Distributed elastic energy management method for ship integrated energy system

Abstract

The invention provides a distributed elastic energy management method for a ship integrated energy system. The distributed elastic energy management method comprises the following steps: S1, calculating energy communication network nodes and corresponding center nodes based on a node clustering algorithm; s2, constructing an energy management model of the ship integrated energy system based on an energy cluster node division result and a corresponding center node; s3, designing a completely distributed energy management method under a normal navigation working condition based on the energy management model of the ship integrated energy system; s4, setting an abnormal energy equipment node detection mechanism; s5, designing a distributed energy management method capable of resisting ship domain energy communication network attacks based on an abnormal energy equipment node detection mechanism and the ship integrated energy system energy management model; according to the method, a new, effective and safe solution thought is provided for analysis of the energy management problem of the ship comprehensive energy system, green development of the shipping industry can be effectively improved, and meanwhile the safety performance of ship navigation is improved from the aspect of energy supply.

Description

Technical Field

[0001] The present invention relates to the technical field of ship energy management, and in particular to a distributed elastic energy management method for a ship integrated energy system. Background Art

[0002] With the development of economic globalization, the shipping industry's carrying capacity has increased significantly. In order to alleviate the contradiction between greenhouse gas emissions from the shipping industry and the sustainable development of the marine ecological environment, the reform of the ship energy system is urgent. As a typical information-physical system, the ship's integrated energy system has realized the integration of traditional fossil energy equipment and new renewable energy equipment, promoted the cascade utilization of energy, improved energy utilization efficiency, and provided effective technical means for the green development of the shipping industry.

[0003] The ship integrated energy system integrates heterogeneous energy networks such as electrical energy and thermal energy, and realizes the reasonable distribution of energy by relying on the ship-domain energy communication network and shipboard information technology. It is a typical information-physical system. At present, the analysis of the energy management problem of the ship integrated energy system is mostly based on economic benefits as the optimization goal, ignoring the importance of energy conservation and emission reduction in the shipping industry for maintaining the marine ecological environment. In addition, the current solution to the energy management problem of the ship integrated energy system mostly adopts a centralized method. However, with the development of renewable energy technology, more and more non-professional energy supply equipment, such as photovoltaic units and wind turbine units, are integrated into the ship integrated energy system, and the ship integrated energy system presents significant flattening and distributed characteristics. At the same time, with the addition of intelligent, informationized, and electrified equipment, the degree of ship networking has been significantly improved. Therefore, the traditional distributed energy management strategy cannot meet the structural characteristics of the current ship integrated energy system energy management problem. At the same time, as the key to the information transmission of energy equipment, the reliable operation of the ship-domain energy communication network plays a key role in ensuring the navigation of ships. Data packet loss and key data tampering in the ship's energy communication network will seriously affect the formulation of the ship's optimal energy management plan, which in turn will seriously affect the ship's navigation speed and range, and may even cause serious consequences such as the ship running aground. Summary of the invention

[0004] In view of this, aiming at the energy management problem of the energy system during ship navigation, the purpose of the present invention is to propose a distributed flexible energy management method for the ship's integrated energy system, which can ensure the regional characteristics of the ship while resisting attacks on the ship's energy communication network, thereby achieving safe and reliable navigation of the ship.

[0005] The technical means adopted by the present invention are as follows:

[0006] A distributed elastic energy management method for a ship integrated energy system comprises the following steps:

[0007] S1. Calculate energy communication network nodes and corresponding central nodes based on node clustering algorithm;

[0008] S2. Construct an energy management model for the ship integrated energy system based on the energy cluster node division results and the corresponding central nodes;

[0009] S3. Design a fully distributed energy management method under normal sailing conditions based on the energy management model of the ship's integrated energy system;

[0010] S4. Setting up abnormal energy equipment node detection mechanism;

[0011] S5. Design a distributed energy management method that can resist attacks on ship-domain energy communication networks based on abnormal energy equipment node detection mechanism and ship integrated energy system energy management model;

[0012] S6. Detect abnormal energy equipment nodes of the ship's integrated energy system; if the ship's integrated energy system is in normal sailing conditions, execute the energy management method of S3; if the ship's integrated energy system is in abnormal conditions, execute the energy management method of S5.

[0013] Furthermore, S1 specifically includes the following steps:

[0014] S11, collecting the electrical energy and thermal energy network transmission information of the ship's integrated energy system, wherein the electrical energy and thermal energy network transmission information of the ship's integrated energy system includes the line length between nodes, information / physical topology structure, and load demand in each time period;

[0015] S12. Calculate the communication quality between energy devices according to the information topology structure, and calculate the energy transmission distance between devices according to the physical topology structure;

[0016] S13. Delineate the energy equipment node partitioning plan and determine the central node of each energy cluster as the energy communication network node.

[0017] Furthermore, S12 specifically includes the following steps:

[0018] S121. According to the information topology structure, the communication quality value between any two nodes in the ship integrated energy system is quantified, which can be expressed as:

[0019] When the node and The communication quality value between two nodes when they are neighboring nodes for:

[0020]

[0021] In the formula, and Node and The neighbor node set of |·| represents the cardinality of the corresponding set; Υ is a very small positive number; z is the energy cluster number; i and j both represent the node numbers in the corresponding energy cluster;

[0022] When the node When the communication quality value between two nodes for:

[0023]

[0024] In the formula, For Node Neighbor nodes of

[0025] When the node and The communication quality value between two nodes when they are not adjacent to each other

[0026] S122. According to the physical topology, the transmission distance between any two nodes in the ship integrated energy system is quantified, which can be expressed as:

[0027]

[0028] In the formula, the node and are two adjacent nodes; and Respectively represent nodes and The coordinate information of , when τ = 1, and Respectively represent nodes and The horizontal axis coordinate information; when τ = 2, and Respectively represent nodes and The vertical axis coordinate information; when τ = 3, and Respectively represent nodes and The vertical axis coordinate information.

[0029] Furthermore, S13 specifically includes the following steps:

[0030] S131, based on the communication quality value between any two points of the ship integrated energy system, dividing multiple energy clusters according to the needs of the ship energy system, specifically including the following steps:

[0031] S1311, initialization, select any energy device node in the ship integrated energy system as the initial point and record it as z i , define node z′s is the node z′ j Neighbor nodes, define the node sequence set

[0032] S1312, determine the node and the node denoted as z′ j The numerical relationship of the communication quality between any nodes is Then let node z′ be s For node z i The root node of And update the node sequence at this time to S = S ∪ z′ s ;like Then let node z′ be j For node z i The root node of Update the node sequence to S = S ∪ z′ j ;

[0033] S1313, determine node z′ j Whether the communication quality values ​​between other nodes in the ship integrated energy system have been calculated, if so, enter S1314, if not, return to S1312 to continue updating the node sequence;

[0034] S1314, judging whether the communication quality values ​​between all nodes of the ship integrated energy system have been calculated, if so, entering S1315, if not, returning to S1311, until the node sequence set record of all nodes is completed according to the communication quality values ​​between all nodes;

[0035] S1315. Determine the number of energy clusters to be divided according to the structural characteristics of the ship. According to the minimum principle, the energy clusters are divided according to the communication quality values ​​between nodes. Record the node z i Belongs to the zth energy cluster, and the zth energy cluster node set is

[0036] S132, based on the communication quality value between any two points of the ship integrated energy system quantified by S121, the transmission distance value between any two nodes in the ship integrated energy system quantified by S122, and the energy cluster scheme divided by S131, determine the center point of each energy cluster as the ship domain energy communication network node according to the needs of the ship energy system, specifically including the following steps:

[0037] S1321, Initialization, Selection Any energy device node in the system is taken as the initial point and recorded as z i , define the node for Any node except node zi;

[0038] S1322. Comprehensively consider the communication quality value and transmission distance value between nodes, and quantify the actual information interaction cost between nodes, which can be expressed as:

[0039]

[0040] In the formula, Assume that node z i The actual information interaction cost when is the center of the cluster;

[0041] S1323, Judgment Whether the actual information interaction cost values ​​between all nodes in the cluster have been calculated, if so, proceed to S1324, if not, return to S1322 to calculate the actual information interaction cost when other nodes in the cluster are used as the center point;

[0042] S1324, Comparison The actual information interaction cost when each node is used as the center point, the point with the minimum value is the center point of the energy cluster;

[0043] S1325, determine whether the center points of all energy clusters in the ship's integrated energy system have been determined. If so, complete the energy equipment node clustering algorithm. If not, return to S1321 and replace nodes in other energy clusters.

