Micro-grid voltage elasticity consistency control method based on trusted communication node and medium

Abstract

The invention discloses a micro-grid voltage elasticity consistency control method based on trusted communication nodes, and relates to the field of micro-grid safe operation control, and the method comprises the steps: obtaining a micro-grid communication network topological graph G, and calculating r-robustness and (r, s)-robustness; setting trusted communication nodes in the topological graph G to obtain a trusted communication network and calculating rT-robustness and (r, s) T-robustness; a micro-grid voltage elasticity consistency control method is designed by considering the reactive power proportion equalization consistency requirement and the average voltage observation value consistency requirement among DGs of the micro-grid. Based on definitions of r-robustness, (r, s)-robustness and the like, trusted communication nodes are arranged in a communication network, the communication robustness of the communication network is enhanced, the number of tolerable hostile attack nodes in a system is increased, and a microgrid voltage elastic control strategy based on the trusted nodes is provided; and the operation stability of the system under the network attack is improved.

Description

Technical Field

[0001] The present invention relates to the field of microgrid safe operation control, and more specifically, to a microgrid voltage elastic consistency control method and medium based on a trusted communication node. Background Art

[0002] With the intensification of the global energy crisis and environmental pollution, building a cleaner and low-carbon energy system is an inevitable choice for mankind. As an effective organizational form of distributed generation units (DG), microgrids play an increasingly important role in improving power supply reliability and flexibility, especially in remote areas or island areas. The secondary control modes of existing microgrids mainly include centralized control, decentralized control and distributed control, among which distributed control is becoming more and more popular due to its flexibility and scalability. In the distributed control architecture, adjacent DGs usually rely on sparse communication networks to achieve information exchange, and the state of the communication network will directly affect the dynamic performance and operational stability of the microgrid.

[0003] As public wireless communication technologies such as 5G and Wi-Fi are increasingly widely used in the field of microgrid communications, the issue of network security in microgrids also needs urgent attention. As the key to distributed control of microgrids, communication networks are very vulnerable to malicious network attacks such as false data injection attacks, denial of service attacks, and replay attacks. The above network attacks can ultimately achieve the purpose of destroying the safe and stable operation of microgrids by manipulating communication information and changing communication status. Therefore, it is necessary to consider how to design the latest communication network to improve the topological robustness of the communication network and increase the tolerance of the control system to the number of internal malicious nodes when there are malicious attack nodes inside the communication network. In addition, it is also necessary to consider how to design an effective microgrid voltage elasticity consistency control method based on the latest communication network to ensure that the system voltage elasticity is asymptotically stable under network attacks, so as to achieve the safe and stable operation of the overall microgrid. Summary of the invention

[0004] The purpose of the present invention is to design the latest communication network to improve the topological robustness of the communication network when there are malicious attack nodes inside the communication network, improve the tolerance of the control system to the number of internal malicious nodes, and design an effective microgrid voltage elastic consistency control method based on the latest communication network to ensure that the system voltage elasticity is asymptotically stable under network attacks, so as to achieve the safe and stable operation of the microgrid as a whole. In order to achieve the purpose of the invention, the present invention provides a microgrid voltage elastic consistency control method based on trusted communication nodes.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] The original microgrid sparse communication network is represented as a topology graph G by using graph theory method, and the network topology robustness indexes corresponding to the topology graph G, namely r-robustness and (r, s)-robustness, are calculated;

[0007] Set N nodes in the topology graph G. T trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index of the latest trusted communication network, namely (r T - robustness) and (r, s) T - Robustness;

[0008] According to the latest trusted communication network and the network topology robustness index, considering the consistency requirement of proportional distribution of reactive power among distributed generation units DG in the microgrid and the consistency requirement of average voltage observation value, a microgrid voltage elastic consistency control method based on the trusted communication node is designed.

