Power system control method and device under wireless communication time delay and attack

Abstract

The embodiment of the invention provides a power system control method and device under wireless communication time delay and attack, and the method comprises the steps: building a double-region networking power system reduced-order closed-loop transfer function according to a double-region networking power system model, and obtaining a region control error after the double-region networking power system is attacked by a wireless network; according to the reduced-order closed-loop transfer function, an FIMC-PID controller is established; according to a stability criterion, obtaining a parameter analysis range of the FIMC-PID controller; based on the parameter analysis range, optimizing the parameters of the controller through a variation particle swarm genetic algorithm until the regional control error converges, and obtaining the optimal value of the parameters of the controller; and controlling the dual-region networked power system by using the controller configured with the parameter optimal value. According to the embodiment of the invention, the problem that the system is unstable when the dual-region networked power system is subjected to wireless communication time delay and wireless network attack can be solved with low difficulty and low cost.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of power system operation control, and in particular, to a method and device for controlling a power system under wireless communication delay and attack. Background Art

[0002] For decades, power systems have played an important role in many aspects of human life, such as transportation, medical care, and industry. The dual-area interconnected power system is a large and complex system consisting of two control areas connected by interconnection lines. Its successful operation requires that the total power generation matches the total load demand and the related system losses. During the operation of the dual-area interconnected power system, random changes in power load and various external interferences will seriously affect the stability of the system. This instability will cause fluctuations in system voltage and frequency, have an adverse effect on the quality of the power system, and even cause voltage or frequency collapse. Wireless communication delays are widely present in signal transmission, measurement, and control. When the measurement signal is transmitted in the communication channel, wireless communication delays will inevitably be introduced, resulting in unstable frequency response of the power system. Among complex wireless network attacks, wireless network attacks are common attacks on power systems. Their behavior is hidden and difficult to detect, and control strategies based on false information will affect the stable operation of the power system, further threatening the stability control of the system.

[0003] In the existing technology, a distributed safety controller is designed based on the dual-area power system status to build a dual-area closed-loop control power system to stabilize the load frequency and H ∞ Performance analysis is performed to solve the gain of the distributed security controller. However, the challenge of this method is that it requires separate parameter design for each control area in the dual-area power system. Too many parameters make it more difficult to adjust and optimize the controller. When the system changes or faces new attacks, these parameters may need to be readjusted and optimized, further increasing the difficulty and cost of system maintenance.

[0004] Therefore, there is an urgent need for a power system control method under wireless communication delay and attack, which can easily and cost-effectively solve the problem of system instability when the dual-area networked power system is subject to wireless communication delay and wireless network attack. Summary of the invention

[0005] The purpose of the embodiments of this specification is to provide a method and device for controlling an electric power system under wireless communication delay and attack, so as to solve the problem of system instability when a dual-area networked power system is subjected to wireless communication delay and wireless network attack with low difficulty and low cost.

[0006] To achieve the above objectives, on the one hand, an embodiment of this specification provides a method for controlling a power system under wireless communication delay and attack, including:

[0007] Establish a dual-region interconnected power system model;

[0008] According to the dual-area interconnected power system model, a reduced-order closed-loop transfer function of the dual-area interconnected power system is established;

[0009] The wireless network attack is modeled and the regional control error of the dual-area interconnected power system after being attacked by the wireless network is obtained;

[0010] According to the reduced-order closed-loop transfer function of the dual-area interconnected power system, a FIMC-PID controller for wireless communication delay is established;

[0011] According to the stability criterion of the dual-area interconnected power system, the parameter analysis range of the FIMC-PID controller is obtained;

[0012] Based on the parameter analysis range, optimizing the parameters of the FIMC-PID controller by using a mutated particle swarm genetic algorithm until the regional control error converges, thereby obtaining the optimal parameter values ​​of the FIMC-PID controller;

[0013] The dual-area interconnected power system is controlled using a FIMC-PID controller configured with optimal parameter values.

[0014] Preferably, the dual-region grid-connected power system model includes: a steam turbine system model, a speed regulator model and a generator set model which are independent of each other.

[0015] Preferably, the establishing of the dual-region grid-connected power system model further comprises:

[0016] The thermal steam turbine system model is established as:

[0017]

[0018] in, is the first-order derivative of the state variable of the steam turbine system, x H,i is the state variable of the steam turbine system, u H,i is the input signal of the steam turbine system, k H,i is the time constant of the steam turbine system, y H,i is the output signal of the steam turbine system, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system;

[0019] Convert the thermal turbine system model into the transfer function of the thermal turbine system:

[0020]

[0021] Among them, G H,i (s) is the transfer function of the thermal steam turbine system, s is the Laplace operator;

[0022] The speed regulator model is established as:

[0023]

[0024] in, is the first-order derivative of the governor state variable, x g,i is the state variable of the speed regulator, u g,i is the input signal of the speed regulator, k g,i is the time constant of the speed regulator, y g,i is the speed regulator output signal, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system;

[0025] Convert the speed regulator model into the transfer function of the speed regulator:

[0026]

[0027] Among them, G g,i (s) is the transfer function of the speed regulator;

[0028] The generator set model is established as:

[0029]

[0030] in, is the first-order derivative of the generator state variable, x T,i is the state variable of the generator set, u T,i is the input signal of the generator set, h i is the time constant of the generator set, y T,i is the output signal of the generator set, δ i is the frequency-sensitive sensing load factor of the generator set, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system;

[0031] Convert the generator set model into the transfer function of the generator set:

[0032]

[0033] Among them, G gen,i (s) is the transfer function of the generator set.

[0034] Preferably, the step of establishing a reduced-order closed-loop transfer function of the dual-regional grid-connected power system according to the dual-regional grid-connected power system model further comprises:

[0035] Establishing a closed-loop transfer function of a dual-area interconnected power system according to the transfer function of the thermal steam turbine system, the transfer function of the speed governor and the transfer function of the generator set;

[0036] Converting the closed-loop transfer function of the dual-area interconnected power system into a third-order closed-loop transfer function of the dual-area interconnected power system;

[0037] According to the third-order closed-loop transfer function of the dual-area interconnected power system, the reduced-order closed-loop transfer function of the dual-area interconnected power system is obtained by reducing the order using Taylor series expansion.

