A distributed control method and system for temperature-controlled load power resilience under network attacks

Abstract

The present invention discloses a method and system for distributed control of temperature-controlled load power resilience under network attacks, which is applied to the field of load control technology. The method includes the following steps: establishing a temperature-controlled load power distributed control system, including a temperature-controlled load single-unit model and a distributed controller based on leader-follower consistency theory; establishing a corresponding network attack model based on the temperature-controlled load power distributed control system being subject to DoS and FDI attacks; analyzing the power tracking error of the temperature-controlled load under network attacks based on the network attack model; and implementing temperature-controlled load power resilience distributed control based on a virtual control layer based on the temperature-controlled load power distributed control system and the network attack model. The present invention can effectively resist DoS and FDI attacks and ensure the smooth operation of the temperature-controlled load power regulation process.

Description

Technical Field

[0001] The present invention relates to the field of load control technology, and more particularly to a distributed control method and system for temperature-controlled load power resilience under network attacks. Background Art

[0002] The penetration rate of renewable energy in my country's power system continues to increase. This increased integration exacerbates power system volatility, making it difficult to address the increasingly severe power imbalance problem through traditional approaches that rely solely on generation-side regulation. Therefore, it is necessary to fully tap the regulatory potential of flexible, controllable load resources on the demand side. Temperature-controlled loads, with their high power consumption, strong controllability, and fast response times, are a key controllable resource on the demand side.

[0003] Distributed control, with its excellent scalability and flexibility, is a mainstream approach for temperature-controlled loads. However, distributed control relies heavily on communication networks and IoT devices that lack network security mechanisms, making it vulnerable to cyberattacks such as DoS and FDI. This can cause temperature-controlled load power regulation failures and threaten the safe operation of the power grid. Therefore, providing a distributed control method and system for temperature-controlled load power that is resilient to cyberattacks is a pressing issue for those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a method and system for distributed control of temperature-controlled load power resilience under network attacks to cope with the DoS and FDI attack threats faced by temperature-controlled load distributed control in the existing technology, effectively resist Dos and FDI attacks, and ensure the smooth progress of the temperature-controlled load power adjustment process.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A distributed control method for temperature-controlled load power resilience under network attacks includes the following steps:

[0007] Establish a temperature-controlled load power distributed control system, including a temperature-controlled load single-unit model and a distributed controller based on leader-follower consistency theory;

[0008] Based on the situation that the temperature control load power distributed control system is attacked by DoS and FDI, a corresponding network attack model is established. Based on the network attack model, the power tracking error of the temperature control load under network attack is analyzed;

[0009] According to the temperature-controlled load power distributed control system and network attack model, temperature-controlled load power resilient distributed control based on the virtual control layer is realized.

[0010] Optionally, based on the situation where the temperature-controlled load power distributed control system is attacked by DoS and FDI, a corresponding network attack model is established, and the power tracking error of the temperature-controlled load under the network attack is analyzed based on the network attack model, specifically:

[0011] Based on the situation that the temperature-controlled load power distributed control system is attacked by FDI, an FDI attack model is established;

[0012] Based on the situation that the temperature control load power distributed control system is attacked by DoS, a DoS attack model is established;

[0013] Based on the FDI attack model and DoS attack model, the power tracking error of the temperature control load under DoS and FDI attacks is analyzed;

[0014] The FDI attack model is as follows:

[0015]

[0016] Where, θ is the power state of the temperature control load, is the power state change rate of the temperature control load after being attacked by FDI, 1 N is an N-dimensional column vector whose elements are all 1, θ ref is the reference value of the temperature-controlled load power state, L is the communication matrix of the temperature-controlled load power distributed control system, B is the containment matrix of the temperature-controlled load power distributed control system, δ is the FDI attack signal, and its change rate is F is the attack matrix, in is a positive constant, || ||2 represents the 2-norm;

[0017] The DoS attack model is as follows:

[0018]

[0019] Where, is the power state change rate of the temperature control load after the DoS attack, L * B is the communication matrix of the temperature control load power distributed control system after the DoS attack. * Figure 2 is the containment matrix of the temperature-controlled load power distributed control system after a DoS attack.

