Regional coordinated control method, device and electronic equipment for distribution network voltage

Abstract

The embodiment of the present invention provides a method, device and electronic device for regional coordinated control of distribution network voltage, wherein the method includes: initializing the target distribution network control system offline, establishing a multi-step prediction state space model of the target distribution network; if the target distribution network is monitored to have a disturbance exceeding the set standard, based on the distribution network synchronization measurement device, by state estimation and topology identification of the target distribution network, correcting the multi-step prediction state space model, and obtaining the target multi-step prediction state space model; using the target multi-step prediction state space model, calculating the control command sequence, and if it is judged that the target distribution network has reached a closed-loop stable state, the first step in the control command sequence is issued as a control command to achieve regional coordinated voltage control of the target distribution network. The embodiment of the present invention can realize rapid regional coordinated control of distribution network voltage, and solve the problem of voltage amplitude exceeding the limit caused by rapid, violent and frequent fluctuations in distribution network voltage.

Description

Technical Field

[0001] The present invention relates to the technical field of power system control, and in particular to a method, device and electronic equipment for regional coordinated control of distribution network voltage. Background Art

[0002] With the large-scale access of distributed energy, electric vehicle charging and swapping facilities, and distributed energy storage to the distribution network in recent years, the interaction between the power grid and power users has become more frequent, and the voltage fluctuations in the distribution network have become more frequent and drastic. These rapid voltage changes will affect users who are sensitive to voltage quality, such as semiconductor processing, automobile manufacturing and other precision processing companies. These problems have posed new challenges to the voltage control of the distribution network.

[0003] At present, there are many specific methods for distribution network voltage control. According to the degree of control dependence on communication, they can be mainly divided into three control methods: local control, distributed control and centralized control. However, the existing actual distribution network voltage dispatching and control methods mostly adopt centralized control, specifically a "layered and hierarchical" control system. According to different goals and time scales, it can be divided into: primary voltage control (usually local control), secondary voltage control (usually regional coordinated control) and tertiary voltage control (usually cross-regional optimization control), with time scales ranging from seconds, minutes to more than ten minutes.

[0004] However, existing distribution network voltage control methods, whether they are distributed control methods based on weak communication conditions, centralized hierarchical coordinated control methods considering the access of fast control equipment, or improved secondary voltage control methods based on dynamic measurement information of synchronized phasor measurement units (PMUs), are mostly optimized and solved based on steady-state models. It is difficult for regional distribution networks to achieve rapid coordinated optimization of voltage, and it is difficult to deal with the voltage amplitude exceeding the limit caused by rapid, drastic and frequent voltage fluctuations. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and electronic device for regional coordinated control of distribution network voltage, so as to realize rapid regional coordinated control of distribution network voltage and solve the problem of voltage amplitude exceeding the limit caused by rapid, violent and frequent fluctuations of distribution network voltage.

[0006] An embodiment of the present invention provides a method for regional coordinated control of distribution network voltage, including:

[0007] Initializing the target distribution network control system offline and establishing a multi-step prediction state space model of the target distribution network;

[0008] If it is monitored that the target distribution network has a disturbance exceeding the set standard, based on the distribution network synchronous measurement device, the multi-step prediction state space model is corrected by performing state estimation and topology identification on the target distribution network to obtain a target multi-step prediction state space model;

[0009] The target multi-step prediction state space model is used to calculate a control command sequence, and if it is determined that the target distribution network reaches a closed-loop stable state, the first step in the control command sequence is issued as a control command to achieve regional coordinated voltage control of the target distribution network.

[0010] According to a method for regional coordinated control of distribution network voltage according to an embodiment of the present invention, the step of establishing a multi-step prediction state space model of the target distribution network specifically includes:

[0011] Establishing a device dynamic control model of the target distribution network, and based on the device dynamic control model, obtaining a simplified equivalent model reflecting the dominant control dynamics of the voltage control device;

[0012] Based on the simplified equivalent model and the system network equation of the target distribution network, a system state space model reflecting the dynamic control relationship between the voltage control device and the voltage of the key nodes of the target distribution network is established;

[0013] Based on the system state space model, a system generalized state space model in a time discrete form of dynamic voltage control is obtained through discretization settings and variable combinations;

[0014] Based on the system generalized state space model, and the set time domain prediction steps and time domain control steps, the multi-step prediction state space model is obtained.

[0015] According to a method for regional coordinated control of distribution network voltage according to an embodiment of the present invention, the step of correcting the multi-step prediction state space model specifically includes:

[0016] Based on the distribution network synchronous measurement device, state estimation and topology identification are performed on the target distribution network, voltage control device information and current network topology structure information of the target distribution network are obtained, and based on the voltage control device information and the current network topology structure information, the multi-step prediction state space model is updated;

[0017] Based on the predicted control quantity of the multi-step prediction state space model at the previous moment and the current measured control quantity measured by the distribution network synchronous measurement device, the error compensation amount of the updated multi-step prediction state space model is determined, and based on the error compensation amount, the updated multi-step prediction state space model is corrected.

