Distribution network voltage control method and device considering wireless communication instability factors

Abstract

This specification relates to the field of smart grid technology, and provides a distribution network voltage control method and device that takes into account wireless communication instability factors. The method includes: using a secondary controller that takes into account external interference, wireless communication link uncertainty, and communication delay to adjust the voltage and frequency of the distribution network; judging whether the voltage and frequency of the distribution network meet preset conditions; when the voltage and frequency of the distribution network meet the preset conditions, obtaining the first voltage and frequency control amount output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions; determining the second voltage and frequency control amount of the primary controller of the distribution network according to the first voltage and frequency control amount; and allowing the primary controller to control the voltage and frequency of the distribution network according to the second voltage and frequency control amount. The embodiments of this specification can improve the voltage control accuracy of the distribution network.

Description

Technical Field

[0001] The present invention relates to the technical field of smart distribution network, and in particular to a distribution network voltage control method and device taking into account the instability factor of wireless communication. Background Art

[0002] The secondary control (voltage and frequency control) of the distribution network is an important means of distribution network control technology, which is used to recover the fluctuations caused by the primary controller and adjust the voltage and frequency of the distribution network. The secondary control of the distribution network considering factors such as noise and faults has been widely studied in the current literature. The data exchange between the nodes of the secondary controller of the distribution network sends its data through a wireless communication network through a specific control gain. The transmitted data is affected by some factors, such as line length, environmental obstacles, and electromagnetic interference. In addition to the above-mentioned unstable factors, the uncertainty of the communication link and various interferences caused by measurement errors, communication topology conversion, etc. are inevitable. At the same time, the delay problem in wireless communication is also an unstable factor in time-varying networks. The adaptive voltage coordination control method considering the uncertainty of the communication link, external interference, and wireless communication delay is rarely studied. Summary of the invention

[0003] The purpose of the embodiments of this specification is to provide a distribution network voltage control method and device taking into account the instability factor of wireless communication, so as to improve the voltage control accuracy of the distribution network.

[0004] To achieve the above objectives, on the one hand, an embodiment of this specification provides a distribution network voltage control method considering the instability factor of wireless communication, including:

[0005] Using a secondary controller that takes into account external interference, wireless communication link uncertainty and communication delay, the voltage and frequency of the distribution network are adjusted;

[0006] Determine whether the voltage and frequency of the distribution network meet preset conditions;

[0007] When the voltage and frequency of the distribution network meet the preset conditions, obtaining a first voltage and frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions;

[0008] Determining a second voltage-frequency control variable of a primary controller of the distribution network according to the first voltage-frequency control variable;

[0009] The primary controller controls the voltage and frequency of the power distribution network according to the second voltage and frequency control amount.

[0010] In the distribution network voltage control method considering the instability factor of wireless communication in the embodiment of this specification, the secondary controller considering external interference, wireless communication link uncertainty and communication delay includes:

[0011]

[0012] in, is the error derivative at time t; Ω is the gain matrix of the two-stage controller; is the error coefficient matrix, and is the Laplace matrix, is a standard diagonal matrix; is time t uncertainty; τ is the communication delay; e(t-τ) is the error vector of Z(t) at time t considering the communication delay; D(t) is the disturbance matrix at time t; Z(t) is the output matrix of the secondary controller at time t; e(t) is the error vector of Z(t) at time t.

[0013] In the distribution network voltage control method considering the unstable factor of wireless communication in the embodiment of this specification, considering the influence of the above-mentioned error and error change rate on the performance, in order to reduce the communication burden, the preset conditions may include:

[0014]

[0015] Among them, u(t) is the voltage control quantity actually output by the secondary controller at time t; v(t l ) is t l The voltage control quantity solved by the secondary controller at the moment V odi (t-τ) is the d-axis voltage of the i-th node considering the communication delay at time t; ω i (t-τ) is the frequency of the i-th node considering the communication delay at time t; V odi (t) is the d-axis voltage of the i-th node at time t; ω i (t) is the frequency of the ith node at time t; T represents the matrix transpose; inf is the lower bound; t l is the adjustment time for the first adjustment; t l+1 A is the adjustment time for the l+1th adjustment; 1 , A 2 and B are both intermediate parameters; D is the event-triggered switching threshold; π 1 is a constant whose value is greater than zero and less than 1; m 1 、m 2 、m 3 are all positive constants.