[0020] Optionally, the power tracking error of the temperature control load under DoS and FDI attacks is analyzed based on the FDI attack model and the DoS attack model as follows:

[0021] According to the FDI attack model, the power state tracking error of the temperature control load under FDI attack is:

[0022]

[0023] e=θ-1 N θ ref

[0024] Where, e is the power state tracking error of the temperature control load, is the power state tracking error of the temperature-controlled load under FDI attack;

[0025] According to the DoS attack model, the power state tracking error of the temperature control load under DoS attack is:

[0026]

[0027] Where, is the power state tracking error of the temperature-controlled load under DoS attack.

[0028] Optionally, the implementation of temperature-controlled load power resilient distributed control based on a virtual control layer according to the temperature-controlled load power distributed control system and the network attack model is specifically as follows:

[0029] A virtual control layer design is introduced to implement resilient distributed control of temperature-controlled load power. This virtual control layer is used to modify the system matrix of the temperature-controlled load power distributed control system, enhancing the system's resilience to cyberattacks.

[0030] The virtual control layer design is as follows:

[0031]

[0032] Where, θ is the power state of the temperature control load, θ ref is the reference value of the temperature-controlled load power state, L is the communication matrix of the temperature-controlled load power distributed control system, B is the constraint matrix of the temperature-controlled load power distributed control system, α is the interaction coefficient between the virtual control layer and the temperature-controlled load power distributed control system, C is the interaction matrix between the virtual control layer and the temperature-controlled load power distributed control system, η is the state variable of the virtual control layer, is the rate of change of the state variables of the virtual control layer, L η is the communication matrix of the virtual control layer, B η It is the constraint matrix of the virtual control layer.

[0033] Optionally, also include:

[0034] The Lyapunov stability method and simulation experiments are used to verify the power resilience distributed control method of temperature-controlled loads.

[0035] Optionally, the Lyapunov stability method and simulation experiment are used to verify the distributed control of power resilience of temperature control loads as follows:

[0036] The effectiveness of the temperature-controlled load power resilience distributed control method in resisting FDI attacks is verified:

[0037] According to the FDI attack model and the temperature control load power resilient distributed control method based on the virtual control layer, the dynamic model of the temperature control load power distributed control system under FDI attack after adding the virtual control layer is obtained;

[0038] According to the dynamic model of the temperature-controlled load power distributed control system after adding the virtual control layer under FDI attack, the system equilibrium point is defined and the system state error is obtained;

[0039] Design Lyapunov function and perform asymptotic stability analysis on system state error through the derivative of Lyapunov function with respect to time;

[0040] Combined with the asymptotic stability analysis of the system equilibrium point and the system state error, the power control error of the temperature control load is analyzed;

[0041] Verify the effectiveness of the temperature-controlled load power resilience distributed control method in resisting DoS attacks:

[0042] According to the DoS attack model and the temperature control load power resilient distributed control method based on the virtual control layer, the dynamic model of the temperature control load power distributed control system under FDI attack after adding the virtual control layer is obtained.

[0043] Based on the dynamic model of the temperature-controlled load power distributed control system under DoS attack after adding the virtual control layer, the system equilibrium point is defined and the system state error is obtained.

[0044] Design Lyapunov function and perform asymptotic stability analysis on system state error through the derivative of Lyapunov function with respect to time;

[0045] The power control error of the temperature-controlled load is analyzed by combining the asymptotic stability analysis of the system equilibrium point and the system state error.

[0046] A distributed control system for temperature-controlled load power resilience under network attacks, which implements the above-mentioned distributed control method for temperature-controlled load power resilience under network attacks, includes:

[0047] System building module, used to establish a temperature-controlled load power distributed control system, including a temperature-controlled load single-unit model and a distributed controller based on leader-follower consistency theory;

[0048] Attack setting module, used to set DoS and FDI attacks against temperature control load power distributed control system and establish corresponding network attack models;

[0049] The control implementation module implements temperature-controlled load power resilient distributed control based on the virtual control layer according to the temperature-controlled load power distributed control system and the network attack model.

[0050] Optionally, a method verification module is also included for verification using the Lyapunov stability method and simulation experiments.

