CPDS recovery decision-making method considering state estimation error risk

Abstract

The invention discloses a CPDS recovery decision-making method considering a state estimation error risk. The method comprises the following steps: constructing a CPDS topology model and a state constraint; according to the reachability matrix and the control reachability matrix, obtaining a rank of a simulated charged domain measurement jacobian matrix; determining completely observable physical nodes of the simulated charged domain based on the total number of physical nodes of the simulated charged domain; according to the operation interval of the active power estimation value and the operation interval of the reactive power estimation value of the physical edge, obtaining the simulation charged domain parameter out-of-limit probability of the recovery node; obtaining a state estimation error risk of the recovery node according to loss caused by delayed power supply due to recovery failure of the recovery node, establishing a target function by taking the maximum physical system load estimation recovery net income as a target, performing a recovery decision on the CPDS by adopting a scheme tree idea, and taking an alternative recovery scheme with the maximum recovery net income as a recovery scheme; the problem that safe operation cannot be achieved due to insufficient observation in a charged domain in the prior art is solved.

Description

Technical Field

[0001] The invention relates to a CPDS recovery decision method taking into account state estimation error risk, and belongs to the technical field of smart grid and power system automation. Background Art

[0002] In recent years, due to the frequent occurrence of extreme disasters such as typhoons and floods, the distribution network is more prone to power outages due to its large number of equipment and dense distribution. In these large-scale power outage scenarios, the available capacity of the system is often insufficient and unevenly distributed. It is necessary to optimize the allocation of limited available capacity through effective recovery control decisions to achieve rapid, safe and economical recovery after a large power outage. The real-time operating status feedback and dispatching control of the distribution physical system are highly dependent on the reliable operation of its information system. In the Cyber ​​Physical Distribution System (CPDS), the power outage of the physical system may cause the failure of the measurement and control equipment of the information system, and the failure and shutdown of the information system will make the observability and controllability of the physical system worse. Therefore, it is particularly important to take into account the impact of the information system in the recovery control decision.

[0003] At present, some recovery methods for disaster faults in smart distribution networks have been proposed. For example, a coordinated recovery method for disaster faults in smart distribution networks that takes into account the dynamic interaction between power and communication, which performs emergency repairs on the information system, restores the communication channel, and then realizes the control of the physical system and completes the load transfer. However, although this method takes into account the impact of the information system on the controllability of the power physical system in the recovery control decision of the smart grid, it does not consider the impact of the information system on the observability of the power physical system. This may lead to the inability of the live domain to operate safely during the recovery process due to its low observation level. In addition, the post-disaster information-physical collaborative recovery strategy for distribution networks based on drone emergency communication, although it improves the recovery efficiency of distribution networks after disasters through drone mobile emergency communication, and considers the impact of the information system on the controllability of the physical system in the information-physical coupling characteristics, it also does not consider the impact of the information system on the observability of the physical system. This approach of making recovery decisions based on inaccurate observations or estimation results is risky and difficult to ensure the safe operation of the live domain during the recovery process. Summary of the invention

[0004] The purpose of the present invention is to provide a CPDS recovery decision method taking into account the risk of state estimation error, to reflect the influence of the observability of the physical system on the recovery decision through the risk of state estimation error, to reflect the influence of the controllability of the physical system on the recovery decision through the time consumption of recovery operation, and to establish a CPDS recovery control optimization decision method with the goal of maximizing the net recovery benefit, so as to solve the problem that the prior art does not consider the influence of observability, resulting in the inability of the charged domain to operate safely during the recovery process due to insufficient observation, and to achieve safe and economical recovery of CPDS.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0006] The present invention provides a CPDS recovery decision method taking into account the risk of state estimation error, comprising:

[0007] Obtain the physical node set and physical edge set of the distribution network physical system, the information node set and information edge set of the distribution network information system, the physical-information edge set and physical-information coupling node of the distribution network physical-information system, and construct the CPDS topology model and state constraints;

[0008] Based on the CPDS topology model and recovery state constraints, the information system reachability matrix is ​​established according to the operation state of the information nodes, and the information system control reachability matrix is ​​established according to the type of channel transmission information;

[0009] According to the information system accessibility matrix and the information system control accessibility matrix, based on the branch power measurement and the node injection power measurement, the branch power is estimated on the physical system simulated charged domain by using the single branch forward-backward substitution method, and the linear measurement Jacobian matrix of the simulated charged domain measurement in the recovery process and the rank of the Jacobian matrix of the simulated charged domain measurement in the recovery process are obtained;

[0010] According to the rank of the Jacobian matrix of the simulated charged domain measurement and the total number of physical nodes of the simulated charged domain during the recovery process, it is determined whether the simulated charged domain is completely observable or there are unobservable physical nodes;

[0011] If there are unobservable physical nodes in the simulated charged domain, supplement the pseudo-measurements of the unobservable nodes in the simulated charged domain to make the simulated charged domain fully observable;

[0012] If the simulated charged domain is completely observable, the weighted least square method is used to perform static state estimation on the simulated charged domain to obtain the estimated value of the simulated charged domain state, the state estimation error covariance matrix and the state estimation error variance. According to the state estimation error variance, the standard deviation of the physical edge state estimation error is obtained.

[0013] According to the error standard deviation of the active power estimation value and reactive power estimation value of the physical side and the physical side state estimation value, the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical side are obtained;

[0014] According to the operating range of the estimated active power value and the operating range of the estimated reactive power value of the physical edge, the probability of the simulated live domain parameter exceeding the limit of the restoration node is obtained;

[0015] The state estimation error risk of the recovery node is obtained by simulating the probability of over-limit of the parameters in the powered domain and the loss caused by the delayed power supply due to the failure of the recovery node.

[0016] According to the state estimation error risk of the recovery node, based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, an objective function is established with the goal of maximizing the estimated net benefit of physical system load recovery;

[0017] According to the objective function, the idea of ​​scheme tree is adopted to make restoration decision for CPDS, and the alternative restoration scheme with the largest net recovery benefit is taken as the restoration scheme.

[0018] Furthermore, the physical node set and physical edge set of the distribution network physical system, the information node set and information edge set of the distribution network information system, the physical-information edge set and physical-information coupling node of the distribution network physical-information system are obtained to construct a CPDS topology model and recovery state constraints, wherein,

[0019] The physical node set includes a distribution network bus and a T-junction;

[0020] The physical edge set includes a line or a transformer directly connecting two physical nodes, and the line directly connecting two physical nodes includes a switch, a capacitor, and a reactor;

[0021] The information node set includes information measurement and transmission equipment, and the information measurement and transmission equipment includes intelligent terminals, switches, and routers;

[0022] The information edge set includes a channel directly connecting two information nodes, the information edge set includes a wired information edge set and a wireless information edge set, the wired information edge set includes optical fiber and wireless communication, and the wireless information edge set includes GPRS;

[0023] The physical-information edge set of the distribution network physical-information system includes monitoring channels between information nodes and physical nodes that have a direct exchange relationship of monitoring information;

[0024] The physical information coupling node includes an information node and a physical node having a direct exchange relationship of monitoring information;

[0025] The state constraints include physical nodes, physical edges, information nodes, information edges, and recovery state constraints of the information-physical system.

[0026] Furthermore, based on the CPDS topology model and the recovery state constraint, an information system reachability matrix is ​​established according to the operation state of the information node, and an information system control reachability matrix is ​​established according to the type of channel transmission information, including:

[0027] Based on the CPDS topology model and recovery state constraints, The running status of the information node at the moment, establish The operation status matrix of the time information system;

[0028] according to Calculation of the operating state matrix of the time information system Moment information system accessibility matrix;

[0029] Establish according to the type of information transmitted by the channel Moment information system control matrix;

[0030] according to Establishment of the control matrix of the time information system Moment information system control accessibility matrix.

