A cpds recovery decision method considering state estimation error risk

Abstract

The application discloses a CPDS recovery decision method considering state estimation error risk, comprising the following steps: constructing a CPDS topology model and state constraints; obtaining the rank of a simulated live area measurement Jacobian matrix according to a reachability matrix and a control reachability matrix; determining completely observable physical nodes in a simulated live area based on the total number of physical nodes in the simulated live area; obtaining the out-of-limit probability of a simulated live area parameter of a recovery node according to the operating interval of an active power estimation value of a physical edge and the operating interval of a reactive power estimation value; obtaining the state estimation error risk of the recovery node according to the loss caused by recovery failure and power supply delay of the recovery node; simultaneously, a target function is established with the maximum physical system load pre-estimation recovery net income as a target; the idea of a scheme tree is adopted to make a recovery decision for the CPDS, and the recovery net income of an optimal recovery scheme is taken as a recovery scheme, so that the problem that a live area cannot safely operate due to insufficient observation in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to a CPDS recovery decision-making method considering state estimation error risk, and belongs to the technical field of smart grid and power system automation. BACKGROUND

[0002] In recent years, due to the frequent occurrence of extreme disasters such as typhoons and floods, power distribution networks are more prone to power outages due to their 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, and effective recovery control decisions are needed to optimize the allocation of limited available capacity to achieve fast, safe and economic recovery after a large-scale power outage. The real-time operation feedback and dispatch control of the physical system of the power distribution system are highly dependent on the reliable operation of its information system. In the cyber physical distribution system (CPDS), the outage of the physical system may cause the failure of the information system measurement and control equipment, and the failure of the information system will make the physical system less observable and controllable. Therefore, it is particularly important to consider the impact of the information system in the recovery control decision.

[0003] Currently, some recovery methods for disaster failure of smart distribution networks have been proposed. For example, a smart distribution network disaster failure coordinated recovery method considering the dynamic interaction between power and communication, which restores the communication channel by emergency repair of the information system, and then realizes the control of the physical system to complete the load transfer. However, this method, although considering the impact of the information system on the controllability of the power physical system in the recovery control decision of the smart grid, does not consider the impact of the information system on the observability of the power physical system. This may lead to the fact that the live area cannot be safely operated due to its low observation level during the recovery process. In addition, the post-disaster information-physical collaborative recovery strategy of distribution network based on unmanned aerial vehicle emergency communication, although it improves the recovery efficiency of the distribution network after the disaster through the mobile emergency communication of the unmanned aerial vehicle, and considers the impact of the information system on the controllability of the physical system in the information-physical coupling characteristics, but 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 observation or estimation results is risky and difficult to ensure the safe operation of the live area during the recovery process. SUMMARY

[0004] The purpose of the present invention is to provide a CPDS restoration decision-making method that takes into account the risk of state estimation error. The state estimation error risk is used to reflect the impact of the observability of the physical system on the restoration decision, and the restoration operation time is used to reflect the impact of the controllability of the physical system on the restoration decision. A CPDS restoration control optimization decision-making method is established with the goal of maximizing the net restoration benefit. This solves the problem that the existing technology does not consider the impact of observability, resulting in the inability of the charged domain to operate safely during the restoration process due to insufficient observation, thereby realizing safe and economical restoration of the 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 operating 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 reachability matrix and the information system control reachability matrix, based on the branch power measurement and node injection power measurement, the single-branch forward-backward substitution method is used to estimate the branch power on 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;

[0010] 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 of the simulated charged domain, it is determined whether the simulated charged domain is completely observable or has unobservable physical nodes;

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

[0012] 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.

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

[0014] 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, the out-of-limit probability of the simulation live area parameter of the recovery node is obtained;

[0015] According to the out-of-limit probability of the simulation live area parameter and the loss caused by the recovery failure of the recovery node, the state estimation error risk of the recovery node is obtained;

[0016] According to the state estimation error risk of the recovery node, a target function is established based on the estimated recovery income, the estimated recovery cost and the estimated recovery risk, with the maximum net income of the physical system load estimation recovery as the target;

[0017] According to the target function, the CPDS is recovered by adopting the idea of scheme tree, and the alternative recovery scheme with the maximum recovery net income is taken as the recovery scheme.

[0018] Further, the physical node set, the physical edge set of the physical system of the power distribution network, the information node set, the information edge set of the information system of the power distribution network, the physical-information edge set and the physical information coupling node of the physical information system of the power distribution network are obtained, and the CPDS topology model and the recovery state constraint are constructed, wherein,

[0019] The physical node set includes the bus and the T joint of the power distribution network;

[0020] The physical edge set includes the line or transformer directly connecting two physical nodes, and the line directly connecting two physical nodes includes switches, capacitors and reactors;

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

[0023] The physical-information edge set of the physical information system of the power distribution network includes the monitoring channel between the information node and the physical node which has a direct exchange relationship of monitoring information;

[0024] The physical information coupling node includes the information node and the physical node which have 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 operating state of the information nodes, 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 all times, establish The operation status matrix of the time information system;

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

[0029] Establish according to the type of channel transmission information 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] Where, express The moment information system accessibility matrix, express The operation status matrix of the information system at all times, 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 any time. A value of 0 indicates There is no running communication path between the two physical nodes at the moment. Represents the logical symbol "and";

[0034] The The time information system control reachability matrix is represented as:

[0035] ;

[0036] wherein, represents the time information system control reachability matrix, represents the time information system control matrix, represents the 2nd power of the time information system control matrix, represents the 3rd power of the time information system control matrix, represents the 4th power of the time information system control matrix; wherein, a value of 1 indicates that two physical nodes are connected and can transmit control information, a value of 0 indicates that the two physical nodes are not connected or are connected only for transmitting measurement information.