[0051] It can be seen from the above technical solution that compared with the existing technology, the present invention provides a distributed control method and system for temperature-controlled load power resilience under network attacks, which has the following beneficial effects: the present invention establishes a temperature-controlled load power distributed control system, including establishing a temperature-controlled load monomer model and a distributed controller based on the leader-follower consistency theory; based on the situation where the distributed control system is attacked by DoS and FDI, a corresponding network attack model is established, and the power tracking error of the temperature-controlled load under network attacks is analyzed based on the network attack model; according to the distributed control system and the network attack model, distributed control of temperature-controlled load power resilience based on the virtual control layer is realized, thereby effectively resisting DoS and FDI attacks and ensuring the smooth progress of the temperature-controlled load power adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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 merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0053] Figure 1 This is a flow chart of the temperature control load power resilience distributed control method of the present invention;

[0054] Figure 2 Schematic diagram of the power status of each temperature-controlled load when the temperature-controlled load power resilience distributed control method is not used under DoS and FDI attacks in an embodiment of the present invention;

[0055] Figure 3 Schematic diagram of the total power of the temperature-controlled load when the temperature-controlled load power resilience distributed control method is not used under DoS and FDI attacks in an embodiment of the present invention;

[0056] Figure 4 Schematic diagram of the power status of each temperature-controlled load when using the temperature-controlled load power resilience distributed control method under DoS and FDI attacks in an embodiment of the present invention;

[0057] Figure 5 Schematic diagram of the total power of the temperature-controlled load when the temperature-controlled load power resilience distributed control method is used under DoS and FDI attacks in an embodiment of the present invention;

[0058] Figure 6 This is a structural block diagram of the temperature-controlled load power resilience distributed control system of the present invention;

[0059] Figure 7 This is a structural block diagram of a temperature-controlled load power resilience distributed control device in an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0061] The embodiment of the present invention discloses a distributed control method for temperature control load power resilience under network attacks, such as Figure 1 As shown, the following steps are included:

[0062] Establish a temperature-controlled load power distributed control system, including a temperature-controlled load single-unit model and a distributed controller based on leader-follower consistency theory;

[0063] Based on the situation that the temperature control load power distributed control system is attacked by DoS and FDI, a corresponding network attack model is established. Based on the network attack model, the power tracking error of the temperature control load under network attack is analyzed;

[0064] According to the temperature-controlled load power distributed control system and network attack model, temperature-controlled load power resilient distributed control based on the virtual control layer is realized.

[0065] Furthermore, based on the situation where the temperature-controlled load power distributed control system is attacked by DoS and FDI, a corresponding network attack model is established. Based on the network attack model, the power tracking error of the temperature-controlled load under the network attack is analyzed as follows:

[0066] Based on the situation that the temperature-controlled load power distributed control system is attacked by FDI, an FDI attack model is established;

[0067] Based on the situation that the temperature control load power distributed control system is attacked by DoS, a DoS attack model is established;

[0068] Based on the FDI attack model and DoS attack model, the power tracking error of the temperature control load under DoS and FDI attacks is analyzed;

[0069] The FDI attack model is as follows:

[0070]

[0071] Where, θ is the power state of the temperature control load, is the power state change rate of the temperature control load after being attacked by FDI, 1 N is an N-dimensional column vector whose elements are all 1, θ ref is the reference value of the temperature-controlled load power state, L is the communication matrix of the temperature-controlled load power distributed control system, B is the containment matrix of the temperature-controlled load power distributed control system, δ is the FDI attack signal, and its change rate is F is the attack matrix, in is a positive constant, || ||2 represents the 2-norm;

[0072] The DoS attack model is as follows:

[0073]

[0074] Where, is the power state change rate of the temperature control load after the DoS attack, L * B is the communication matrix of the temperature control load power distributed control system after the DoS attack. * Figure 2 is the containment matrix of the temperature-controlled load power distributed control system after a DoS attack.

[0075] Furthermore, based on the FDI attack model and the DoS attack model, the power tracking error of the temperature control load under DoS and FDI attacks is analyzed as follows:

[0076] According to the FDI attack model, the power state tracking error of the temperature control load under FDI attack is:

[0077]

[0078] e=θ-1 N θ ref

[0079] Where, e is the power state tracking error of the temperature control load, is the power state tracking error of the temperature-controlled load under FDI attack;

[0080] In one embodiment of the present invention, the power state tracking error of the temperature-controlled load under FDI attack is solved, and the following is obtained:

[0081]

[0082] Because L + B is a positive definite matrix, the first term converges to 0. Without loss of generality, assuming that the FDI attack signal is positive, that is, δ>δ0>0, where δ0 is a constant vector, the convergence of the power state tracking error of the temperature-controlled load under FDI attack can be obtained as follows:

[0083]

[0084] According to the DoS attack model, the power state tracking error of the temperature control load under DoS attack is:

[0085]

[0086] Where, is the power state tracking error of the temperature-controlled load under DoS attack.