[0038] Preferably, the step of establishing a closed-loop transfer function of the dual-region interconnected power system according to the transfer function of the steam turbine system, the transfer function of the speed regulator and the transfer function of the generator set further comprises:

[0039] The closed-loop transfer function of the dual-region interconnected power system is characterized by the following formula:

[0040]

[0041] Among them, G s,i (s) is the closed-loop transfer function of the dual-region interconnected power system, G H,i (s) is the transfer function of the thermal turbine system, G g,i (s) is the transfer function of the speed regulator, G gen,i (s) is the transfer function of the generator set, β i is the frequency offset parameter, r i is a speed regulation constant, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system.

[0042] Preferably, converting the closed-loop transfer function of the dual-area grid-connected power system into a third-order closed-loop transfer function of the dual-area grid-connected power system further comprises:

[0043] The third-order closed-loop transfer function of the dual-area interconnected power system is characterized by the following formula:

[0044]

[0045] Among them, G s,i (s) 3 is the third-order closed-loop transfer function of the dual-area interconnected power system, β i is the frequency offset parameter, κ g,i is the time constant of the speed regulator, κ H,iis the time constant of the steam turbine system, h i is the time constant of the generator set, δ i is the frequency sensitive load factor of the generator set, r i is the speed adjustment constant, and s is the Laplace operator.

[0046] Preferably, the step of reducing the order of the dual-area interconnected power system third-order closed-loop transfer function by Taylor series expansion to obtain a reduced-order closed-loop transfer function of the dual-area interconnected power system further comprises:

[0047] The reduced-order closed-loop transfer function of the dual-area interconnected power system is characterized by the following formula:

[0048]

[0049] Among them, G s,i (s) 2 Reduced-order closed-loop transfer function of dual-area interconnected power system, s is the Laplace operator, v 0,i is the constant coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, v 1,i is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, μ 0,i is the constant coefficient of the numerator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, μ 1,i It is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system.

[0050] Preferably, the modeling of the wireless network attack to obtain the regional control error of the dual-region interconnected power system after the wireless network attack further includes:

[0051] The following formula is used to characterize the regional control error of the dual-region interconnected power system after being attacked by a wireless network:

[0052]

[0053] in, is the regional control error after the i-th regional power system is attacked by the wireless network, i=1 corresponds to the first regional power system in the dual-regional interconnected power system, i=2 corresponds to the second regional power system in the dual-regional interconnected power system, θ i is a false data signal, |θ i |∈[h,j], h, j are positive numbers, Δf i is the frequency error, ΔP tie,i is the tie line power error, t is the time, τ a It is the attack duration of the false data signal.

[0054] Preferably, the establishment of a FIMC-PID controller for wireless communication delay according to the reduced-order closed-loop transfer function of the dual-area grid-connected power system further comprises:

[0055] The reduced-order closed-loop transfer function of the dual-area interconnected power system is subjected to a pole-zero frequency shift process to obtain a closed-loop transfer function of the dual-area interconnected power system in a pole-zero frequency shift form;

[0056] When there is a wireless communication delay, updating the closed-loop transfer function in the pole-zero frequency shift form to obtain an updated transfer function;

[0057] According to the reversible components decomposed from the updated transfer function, a FIMC-PID controller is established.

[0058] Preferably, the step of performing pole-zero frequency shift processing on the reduced-order closed-loop transfer function of the dual-area interconnected power system to obtain a closed-loop transfer function of the dual-area interconnected power system in the form of pole-zero frequency shift further comprises:

[0059] The closed-loop transfer function of the dual-area interconnected power system in the form of zero frequency shift is characterized by the following formula:

[0060]

[0061] Among them, G s,i (s-ψ i ) is the closed-loop transfer function in the form of zero frequency shift, μ 0,i =π 0,i v 0,i , μ 1，i =-π 1，i v 0，i -π 0，i v 1，i , s is the Laplace operator, v 0,i is the constant coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, v 1,i is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, ψ i is the parameter of the FIMC-PID controller, i=1 corresponds to the first regional power system in the dual-regional interconnected power system, and i=2 corresponds to the second regional power system in the dual-regional interconnected power system.

[0062] Preferably, when there is a wireless communication delay, updating the closed-loop transfer function in the form of a pole-zero frequency shift to obtain an updated transfer function further comprises:

[0063] The updated transfer function is represented by the following formula:

[0064]

[0065] Among them, G sτ,i (s-ψ i ) is the updated transfer function, τ i Wireless communication delay.

[0066] Preferably, the step of establishing the FIMC-PID controller according to the reversible component obtained by decomposing the updated transfer function further comprises:

[0067] The FIMC-PID controller is characterized by the following formula:

[0068]

[0069] Among them, G PID,i (s) is the FIMC-PID controller transfer function of the i-th regional power system, i=1 corresponds to the first regional power system in the dual-region interconnected power system, i=2 corresponds to the second regional power system in the dual-region interconnected power system, G sτ-,i (s-ψ i ) is the reversible component.

[0070] Preferably, the parameter analysis range of the FIMC-PID controller obtained according to the stability criterion of the dual-area grid-connected power system further includes:

[0071] The parameter resolution range of the FIMC-PID controller is characterized by the following formula:

[0072] β i K i,i >0;

[0073] F i β i K d,i +F i H i -E i β i K p,i -E i I i >0;

[0074]

[0075] Among them, β i is the frequency offset parameter, K i,i is the integral gain, F i =2h i κ g,i +2h i κ H,i +δ i κ g,i κ H,i , κg,i is the time constant of the speed regulator, κ H,i is the time constant of the steam turbine system, h i is the time constant of the generator set, δ i is the frequency sensitive load factor of the generator set, K d,i is the differential gain, H i =2h i +δ i κ H,i +δ i κ g,i , E i =2h i κ g,i κ H,i , r i is the speed regulation constant, K p,i is the proportional gain, K p,i =K d,i (ν 1,i -2ψ i ), ψ i are the parameters of the FIMC-PID controller.

