A microgrid voltage elasticity consistency control method based on a trusted communication node and a medium

Abstract

The application discloses a micro-grid voltage elasticity consistency control method based on a trusted communication node, relates to the field of safe operation control of micro-grids, and comprises the following steps: obtaining a micro-grid communication network topology graph G and calculating r-robustness and (r, s)-robustness; setting a trusted communication node in the topology graph G, obtaining a trusted communication network and calculating r T -robustness and (r, s) T -robustness; considering the proportional sharing consistency requirement of reactive power among all DGs of the micro-grid and the average voltage observation consistency requirement, a micro-grid voltage elasticity consistency control method is designed. Based on the definitions of r-robustness and (r, s)-robustness, the communication network robustness is enhanced by setting a trusted communication node in the communication network, the number of malicious attack nodes that can be tolerated in the system is increased, and a micro-grid voltage elasticity control strategy based on the trusted node is provided, so that the operation stability of the system under network attacks is improved.

Description

Technical Field

[0001] This invention relates to the field of microgrid safe operation control, and more specifically, to a microgrid voltage elastic consistency control method and medium based on trusted communication nodes. Background Technology

[0002] With the escalating global energy crisis and environmental pollution, building a cleaner, low-carbon energy system is an inevitable choice for humanity. Microgrids, as an effective organizational form of distributed generation units (DGs), play an increasingly important role in improving power supply reliability and flexibility, especially in remote or island areas. Existing secondary control modes for microgrids mainly include centralized control, decentralized control, and distributed control, with distributed control gaining popularity due to its flexibility and scalability. In a distributed control architecture, adjacent DGs typically rely on a sparse communication network for information exchange, and the state of this communication network directly affects the dynamic performance and operational stability of the microgrid.

[0003] With the increasingly widespread application of public wireless communication technologies such as 5G and Wi-Fi in microgrid communication, the issue of microgrid network security urgently needs attention. As a key component of distributed control in microgrids, the communication network is highly vulnerable to malicious network attacks such as spoofed data injection, denial-of-service attacks, and replay attacks. These attacks can manipulate communication information and alter communication states, ultimately disrupting the safe and stable operation of the microgrid. Therefore, it is necessary to consider how to design the latest communication network to improve its topology robustness and increase the control system's tolerance to the number of malicious nodes present within the network. Furthermore, it is also necessary to consider how to design an effective microgrid voltage elasticity consistency control method based on the latest communication network to ensure the system voltage elasticity asymptotic stability under network attacks, thereby achieving the overall safe and stable operation of the microgrid. Summary of the Invention

[0004] The purpose of this invention is to design a new communication network to improve its topology robustness and increase the control system's tolerance to the number of malicious nodes when malicious attack nodes exist within the network. Simultaneously, based on this new communication network, an effective microgrid voltage elasticity consistency control method is designed to ensure the system voltage elasticity asymptotic stability under network attacks, thereby achieving the overall safe and stable operation of the microgrid. To achieve this objective, this invention provides a microgrid voltage elasticity consistency control method based on trusted communication nodes.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] The original microgrid sparse communication network is represented as a topology graph G using graph theory, and the corresponding network topology robustness indices, namely r-robustness and (r, s)-robustness, are calculated.

[0007] N nodes are set in the topology graph G. T Given trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index (r) of the latest trusted communication network. T -robustness) and (r,s) T - Robustness;

[0008] Based on the latest trusted communication network and the network topology robustness index, and considering the requirements for proportional equal distribution of reactive power among distributed generation units (DGs) in the microgrid and the requirements for consistency of average voltage observations, a microgrid voltage elastic consistency control method based on the trusted communication node is designed.

[0009] Furthermore, the definition of r-robustness includes:

[0010] r-reachability is defined as follows: Given a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there exists a node v in S... i It is connected to r nodes that do not belong to set S, i.e. Satisfy | N i If S|≥r, then set S is called an r-reachable set, where... N i Represents node v i The set of neighboring nodes;

[0011] The definition of r-robustness is as follows: For a topological graph G containing a node set V with n (n≥2) elements, if at least one of the non-empty disjoint node subsets S1 and S2 satisfies the definition of an r-reachable set, then the topological graph G is said to be r-robust. In other words, if... and have Satisfy | N i \S1|≥r or Satisfy | N i If \S2|≥r, then the topological graph G is said to be r-robust.