[0044] Furthermore, S2 specifically includes the following steps:

[0045] S21, based on the energy cluster node division result obtained in S131 and the corresponding central node obtained in S132, construct the energy management objective function of the ship integrated energy system;

[0046] S211. According to the operating parameters of each energy device during the ship's voyage, the economic benefit function of the ship's comprehensive energy system is constructed, which is expressed as:

[0047]

[0048] Where Economic is the total economic benefit of the ship's integrated energy system during navigation; For node z i The operating parameters of the energy equipment, whose values ​​are determined by the equipment itself; is the output of energy equipment, where p is electrical energy and h is thermal energy;

[0049] S212. According to the operating parameters of each energy device during the ship's voyage, the environmental benefit function of the ship's comprehensive energy system is constructed, which is expressed as:

[0050]

[0051] Where, EEOI is the ship energy efficiency operation index during navigation; For node z i The carbon emission parameter of the fossil fuel equipment, the value of which is determined by the equipment itself; Capacity indicates the number of tourists the ship can carry during the corresponding period; Distance indicates the distance of the corresponding voyage;

[0052] S213. Based on the economic and environmental benefits of energy management of the ship's integrated energy system, the objective function of energy management of the ship's integrated energy system during navigation is constructed and expressed as:

[0053] min{Economic,EEOI}

[0054] Among them, this function actually means taking the compromise value of Economic and Capacity as the objective function of energy management;

[0055] S22. Establish physical constraints that meet navigation requirements;

[0056] The physical constraints include heterogeneous energy supply and demand balance constraints, speed and range constraints, energy equipment power output constraints and static voltage safety constraints;

[0057] The heterogeneous energy supply and demand balance constraint is used to ensure that the output of the energy supply side responds to the demand of the load side, which is expressed as:

[0058]

[0059] In the formula, The nodes z i Energy supply / consumption output of fossil fuel equipment, renewable energy equipment, energy storage equipment, and load equipment;

[0060] Speed ​​and range constraints are used to ensure the speed and range of the ship during navigation, so as to ensure that it sails along the established route within the specified time, which can be expressed as:

[0061]

[0062] In the formula, v is the ship speed; Dist is the ship distance; j is a period of time during the ship's voyage; t is the time interval, which is a fixed constant; (·) m and(·) M Respectively represent the minimum and maximum values ​​of the corresponding variables;

[0063] The energy supply output constraint of energy equipment is used to ensure that the energy equipment is always within its safe operating range, which is expressed as:

[0064]

[0065] In the formula,

[0066] The static voltage safety constraint is used to ensure that the voltage amplitude of each node in the power network is within its safety margin, which is expressed as:

[0067]

[0068] In the formula, Represents node z j Voltage offset. If the value is negative, it means that the node is within the safety margin. If the value is positive, it means that the voltage of the node is out of limit. is a constant and is related to reactive power injection.

[0069] Furthermore, S3 specifically includes the following steps:

[0070] S31, simplify the objective function of energy management problem;

[0071] S311. Considering the different units of economic benefits and environmental benefits, the objective function is dimensionally normalized and expressed as:

[0072]

[0073] In the formula, F Ec 、F Eo They are the economic and environmental benefits of the ship during the voyage; are the minimum and maximum values ​​of economic benefits respectively; are the minimum and maximum values ​​of environmental benefits, respectively;

[0074] S312, introduce weight coefficients to simplify the multi-objective optimization problem into a single-objective optimization problem, expressed as:

[0075] min{σ1F1+σ2F2}

[0076] Where σ1 and σ2 are adjustable dynamic weight coefficients, and satisfy σ1+σ2=1;

[0077] S32, integrate the objective function and physical constraints to reconstruct the energy management model of the ship integrated energy system;

[0078] The reconstructed ship integrated energy system energy management model includes: integrating the coefficient matrix and the weight matrix in a compact form. At this time, the ship integrated energy system energy management model is expressed as:

[0079] minf(X)

[0080]

[0081] Where A is the coefficient matrix of the energy cluster; x is the decision variable of the energy cluster; X is the decision variable of the ship's integrated energy system; b is a constant vector determined by the ship's navigation needs;

[0082] S33, design iterative formulas for output, output error and marginal cost, and solve the current optimal energy management solution;

[0083] S331, design output iteration formula, expressed as:

[0084]

[0085] Where W EH The weight coefficient matrix of the energy cluster; λ is the marginal cost vector; e is the output error vector; ρ is the non-negative penalty coefficient; k is the number of iterations;

[0086] S332, design output error iteration formula, expressed as:

[0087] e k+1 =W EH e k +AX k+1 -AX k

[0088] S333. Design marginal cost iteration formula, expressed as:

[0089] λ k+1 =W EH λ k +ρe k+1

[0090] S334, iteratively process the output, output error, and marginal cost variables. When the output plan converges to the set threshold, the current optimal energy management plan is formulated. Otherwise, return to S331.

[0091] Furthermore, S4 specifically includes the following steps:

[0092] S41, calculating the upper and lower limits of the force error and determining the normal working range;

[0093] The calculation formula for the upper and lower limits of output error is expressed as:

[0094]

[0095] In the formula, Represents node z i The minimum and maximum values ​​of the output error at the kth iteration; For node z i The lowest and highest node communication quality between its neighboring nodes is specifically expressed as:

[0096]

[0097] In the formula, For node z i and node z′ j The communication quality between j For node z i Neighbor nodes of For node z i The set of neighbor nodes of

[0098] S42, detecting the iteration state of the output error in real time and calculating the accuracy of the output error;

[0099] S421, determine whether the current output error is within the safety margin,

[0100] when When the current output error is recorded, the accuracy is The error rate is

[0101] when When the current output error is recorded, the accuracy is The error rate is

[0102] S422, calculate the current output error accuracy, expressed as:

[0103]

[0104] In the formula, is the output error accuracy at the kth iteration;

[0105] S43, determining abnormal energy equipment nodes;

[0106] When the output error accuracy When the decision node z i It can operate normally. is the accuracy threshold. At this time, let k→k+1 and return to S41;

[0107] When the output error accuracy When the decision node z i Not functioning properly, is the accuracy threshold, that is, at this time, node z i It is an abnormal node.

[0108] Furthermore, S5 specifically includes the following steps:

[0109] For the abnormal nodes detected in S4, iterative formulas for abnormal node output, output error, and marginal cost are designed, including:

[0110] Output iteration formula:

[0111]

[0112] In the formula, are the output, output error and marginal cost of abnormal nodes respectively; is the output of the energy cluster; C and A are coefficients and transmission matrices, respectively, which are related to the structure of the ship's integrated energy system; ρ is the penalty coefficient;

[0113] Output error iteration formula:

[0114]

[0115] Marginal cost iteration formula:

[0116]

[0117] The present invention also provides a storage medium, which includes a stored program, wherein when the program is run, any of the above-mentioned distributed flexible energy management methods for a ship integrated energy system is executed.