[0076] On the other hand, an embodiment of the present specification provides a power system control device under wireless communication delay and attack, the device comprising:

[0077] A model building module for building a dual-region interconnected power system model;

[0078] A transfer function establishment module, used for establishing a reduced-order closed-loop transfer function of the dual-area grid-connected power system according to the dual-area grid-connected power system model;

[0079] An error determination module is used to model the wireless network attack and obtain the regional control error of the dual-region interconnected power system after the wireless network attack;

[0080] A controller establishment module, used for establishing a FIMC-PID controller for wireless communication delay according to the reduced-order closed-loop transfer function of the dual-area interconnected power system;

[0081] A stabilization module, used for obtaining a parameter analysis range of the FIMC-PID controller according to a stability criterion of the dual-area grid-connected power system;

[0082] An optimization module, used to optimize the parameters of the FIMC-PID controller by using a mutated particle swarm genetic algorithm based on the parameter analysis range until the regional control error converges, thereby obtaining the optimal parameter values ​​of the FIMC-PID controller;

[0083] A control module is used to control the dual-area interconnected power system using a FIMC-PID controller configured with optimal parameter values.

[0084] On the other hand, an embodiment of the present specification further provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, the instructions of any one of the above methods are executed.

[0085] On the other hand, an embodiment of the present specification further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor of a computer device, the computer program executes instructions of any one of the above-described methods.

[0086] On the other hand, the embodiments of this specification further provide a computer program product, which, when executed by a processor of a computer device, executes instructions of any one of the above methods.

[0087] It can be seen from the technical solutions provided in the above embodiments of this specification that the variant particle swarm genetic algorithm of the embodiment of this specification iteratively calculates the FIMC-PID controller parameter ψ i , until the regional control error converges, the parameter ψ i The optimal value of the regional control error converges to minimize the wireless network attack, and the FIMC-PID controller parameter ψ i The optimal value of is used to control the wireless communication delay, so that the dual-area interconnected power system can maintain stable control performance when facing wireless communication delay and wireless network attacks, ensuring the convergence of the system's regional control error, thereby improving the stability and reliability of the dual-area interconnected power system in a complex network environment.

[0088] In order to make the above and other purposes, features and advantages of the present specification more obvious and easy to understand, the following specifically cites preferred embodiments and describes them in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] In order to more clearly illustrate the embodiments of this specification 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 only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0090] Figure 1 A flow chart of a method for controlling a power system under wireless communication delay and attack provided by an embodiment of this specification is shown;

[0091] Figure 2A schematic diagram of a process for establishing a reduced-order closed-loop transfer function of a dual-region interconnected power system provided in an embodiment of this specification is shown;

[0092] Figure 3 A schematic diagram of a process for establishing a FIMC-PID controller against wireless network attacks provided in an embodiment of this specification is shown;

[0093] Figure 4 A schematic diagram of the module structure of a power system control device under wireless communication delay and attack provided by an embodiment of this specification is shown;

[0094] Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of this specification is shown.

[0095] Description of the accompanying symbols:

[0096] 100. Model building module;

[0097] 200. Transfer function establishment module;

[0098] 300, error determination module;

[0099] 400, controller establishment module;

[0100] 500, Stable module;

[0101] 600. Optimization module;

[0102] 700, control module;

[0103] 502. Computer equipment;

[0104] 504, processor;

[0105] 506. Memory;

[0106] 508, driving mechanism;

[0107] 510, input / output module;

[0108] 512. Input devices;

[0109] 514. Output device;

[0110] 516. Presentation equipment;

[0111] 518. Graphical user interface;

[0112] 520, network interface;

[0113] 522, communication link;

[0114] 524. Communication bus. DETAILED DESCRIPTION

[0115] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of this specification.

[0116] In the existing technology, a distributed safety controller is designed based on the dual-area power system status to build a dual-area closed-loop control power system to stabilize the load frequency and H ∞ Performance analysis is performed to solve the gain of the distributed security controller. However, the challenge of this method is that it requires separate parameter design for each control area in the dual-area power system. Too many parameters make it more difficult to adjust and optimize the controller. When the system changes or faces new attacks, these parameters may need to be readjusted and optimized, further increasing the difficulty and cost of system maintenance.

[0117] In order to solve the above problems, an embodiment of the present specification provides a method for controlling a power system under wireless communication delay and attack. Figure 1 This is a flowchart of a method for controlling a power system under wireless communication delay and attack provided by an embodiment of this specification. This specification provides method operation steps as described in the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the system or device product is executed in practice, it can be executed in the order of the method shown in the embodiment or the accompanying drawings or in parallel.

[0118] It should be noted that the terms "first", "second", etc. in the description and claims of the embodiments of this specification 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 this specification 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, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0119] Reference Figure 1The embodiment of this specification discloses a method for controlling a power system under wireless communication delay and attack, including:

[0120] S101: Establish a dual-region interconnected power system model;

[0121] S102: establishing a reduced-order closed-loop transfer function of the dual-regional interconnected power system according to the dual-regional interconnected power system model;

[0122] S103: Modeling the wireless network attack to obtain the regional control error of the dual-region interconnected power system after the wireless network attack;

[0123] S104: establishing a FIMC-PID controller for wireless communication delay according to the reduced-order closed-loop transfer function of the dual-area interconnected power system;

[0124] S105: Obtaining a parameter analysis range of the FIMC-PID controller according to a stability criterion of the dual-area grid-connected power system;

[0125] S106: Based on the parameter analysis range, optimizing the parameters of the FIMC-PID controller by using a mutated particle swarm genetic algorithm until the regional control error converges, thereby obtaining the optimal parameter values ​​of the FIMC-PID controller;

[0126] S107: Controlling the dual-area interconnected power system using a FIMC-PID controller configured with optimal parameter values.

[0127] A dual-area interconnected power system refers to a power system consisting of two control areas connected by a tie line, which can be a first area power system interconnected with a second area power system. The dual-area interconnected power system model includes independent: a steam turbine system model, a speed regulator model and a generator set model.