[0018] According to a method for regional coordinated control of distribution network voltage according to an embodiment of the present invention, the step of calculating a control command sequence using the target multi-step prediction state space model specifically includes:

[0019] By setting the target error cost and the control command cost, the target multi-step prediction state space model is optimized to obtain a system predictive control optimization model;

[0020] Based on the system predictive control optimization model, a dynamic voltage control command sequence at a set time domain control step number is calculated and obtained as the control command sequence.

[0021] According to a method for regional coordinated control of distribution network voltage according to an embodiment of the present invention, the step of updating the multi-step prediction state space model specifically includes:

[0022] Based on the distribution network synchronous measurement device, the dominant control parameters of the model of the voltage control device are identified, the voltage control device information is obtained, and based on the voltage control device information, the equivalent model parameters of the voltage control device are updated;

[0023] The target distribution network is topologically identified to obtain the current network topology information, and based on the current network topology information, the admittance matrix parameters of the target distribution network are updated to re-establish the multi-step prediction state space model.

[0024] According to a method for regional coordinated control of distribution network voltage according to an embodiment of the present invention, the system predictive control optimization model is specifically as follows:

[0025]

[0026]

[0027] U min <U(k)<U max ;

[0028] ΔU min <ΔU(k)<ΔU max ;

[0029] In the formula, J(k) is the objective function, R y =diag(λ1,λ2,…,λ P ) mP×mP is the target error cost, R u =diag(r1,r2,…,r M ) nM×nM To control the command cost, is the predicted value of the key bus voltage in the time domain prediction step number P, Y set(k) is the target value, X s (k) is the state variable, U(k) is the control input variable, U max and U min are the upper and lower limit constraints of the control variable, ΔU(k) ​​is the control increment, ΔU max and ΔU min are the upper and lower limit constraints of the control increment, ΔW(k) is the disturbance increment, σ(k) is the prediction error compensation term, Λ=F y ·F x ,Φ=F y ·G x , Γ=F y ·H x , F x , G x , H x and F y are the coefficients corresponding to the variable vectors in the multi-step prediction state space model, and st represents the constraint condition;

[0030] Correspondingly, the control command sequence is as follows:

[0031] u(k)=u(k-1)+Δu(k|k);

[0032] Δu(k|k)=K mpc ΔU(k);

[0033] ΔU(k)=(Φ T R y Φ+R u ) -1 Φ T R y (Y set (k)-ΛX s (k)-ΓΔW(k)-σ(k));

[0034] In the formula, K mpc =[I n×n , 0…0] n×nM , u(k) is the control value at time k, and u(k-1) is the control value at time k-1.

[0035] According to an embodiment of the present invention, the method for regional coordinated control of distribution network voltage further comprises, after the step of issuing the first step in the control command sequence as a control command:

[0036] Determine whether the target distribution network has regained a stable state. If so, terminate the voltage regulation control. Otherwise, return to the step of monitoring the target distribution network to detect a disturbance exceeding a set standard, and repeat the regional coordinated voltage control operation of the target distribution network.

[0037] The embodiment of the present invention further provides a regional coordinated control device for distribution network voltage, comprising:

[0038] An initialization module, used to initialize the target distribution network control system offline and establish a multi-step prediction state space model of the target distribution network;

[0039] An updating module, configured to, if a disturbance exceeding a set standard is detected in the target distribution network, calibrate the multi-step prediction state space model by performing state estimation and topology identification on the target distribution network based on a distribution network synchronization measurement device, and obtain a target multi-step prediction state space model;

[0040] A control output module is used to calculate a control command sequence using the target multi-step prediction state space model, and if it is determined that the target distribution network has reached a closed-loop stable state, the first step in the control command sequence is issued as a control command to achieve regional coordinated voltage control of the target distribution network.

[0041] An embodiment of 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 when the processor executes the computer program, the steps of the regional coordinated control method of the distribution network voltage as described above are implemented.

[0042] An embodiment of the present invention further provides a non-transitory computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a computer, the steps of the regional coordinated control method of distribution network voltage as described above are implemented.

[0043] The regional coordinated control method, device and electronic device of the distribution network voltage provided by the embodiments of the present invention can effectively improve the coordination optimization speed, realize rapid regional coordinated control of the distribution network voltage, and effectively solve the problem of voltage amplitude exceeding the limit caused by rapid, drastic and frequent fluctuations in the distribution network voltage by further considering the dynamic control characteristics of the voltage control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 work.

[0045] Figure 1 A schematic diagram of a flow chart of a method for regional coordinated control of distribution network voltage provided by an embodiment of the present invention;

[0046] Figure 2 A schematic flow chart of a method for regional coordinated control of distribution network voltage provided by another embodiment of the present invention;

[0047] Figure 3 A schematic diagram of the structure of a regional coordinated control device for distribution network voltage provided by an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 are within the scope of protection of the present invention.

[0050] The embodiments of the present invention are aimed at the difficulty in realizing rapid coordinated optimization of voltage in regional distribution networks in the prior art, and the difficulty in coping with the problem of voltage amplitude exceeding the limit caused by rapid, violent and frequent voltage fluctuations. By further considering the dynamic control characteristics of the voltage control device, the coordination optimization speed can be effectively improved, and rapid regional coordinated control of the distribution network voltage can be realized, and the problem of voltage amplitude exceeding the limit caused by rapid, violent and frequent voltage fluctuations in the distribution network can be effectively solved. The embodiments of the present invention will be specifically described and introduced through multiple embodiments below.