[0016] In the distribution network voltage control method considering the unstable factors of wireless communication in the embodiment of this specification, obtaining the first voltage and frequency control amount output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions includes:

[0017] The first voltage and frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions is obtained according to the following formula:

[0018]

[0019] in, is the voltage control quantity of the i-th node output by the secondary controller; c v is a positive voltage gain constant; n is the number of nodes in the distribution network; is the wireless communication gain of the voltage between the i-th node and the j-th node in the distribution network; is the wireless communication gain uncertainty of the voltage between the i-th node and the j-th node in the distribution network; τ is the communication delay; V odj (t-τ) is the d-axis voltage of the jth node considering the communication delay at time t; V odi (t-τ) is the d-axis voltage of the i-th node considering the communication delay at time t; is the wireless communication gain of the voltage between the primary and secondary controllers of the i-th node of the distribution network; is the wireless communication gain uncertainty of the voltage between the primary and secondary controllers of the i-th node of the distribution network; V ref is the reference voltage; is the external interference of the voltage of the i-th node; is the frequency control quantity of the i-th node output by the secondary controller; c ω is a frequency gain constant with a positive value; is the wireless communication gain of the frequency between the i-th node and the j-th node in the distribution network; is the uncertainty of the wireless communication gain between the i-th node and the j-th node in the distribution network; ω j (t-τ) is the frequency of the jth node considering the communication delay at time t; ω i (t-τ) is the frequency of the i-th node considering the communication delay at time t; is the wireless communication gain of the frequency between the primary and secondary controllers of the i-th node of the distribution network; is the wireless communication gain uncertainty of the frequency between the primary and secondary controllers of the i-th node of the distribution network; ω ref is the reference frequency; is the external interference of the frequency of the i-th node; Δa ij for or ψ ij is the uncertain upper limit value between the i-th node and the j-th node; a ij for or

[0020] In the distribution network voltage control method considering the instability factor of wireless communication in the embodiment of this specification, determining the second voltage and frequency control amount of the primary controller of the distribution network according to the first voltage and frequency control amount includes:

[0021] According to the formula The voltage intermediate parameters and the frequency intermediate parameters are obtained by calculation;

[0022] in, is the voltage intermediate parameter of the i-th node; is the voltage control quantity of the i-th node output by the secondary controller; is the active power of the i-th node; is the frequency intermediate parameter of the i-th node; is the frequency control quantity for the i-th node output by the secondary controller; is the reactive power of the i-th node;

[0023] The voltage intermediate parameter and the frequency intermediate parameter are integrated to obtain a second control variable of the primary controller.

[0024] In the distribution network voltage control method considering the unstable factor of wireless communication in the embodiment of this specification, the primary controller is made to control the voltage and frequency of the distribution network according to the second voltage and frequency control amount, including:

[0025] The first-level controller is made according to the formula Regulating the voltage and frequency of the distribution network;

[0026] Among them, ω i is the frequency of the i-th node; is the frequency control quantity for the i-th node output by the first-level controller; is the constant active gain of the ith node; P i is the low-pass filtered value of the active power of the ith node; V odi is the d-axis voltage of the i-th node; is the voltage control quantity of the i-th node output by the first-level controller; is the constant reactive gain of the ith node; Q i is the low-pass filter value of the reactive power of the ith node; V oqi is the q-axis voltage control quantity of the i-th node.

[0027] On the other hand, the embodiment of this specification also provides a distribution network voltage control device taking into account the instability factor of wireless communication, including:

[0028] A regulation module, used to regulate the voltage and frequency of the distribution network by using a secondary controller that takes into account external interference, wireless communication link uncertainty and communication delay;

[0029] A judgment module, used to judge whether the voltage and frequency of the distribution network meet preset conditions;

[0030] An acquisition module, used for acquiring a first voltage-frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions;

[0031] A determination module, configured to determine a second voltage-frequency control amount of a primary controller of the distribution network according to the first voltage-frequency control amount;

[0032] A control module is used to enable the primary controller to control the voltage and frequency of the distribution network according to the second voltage and frequency control amount.