[0012] Furthermore, the definition of (r, s)-robustness includes:

[0013] (r, s)-reachability is defined as follows: for a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there are at least s nodes v in set S, then... iAnd each node has at least r neighboring nodes outside S, that is, for a given set have Then set S is called (r, s)-reachable set, where, N i Represents node v i The set of neighboring nodes;

[0014] The (r, s)-robustness is defined as follows: For a topological graph G = (V, E) containing n nodes (n≥2) and a non-empty subset S of the corresponding node set V, define a set... 0 ≤ s ≤ n, if every pair of non-empty disjoint subsets S1 and S2 in V satisfies at least one of the following conditions: Then the topological graph G is said to be (r, s)-robust.

[0015] Furthermore, the step of selecting and setting N nodes from the N nodes of the matrix G... T Given trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index (r) of the latest trusted communication network. T -robustness) and (r,s) T - Robustness, specifically including:

[0016] N is selected and set from the communication network node set V in the matrix G = (V, E). T Given a set of trusted communication nodes T, we obtain the latest trusted communication network G* containing the set of trusted communication nodes T.

[0017] Define the r T - Robustness is defined as follows: For a node set V containing n (n≥2) elements in a topological graph G, if any pair of non-empty disjoint node subsets S1 and S2 within it is r-reachable under a trusted communication node set T, then the topological graph G is said to satisfy r-robustness under a trusted communication node set T.

[0018] Define (r, s) as described above. T - Robustness is defined as follows: For a communication topology G = (V, E) containing n nodes (n ≥ 2), if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then graph G is said to be (r, s)-robust with a set of trusted communication nodes T;

[0019] Calculate the network topology robustness index r of the trusted communication network G*. T - Robustness and (r, s) T - Robustness.

[0020] Furthermore, based on the calculations and the definition of the network topology robustness index, it can be seen that compared to the network topology robustness indices corresponding to the topology graph G, namely r-robustness and (r, s)-robustness, the selection and setting of N... T The network topology robustness index of the latest trusted communication network after trusted communication nodes is (r T -robustness) and (r,s) T - Greater robustness indicates that the latest trusted communication network performs better.

[0021] Furthermore, when designing a microgrid voltage elastic consistency control method based on the trusted communication node, considering the requirements for proportional equal distribution of reactive power among distributed generation units (DGs) in the microgrid and the requirements for consistency of average voltage observations, the link weights of the trusted communication network are optimized according to the following steps:

[0022] Within each time step k, the neighbor set of node i is defined as N(i). After receiving the neighbor information, node i sorts all state variables and forms a numerical sequence q. i (k) includes: DG i The reactive power state value n received from the neighbor at time k. i Q i (k) Perform numerical sorting to obtain a new reactive power information sequence. For DG i The neighbor voltage observation received at time k The numbers are sorted to obtain new information sequences.

[0023] If node i has at least one trusted communication node in its neighbor set N(i), then define DG. i Trusted communication node set make and Let DG be the maximum and minimum values ​​of reactive power information in the set of trusted communication nodes T(i). i Neighbor node set N i All nodes in (k) that satisfy the following formula are grouped into a set.

[0024]

[0025] in,

[0026] Define DG i Trusted communication node set make and For the maximum and minimum values ​​of voltage observation information in the trusted communication node set T(i), DGi Neighbor node set N i All nodes in (k) that meet the following equation are grouped into a set.

[0027]

[0028] in,

[0029]

[0030] If there are no trusted communication nodes in the neighbor set N(i) of node i, then sequence q will be... i (k) and All elements in x i (k) is n i Q i (k) and Compare all elements in q, if q i (k) contains F or more state variables greater than x. i (k), then node i is removed from q. i In (k), there are F larger state variables, if q i There exists a value greater than x in (k). i If the number of state variables (k) is less than F, then node i will have these variables greater than x. i All state variables of (k) are removed; conversely, if q i (k) contains F or more state variables that are less than x. i (k), then node i is removed from q. i If there are F smaller state variables in (k), and one of them is less than x... i If the number of state variables in (k) is less than F, then node i will select those less than x. i All state variables of (k) are removed;

[0031] Within each time step k, define H as the set of nodes corresponding to the remaining state variables after removing the state variables. i (k);

[0032] The original weighted adjacency matrix A and the set H are... i The element corresponding to (k) is replaced with zero, and the values ​​of the remaining non-zero elements in that row are redistributed according to the original weight ratio to obtain the latest adjacency matrix A. * And A * The sum of all elements in each row is 1.