[0051] Figure 1 A flow chart of a method for regional coordinated control of distribution network voltage provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method includes:

[0052] S101, initializing the target distribution network control system offline and establishing a multi-step prediction state space model of the target distribution network.

[0053] It can be understood that the embodiment of the present invention first performs initialization settings for the control system of the target distribution network, including the settings of the time domain prediction step number and the time domain control step number, etc. On this basis, combined with the analysis of the control state of the voltage control device in the control system and the analysis of the network topology of the target distribution network, a multi-step prediction state space model of the control relationship between the voltage control device and the voltage of the key nodes of the network is established.

[0054] S102, if it is monitored that the target distribution network has a disturbance exceeding the set standard, based on the distribution network synchronous measurement device, the state estimation and topology identification of the target distribution network are performed, and the multi-step prediction state space model is corrected to obtain the target multi-step prediction state space model.

[0055] It can be understood that after the initial multi-step prediction state space model of the target distribution network is obtained according to the above steps, the multi-step prediction state space model may be unstable and inaccurate. Therefore, after the multi-step prediction state space model of the target distribution network is initialized, the embodiment of the present invention monitors whether there is a large disturbance in the voltage of the target distribution network, that is, monitors whether the voltage disturbance exceeds the set standard. If the voltage disturbance is detected to exceed the set standard, it is determined that the model needs to be optimized and updated. Otherwise, continue online real-time monitoring.

[0056] Specifically, if a large voltage disturbance is detected, the dominant parameters of the target distribution network voltage control device are identified based on the distribution network synchronous measurement device, and the voltage control device state is estimated based on this. At the same time, the current network topology information of the target distribution network is identified based on the distribution network synchronous measurement device. On this basis, the multi-step prediction state space model established according to the above steps is updated and corrected, and the updated model is the target multi-step prediction state space model.

[0057] S103, using the target multi-step prediction state space model, calculate the control command sequence, and if it is determined that the target distribution network reaches a closed-loop stable state, the first step in the control command sequence is issued as a control command to achieve regional coordinated voltage control of the target distribution network.

[0058] It can be understood that at the end of the embodiment of the present invention, the control command sequence of the target distribution network voltage control in the time domain control step number will be calculated according to the obtained target multi-step prediction state space model. After that, it is necessary to determine whether the voltage control of the target distribution network has reached a closed-loop stable state. If so, the first step in the control command sequence will be sent as a control command to the voltage control device. The voltage control device adjusts the network output voltage by executing the control command to achieve coordinated control of the regional voltage of the target distribution network.

[0059] It can be understood that the above control command sequence carries multiple control commands that need to be issued to the voltage control device, and the voltage control device ultimately stabilizes the system voltage by executing these control commands.

[0060] The regional coordinated control method of the distribution network voltage provided in the embodiment of the present invention can effectively improve the coordination optimization speed by further considering the dynamic control characteristics of the voltage control device, realize rapid regional coordinated control of the distribution network voltage, and effectively solve the problem of voltage amplitude exceeding the limit caused by rapid, drastic and frequent fluctuations in the distribution network voltage.

[0061] According to the regional coordinated control method of distribution network voltage provided in the above embodiments, the step of establishing a multi-step prediction state space model of the target distribution network specifically includes:

[0062] Establish a dynamic control model of the equipment of the target distribution network, and based on the dynamic control model of the equipment, obtain a simplified equivalent model reflecting the dominant control dynamics of the voltage control equipment;

[0063] Based on the simplified equivalent model and the system network equation of the target distribution network, a system state space model reflecting the dynamic control relationship between the voltage control equipment and the voltage of the key nodes of the target distribution network is established;

[0064] Based on the system state space model, the system generalized state space model of dynamic voltage control time discrete form is obtained through discretization setting and variable combination;

[0065] Based on the system generalized state space model, and the set time domain prediction steps and time domain control steps, a multi-step prediction state space model is obtained.

[0066] Specifically, firstly, by analyzing the state of the voltage control equipment of the target distribution network, the equipment dynamic control model of the target distribution network is established, and the equipment dynamic control model is reduced and linearized to obtain a simplified equivalent model reflecting the dominant control dynamics of the voltage control equipment as follows:

[0067]

[0068] Where X∈R n is the state variable, U∈R n is the control input variable, W∈R n are disturbance variables, A, B, E∈R n×n are the coefficients corresponding to the variable vectors in the state space equation, and n is the order of the state variable.

[0069] Secondly, according to the target distribution network topology parameters, the system network equation is established as V l =C m (t)X, and based on the system network equation and the simplified equivalent model of the voltage control device established above, a system state space model reflecting the dynamic control relationship between the voltage control device and the voltage of the key nodes in the target distribution network is established as follows:

[0070]

[0071] Where V l is the critical bus voltage value of the system, C m (t) is the observation matrix of the key bus voltage values ​​of the system.

[0072] Next, the system state space model obtained above is discretized to obtain the discrete system state space model as follows:

[0073]

[0074] In the formula, C s (k) = C m (kT s ), T s For the time interval.