[0087] In one embodiment of the present invention, under a DoS attack, the communication network link of the temperature control load distributed control system is destroyed, so L * +B * With 0 eigenvalue, the convergence of the power state tracking error of the temperature-controlled load under DoS attack can be obtained as follows:

[0088]

[0089] By establishing a network attack model and analyzing the power tracking error of the temperature-controlled load under network attacks based on the network attack model, we can more comprehensively understand the impact of network attacks on the distributed power control of the temperature-controlled load, and provide a solid foundation for subsequent control method design and theoretical analysis.

[0090] Furthermore, the implementation of temperature-controlled load power resilient distributed control based on the virtual control layer according to the temperature-controlled load power distributed control system and the network attack model is specifically as follows:

[0091] A virtual control layer design is introduced to implement resilient distributed control of temperature-controlled load power. This virtual control layer is used to modify the system matrix of the temperature-controlled load power distributed control system, enhancing the system's resilience to cyberattacks.

[0092] The virtual control layer design is as follows:

[0093]

[0094] Where, θ is the power state of the temperature control load, θ ref is the reference value of the temperature-controlled load power state, L is the communication matrix of the temperature-controlled load power distributed control system, B is the constraint matrix of the temperature-controlled load power distributed control system, α is the interaction coefficient between the virtual control layer and the temperature-controlled load power distributed control system, C is the interaction matrix between the virtual control layer and the temperature-controlled load power distributed control system, η is the state variable of the virtual control layer, is the rate of change of the state variables of the virtual control layer, L η is the communication matrix of the virtual control layer, B ηIt is the constraint matrix of the virtual control layer.

[0095] By adding a virtual control layer, resilient distributed control of temperature control loads based on the virtual control layer is realized, which enhances the resilience to DoS and FDI attacks, thereby effectively resisting DoS and FDI attacks.

[0096] Furthermore, it also includes:

[0097] The Lyapunov stability method and simulation experiments are used to verify the power resilience distributed control method of temperature-controlled loads.

[0098] Furthermore, the Lyapunov stability method and simulation experiments are used to verify the distributed control of temperature control load power resilience as follows:

[0099] The effectiveness of the temperature-controlled load power resilience distributed control method in resisting FDI attacks is verified:

[0100] According to the FDI attack model and the temperature control load power resilient distributed control method based on the virtual control layer, the dynamic model of the temperature control load power distributed control system under FDI attack after adding the virtual control layer is obtained;

[0101] According to the dynamic model of the temperature-controlled load power distributed control system after adding the virtual control layer under FDI attack, the system equilibrium point is defined and the system state error is obtained;

[0102] Design Lyapunov function and perform asymptotic stability analysis on system state error through the derivative of Lyapunov function with respect to time;

[0103] Combined with the asymptotic stability analysis of the system equilibrium point and the system state error, the power control error of the temperature control load is analyzed;

[0104] Verify the effectiveness of the temperature-controlled load power resilience distributed control method in resisting DoS attacks:

[0105] According to the DoS attack model and the temperature control load power resilient distributed control method based on the virtual control layer, the dynamic model of the temperature control load power distributed control system under FDI attack after adding the virtual control layer is obtained.

[0106] Based on the dynamic model of the temperature-controlled load power distributed control system under DoS attack after adding the virtual control layer, the system equilibrium point is defined and the system state error is obtained.

[0107] Design Lyapunov function and perform asymptotic stability analysis on system state error through the derivative of Lyapunov function with respect to time;

[0108] The power control error of the temperature-controlled load is analyzed by combining the asymptotic stability analysis of the system equilibrium point and the system state error.

[0109] In an embodiment of the present invention, the Lyapunov stability method and simulation experiments are used to verify the distributed control of temperature-controlled load power resilience, proving that the distributed control method of temperature-controlled load power resilience under network attacks can ensure the smooth progress of the temperature-controlled load power adjustment process under DoS and FDI attacks, and achieve the temperature-controlled load power control target.