[0033] Furthermore, after optimizing the link weights of the trusted communication network, and considering the requirement for proportional equal distribution of reactive power among the distributed generation units (DGs) of the microgrid, the corresponding reactive power equalization deviation expression is designed based on the elastic consensus strategy as follows:

[0034]

[0035] in, For the latest adjacency matrix A * Corresponding element, C Q The reactive power coupling coefficient is used to meet the stability requirements of the control system.

[0036] Furthermore, after optimizing the link weights of the trusted communication network, and considering the consistency requirements of the average voltage observations of each distributed generation unit (DG) in the microgrid, the corresponding expression for the distributed voltage observer, based on the elastic consensus strategy, is designed as follows:

[0037]

[0038] in, For the latest adjacency matrix A * Corresponding element, C E Voltage coupling coefficient to meet the stability requirements of the control system.

[0039] Furthermore, the expression for the microgrid voltage resilient consistency control method based on the trusted communication node is as follows:

[0040]

[0041] Among them, U ni U is the nominal voltage value. i DG i Inverter output voltage, K vi It is the voltage control coefficient, K i β is the integral term coefficient of the controller. i U is the weighting factor for reactive power averaging and voltage recovery. ref This is a reference value for the system's rated voltage.

[0042] In another aspect, the present invention provides a computer-readable storage medium comprising a program for a microgrid voltage resilient consistency control method based on a trusted communication node. When the program for the microgrid voltage resilient consistency control method based on a trusted communication node is executed by a processor, it implements the steps of the microgrid voltage resilient consistency control method based on a trusted communication node as described in the above technical solution.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] This invention, based on the definitions of communication network topology robustness indices such as r-robustness and (r, s)-robustness, effectively enhances the connectivity robustness of the communication network by setting one or more trusted nodes in a known communication network. While saving on microgrid network connection costs, it increases the number of malicious attack nodes the system can tolerate during operation. Considering the existence of three types of nodes in a trusted communication network—normal nodes, malicious nodes, and trusted nodes—a microgrid voltage elastic control strategy based on trusted nodes is proposed. This strategy processes the status information received by each node, enabling the safe operation of each DG (Distributed Generation Grid) in the microgrid under network attacks without prior judgment of whether an attack event will occur. This effectively improves the system's operational stability under network attacks and can be widely applied in practical engineering. Attached Figure Description

[0045] Figure 1 This is a flowchart of a microgrid voltage elastic consistency control method based on trusted communication nodes according to this application;

[0046] Figure 2 This is a schematic diagram of the microgrid simulation system used in Embodiment 1 of this application;

[0047] Figure 3 This is a graph showing the calculation results of the robustness index of the original communication network in Embodiment 1 of this application;

[0048] Figure 4 This is a graph showing the calculation results of the robustness index after setting a trusted communication node in the original communication network in Embodiment 1 of this application;

[0049] Figure 5 This is a graph showing the calculation results of the robustness index of the original communication network after setting up two trusted communication nodes in Embodiment 1 of this application;

[0050] Figure 6 This is a communication network topology diagram used in the test system of Embodiment 1 of the present invention;

[0051] Figure 7 This is a diagram showing the operating status of each DG at different time periods when there is no trusted communication node in the test system in Embodiment 1 of the present invention.

[0052] Figure 8 This is the communication network topology diagram used after setting DG2 and DG7 as trusted communication nodes in Embodiment 1 of the present invention;

[0053] Figure 9 This is a diagram showing the operating status of each DG in a microgrid at different time periods when a trusted communication network is used in Embodiment 1 of the present invention.