[0128] The establishment of a dual-region interconnected power system model further includes:

[0129] The thermal steam turbine system model is established as:

[0130]

[0131] in, is the first-order derivative of the state variable of the steam turbine system, x H,i is the state variable of the steam turbine system, u H,i is the input signal of the steam turbine system, κ H,i is the time constant of the steam turbine system, y H,iis the output signal of the steam turbine system, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system;

[0132] Convert the thermal turbine system model into the transfer function of the thermal turbine system:

[0133]

[0134] Among them, G H,i (s) is the transfer function of the thermal steam turbine system, s is the Laplace operator;

[0135] The speed regulator model is established as:

[0136]

[0137] in, is the first-order derivative of the governor state variable, x g,i is the state variable of the speed regulator, u g,i is the input signal of the speed regulator, κ g,i is the time constant of the speed regulator, y g,i is the speed regulator output signal, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system;

[0138] Convert the speed regulator model into the transfer function of the speed regulator:

[0139]

[0140] Among them, G g,i (s) is the transfer function of the speed regulator;

[0141] The generator set model is established as:

[0142]

[0143] in, is the first-order derivative of the generator state variable, x T,i is the state variable of the generator set, u T,i is the input signal of the generator set, h i is the time constant of the generator set, y T,i is the output signal of the generator set, δ i is the frequency-sensitive sensing load factor of the generator set, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system;

[0144] Convert the generator set model into the transfer function of the generator set:

[0145]

[0146] Among them, G gen,i (s) is the transfer function of the generator set.

[0147] In the embodiments of this specification, refer to Figure 2 , said establishing a reduced-order closed-loop transfer function of the dual-regional interconnected power system according to the dual-regional interconnected power system model further comprises:

[0148] S201: establishing a closed-loop transfer function of a dual-region interconnected power system according to a transfer function of the steam turbine system, a transfer function of the speed governor, and a transfer function of the generator set;

[0149] S202: converting the closed-loop transfer function of the dual-area grid-connected power system into a third-order closed-loop transfer function of the dual-area grid-connected power system;

[0150] S203: According to the third-order closed-loop transfer function of the dual-area interconnected power system, reduce the order by using Taylor series expansion to obtain a reduced-order closed-loop transfer function of the dual-area interconnected power system.

[0151] Wherein, the establishment of a closed-loop transfer function of the dual-region interconnected power system according to the transfer function of the steam turbine system, the transfer function of the speed regulator and the transfer function of the generator set further comprises:

[0152] The closed-loop transfer function of the dual-region interconnected power system is characterized by the following formula:

[0153]

[0154] Among them, G s,i (s) is the closed-loop transfer function of the dual-region interconnected power system, G H,i (s) is the transfer function of the thermal turbine system, G g,i (s) is the transfer function of the speed regulator, G gen,i (s) is the transfer function of the generator set, β i is the frequency offset parameter, r i is a speed regulation constant, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system.

[0155] Wherein, converting the closed-loop transfer function of the dual-area grid-connected power system into a third-order closed-loop transfer function of the dual-area grid-connected power system further comprises:

[0156] The third-order closed-loop transfer function of the dual-area interconnected power system is characterized by the following formula:

[0157]

[0158] Among them, G s,i (s) 3 is the third-order closed-loop transfer function of the dual-area interconnected power system, β i is the frequency offset parameter, κ g,i is the time constant of the speed regulator, κ H,i is the time constant of the steam turbine system, h i is the time constant of the generator set, δ i is the frequency sensitive load factor of the generator set, r i is the speed adjustment constant, and s is the Laplace operator.

[0159] The third-order closed-loop transfer function formula (8) of the dual-area interconnected power system is expanded by a finite number of Taylor series at s = 0:

[0160]

[0161] Among them, g s,i (t) is the impulse response of a high-order asymptotically stable system.

[0162] According to formula (9), the reduced-order closed-loop transfer function of the dual-area interconnected power system can be derived:

[0163]

[0164] Among them, G s,i (s) 2 Reduced-order closed-loop transfer function of dual-area interconnected power system, s is the Laplace operator, v 0,i is the constant coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, v 1,i is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, μ 0,i is the constant coefficient of the numerator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, μ 1,i It is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system.

[0165] In the embodiment of this specification, the modeling of the wireless network attack to obtain the regional control error after the dual-region networked power system is attacked by the wireless network further includes:

[0166] By inputting false data signals, the regional control error actually fed to the controller is forged, and the regional control error of the dual-area interconnected power system after being attacked by the wireless network is characterized by the following formula:

[0167]

[0168] in, is the regional control error after the i-th regional power system is attacked by the wireless network, i=1 corresponds to the first regional power system in the dual-regional interconnected power system, i=2 corresponds to the second regional power system in the dual-regional interconnected power system, θ i is a false data signal, |θ i |∈[h,j], h, j are positive numbers, Δf i is the frequency error, ΔP tie,i is the tie line power error, t is the time, τ a It is the attack duration of the false data signal.

[0169] Frequency error Δf i for:

[0170] Δf i =G s,i (s) 2 U i +G D,i (s)ΔP L,i * (12)

[0171] Among them, U i is the output of the FIMC-PID controller, G D,i (s) is the disturbance transfer function, ΔP L,i * is the load demand change after the i-th regional power system is attacked by resonance, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system.

[0172] The power system in the i-th region is subjected to the input signal sgn(y f The load demand change after the resonance attack of (t-φ) is:

[0173]

[0174] in, is the load demand change after the power system in the i-th region is attacked by resonance, ΔP L,i (s) is the load demand change when the power system in the i-th region is not attacked by resonance, sgn(*) is the sign function, x f is the required frequency change rate, y f (t-φ) is a sinusoidal function with a phase lag of φ.