[0033] 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 the above method are executed.

[0034] On the other hand, an embodiment of the present specification further provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer device, the instructions of the above method are executed.

[0035] On the other hand, an embodiment of the present specification further provides a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor of a computer device, the computer program executes instructions of the above method.

[0036] It can be seen from the technical solutions provided in the above embodiments of this specification that in the embodiments of this specification, since the secondary controller takes into account external interference, uncertainty in the wireless communication link and communication delay, the first voltage and frequency control quantity output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions is more accurate, thereby enabling the primary controller to obtain a more accurate second voltage and frequency control quantity, and control the voltage and frequency of the distribution network accordingly, ultimately achieving the purpose of improving the voltage control accuracy of the distribution network. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. In the drawings:

[0038] Figure 1 A schematic diagram showing an application environment of a power distribution network voltage control device considering wireless communication instability factors in some embodiments of this specification;

[0039] Figure 2 A flow chart of a method for controlling voltage in a power distribution network taking into account unstable factors of wireless communication in some embodiments of this specification is shown;

[0040] Figure 3 A structural block diagram of a distribution network voltage control device considering the instability factor of wireless communication in some embodiments of this specification is provided;

[0041] Figure 4 The structure block diagram of the computer device in some embodiments of this specification is shown.

[0042] [Description of Reference Numerals]

[0043] 10. Distribution network voltage control device;

[0044] 20. Distribution network;

[0045] 31. Adjustment module;

[0046] 32. Judgment module;

[0047] 33. Get module;

[0048] 34. Determine the module;

[0049] 35. Control module;

[0050] 402. Computer equipment;

[0051] 404, processor;

[0052] 406. Memory;

[0053] 408, driving mechanism;

[0054] 410, input / output interface;

[0055] 412. Input devices;

[0056] 414. Output device;

[0057] 416. Presentation equipment;

[0058] 418. Graphical user interface;

[0059] 420, network interface;

[0060] 422. Communication link;

[0061] 424. Communication bus. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of this specification.

[0063] Figure 1 The schematic diagram of the application environment of the distribution network voltage control device (hereinafter referred to as the distribution network voltage control device) considering the instability factor of wireless communication in some embodiments of this specification is shown; the distribution network voltage control device 10 can perform hierarchical control on the distribution network 20. Specifically, the distribution network voltage control device 10 can use a secondary controller that considers external interference, uncertainty of wireless communication links and communication delay to adjust the voltage and frequency of the distribution network 20; determine whether the voltage and frequency of the distribution network 20 meet the preset conditions; when the voltage and frequency of the distribution network 20 meet the preset conditions, obtain the first voltage and frequency control amount output by the secondary controller when the voltage and frequency of the distribution network 20 meet the preset conditions; determine the second voltage and frequency control amount of the primary controller of the distribution network 20 according to the first voltage and frequency control amount; and enable the primary controller to control the voltage and frequency of the distribution network 20 according to the second voltage and frequency control amount. The voltage control accuracy of the distribution network can be improved through the embodiments of this specification.

[0064] In some embodiments of the present specification, the distribution network voltage control device 10 may be an electronic device with computing and network interaction functions; or it may be software running in the electronic device to provide voltage coordination control logic for data processing and network interaction. The distribution network 20 may be a distributed distribution network, etc.

[0065] The embodiments of this specification provide a distribution network voltage control method taking into account the instability factor of wireless communication, which can be applied to the above-mentioned distribution network voltage control device side, referring to Figure 2 As shown, in some embodiments of this specification, a method for controlling voltage of a power distribution network considering unstable factors of wireless communication may include the following steps:

[0066] Step 201: Regulate the voltage and frequency of the distribution network using a secondary controller that takes external interference, wireless communication link uncertainty, and communication delay into consideration.