[0054] Figure 10This is a simulation result diagram of the reactive power distribution of each DG in a microgrid when there is no trusted communication node in Embodiment 2 of the present invention;

[0055] Figure 11 This is a simulation result diagram of the average voltage observation of each DG in the microgrid when there is no trusted communication node in Embodiment 2 of the present invention;

[0056] Figure 12 This is a simulation result diagram of the output voltage of each DG in the microgrid when there is no trusted communication node in Embodiment 2 of the present invention;

[0057] Figure 13 This is a convergence effect diagram of the reactive power distribution of each DG after setting a trusted communication node and using the control method of the present invention in Embodiment 1 of the present invention;

[0058] Figure 14 This is a convergence effect diagram of the average voltage observation of each DG after setting a trusted communication node and using the control method of the present invention in Embodiment 1 of the present invention;

[0059] Figure 15 This is a diagram showing the convergence effect of the output voltage of each DG after setting a trusted communication node and using the control method of the present invention in Embodiment 1 of the present invention; Detailed Implementation

[0060] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0061] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0062] Example 1

[0063] Please see Figure 1 Embodiment 1 of this application provides a microgrid voltage elastic consistency control method based on trusted communication nodes, comprising the following steps:

[0064] Step A: Use graph theory to obtain the topology graph G of the sparse communication network of the microgrid (containing the number of nodes N and the number of communication links E), and calculate its r-robustness and (r,s)-robustness.

[0065] Among them, r-robustness and (r, s)-robustness include the following definitions:

[0066] r-reachability is defined as follows: Given a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there exists a node v in S... i It is connected to r nodes that do not belong to set S, i.e. Satisfy | N i If S|≥r, then set S is called an r-reachable set, where... N i Represents node v i The set of neighboring nodes;

[0067] r-robustness is defined as follows: For a topological graph G containing a set of nodes V with n (n≥2) elements, if at least one of the non-empty disjoint subsets S1 and S2 satisfies the definition of an r-reachable set, then the topological graph G is said to be r-robust. In other words, if... and have Satisfy | N i \S1|≥r or Satisfying N i If \S2|≥r, then the topological graph G is said to be r-robust.

[0068] (r, s)-reachability is defined as follows: for a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there are at least s nodes v in set S, then... i And each node has at least r neighboring nodes outside S, that is, for a given set have Then set S is called (r, s)-reachable set, where, N i Represents node v i The set of neighboring nodes;

[0069] (r, s)-robustness is defined as follows: for a topological graph G = (V, E) containing n nodes (n≥2) and a non-empty subset S of the corresponding node set V, a set is defined as follows: 0 ≤ s ≤ n, if every pair of non-empty disjoint subsets S1 and S2 in V satisfies at least one of the following conditions: Then the topological graph G is said to be (r, s)-robust.

[0070] Step B: Set N in the N nodes of the topology graph G T Given trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index (r) of the latest trusted communication network. T -robustness) and (r,s) T - Robustness. Specific steps B01-B02 are as follows:

[0071] B01: Select and set N from the communication network node set V in the topology graph G = (V, E). T Given a set of trusted communication nodes T, we obtain the latest trusted communication network G* containing the set of trusted communication nodes T.

[0072] B02: Define r T - Robustness is defined as follows: For a node set V containing n (n≥2) elements in a topological graph G, if any pair of non-empty disjoint node subsets S1 and S2 within it is r-reachable under a trusted communication node set T, then the topological graph G is said to satisfy r-robustness under a trusted communication node set T.

[0073] Define (r, s) T - Robustness is defined as follows: For a communication topology G = (V, E) containing n nodes (n ≥ 2), if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then graph G is said to be (r, s)-robust with a set of trusted communication nodes T;

[0074] Calculate the network topology robustness index r of a trusted communication network G* T - Robustness and (r, s) T - Robustness.

[0075] Step C: Based on the latest trusted communication network and network topology robustness indicators, and considering the requirements for proportional distribution of reactive power and consistency of average voltage observations among distributed generation units (DGs) in the microgrid, design a microgrid voltage elastic consistency control method based on trusted communication nodes. Specific steps C01-C04 are as follows:

[0076] Optimize the link weights of the trusted communication network G* according to steps C01-C03:

[0077] C01: Within each time step k, define the neighbor set of node i as N(i). After receiving the neighbor information, node i sorts all state variables and forms a numerical sequence q. i (k), including:

[0078] (1) Regarding DG i The reactive power state value n received from the neighbor at time k. i Q i (k) Perform numerical sorting to obtain a new reactive power information sequence.