[0175] In the embodiments of this specification, refer to Figure 3 , the establishment of a FIMC-PID controller for wireless communication delay according to the reduced-order closed-loop transfer function of the dual-area grid-connected power system further includes:

[0176] S301: performing a pole-zero frequency shift process on the reduced-order closed-loop transfer function of the dual-area interconnected power system to obtain a pole-zero frequency shift closed-loop transfer function of the dual-area interconnected power system;

[0177] S302: When there is a wireless communication delay, updating the closed-loop transfer function in the pole-zero frequency shift form to obtain an updated transfer function;

[0178] S303: Establishing a FIMC-PID controller according to the reversible component obtained by decomposing the updated transfer function.

[0179] Specifically, the reduced-order closed-loop transfer function of the dual-area interconnected power system is subjected to a pole-zero frequency shift process, and the closed-loop transfer function of the dual-area interconnected power system in the pole-zero frequency shift form is characterized by the following formula:

[0180]

[0181] Among them, G s,i (s-ψ i ) is the closed-loop transfer function in the form of zero frequency shift, μ 0,i =π 0,i v 0,i , μ 1，i =-π 1，i v 0，i -π 0，i v 1，i , s is the Laplace operator, v 0,i is the constant coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, v 1,i is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, ψ i is the parameter of the FIMC-PID controller, i=1 corresponds to the first regional power system in the dual-regional interconnected power system, and i=2 corresponds to the second regional power system in the dual-regional interconnected power system.

[0182] In the embodiments of this specification, the pole-zero frequency shift processing refers to moving the zero points and poles in the reduced-order closed-loop transfer function of the dual-region interconnected power system.

[0183] Wherein, when there is a wireless communication delay, updating the closed-loop transfer function in the form of the pole-zero frequency shift, and obtaining the updated transfer function further comprises:

[0184] The updated transfer function is represented by the following formula:

[0185]

[0186] Among them, G sτ,i (s-ψ i) is the updated transfer function, τ i Wireless communication delay.

[0187] Decompose the updated transfer function into reversible and non-reversible components:

[0188] G sτ,i (s-ψ i )=G sτ-,i (s-ψ i )G sτ+,i (s-ψ i ) (16)

[0189]

[0190]

[0191] Among them, G sτ-,i (s-ψ i ) is the reversible component, G sτ+,i (s-ψ i ) is the irreversible component.

[0192] According to the reversible component obtained by decomposing the updated transfer function, the FIMC controller is established and characterized by the following formula:

[0193]

[0194] Among them, G c,i (s) is the transfer function of the FIMC controller, G sτ-,i (s-ψ i ) is the reversible component.

[0195] Furthermore, the transfer function expression of the FIMC-PID controller of the power system in the i-th region is:

[0196]

[0197] Among them, G PID,i (s) is the FIMC-PID controller transfer function of the i-th regional power system, i=1 corresponds to the first regional power system in the dual-region interconnected power system, i=2 corresponds to the second regional power system in the dual-region interconnected power system, G sτ-,i (s-ψ i ) is the reversible component.

[0198] The coefficients of formula (20) and the PID controller transfer function By comparison, we can get:

[0199] K p,i =K d,i (v1,i -2ψ i ) (twenty one)

[0200]

[0201]

[0202] Among them, K p,i is the proportional gain, K i,i is the integral gain, K d,i is the differential gain.

[0203] According to formula (8), the closed-loop characteristic equation of the dual-region interconnected power system is obtained as follows:

[0204] 1+G sτ,i (s-ψ i )G PID,i (s)=0 (24)

[0206] Among them, G sτ,i (s-ψ i ) is the updated transfer function, G PID,i (s) is the FIMC-PID controller transfer function of the i-th regional power system, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system.

[0207] According to formula (8) and formula (21)-(24), we can deduce:

[0208] E i s 4 +F i s 3 +(β i K d,i +H i )s 2 +(β i K p,i +I i )s+β i K i,i =0 (25)

[0209] In the embodiment of this specification, according to the stability criterion of the dual-area grid-connected power system, the parameter analysis range of the FIMC-PID controller further includes:

[0210] The parameter ψ of the FIMC-PID controller is characterized by the following formula: i Parsing range:

[0211] β i K i,i >0 (26)

[0212] F i β i K d,i +F i H i -E i β i K p,i -E i I i >0 (27)

[0213]

[0214] Among them, β i is the frequency offset parameter, K i,i is the integral gain, F i =2h i κ g,i +2h i κ H,i +δ i κ g,i κ H,i , κ g,i is the time constant of the speed regulator, κ H,i is the time constant of the steam turbine system, h i is the time constant of the generator set, δ i is the frequency sensitive load factor of the generator set, K d,i is the differential gain, H i =2h i +δ i κ H,i +δ i κ g,i , E i =2h i κ g,i κ H,i , r i is the speed regulation constant, K p,i is the proportional gain, K p,i =K d,i (v 1,i -2ψ i ), ψ i are the parameters of the FIMC-PID controller.

[0215] Among them, the stability criterion can be Routh-Hurwitz stability criterion. Since the integral gain K in formulas (26)-(28) i,i , differential gain K d,i and proportional gain K p,i can be obtained by including ψ iThe integral gain K in formulas (26)-(28) can be represented by i,i , differential gain K d,i and proportional gain K p,i Both include ψ i The expression of ψ i The range is the parameter analysis range of the FIMC-PID controller.

[0216] Finally, based on the parameter analysis range, the parameters of the FIMC-PID controller are optimized by using a mutated particle swarm genetic algorithm until the regional control error converges, thereby obtaining the optimal parameter values ​​of the FIMC-PID controller.

[0217] The speed and position of the mutant particle swarm genetic algorithm are updated according to formulas (29)-(30):

[0218]

[0219]

[0220] in, is the velocity of the ith particle after the t+1th cycle in the jth dimension; w t is the motion inertia weight coefficient of the particle after the tth cycle; is the velocity of the ith particle after the tth cycle in the jth dimension; c 1 and c 2 is the learning factor; is the best historical position of the i-th particle individual after the t-th cycle in the j-th dimension; is the global optimal position after the tth cycle in the jth dimension; rand() is a random number between 0 and 1; is the position of the i-th particle individual after the t-th cycle in the j-th dimension; is the position of the ith particle after the t-1th cycle in the jth dimension; σ m is an intermediate variable; r is a random number between 0 and 1; m i is the variation index of the i-th particle.