[0067] Step 202: Determine whether the voltage and frequency of the distribution network meet preset conditions.

[0068] Step 203: When the voltage and frequency of the distribution network meet preset conditions, obtain a first voltage and frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions.

[0069] Step 204: Determine a second voltage-frequency control variable of a primary controller of the distribution network according to the first voltage-frequency control variable.

[0070] Step 205: Enable the primary controller to control the voltage and frequency of the distribution network according to the second voltage and frequency control variable.

[0071] In the embodiments of the present specification, since the secondary controller takes external interference, uncertainty of the wireless communication link and communication delay into consideration, the first voltage and frequency control quantity output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions is more accurate, thereby enabling the primary controller to obtain a more accurate second voltage and frequency control quantity, and control the voltage and frequency of the distribution network accordingly, ultimately achieving the purpose of improving the voltage control accuracy of the distribution network.

[0072] In some embodiments of the present specification, a secondary controller that considers external interference, wireless communication link uncertainty, and communication delay includes:

[0073]

[0074] in:

[0075] is the error derivative at time t;

[0076] Ω is the gain matrix of the secondary controller, Ω=diag(c v I n ,c ω I n ,),c v is a positive voltage gain constant, which can be used to adjust the voltage convergence speed. n is the n-order identity matrix, c ω is a positive frequency gain constant, which can be used to adjust the frequency convergence speed;

[0077] is the error coefficient matrix, is the Laplace matrix, is the Laplace matrix of voltage control, is the frequency-controlled Laplace matrix, is a standard diagonal matrix, is the voltage control standard diagonal matrix, is the frequency control standard diagonal matrix τ is the communication delay;

[0078] is time t The uncertainty term; According to Schur's lemma, we can get Where M is the known left basis constant matrix, H is the known right basis constant matrix; W is the matrix that satisfies W T A constant matrix W≤I, W T is the transpose of W, I is the identity matrix;

[0079] τ is the communication delay, i.e., the wireless communication delay between nodes in the distribution network;

[0080] e(t-τ) is the error vector of Z(t) at time t taking into account the communication delay;

[0081] D(t) is the perturbation matrix at time t is the voltage disturbance of the nth node at time t, is the frequency disturbance of the nth node at time t;

[0082] Z(t) is the output matrix of the secondary controller at time t, Z(t) = (z v1 ,…,z vn ,z ω1 ,…,z ωn ) T , z vn is the output voltage of the nth node, z ωn is the output frequency of the nth node;

[0083] e(t) is the error vector of Z(t) at time t, ζ(t) is the control matrix of the voltage and frequency of each node in the distribution network at time t, ζ(t) = (V od1 (t),…,V odn (t),ω 1 (t),…,ω n (t)) T , V odn (t) is the d-axis voltage of the nth node at time t; ω n (t) is the frequency of the nth node at time t, T represents the matrix transpose, is the reference matrix of voltage and frequency of each node in the distribution network at time t, V ref is the reference voltage (preset value), ω ref is the reference frequency (preset value);

[0084] In the above-mentioned secondary controller In the equation, τ reflects the consideration of communication delay by the secondary controller, and D(t) reflects the consideration of external interference by the secondary controller. This reflects the secondary controller's consideration of the uncertainty of the wireless communication link.

[0085] In some embodiments of this specification, the preset conditions include:

[0086]

[0087] in:

[0088] u(t) is the voltage control quantity actually output by the secondary controller at time t;

[0089] v(t l ) is t l The voltage control quantity solved by the secondary controller at the moment;

[0090] V odi (t-τ) is the d-axis voltage of the i-th node considering the communication delay at time t;

[0091] ω i (t-τ) is the frequency of the i-th node considering the communication delay at time t;

[0092] V odi (t) is the d-axis voltage of the i-th node at time t;

[0093] ω i (t) is the frequency of the i-th node at time t;

[0094] T represents matrix transpose;

[0095] inf is the lower bound;

[0096] t l is the adjustment time for the first adjustment;

[0097] t l+1 is the adjustment time for the l+1th adjustment;

[0098] A 1 , A 2 and B are both intermediate parameters;

[0099] D is the event-triggered switching threshold;

[0100] π 1is a constant whose value is greater than zero and less than 1;

[0101] m 1 、m 2 、m 3 are all positive constants.