[0009] Furthermore, the definition of r-robustness includes:

[0010] r-reachability is defined as: given a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there is a node v in S i Connected to r nodes that do not belong to the set S, that is Satisfy|N i \S|≥r, then the set S is called an r-reachable set, where N i Represents node v i The set of neighbor nodes of

[0011] The definition of r-robustness is: for a node set V containing n (n ≥ 2) elements in a topological graph G, if at least one node subset of each pair of non-empty disjoint node subsets S1 and S1 satisfies the definition of r-reachable sets, then the topological graph G is said to satisfy r-robustness, that is, if and have Satisfy|N i \S1|≥r or Satisfy|N i \S2|≥r, then the topological graph G is called r-robust.

[0012] Furthermore, the definition of (r, s)-robustness includes:

[0013] (r, s)-reachability is defined as follows: for a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there are at least s nodes v in the set S i, and each node has at least r neighbor nodes outside S, that is, for a given set have Then the set S is called a (r, s)-reachable set, where N i Represents node v i The set of neighbor nodes of

[0014] Then the (r, s)-robustness is defined as follows: for a topological graph G = (V, E) containing n nodes (n ≥ 2) and a non-empty subset S of the corresponding node set V, define the set 0≤s≤n, if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then the topological graph G is called (r, s)-robust.

[0015] Furthermore, the N nodes of the matrix G are selected and set T trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index of the latest trusted communication network, namely (r T - robustness) and (r, s) T -Robustness, including:

[0016] Select and set N in the communication network node set V in the matrix G=(V, E) T The nodes are trusted communication nodes, and the latest trusted communication network G* containing the trusted communication node set T is obtained;

[0017] Define the r T -Robustness is: for a node set V containing n (n≥2) elements in a topological graph G, any pair of non-empty disjoint node subsets S1 and S2 inside it, if at least one of these node subsets satisfies the condition that the topological graph G contains a trusted communication node set T and is r-reachable, then the topological graph G is said to satisfy the r-robustness condition that the topological graph G contains a trusted communication node set T;

[0018] Define (r, s) T -Robustness is: for a communication topology graph G = (V, E) containing n nodes (n ≥ 2), if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then the graph G is said to be (r, s)-robust under the set of trusted communication nodes T;

[0019] Calculate the network topology robustness index r of the trusted communication network G* T - Robustness and (r, s) T -Robustness.

[0020] Furthermore, according to the calculation and the definition of the network topology robustness index, compared with the network topology robustness index corresponding to the topology graph G, namely r-robustness and (r, s)-robustness, the selection and setting of N T The network topology robustness index of the latest trusted communication network after the trusted communication nodes is (r T - robustness) and (r, s) T - Higher robustness, indicating better performance of the latest trusted communication network.

[0021] Further, when designing the microgrid voltage elastic consistency control method based on the trusted communication node considering the reactive power proportional distribution consistency requirement and the average voltage observation value consistency requirement between the distributed generation units DG of the microgrid, the link weight of the trusted communication network is optimized according to the following steps, including:

[0022] In each time step k, the neighbor set of node i is defined as N(i). After receiving the neighbor information, node i sorts all state quantities and forms a numerical sequence q i (k), including: DG i Neighbor reactive power state value n received at time k i Q i (k) Sort the values ​​to get a new reactive information sequence About DG i Neighborhood voltage observations received at time k Sort the values ​​and get new information sequences

[0023] If there is at least one trusted communication node in the neighbor set N(i) of node i, then DG is defined as i The set of trusted communication nodes make and is the maximum and minimum value of reactive information in the trusted communication node set T(i), let DG i Neighbor node set N i All nodes in (k) that satisfy the following formula are grouped into a set

[0024]

[0025] in,

[0026] Defining DG i The set of trusted communication nodes make and is the maximum and minimum value of the voltage observation information in the trusted communication node set T(i), DGi Neighbor node set N i All nodes in (k) are grouped into the following sets

[0027]

[0028] in,

[0029]