[0221] The update function of particle motion inertia weight coefficient is:

[0222] w t+1 =w max +w t (w max -w min )(t / t max ) (31)

[0223] Among them, wmax is the maximum weight; w min is the minimum weight; t max is the maximum number of iterations, w t is the particle motion inertia weight coefficient of the tth iteration, w t+1 is the particle motion inertia weight coefficient of the t+1th iteration, and t is the number of iterations of the mutation particle swarm genetic algorithm.

[0224] Determined according to the following formula:

[0225]

[0226] Among them, ε is the network error vector; r is a random number between 0 and 1; d is the distribution factor; d i is the crossover index of the i-th particle.

[0227] The mutant particle swarm genetic algorithm uses the time squared integrated error ITSE as the performance index function and obtains the optimal parameter values ​​of the FIMC-PID controller by minimizing formula (33) until the regional control error converges to the minimum value:

[0228]

[0229] in, is the regional control error after the i-th regional power system is attacked by the wireless network, i=1 corresponds to the first regional power system in the dual-regional interconnected power system, i=2 corresponds to the second regional power system in the dual-regional interconnected power system, and t is the time.

[0230] The FIMC-PID controller parameter ψ is iteratively calculated by using the variant particle swarm genetic algorithm of the embodiment of this specification. i , until the regional control error converges, the parameter ψ i The optimal value of the regional control error converges to minimize the wireless network attack, and the FIMC-PID controller parameter ψ i The optimal value of is used to control the wireless communication delay, so that the dual-area interconnected power system can maintain stable control performance when facing wireless communication delay and wireless network attacks, ensuring the convergence of the system's regional control error, thereby improving the stability and reliability of the dual-area interconnected power system in a complex network environment.

[0231] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0232] This application provides users with corresponding big data analysis (such as personal biometrics, identity data, consumption data, asset data, electronic terminal operation data, etc.) operation entrances for users to choose to agree or reject automated decision-making results; if the user chooses to reject, the expert decision-making process will be entered.

[0233] Based on the above-mentioned wireless communication delay and power system control method under attack, the embodiment of this specification also provides a power system control device. The device may include a system (including a distributed system), software (application), module, component, server, client, etc. using the method described in the embodiment of this specification and a device combined with necessary implementation hardware. Based on the same innovative concept, the device in one or more embodiments provided in the embodiment of this specification is as described in the following embodiments. Since the implementation scheme and method of the device to solve the problem are similar, the implementation of the specific device in the embodiment of this specification can refer to the implementation of the aforementioned method, and the repetitions will not be repeated. As used below, the term "unit" or "module" can implement a combination of software and / or hardware of predetermined functions. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0234] Specifically, Figure 4 This is a schematic diagram of the module structure of an embodiment of a wireless communication delay and power system control device under attack provided by the embodiment of this specification, referring to Figure 4 As shown, a dual-area grid-connected power system control device provided in an embodiment of the present specification includes: a model building module 100, a transfer function building module 200, an error determination module 300, a controller building module 400, a stabilization module 500, an optimization module 600, and a control module 700.

[0235] A model building module 100 is used to build a dual-region interconnected power system model;

[0236] A transfer function establishment module 200 is used to establish a reduced-order closed-loop transfer function of the dual-regional grid-connected power system according to the dual-regional grid-connected power system model;

[0237] The error determination module 300 is used to model the wireless network attack and obtain the regional control error of the dual-region interconnected power system after the wireless network attack;

[0238] A controller establishment module 400, for establishing a FIMC-PID controller for wireless communication delay according to the reduced-order closed-loop transfer function of the dual-area interconnected power system;

[0239] A stabilization module 500, for obtaining a parameter analysis range of the FIMC-PID controller according to a stability criterion of the dual-area grid-connected power system;

[0240] An optimization module 600 is used to optimize the parameters of the FIMC-PID controller by using a mutated particle swarm genetic algorithm based on the parameter analysis range until the regional control error converges to obtain the optimal parameter values ​​of the FIMC-PID controller;

[0241] The control module 700 is used to control the dual-region interconnected power system using a FIMC-PID controller configured with optimal parameter values.

[0242] The FIMC-PID controller parameter ψ is iteratively calculated by using the variant particle swarm genetic algorithm of the embodiment of this specification. i , until the regional control error converges, the parameter ψ i The optimal value of the regional control error converges to minimize the wireless network attack, and the FIMC-PID controller parameter ψ i The optimal value of is used to control the wireless communication delay, so that the dual-area interconnected power system can maintain stable control performance when facing wireless communication delay and wireless network attacks, ensuring the convergence of the system's regional control error, thereby improving the stability and reliability of the dual-area interconnected power system in a complex network environment.

[0243] Reference Figure 5As shown, based on the above-mentioned power system control method, a computer device 502 is also provided in an embodiment of this specification, wherein the above-mentioned method is run on the computer device 502. The computer device 502 may include one or more processors 504, such as one or more central processing units (CPUs) or graphics processing units (GPUs), and each processing unit may implement one or more hardware threads. The computer device 502 may also include any memory 506, which is used to store any kind of information such as code, settings, data, etc. In a specific embodiment, the computer program on the memory 506 and can be run on the processor 504, when the computer program is run by the processor 504, the instructions according to the above method can be executed. Non-limitingly, for example, the memory 506 may include any one or more combinations of the following: any type of RAM, any type of ROM, flash memory device, hard disk, optical disk, etc. More generally, any memory can use any technology to store information. Further, any memory can provide volatile or non-volatile retention of information. Further, any memory can represent a fixed or removable component of the computer device 502. In one embodiment, when the processor 504 executes the associated instructions stored in any memory or combination of memories, the computer device 502 can perform any operation of the associated instructions. The computer device 502 also includes one or more drive mechanisms 508 for interacting with any memory, such as a hard disk drive mechanism, an optical disk drive mechanism, etc.