[0118] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes any of the above-mentioned distributed flexible energy management methods for a ship integrated energy system through the operation of the computer program.

[0119] Compared with the prior art, the present invention has the following advantages:

[0120] The present invention takes the ship integrated energy system as the research object, which can effectively promote the sustainable development of the shipping industry, and provide the optimal energy management solution for the ship while ensuring the safe and reliable navigation of the ship. The present invention constructs an energy management model for the ship integrated energy system that fully considers the navigation characteristics and ship structure characteristics, and designs a fully distributed energy management method. At the same time, in order to improve the safety of the ship during navigation, the present invention proposes an energy management method that can resist attacks on the ship domain energy network of the ship integrated energy system. The present invention can monitor the operation of each energy equipment node in the ship integrated energy system while ensuring the economic and environmental benefits of the energy system during the navigation of the ship, and can deal with the negative impact of abnormal nodes disrupting the normal operation of the energy system, which can effectively improve the safety of ship navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0121] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0122] Figure 1 This is the structural framework diagram of the ship's integrated energy system;

[0123] Figure 2 It is an energy network topology and navigation information map;

[0124] Figure 3 This is the energy node clustering effect diagram;

[0125] Figure 4 (a) is the marginal cost iteration of the power grid for voyages 19-21;

[0126] Figure 4 (b) is the marginal cost iteration of the heating network for voyages 19-21;

[0127] Figure 4 (c) is the voltage deviation index of each node of the voyage 19 power grid;

[0128] Figure 4 (d) is the voltage deviation index of each node of the voyage 20 power grid;

[0129] Figure 4 (e) is the voltage deviation index of each node of the voyage 21 power grid;

[0130] Figure 5 (a) is the iteration of the power grid mismatch value;

[0131] Figure 5 (b) Impact of power grid deception attacks;

[0132] Figure 5 (c) is the iteration of the heat network mismatch value;

[0133] Figure 5 (d) Impact of hot network deception attack;

[0134] Figure 6 (a)-(d) Iteration of the accuracy of nodes in energy cluster 1-energy cluster 4 in the power grid;

[0135] Figure 6 (e)-(h) Iteration of the accuracy of nodes from energy cluster 1 to energy cluster 4 in the heat network;

[0136] Figure 7 (a) The operating costs of the ship's integrated energy system at each time period;

[0137] Figure 7 (b) CO2 emissions from the ship's integrated energy system at each time period;

[0138] Figure 7 (c) The comprehensive operating costs and carbon dioxide emissions of the ship's integrated energy system at each time period; DETAILED DESCRIPTION

[0139] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0140] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0141] The ship's integrated energy system includes an energy conversion center, an energy management center, a power supply side, and a load side. The energy conversion center can realize the mutual conversion between heterogeneous energy sources; the energy management center is responsible for formulating the optimal energy management strategy; the power supply side provides energy supply for ships, including fossil energy equipment (cogeneration equipment, internal combustion units, etc.), new energy equipment (photovoltaic units, wind turbine units, etc.), and energy storage equipment; the load side is a necessary guarantee for maintaining the navigation of ships, including life load equipment (lighting equipment, air conditioning, mechanical operation equipment, etc.), ship power propulsion load, and fuel preheating equipment.

[0142] The present invention provides a distributed elastic energy management method for a ship integrated energy system, comprising the following steps:

[0143] S1. Calculate energy communication network nodes and corresponding central nodes based on node clustering algorithm;

[0144] S2. Construct an energy management model for the ship integrated energy system based on the energy cluster node division results and the corresponding central nodes;

[0145] S3. Design a fully distributed energy management method under normal sailing conditions based on the energy management model of the ship's integrated energy system;

[0146] S4. Setting up abnormal energy equipment node detection mechanism;

[0147] S5. Design a distributed energy management method that can resist attacks on ship-domain energy communication networks based on abnormal energy equipment node detection mechanism and ship integrated energy system energy management model;

[0148] S6. Detect abnormal energy equipment nodes of the ship's integrated energy system; if the ship's integrated energy system is in normal sailing conditions, execute the energy management method of S3; if the ship's integrated energy system is in abnormal conditions, execute the energy management method of S5;

[0149] S1 specifically includes the following steps:

[0150] S11, collecting the electrical energy and thermal energy network transmission information of the ship's integrated energy system, wherein the electrical energy and thermal energy network transmission information of the ship's integrated energy system includes the line length between nodes, information / physical topology structure, and load demand in each time period;

[0151] The line length in S11 is the information source of the corresponding coordinates in S122; the information / physical topology in S11 is the source of the communication quality in S121; the power and heat network transmission information in S11 is one of the iterative variables for the subsequent energy management strategy design.

[0152] S12. Calculate the communication quality between energy devices according to the information topology structure, and calculate the energy transmission distance between devices according to the physical topology structure;

[0153] S121. According to the information topology structure, the communication quality value between any two nodes in the ship integrated energy system is quantified, which can be expressed as:

[0154] When the node and The communication quality value between two nodes when they are neighboring nodes for:

[0155]

[0156] In the formula, and Node and The set of neighbor nodes; |·| represents the cardinality of the corresponding set; Υ is a very small positive number;

[0157] When the node When the communication quality value between two nodes for:

[0158]

[0159] In the formula, For Node Neighbor nodes of

[0160] When the node and The communication quality value between two nodes when they are not adjacent to each other

[0161] S122. According to the physical topology, the transmission distance between any two nodes in the ship integrated energy system is quantified, which can be expressed as:

[0162]

[0163] In the formula, the node and are two adjacent nodes; and Respectively represent nodes and The coordinate information of , when τ = 1, and Respectively represent nodes and The horizontal axis coordinate information; when τ = 2, and Respectively represent nodes and The vertical axis coordinate information; when τ = 3, and Respectively represent nodes and The vertical axis coordinate information.

[0164] S13. Delineate the energy equipment node partitioning plan and determine the central node of each energy cluster as the energy communication network node.

[0165] S131, based on the communication quality value between any two points of the ship integrated energy system, dividing multiple energy clusters according to the needs of the ship energy system, specifically including the following steps:

[0166] S1311, initialization, select any energy device node in the ship integrated energy system as the initial point and record it as z i , define node z′ s is the node z′ j Neighbor nodes, define the node sequence set

[0167] S1312, determine the node and the node denoted as z′ j The numerical relationship of the communication quality between any nodes is Then let node z′ be s For node z i The root node of And update the node sequence at this time to S = S ∪ z′ s ;like Then let node z′ be j For node z i The root node of Update the node sequence to S = S ∪ z′ j ;

[0168] S1313, determine node z′ j Whether the communication quality values ​​between other nodes in the ship integrated energy system have been calculated, if so, enter S1314, if not, return to S1312 to continue updating the node sequence;

[0169] S1314, judging whether the communication quality values ​​between all nodes of the ship integrated energy system have been calculated, if so, entering S1315, if not, returning to S1311, until the node sequence set record of all nodes is completed according to the communication quality values ​​between all nodes;

[0170] S1315. Determine the number of energy clusters to be divided according to the structural characteristics of the ship. According to the minimum principle, the energy clusters are divided according to the communication quality values ​​between nodes. Record the node z i Belongs to the zth energy cluster, and the zth energy cluster node set is

