a reference voltage signal.
Make the upper pairAnd solving the bias guide and enabling the bias guide to be zero, wherein the control law of the model-free self-adaptive controller is as follows:
；
wherein ,is a step size coefficient.
The control system consisting of the pseudo bias parameter estimator and the model-free adaptive controller is as follows:
。
and 3, establishing an attack model of the aperiodic DoS attack meeting the practical energy limit.
As shown in fig. 3, the attack model is constructed as follows:
each attack period is divided into an attack period and a sleep period, and the duration of each attack period is also different.
Definition of the definition、Respectively represent the firstThe start time of the secondary, i+1 attack.
Definition of the definitionRepresent the firstThe end time of the secondary attack is the time,represent the firstThe attack period, as shown by the gray area in figure 3,represent the firstAnd sleep periods as shown in the white areas of fig. 3.
The set of all attack periods is expressed as:。
wherein ,representation ofThe total duration of the attack, N, represents a natural number.
The set of all sleep periods is expressed as:。
wherein ,representing the total duration of dormancy; then whenIn the control law of model-free adaptive controllerAndis not available due to network DOS attacks.
And 4, designing an observer aiming at the attack model established in the step 3 based on the equivalent data model established in the step 1 and the model-free self-adaptive controller provided in the step 2, and designing a corresponding output compensation reconstruction mechanism.
Assume thatIn (C), thenThe compensation algorithm of (2) is as follows:
。
wherein ,representing compensatedThe estimated value of the parameter of the time PPD,representation ofTime PPD parameter estimation valuePPD parameter estimates when not attacked last time.
The formula shows that the PPD parameter estimated value after compensation is equal to the PPD parameter estimated value at the current moment when the PPD parameter estimated value is not attacked, and the PPD parameter estimated value after compensation is equal to the PPD parameter estimated value when the PPD parameter estimated value is not attacked last time.
Finding the appropriate parameters，The PPD parameter estimation error can be caused by means of the PPD parameter update lawIs consistently bounded.
From the above, it can be seen thatIs bounded, then it can be further known thatIs bounded.
The compensation algorithm of the system output is designed, specifically:
definition of the definitionFor outputting voltage to system electric networkAnd introduces the following observer, as shown in the following formula:
。
wherein ,representation ofThe grid output voltage observations at the moment in time,indicating that the observed gain is to be achieved,is to reconstruct the compensated output voltage. Also assume thatThen reconstruct the compensated output voltageThe design is as follows:
；
wherein ,representation ofThe reconstruction of the time instant compensates the output voltage value.
Representation ofAnd outputting a voltage observed value of the power grid at the moment.
The physical meaning of the above formula is: when not under attack, reconstructing the compensation output voltage to be equal to the actual output voltage; when the system is under attack, the reconstruction compensation output voltage at the current moment is constructed based on the data at the last moment.
The method of the invention enables the power grid output voltage based on compensation to observe errors by means of the observer and the reconstruction compensation algorithm introduced in the stepsIs consistently bounded.
And 5, establishing an attack compensation framework based on the observer and the output compensation reconstruction mechanism designed in the step 4, and providing an attack compensation data driving controller based on the observer under the attack compensation framework to realize attack compensation and tracking control targets.
As shown in fig. 4, an attack compensation framework is established based on the observer and the output compensation reconstruction mechanism designed in the step 4, and the following model-free adaptive compensation controller based on the observer is proposed:
。
wherein ,a generator regulation input voltage representing the compensated k time;representing compensatedThe generator at moment adjusts the input voltage increment, and the expression is: 。
。
wherein ,represented as weight coefficients.
，。
wherein ,representation ofThe reconstruction of the time instant compensates the output voltage.
Definition of the definitionFor tracking errors, the main research problem is to provide a model-free self-adaptive compensation control algorithm based on an observer for a nonlinear micro-grid system subjected to non-periodic DoS attack so as to ensureIs bounded, that is, such thatEventually converging on the following set:, wherein Is thatIs a lower bound of (c).
The attack compensation data driving controller based on the observer is provided under the framework to realize the attack compensation and tracking control targets, that is, the invention finds the proper parameters，The data-driven control problem of the nonlinear microgrid system in the case of network security threatened can be solved by means of the proposed algorithm.
Aiming at the defects of the prior network attack compensation technology, the invention provides a micro-grid secondary side voltage control attack compensation data driving voltage safety control method based on an observer, which can better reduce the influence of the attack on a micro-grid system when a wireless network between a nonlinear system output end and a data receiving end of a sensor suffers from aperiodic denial of service (DoS) attack, and can realize the normal operation of the attack compensation data driving safety control method under the condition that data transmission is blocked.
Fig. 2 shows a structural diagram of an attack compensation data driving voltage safety control system. Wherein, the reference voltage signal in FIG. 2And the data are respectively transmitted to the micro-grid system and the secondary controller to ensure the smooth proceeding of the control process.