[0031] Further, the The accessibility matrix of the moment information system is expressed as:

[0032] ;

[0033] In the formula, express The moment information system accessibility matrix, express The operation status matrix of the real-time information system, express Time information system operation status matrix of Power, express Time information system operation status matrix of power; where When the value is 1, it means There is a running communication path between two physical nodes at all times. A value of 0 indicates At this moment, there is no running communication path between the two physical nodes. Represents the logical symbol "and";

[0034] The The control accessibility matrix of the moment information system is expressed as:

[0035] ;

[0036] In the formula, express The moment information system controls the accessibility matrix, express Time information system control matrix, express The second power of the control matrix of the time information system, express Time information system control matrix power; where When the value is 1, it means that the two physical nodes are connected and can transmit control information. When the value is 0, it means At any given moment, the two physical nodes are not connected or are connected only to transmit measurement information.

[0037] Furthermore, according to the information system accessibility matrix and the information system control accessibility matrix, based on the branch power measurement and the node injection power measurement, the branch power is estimated on the physical system simulated charged domain by using the single branch forward and backward substitution method, and the linear measurement Jacobian matrix of the simulated charged domain measurement during the recovery process and the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process are obtained; including:

[0038] For physical edge , physical node For physical nodes The parent node of the physical node Inflow physical edge The power is the state quantity;

[0039] The physical edge Power measurement and physical nodes The injected power measurement is transformed into the physical edge The power measurement and the physical node An equivalent measurement function reflecting the relationship between the equivalent measurement and the state quantity is obtained by measuring the equivalent value of the injected power measurement.

[0040] Based on the equivalent measurement function reflecting the relationship between equivalent measurement and state quantity, the measurement Jacobian matrix based on edge power measurement and node injection power measurement is selected to perform observability analysis on the simulated charged domain of the recovery scheme at a certain moment, and the measurement Jacobian matrix of the simulated charged domain is established. The linear measurement Jacobian matrix of the simulated charged domain measurement during the recovery process and the rank of the measurement Jacobian matrix of the simulated charged domain measurement during the recovery process are obtained.

[0041] Among them, nodes that are not connected to power supplies and loads are all zero-injection nodes, and virtual measurements of the Jacobian matrix of linear measurements in the simulated live domain must be taken into account during the recovery process.

[0042] Furthermore, the Jacobian matrix of the linear measurement simulated in the charged domain during the recovery process is expressed as:

[0043] H = [ H P 0 0 H Q ] ;

[0044] In the formula, represents the Jacobian matrix of the linear measurement simulated in the charged domain during the recovery process, , They are the Jacobian matrix of active measurement and the Jacobian matrix of reactive measurement composed of 0, 1, and -1 respectively, and 0 represents virtual measurement.

[0045] The rank of the simulated charged domain measurement Jacobian matrix in the recovery process is expressed as:

[0046] rank ( H ) = 2 ∑ i = 1 N P [ s i ∑ x = 1 N C a ix p xy ∑ j = 1 N P α ms , ij s ij ( 1 − ∑ x = 1 N C a jx p xy )] + 2 ∑ i = 1 N P s i ε [ 1 − ∑ j = 1 N P s ij ( 1 − α ms , ij ∑ x = 1 N C a jx p xy ) ] ;

[0047] In the formula, represents the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process; Indicates the total number of physical nodes; Represents a physical node The operating status of Indicates the total number of information nodes; Represents a physical node With information node The non-fault edge exists between them; Represents an information node With information node The running communication path between them exists in the state where Indicates the communication substation node, Indicates the communication master node; Represents physical edge The power measurement existence coefficient is represents the measurement, where When the value is 1, it means that the physical edge The existence of power measurement, When the value is 0, it means that the physical edge There is no power measurement; Represents physical edge The operating status of Represents a physical node With information node The non-fault edge exists between them; represents the unit step function.

[0048] Further, according to the rank of the Jacobian matrix of the simulated charged domain measurement and the total number of physical nodes of the simulated charged domain during the recovery process, it is determined whether the simulated charged domain is completely observable or has unobservable physical nodes, including:

[0049] like , then the simulated charged domain is completely observable;

[0050] like , then there are unobservable physical nodes in the simulated charged domain;

[0051] in, represents the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process, Indicates the total number of physical nodes in the simulated powered domain.

[0052] Furthermore, according to the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical edge, the simulated live domain parameter exceeding limit probability of the restoration node is obtained, wherein the simulated live domain parameter exceeding limit probability of the restoration node is expressed as:

[0053] ;

[0054] In the formula, Represents the probability of the simulated live domain parameter exceeding the limit of the recovery node, where the recovery node is a physical node , , Represents physical edges The amount by which the upper limits of the operating range of the real value of active power and the operating range of the real value of reactive power exceed the upper limits of the operating range of the rated value of active power and the rated value of reactive power; , Represents physical edges The amount by which the lower limits of the operating range of the real value of active power and the operating range of the real value of reactive power exceed the lower limits of the operating range of the rated value of active power and the rated value of reactive power; , Represents physical edges The upper and lower limits of the rated operating range of active power, , They respectively represent the upper and lower limits of the rated operating range of reactive power; , They represent the upper limit coefficient and lower limit coefficient of the operating range of the real value, respectively. A value of 1 indicates that the power exceeds the limit, and a value of 0 indicates that it does not exceed the limit. If the operating range of the real value does not overlap with the operating range of the rated value, then , if the operating range of the true value is included in the operating range of the rated value, then .

[0055] Furthermore, according to the simulated power domain parameter over-limit probability and the loss caused by the delayed power supply due to the restoration failure of the restoration node, the state estimation error risk of the restoration node is obtained, wherein the state estimation error risk of the restoration node is expressed as:

[0056] ;

[0057] In the formula, represents the state estimation error risk of the recovery node, where the recovery node is a physical node ; Represents a physical node Losses caused by delayed power supply due to restoration failure.

[0058] Furthermore, according to the state estimation error risk of the recovery node, based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, an objective function is established with the goal of maximizing the estimated net recovery benefit of the physical system load, where the objective function is expressed as:

[0059] max y m ∑ m = 1 M [ I m ( x m , y m , z m ) − C m ( x m , y m , z m ) − R m ( x m , y m , z m ) ] ;

[0060] In the formula, Indicates that through decision The maximum value of the objective function obtained by the step control variable; It indicates the total number of steps of the overall recovery plan of the physical system. The power source or load to be recovered is taken as the target to be recovered. A one-step plan is a series of operations taken to recover a single target to be recovered. , and They represent the overall recovery plan of the physical system. The estimated restoration benefits, estimated restoration costs and estimated restoration risks of the target to be restored in the next step; The first part of the overall recovery plan of the physical system The physical system state variables of the step include unit electricity price, load power demand and load recovery time; The first part of the overall recovery plan of the physical system The control variables of each step include the switching on and off of power sources, lines, loads and power output adjustment; The first part of the overall recovery plan of the physical system The disturbance variables are used to reflect the uncertainty of power outage scenarios, external environment and recovery process.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] 1. The present invention constructs a CPDS topology model and state constraints, and accurately estimates the simulated live domain based on the information system reachability matrix and the control reachability matrix. At the same time, by supplementing the pseudo-measurement of unobservable nodes, the simulated live domain is ensured to be completely observable, so that the weighted least squares method is used for static state estimation to obtain the state estimation error covariance matrix and error variance, which significantly improves the accuracy and reliability of the recovery decision;

[0063] 2. The present invention not only considers the estimated active power and reactive power of the physical edge, but also determines the estimated active power operating range and the estimated reactive power operating range in combination with the standard deviation of the physical edge state estimation error. Furthermore, by calculating the probability of over-limit of the simulated live domain parameters of the recovery node and combining the loss caused by delayed power supply due to recovery failure, the state estimation error risk of the recovery node is obtained, which effectively reduces the recovery decision risk caused by the state estimation error.