[0171] S132, based on the communication quality value between any two points of the ship integrated energy system quantified by S121, the transmission distance value between any two nodes in the ship integrated energy system quantified by S122, and the energy cluster scheme divided by S131, determine the center point of each energy cluster as the ship domain energy communication network node according to the needs of the ship energy system, specifically including the following steps:

[0172] S1321, Initialization, Selection Any energy device node in the system is taken as the initial point and recorded as z i , define the node for Remove node z i Any external node;

[0173] S1322. Comprehensively consider the communication quality value and transmission distance value between nodes, and quantify the actual information interaction cost between nodes, which can be expressed as:

[0174]

[0175] In the formula, Assume that node z i The actual information interaction cost when is the center of the cluster;

[0176] S1323, Judgment Whether the actual information interaction cost values ​​between all nodes in the cluster have been calculated, if so, proceed to S1324, if not, return to S1322 to calculate the actual information interaction cost when other nodes in the cluster are used as the center point;

[0177] S1324, Comparison The actual information interaction cost when each node is used as the center point, the point with the minimum value is the center point of the energy cluster;

[0178] S1325, determine whether the center points of all energy clusters in the ship's integrated energy system have been determined. If so, complete the energy equipment node clustering algorithm. If not, return to S1321 and replace nodes in other energy clusters.

[0179] S2 specifically includes the following steps:

[0180] S21. Determine the demand during the ship's voyage and construct the energy management objective function of the ship's integrated energy system;

[0181] S211. According to the operating parameters of each energy device during the ship's voyage, the economic benefit function of the ship's comprehensive energy system is constructed, which is expressed as:

[0182]

[0183] Where Economic is the total economic benefit of the ship's integrated energy system during navigation; For node z i The operating parameters of the energy equipment, whose values ​​are determined by the equipment itself; is the output of energy equipment, where p is electrical energy and h is thermal energy;

[0184] S212. According to the operating parameters of each energy device during the ship's voyage, the environmental benefit function of the ship's comprehensive energy system is constructed, which is expressed as:

[0185]

[0186] Where, EEOI is the ship energy efficiency operation index during navigation; For node z i The carbon emission parameter of the fossil fuel equipment, the value of which is determined by the equipment itself; Capacity indicates the number of tourists the ship can carry during the corresponding period; Distance indicates the distance of the corresponding voyage;

[0187] S213. Based on the economic and environmental benefits of energy management of the ship's integrated energy system, the objective function of energy management of the ship's integrated energy system during navigation is constructed and expressed as:

[0188] min{Economic,EEOI}

[0189] Among them, this function actually means taking the compromise value of Economic and Capacity as the objective function of energy management.

[0190] S22. Establish physical constraints that meet navigation requirements;

[0191] The physical constraints include heterogeneous energy supply and demand balance constraints, speed and range constraints, energy equipment power output constraints and static voltage safety constraints;

[0192] The heterogeneous energy supply and demand balance constraint is used to ensure that the output of the energy supply side responds to the demand of the load side, which is expressed as:

[0193]

[0194] In the formula, The nodes z i Energy supply / consumption output of fossil fuel equipment, renewable energy equipment, energy storage equipment, and load equipment;

[0195] Speed ​​and range constraints are used to ensure the speed and range of the ship during navigation, so as to ensure that it sails along the established route within the specified time, which can be expressed as:

[0196]

[0197] In the formula, v is the ship speed; Dist is the ship distance; j is a period of time during the ship's voyage; t is the time interval, which is a fixed constant; (·) m and(·) M Respectively represent the minimum and maximum values ​​of the corresponding variables;

[0198] The energy supply output constraint of energy equipment is used to ensure that the energy equipment is always within its safe operating range, which is expressed as:

[0199]

[0200] In the formula,

[0201] The static voltage safety constraint is used to ensure that the voltage amplitude of each node in the power network is within its safety margin, which is expressed as:

[0202]

[0203] In the formula, Represents node z j Voltage offset. If the value is negative, it means that the node is within the safety margin. If the value is positive, it means that the voltage of the node is out of limit. is a constant and is related to reactive power injection.

[0204] S3 specifically includes the following steps:

[0205] S31, simplify the objective function of energy management problem;

[0206] S311. Considering the different units of economic benefits and environmental benefits, the objective function is dimensionally normalized and expressed as:

[0207]

[0208] In the formula, F Ec 、F Eo They are the economic and environmental benefits of the ship during the voyage; are the minimum and maximum values ​​of economic benefits respectively; are the minimum and maximum values ​​of environmental benefits, respectively;

[0209] S312, introduce weight coefficients to simplify the multi-objective optimization problem into a single-objective optimization problem, expressed as:

[0210] min{σ1F1+σ2F2}

[0211] Where σ1 and σ2 are adjustable dynamic weight coefficients, and satisfy σ1+σ2=1;

[0212] S32, integrate the objective function and physical constraints to reconstruct the energy management model of the ship integrated energy system;

[0213] The reconstructed ship integrated energy system energy management model includes: integrating the coefficient matrix and the weight matrix in a compact form. At this time, the ship integrated energy system energy management model is expressed as:

[0214] minf(X)

[0215]

[0216] Where A is the coefficient matrix of the energy cluster; x is the decision variable of the energy cluster; X is the decision variable of the ship's integrated energy system; b is a constant vector determined by the ship's navigation needs;

[0217] S33, design iterative formulas for output, output error and marginal cost, and solve the current optimal energy management solution;

[0218] S331, design output iteration formula, expressed as:

[0219]

[0220] Where W EH The weight coefficient matrix of the energy cluster; λ is the marginal cost vector; e is the output error vector; ρ is the non-negative penalty coefficient; k is the number of iterations;

[0221] S332, design output error iteration formula, expressed as:

[0222] e k+1 =W EH e k +AX k+1 -AX k

[0223] S333. Design marginal cost iteration formula, expressed as:

[0224] λ k+1 =W EH λ k +ρe k+1

[0225] S334, iteratively process the output, output error, and marginal cost variables. When the output plan converges to the set threshold, the current optimal energy management plan is formulated. Otherwise, return to S331.

[0226] S4 specifically includes the following steps:

[0227] S41, calculating the upper and lower limits of the force error and determining the normal working range;

[0228] The calculation formula for the upper and lower limits of output error is expressed as:

[0229]

[0230] In the formula, Represents node z i The minimum and maximum values ​​of the output error at the kth iteration; For node z i The lowest and highest node communication quality between its neighboring nodes is specifically expressed as:

[0231]

[0232] In the formula, For node zi and node z′ j The communication quality between j For node z i Neighbor nodes of For node z i The set of neighbor nodes of

[0233] S42, detecting the iteration state of the output error in real time and calculating the accuracy of the output error;

[0234] S421, determine whether the current output error is within the safety margin,

[0235] when When the current output error is recorded, the accuracy is The error rate is

[0236] when When the current output error is recorded, the accuracy is The error rate is

[0237] S422, calculate the current output error accuracy, expressed as:

[0238]

[0239] In the formula, is the output error accuracy at the kth iteration;

[0240] S43, determining abnormal energy equipment nodes;

[0241] When the output error accuracy When the decision node z i It can operate normally. is the accuracy threshold. At this time, let k→k+1 and return to S41;

[0242] When the output error accuracy When the decision node z i Not functioning properly, is the accuracy threshold, that is, at this time, node z i It is an abnormal node.