[0244] The computer device 502 may also include an input / output module 510 (I / O) for receiving various inputs (via input devices 512) and for providing various outputs (via output devices 514). A specific output mechanism may include a presentation device 516 and an associated graphical user interface 518 (GUI). In other embodiments, the input / output module 510 (I / O), input device 512, and output device 514 may not be included, and the computer device 502 may be used as a computer device in a network. The computer device 502 may also include one or more network interfaces 520 for exchanging data with other devices via one or more communication links 522. One or more communication buses 524 couple the components described above together.

[0245] The communication link 522 may be implemented in any manner, for example, through a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication link 522 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.

[0246] Corresponds to Figure 1-Figure 3The method in the embodiment of the present specification also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are executed.

[0247] The embodiment of the present specification also provides a computer-readable instruction, wherein when the processor executes the instruction, the program therein causes the processor to execute the following Figures 1 to 3 The method shown.

[0248] The present specification also provides a computer program product. When the computer program product is executed by a processor of a computer device, the computer program product performs the following steps: Figures 1 to 3 The method shown.

[0249] The computer program product described in this specification is a software product that mainly implements the method described in this specification through a computer program.

[0250] It should be understood that in the various embodiments of this specification, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this specification.

[0251] It should also be understood that in the embodiments of this specification, the term "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the embodiments of this specification generally indicates that the associated objects before and after are in an "or" relationship.

[0252] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of this specification can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of this specification.

[0253] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0254] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.

[0255] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of this specification.

[0256] In addition, each functional unit in each embodiment of this specification may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0257] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of this specification is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of this specification. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0258] Specific embodiments are used in this specification to illustrate the principles and implementation methods of the embodiments of this specification. The description of the above embodiments is only used to help understand the methods and core ideas of the embodiments of this specification. At the same time, for those skilled in the art, according to the ideas of the embodiments of this specification, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the embodiments of this specification.

Claims

1. A method for controlling a power system under wireless communication delay and attack, characterized in that: include: Establish a dual-region interconnected power system model; According to the dual-area interconnected power system model, a reduced-order closed-loop transfer function of the dual-area interconnected power system is established; The wireless network attack is modeled and the regional control error of the dual-area interconnected power system after being attacked by the wireless network is obtained; According to the reduced-order closed-loop transfer function of the dual-area interconnected power system, a FIMC-PID controller for wireless communication delay is established; According to the stability criterion of the dual-area interconnected power system, the parameter analysis range of the FIMC-PID controller is obtained; Based on the parameter analysis range, the parameters of the FIMC-PID controller are optimized by using a mutated particle swarm genetic algorithm until the regional control error converges, thereby obtaining the optimal values ​​of the parameters of the FIMC-PID controller; The dual-area interconnected power system is controlled using a FIMC-PID controller configured with optimal parameter values.

2. The method according to claim 1, characterized in that The dual-region grid-connected power system model includes independent thermal steam turbine system models, speed regulator models and generator set models.

3. The method according to claim 2, characterized in that The establishment of a dual-region interconnected power system model further includes: The thermal steam turbine system model is established as: in, is the first-order derivative of the state variable of the steam turbine system, x H,i is the state variable of the steam turbine system, u H,i is the input signal of the steam turbine system, κ H,i is the time constant of the steam turbine system, y H,i is the output signal of the steam turbine system, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system; Convert the thermal turbine system model into the transfer function of the thermal turbine system: Among them, G H,i (s) is the transfer function of the thermal steam turbine system, s is the Laplace operator; The speed regulator model is established as: in, is the first-order derivative of the governor state variable, x g,i is the state variable of the speed regulator, u g,i is the input signal of the speed regulator, κ g,i is the time constant of the speed regulator, y g,i is the speed regulator output signal, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system; Convert the speed regulator model into the transfer function of the speed regulator: Among them, G g,i (s) is the transfer function of the speed regulator; The generator set model is established as: in, is the first-order derivative of the generator state variable, x T,i is the state variable of the generator set, u T,i is the input signal of the generator set, h i is the time constant of the generator set, y T,i is the output signal of the generator set, δ i is the frequency-sensitive sensing load factor of the generator set, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system; Convert the generator set model into the transfer function of the generator set: Among them, G gen,i (s) is the transfer function of the generator set.

4. The method according to claim 3, characterized in that The step of establishing a reduced-order closed-loop transfer function of the dual-regional interconnected power system according to the dual-regional interconnected power system model further comprises: Establishing a closed-loop transfer function of a dual-area interconnected power system according to the transfer function of the thermal steam turbine system, the transfer function of the speed governor and the transfer function of the generator set; Converting the closed-loop transfer function of the dual-area interconnected power system into a third-order closed-loop transfer function of the dual-area interconnected power system; According to the third-order closed-loop transfer function of the dual-area interconnected power system, the reduced-order closed-loop transfer function of the dual-area interconnected power system is obtained by reducing the order using Taylor series expansion.

5. The method according to claim 4, characterized in that The step of establishing a closed-loop transfer function of the dual-region interconnected power system according to the transfer function of the steam turbine system, the transfer function of the speed regulator and the transfer function of the generator set further comprises: The closed-loop transfer function of the dual-region interconnected power system is characterized by the following formula: Among them, G s,i (s) is the closed-loop transfer function of the dual-region interconnected power system, G H,i (s) is the transfer function of the thermal turbine system, G g,i (s) is the transfer function of the speed regulator, G gen,i (s) is the transfer function of the generator set, β i is the frequency offset parameter, r i is a speed regulation constant, i=1 corresponds to the first regional power system in the dual-region interconnected power system, and i=2 corresponds to the second regional power system in the dual-region interconnected power system.

6. The method according to claim 5, characterized in that The step of converting the closed-loop transfer function of the dual-area grid-connected power system into a third-order closed-loop transfer function of the dual-area grid-connected power system further comprises: The third-order closed-loop transfer function of the dual-area interconnected power system is characterized by the following formula: Among them, G s,i (s)3 is the third-order closed-loop transfer function of the dual-region interconnected power system, β i is the frequency offset parameter, κ g,i is the time constant of the speed regulator, κ H,i is the time constant of the steam turbine system, h i is the time constant of the generator set, δ i is the frequency sensitive load factor of the generator set, r i is the speed adjustment constant, and s is the Laplace operator.