[0030] If there is no trusted communication node in the neighbor set N(i) of node i, then the sequence q i (k) and All elements in x i (k) is n i Q i (k) and Compare all the elements in i There are F or more states in (k) that are greater than x i (k), then node i removes q i (k) is a large state variable, if q i There exists a value greater than x in (k) i (k) The number of state quantities is less than F, then node i will take those state quantities greater than x i (k) is completely removed; similarly, if q i There are F or more states in (k) that are smaller than x i (k), then node i removes q i (k) If there are F smaller states than x i (k) The number of state quantities is less than F, then node i will take those states less than x i All state quantities of (k) are removed;

[0031] In each time step k, the node set corresponding to the remaining state after removing the state is defined as H i (k);

[0032] The original weight adjacency matrix A and the set H i (k) The corresponding element is replaced with zero, and the values ​​of the remaining non-zero elements in the row are redistributed according to the original weight ratio to obtain the latest adjacency matrix A * , and A * The sum of the elements in each row is 1.

[0033] Further, after optimizing the link weight of the trusted communication network, when considering the reactive power proportionally shared consistency requirement among the distributed generation units DG of the microgrid, the corresponding reactive power sharing deviation expression is designed based on the elastic consensus strategy as follows:

[0034]

[0035] in, is the latest adjacency matrix A * Corresponding element, C Q To meet the reactive power coupling coefficient required for control system stability.

[0036] Further, after optimizing the link weight of the trusted communication network, when considering the consistency requirement of the average voltage observation value of each distributed generation unit DG of the microgrid, the corresponding distributed voltage observer expression is designed based on the elastic consensus strategy as follows:

[0037]

[0038] in, is the latest adjacency matrix A * Corresponding element, C E To meet the voltage coupling coefficient required for control system stability.

[0039] Furthermore, the expression of the microgrid voltage elastic consistency control method based on the trusted communication node is as follows:

[0040]

[0041] Among them, U ni is the nominal voltage, U i Indicates DG i Inverter output voltage, K vi is the voltage control coefficient, K i is the integral coefficient of the controller, β i is the weight coefficient of reactive power sharing and voltage recovery, U ref It is the reference value of the system rated voltage.

[0042] On the other hand, the present invention also provides a computer-readable storage medium, which includes a program for a microgrid voltage elastic consistency control method based on a trusted communication node. When the program for a microgrid voltage elastic consistency control method based on a trusted communication node is executed by a processor, the steps of a microgrid voltage elastic consistency control method based on a trusted communication node as described in the above technical solution are implemented.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention is based on the relevant definitions of communication network topology robustness indicators, namely r-robustness and (r, s)-robustness, and other related definitions. By setting one or more trusted nodes in a known communication network, the connectivity robustness of the communication network is effectively enhanced. While saving the network connection cost of the microgrid, the number of malicious attack nodes that the system can tolerate during operation is increased. Considering that there are three types of nodes in the trusted communication network, namely normal nodes, malicious nodes and trusted nodes, a microgrid voltage elasticity control strategy based on trusted nodes is proposed, and the status information received by each node is processed. The safe operation of each DG of the microgrid under network attack can be achieved without judging in advance whether an attack event occurs, which effectively improves the operation stability of the system under network attack, and can be widely used in practical engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flow chart of a microgrid voltage elastic consistency control method based on a trusted communication node of the present application;

[0046] Figure 2 is a schematic diagram of a microgrid simulation system used in Example 1 of the present application;

[0047] Figure 3 It is a calculation result diagram of the robustness index of the original communication network in Example 1 of the present application;

[0048] Figure 4 It is a calculation result diagram of the robustness index after a trusted communication node is set in the original communication network in Example 1 of the present application;

[0049] Figure 5 It is a calculation result diagram of the robustness index after the original communication network is set with two trusted communication nodes in Example 1 of the present application;

[0050] Figure 6 is a communication network topology diagram used by the test system in Embodiment 1 of the present invention;

[0051] Figure 7 is a running state diagram of each DG in different time periods when there is no trusted communication node in the test system in Embodiment 1 of the present invention;

[0052] Figure 8 It is a communication network topology diagram adopted after setting DG2 and DG7 as trusted communication nodes in Embodiment 1 of the present invention;