[0075] Afterwards, for the above discrete system state space model, the state equation output variables and state variables are combined to obtain the generalized state space model of the dynamic voltage control system in discrete form in the time domain as follows:

[0076]

[0077] In the formula, k is the time point, X s (k+1)=[ΔX(k+1) V l (k+1)] T , the coefficients corresponding to the variable vectors in the state space equation are:

[0078]

[0079] Finally, based on the generalized state space model of the system obtained above, the initial multi-step prediction state space model of the target distribution network is obtained. That is, the generalized state space model of the system is expanded according to the preset time domain prediction step number P and time domain control step number M, and the multi-step prediction state space model of the target distribution network area voltage control is obtained as follows:

[0080]

[0081] Where:

[0082]

[0083] The coefficients corresponding to the variable vectors in the state space equation are as follows:

[0084]

[0085] According to the regional coordinated control method of the distribution network voltage provided in the above embodiments, the step of correcting the multi-step prediction state space model specifically includes:

[0086] Based on the distribution network synchronous measurement device, the state estimation and topology identification of the target distribution network are performed, the voltage control device information and the current network topology structure information of the target distribution network are obtained, and based on the voltage control device information and the current network topology structure information, the multi-step prediction state space model is updated;

[0087] Based on the predicted control quantity of the multi-step prediction state space model at the previous moment and the current measured control quantity measured by the distribution network synchronous measurement device, the error compensation amount of the updated multi-step prediction state space model is determined, and based on the error compensation amount, the updated multi-step prediction state space model is corrected.

[0088] Specifically, the embodiment of the present invention first uses the distribution network synchronous measurement device to measure the distribution network state parameters, and based on this, the voltage control state estimation and network topology identification of the target distribution network are performed, and the basic information of the voltage control equipment such as the generator and the load in the current target distribution network and the network topology parameters are obtained respectively. Then, the basic information of the voltage control equipment and the network topology parameters are used to update the network parameters of the multi-step prediction state space model, thereby realizing model update.

[0089] Afterwards, the embodiment of the present invention uses the updated step prediction state space model to predict the voltage control result at the next moment, that is, the current moment, based on the measurement value at the previous moment measured by the distribution network synchronous measurement device at the previous moment, and obtains the predicted control quantity at the previous moment. At the same time, the distribution network synchronous measurement device is used to measure the current measured control quantity of the target distribution network. Afterwards, by comparing the predicted control quantity at the previous moment with the measured current measured control quantity, the error compensation amount of the above-mentioned updated step prediction state space model is determined, and according to the error compensation amount, the updated multi-step prediction state space model is feedback compensated and corrected.

[0090] The embodiment of the present invention is based on the distribution network synchronous measurement device, and performs feedback compensation correction on the initially established multi-step prediction state space model, which can enable the control system to reach a stable state more quickly, and is conducive to improving control efficiency.

[0091] Among them, according to the regional coordinated control method of distribution network voltage provided by the above-mentioned embodiments, the step of calculating the control command sequence by using the target multi-step prediction state space model specifically includes: optimizing the target multi-step prediction state space model by setting the target error cost and the control command cost, and obtaining the system predictive control optimization model; based on the system predictive control optimization model, calculating and obtaining the dynamic voltage control command sequence on the set time domain control step number as the control command sequence.

[0092] Specifically, the embodiment of the present invention first optimizes the target multi-step prediction state space model obtained according to the above embodiments, including setting the target error cost and control command cost of the control process, and determines the optimization target of the target distribution network area voltage control based on this, and obtains the system predictive control optimization model.

[0093] Among them, the regional coordinated control method of the distribution network voltage provided in the above embodiments is optional, and the system predictive control optimization model is specifically as follows:

[0094]

[0095]

[0096] U min <U(k)<U max ;

[0097] ΔU min <ΔU(k)<ΔU max ;

[0098] In the formula, J(k) is the objective function, R y =diag(λ1,λ2,…,λ P ) mP×mP is the target error cost, R u =diag(r1,r2,…,r M ) nM×nM To control the command cost, is the predicted value of the key bus voltage in the time domain prediction step number P, Y set (k) is the target value, X s (k) is the state variable, U(k) is the control input variable, U max and U min are the upper and lower limit constraints of the control variable, ΔU(k) ​​is the control increment, ΔU max and ΔU min are the upper and lower limit constraints of the control increment, ΔW(k) is the disturbance increment, σ(k) is the prediction error compensation term, Λ=F y ·F x ,Φ=F y ·G x , Γ=F y ·H x , F x , G x , H x and F y They are the coefficients corresponding to the variable vectors in the multi-step prediction state space model, and st represents the constraints.

[0099] Afterwards, the system predictive control optimization model is used to calculate the characteristic quantity based on the measurement value of the distribution network synchronous measurement device, and the dynamic voltage control command sequence in the control time domain (that is, the time domain control step number) can be calculated.

[0100] According to the above embodiments, the control command sequence is as follows:

[0101] u(k)=u(k-1)+Δu(k|k);

[0102] Where:

[0103] Δu(k|k)=K mpc ΔU(k);

[0104] ΔU(k)=(Φ T R y Φ+R u ) -1 Φ T R y (Y set (k)-ΛX s (k)-ΓΔW(k)-σ(k));

[0105] K mpc =[I n×n , 0…0] n×nM , u(k) is the control value at time k, and u(k-1) is the control value at time k-1.