[0110] Specifically: Combining the FDI attack model and the virtual control layer design, we can obtain the dynamic model of the temperature-controlled load power distributed control system after adding the virtual control layer under FDI attack, specifically:

[0111]

[0112] Define the conditions for satisfying the system equilibrium point, specifically:

[0113] -(L+B)(θ * -1 N θ ref )+αCη * +δ * =0

[0114] -(L η +B η )η * -αC(θ * -1 N θ ref )=0

[0115] δ * +Fθ * =0

[0116] Among them, θ * ,η * and δ * is the system equilibrium point;

[0117] Let ε = θ - θ * ,ρ=η-η * and σ=δ-δ * is the system state error. Combining the dynamic model and the conditions for satisfying the system equilibrium point, the system state error can be obtained, specifically:

[0118]

[0119] Combined with Lyapunov's inverse theorem, if the system equilibrium point meets the conditions, then there exists a Lyapunov function V η satisfy in

[0120] The Lyapunov function V is defined as:

[0121]

[0122] The derivative of the Lyapunov function V with respect to time Specifically:

[0123]

[0124] visible, Therefore, the system state error is asymptotically stable;

[0125] According to the conditions of the system balance point, the temperature control load power control error can be obtained as follows:

[0126]

[0127] Where K = (L + B) + α 2 C(L η +B η ) -1 C, set || K appropriately -1 ||2 Can reduce the power control error of temperature-controlled load.

[0128] Combining the DoS attack model and the virtual control layer design, we can obtain the dynamic model of the temperature-controlled load power distributed control system under DoS attack after adding the virtual control layer. Specifically:

[0129]

[0130] Define the conditions for satisfying the system equilibrium point, specifically:

[0131] -(L * +B * )(θ'-1 N θ ref )+αCη′=0

[0132] -(L η +B η )η'-αC(θ'-1 N θ ref )=0

[0133] Among them, θ' and η' are the equilibrium points of the system;

[0134] Let ε' = θ - θ' and ρ' = η - η' be the system state error. Combining the dynamic model and the conditions for satisfying the system equilibrium point, the system state error can be obtained, specifically:

[0135]

[0136] The Lyapunov function V' is defined as:

[0137]

[0138] The derivative of the Lyapunov function V' with respect to time Specifically:

[0139]

[0140] visible, Therefore, the system state error is asymptotically stable;

[0141] According to the conditions of the system balance point, the temperature control load power control error can be obtained as follows:

[0142] ||θ'-1 N θ ref ||2=0.

[0143] In the embodiment of the present invention, in a specific application, the parameters of the temperature control load distributed control system are as shown in Table 1, where U is uniformly distributed and the rated power of all temperature control loads is the same.

[0144] Table 1

[0145]

[0146] In order to verify the effectiveness of the distributed control method for temperature-controlled load power resilience under network attacks, the simulation process is designed as follows:

[0147] 1. At t = 0s, the demand response process begins. The power system's required regulation capacity is 300 kW, and the number of temperature-controlled loads participating in the demand response is 200. Simultaneously, a DoS attack is launched against the distributed control system.

[0148] 2. t = 50s, launch an FDI attack on the distributed control system;

[0149] The total simulation time is 100s; among them, the controller parameters α=500, L η +B η is a 150-order diagonal matrix with -1 elements, and C is a 150-order unit matrix;

[0150] The experimental results and analysis are as follows:

[0151] When the temperature control load power resilience distributed control method is not used under DoS and FDI attacks, the power status and total power of each temperature control load are as follows: Figure 2 and Figure 3As shown in the figure, it can be seen that during the period of 0-50s, the temperature-controlled load power distributed control system is attacked by DoS, the temperature-controlled load power state cannot converge to the reference value consistently, and the total power cannot drop to the target value; during the period of 50-100s, the temperature-controlled load power distributed control system is attacked by FDI, the temperature-controlled load power state diverges, and the total power deviates seriously from the target value. Therefore, it is of practical significance to design an effective control strategy to resist DoS and FDI attacks;

[0152] When using the temperature control load power resilience distributed control method under DoS and FDI attacks, the power status and total power of each temperature control load are as follows: Figure 4 and Figure 5 As shown, it can be seen that even if attacked by DoS and FDI, the temperature-controlled load power resilience distributed control method proposed in this embodiment can still stabilize the power state of the temperature-controlled load at the reference value and complete the demand response task.