[0079] (2) Regarding DG i The neighbor voltage observation received at time k The numbers are sorted to obtain new information sequences.

[0080] C02: (1) If there is at least one trusted communication node in the neighbor set N(i) of node i, then define DG i Trusted communication node set make and Let DG be the maximum and minimum values ​​of reactive power information in the set of trusted communication nodes T(i). i Neighbor node set N i All nodes in (k) that satisfy the following formula are grouped into a set.

[0081]

[0082] in,

[0083] Define DG i Trusted communication node set make and For the maximum and minimum values ​​of voltage observation information in the trusted communication node set T(i), DG i Neighbor node set N i All nodes in (k) that meet the following equation are grouped into a set.

[0084]

[0085] in,

[0086]

[0087] (2) If there are no trusted communication nodes in the neighbor set N(i) of node i, then the sequence q i (k) and All elements in x i (k) is n i Q i (k) and Compare all elements in q, if q i (k) contains F or more state variables greater than x. i (k), then node i is removed from q. i In (k), there are F larger state variables, if q i There exists a greater than x in (k). i If the number of state variables (k) is less than F, then node i will have these variables greater than x. i All state variables of (k) are removed; conversely, if qi (k) contains F or more state variables that are less than x. i (k), then node i is removed from q. i If there are F smaller state variables in (k), and one of them is less than x... i If the number of state variables in (k) is less than F, then node i will select those less than x. i All state variables of (k) are removed.

[0088] C03: Within each time step k, define H as the set of nodes corresponding to the remaining state variables after removing the state variables in step C02. i (k);

[0089] The original weighted adjacency matrix A and the set H are... i The element corresponding to (k) is replaced with zero, and the values ​​of the remaining non-zero elements in that row are redistributed according to the original weight ratio to obtain the latest adjacency matrix A. * And A * The sum of all elements in each row is 1.

[0090] C04: (1) Considering the requirement for proportional equal distribution of reactive power among distributed generation units (DG) in a microgrid, the corresponding reactive power equalization deviation expression based on the elastic consensus strategy is as follows:

[0091]

[0092] in, For the latest adjacency matrix A * Corresponding element, C Q The reactive power coupling coefficient is used to meet the stability requirements of the control system.

[0093] (2) Considering the consistency requirement of the average voltage observation value of each distributed generation unit (DG) in the microgrid, the corresponding expression of the distributed voltage observer based on the elastic consensus strategy is as follows:

[0094]

[0095] in, For the latest adjacency matrix A * Corresponding element, C E Voltage coupling coefficient to meet the stability requirements of the control system.

[0096] (3) Based on (1) and (2), the expression for the microgrid voltage elastic consistency control method based on trusted communication nodes can be obtained as follows:

[0097]

[0098] Among them, U ni U is the nominal voltage value.i DG i Inverter output voltage, K vi It is the voltage control coefficient, K i β is the integral term coefficient of the controller. i U is the weighting factor for reactive power averaging and voltage recovery. ref This is a reference value for the system's rated voltage.

[0099] This embodiment 1 applies steps A, B, and C of the above technical solution to a practical application, establishing a system as follows: Figure 2 The simulation system shown depicts a microgrid composed of eight distributed generation sources. All distributed generation sources are connected to the voltage bus via their respective connection impedances and each carries a local load. The rated active and reactive power capacities of the eight distributed generation sources are unequal, and the load at the common end is an impedance-type load. Based on the microgrid communication network optimization design method considering network attacks and transmission delays described in Embodiment 1 of this application, and using a microgrid simulation model built on the MATLAB R2020a / Simulink platform, the effectiveness of the method in Embodiment 1 of this application is verified. The specific results are as follows:

[0100] Figure 3 , Figure 4 , Figure 5 This refers to the calculation results of the microgrid communication network robustness index in steps A and B of this embodiment. The original communication network, such as... Figure 3 As shown, calculations based on the definition show that this communication network has 2-robustness, but not (2,2)-robustness. If a trusted communication node is set within it, and the set of trusted communication nodes T1 = {2,5,8} is chosen and any one of them is selected as the trusted communication node, then the corresponding communication network will have (2,2)-robustness, as shown below. Figure 4 As shown. If two trusted communication nodes are set up inside it, forming groups of Node 4 and Node 5, Node 2 and Node 7, and Node 1 and Node 8 respectively, then the corresponding communication network will have 3-robustness, such as... Figure 5 As shown.