[0064] 3. The present invention takes the maximum net benefit of estimated recovery of physical system load as the goal and establishes an objective function. By adopting the idea of ​​solution tree to make recovery decisions for CPDS, it is possible to comprehensively consider the estimated recovery benefit, cost and risk, so as to select the alternative recovery solution with the maximum net recovery benefit, which is helpful to achieve the optimal configuration and efficient utilization of resources in the actual recovery process;

[0065] 4. The present invention can make restoration decisions quickly and accurately in extreme disaster or fault situations, ensuring the rapid recovery and safe operation of CPDS, which not only helps to reduce power outage time and losses, but also improves the resilience and reliability of the entire power system, providing strong support for the development of smart grids;

[0066] 5. The present invention takes into account the state estimation error risk of the recovery process when optimizing the CPDS recovery decision, thereby improving the net benefit of CPDS recovery. At the same time, in the recovery decision process, priority is given to important targets to be restored with low estimated recovery risks, and the observation capability of restoring the charged domain is accelerated during the recovery process, thereby improving the success rate of the recovery operation risk of the scheme. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 FIG. 1 is a schematic diagram of the overall process of a CPDS recovery decision method taking into account the risk of state estimation error provided by an embodiment of the present invention;

[0068] Figure 2 FIG. 1 is a schematic diagram of the physical topology relationship of IEEE 123 node system information provided by an embodiment of the present invention;

[0069] Figure 3It is a schematic diagram showing a comparison between the net recovery benefit of a CPDS recovery decision method taking into account the state estimation error risk provided by an embodiment of the present invention and the net recovery benefit of a prior art method;

[0070] Figure 4 FIG. 1 is a schematic diagram showing a comparison of recovery operations between a CPDS recovery decision method taking into account the risk of state estimation errors provided by an embodiment of the present invention and a method in the prior art. DETAILED DESCRIPTION

[0071] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0072] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0073] Example 1

[0074] like Figure 1 As shown, this embodiment introduces a CPDS recovery decision method taking into account the risk of state estimation error, which at least includes the following steps:

[0075] Step 1: Obtain the physical node set and physical edge set of the distribution network physical system, the information node set and information edge set of the distribution network information system, the physical-information edge set and physical-information coupling node of the distribution network physical-information system, and build the CPDS topology model and state constraints.

[0076] The present invention constructs a topological model of CPDS by acquiring information of physical nodes, physical edges, information nodes, information edges, physical-information edges, and physical-information coupling nodes of the distribution network. At the same time, the state constraints are clarified to ensure the stability and security of the system during recovery.

[0077] Step 2: Based on the CPDS topology model and recovery state constraints, the information system reachability matrix is ​​established according to the operating state of the information nodes, and the information system control reachability matrix is ​​established according to the type of channel transmission information.

[0078] According to the CPDS topology model and recovery state constraints, the present invention uses the running state of information nodes to construct an information system reachability matrix to reflect the connection relationship between information nodes. At the same time, according to the type of channel transmission information, an information system control reachability matrix is ​​constructed to reflect the control ability of the information system over the physical system, providing necessary control information for the physical system simulation of charged domain estimation, ensuring the accuracy and controllability of the simulation process.

[0079] Step 3: According to the information system reachability matrix and the information system control reachability matrix, based on the branch power measurement and the node injection power measurement, the single-branch forward-backward method is used to estimate the branch power to the physical system simulated charged domain, and the linear measurement Jacobian matrix of the simulated charged domain measurement during the recovery process and the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process are obtained.

[0080] The present invention is based on the information system reachability matrix and the control reachability matrix, combined with branch power measurement and node injection power measurement, and uses a single-branch forward-backward method to estimate the simulated charged domain of the physical system, calculates the simulated charged domain measurement linear measurement Jacobian matrix and its rank to evaluate the observability of the simulated charged domain, and obtains the estimated state and observability information of the simulated charged domain, which provides a basis for state estimation and risk assessment in subsequent steps.

[0081] Step 4: According to the rank of the Jacobian matrix of the simulated charged domain measured during the recovery process and the total number of physical nodes of the simulated charged domain, determine whether the simulated charged domain is completely observable or there are unobservable physical nodes.

[0082] If there are unobservable physical nodes in the simulated charged domain, supplement the pseudo-measurements of the unobservable nodes in the simulated charged domain to make the simulated charged domain fully observable;

[0083] If the simulated charged domain is completely observable, the weighted least squares method is used to perform static state estimation on the simulated charged domain to obtain the estimated value of the simulated charged domain state, the state estimation error covariance matrix and the state estimation error variance. Based on the state estimation error variance, the standard deviation of the physical edge state estimation error is obtained.

[0084] The present invention determines whether the simulated charged domain is completely observable based on the rank of the simulated charged domain measurement Jacobian matrix and the total number of physical nodes. For unobservable nodes, pseudo-measurements are added to make them observable, ensuring that the state of the simulated charged domain can be completely determined by the measurement data, providing a reliable premise for subsequent state estimation.

[0085] Step 5: According to the error standard deviation of the active power estimation value, reactive power estimation value and physical side state estimation value of the physical side, the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical side are obtained.

[0086] Based on the fully observable simulation of the charged domain, the present invention uses the weighted least square method to perform static state estimation, and obtains the state estimation value, the state estimation error covariance matrix, and the state estimation error variance. Then, the error standard deviation of the physical side state estimation value is calculated to obtain the error information of the physical side state estimation, which provides key data for the determination of the operating range and risk assessment in the subsequent steps.

[0087] Step 6: According to the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical edge, the probability of the simulated live domain parameter exceeding the limit of the recovery node is obtained.

[0088] The present invention determines the operating range of the active power estimation value and reactive power estimation value of the physical edge according to the error standard deviation of the active power estimation value, reactive power estimation value and physical edge state estimation value of the physical edge, provides basic data for evaluating the probability of exceeding the limit of the simulated powered domain parameters of the recovery node, and is helpful for subsequent risk assessment.

[0089] Step 7: According to the simulated power domain parameter over-limit probability and the loss caused by the delayed power supply due to the restoration failure of the restoration node, the state estimation error risk of the restoration node is obtained.

[0090] The present invention calculates the state estimation error risk of the recovery node based on the operating range of the physical edge power estimation value and the probability of exceeding the limit of the simulated powered domain parameters of the recovery node, combined with the loss caused by delayed power supply due to recovery failure, and obtains the risk information of the recovery node, providing a key basis for subsequent recovery decisions.

[0091] Step 8: According to the state estimation error risk of the recovery node, based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, an objective function is established with the goal of maximizing the estimated net benefit of physical system load recovery.

[0092] The present invention is based on the state estimation error risk, estimated recovery benefit, estimated recovery cost and estimated recovery risk of the recovery node, and establishes an objective function with the goal of maximizing the estimated net recovery benefit of the physical system load, which provides a clear direction and evaluation criteria for target optimization and a mathematical basis for subsequent recovery decisions.