[0053] Fig. 9 is an operating state diagram of each DG in a microgrid in different time periods when a trusted communication network is used in Embodiment 1 of the present invention;

[0054] Fig.10It is a simulation result diagram of reactive power sharing of each DG in the microgrid when there is no trusted communication node in Example 2 of the present invention;

[0055] Fig.11 It is a simulation result diagram of the average voltage observation of each DG in the microgrid when there is no trusted communication node in Example 2 of the present invention;

[0056] Fig.12 is a simulation result diagram of the output voltage of each DG of the microgrid when there is no trusted communication node in Example 2 of the present invention;

[0057] Fig.13 It is a diagram showing the convergence effect of reactive power equalization of each DG after the control method of the present invention is adopted after the trusted communication node is set in Embodiment 1 of the present invention;

[0058] Fig.14 It is a diagram showing the convergence effect of the average voltage observation of each DG after the control method of the present invention is adopted after the trusted communication node is set in Embodiment 1 of the present invention;

[0059] Fig.15 It is a diagram showing the convergence effect of the output voltage of each DG after the control method of the present invention is adopted after the trusted communication node is set in Embodiment 1 of the present invention; DETAILED DESCRIPTION

[0060] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0061] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0062] Example 1

[0063] See also Figure 1 Embodiment 1 of the present application provides a microgrid voltage elastic consistency control method based on a trusted communication node, comprising the following steps:

[0064] Step A: Use graph theory methods to obtain the microgrid sparse communication network topology G (including the number of nodes N and the number of communication links E), and calculate its r-robustness and (r, s)-robustness.

[0065] Among them, r-robustness and (r, s)-robustness include the following definitions:

[0066] r-reachability is defined as: given a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there is a node v in S i Connected to r nodes that do not belong to the set S, that is Satisfy|N i \S|≥r, then the set S is called an r-reachable set, where N i Represents node v i The set of neighbor nodes of

[0067] The definition of r-robustness is: for a node set V containing n (n ≥ 2) elements in a topological graph G, if at least one node subset of each pair of non-empty disjoint node subsets S1 and S1 satisfies the definition of r-reachable sets, then the topological graph G is said to satisfy r-robustness, that is, if and have Satisfy|N i \S1|≥r or Satisfy N i \S2|≥r, then the topological graph G is called r-robust.

[0068] (r, s)-reachability is defined as follows: for a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there are at least s nodes v in the set S i , and each node has at least r neighbor nodes outside S, that is, for a given set have Then the set S is called a (r, s)-reachable set, where N i Represents node v i The set of neighbor nodes of

[0069] The definition of (r, s)-robustness is: for a topological graph G = (V, E) containing n nodes (n ≥ 2) and a non-empty subset S of the corresponding node set V, define the set 0≤s≤n, if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then the topological graph G is called (r, s)-robust.

[0070] Step B: Set N nodes in the topology graph G. T trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index of the latest trusted communication network, namely (r T - robustness) and (r, s) T -Robustness. The specific steps B01-B02 are as follows:

[0071] B01: Select and set N in the communication network node set V in the topology graph G = (V, E) T The nodes are trusted communication nodes, and the latest trusted communication network G* containing the trusted communication node set T is obtained;

[0072] B02: Define r T -Robustness is: for a node set V containing n (n≥2) elements in a topological graph G, any pair of non-empty disjoint node subsets S1 and S2 inside it, if at least one of these node subsets satisfies the condition that the topological graph G contains a trusted communication node set T and is r-reachable, then the topological graph G is said to satisfy the r-robustness condition that the topological graph G contains a trusted communication node set T;

[0073] Definition (r, s) T -Robustness is: for a communication topology graph G = (V, E) containing n nodes (n ≥ 2), if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then the graph G is said to be (r, s)-robust under the set of trusted communication nodes T;

[0074] Calculate the network topology robustness index r of the trusted communication network G* T - Robustness and (r, s) T -Robustness.