[0243] S5 specifically includes the following steps:

[0244] For the abnormal nodes detected in S4, iterative formulas for abnormal node output, output error, and marginal cost are designed respectively. The alternating iteration of the three variables of node output, output error, and marginal cost is the specific implementation process of the designed energy management method, which specifically includes:

[0245] Output iteration formula:

[0246]

[0247] In the formula, are the output, output error and marginal cost of abnormal nodes respectively; is the output of the energy cluster; C and A are coefficients and transmission matrices, respectively, which are related to the structure of the ship's integrated energy system; ρ is the penalty coefficient;

[0248] Output error iteration formula:

[0249]

[0250] Marginal cost iteration formula:

[0251]

[0252] Example

[0253] The present invention takes the ship integrated energy system as the research object. The system uses the ship power grid and heat network transmission lines as physical carriers and the ship communication network as information carrier. It fully considers the regional structural characteristics of the ship. Its structural framework is shown in the attached figure. Figure 1 This embodiment takes a 33-node system as an example, where the power network has 18 nodes and the thermal network has 15 nodes. Its physical topology, communication topology and navigation information are shown in the attached figure. Figure 2 As shown, the technical solution includes the following steps:

[0254] S1: Node clustering algorithm design. Data collection and processing, collect the electrical energy and thermal energy network transmission information of the ship's integrated energy system, such as the line length between nodes, information / physical topology structure, load demand in each period, etc. (S11); calculate the communication quality between energy devices based on the information topology structure, and calculate the energy transmission distance between devices based on the physical topology structure (S12); based on the designed energy device node clustering algorithm, define the energy device node partitioning scheme, and determine the central node of each energy cluster as the energy communication network node (S13).

[0255] Furthermore, the calculation of communication quality and transmission distance between energy devices involved in S12 includes:

[0256] S121: According to the information topology, the communication quality value between any two nodes in the ship integrated energy system is quantified, expressed as,

[0257] (1) When the node and The communication quality value between two nodes when they are neighboring nodes for,

[0258]

[0259] In the formula, and Node and The set of neighbor nodes of ; |·| represents the cardinality of the corresponding set; Υ is a very small positive number.

[0260] (2) When the node When the communication quality value between two nodes for,

[0261]

[0262] In the formula, For Node neighbor nodes.

[0263] (3) In other cases, that is, the node and The communication quality value between two nodes when they are not adjacent to each other

[0264] At this time, according to the 33-node ship integrated energy system structure considered in the embodiment, the communication quality values ​​between the current nodes can be calculated, and the communication quality values ​​between some nodes are shown in Table 1:

[0265] Table 1. Overview of communication quality between nodes 1 to 7

[0266] Power-Node 1 Electricity - Node 2 Electricity - Node 3 Electricity - Node 4 Electricity - Node 5 Electricity - Node 6 Electricity - Node 7 Power-Node 1 0.750 0.250 0 0 0 0 0 Electricity - Node 2 0.250 0.383 0.200 0 0 0 0 Electricity - Node 3 0 0.200 0.600 0.200 0 0 0 Electricity - Node 4 0 0 0.200 0.400 0.200 0 0 Electricity - Node 5 0 0 0 0.167 0.467 0.167 0 Electricity - Node 6 0 0 0 0 0 0.550 0.250 Electricity - Node 7 0 0 0 0 0 0.200 0.600

[0267] S122: According to the physical topology, the transmission distance between any two nodes in the ship integrated energy system is quantified, expressed as:

[0268]

[0269] In the formula, the node and are two adjacent nodes; and Respectively represent nodes and Specifically, when τ = 1, and Respectively represent nodes and The horizontal axis coordinate information; when τ = 2, and Respectively represent nodes and The vertical axis coordinate information; when τ = 3, and Respectively represent nodes and The vertical axis coordinate information.

[0270] Furthermore, the energy device node clustering algorithm involved in S13 includes:

[0271] S131: Based on the communication quality value between any two points of the ship integrated energy system quantified by S121, multiple energy clusters can be divided according to the needs of the ship energy system, which specifically includes the following steps:

[0272] S1311: Initialization, select any energy device node in the ship integrated energy system as the initial point (denoted as z i ), define node z′ s is the node z′ j Neighbor nodes, define the node sequence set

[0273] S1312: Determine whether the node is related to any node (denoted as z′ j ) between the communication quality values. Then let node z′ be s For node z i The root node of And update the node sequence at this time to S = S ∪ z′ s ;like Then let node z′ be j For node z i The root node of Update the node sequence to S = S ∪ z′ j .

[0274] S1313: Determine node z′ j Whether the communication quality values ​​between other nodes in the ship integrated energy system have been calculated, if so, enter S1314, if not, return to S1312 to continue updating the node sequence.

[0275] S1314: Determine whether the communication quality values ​​between all nodes of the ship's integrated energy system have been calculated. If so, enter S1315; if not, return to S1311 until the node sequence set record of all nodes is completed based on the communication quality values ​​between all nodes.

[0276] S1315: Determine the number of energy clusters to be divided according to the structural characteristics of the ship. According to the minimum principle, the energy clusters are divided according to the communication quality values ​​between nodes. Record node z i The energy cluster node set is

[0277] S132: Based on the communication quality value between any two points of the ship integrated energy system quantified by S121, the transmission distance value between any two nodes in the ship integrated energy system quantified by S122, and the energy cluster scheme divided by S131, the center point of each energy cluster can be determined as the ship domain energy communication network node according to the needs of the ship energy system, which specifically includes the following steps:

[0278] S1321: Initialization, selection Any energy device node in the system is taken as the initial point (denoted as z i ), define the node for Remove node z i Any external node.

[0279] S1322: Comprehensively consider the communication quality value and transmission distance value between nodes, and quantify the actual information interaction cost between nodes, expressed as,

[0280]

[0281] In the formula, Assume that node z i The actual information interaction cost when is the center point of the cluster.

[0282] S1323: Judgment Whether the actual information interaction cost values ​​between all nodes in the cluster are all calculated, if so, enter S1324, if not, return to S1322 to calculate the actual information interaction cost when other nodes in the cluster are used as the center point.

[0283] S1324: Comparison The actual information interaction cost when each node is used as the center point, the point with the minimum value is the center point of the energy cluster.

[0284] S1325: Determine whether the center points of all energy clusters in the ship's integrated energy system have been determined. If so, complete the energy equipment node clustering algorithm. If not, return to S1321 and replace nodes in other energy clusters.

[0285] At this time, according to the 33-node ship integrated energy system structure considered in the embodiment, when only the communication quality and the transmission distance are considered, the current ship integrated energy system partition situation is as shown in the attached figure. Figure 3 (a) and (b); the partitioning situation when the communication quality and transmission distance are considered together is shown in the attached figure. Figure 3 (c) and (d), as shown in Table 2:

[0286] Table 2. Energy cluster division results

[0287]

[0288] S2: Construction of energy management model for integrated energy system of ship. Determine the demand during the ship's voyage, construct the energy management objective function of the integrated energy system of the ship (S21) and establish physical constraints that meet the navigation demand (S22).

[0289] Furthermore, the energy management objective function of the ship integrated energy system involved in S21 includes:

[0290] S211: According to the operating parameters of each energy device during the ship's voyage, the economic benefit function of the ship's comprehensive energy system is constructed, which is expressed as:

[0291] Economic=∑(Ec tgp +Ec tgh +Ec elp +Ec elh ),

[0292] Ec tgp1 =0.040*p 2 +25*p+99,Ec tgp2 =0.043*p 2 +22*p+99,

[0293] Ec tgp3 =0.030*p 2 +33*p+150,Ec tgp4 =0.032*p 2 +32*p+150,

[0294] Ec tgp5 =0.028*p 2 +36*p+130,Ec tgp6 =0.025*p 2 +42*p+120

[0295] Ec tgh1 =0.027*h 2 +28*h+60,Ec tgh2 =0.029*h 2 +26*h+55,

[0296] Ec tgh3 =0.025*h 2 +30*h+80,Ec tgh4 =0.032*h 2 +37*h+20,

[0297] Ec elp =-0.013*p 2 +46*p+30,Ecelh =-0.013*h 2 +46*h+30,

[0298] Where, Economic is the total economic benefit of the ship's integrated energy system during navigation; Ec tgp Ec is the operating cost of electrical fossil fuel equipment; tgh The operating cost of thermal fossil fuel equipment; Ec elp Ec is the efficiency of electric energy load equipment; elh is the efficiency of the thermal load equipment; p is the electrical energy output of the equipment; h is the thermal energy output of the equipment.