[0102] The above-mentioned preset conditions are not only conducive to obtaining a more accurate first voltage and frequency control value, but also can further save wireless communication resources between nodes of the distribution network and alleviate the problem of limited communication bandwidth.

[0103] In some embodiments of the present specification, in the process of adjusting the voltage and frequency of the distribution network by using a secondary controller that considers external interference, wireless communication link uncertainty and communication delay, the Lyapunov-Krasovskii theory can be used to solve the sufficient conditions for the secondary controller to satisfy stability and robustness, i.e., the above-mentioned preset conditions, under the consideration of external interference, wireless communication link uncertainty and communication delay. Specifically, in the node topology of the distribution network, under the consideration of external interference, wireless communication link uncertainty and communication delay, when the given robust performance parameter γ>0, there exists a symmetric positive matrix Ξ, ψ, Σ, and the positive scalar α 1 ,α 2 ,α 3 ,α 4 satisfy in:

[0104] ∏ is the robust matrix;

[0105]

[0106]

[0107]

[0108] The symmetric positive matrices Ξ, ψ, Σ are the Hinf controller adjustment matrices;

[0109] Positive scalar α 1 ,α 2 ,α 3 ,α 4 Adjust the gain for the Hinf controller;

[0110] is the error coefficient matrix;

[0111] for The transpose of

[0112] τ is the communication delay;

[0113] Θ is the intermediate parameter, Θ=H TH, H is the known right basis constant matrix, H T is the transpose of H

[0114] M is a known left-basis constant matrix;

[0115] I is the identity matrix.

[0116] In some embodiments of the present specification, obtaining the first voltage-frequency control value output by the secondary controller when the voltage and frequency of the power distribution network meet preset conditions may include:

[0117] The first voltage and frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions is obtained according to the following formula:

[0118]

[0119] in:

[0120] is the voltage control quantity of the i-th node output by the secondary controller;

[0121] c v is a positive voltage gain constant; n is the number of nodes in the distribution network;

[0122] is the wireless communication gain of the voltage between the i-th node and the j-th node in the distribution network;

[0123] is the wireless communication gain uncertainty of the voltage between the i-th node and the j-th node in the distribution network;

[0124] τ is the communication delay;

[0125] V odj (t-τ) is the d-axis voltage of the jth node considering the communication delay at time t;

[0126] V odi (t-τ) is the d-axis voltage of the i-th node considering the communication delay at time t;

[0127] is the wireless communication gain of the voltage between the primary and secondary controllers of the i-th node of the distribution network;

[0128] is the wireless communication gain uncertainty of the voltage between the primary and secondary controllers of the i-th node of the distribution network;

[0129] V ref is the reference voltage;

[0130] is the external interference of the voltage of the i-th node;

[0131] is the frequency control quantity for the i-th node output by the secondary controller;

[0132] c ω is a frequency gain constant with a positive value;

[0133] is the wireless communication gain of the frequency between the i-th node and the j-th node in the distribution network;

[0134] is the wireless communication gain uncertainty of the frequency between the i-th node and the j-th node in the distribution network;

[0135] ω j (t-τ) is the frequency of the jth node considering the communication delay at time t;

[0136] ω i (t-τ) is the frequency of the i-th node considering the communication delay at time t;

[0137] is the wireless communication gain of the frequency between the primary and secondary controllers of the i-th node of the distribution network;

[0138] is the wireless communication gain uncertainty of the frequency between the primary and secondary controllers of the i-th node of the distribution network;

[0139] ω ref is the reference frequency;

[0140] is the external interference of the frequency of the i-th node;

[0141] Δa ij for or

[0142] ψ ij is the uncertain upper limit value between the i-th node and the j-th node;

[0143] a ij for or

[0144] The first voltage and frequency control quantity output by the secondary controller calculated based on the above formula when the voltage and frequency of the distribution network meet the preset conditions can compensate for the voltage and frequency deviations subsequently caused by the primary controller and ensure the robustness of the distribution network to disturbances, interferences and random delays.