[0101] Figure 6 This is the communication network topology diagram used in Embodiment 1 of the present invention. DG3 and DG6 are malicious nodes, and their corresponding communication nodes are simultaneously compromised by malicious attacks within 3 seconds. The attacker sends the actual local reactive power data from DG3 to DG2, DG4, and DG5 in the data packet. altered The actual value of local reactive power data sent by DG6 to DG1, DG2, and DG5. altered And make them satisfy respectively and Figure 7This refers to the operating status of each DG in the microgrid at different time periods when there are no trusted communication nodes in the test system. Figure 8 This is the communication network topology after setting DG2 and DG7 as trusted communication nodes in Embodiment 1 of the present invention. The network is calculated to have 3-robustness. Figure 9 This refers to the operating status of each DG (Distributed Generation Service) in a microgrid at different time periods under a trusted communication network.

[0102] Figure 13 , Figure 14 , Figure 15 The figure shows the simulation results in Example 1 where malicious attack nodes exist within the microgrid, and DG2 and DG7 are set as trusted communication nodes in the original communication network (the communication network has 3-robustness). At the start of operation, each distributed power source operates in droop control mode. The system employs a conventional voltage secondary coordinated control strategy from 1.5s to 3s. From 3s onwards, it is subjected to malicious attacks from DG3 and DG6, which tamper with the reactive power distribution state variables. From 3s to 5s, the system adopts a microgrid voltage elastic secondary coordinated control strategy based on trusted communication nodes. Simulation results show that the method proposed in this invention can effectively achieve elastic asymptotic consensus on reactive power distribution and weighted average voltage observations, and the output voltage of each DG can also remain stable.

[0103] Example 2

[0104] This second embodiment, based on the first embodiment, does not set up trusted communication nodes after the simulation test system is built. Instead, it uses the existing 2-robust communication network for simulation. The results are as follows:

[0105] Figure 10 , Figure 11 , Figure 12 The figure shows the simulation results of the microgrid in Example 2 using the original 2-robust communication network when a malicious attack node exists within it. At system startup, each distributed power source operates in droop control mode. At 1.5 seconds, the conventional secondary voltage control strategy is activated. From 3 to 5 seconds, DG3 and DG6 are malicious nodes that tamper with the reactive power sharing state variables. The consensus on reactive power sharing among the DGs within the system ceases to converge from the 3-second mark, and the weighted average voltage observation deviates significantly from the rated value of 311V. The output voltage of each node also increases significantly due to the presence of the malicious node. The larger the amplitude of the attack signal, the greater the deviation of the output voltage of each DG from the rated value, eventually exceeding the specified safety threshold and causing the entire system to become unstable.

[0106] In summary, as demonstrated by Examples 1 and 2, this invention, based on the definitions of r-robustness and (r, s)-robustness of communication network topology, sets up one or more trusted nodes in a known communication network, which can effectively enhance the connectivity robustness of the communication network. This method saves on microgrid network connection costs while also increasing the number of malicious attack nodes that the system can tolerate during operation. Considering the existence of three types of nodes in the trusted communication network—normal nodes, malicious nodes, and trusted nodes—a microgrid voltage elastic consistency control method based on trusted communication nodes is designed by processing the status information received by each node. This method can achieve the safe operation of each DG in the microgrid under network attacks without prior judgment of whether an attack event has occurred, effectively improving the robustness of system operation and can be widely applied in practical engineering.

[0107] Example 3

[0108] This embodiment 3, based on embodiment 1, also provides a computer-readable storage medium, which includes a program for a microgrid voltage resilient consistency control method based on trusted communication nodes. When the program for a microgrid voltage resilient consistency control method based on trusted communication nodes is executed by a processor, it implements the steps of the microgrid voltage resilient consistency control method based on trusted communication nodes as given in embodiment 1.