[0299] S212: According to the operating parameters of each energy device during the ship's voyage, the environmental benefit function of the ship's comprehensive energy system is constructed, expressed as:

[0300] EEOI=(Ee tgp +Ee tgh ) / (Distance·Capacity),

[0301] Ee tgp =0.0648*p 2 -2.7*p+41,

[0302] Ee tgh =0.6320*h 2 -2.9*h+39,

[0303] Where, EEOI is the ship energy efficiency operation index during navigation; Ee tgp andEe tgh are the carbon dioxide emissions of electrical fossil fuel equipment and thermal fossil fuel equipment respectively; Capacity represents the number of tourists carried by the ship in the corresponding period of time, which is 236 people in the embodiment; Distance represents the corresponding voyage, and the embodiment selects the route from Penang Port in Malaysia to Singapore Port, which is about 438 nautical miles.

[0304] S213: Based on the economic and environmental benefits of ship integrated energy system energy management, the objective function of ship integrated energy system energy management during navigation is constructed and expressed as:

[0305] min{Economic,EEOI},

[0306] The function does not mean taking the smaller of Economic and Capacity as the objective function of energy management, but actually means taking the compromise value of the two as the objective function of energy management.

[0307] Furthermore, the physical constraints of energy management of the ship integrated energy system involved in S22 include:

[0308] (1) Heterogeneous energy supply and demand balance constraint: This constraint is used to ensure that the output of the energy supply side responds to the demand of the load side, expressed as

[0309]

[0310] In the formula, The nodes z i The energy supply / consumption output of the fossil fuel equipment, renewable energy equipment, energy storage equipment, and load equipment; In the embodiment, the entire voyage is divided into 38 segments according to the navigation characteristics, and the power and heat load requirements of each segment are shown in Table 3. Table 3. Power / heat load requirements for each period (unit: MW)

[0311]

[0312]

[0313] (2) Speed ​​and distance constraints: These constraints are used to ensure the speed and distance of the ship during navigation, so as to ensure that the ship sails along the established route within the specified time. They are expressed as:

[0314]

[0315] In the formula, v is the ship speed; Dist is the ship distance; j is a period of time during the ship's voyage; t is the time interval, which is a fixed constant; (·) m and(·) M Respectively represent the minimum and maximum values ​​of the corresponding variables; among them, the rated speed is 18.5 knots, and the upper limit is no more than 10% of the rated speed

[0316] (3) Energy equipment power output constraint: This constraint is used to ensure that the energy equipment is always within its safe operating range, expressed as:

[0317] 0.1≤p≤5.0, 0.1≤h≤4.0

[0318] (4) Static voltage safety constraint: This constraint is used to ensure that the voltage amplitude of each node in the power network is within its safety margin, expressed as,

[0319]

[0320] In the formula, Represents node z j Voltage offset. If the value is negative, it means that the node is within the safety margin. If the value is positive, it means that the voltage of the node is out of limit. is a constant and is related to reactive power injection; parameters α and b can be calculated based on the line impedance, resistance and line transmission length of the 33-node ship integrated energy system selected in the embodiment.

[0321] S3: Design of a fully distributed energy management method under normal sailing conditions. Simplify the objective function of the energy management problem (S31); integrate the objective function and physical constraints, reconstruct the energy management model of the ship's integrated energy system (S32); design iterative formulas for output, output error and marginal cost, and solve the current optimal energy management solution (S33).

[0322] Furthermore, the simplified energy management problem objective letter involved in S31 includes:

[0323] S311: Considering the different units of economic benefits and environmental benefits, they need to be normalized and expressed as:

[0324]

[0325] In the formula, F Ec 、F Eo They are the economic and environmental benefits of the ship during the voyage; are the minimum and maximum values ​​of economic benefits respectively; are the minimum and maximum values ​​of environmental benefits respectively.

[0326] S312: Introduce weight coefficients to simplify the multi-objective optimization problem into a single-objective optimization problem, expressed as,

[0327] min{σ1F1+σ2F2},

[0328] Wherein, σ1 and σ2 are adjustable dynamic weight coefficients, and satisfy σ1+σ2=1.

[0329] Furthermore, the reconstructed ship integrated energy system energy management model involved in S32 includes: the integration coefficient matrix and the weight matrix are in compact form. At this time, the ship integrated energy system energy management model is expressed as:

[0330] minf(X)

[0331]

[0332] Where A is the coefficient matrix of the energy cluster; x is the decision variable of the energy cluster; X is the decision variable of the ship's integrated energy system; and b is a constant vector determined by the ship's navigation needs.

[0333] Furthermore, the optimal energy management solution design involved in S33 includes:

[0334] S331: Design output iteration formula, expressed as,

[0335]

[0336] Where W EH The weight coefficient matrix of the energy cluster; λ is the marginal cost vector; e is the output error vector; ρ is the non-negative penalty coefficient; k is the number of iterations.

[0337] S332: Design output error iteration formula, expressed as,

[0338] e k+1 =W EH e k +AX k+1 -AX k .

[0339] S333: Design marginal cost iteration formula, expressed as,

[0340] λ k+1 =W EH λ k +ρe k+1 .

[0341] S334: Iterate the output, output error, and marginal cost variables. When the output plan converges to the set threshold, the current optimal energy management plan is formulated. Otherwise, return to S331.

[0342] At this time, according to the 33-node ship integrated energy system structure considered in the embodiment, when there is no attack and the ship is sailing under ideal sea conditions, each energy equipment in the ship integrated energy system can operate normally in 38 time periods, and the marginal costs of electricity and heat in each time period are within a controllable range.

[0343] S4: Design of abnormal energy equipment node detection mechanism. Calculate the upper and lower limits of the output error and determine the normal working range (S41); detect the iteration state of the output error in real time and calculate the accuracy of the output error (S42); determine the abnormal energy equipment node (S43).

[0344] Furthermore, the calculation of the upper and lower limits of the output error involved in S41 is expressed as,

[0345]

[0346] In the formula, Represents node z i The minimum and maximum values ​​of the output error at the kth iteration; For node z i The lowest and highest node communication quality between its neighboring nodes can be specifically expressed as,

[0347]

[0348] In the formula, For node z i and node z′ j The communication quality between j For node z i Neighbor nodes of For node z i The set of neighbor nodes.

[0349] Furthermore, the output error accuracy involved in S42 includes:

[0350] S421: Determine whether the current output error is within the safety margin.

[0351] when When the current output error is recorded, the accuracy is The error rate is

[0352] when When the current output error is recorded, the accuracy is The error rate is

[0353] S422: Calculate the current output error accuracy, expressed as,

[0354]

[0355] In the formula, is the output error accuracy at the kth iteration.

[0356] Furthermore, the abnormal energy device node determination involved in S43 includes:

[0357] (1) When the output error accuracy Time (including is the accuracy threshold), determine the node z i It can run normally. At this time, let k→k+1 and return to S41;

[0358] (2) When the output error accuracy Time (including is the accuracy threshold), determine the node z i Cannot operate normally, that is, node z i It is an abnormal node.