Grid output voltage data generated by micro-gridThe data is collected by a sensor and transmitted to a pseudo-bias parameter estimator, and the pseudo-bias parameter estimator is based on the collected dataObtaining PPD parameter estimation value。
The sensor and the estimator then respectively output voltage data of the power gridAnd PPD parameter estimation valueThe data is transmitted to the dynamic compensation mechanism through a network channel, and the data transmission can be blocked when DoS attack exists in the network. After the data is transmitted to the dynamic compensation mechanism, the dynamic compensation mechanism exchanges data with the observer and generates a reconstructed compensation output voltage value based on the available data respectivelyCompensated PPD parameter estimationAnd grid output voltage observations。
These data will be transmitted to an observer-based model-free adaptive compensation controller that will produce a generator regulated input voltageAnd transmitting the control signal to a control object to complete control.
Example 2
This embodiment 2 describes an attack compensation data driving voltage security control system based on the same inventive concept as the attack compensation data driving voltage security control method in the above embodiment 1.
Specifically, the attack compensation data driving voltage safety control system comprises:
the data model construction module firstly gives a nonlinear micro-grid system model, then obtains pseudo-partial-guide parameters based on a tight format dynamic linearization technology, and establishes an equivalent data model of the nonlinear system model;
the pseudo-bias parameter calculation module is used for giving out a pseudo-bias parameter estimator which is used for acquiring pseudo-bias parameters, and then giving out a model-free self-adaptive controller based on an equivalent data model and the estimated pseudo-bias parameters;
the attack model construction module is used for establishing an attack model of the aperiodic DoS attack meeting the practical energy limit;
the observer design and output compensation reconstruction module is used for designing an observer aiming at the established attack model based on the established data model and the given model-free self-adaptive controller and designing a corresponding output compensation reconstruction mechanism;
and an attack compensation data driving controller construction module based on the observer establishes an attack compensation framework based on the observer and an output compensation reconstruction mechanism, and gives the attack compensation data driving controller based on the observer under the attack compensation framework to realize attack compensation and tracking control targets.
It should be noted that, in the attack compensation data driving voltage safety control system, the implementation process of the functions and roles of each functional module is specifically shown in the implementation process of the corresponding steps in the method in the above embodiment 1, and will not be described herein again.
Example 3
Embodiment 3 describes a computer device for implementing the steps of the attack compensation data driving voltage security control method described in embodiment 1.
The computer device includes a memory and one or more processors. Executable code is stored in the memory for implementing the steps of the attack compensation data driving voltage security control method when the processor executes the executable code.
In this embodiment, the computer device is any device or apparatus having data processing capability, which is not described herein.
Example 4
This embodiment 4 describes a computer-readable storage medium for implementing the steps of the attack compensation data driving voltage security control method described in embodiment 1 above.
The computer-readable storage medium in this embodiment 4 has stored thereon a program for implementing the steps of the attack compensation data driving voltage security control method when executed by a processor.
The computer readable storage medium may be an internal storage unit of any device or apparatus having data processing capability, such as a hard disk or a memory, or may be an external storage device of any device having data processing capability, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), or the like, which are provided on the device.
The foregoing description is, of course, merely illustrative of preferred embodiments of the present invention, and it should be understood that the present invention is not limited to the above-described embodiments, but is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the present invention as defined by the appended claims.

Claims (4)

1. An attack compensation data driving voltage safety control method is characterized by comprising the following steps:
step 1, firstly, a nonlinear micro-grid system model is given, then pseudo bias parameters are obtained based on a tight format dynamic linearization technology, and an equivalent data model of the nonlinear system model is established;
step 2, giving a pseudo-bias parameter estimator for obtaining pseudo-bias parameters; then, based on the equivalent data model established in the step 1 and the estimated pseudo bias parameters, a model-free self-adaptive controller is provided;
step 3, establishing an attack model of aperiodic DoS attack meeting the practical energy limit;
step 4, designing an observer aiming at the attack model established in the step 3 based on the equivalent data model established in the step 1 and the model-free self-adaptive controller provided in the step 2, and designing a corresponding output compensation reconstruction mechanism;
step 5, an attack compensation framework is established based on the observer and the output compensation reconstruction mechanism designed in the step 4, and an attack compensation data driving controller based on the observer is given under the attack compensation framework to realize attack compensation and tracking control targets;
in the step 1, the nonlinear micro-grid system model is expressed as:
y(k+1)＝g(y(k),u(k))；
wherein y (k) and y (k+1) are respectively the power grid output voltages at the moment k and the moment k+1; g (·, ·) is an unknown nonlinear grid output function; u (k) is the generator regulated input voltage at time k;