[0109] The storage medium may include a stored program area and a stored data area. The stored program area may store the operating system and application programs required for at least one function; the stored data area may store used or received data, etc. Furthermore, the storage medium may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0110] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A microgrid voltage elastic consistency control method based on trusted communication nodes, characterized in that, Includes the following steps: The original microgrid sparse communication network is represented as a topology graph using graph theory. G And calculate the topology graph. G The corresponding network topology robustness indicators are r - Robustness and ( r , s - Robustness; In the topology G of N Set in each node N T By identifying trusted communication nodes, the latest trusted communication network is obtained, and the network topology robustness index of the latest trusted communication network is calculated. r T - Robustness and ( r , s ) T - Robustness; Based on the latest trusted communication network and the network topology robustness index, and considering the requirements for the proportional equal distribution of reactive power among distributed generation units (DG) in the microgrid and the requirements for the consistency of average voltage observations, a microgrid voltage elastic consistency control method based on the trusted communication node is designed. When designing a microgrid voltage elastic consistency control method based on the trusted communication node, considering the requirements for proportional equal distribution of reactive power among distributed generation units (DGs) in the microgrid and the consistency requirements for average voltage observations, the link weights of the trusted communication network are optimized according to the following steps: At each time step k Inside, define nodes i The neighbor set is N ( i ),node i After receiving neighbor information, all state variables are sorted and formed into a numerical sequence. q i ( k ), including: DG i exist k The reactive power status value of the neighbor received at any time Numerical sorting is performed to obtain a new reactive power information sequence. For DG i exist k Received neighbor voltage observations at any time The numbers are sorted to obtain new information sequences. ; If node i Neighbor set N ( i If at least one of the nodes in a given network is a trusted communication node, then a Dependency Group (DG) is defined. i Trusted communication node set ,make and For a set of trusted communication nodes T ( i Let the maximum and minimum values ​​of reactive power information in DG be given. i Neighbor node set N i ( k All nodes in a given set that satisfy the following formula are grouped into a set. : in, Define DG i Trusted communication node set ,make and For a set of trusted communication nodes T ( i The maximum and minimum values ​​of voltage observation information in DG i Neighbor node set N i ( k All nodes of the following expressions in the set are grouped into a set. : in, If node i Neighbor set N ( i If there are no trusted communication nodes in the sequence, then the sequence will be... q i ( k )Right now and All elements in x i ( k )Right now and Compare all elements in the list, if q i ( k ) exists F One or more state variables greater than x i ( k ), then the node i Remove q i ( k )middle F A large state variable, if q i ( k There exists a value greater than ) in x i ( k The number of state variables is less than F If there are 1, then the node i These are greater than x i ( k All state variables are removed; conversely, if... q i ( k ) exists F One or more state variables are less than x i ( k ), then the node i Remove q i ( k )middle F A smaller state variable, if there exists a value less than x i ( k The number of state variables is less than F If there are 1, then the node i These smaller x i ( k All state variables are removed; At each time step k Inside, define the set of nodes corresponding to the remaining state variables after removing the state variables as follows: H i ( k ); The original weight adjacency matrix A Middle and set H i ( k The corresponding element is replaced with zero, and the values ​​of the remaining non-zero elements in that row are redistributed according to the original weight ratio to obtain the latest adjacency matrix. A * ,and A * The sum of all elements in each row is 1.

2. The microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 1, characterized in that, The r -The definition of robustness includes: r - Reachability is defined as: given a topological graph G = ( V , E ) and the corresponding node set V a non-empty subset S ,if S There are nodes v i and r One that does not belong to the set S The nodes are connected, that is satisfy Then it is called a set. S for r - The reachable set, in which , Represents a node v i The set of neighboring nodes; Then the r - Robustness is defined as: for a topological graph G Includes n ( A set of nodes with 100 elements V Each pair of non-empty disjoint node subsets within it S 1 and S 1. If at least one subset of nodes satisfies r -The definition of a reachable set is called a topological graph. G satisfy r - Robustness, that is, if and have , , , satisfy or satisfy Then it is called a topological graph. G yes r - Robust.