[0359] At this time, according to the 33-node ship integrated energy system structure considered in the embodiment, when the ship domain communication energy communication network attack occurs, if it is not controlled, there will be a situation of "supply shortage" or "oversupply". Taking time period 9 as an example, when no measures are taken to resist the attack, the energy cluster in the ship integrated energy system will be mismatched, as shown in the attached Figure 5 As shown. Specifically, for the power grid, energy cluster 1 will lack 0.072MW of electricity and energy cluster 2 will overproduce 0.011MW of electricity; for the heat network, energy cluster 1 will produce a thermal energy gap of 0.039MW. At this time, under the action of the abnormal energy device node detection mechanism, the accuracy thresholds of the power grid and the heat network are set to 80% and 75% respectively. At this time, nodes 2 and 5 of the power grid will be affected by the attack, and the output error accuracy will drop to less than 50% and 66%. At the same time, the output error accuracy of node 2 in the heat network will drop to less than 50%. The above-mentioned nodes will be judged as abnormal nodes under the abnormal energy device node detection mechanism proposed in the present invention, as shown in the attached. Figure 6 shown.

[0360] S5: Design of a distributed energy management method that can resist attacks on ship-domain energy communication networks. For the abnormal nodes detected in S4, the iterative formulas of their output, output error, and marginal cost are designed respectively, including:

[0361] (1) Output iteration formula:

[0362]

[0363] In the formula, are the output, output error and marginal cost of abnormal nodes respectively; is the output of the energy cluster; C and A are the coefficient and transmission matrix, respectively, which are related to the structure of the ship's integrated energy system; ρ is the penalty coefficient.

[0364] (2) Output error iteration formula:

[0365]

[0366] (3) Marginal cost iteration formula:

[0367]

[0368] At this time, according to the 33-node ship integrated energy system structure considered in the embodiment, for the energy nodes judged to be abnormal, after adopting the distributed energy management method proposed in the present invention that can resist the attack of the ship-domain energy communication network, an energy management plan that meets all the navigation requirements of the ship integrated energy system considered in the embodiment can be specified to verify the effectiveness of the proposed method. In addition, in order to verify the performance of the energy management model proposed in the present invention, 4 scenarios are designed to verify it, namely 1) an energy management model constructed by the present invention that considers both economic benefits and environmental benefits; 2) an energy management model that only considers economic benefits; 3) an energy management model that only considers environmental benefits; 4) an energy management model that does not consider both economic benefits and environmental benefits. At this time, based on the same load demand, the economic benefits, environmental benefits and comprehensive benefits under each scenario, as shown in the attached figure, are as follows: Figure 7 The specific values ​​are shown in Table 4.

[0369] Table 4. Comparison of economic benefits, environmental benefits and comprehensive benefits under four scenarios (unit: pu)

[0370] Scenario 1 Scenario 2 Scene 3 Scene 4 Economic Benefits 13.88 4.60 32.95 15.06 Environmental benefits 7.18 21.83 5.93 7.10 Comprehensive Benefits 10.20 14.07 18.09 10.68

[0371] Among them, scenario 1 (i.e., the energy management model constructed by the present invention) can synergistically consider the economic and environmental benefits of the ship's integrated energy system during navigation, and its comprehensive benefits are 37.94% (scenario 2), 77.35% (scenario 3), and 4.71% (scenario 4) better than other scenarios.

[0372] At the same time, the energy management plan formulated using the distributed flexible energy management strategy of the ship integrated energy system proposed in the present invention can resist the impact of attacks on the ship-domain energy communication network, ensuring that the ship arrives at the port at the established speed and distance. Under the same circumstances, if effective measures are not taken, the ship will no longer be able to arrive at the port within the specified time.

[0373] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A distributed elastic energy management method for a ship integrated energy system, characterized in that: The steps include: S1. Calculate energy communication network nodes and corresponding central nodes based on node clustering algorithm; S2. Construct an energy management model for the ship integrated energy system based on the energy cluster node division results and the corresponding central nodes; S3. Design a fully distributed energy management method under normal sailing conditions based on the energy management model of the ship's integrated energy system; S4. Setting up abnormal energy equipment node detection mechanism; S5. Design a distributed energy management method that can resist attacks on ship-domain energy communication networks based on abnormal energy equipment node detection mechanism and ship integrated energy system energy management model; S6. Detect abnormal energy equipment nodes of the ship's integrated energy system; if the ship's integrated energy system is in normal sailing conditions, execute the energy management method of S3; if the ship's integrated energy system is in abnormal conditions, execute the energy management method of S5.

2. The distributed elastic energy management method of a ship integrated energy system according to claim 1 is characterized in that: S1 specifically includes the following steps: S11, collecting the electrical energy and thermal energy network transmission information of the ship's integrated energy system, wherein the electrical energy and thermal energy network transmission information of the ship's integrated energy system includes the line length between nodes, information / physical topology structure, and load demand in each time period; S12. Calculate the communication quality between energy devices according to the information topology structure, and calculate the energy transmission distance between devices according to the physical topology structure; S13. Delineate the energy equipment node partitioning plan and determine the central node of each energy cluster as the energy communication network node.

3. The distributed elastic energy management method of the ship integrated energy system according to claim 2 is characterized in that: S12 specifically includes the following steps: S121. According to the information topology structure, the communication quality value between any two nodes in the ship integrated energy system is quantified, which can be expressed as: When the node and The communication quality value between two nodes when they are neighboring nodes for: In the formula, and Node and The neighbor node set of |·| represents the cardinality of the corresponding set; Υ is a very small positive number; z is the energy cluster number; i and j both represent the node numbers in the corresponding energy cluster; When the node When the communication quality value between two nodes for: In the formula, For Node Neighbor nodes of When the node and The communication quality value between two nodes when they are not adjacent to each other S122. According to the physical topology, the transmission distance between any two nodes in the ship integrated energy system is quantified, which can be expressed as: In the formula, the node and are two adjacent nodes; and Respectively represent nodes and The coordinate information of hour, and Respectively represent nodes and The horizontal axis coordinate information; when hour, and Respectively represent nodes and The vertical axis coordinate information; when hour, and Respectively represent nodes and The vertical axis coordinate information.

4. The distributed elastic energy management method for a ship integrated energy system according to claim 3 is characterized in that: S13 specifically includes the following steps: S131, based on the communication quality value between any two points of the ship integrated energy system, dividing multiple energy clusters according to the needs of the ship energy system, specifically including the following steps: S1311, initialization, select any energy device node in the ship integrated energy system as the initial point and record it as z i , define node z′ s is the node z′ j Neighbor nodes, define the node sequence set S1312, determine the node and the node denoted as z′ j The numerical relationship of the communication quality between any nodes is Then let node z′ be s For node z i The root node of And update the node sequence at this time to S = S ∪ z′ s ;like Then let node z′ be j For node z i The root node of Update the node sequence to S = S ∪ z′ j ; S1313, determine node z′ j Whether the communication quality values ​​between other nodes in the ship integrated energy system have been calculated, if so, enter S1314, if not, return to S1312 to continue updating the node sequence; S1314, judging whether the communication quality values ​​between all nodes of the ship integrated energy system have been calculated, if so, entering S1315, if not, returning to S1311, until the node sequence set record of all nodes is completed according to the communication quality values ​​between all nodes; S1315. Determine the number of energy clusters to be divided according to the structural characteristics of the ship. According to the minimum principle, the energy clusters are divided according to the communication quality values ​​between nodes. Record the node z i Belongs to the zth energy cluster, and the zth energy cluster node set is S132, based on the communication quality value between any two points of the ship integrated energy system quantified by S121, the transmission distance value between any two nodes in the ship integrated energy system quantified by S122, and the energy cluster scheme divided by S131, determine the center point of each energy cluster as the ship domain energy communication network node according to the needs of the ship energy system, specifically including the following steps: S1321, Initialization, Selection Any energy device node in the system is taken as the initial point and recorded as z i , define the node for Remove node z i Any external node; S1322. Comprehensively consider the communication quality value and transmission distance value between nodes, and quantify the actual information interaction cost between nodes, which can be expressed as: In the formula, Assume that node z i The actual information interaction cost when is the center of the cluster; S1323, Judgment Whether the actual information interaction cost values ​​between all nodes in the cluster have been calculated, if so, proceed to S1324, if not, return to S1322 to calculate the actual information interaction cost when other nodes in the cluster are used as the center point; S1324, Comparison The actual information interaction cost when each node is used as the center point, the point with the minimum value is the center point of the energy cluster; S1325, determine whether the center points of all energy clusters in the ship's integrated energy system have been determined. If so, complete the energy equipment node clustering algorithm. If not, return to S1321 and replace nodes in other energy clusters.