[0145] In some embodiments of the present specification, determining the second voltage-frequency control amount of the primary controller of the distribution network according to the first voltage-frequency control amount may include:

[0146] (1) According to the formula The voltage intermediate parameters and the frequency intermediate parameters are obtained by calculation;

[0147] in:

[0148] is the voltage intermediate parameter of the i-th node;

[0149] is the voltage control quantity of the i-th node output by the secondary controller;

[0150] is the active power of the i-th node; is the frequency intermediate parameter of the i-th node;

[0151] is the frequency control quantity for the i-th node output by the secondary controller;

[0152] is the reactive power of the ith node.

[0153] (2) Integrate the voltage intermediate parameter and the frequency intermediate parameter to obtain a second control variable of the primary controller.

[0154] In some embodiments of this specification, enabling the primary controller to control the voltage and frequency of the distribution network according to the second voltage and frequency control amount includes:

[0155] The first-level controller is made according to the formula Regulating the voltage and frequency of the distribution network;

[0156] in:

[0157] ω i is the frequency of the i-th node;

[0158] is the frequency control quantity for the i-th node output by the first-level controller;

[0159] is the constant active gain of the ith node;

[0160] P i is the low-pass filtered value of the active power of the i-th node;

[0161] V odi is the d-axis voltage of the i-th node;

[0162] is the voltage control quantity of the i-th node output by the first-level controller;

[0163] is the constant reactive gain of the ith node;

[0164] Q i is the low-pass filtered value of the reactive power of the i-th node;

[0165] V oqi is the q-axis voltage control quantity of the i-th node.

[0166] From the above calculation process, it can be seen that the formula In fact, The derivative of Taking the derivative we can get Based on this derivative reduction, the impact of external disturbances, uncertainties and random time delays on the power grid system can be better characterized, thereby providing a reliable reference for subsequent precise control.

[0167] Although the process flows described above include multiple operations that occur in a particular order, it should be clearly understood that the processes may include more or fewer operations, which may be performed sequentially or in parallel (eg, using parallel processors or a multi-threaded environment).

[0168] Corresponding to the above-mentioned distribution network voltage control method considering the instability factor of wireless communication, reference Figure 3 As shown, in some embodiments of this specification, the above-mentioned distribution network voltage control device may include:

[0169] A regulating module 31, for regulating the voltage and frequency of the distribution network by using a secondary controller that takes into account external interference, wireless communication link uncertainty and communication delay;

[0170] A judgment module 32 is used to judge whether the voltage and frequency of the power distribution network meet preset conditions;

[0171] An acquisition module 33 is used to acquire a first voltage and frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions;

[0172] A determination module 34, configured to determine a second voltage-frequency control variable of a primary controller of the distribution network according to the first voltage-frequency control variable;

[0173] The control module 35 is used to enable the primary controller to control the voltage and frequency of the distribution network according to the second voltage and frequency control amount.

[0174] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0175] It should be noted that in the embodiments of this specification, 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 are all information and data authorized by the user and fully authorized by all parties, that is, the acquisition, transmission, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0176] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0177] The embodiments of this specification also provide a computer device. Figure 4 As shown, in some embodiments of the present specification, the computer device 402 may include one or more processors 404, 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 402 may also include any memory 406, 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 406 and can be run on the processor 404, when the computer program is run by the processor 404, can execute the instructions of the distribution network voltage control method considering the instability factor of wireless communication described in any of the above embodiments. Non-limiting, for example, the memory 406 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 402. In one embodiment, when the processor 404 executes the associated instructions stored in any memory or combination of memories, the computer device 402 can perform any operation of the associated instructions. The computer device 402 also includes one or more drive mechanisms 408 for interacting with any memory, such as a hard disk drive mechanism, an optical disk drive mechanism, etc.