[0075] Step C: Based on the latest trusted communication network and network topology robustness indicators, considering the requirements for proportional distribution of reactive power and average voltage observation consistency between distributed generation units in the microgrid, a microgrid voltage elastic consistency control method based on trusted communication nodes is designed. Specific steps C01-C04 are as follows:

[0076] According to steps C01-C03, the link weight of the trusted communication network G* is optimized:

[0077] C01: In each time step k, the neighbor set of node i is defined as N(i). After receiving the neighbor information, node i sorts all state quantities and forms a numerical sequence q i (k) including:

[0078] (1) For DG i Neighbor reactive power state value n received at time k i Q i (k) Sort the values ​​to get a new reactive information sequence

[0079] (2) DG i Neighborhood voltage observations received at time k Sort the values ​​and get new information sequences

[0080] C02: (1) If there is at least one trusted communication node in the neighbor set N(i) of node i, then define DG i The set of trusted communication nodes make and is the maximum and minimum value of reactive information in the trusted communication node set T(i), let DG i Neighbor node set N i All nodes in (k) that satisfy the following formula are grouped into a set

[0081]

[0082] in,

[0083] Defining DG i The set of trusted communication nodes make and is the maximum and minimum value of the voltage observation information in the trusted communication node set T(i), DG i Neighbor node set N i All nodes in (k) are grouped into the following sets

[0084]

[0085] in,

[0086]

[0087] (2) If there is no trusted communication node in the neighbor set N(i) of node i, then the sequence q i (k) and All elements in x i (k) is n i Q i (k) and Compare all the elements in i There are F or more states in (k) that are greater than x i (k), then node i removes q i (k) is a large state variable, if q i There exists a value greater than x in (k) i (k) The number of state quantities is less than F, then node i will take those state quantities greater than x i (k) is completely removed; similarly, if qi There are F or more states in (k) that are smaller than x i (k), then node i removes q i (k) If there are F smaller states than x i (k) The number of state quantities is less than F, then node i will take those states less than x i All state quantities of (k) are removed.

[0088] C03: In each time step k, define the node set corresponding to the remaining state quantity after the state quantity is removed in step C02 as H i (k);

[0089] The original weight adjacency matrix A and the set H i (k) The corresponding element is replaced with zero, and the values ​​of the remaining non-zero elements in the row are redistributed according to the original weight ratio to obtain the latest adjacency matrix A * , and A * The sum of the elements in each row is 1.

[0090] C04: (1) Considering the requirement of proportional distribution of reactive power among distributed generation units (DG) in the microgrid, the corresponding reactive power distribution deviation expression designed based on the elastic consensus strategy is as follows:

[0091]

[0092] in, is the latest adjacency matrix A * Corresponding element, C Q To meet the reactive power coupling coefficient required for control system stability.

[0093] (2) Considering the consistency requirement of the average voltage observation value of each distributed generation unit DG in the microgrid, the corresponding distributed voltage observer expression is designed based on the elastic consensus strategy as follows:

[0094]

[0095] in, is the latest adjacency matrix A * Corresponding element, C E To meet the voltage coupling coefficient required for control system stability.

[0096] (3) According to (1) and (2), the expression of the microgrid voltage elastic consistency control method based on trusted communication nodes is as follows:

[0097]

[0098] Among them, U ni is the nominal voltage, Ui Indicates DG i Inverter output voltage, K vi is the voltage control coefficient, K i is the integral coefficient of the controller, β i is the weight coefficient of reactive power sharing and voltage recovery, U ref It is the reference value of the system rated voltage.

[0099] This embodiment 1 applies steps A, B, and C of the above technical solution to practice, and establishes Figure 2 In the simulation system shown, the microgrid consists of 8 distributed power sources, all of which are connected to the voltage bus through their own connection impedances and carry local loads. The rated active and reactive capacities of the 8 distributed power sources are not equal, and the common load adopts an impedance load. According to the microgrid communication network optimization design method considering network attacks and transmission delays in Example 1 of the present application, a microgrid simulation model is built based on the MATLAB R2020a / Simulink platform to verify the effect of the method in Example 1 of the present application. The specific results are as follows:

[0100] Figure 3 , Figure 4 , Figure 5 is the calculation result of the robustness index of the microgrid communication network in step A and step B in this embodiment. Figure 3 As shown in , according to the definition, the communication network has 2-robustness, but not (2,2)-robustness. If a trusted communication node is set inside it, and the trusted communication node set T1 = {2,5,8} is selected and one of them is selected as the trusted communication node, then the corresponding communication network will have (2,2)-robustness, as shown in Figure 4 If two trusted communication nodes are set inside it, with nodes 4 and 5, nodes 2 and 7, and nodes 1 and 8 as a group, the corresponding communication network will have 3-robustness, as shown in Figure 5 shown.

[0101] Figure 6 This is the communication network topology diagram used in Example 1 of the present invention. DG3 and DG6 are malicious nodes, and their corresponding communication nodes are simultaneously infiltrated by malicious attacks at 3s. The attacker sends the actual value of the local reactive data sent by DG3 to DG2, DG4, and DG5 in the data packet. Tamper with The actual value of local reactive data sent by DG6 to DG1, DG2, and DG5 Tamper with and satisfy them respectively and Figure 7It is the operating status of each DG in the microgrid in different time periods when there is no trusted communication node in the test system. Figure 8 This is the communication network topology after setting DG2 and DG7 as trusted communication nodes in Example 1 of the present invention. It is calculated that the network has 3-robustness. Fig. 9 It is the operating status of each DG in the microgrid in different time periods under the trusted communication network.

[0102] Fig.13 , Fig.14 , Fig.15 The results of simulation operation are shown in Example 1 when there are malicious attack nodes inside the microgrid, and DG2 and DG7 are set as trusted communication nodes in the original communication network (the communication network has 3-robustness at this time). At the beginning of operation, each distributed power source operates in the droop control mode, and the system adopts the conventional voltage secondary coordinated control strategy in the time period of 1.5s to 3s. From 3 seconds, it suffers from malicious attacks from DG3 and DG6, that is, data tampering is implemented on the reactive power sharing state quantity. From 3s to 5s, the system adopts the microgrid voltage elastic secondary coordinated control strategy based on trusted communication nodes. The simulation results show that the method proposed by the present invention can effectively achieve the elastic asymptotic consensus of reactive power sharing and weighted average voltage observation values, and the output voltage of each DG can also maintain stability.

[0103] Example 2

[0104] Based on Example 1, after the simulation test system is built, this Example 2 does not set a trusted communication node, but uses the original 2-robustness communication network for simulation. The operation results are as follows:

[0105] Fig.10 , Fig.11 , Fig.12 The results of simulation operation under the original 2-robust communication network when there are malicious attack nodes inside the microgrid in this embodiment 2 are shown. When the system starts running, each distributed power source operates in the droop control mode, and the conventional secondary voltage control strategy is put into use at 1.5 seconds. Among them, DG3 and DG6 are malicious nodes in the system from 3 seconds to 5 seconds, and the data of the reactive power sharing state quantity is tampered. The reactive power sharing consensus of each DG in the system no longer converges from the 3s moment, and the weighted average voltage observation value deviates significantly from the rated value of 311V. The output voltage of each node also increases significantly due to the presence of malicious nodes, and the larger the amplitude of the attack signal, the higher the degree of deviation of the output voltage of each DG from the rated value, and finally even exceeds the specified safety threshold, causing the entire system to become unstable.

[0106] In summary, it can be known from Example 1 and Example 2 that the present invention is based on the relevant definitions such as communication network topology r-robustness and (r, s)-robustness, and sets one or more trusted nodes in a known communication network, which can effectively enhance the connectivity robustness of the communication network; this method saves the network connection cost of the microgrid while also increasing the number of malicious attack nodes that the system can tolerate during operation; considering that there are three types of nodes in the trusted communication network, namely normal nodes, malicious nodes and trusted nodes, the status information received by each node is processed, and a microgrid voltage elastic consistency control method based on trusted communication nodes is designed; this method can achieve the safe operation of each DG of the microgrid under a network attack without having to judge in advance whether an attack event has occurred, effectively improving the robustness of the system operation, and can be widely used in practical engineering.