[0153] and Figure 1 Corresponding to the method described above, an embodiment of the present invention further discloses a distributed control system for temperature-controlled load power resilience under network attacks, which executes the above-mentioned distributed control method for temperature-controlled load power resilience under network attacks, such as Figure 6 Shown, including:

[0154] System building module, used to establish a temperature-controlled load power distributed control system, including a temperature-controlled load single-unit model and a distributed controller based on leader-follower consistency theory;

[0155] Attack setting module, used to set DoS and FDI attacks against temperature control load power distributed control system and establish corresponding network attack models;

[0156] The control implementation module implements temperature-controlled load power resilient distributed control based on the virtual control layer according to the temperature-controlled load power distributed control system and the network attack model.

[0157] Furthermore, it also includes a method verification module for verifying using the Lyapunov stability method and simulation experiments.

[0158] See also Figure 7 , Figure 7 This is a block diagram of a distributed control device for temperature-controlled load power resilience under network attacks, provided in an embodiment of the present invention. The distributed control device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the aforementioned distributed control method for temperature-controlled load power resilience under network attacks. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in each of the aforementioned system embodiments.

[0159] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the distributed control device for temperature-controlled load power resilience under the network attack.

[0160] The distributed control device for temperature-controlled load power resilience under network attacks may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a distributed control device for temperature-controlled load power resilience under network attacks and does not limit the distributed control device for temperature-controlled load power resilience under network attacks. The device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the distributed control device for temperature-controlled load power resilience under network attacks may also include input and output devices, network access devices, buses, and the like.

[0161] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the temperature-controlled load power resilience distributed control device under network attacks, and utilizes various interfaces and lines to connect the various parts of the temperature-controlled load power resilience distributed control device under network attacks.

[0162] The memory can be used to store the computer programs and / or modules, and the processor implements the various functions of the distributed control device for temperature-controlled load power resilience under network attacks by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, a phone book, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0163] Among them, if the integrated module / unit of the distributed control device for temperature-controlled load power resilience under network attacks is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0164] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple. The working process of each module in the temperature-controlled load power resilience distributed control system under network attacks described in the embodiment of the present invention can refer to the working process of the temperature-controlled load power resilience distributed control method under network attacks described in the above embodiment, and will not be repeated here.

[0165] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distributed control method for temperature-controlled load power resilience under network attacks, characterized in that: The following steps are involved: Establish a temperature-controlled load power distributed control system, including a temperature-controlled load single-unit model and a distributed controller based on leader-follower consistency theory; Based on the situation that the temperature control load power distributed control system is attacked by DoS and FDI, a corresponding network attack model is established. Based on the network attack model, the power tracking error of the temperature control load under network attack is analyzed; According to the temperature control load power distributed control system and network attack model, the temperature control load power resilient distributed control based on the virtual control layer is realized; Based on the situation where the temperature control load power distributed control system is attacked by DoS and FDI, a corresponding network attack model is established. Based on the network attack model, the power tracking error of the temperature control load under the network attack is analyzed as follows: Based on the situation that the temperature-controlled load power distributed control system is attacked by FDI, an FDI attack model is established; Based on the situation that the temperature control load power distributed control system is attacked by DoS, a DoS attack model is established; Based on the FDI attack model and DoS attack model, the power tracking error of the temperature control load under DoS and FDI attacks is analyzed; The FDI attack model is as follows: Where, θ is the power state of the temperature control load, is the power state change rate of the temperature control load after being attacked by FDI, 1 N is an N-dimensional column vector whose elements are all 1, θ ref is the reference value of the temperature-controlled load power state, L is the communication matrix of the temperature-controlled load power distributed control system, B is the containment matrix of the temperature-controlled load power distributed control system, δ is the FDI attack signal, and its change rate is F is the attack matrix, in is a positive constant, || ||2 represents the 2-norm; The DoS attack model is as follows: Where, is the power state change rate of the temperature control load after the DoS attack, L * B is the communication matrix of the temperature control load power distributed control system after the DoS attack. * This is the containment matrix of the temperature-controlled load power distributed control system after a DoS attack; Based on the FDI attack model and the DoS attack model, the power tracking error of the temperature control load under DoS and FDI attacks is analyzed as follows: According to the FDI attack model, the power state tracking error of the temperature control load under FDI attack is: e=θ-1 N i ref Where, e is the power state tracking error of the temperature control load, is the power state tracking error of the temperature-controlled load under FDI attack; According to the DoS attack model, the power state tracking error of the temperature control load under DoS attack is: Where, is the power state tracking error of the temperature-controlled load under DoS attack.