[0178] The computer device 402 may also include an input / output interface 410 (I / O) for receiving various inputs (via input device 412) and for providing various outputs (via output device 414). A specific output mechanism may include a presentation device 416 and an associated graphical user interface 418 (GUI). In other embodiments, the input / output interface 410 (I / O), input device 412, and output device 414 may not be included, and the computer device 402 may be used as a computer device in a network. The computer device 402 may also include one or more network interfaces 420 for exchanging data with other devices via one or more communication links 422. One or more communication buses 424 couple the components described above together.

[0179] The communication link 422 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 422 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc. governed by any protocol or combination of protocols.

[0180] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), computer-readable storage media, and computer program products of some embodiments of the present specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processor to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processor generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0181] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processor to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0182] These computer program instructions can also be loaded onto a computer or other programmable data processor so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0183] In a typical configuration, a computer device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0184] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0185] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computer device. As defined in this specification, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0186] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, the embodiments of this specification may take the form of complete hardware embodiments, complete software embodiments or embodiments combining software and hardware. Moreover, the embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0187] The present specification embodiments may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present specification embodiments may also be practiced in distributed computing environments where tasks are performed by remote processors connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0188] 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 this article generally indicates that the associated objects before and after are in an "or" relationship.

[0189] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0190] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of this specification. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0191] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A distribution network voltage control method considering the instability factor of wireless communication, characterized in that: include: Using a secondary controller that takes into account external interference, wireless communication link uncertainty and communication delay, the voltage and frequency of the distribution network are adjusted; Determine whether the voltage and frequency of the distribution network meet preset conditions; When the voltage and frequency of the distribution network meet the preset conditions, obtaining a first voltage and frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions; Determining a second voltage-frequency control variable of a primary controller of the distribution network according to the first voltage-frequency control variable; Includes: According to the formula The voltage intermediate parameters and frequency intermediate parameters are calculated; among them, is the voltage intermediate parameter of the i-th node; is the voltage control quantity of the i-th node output by the secondary controller; is the active power of the i-th node; is the frequency intermediate parameter of the i-th node; is the frequency control quantity for the i-th node output by the secondary controller; is the reactive power of the ith node; integrating the voltage intermediate parameter and the frequency intermediate parameter to obtain the second control quantity of the primary controller; The first-level controller controls the voltage and frequency of the distribution network according to the second voltage and frequency control amount; comprising: enabling the first-level controller to control the voltage and frequency of the distribution network according to the formula Adjust the voltage and frequency of the distribution network; wherein, ω i is the frequency of the i-th node; is the frequency control quantity for the i-th node output by the first-level controller; is the constant active gain of the ith node; P i is the low-pass filtered value of the active power of the ith node; V odi is the d-axis voltage of the i-th node; is the voltage control quantity of the i-th node output by the first-level controller; is the constant reactive gain of the ith node; Q i is the low-pass filter value of the reactive power of the ith node; V oqi is the q-axis voltage control quantity of the i-th node.

2. The method for controlling voltage of a distribution network taking into account unstable factors of wireless communication as claimed in claim 1, characterized in that: The secondary controller considering external interference, wireless communication link uncertainty and communication delay includes: in, is the error derivative at time t; Ω is the gain matrix of the two-stage controller; is the error coefficient matrix, and is the Laplace matrix, is a standard diagonal matrix; is time t uncertainty; τ is the communication delay; e(t-τ) is the error vector of Z(t) at time t considering the communication delay; D(t) is the disturbance matrix at time t; Z(t) is the output matrix of the secondary controller at time t; e(t) is the error vector of Z(t) at time t.

3. The method for controlling voltage of a distribution network considering unstable factors of wireless communication according to claim 1, characterized in that: The preset conditions include: Among them, u(t) is the voltage control quantity actually output by the secondary controller at time t; v(t l ) is t l The voltage control quantity solved by the secondary controller at the moment V odi (t-τ) is the d-axis voltage of the i-th node considering the communication delay at time t; ω i (t-τ) is the frequency of the i-th node considering the communication delay at time t; V odi (t) is the d-axis voltage of the i-th node at time t; ω i (t) is the frequency of the ith node at time t; T represents the matrix transpose; inf is the lower bound; t l is the adjustment time for the first adjustment; t l+1 is the adjustment time for the l+1th adjustment; A1, A2 and B are all intermediate parameters; D is the event-triggered switching threshold; π1 is a constant greater than zero and less than 1; m1, m2, m3 are all positive constants.

