电力调频系统的信息物理融合建模及其在容错控制中的应用
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摘要
该文提出一种考虑离散事件系统与连续时间系统融合动态的电力信息物理系统(cyberphysicalpowersystems,CPPS)建模与控制方法,并应用于调频系统的容错控制。首先,基于混合自动机理论,依据信息系统和物理系统的运行状态划分出CPPS调频系4的四种运行模态并明确之间的转移条件;其次,对于每一种模态,分别在SimEvents及Simulink中构建了基于事件驱动的信息采集、通信、处理、控制模块以及基于时间驱动的物理系统动态模型。对于包含信息系统故障的模态,提出一种频率估计策略及其对应的容错控制方法。最后,通过算例对本文提出的信息物理融合建模方法以及CPPS调频系统进行了测试,系统频率控制结果验证了所提方法的有效性。
In this paper, a method of modeling and controlling cyber physical power systems(CPPS) considering fusion of discrete event systems and continuous dynamic systems is proposed and applied to fault-tolerant control of frequency control systems. Firstly, based on hybrid automata theory, four operating modalities of CPPS frequency control systems are generated according to respective operating status of cyber system and physical system. The transition conditions between the modalities are clearly defined. Secondly, for each modality, modules of event-driven information acquisition, communication, processing and control, and a time-driven dynamic model of the physical system are constructed respectively in SimEvents and Simulink. For the modalities containing information system faults, a frequency estimation strategy and a corresponding fault-tolerant control method are proposed. Finally, the proposed cyber physical fusion modeling method and the CPPS frequency control system are tested with numerical examples. The results of system frequency control prove effectiveness of the proposed method and reveal the interaction mechanism of cyber system and physical system to some extent.
In this paper, a method of modeling and controlling cyber physical power systems(CPPS) considering fusion of discrete event systems and continuous dynamic systems is proposed and applied to fault-tolerant control of frequency control systems. Firstly, based on hybrid automata theory, four operating modalities of CPPS frequency control systems are generated according to respective operating status of cyber system and physical system. The transition conditions between the modalities are clearly defined. Secondly, for each modality, modules of event-driven information acquisition, communication, processing and control, and a time-driven dynamic model of the physical system are constructed respectively in SimEvents and Simulink. For the modalities containing information system faults, a frequency estimation strategy and a corresponding fault-tolerant control method are proposed. Finally, the proposed cyber physical fusion modeling method and the CPPS frequency control system are tested with numerical examples. The results of system frequency control prove effectiveness of the proposed method and reveal the interaction mechanism of cyber system and physical system to some extent.
引文
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[18]唐贞鹏,陈世和,伍宇忠,等.压水堆核电机组一次调频动态仿真[J].电网技术,2013,37(11):3197-3201.Tang Zhenpeng,Chen Shihe,Wu Yuzhong,et al.Dynamic simulations of primary frequency regulation for pressurized water reactor nuclear power generation units[J].Power System Technology,2013,37(11):3197-3201(in Chinese).
[2]翁嘉明,刘东,王云,等.信息物理融合的有源配电网故障仿真测试技术研究[J].中国电机工程学报,2018,38(2):497-504.Weng Jiaming,Liu Dong,Wang Yun,et al.Research on fault simulation of active distribution network based on cyber physical combination[J].Proceedings of the CSEE,2018,38(2):497-504(in Chinese).
[3]叶夏明,文福拴,尚金成,等.电力系统中信息物理安全风险传播机制[J].电网技术,2015,39(11):3072-3079.Ye Xiaming,Wen Fushuan,Shang Jincheng,et al.Propagation mechanism of cyber physical security risks in power systems[J].Power System Technology,2015,39(11):3072-3079(in Chinese).
[4]王先培,朱国威,贺瑞娟,等.复杂网络理论在电力CPS连锁故障研究中的应用综述[J].电网技术,2017,41(9):2947-2956.Wang Xianpei,Zhu Guowei,He Ruijuan,et al.Survey of cascading failures in cyber physical power system based on complex network theory[J].Power System Technology,2017,41(9):2947-2956(in Chinese).
[5]Xin S,Guo Q,Sun H,et al.Cyber-physical modeling and cybercontingency assessment of hierarchical control systems[J].IEEETransactions on Smart Grid,2017,6(5):2375-2385.
[6]薛禹胜,李满礼,罗剑波,等.基于关联特性矩阵的电网信息物理系统耦合建模方法[J].电力系统自动化,2018,42(2):11-19.Xue Yusheng,Li Manli,Luo Jianbo,et al.Modeling method for coupling relations in cyber physical power systems based on correlation characteristic matrix[J].Automation of Electric Power Systems,2018,42(2):11-19(in Chinese).
[7]郭经,刘文霞,张建华,等.孤岛微网信息物理系统可靠性建模与评估[J].电网技术,2018,42(5):1441-1450.Guo Jing,Liu Wenxia,Zhang Jianhua,et al.Reliability modeling and assessment of islanded cyber physical microgrid system[J].Power System Technology,2018,42(5):1441-1450(in Chinese).
[8]Wang Yun,Liu Dong,Sun Chen.A cyber physical model based on a hybrid system for flexible load control in an active distribution network[J].Energies,2017,10(3):267:1-20.
[9]王云,刘东,翁嘉明,等.电网信息物理系统建模与仿真验证平台研究[J].中国电机工程学报,2018,38(1):130-136.Wang Yun,Liu Dong,Weng Jiaming,et al.The research of power CPS modeling and simulation verification platform[J].Proceedings of the CSEE,2018,38(1):130-136(in Chinese).
[10]Clune M I,Mosterman P J,Cassandras C G.Discrete event and hybrid system simulation with SimEvents[C]//International Workshop on Discrete Event Systems.Michigan:IEEE,2006:386-387.
[11]Sanz V.Hybrid system modeling[M].Germany:LAP LAMBERTAcademic Publishing,2011.
[12]张聚.混杂系统理论及在非线性系统中的应用研究[D].杭州:浙江大学,2005.
[13]Heemels W P M H,De Schutter B,Bemporad A.On the equivalence of classes of hybrid dynamical models[J].Automatica,2001,37(7):1085-1091.
[14]MathWorks.SimEvents user’s guide[Z].Massachusetts:The MathWorks,Inc.,2005.
[15]宋新立,王成山,仲悟之,等.电力系统全过程动态仿真中的自动发电控制模型[J].电网技术,2013,37(12):3439-3444.Song Xinli,Wang Chengshan,Zhong Wuzhi,et al.Modeling of automatic generation control for power system transient,medium-term and long-term stabilities simulations[J].Power System Technology,2013,37(12):3439-3444(in Chinese).
[16]Goran Andersson.Dynamics and control of electric power system[M].Switzerland:EEH-Power Systems Laboratory,2012:21-60.
[17]Ilic M D,Xie L,Khan U A,et al.Modeling of future cyber-physical energy systems for distributed sensing and control[J].IEEETransactions on Systems Man&Cybernetics Part A Systems&Humans,2010,40(4):825-838.
[18]唐贞鹏,陈世和,伍宇忠,等.压水堆核电机组一次调频动态仿真[J].电网技术,2013,37(11):3197-3201.Tang Zhenpeng,Chen Shihe,Wu Yuzhong,et al.Dynamic simulations of primary frequency regulation for pressurized water reactor nuclear power generation units[J].Power System Technology,2013,37(11):3197-3201(in Chinese).