[0093] Step 9: According to the objective function, the idea of ​​the solution tree is used to make restoration decisions for CPDS, and the alternative restoration plan with the maximum net recovery benefit is selected as the restoration plan.

[0094] The present invention adopts the idea of ​​scheme tree to make recovery decision for CPDS according to the objective function. By comparing the net benefits of different alternative recovery schemes, the scheme with the largest net recovery benefit is selected as the final recovery scheme, and the optimal recovery scheme is obtained, which ensures the maximum benefit of the recovery process and meets the stability and security requirements of the system.

[0095] In summary, the present invention proposes a CPDS recovery decision method that takes into account the risk of state estimation error. The CPDS topology model is established through graph theory, and the recovery state constraint of the information-physical system is obtained according to the coupling mechanism of the information-physical system in the recovery process. According to the analysis of the accessibility of the information system and the observability of the physical system, a model for simulating the over-limit probability of the parameters in the live domain during the recovery process is established, and the state estimation error risk is used to reflect the influence of the observability of the system on the recovery decision, and the time consumption of the recovery operation is used to reflect the influence of the controllability of the system on the recovery decision. A CPDS recovery control optimization decision method with the goal of maximizing the net recovery benefit is established to achieve safe and economical recovery of CPDS.

[0096] Example 2

[0097] Based on the same inventive concept as Example 1, this example introduces specific implementation steps of a CPDS recovery decision method taking into account the risk of state estimation error, including:

[0098] Step 1: Get the physical node set of the distribution network physical system , physical edge set , the information node set of the distribution network information system , information edge set , the physical-information edge set of the physical-information system of the distribution network The CPDS topology model and state constraints are constructed by coupling nodes with physical information. The schematic diagram of the physical topology relationship of the IEEE 123 node system information provided by the embodiment of the present invention is as follows: Figure 2 As shown, Indicates the power source connected to the physical node.

[0099] In this embodiment, the physical node set Including distribution network busbar and T-junction;

[0100] The physical edge set A line or transformer directly connecting two physical nodes, wherein the line directly connecting two physical nodes includes a switch, a capacitor and a reactor;

[0101] The information node set It includes information measurement and transmission equipment, which includes intelligent terminals, switches, and routers;

[0102] The information edge set A channel directly connecting two information nodes, the information edge set Includes wired information edge set and wireless information edge set ,in, , the wired information edge set Including optical fiber and wireless communication, the wireless information edge set Including General Packet Radio Service GPRS;

[0103] The physical-information edge set of the distribution network physical-information system It includes monitoring channels between information nodes and physical nodes that have a direct exchange relationship of monitoring information;

[0104] The physical information coupling node includes an information node and a physical node having a direct exchange relationship of monitoring information;

[0105] The state constraints include physical nodes, physical edges, information nodes, information edges, and recovery state constraints of the information-physical system.

[0106] In this embodiment, the recovery state constraint of the physical edge is expressed as:

[0107] ;

[0108] ;

[0109] In the formula, , and Respectively Physical node at time , physical nodes and physical edge The operating status of ; , time , and When the value is 1, it indicates a physical node. , physical nodes and physical edge run, time , and When the value is 0, it indicates the physical node , physical nodes and physical edge In the case of non-fault shutdown, max{} indicates the maximum value.

[0110] In this embodiment, the recovery state constraint of the physical node is expressed as:

[0111] ;

[0112] ;

[0113] In the formula, Representation and physical nodes The set of connected edges, express Physical node at time The running status of , min{} means taking the minimum value.

[0114] In this embodiment, the recovery state constraint of the information edge is expressed as:

[0115] ;

[0116] ;

[0117] In the formula, , and Respectively Time information node , information node , Information Edge The operating status of express Time information side The operating status of ; ; time , , When the value is 1, it indicates an information node. , information node and information edge run, time , , When the value is 0, it indicates information node , information node and information edge Non-fault outage; time When the value is 1, it indicates that the information edge run, time When the value is 0, it means the information edge Non-fault outage.

[0118] In this embodiment, the recovery state constraint of the information node is expressed as:

[0119] s x , t ≤ min{[ s xy , t ∨ ( s xk 1 , t ∧ s k 1 k 2 , t ∧ ... ∧ s k N − 1 k N , t ∧ s k N y , t )], 1 } ;

[0120] ;

[0121] In the formula, express Time information node The operating status of Represents an information node To information node The path contains a set of nodes, among which the information node For communication substation nodes, information nodes It is the communication master node; , , Represents an information node To information node The path contains information nodes, Represents an information node To information node The total number of information nodes contained in the path; Represents the logical symbol "or", Represents the logical symbol "AND".

[0122] In this embodiment, the recovery state constraint of the cyber-physical system is expressed as:

[0123] ;

[0124] s x , t ≤ [ 1 − ε ( t − t o − T BL, x )] + ε ( t − t o − T BL, x )min{ a ix s i , t , 1 } ;

[0125] In the formula, express Moment physics-information edge The operating status of ; time When the value is 1, it indicates that the physical-information edge run; Indicates the time of power outage. Represents an information node Maximum power supply duration of the backup power supply; is a unit step function, Represents physical-information edge The non-faulty edge of

[0126] Step 2: Based on the CPDS topology model and the recovery state constraint, the information system reachability matrix is ​​established according to the operation state of the information node, and the information system control reachability matrix is ​​established according to the type of channel transmission information, including:

[0127] Based on the CPDS topology model and recovery state constraints, the information system operation state matrix is ​​established according to the operation state of the information nodes;

[0128] In this embodiment, the The operation status matrix of the time information system is expressed as:

[0129] ;

[0130] In the formula, express The operation status matrix of the time information system, ” is Hadamard; express The running state vector of the information node at the moment, express The transposed matrix of the running state vector of the information node at the moment, where , is the total number of information nodes, When the value is 1, it means Time information node and information nodes Inter-channel operation, When the value is 0, it means Time information node and information nodes The channel does not exist or is out of service. Represents the information node adjacency matrix.

[0131] Calculate the information system reachability matrix based on the information system operation status matrix;

[0132] In this embodiment, the The accessibility matrix of the moment information system is expressed as:

[0133] ;

[0134] In the formula, express The moment information system accessibility matrix, express The operation status matrix of the real-time information system, express Time information system operation status matrix of Power, express Time information system operation status matrix of power; where When the value is 1, it means There is a running communication path between two physical nodes at all times. A value of 0 indicates At this moment, there is no running communication path between the two physical nodes. Represents the logical symbol "and";

[0135] Establish information system control matrix according to the type of information transmitted through the channel ,in, , express Time information node and information nodes The existence of edges that can transmit measurement and control information between When the value is 1, the information node and information nodes Bidirectional transmission of measurement and control information, when When the value is 0, the information node and information nodes Transmit only measurement information or no information.

[0136] Establish information system control accessibility matrix based on information system control matrix;

[0137] In this embodiment, the The control accessibility matrix of the moment information system is expressed as:

[0138] ;

[0139] In the formula, express The moment information system controls the accessibility matrix, express Time information system control matrix, express The second power of the control matrix of the time information system, express Time information system control matrix power; where When the value is 1, it means that the two physical nodes are connected and can transmit control information. When the value is 0, it means At any given moment, the two physical nodes are not connected or are connected only to transmit measurement information.