7. The method according to claim 6, characterized in that The step of reducing the order of the dual-area interconnected power system third-order closed-loop transfer function by Taylor series expansion to obtain a reduced-order closed-loop transfer function of the dual-area interconnected power system further comprises: The reduced-order closed-loop transfer function of the dual-area interconnected power system is characterized by the following formula: Among them, G s,i (s)2 Reduced-order closed-loop transfer function of the dual-region interconnected power system, s is the Laplace operator, ν 0,i is the constant coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, ν 1,i is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, μ 0,i is the constant coefficient of the numerator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, μ 1,i It is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system.

8. The method according to claim 7, characterized in that The modeling of the wireless network attack to obtain the regional control error of the dual-region interconnected power system after the wireless network attack further includes: The following formula is used to characterize the regional control error of the dual-region interconnected power system after being attacked by a wireless network: Among them, ξ i * is the regional control error after the i-th regional power system is attacked by the wireless network, i=1 corresponds to the first regional power system in the dual-regional interconnected power system, i=2 corresponds to the second regional power system in the dual-regional interconnected power system, θ i is a false data signal, |θ i |∈[h,j], h, j are positive numbers, Δf i is the frequency error, ΔP tie,i is the tie line power error, t is the time, τ a It is the attack duration of the false data signal.

9. The method according to claim 7, characterized in that: The step of establishing a FIMC-PID controller for wireless communication delay according to the reduced-order closed-loop transfer function of the dual-region interconnected power system further includes: The reduced-order closed-loop transfer function of the dual-area interconnected power system is subjected to a pole-zero frequency shift process to obtain a closed-loop transfer function of the dual-area interconnected power system in a pole-zero frequency shift form; When there is a wireless communication delay, updating the closed-loop transfer function in the pole-zero frequency shift form to obtain an updated transfer function; According to the reversible components decomposed from the updated transfer function, a FIMC-PID controller is established.

10. The method according to claim 9, characterized in that The step of performing a zero frequency shift process on the reduced-order closed-loop transfer function of the dual-area interconnected power system to obtain a zero frequency shift closed-loop transfer function of the dual-area interconnected power system further comprises: The closed-loop transfer function of the dual-area interconnected power system in the form of zero frequency shift is characterized by the following formula: Among them, G s,i (s-ψ i ) is the closed-loop transfer function in the form of zero frequency shift, μ 0,i =π 0,i v 0,i , μ 1,i =-π 1,i v 0,i -π 0,i ν 1,i , s is the Laplace operator, ν 0,i is the constant coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, ν 1,i is the first-order coefficient of the denominator of the reduced-order closed-loop transfer function of the dual-area interconnected power system, ψ i is the parameter of the FIMC-PID controller, i=1 corresponds to the first regional power system in the dual-regional interconnected power system, and i=2 corresponds to the second regional power system in the dual-regional interconnected power system.

11. The method according to claim 10, characterized in that When there is a wireless communication delay, updating the closed-loop transfer function in the form of a zero frequency shift to obtain an updated transfer function further comprises: The updated transfer function is represented by the following formula: Among them, G sτ,i (s-ψ i ) is the updated transfer function, τ i Wireless communication delay.

12. The method according to claim 11, characterized in that The reversible component decomposed according to the updated transfer function is further established by: The FIMC-PID controller is characterized by the following formula: Among them, G PID,i (s) is the FIMC-PID controller transfer function of the i-th regional power system, i=1 corresponds to the first regional power system in the dual-region interconnected power system, i=2 corresponds to the second regional power system in the dual-region interconnected power system, G sτ-,i (s-ψ i ) is the reversible component.

13. The method according to claim 12, characterized in that The parameter analysis range of the FIMC-PID controller obtained according to the stability criterion of the dual-area grid-connected power system further includes: The parameter resolution range of the FIMC-PID controller is characterized by the following formula: β i K i,i ＞0； F i b i K d,i +F i H i -E i b i K p,i -E i I i >0; Among them, β i is the frequency offset parameter, K i,i is the integral gain, F i =2h i κ g,i +2h i κ H,i +δ i κ g,i κ H,i , κ g,i is the time constant of the speed regulator, κ H,i is the time constant of the steam turbine system, h i is the time constant of the generator set, δ i is the frequency sensitive load factor of the generator set, K d,i is the differential gain, H i =2h i +δ i κ H,i +δ i κ g,i , E i =2h i κ g,i κ H,i , r i is the speed regulation constant, K p,i is the proportional gain, K p,i =K d,i (ν 1,i -2ψ i ), ψ i are the parameters of the FIMC-PID controller.

14. A power system control device under wireless communication delay and attack, characterized in that: The device comprises: A model building module for building a dual-region interconnected power system model; A transfer function establishment module, used for establishing a reduced-order closed-loop transfer function of the dual-area grid-connected power system according to the dual-area grid-connected power system model; An error determination module is used to model the wireless network attack and obtain the regional control error of the dual-region interconnected power system after the wireless network attack; A controller establishment module, used for establishing a FIMC-PID controller for wireless communication delay according to the reduced-order closed-loop transfer function of the dual-area interconnected power system; A stabilization module, used for obtaining a parameter analysis range of the FIMC-PID controller according to a stability criterion of the dual-area grid-connected power system; An optimization module, used to optimize the parameters of the FIMC-PID controller by using a mutated particle swarm genetic algorithm based on the parameter analysis range until the regional control error converges, thereby obtaining the optimal parameter values ​​of the FIMC-PID controller; A control module is used to control the dual-area interconnected power system using a FIMC-PID controller configured with optimal parameter values.

15. A computer device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: When the computer program is executed by the processor, the computer program executes the instructions of the method according to any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor of a computer device, the computer program executes instructions of the method according to any one of claims 1 to 13.

17. A computer program product, characterized in that When the computer program product is executed by a processor of a computer device, the computer program product executes instructions of the method according to any one of claims 1 to 13.

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