4. The method for controlling voltage of a distribution network considering the instability factor of wireless communication according to claim 1, characterized in that: Obtaining a first voltage-frequency control value output by the secondary controller when the voltage and frequency of the power distribution network meet preset conditions, comprising: The first voltage and frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions is obtained according to the following formula: in, is the voltage control quantity of the i-th node output by the secondary controller; c v is a positive voltage gain constant; n is the number of nodes in the distribution network; is the wireless communication gain of the voltage between the i-th node and the j-th node in the distribution network; is the wireless communication gain uncertainty of the voltage between the i-th node and the j-th node in the distribution network; τ is the communication delay; V odj (t-τ) is the d-axis voltage of the jth node considering the communication delay at time t; V odi (t-τ) is the d-axis voltage of the i-th node considering the communication delay at time t; is the wireless communication gain of the voltage between the primary and secondary controllers of the i-th node of the distribution network; is the wireless communication gain uncertainty of the voltage between the primary and secondary controllers of the i-th node of the distribution network; V ref is the reference voltage; is the external interference of the voltage of the i-th node; is the frequency control quantity of the i-th node output by the secondary controller; c ω is a frequency gain constant with a positive value; is the wireless communication gain of the frequency between the i-th node and the j-th node in the distribution network; is the uncertainty of the wireless communication gain between the i-th node and the j-th node in the distribution network; ω j (t-τ) is the frequency of the jth node considering the communication delay at time t; ω i (t-τ) is the frequency of the i-th node considering the communication delay at time t; is the wireless communication gain of the frequency between the primary and secondary controllers of the i-th node of the distribution network; is the wireless communication gain uncertainty of the frequency between the primary and secondary controllers of the i-th node of the distribution network; ω ref is the reference frequency; is the external interference of the frequency of the i-th node; Δa ij for or ψ ij is the uncertain upper limit value between the i-th node and the j-th node; a ij for or 5. A distribution network voltage control device taking into account the instability factor of wireless communication, characterized in that: include: A regulation module, used to regulate the voltage and frequency of the distribution network by using a secondary controller that takes into account external interference, wireless communication link uncertainty and communication delay; A judgment module, used to judge whether the voltage and frequency of the distribution network meet preset conditions; An acquisition module, used for acquiring a first voltage-frequency control value output by the secondary controller when the voltage and frequency of the distribution network meet the preset conditions; A determination module is used to determine the second voltage-frequency control amount of the primary controller of the distribution network according to the first voltage-frequency control amount; comprising: according to the formula The voltage intermediate parameters and frequency intermediate parameters are calculated; among them, is the voltage intermediate parameter of the i-th node; is the voltage control quantity of the i-th node output by the secondary controller; is the active power of the i-th node; is the frequency intermediate parameter of the i-th node; is the frequency control quantity for the i-th node output by the secondary controller; is the reactive power of the ith node; integrating the voltage intermediate parameter and the frequency intermediate parameter to obtain the second control quantity of the primary controller; A control module is used to enable the primary controller to control the voltage and frequency of the distribution network according to the second voltage and frequency control amount; including: enabling the primary controller to control the voltage and frequency of the distribution network according to the formula Adjust the voltage and frequency of the distribution network; wherein, ω i is the frequency of the i-th node; is the frequency control quantity for the i-th node output by the first-level controller; is the constant active gain of the ith node; P i is the low-pass filtered value of the active power of the ith node; V odi is the d-axis voltage of the i-th node; is the voltage control quantity of the i-th node output by the first-level controller; is the constant reactive gain of the ith node; Q i is the low-pass filter value of the reactive power of the ith node; V oqi is the q-axis voltage control quantity of the i-th node.

6. 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 4.

7. A computer 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 the instructions of the method according to any one of claims 1 to 4.

8. A computer program product, characterized in that The computer program product comprises a computer program, and 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 4.

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