[0140] Step 3: According to the information system accessibility matrix and the information system control accessibility matrix, based on the branch power measurement and the node injection power measurement, the branch power is estimated by the single branch forward and backward method to simulate the charged domain of the physical system, and the linear measurement Jacobian matrix of the simulated charged domain measurement during the recovery process and the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process are obtained, including:

[0141] For physical edge , physical node For physical nodes The parent node of the physical node Inflow physical edge The power is the state quantity;

[0142] The physical edge Power measurement and physical nodes The injected power measurement is transformed into the physical edge The power measurement and the physical node The equivalent measurement of the injected power measurement is obtained by transformation to obtain the linear measurement Jacobian matrix, and the equivalent measurement function reflecting the relationship between the equivalent measurement and the state quantity is obtained according to the linear measurement Jacobian matrix;

[0143] Based on the equivalent measurement function reflecting the relationship between equivalent measurement and state quantity, the measurement Jacobian matrix based on edge power measurement and node injection power measurement is selected to perform observability analysis on the simulated charged domain of the recovery scheme at a certain moment, and the measurement Jacobian matrix of the simulated charged domain is established. The linear measurement Jacobian matrix of the simulated charged domain measurement during the recovery process and the rank of the measurement Jacobian matrix of the simulated charged domain measurement during the recovery process are obtained.

[0144] The measured Jacobian matrix based on edge power measurement and node injection power measurement is selected to perform observability analysis on the simulated charged domain of the recovery scheme at a certain moment.

[0145] In this embodiment, the linear measurement Jacobian matrix is ​​expressed as:

[0146] ;

[0147] ;

[0148] ;

[0149] In the formula, , Represents physical edges On the physical node Active and reactive power measurement on both sides, , Represents physical edges On the physical node Active and reactive power measurement on both sides, , Represents physical edges On physical nodes Equivalent measurement of the side, , Represents physical edges On physical nodes The equivalent measurement of the physical side and physical edge The positive direction of power is from the physical node to the physical edge; , Represents physical edges Active power loss and reactive power loss; , Represents physical nodes Active injected power measurement and reactive injected power measurement; Representation and physical nodes The connected shunt capacitor injects reactive power into the physical node; , Respectively and For equivalent measurement of the power of the above physical nodes, the positive direction is the direction flowing out of the physical node.

[0150] In this embodiment, the equivalent measurement function reflecting the relationship between the equivalent measurement and the state quantity is expressed as:

[0151] ;

[0152] ;

[0153] ;

[0154] In the formula, , Represents physical edges Physical Node The equivalent measurement function of the active measurement and the equivalent measurement function of the reactive measurement on the side, , Represents physical edges Physical Node The equivalent measurement function of active measurement and the equivalent measurement function of reactive measurement; , Represents physical nodes An equivalent measurement function of active injected power measurement and an equivalent measurement function of reactive injected power measurement; , and , Represents physical edges The active state quantity and reactive state quantity of , Represents physical edges The state quantity and reactive state quantity of the physical node , Indicates that there is no physical node Physical nodes The set of neighboring nodes.

[0155] In this embodiment, the equivalent measurement functions are all linear functions of the state quantity, which are expressed in matrix form as follows:

[0156] ;

[0157] In the formula, , They represent the Jacobian matrix of active measurement and the Jacobian matrix of reactive measurement composed of 0, 1, and -1 respectively; , Represent the active state vector and reactive state vector respectively.

[0158] In this embodiment, the Jacobian matrix of the simulated charged domain linear measurement in the recovery process is expressed as:

[0159] H = [ H P 0 0 H Q ] ;

[0160] In the formula, represents the Jacobian matrix of the simulated charged domain linear measurement during the recovery process, , They are the Jacobian matrix of active measurement and the Jacobian matrix of reactive measurement composed of 0, 1, and -1 respectively, and 0 represents virtual measurement.

[0161] In this embodiment, the rank of the simulated charged domain measurement Jacobian matrix in the recovery process is expressed as:

[0162] rank ( H ) = 2 ∑ i = 1 N P [ s i ∑ x = 1 N C a ix p xy ∑ j = 1 N P α ms , ij s ij ( 1 − ∑ x = 1 N C a jx p xy )] + 2 ∑ i = 1 N P s i ε [ 1 − ∑ j = 1 N P s ij ( 1 − α ms , ij ∑ x = 1 N C a jx p xy ) ] ;

[0163] In the formula, represents the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process; Indicates the total number of physical nodes; Represents a physical node The operating status of Indicates the total number of information nodes; Represents a physical node With information node The non-fault edge exists between them; Represents an information node With information node The running communication path between them exists in the state where Indicates the communication substation node, Indicates the communication master node; Represents physical edge The power measurement existence coefficient is represents the measurement, where When the value is 1, it means that the physical edge The existence of power measurement, When the value is 0, it means that the physical edge There is no power measurement; Represents physical edge The operating status of Represents a physical node With information node The non-fault edge exists between them; represents the unit step function.

[0164] Among them, nodes that are not connected to power supplies and loads are all zero-injection nodes, and virtual measurements of the Jacobian matrix of linear measurements in the simulated live domain must be taken into account during the recovery process.

[0165] Step 4: According to the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process and the total number of physical nodes in the simulated charged domain, determine whether the simulated charged domain is completely observable or there are unobservable physical nodes.

[0166] If there are unobservable physical nodes in the simulated charged domain, supplement the pseudo-measurements of the unobservable nodes in the simulated charged domain to make the simulated charged domain fully observable;

[0167] If the simulated charged domain is completely observable, the weighted least squares method is used to perform static state estimation on the simulated charged domain to obtain the estimated value of the simulated charged domain state, the state estimation error covariance matrix and the state estimation error variance. Based on the state estimation error variance, the standard deviation of the physical edge state estimation error is obtained.

[0168] In this embodiment, if the simulated charged domain is completely observable, the iterative equation for estimating the static state of the simulated charged domain using the weighted least squares method is:

[0169] [ P ( l + 1 ) Q ( l + 1 ) ] = ( G ) − 1 H T W ( P l , Q l ) = [ ( G P ) − 1 H P T W P 0 0 ( G Q ) − 1 H Q T W Q ] [ z P ( P l , Q l ) z Q ( P l , Q l ) ] ;

[0170]

[0171] In the formula, , The iteration The physical side active vector and reactive vector of the second; , The iteration The secondary side active and reactive vectors; represents the equivalent measurement matrix, , They are active measurement matrix and reactive measurement matrix respectively; express Information Matrix The inverse matrix of , are the inverse matrices of its active information matrix and reactive information matrix respectively; express The order weight matrix is ​​a diagonal matrix. The diagonal elements are set according to the direct measurement error or pseudo measurement error of the relevant physical nodes. The direct measurement error is set to 0.3% and the pseudo measurement error is set to 30%. Indicates the total number of physical nodes in the simulated powered domain. , They are active measurement weight matrix and reactive measurement weight matrix respectively; represents the transposed matrix of the Jacobian matrix of the simulated charged domain linear measurement during the recovery process, , are the transposed matrices of the active measurement Jacobian matrix and the reactive measurement Jacobian matrix respectively.

[0172] In this embodiment, if , then the simulated charged domain is completely observable;

[0173] like , then there are unobservable physical nodes in the simulated charged domain;

[0174] in, represents the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process, Indicates the total number of physical nodes in the simulated powered domain.

[0175] Step 5: According to the error standard deviation of the active power estimation value, reactive power estimation value and physical side state estimation value of the physical side, the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical side are obtained.

[0176] In this embodiment, the diagonal elements of the physical edge state estimation error covariance matrix are the estimated error variances of each state quantity, that is, the power flowing into the physical edge from each parent node. The physical edge state estimation error covariance matrix is:

[0177] ;

[0178] In the formula, represents the physical edge state estimation error covariance matrix, and They represent the true value and estimated value of the physical edge state estimation respectively, and the diagonal elements are the estimated error variances of each state quantity. represents transpose; Represents the identity matrix.