[0106] Among them, according to the regional coordinated control method of distribution network voltage provided by the above-mentioned embodiments, the step of updating the multi-step prediction state space model specifically includes: based on the distribution network synchronous measurement device, the dominant control parameters of the model of the voltage control equipment are identified, the voltage control equipment information is obtained, and based on the voltage control equipment information, the equivalent model parameters of the voltage control equipment are updated; the target distribution network is topologically identified, the current network topology structure information is obtained, and based on the current network topology structure information, the admittance matrix parameters of the target distribution network are updated, and the multi-step prediction state space model is re-established.

[0107] Specifically, when updating the system multi-step prediction state space model, firstly, based on the distribution network synchronous measurement device, the control process measurement value of the target distribution network is obtained, and then the control process characteristic value is formed based on the measurement value. Then, the control process characteristic value is used to identify the dominant control parameters of the voltage control device (such as generator, controller, etc.) model, and the equivalent model parameters of the voltage control device are updated according to the identification results.

[0108] At the same time, based on the measured control process measurement values, the network topology of the target distribution network is identified to obtain the network topology information of the current network. Afterwards, based on the network topology information, the admittance matrix parameters of the multi-step prediction state space model of the target distribution network are updated, and according to the updated results, the multi-step prediction state space model of the target distribution network control system is re-established through initialization settings to achieve model update.

[0109] The embodiment of the present invention online identifies the dominant control parameters of the current voltage control device and the network topology parameters, and based on this, re-establishes the dynamic voltage prediction control model of the distribution network, so that the prediction control model is closer to the actual network, has higher accuracy, and can achieve more precise regional voltage control.

[0110] Furthermore, on the basis of the above-mentioned embodiments, after the first step in the control command sequence is used as the step of issuing the control command, the regional coordinated control method of the distribution network voltage provided by the embodiment of the present invention also includes: judging whether the target distribution network has reached a stable state again, and if so, terminating the voltage regulation control; otherwise, returning to the step of monitoring the target distribution network to detect a disturbance exceeding the set standard, and repeating the regional coordinated voltage control operation of the target distribution network.

[0111] Specifically, after the control command is sent to the voltage control device for regional voltage control, the embodiment of the present invention will also monitor the control result. That is, after sending the control command and waiting for the set time, monitor whether the voltage control of the target distribution network has recovered stability or reached a new stable operating state. If so, it is determined that the regional voltage regulation is completed, and the voltage output is controlled with the current control parameters of the voltage control device. Otherwise, return to the step of detecting whether a large disturbance occurs in the system, and re-execute the steps of model establishment, correction, control command calculation and control command sending described in the above embodiment until the voltage in the target distribution network area is stable.

[0112] See also Figure 2 , is a flow chart of a method for regional coordinated control of distribution network voltage provided by another embodiment of the present invention, Figure 2 A more specific processing flow of an embodiment of the present invention is shown, including:

[0113] Step 1: Initialize the target distribution network area voltage control system offline to obtain the initial multi-step prediction state space model of the area voltage control system, that is, establish the target distribution network voltage control device dynamic control model and distribution network network equation, and based on this model and equation, establish the distribution network system multi-step prediction state space model;

[0114] Step 2: monitor whether a large disturbance occurs in the regional voltage control system. If a large disturbance occurs, proceed to step 3; otherwise, continue online real-time monitoring;

[0115] Step 3: Based on the measurement information of the distribution network synchronous measurement device, the state estimation and topology identification of the target distribution network are performed to obtain the basic information of the voltage control equipment such as the current system generator and load and the topological structure parameters of the target distribution network power network, and based on this, the voltage control equipment model and the system network equation are re-identified and updated to obtain the updated multi-step prediction state space model;

[0116] Step 4, determining the error compensation amount of the multi-step prediction state space model based on the difference between the prediction of the prediction model at the previous moment and the output measurement of the distribution network synchronous measurement device at the current moment, and performing feedback correction on the multi-step prediction state space model according to the error compensation amount;

[0117] Step 5: Based on the system multi-step prediction state space model obtained in step 1, a system prediction control optimization model can be obtained, and the characteristic quantity calculated according to the measurement value of the distribution network synchronous measurement device is calculated using the system prediction control optimization model to obtain a control command sequence;

[0118] Step 6, judging whether the closed-loop control of the current voltage control system is stable, if it is stable, proceeding to step 7, otherwise returning to step 2;

[0119] Step 7, according to the dynamic voltage control command sequence obtained in step 5, the first step (u(k) in the above embodiment) is selected as the control command to be issued;

[0120] Step 8, at the next moment, determine whether the voltage control system has reached a stable operating state again. If so, stop this round of regulation and control; otherwise, return to step 2.

[0121] The embodiment of the present invention realizes the rapid regional coordinated control of the distribution network voltage based on the distribution network synchronous measurement device, and solves the problem of voltage amplitude exceeding the limit caused by rapid, violent and frequent fluctuations in the distribution network voltage.

[0122] The embodiment of the present invention further monitors the system voltage control operation status after the control command is issued, and establishes a new control process when stability is not achieved, which can ensure stable control results and effectively solve the voltage amplitude exceeding the limit problem caused by rapid, violent and frequent voltage fluctuations.