5. The distributed elastic energy management method of a ship integrated energy system according to claim 1 is characterized in that: S2 specifically includes the following steps: S21, based on the energy cluster node division result obtained in S131 and the corresponding central node obtained in S132, construct the energy management objective function of the ship integrated energy system; S211. According to the operating parameters of each energy device during the ship's voyage, the economic benefit function of the ship's comprehensive energy system is constructed, which is expressed as: Where Economic is the total economic benefit of the ship's integrated energy system during navigation; For node z i The operating parameters of the energy equipment, whose values ​​are determined by the equipment itself; is the output of energy equipment, where p is electrical energy and h is thermal energy; S212. According to the operating parameters of each energy device during the ship's voyage, the environmental benefit function of the ship's comprehensive energy system is constructed, which is expressed as: Where, EEOI is the ship energy efficiency operation index during navigation; For node z i The carbon emission parameter of the fossil fuel equipment, the value of which is determined by the equipment itself; Capacity indicates the number of tourists the ship can carry during the corresponding period; Distance indicates the distance of the corresponding voyage; S213. Based on the economic and environmental benefits of energy management of the ship's integrated energy system, the objective function of energy management of the ship's integrated energy system during navigation is constructed and expressed as: min{Economic,EEOI} Among them, this function actually means taking the compromise value of Economic and Capacity as the objective function of energy management; S22. Establish physical constraints that meet navigation requirements; The physical constraints include heterogeneous energy supply and demand balance constraints, speed and range constraints, energy equipment power output constraints and static voltage safety constraints; The heterogeneous energy supply and demand balance constraint is used to ensure that the output of the energy supply side responds to the demand of the load side, which is expressed as: In the formula, The nodes z i Energy supply / consumption output of fossil fuel equipment, renewable energy equipment, energy storage equipment, and load equipment; Speed ​​and range constraints are used to ensure the speed and range of the ship during navigation, so as to ensure that it sails along the established route within the specified time, which can be expressed as: In the formula, v is the ship speed; Dist is the ship distance; j is a period of time during the ship's voyage; t is the time interval, which is a fixed constant; (·) m and(·) M Respectively represent the minimum and maximum values ​​of the corresponding variables; The energy supply output constraint of energy equipment is used to ensure that the energy equipment is always within its safe operating range, which is expressed as: In the formula, The static voltage safety constraint is used to ensure that the voltage amplitude of each node in the power network is within its safety margin, which is expressed as: In the formula, Represents node z j Voltage offset. If the value is negative, it means that the node is within the safety margin. If the value is positive, it means that the voltage of the node is out of limit. is a constant and is related to reactive power injection.

6. The distributed elastic energy management method of a ship integrated energy system according to claim 1 is characterized in that: S3 specifically includes the following steps: S31, simplify the objective function of energy management problem; S311. Considering the different units of economic benefits and environmental benefits, the objective function is dimensionally normalized and expressed as: In the formula, F Ec 、F Eo They are the economic and environmental benefits of the ship during the voyage; are the minimum and maximum values ​​of economic benefits respectively; are the minimum and maximum values ​​of environmental benefits, respectively; S312, introduce weight coefficients to simplify the multi-objective optimization problem into a single-objective optimization problem, expressed as: min{σ1F1+σ2F2} Where σ1 and σ2 are adjustable dynamic weight coefficients, and satisfy σ1+σ2=1; S32, integrate the objective function and physical constraints to reconstruct the energy management model of the ship integrated energy system; The reconstructed ship integrated energy system energy management model includes: integrating the coefficient matrix and the weight matrix in a compact form. At this time, the ship integrated energy system energy management model is expressed as: minf(X) Where A is the coefficient matrix of the energy cluster; x is the decision variable of the energy cluster; X is the decision variable of the ship's integrated energy system; b is a constant vector determined by the ship's navigation needs; S33, design iterative formulas for output, output error and marginal cost, and solve the current optimal energy management solution; S331, design output iteration formula, expressed as: Where W EH The weight coefficient matrix of the energy cluster; λ is the marginal cost vector; e is the output error vector; r is the non-negative penalty coefficient; k is the number of iterations; S332, design output error iteration formula, expressed as: e k+1 =W EH e k +AX k+1 -AX k S333. Design marginal cost iteration formula, expressed as: λ k+1 =W EH λ k +re k+1 S334, iteratively process the output, output error, and marginal cost variables. When the output plan converges to the set threshold, the current optimal energy management plan is formulated. Otherwise, return to S331.

7. The distributed elastic energy management method of a ship integrated energy system according to claim 1 is characterized in that: S4 specifically includes the following steps: S41, calculating the upper and lower limits of the force error and determining the normal working range; The calculation formula for the upper and lower limits of output error is expressed as: In the formula, Represents node z i The minimum and maximum values ​​of the output error at the kth iteration; For node z i The lowest and highest node communication quality between its neighboring nodes is specifically expressed as: In the formula, For node z i and node z′ j The communication quality between j For node z i Neighbor nodes of For node z i The set of neighbor nodes of S42, detecting the iteration state of the output error in real time and calculating the accuracy of the output error; S421, determine whether the current output error is within the safety margin, when When the current output error is recorded, the accuracy is The error rate is when When the current output error is recorded, the accuracy is The error rate is S422, calculate the current output error accuracy, expressed as: In the formula, is the output error accuracy at the kth iteration; S43, determining abnormal energy equipment nodes; When the output error accuracy When the decision node z i It can operate normally. is the accuracy threshold. At this time, let k→k+1 and return to S41; When the output error accuracy When the decision node z i Not functioning properly, is the accuracy threshold, that is, at this time, node z i It is an abnormal node.

8. The distributed elastic energy management method for a ship integrated energy system according to claim 7 is characterized in that: S5 specifically includes the following steps: For the abnormal nodes detected in S4, iterative formulas for abnormal node output, output error, and marginal cost are designed, including: Output iteration formula: In the formula, are the output, output error and marginal cost of abnormal nodes respectively; is the output of the energy cluster; C and A are coefficients and transmission matrices, respectively, which are related to the structure of the ship's integrated energy system; r is the penalty coefficient; Output error iteration formula: Marginal cost iteration formula:

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is run, the distributed flexible energy management method of the ship integrated energy system described in any one of claims 1 to 8 is executed.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor executes the distributed flexible energy management method for a ship integrated energy system as described in any one of claims 1 to 8 by running the computer program.

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