3. The microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 1, characterized in that, The ( r , s The definition of robustness includes: ( r , s - Reachability is defined as: for a topological graph G = ( V , E ) and the corresponding node set V a non-empty subset S If in the set S At least one s Nodes v i And each node has at least r The neighboring nodes are S Outside, that is, for a given set ,have Then it is called a set. S for( r , s - Reachable set, where, , Represents a node v i The set of neighboring nodes; Then the ( r , s Robustness is defined as: for a given set of elements containing... n Nodes ( Topology of ) G = ( V , E ) and the corresponding node set V a non-empty subset S Define a set , , ,if V Each pair of non-empty disjoint node subsets S 1 and S 2. At least one of the following conditions must be met: , , Then it is called a topological graph. G yes( r , s - Robust.

4. A microgrid voltage elastic consistency control method based on trusted communication nodes according to any one of claims 2 or 3, characterized in that, The matrix G of N Set in each node N T A number of trusted communication nodes are used to obtain the latest trusted communication network, and the network topology robustness index of the latest trusted communication network is calculated. r T - robustness) and ( r , s ) T - Robustness, specifically including: In the matrix G = ( V , E The communication network node set in ) V Select and set N T Each node is a trusted communication node, resulting in a set containing trusted communication nodes. T The latest trusted communication network G *; The definition r T - Robustness is: for topological graphs G Includes n ( A set of nodes with 100 elements V Any pair of non-empty disjoint subsets within it S 1 and S 2. If at least one subset of these node subsets satisfies the condition in the topological graph... G Includes trusted communication node set T The following is r - If it is reachable, it is called a topological graph. G Satisfying the requirement of having a set of trusted communication nodes T Below r - Robustness; The definition of ( r , s ) T - Robustness is: for a given set of... n Nodes ( Communication topology diagram G = ( V , E ),like V Each pair of non-empty disjoint node subsets S 1 and S 2. At least one of the following conditions must be met: , , , Then it is called a diagram. G In a set of trusted communication nodes T The following is ( r , s - Robust; Calculate the trusted communication network G * Network topology robustness metrics r T - Robustness and ( r , s ) T - Robustness.

5. The microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 4, characterized in that, Based on the calculations and the definition of the network topology robustness index, it can be seen that compared to the topology graph... G The corresponding network topology robustness indicators are r - Robustness and ( r , s - Robustness, the selection and setting N T The network topology robustness index of the latest trusted communication network after trusted communication nodes is (i.e., r T - robustness) and ( r , s ) T - Greater robustness indicates that the latest trusted communication network performs better.

6. The microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 1, characterized in that, After optimizing the link weights of the trusted communication network, and considering the requirement for proportional equal distribution of reactive power among the distributed generation units (DGs) of the microgrid, the corresponding reactive power equalization deviation expression is designed based on the elastic consensus strategy as follows: in, For the latest adjacency matrix A * Corresponding elements, C Q The reactive power coupling coefficient is used to meet the stability requirements of the control system.

7. The microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 1, characterized in that, After optimizing the link weights of the trusted communication network, and considering the consistency requirements of the average voltage observations of each distributed generation unit (DG) in the microgrid, the corresponding expression for the distributed voltage observer based on the elastic consensus strategy is as follows: in, For the latest adjacency matrix A * Corresponding elements, C E Voltage coupling coefficient to meet the stability requirements of the control system.

8. A microgrid voltage elastic consistency control method based on trusted communication nodes according to any one of claims 6 or 7, characterized in that, The expression for the microgrid voltage elastic consistency control method based on the trusted communication node is as follows: in, U ni This is the nominal voltage value. U i DG i Inverter output voltage, K vi It is the voltage control coefficient. K i The integral term coefficient of the controller, β i These are the weighting coefficients for reactive power distribution and voltage recovery. U ref This is a reference value for the system's rated voltage.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program for a microgrid voltage resilient consistency control method based on trusted communication nodes. When the program for the microgrid voltage resilient consistency control method based on trusted communication nodes is executed by a processor, it implements the steps of the microgrid voltage resilient consistency control method based on trusted communication nodes as described in any one of claims 1 to 8.

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