by means of dynamic linearization technology, the nonlinear micro-grid system is converted into a tight format dynamic linearization data model as follows:
Δy(k+1)＝φ(k)Δu(k)；
wherein Δy (k+1) represents the grid output voltage increment at time k+1, and the expression is Δy (k+1) =y (k+1) -y (k);
phi (k) represents a pseudo-bias parameter at time k;
Δu (k) represents the generator regulation input voltage delta at time k, expressed as Δu (k) =u (k) -u (k-1);
in the step 2, a model-free adaptive control algorithm is introduced to give a pseudo-bias parameter estimator:
wherein ,is an estimate of phi (k),>an estimated value of phi (k-1);
Δy (k) represents the grid output voltage increment at time k, Δu (k-1) represents the generator regulation input voltage increment at time k-1, τ represents the introduced step size coefficient, and μ is the weight coefficient;
the reset mechanism is introduced in the pseudo-bias parameter estimation, and is specifically as follows:
wherein ,is->σ is a positive constant; the control law given for the model-free adaptive controller is as follows:
wherein ρ is a step size coefficient, and r (k+1) is a voltage reference signal;
the control system consisting of the pseudo bias parameter estimator and the model-free adaptive controller is as follows:
in the step 3, the attack model is constructed as follows:
each attack period is divided into an attack period and a sleep period, and the duration of each attack period is different;
defining Tis,Respectively represent the starting time of the ith and the (i+1) th attacks, T i e Represents the end time of the ith attack, [ T ] i s ,T i e ) Represents the ith attack period,/-)>Indicating an ith sleep period;
the set of all attack periods is expressed as:
wherein ,D0 (0, k) represents the total duration of the attack, and N represents a natural number;
the set of all sleep periods is expressed as: d (D) 1 (0,k)＝[0,k]/D 0 (0,k)；
wherein ,D1 (0, k) represents a total sleep time period;
the step 4 specifically comprises the following steps:
assume thatIn the middle->The compensation algorithm of (2) is as follows:
wherein ,representing the compensated k-moment pseudo-partial derivative parameter estimate +.>Representing T i Pseudo bias parameter estimated value at s-1 moment +.>The estimated value of the pseudo-bias parameter when the device is not attacked for the last time;
the formula shows that the compensated pseudo-bias parameter estimated value is equal to the pseudo-bias parameter estimated value at the current moment when the pseudo-bias parameter estimated value is not attacked, and the compensated pseudo-bias parameter estimated value is equal to the pseudo-bias parameter estimated value when the pseudo-bias parameter estimated value is not attacked last time;
the compensation algorithm of the system output is designed, specifically:
definition of the definitionFor the observed value of the output voltage y (k) of the power grid, the following observer is introduced, and the following formula is shown:
wherein ,electric representing time k+1Net output voltage observations, G.epsilon. (0, 1) for observation gain, ++>Is the reconstructed compensated output voltage; also assume +.>Then reconstruct the compensated output voltage +.>The design is as follows:
wherein ,representing the reconstructed compensated output voltage value at time k-1;
representing the observed value of the output voltage of the power grid at the moment k-1;
the physical meaning of the above formula is: when not under attack, reconstructing the compensation output voltage to be equal to the actual power grid output voltage; when the system is attacked, the reconstruction compensation output voltage at the current moment is constructed and obtained based on the data at the last moment;
in the step 5, the formula of the model-free adaptive compensation controller based on the observer is as follows:
wherein ,representing supplementsThe compensated generator at the moment k adjusts the input voltage; />Generator regulation input voltage increment of compensated k-1 time, < >>The expression of (2) is: />
Wherein λ is represented as a weight coefficient;
wherein ,the reconstructed compensated output voltage at time k+1 is shown.
2. An attack compensation data driving voltage safety control system for implementing the attack compensation data driving voltage safety control method according to claim 1, characterized in that,
the attack compensation data driving voltage safety control system includes:
the data model construction module firstly gives a nonlinear micro-grid system model, then obtains pseudo-partial-guide parameters based on a tight format dynamic linearization technology, and establishes an equivalent data model of the nonlinear system model;
the pseudo-bias parameter calculation module is used for giving out a pseudo-bias parameter estimator which is used for acquiring pseudo-bias parameters, and then giving out a model-free self-adaptive controller based on an equivalent data model and the estimated pseudo-bias parameters;
the attack model construction module is used for establishing an attack model of the aperiodic DoS attack meeting the practical energy limit;
the observer design and output compensation reconstruction module is used for designing an observer aiming at the established attack model based on the equivalent data model and the given model-free self-adaptive controller and designing a corresponding output compensation reconstruction mechanism;
and an attack compensation data driving controller construction module based on the observer establishes an attack compensation framework based on the observer and an output compensation reconstruction mechanism, and gives the attack compensation data driving controller based on the observer under the attack compensation framework to realize attack compensation and tracking control targets.
3. A computer device comprising a memory and one or more processors, the memory having executable code stored therein, wherein the processor, when executing the executable code, implements the steps of the attack compensation data-driven voltage security control method of claim 1.
4. A computer-readable storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the steps of the attack compensation data-driven voltage security control method according to claim 1.
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