[0123] Based on the same inventive concept, an embodiment of the present invention provides a regional coordinated control device for distribution network voltage according to the above embodiments, and the device is used to implement regional coordinated control of distribution network voltage in the above embodiments. Therefore, the description and definition in the regional coordinated control method for distribution network voltage in the above embodiments can be used for understanding each execution module in the embodiment of the present invention, and the above embodiments can be specifically referred to, which will not be repeated here.

[0124] According to one embodiment of the present invention, the structure of the regional coordinated control device for distribution network voltage is as follows: Figure 3 As shown, it is a schematic diagram of the structure of a regional coordinated control device for distribution network voltage provided by an embodiment of the present invention, which can be used to implement regional coordinated control of distribution network voltage in the above-mentioned method embodiments, and the device includes: an initialization module 301, an update module 302 and a control output module 303. Among them:

[0125] The initialization module 301 is used to initialize the target distribution network control system offline and establish a multi-step prediction state space model of the target distribution network; the update module 302 is used to, if it is monitored that the target distribution network has a disturbance exceeding the set standard, based on the distribution network synchronous measurement device, by performing state estimation and topology identification on the target distribution network, calibrate the multi-step prediction state space model, and obtain the target multi-step prediction state space model; the update module 302 is used to use the target multi-step prediction state space model to calculate the control command sequence, and if it is determined that the target distribution network has reached a closed-loop stable state, the first step in the control command sequence is issued as a control command to achieve regional coordinated voltage control of the target distribution network.

[0126] Specifically, the initialization module 301 performs initialization settings for the control system of the target distribution network, including the settings of the time domain prediction step number and the time domain control step number, etc. On this basis, combined with the analysis of the control state of the voltage control device in the control system and the analysis of the network topology of the target distribution network, the initialization module 301 establishes a multi-step prediction state space model of the control relationship between the voltage control device and the voltage of the key nodes of the network.

[0127] Afterwards, the update module 302 monitors whether there is a large disturbance in the voltage of the target distribution network, that is, whether the voltage disturbance exceeds the set standard. If the voltage disturbance is detected to exceed the set standard, it is determined that the model needs to be optimized and updated. Otherwise, online real-time monitoring continues.

[0128] Specifically, if the update module 302 detects a large disturbance in voltage, the dominant parameters of the target distribution network voltage control device are identified based on the distribution network synchronous measurement device, and the voltage control device state is estimated accordingly. At the same time, the update module 302 identifies the current network topology information of the target distribution network based on the distribution network synchronous measurement device. The update module 302 updates and corrects the parameters of the multi-step prediction state space model established according to the above steps, and the updated model is the target multi-step prediction state space model.

[0129] Finally, the update module 302 calculates the control command sequence of the target distribution network voltage control in the time domain control step number according to the obtained target multi-step prediction state space model. After that, the update module 302 needs to determine whether the voltage control of the target distribution network has reached a closed-loop stable state. If so, the first step in the control command sequence is sent to the voltage control device as a control command. The voltage control device adjusts the network output voltage by executing the control command to achieve coordinated control of the regional voltage of the target distribution network.

[0130] The regional coordinated control device for distribution network voltage provided in the embodiment of the present invention can effectively improve the coordination optimization speed by further considering the dynamic control characteristics of the voltage control equipment, realize rapid regional coordinated control of the distribution network voltage, and effectively solve the problem of voltage amplitude exceeding the limit caused by rapid, drastic and frequent fluctuations in the distribution network voltage.

[0131] It is understandable that in the embodiment of the present invention, the relevant program modules in the apparatus of each of the above embodiments can be implemented by a hardware processor. Moreover, the regional coordinated control apparatus of the distribution network voltage in the embodiment of the present invention utilizes the above program modules to implement the regional coordinated control process of the distribution network voltage in the above method embodiments. When used to implement the regional coordinated control of the distribution network voltage in the above method embodiments, the beneficial effects produced by the apparatus of the embodiment of the present invention are the same as those of the corresponding above method embodiments, and the above method embodiments can be referred to, and will not be repeated here.

[0132] As another aspect of the present invention, this embodiment provides an electronic device according to the above embodiments, and the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the regional coordinated control method of the distribution network voltage as described in the above embodiments are implemented.

[0133] Furthermore, the electronic device of the embodiment of the present invention may also include a communication interface and a bus. Figure 4, is a schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, including: at least one memory 401, at least one processor 402, a communication interface 403 and a bus 404.

[0134] Among them, the memory 401, the processor 402 and the communication interface 403 complete mutual communication through the bus 404, and the communication interface 403 is used for information transmission between the electronic device and the distribution network equipment; the memory 401 stores a computer program that can be run on the processor 402. When the processor 402 executes the computer program, the steps of the regional coordinated control method of the distribution network voltage as described in the above embodiments are implemented.

[0135] It can be understood that the electronic device at least includes a memory 401, a processor 402, a communication interface 403 and a bus 404, and the memory 401, the processor 402 and the communication interface 403 form a communication connection with each other through the bus 404, and can complete mutual communication, such as the processor 402 reading the program instructions of the regional coordinated control method of the distribution network voltage from the memory 401. In addition, the communication interface 403 can also realize the communication connection between the electronic device and the distribution network equipment, and can complete the mutual information transmission, such as realizing the reading of the distribution network voltage control equipment information through the communication interface 403.