[0179] Step 6: According to the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical edge, obtain the probability of the simulated live domain parameter exceeding the limit of the restoration node.

[0180] Assume that the voltage of the reference physical node in the simulated charged domain is 1, and calculate the The physical edge The power of the physical node is calculated by back-calculation. No. The voltage vector of the iteration . Determine whether ,in, Represents a physical node No. The voltage vector of the iteration, is the convergence target. If it is satisfied, the iterative calculation is stopped. Otherwise, .

[0181] According to the physical edge Estimated active power and reactive power estimation With physical edge The standard deviation of the estimated error , determine the physical edge The real value of active Operating range [ P ij ( 1 + σ ij ), P ij ( 1 − σ ij )] and reactive power true value Operating range [ Q ij ( 1 + σ ij ) , Q ij ( 1 − σ ij ) ] .

[0182] In this embodiment, the simulated live domain parameter over-limit probability of the restoration node is obtained according to the operating interval of the active power estimation value and the operating interval of the reactive power estimation value of the physical edge, wherein the simulated live domain parameter over-limit probability of the restoration node is expressed as:

[0183] ;

[0184] In the formula, Represents the probability of the simulated live domain parameter exceeding the limit of the recovery node, where the recovery node is a physical node , , Represents physical edges The amount by which the upper limits of the operating range of the real value of active power and the operating range of the real value of reactive power exceed the upper limits of the operating range of the rated value of active power and the rated value of reactive power; , Represents physical edges The amount by which the lower limits of the operating range of the real value of active power and the operating range of the real value of reactive power exceed the lower limits of the operating range of the rated value of active power and the rated value of reactive power; , Represents physical edges The upper and lower limits of the rated operating range of active power, , They respectively represent the upper and lower limits of the rated operating range of reactive power; , They represent the upper limit coefficient and lower limit coefficient of the operating range of the real value, respectively. A value of 1 indicates that the power exceeds the limit, and a value of 0 indicates that it does not exceed the limit. If the operating range of the real value does not overlap with the operating range of the rated value, then , if the operating range of the true value is included in the operating range of the rated value, then .

[0185] Step 7: According to the simulated power domain parameter over-limit probability and the loss caused by the delayed power supply due to the restoration failure of the restoration node, the state estimation error risk of the restoration node is obtained.

[0186] In this embodiment, the state estimation error risk of the recovery node is expressed as:

[0187] ;

[0188] In the formula, represents the state estimation error risk of the recovery node, where the recovery node is a physical node ; Represents a physical node Losses caused by delayed power supply due to restoration failure.

[0189] Step 8: According to the state estimation error risk of the recovery node, based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, an objective function is established with the goal of maximizing the estimated net benefit of physical system load recovery.

[0190] In this embodiment, according to the state estimation error risk of the recovery node, based on the estimated recovery benefit, the estimated recovery cost and the estimated recovery risk, an objective function is established with the goal of maximizing the estimated net recovery benefit of the physical system load, where the objective function is expressed as:

[0191] max y m ∑ m = 1 M [ I m ( x m , y m , z m ) − C m ( x m , y m , z m ) − R m ( x m , y m , z m ) ] ;

[0192] In the formula, Indicates that through decision The maximum value of the objective function obtained by the step control variable; It indicates the total number of steps of the overall recovery plan of the physical system. The power source or load to be recovered is taken as the target to be recovered. A one-step plan is a series of operations taken to recover a single target to be recovered. , and They represent the overall recovery plan of the physical system. The estimated restoration benefits, estimated restoration costs and estimated restoration risks of the target to be restored in the next step; The first part of the overall recovery plan of the physical system The physical system state variables of the step include unit electricity price, load power demand and load recovery time; The first part of the overall recovery plan of the physical system The control variables of each step include the switching on and off of power sources, lines, loads and power output adjustment; The first part of the overall recovery plan of the physical system The disturbance variables are used to reflect the uncertainty of power outage scenarios, external environment and recovery process.

[0193] In this embodiment, The estimated recovery risk of the first recovery operation is expressed as:

[0194] R m = [ 1 − ( 1 − ρ f , m )( 1 − ρ lim, m )] L m ;

[0195] In the formula, Indicates The probability of line failure during step recovery operation; Indicates The probability of parameter exceeding the limit in the step recovery operation is Indicates The loss caused by delayed power supply due to failure of step recovery.

[0196] In this embodiment, The estimated recovery benefit of the recovery operation is expressed as:

[0197] ;

[0198] ;

[0199] In the formula, express Moment The unit capacity recovery benefit of the target to be restored is Indicates load; express Moment The recovery power of the target to be recovered, Indicates the time required to restore the net benefit assessment; express Moment The recovery time of the target to be recovered; express Moment The start time of the step recovery operation, represents the differential, Indicates the estimated The restore operation is time consuming.

[0200] Considering the impact of the accessibility of control information of the distribution network information system on the execution time of the restoration plan, the first Step recovery operation takes time It is expressed as:

[0201] T reo, m = ∑ i , j ∈ Ω pr, m a ij [ a ix a jy c xz , t c yz , t T auo + ( 1 − a ix a jy c xz , t c yz , t ) T mo ] ;

[0202] In the formula, , , information node and information nodes For communication substation nodes, information nodes It is the communication master node; Indicates A set of information nodes of the recovery path of the target to be recovered; Indicates the time-consuming branch remote control operation; Indicates that manual operation of the branch takes time. Represents a physical node and physical nodes There is a non-faulty physical edge between Represents a physical node and information nodes There are non-faulty physical-information edges between Indicates Time information node and information nodes The ability to transmit measurement and control information between Indicates Time information node and information nodes The ability to transmit measurement and control information between

[0203] In this embodiment, The estimated recovery benefit of the recovery operation is expressed as:

[0204] ;

[0205] In the formula, Indicates Step The loss cost caused by the opening and closing of each switch, Indicates Total number of step recovery operation switches; express Unit electricity cost at each moment; Indicates the time required to restore the net income assessment.

[0206] Step 9: According to the objective function, the idea of ​​the scheme tree is used to make restoration decisions for CPDS, and the alternative restoration scheme with the maximum net recovery benefit is selected as the restoration scheme.

[0207] A schematic diagram comparing the net recovery benefit of a CPDS recovery decision method taking into account the state estimation error risk provided by an embodiment of the present invention and the net recovery benefit of the prior art method is shown in FIG. Figure 3 FIG. 1 is a schematic diagram showing a comparison of a CPDS recovery decision method taking into account the risk of state estimation error provided by an embodiment of the present invention and a recovery operation of a prior art method. Figure 4 shown.

[0208] Example 3

[0209] With the same inventive concept as other embodiments, this embodiment introduces a CPDS recovery decision method system taking into account the risk of state estimation error, which at least includes the following modules:

[0210] A data acquisition module is used to acquire the physical node set and physical edge set of the distribution network physical system, the information node set and information edge set of the distribution network information system, the physical-information edge set and physical-information coupling node of the distribution network physical-information system, and to construct a CPDS topology model and state constraints;

[0211] The reachability matrix building module is used to build the information system reachability matrix based on the CPDS topology model and recovery state constraints, according to the operation status of the information node, and to build the information system control reachability matrix according to the type of channel transmission information.