[0107] Example 3

[0108] Based on Example 1, this Example 3 also provides a computer-readable storage medium, and the computer-readable storage medium includes a program of a microgrid voltage elastic consistency control method based on a trusted communication node. When the program of a microgrid voltage elastic consistency control method based on a trusted communication node is executed by a processor, the steps of a microgrid voltage elastic consistency control method based on a trusted communication node given in Example 1 are implemented.

[0109] The storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store used or received data, etc. In addition, the storage medium may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0110] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A microgrid voltage elastic consistency control method based on trusted communication nodes, characterized in that: The following steps are involved: The original microgrid sparse communication network is represented as a topology graph G by using graph theory method, and the network topology robustness indexes corresponding to the topology graph G, namely r-robustness and (r, s)-robustness, are calculated; Set N nodes in the topology graph G. T trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index of the latest trusted communication network, i.e., r T - Robustness and (r, s) T - Robustness; According to the latest trusted communication network and the network topology robustness index, considering the consistency requirement of proportional distribution of reactive power among distributed generation units DG in the microgrid and the consistency requirement of average voltage observation value, a microgrid voltage elastic consistency control method based on the trusted communication node is designed.

2. A microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 1, characterized in that: The definition of r-robustness includes: r-reachability is defined as: given a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there is a node v in S i Connected to r nodes that do not belong to the set S, that is Satisfy|N i \S|≥r, then the set S is called an r-reachable set, where N i Represents node v i The set of neighbor nodes of The definition of r-robustness is: for a node set V containing n (n ≥ 2) elements in a topological graph G, if at least one node subset of each pair of non-empty disjoint node subsets S1 and S1 satisfies the definition of r-reachable sets, then the topological graph G is said to satisfy r-robustness, that is, if and have Satisfy|N i \S1|≥r or Satisfy|N i \S2|≥r, then the topological graph G is called r-robust.

3. A microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 1, characterized in that: The definition of (r, s)-robustness includes: (r, s)-reachability is defined as follows: for a topological graph G = (V, E) and a non-empty subset S of the corresponding node set V, if there are at least s nodes v in the set S i , and each node has at least r neighbor nodes outside S, that is, for a given set have Then the set S is called a (r, s)-reachable set, where N i Represents node v i The set of neighbor nodes of The (r, s)-robustness is defined as follows: For a topological graph G = (V, E) containing n nodes (n ≥ 2) and a non-empty subset S of the corresponding node set V, define the set 0≤s≤n, if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then the topological graph G is called (r, s)-robust.

4. A microgrid voltage elastic consistency control method based on a trusted communication node according to any one of claims 2 or 3, characterized in that: The N nodes in the matrix G are set to T trusted communication nodes, obtain the latest trusted communication network, and calculate the network topology robustness index of the latest trusted communication network, namely (r T - robustness) and (r, s) T -Robustness, including: Select and set N in the communication network node set V in the matrix G=(V, E) T The nodes are trusted communication nodes, and the latest trusted communication network G* containing the trusted communication node set T is obtained; Define the r T -Robustness is: for a node set V containing n (n≥2) elements in a topological graph G, any pair of non-empty disjoint node subsets S1 and S2 inside it, if at least one of these node subsets satisfies the condition that the topological graph G contains a trusted communication node set T and is r-reachable, then the topological graph G is said to satisfy the r-robustness condition that the topological graph G contains a trusted communication node set T; Define (r, s) T -Robustness is: for a communication topology graph G = (V, E) containing n nodes (n ≥ 2), if every pair of non-empty disjoint node subsets S1 and S2 in V satisfies at least one of the following conditions: Then the graph G is said to be (r, s)-robust under the set of trusted communication nodes T; Calculate the network topology robustness index r of the trusted communication network G* T - Robustness and (r, s) T -Robustness.