2. The distributed control method for temperature-controlled load power resilience under network attacks according to claim 1 is characterized in that: The implementation of temperature control load power resilient distributed control based on the virtual control layer according to the temperature control load power distributed control system and the network attack model is specifically as follows: A virtual control layer design is introduced to implement resilient distributed control of temperature-controlled load power. This virtual control layer is used to modify the system matrix of the temperature-controlled load power distributed control system, enhancing the system's resilience to cyberattacks. The virtual control layer design is as follows: Where, θ is the power state of the temperature control load, θ ref is the reference value of the temperature-controlled load power state, L is the communication matrix of the temperature-controlled load power distributed control system, B is the constraint matrix of the temperature-controlled load power distributed control system, α is the interaction coefficient between the virtual control layer and the temperature-controlled load power distributed control system, C is the interaction matrix between the virtual control layer and the temperature-controlled load power distributed control system, η is the state variable of the virtual control layer, is the rate of change of the state variables of the virtual control layer, L η is the communication matrix of the virtual control layer, B η It is the constraint matrix of the virtual control layer.

3. The distributed control method for temperature-controlled load power resilience under network attacks according to claim 1 is characterized in that: Also includes: The Lyapunov stability method and simulation experiments are used to verify the power resilience distributed control method of temperature-controlled loads.

4. The distributed control method for temperature-controlled load power resilience under network attacks according to claim 3 is characterized in that: The Lyapunov stability method and simulation experiments are used to verify the distributed control of temperature control load power resilience as follows: The effectiveness of the temperature-controlled load power resilience distributed control method in resisting FDI attacks is verified: According to the FDI attack model and the temperature control load power resilient distributed control method based on the virtual control layer, the dynamic model of the temperature control load power distributed control system under FDI attack after adding the virtual control layer is obtained; According to the dynamic model of the temperature-controlled load power distributed control system after adding the virtual control layer under FDI attack, the system equilibrium point is defined and the system state error is obtained; Design Lyapunov function and perform asymptotic stability analysis on system state error through the derivative of Lyapunov function with respect to time; Combined with the asymptotic stability analysis of the system equilibrium point and the system state error, the power control error of the temperature control load is analyzed; Verify the effectiveness of the temperature-controlled load power resilience distributed control method in resisting DoS attacks: According to the DoS attack model and the temperature control load power resilient distributed control method based on the virtual control layer, the dynamic model of the temperature control load power distributed control system under FDI attack after adding the virtual control layer is obtained. Based on the dynamic model of the temperature-controlled load power distributed control system under DoS attack after adding the virtual control layer, the system equilibrium point is defined and the system state error is obtained. Design Lyapunov function and perform asymptotic stability analysis on system state error through the derivative of Lyapunov function with respect to time; The power control error of the temperature-controlled load is analyzed by combining the asymptotic stability analysis of the system equilibrium point and the system state error.

5. A distributed control system with temperature-controlled load power resilience under network attacks, characterized in that: A method for distributed control of temperature-controlled load power resilience under network attacks according to any one of claims 1 to 4 is implemented, comprising: System building module, used to establish a temperature-controlled load power distributed control system, including a temperature-controlled load single-unit model and a distributed controller based on leader-follower consistency theory; Attack setting module, used to set DoS and FDI attacks against temperature control load power distributed control system and establish corresponding network attack models; The control implementation module implements temperature-controlled load power resilient distributed control based on the virtual control layer according to the temperature-controlled load power distributed control system and the network attack model.

6. A distributed control system for temperature-controlled load power resilience under network attacks according to claim 5, characterized in that: It also includes a method verification module for verification using the Lyapunov stability method and simulation experiments.

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