[0212] The simulated charged domain estimation module is used to estimate the branch power of the physical system simulated charged domain based on the information system reachability matrix and the information system control reachability matrix, based on the branch power measurement and the node injection power measurement, and adopt the single branch forward and backward substitution method to obtain the simulated charged domain measurement linear measurement Jacobian matrix during the recovery process and the rank of the simulated charged domain measurement Jacobian matrix during the recovery process;

[0213] The observability judgment module is used to determine whether the simulated charged domain is completely observable or has unobservable physical nodes based on the rank of the simulated charged domain measurement Jacobian matrix and the total number of simulated charged domain physical nodes during the recovery process.

[0214] The pseudo-measurement supplement module is used to supplement the pseudo-measurement of the unobservable nodes in the simulated charged domain if there are unobservable physical nodes in the simulated charged domain, so as to make the simulated charged domain completely observable;

[0215] The static state estimation module is used to estimate the static state of the simulated charged domain by using the weighted least square method if the simulated charged domain is completely observable, and obtain the estimated value of the simulated charged domain state, the state estimation error covariance matrix and the state estimation error variance. According to the state estimation error variance, the standard deviation of the physical edge state estimation error is obtained;

[0216] An operation interval determination module, used to obtain an operation interval of an active power estimation value and an operation interval of a reactive power estimation value of a physical side according to an error standard deviation of an active power estimation value, a reactive power estimation value and a state estimation value of a physical side;

[0217] The over-limit probability calculation module is used to obtain the over-limit probability of the simulated live domain parameter of the restoration node according to the operating interval of the active power estimation value and the operating interval of the reactive power estimation value of the physical edge;

[0218] A state estimation error risk assessment module is used to obtain the state estimation error risk of the recovery node based on the simulated probability of over-limit of the live domain parameters and the loss caused by the delayed power supply due to the failure of the recovery node to recover;

[0219] The recovery decision optimization module is used to estimate the error risk according to the state of the recovery node, and to establish an objective function based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, with the goal of maximizing the estimated net recovery benefit of the physical system load. According to the objective function, the idea of ​​the solution tree is used to make recovery decisions for CPDS, and the alternative recovery plan with the maximum net recovery benefit is used as the recovery plan.

[0220] The specific functional implementation of each of the above modules can be found in the relevant contents of the method in Example 1 or 2 and will not be elaborated here.

[0221] In summary, the present invention constructs a CPDS topology model and state constraints, and accurately estimates the simulated live domain based on the information system reachability matrix and the control reachability matrix. At the same time, by supplementing the pseudo-measurement of the unobservable nodes, it ensures that the simulated live domain is completely observable, so that the weighted least squares method is used for static state estimation to obtain the state estimation error covariance matrix and error variance, which significantly improves the accuracy and reliability of the recovery decision;

[0222] The present invention not only considers the active power estimation value and reactive power estimation value of the physical edge, but also determines the estimated value operating range of active power and the estimated value operating range of reactive power in combination with the standard deviation of the physical edge state estimation value error. Furthermore, by calculating the probability of over-limit of the simulated live domain parameters of the restoration node and combining the loss caused by delayed power supply due to restoration failure, the state estimation error risk of the restoration node is obtained, which effectively reduces the restoration decision risk caused by state estimation error.

[0223] The present invention takes the maximum net benefit of estimated recovery of physical system load as the goal and establishes an objective function. By adopting the idea of ​​solution tree to make recovery decisions for CPDS, it is possible to comprehensively consider the estimated recovery benefit, cost and risk, so as to select the alternative recovery solution with the maximum net recovery benefit, which is helpful to achieve the optimal configuration and efficient utilization of resources in the actual recovery process;

[0224] The present invention can make restoration decisions quickly and accurately in extreme disaster or fault situations, ensuring the rapid restoration and safe operation of CPDS, which not only helps to reduce power outage time and losses, but also improves the resilience and reliability of the entire power system, providing strong support for the development of smart grids;

[0225] The present invention takes into account the state estimation error risk of the recovery process when optimizing the CPDS recovery decision, thereby improving the net benefit of CPDS recovery. At the same time, in the recovery decision process, important targets to be restored with a small estimated recovery risk are given priority, and the observation capability of the restored charged domain is accelerated during the recovery process, thereby improving the success rate of the scheme recovery operation risk.

[0226] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention 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 code.

[0227] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device 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.

[0228] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising 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.

[0229] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing 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.

[0230] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A CPDS recovery decision method taking into account the risk of state estimation error, characterized in that: include: Obtain the physical node set and physical edge set of the distribution network physical system, the information node set and information edge set of the distribution network information system, the physical-information edge set and physical-information coupling node of the distribution network physical-information system, and construct the CPDS topology model and state constraints; Based on the CPDS topology model and recovery state constraints, the information system reachability matrix is ​​established according to the operation state of the information nodes, and the information system control reachability matrix is ​​established according to the type of channel transmission information; According to the information system accessibility matrix and the information system control accessibility matrix, based on the branch power measurement and the node injection power measurement, the branch power is estimated on the physical system simulated charged domain by using the single branch forward-backward substitution method, and the linear measurement Jacobian matrix of the simulated charged domain measurement in the recovery process and the rank of the Jacobian matrix of the simulated charged domain measurement in the recovery process are obtained; According to the rank of the Jacobian matrix of the simulated charged domain measurement and the total number of physical nodes of the simulated charged domain during the recovery process, it is determined whether the simulated charged domain is completely observable or there are unobservable physical nodes; If there are unobservable physical nodes in the simulated charged domain, supplement the pseudo-measurements of the unobservable nodes in the simulated charged domain to make the simulated charged domain fully observable; If the simulated charged domain is completely observable, the weighted least square method is used to perform static state estimation on the simulated charged domain to obtain the estimated value of the simulated charged domain state, the state estimation error covariance matrix and the state estimation error variance. According to the state estimation error variance, the standard deviation of the physical edge state estimation error is obtained. According to the error standard deviation of the active power estimation value and reactive power estimation value of the physical side and the physical side state estimation value, the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical side are obtained; According to the operating range of the estimated active power value and the operating range of the estimated reactive power value of the physical edge, the probability of the simulated live domain parameter exceeding the limit of the restoration node is obtained; The state estimation error risk of the recovery node is obtained by simulating the probability of over-limit of the parameters in the powered domain and the loss caused by the delayed power supply due to the failure of the recovery node. According to the state estimation error risk of the recovery node, based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, an objective function is established with the goal of maximizing the estimated net benefit of physical system load recovery; According to the objective function, the idea of ​​scheme tree is adopted to make restoration decision for CPDS, and the alternative restoration scheme with the largest net recovery benefit is taken as the restoration scheme.

2. The CPDS recovery decision method taking into account the state estimation error risk according to claim 1 is characterized in that: Obtain the physical node set and physical edge set of the distribution network physical system, the information node set and information edge set of the distribution network information system, the physical-information edge set and physical-information coupling node of the distribution network physical-information system, and construct the CPDS topology model and recovery state constraints, where: The physical node set includes a distribution network bus and a T-junction; The physical edge set includes a line or a transformer directly connecting two physical nodes, and the line directly connecting two physical nodes includes a switch, a capacitor, and a reactor; The information node set includes information measurement and transmission equipment, and the information measurement and transmission equipment includes intelligent terminals, switches, and routers; The information edge set includes a channel directly connecting two information nodes, the information edge set includes a wired information edge set and a wireless information edge set, the wired information edge set includes optical fiber and wireless communication, and the wireless information edge set includes GPRS; The physical-information edge set of the distribution network physical-information system includes monitoring channels between information nodes and physical nodes that have a direct exchange relationship of monitoring information; The physical information coupling node includes an information node and a physical node having a direct exchange relationship of monitoring information; The state constraints include physical nodes, physical edges, information nodes, information edges, and recovery state constraints of the information-physical system.