5. A microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 4, characterized in that: According to the calculation and the definition of the network topology robustness index, compared with the network topology robustness index corresponding to the topology graph G, namely r-robustness and (r, s)-robustness, the selection and setting of N T The network topology robustness index of the latest trusted communication network after the trusted communication nodes is (r T - robustness) and (r, s) T - Higher robustness, indicating better performance of the latest trusted communication network.

6. A microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 1, characterized in that: When designing a microgrid voltage elastic consistency control method based on the trusted communication node considering the reactive power proportional distribution consistency requirement and the average voltage observation value consistency requirement between the distributed generation units DG of the microgrid, the link weight of the trusted communication network is optimized according to the following steps, including: In each time step k, the neighbor set of node i is defined as N(i). After receiving the neighbor information, node i sorts all state quantities and forms a numerical sequence q i (k), including: DG i Neighbor reactive power state value n received at time k i Q i (k) Sort the values ​​to get a new reactive information sequence About DG i Neighborhood voltage observations received at time k Sort the values ​​and get new information sequences If there is at least one trusted communication node in the neighbor set N(i) of node i, then DG is defined as i The set of trusted communication nodes make and is the maximum and minimum value of reactive information in the trusted communication node set T(i), let DG i Neighbor node set N i All nodes in (k) that satisfy the following formula are grouped into a set in, Defining DG i The set of trusted communication nodes make and is the maximum and minimum value of the voltage observation information in the trusted communication node set T(i), DG i Neighbor node set N i All nodes in (k) are grouped into the following sets in, If there is no trusted communication node in the neighbor set N(i) of node i, then the sequence q i (k) and All elements in x i (k) is n i Q i (k) and Compare all the elements in , if q i There are F or more states in (k) that are greater than x i (k), then node i removes q i (k) is a larger state variable, if q i There exists a value greater than x in (k) i (k) The number of state quantities is less than F, then node i will take those state quantities greater than x i (k) is completely removed; similarly, if q i There are F or more states in (k) that are smaller than x i (k), then node i removes q i (k) If there are F smaller states than x i (k) The number of state quantities is less than F, then node i will take those states less than x i All state quantities of (k) are removed; In each time step k, the node set corresponding to the remaining state after removing the state is defined as H i (k); The original weight adjacency matrix A and the set H i (k) The corresponding element is replaced with zero, and the values ​​of the remaining non-zero elements in the row are redistributed according to the original weight ratio to obtain the latest adjacency matrix A * , and A * The sum of the elements in each row is 1.

7. A microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 6, characterized in that: After optimizing the link weight of the trusted communication network, when considering the reactive power proportionally shared consistency requirement among the distributed generation units DG of the microgrid, the corresponding reactive power sharing deviation expression is designed based on the elastic consensus strategy as follows: in, is the latest adjacency matrix A * Corresponding element, C Q To meet the reactive power coupling coefficient required for control system stability.

8. A microgrid voltage elastic consistency control method based on trusted communication nodes according to claim 6, characterized in that: After optimizing the link weight of the trusted communication network, when considering the consistency requirement of the average voltage observation value of each distributed generation unit DG in the microgrid, the corresponding distributed voltage observer expression is designed based on the elastic consensus strategy as follows: in, is the latest adjacency matrix A * Corresponding element, C E To meet the voltage coupling coefficient required for control system stability.

9. A microgrid voltage elastic consistency control method based on a trusted communication node according to any one of claims 7 or 8, characterized in that: The expression of the microgrid voltage elastic consistency control method based on the trusted communication node is as follows: Among them, U ni is the nominal voltage, U i Indicates DG i Inverter output voltage, K vi is the voltage control coefficient, K i is the integral coefficient of the controller, β i is the weight coefficient of reactive power sharing and voltage recovery, U ref It is the reference value of the system rated voltage.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a program of a microgrid voltage elasticity consistency control method based on a trusted communication node. When the program of a microgrid voltage elasticity consistency control method based on a trusted communication node is executed by a processor, the steps of a microgrid voltage elasticity consistency control method based on a trusted communication node as described in any one of claims 1 to 9 are implemented.

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