[0136] When the electronic device is running, the processor 402 calls the program instructions in the memory 401 to execute the methods provided by the above-mentioned method embodiments, for example, including: offline initializing the target distribution network control system and establishing a multi-step prediction state space model of the target distribution network; if it is monitored that the target distribution network has a disturbance exceeding the set standard, based on the distribution network synchronous measurement device, by estimating the state and identifying the topology of the target distribution network, correcting the multi-step prediction state space model, and obtaining the target multi-step prediction state space model; using the target multi-step prediction state space model, calculating the control command sequence, and if it is determined that the target distribution network reaches a closed-loop stable state, issuing the first step in the control command sequence as a control command to achieve regional coordinated voltage control of the target distribution network, etc.

[0137] The program instructions in the above-mentioned memory 401 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Alternatively, all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the above-mentioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the above-mentioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (RandomAccess Memory, RAM), disk or optical disk and other media that can store program codes.

[0138] An embodiment of the present invention also provides a non-transitory computer-readable storage medium according to the above embodiments, on which computer instructions are stored. When the computer instructions are executed by a computer, the steps of the regional coordinated control method of the distribution network voltage as described in the above embodiments are implemented, for example, including: offline initializing the target distribution network control system and establishing a multi-step prediction state space model of the target distribution network; if a disturbance exceeding a set standard is detected in the target distribution network, based on a distribution network synchronous measurement device, the multi-step prediction state space model is corrected by performing state estimation and topology identification on the target distribution network to obtain a target multi-step prediction state space model; using the target multi-step prediction state space model, a control command sequence is calculated, and if it is determined that the target distribution network reaches a closed-loop stable state, the first step in the control command sequence is issued as a control command to implement regional coordinated voltage control of the target distribution network, etc.

[0139] As another aspect of an embodiment of the present invention, this embodiment further provides a computer program product according to the above embodiments, wherein the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the regional coordinated control method of the distribution network voltage provided by the above method embodiments, wherein the method includes: initializing the target distribution network control system offline, and establishing a multi-step prediction state space model of the target distribution network; if a disturbance exceeding a set standard is detected in the target distribution network, the multi-step prediction state space model is corrected based on the distribution network synchronous measurement device, by performing state estimation and topology identification on the target distribution network, and a target multi-step prediction state space model is obtained; the control command sequence is calculated using the target multi-step prediction state space model, and if it is determined that the target distribution network reaches a closed-loop stable state, the first step in the control command sequence is issued as a control command to achieve regional coordinated voltage control of the target distribution network.

[0140] The electronic device, non-transitory computer-readable storage medium and computer program product provided by the embodiments of the present invention, by executing the steps of the regional coordinated control method of the distribution network voltage described in the above embodiments, further consider the dynamic control characteristics of the voltage control device, can effectively improve the coordination optimization speed, realize rapid regional coordinated control of the distribution network voltage, and effectively solve the problem of voltage amplitude exceeding the limit caused by rapid, drastic and frequent fluctuations in the distribution network voltage.

[0141] It is understandable that the embodiments of the apparatus, electronic device, and storage medium described above are merely illustrative, and the units described as separate components may or may not be physically separated, and may be located in one place, or may be distributed on different network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0142] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, etc., including a number of instructions to enable a computer device (such as a personal computer, a server, or a network device, etc.) to execute the methods described in the above method embodiments or some parts of the method embodiments.

[0143] In addition, it should be understood by those skilled in the art that, in the application documents of the embodiments of the present invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0144] In the description of the embodiment of the present invention, a large number of specific details are described. However, it should be understood that the embodiment of the present invention can be practiced without these specific details. In some examples, known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this specification. Similarly, it should be understood that in order to simplify the disclosure of the embodiment of the present invention and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the embodiment of the present invention, the various features of the embodiment of the present invention are sometimes grouped together into a single embodiment, figure or description thereof.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, rather than to limit them. Although the embodiments of the present invention have 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 recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the embodiments of the present invention.

Claims

1. A regional coordinated control method for distribution network voltage, characterized in that: include: Initializing the target distribution network control system offline and establishing a multi-step prediction state space model of the target distribution network; If it is monitored that the target distribution network has a disturbance exceeding the set standard, based on the distribution network synchronous measurement device, the multi-step prediction state space model is corrected by performing state estimation and topology identification on the target distribution network to obtain a target multi-step prediction state space model; The target multi-step prediction state space model is used to calculate a control command sequence, and if it is determined that the target distribution network reaches a closed-loop stable state, the first step in the control command sequence is issued as a control command to achieve regional coordinated voltage control of the target distribution network; The step of establishing the multi-step prediction state space model of the target distribution network specifically includes: Establishing a device dynamic control model of the target distribution network, and based on the device dynamic control model, obtaining a simplified equivalent model reflecting the dominant control dynamics of the voltage control device; Based on the simplified equivalent model and the system network equation of the target distribution network, a system state space model reflecting the dynamic control relationship between the voltage control device and the voltage of the key nodes of the target distribution network is established; Based on the system state space model, a system generalized state space model in a time discrete form of dynamic voltage control is obtained through discretization settings and variable combinations; Based on the system generalized state space model, and the set time domain prediction steps and time domain control steps, the multi-step prediction state space model is obtained; The step of calculating the control command sequence by using the target multi-step prediction state space model specifically includes: By setting the target error cost and the control command cost, the target multi-step prediction state space model is optimized to obtain a system predictive control optimization model; Based on the system predictive control optimization model, a dynamic voltage control command sequence at a set time domain control step number is calculated and obtained as the control command sequence.