3. The CPDS recovery decision method taking into account the state estimation error risk according to claim 1 is characterized in that: Based on the CPDS topology model and recovery state constraints, the information system reachability matrix is ​​established according to the operating state of the information node, and the information system control reachability matrix is ​​established according to the type of channel transmission information, including: Based on the CPDS topology model and recovery state constraints, The running status of the information node at the moment, establish The operation status matrix of the time information system; according to Calculation of the operating state matrix of the time information system Moment information system accessibility matrix; Establish according to the type of information transmitted by the channel Moment information system control matrix; according to Establishment of the control matrix of the time information system Moment information system control accessibility matrix.

4. The CPDS recovery decision method taking into account the state estimation error risk according to claim 3 is characterized in that: The The accessibility matrix of the moment information system is expressed as: ； In the formula, express The moment information system accessibility matrix, express The operation status matrix of the real-time information system, express Time information system operation status matrix of Power, express Time information system operation status matrix of power; where When the value is 1, it means There is a running communication path between two physical nodes at all times. A value of 0 indicates At this moment, there is no running communication path between the two physical nodes. Represents the logical symbol "and"; The The control accessibility matrix of the moment information system is expressed as: ； In the formula, express The moment information system controls the accessibility matrix, express Time information system control matrix, express The second power of the control matrix of the time information system, express Time information system control matrix power; where When the value is 1, it means that the two physical nodes are connected and can transmit control information. When the value is 0, it means At any given moment, the two physical nodes are not connected or are connected only to transmit measurement information.

5. The CPDS recovery decision method taking into account the state estimation error risk according to claim 1, characterized in that: According to the information system accessibility matrix and the information system control accessibility matrix, based on the branch power measurement and the node injection power measurement, the branch power is estimated on the physical system simulated charged domain by using the single branch forward and backward substitution method, and the linear measurement Jacobian matrix of the simulated charged domain measurement during the recovery process and the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process are obtained; including: For physical edge , physical node For physical nodes The parent node of the physical node Inflow physical edge The power is the state quantity; The physical edge Power measurement and physical nodes The injected power measurement is transformed into the physical edge The power measurement and the physical node An equivalent measurement function reflecting the relationship between the equivalent measurement and the state quantity is obtained by measuring the equivalent value of the injected power measurement. Based on the equivalent measurement function reflecting the relationship between equivalent measurement and state quantity, the measurement Jacobian matrix based on edge power measurement and node injection power measurement is selected to perform observability analysis on the simulated charged domain of the recovery scheme at a certain moment, and the measurement Jacobian matrix of the simulated charged domain is established. The linear measurement Jacobian matrix of the simulated charged domain measurement during the recovery process and the rank of the measurement Jacobian matrix of the simulated charged domain measurement during the recovery process are obtained. Among them, nodes that are not connected to power supplies and loads are all zero-injection nodes, and virtual measurements of the Jacobian matrix of linear measurements in the simulated live domain must be taken into account during the recovery process.

6. The CPDS recovery decision method taking into account the state estimation error risk according to claim 5, characterized in that: The Jacobian matrix of the linear measurement simulated in the charged domain during the recovery process is expressed as: ； In the formula, represents the Jacobian matrix of the linear measurement simulated in the charged domain during the recovery process, , They are the Jacobian matrix of active measurement and the Jacobian matrix of reactive measurement composed of 0, 1, and -1 respectively, and 0 represents virtual measurement; The rank of the simulated charged domain measurement Jacobian matrix in the recovery process is expressed as: ； In the formula, represents the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process; Indicates the total number of physical nodes; Represents a physical node The operating status of Indicates the total number of information nodes; Represents a physical node With information node The non-fault edge exists between them; Represents an information node With information node The running communication path between them exists in the state where Indicates the communication substation node, Indicates the communication master node; Represents physical edge The power measurement existence coefficient is represents the measurement, where When the value is 1, it means that the physical edge The existence of power measurement, When the value is 0, it means that the physical edge There is no power measurement; Represents physical edge The operating status of Represents a physical node With information node The non-fault edge exists between them; represents the unit step function.

7. The CPDS recovery decision method taking into account the state estimation error risk according to claim 1, characterized in that: According to the rank of the Jacobian matrix of the simulated charged domain measurement and the total number of physical nodes of the simulated charged domain during the recovery process, it is determined whether the simulated charged domain is completely observable or there are unobservable physical nodes, including: like , then the simulated charged domain is completely observable; like , then there are unobservable physical nodes in the simulated charged domain; in, represents the rank of the Jacobian matrix of the simulated charged domain measurement during the recovery process, Indicates the total number of physical nodes in the simulated powered domain.

8. The CPDS recovery decision method taking into account the state estimation error risk according to claim 1, characterized in that: According to the operating range of the active power estimation value and the operating range of the reactive power estimation value of the physical edge, the simulated live domain parameter exceeding limit probability of the restoration node is obtained, wherein the simulated live domain parameter exceeding limit probability of the restoration node is expressed as: ； In the formula, Represents the probability of the simulated live domain parameter exceeding the limit of the recovery node, where the recovery node is a physical node , , Represents physical edges The amount by which the upper limits of the operating range of the real value of active power and the operating range of the real value of reactive power exceed the upper limits of the operating range of the rated value of active power and the rated value of reactive power; , Represents physical edges The amount by which the lower limits of the operating range of the real value of active power and the operating range of the real value of reactive power exceed the lower limits of the operating range of the rated value of active power and the rated value of reactive power; , Represents physical edges The upper and lower limits of the rated operating range of active power, , They respectively represent the upper and lower limits of the rated operating range of reactive power; , They represent the upper limit coefficient and lower limit coefficient of the operating range of the real value, respectively. A value of 1 indicates that the power exceeds the limit, and a value of 0 indicates that it does not exceed the limit. If the operating range of the real value does not overlap with the operating range of the rated value, then , if the operating range of the true value is included in the operating range of the rated value, then .

9. The CPDS recovery decision method taking into account the state estimation error risk according to claim 8, characterized in that: According to the simulated probability of over-limit of the parameters in the live domain and the loss caused by the delayed power supply due to the failure of restoration of the restoration node, the state estimation error risk of the restoration node is obtained, where the state estimation error risk of the restoration node is expressed as: ； In the formula, represents the state estimation error risk of the recovery node, where the recovery node is a physical node ; Represents a physical node Losses caused by delayed power supply due to restoration failure.

10. The CPDS recovery decision method taking into account the state estimation error risk according to claim 1, characterized in that: According to the state estimation error risk of the recovery node, based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, an objective function is established with the goal of maximizing the estimated net recovery benefit of the physical system load. The objective function is expressed as: ； In the formula, Indicates that through decision The maximum value of the objective function obtained by the step control variable; It indicates the total number of steps of the overall recovery plan of the physical system. The power source or load to be recovered is taken as the target to be recovered. A one-step plan is a series of operations taken to recover a single target to be recovered. , and They represent the overall recovery plan of the physical system. The estimated restoration benefits, estimated restoration costs and estimated restoration risks of the target to be restored in the next step; The first part of the overall recovery plan of the physical system The physical system state variables of the step include unit electricity price, load power demand and load recovery time; The first part of the overall recovery plan of the physical system The control variables of the steps include the switching on and off of power sources, lines, loads and the adjustment of power output; The first part of the overall recovery plan of the physical system The disturbance variables are used to reflect the uncertainty of power outage scenarios, external environment and recovery process.

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