2. The regional coordinated control method of distribution network voltage according to claim 1, characterized in that: The step of correcting the multi-step prediction state space model specifically includes: Based on the distribution network synchronous measurement device, state estimation and topology identification are performed on the target distribution network, voltage control device information and current network topology structure information of the target distribution network are obtained, and based on the voltage control device information and the current network topology structure information, the multi-step prediction state space model is updated; Based on the predicted control quantity of the multi-step prediction state space model at the previous moment and the current measured control quantity measured by the distribution network synchronous measurement device, the error compensation amount of the updated multi-step prediction state space model is determined, and based on the error compensation amount, the updated multi-step prediction state space model is corrected.

3. The regional coordinated control method of distribution network voltage according to claim 2, characterized in that: The step of updating the multi-step prediction state space model specifically includes: Based on the distribution network synchronous measurement device, the dominant control parameters of the model of the voltage control device are identified, the voltage control device information is obtained, and based on the voltage control device information, the equivalent model parameters of the voltage control device are updated; The target distribution network is topologically identified to obtain the current network topology information, and based on the current network topology information, the admittance matrix parameters of the target distribution network are updated to re-establish the multi-step prediction state space model.

4. The method for regional coordinated control of distribution network voltage according to claim 1, characterized in that: The system predictive control optimization model is as follows: IN min <U(k)<U max ; D.U. min <ΔU(k)<ΔU max ; Where J(k) is the objective function, Ry=diag(λ1,λ2,…,λ P ) mP×mP is the target error cost, R u =diag(r1,r2,…,r M ) nM×nM To control the command cost, is the predicted value of the key bus voltage in the time domain prediction step number P, Y set (k) is the target value, X s (k) is the state variable, U(k) is the control input variable, U max and U min are the upper and lower limit constraints of the control variable, ΔU(k) ​​is the control increment, ΔU max and ΔU min are the upper and lower limit constraints of the control increment, ΔW(k) is the disturbance increment, σ(k) is the prediction error compensation term, Λ=F y ·F x ,Φ=F y ·G x , Γ=F y ·H x , F x , G x , H x and F y are the coefficients corresponding to the variable vectors in the multi-step prediction state space model, and st represents the constraint condition; Correspondingly, the control command sequence is as follows: u(k)=u(k-1)+Δu(k|k); Δu(k|k)=K mpc ΔU(k); ΔU(k)=(Φ T R y F+R u ) -1 F T R y (Y set (k)-ΛX s (k)-ΓΔW(k)-σ(k)); In the formula, K mpc =[I n×n , 0…0] n×nM , u(k) is the control value at time k, and u(k-1) is the control value at time k-1.

5. The regional coordinated control method of distribution network voltage according to claim 1, characterized in that: After the step of issuing the first step in the control command sequence as a control command, the method further includes: Determine whether the target distribution network has regained a stable state. If so, terminate the voltage regulation control. Otherwise, return to the step of monitoring the target distribution network to detect a disturbance exceeding a set standard, and repeat the regional coordinated voltage control operation of the target distribution network.

6. A regional coordinated control device for distribution network voltage, characterized in that: include: An initialization module, used to initialize the target distribution network control system offline and establish a multi-step prediction state space model of the target distribution network; An updating module, configured to correct the multi-step prediction state space model and obtain a target multi-step prediction state space model by performing state estimation and topology identification on the target distribution network based on a distribution network synchronization measurement device if a disturbance exceeding a set standard is detected in the target distribution network; A control output module, used to calculate a control command sequence using the target multi-step prediction state space model, and if it is determined that the target distribution network has reached a closed-loop stable state, issue the first step in the control command sequence as a control command to achieve regional coordinated voltage control of the target distribution network; The initialization module is specifically used for: Establishing a device dynamic control model of the target distribution network, and based on the device dynamic control model, obtaining a simplified equivalent model reflecting the dominant control dynamics of the voltage control device; Based on the simplified equivalent model and the system network equation of the target distribution network, a system state space model reflecting the dynamic control relationship between the voltage control device and the voltage of the key nodes of the target distribution network is established; Based on the system state space model, a system generalized state space model in a time discrete form of dynamic voltage control is obtained through discretization settings and variable combinations; Based on the system generalized state space model, and the set time domain prediction steps and time domain control steps, the multi-step prediction state space model is obtained; The control output module is specifically used for: By setting the target error cost and the control command cost, the target multi-step prediction state space model is optimized to obtain a system predictive control optimization model; Based on the system predictive control optimization model, a dynamic voltage control command sequence at a set time domain control step number is calculated and obtained as the control command sequence.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method for regional coordinated control of distribution network voltage according to any one of claims 1 to 5 are implemented.

8. A non-transitory computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by a computer, the steps of the method for regional coordinated control of distribution network voltage according to any one of claims 1 to 5 are implemented.

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