[0037] Further, according to the information system reachability matrix and the information system control reachability matrix, based on branch power measurement and node injection power measurement, a single branch forward-backward substitution method is used to estimate the simulated live domain of the physical system in the restoration process, to obtain a measurement linear measurement Jacobian matrix of the simulated live domain in the restoration process and a rank of the measurement Jacobian matrix of the simulated live domain in the restoration process; including:

[0038] for a physical edge , a physical node is a parent node of a physical node , and power flowing from the physical node into the physical edge is a state variable;

[0039] the power measurement of the physical edge and the injection power measurement of the physical node are transformed into equivalent measurements equivalent to the power measurement of the physical edge and the injection power measurement of the physical node , to obtain an equivalent measurement function reflecting a relationship between the equivalent measurements and the state variables;

[0040] based on the equivalent measurement function reflecting the relationship between the equivalent measurements and the state variables, a measurement Jacobian matrix based on edge power measurement and node injection power measurement is selected to perform observability analysis on a simulated live domain of a restoration scheme at a certain time, to establish a measurement Jacobian matrix of the simulated live domain, to obtain a measurement linear measurement Jacobian matrix of the simulated live domain in the restoration process and a rank of the measurement Jacobian matrix of the simulated live domain in the restoration process;

[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 the simulated charged domain measurements must be taken into account during the recovery process.

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

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

[0044] Where, represents the Jacobian matrix of the linear measurement of the simulated charged domain during the recovery process, 、 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 Jacobian matrix of the simulated charged domain measurement 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] Where, 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 nodes The non-fault edge exists between them; Represents an information node With information nodes The running communication path between Indicates the communication substation node, Indicates the communication master node; Represents a 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 the physical edge There is no power measurement; Represents a physical edge The operating status of Represents a physical node With information nodes The non-fault edge exists between them; represents the unit step function.

[0048] Furthermore, 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, 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, based on 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. The simulated live domain parameter exceeding limit probability of the restoration node is expressed as:

[0053] ;

[0054] Where, Represents the probability of the simulated live domain parameter of the recovery node exceeding the limit, where the recovery node is a physical node , 、 Represent physical edges The amount by which the upper limits of the operating range of the actual value of active power and the operating range of the actual 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; 、 Represent physical edges The amount by which the lower limits of the operating range of the actual value of active power and the operating range of the actual 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; 、 Represent physical edges The upper and lower limits of the active power rated operating range, 、 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 actual value is included in the operating range of the rated value, then .

[0055] Further, according to the simulation of the probability of exceeding the limit of the charged domain parameter and the loss caused by the delay power supply of the recovery node in the recovery failure, the state estimation error risk of the recovery node is obtained, wherein the state estimation error risk of the recovery node is represented as:

[0056] ;

[0057] In the formula, The state estimation error risk of the recovery node is represented as: wherein the recovery node is a physical node ; The physical node is represented as: The loss caused by the delay power supply of the recovery node in the recovery failure.

[0058] Further, according to the state estimation error risk of the recovery node, the target function is established based on the estimated recovery benefit, the estimated recovery cost and the estimated recovery risk, with the maximum physical system load estimated recovery net benefit as the target, wherein the target function is represented 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, The maximum value of the target function obtained by the decision of the first step control variable is represented as: The total number of steps of the overall recovery scheme of the physical system is represented as: the power supply or the load to be recovered is taken as the recovery target, and one step scheme is a series of operations taken for recovering a single recovery target; , And The estimated recovery benefit, the estimated recovery cost and the estimated recovery risk of the recovery target of the first step of the overall recovery scheme of the physical system are represented as: The state variable of the physical system of the first step of the overall recovery scheme of the physical system is represented as: including the unit price, the load power demand and the load recovery time; The control variable of the first step of the overall recovery scheme of the physical system is represented as: including the power supply, the line, the load and the power output adjustment; The disturbance variable of the first step of the overall recovery scheme of the physical system is represented as: used for reflecting the power failure scene, the external environment and the uncertainty in the recovery process.

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

[0062] 1. The application constructs a CPDS topological model and state constraints, and based on the information system reachability matrix and control reachability matrix, accurately estimates the simulated live domain. At the same time, by supplementing the pseudo measurement of unobservable nodes, it ensures that the simulated live domain is completely observable, thereby using the weighted least squares method for static state estimation to obtain the state estimation error covariance matrix and error variance, significantly improving the accuracy and reliability of the recovery decision;

[0063] 2. The application not only considers the active power estimation value and the reactive power estimation value of the physical edge, but also combines the state estimation value error standard deviation to determine the active power estimation value operating interval and the reactive power estimation value operating interval. Further, by calculating the simulated live domain parameter out-of-limit probability of the recovery node and combining the loss caused by the failure of recovery delay power supply, the state estimation error risk of the recovery node is obtained, effectively reducing the recovery decision risk caused by the state estimation error;

[0064] 3. The application takes the maximum physical system load pre-estimation recovery net income as the target to establish a target function. By using the scheme tree idea to make recovery decisions for CPDS, the pre-estimation recovery income, cost and risk can be considered comprehensively, so as to select the recovery scheme with the maximum recovery net income, which is helpful for realizing the optimal allocation and efficient utilization of resources in the actual recovery process;

[0065] 4. The application can quickly and accurately make recovery decisions under extreme disaster or fault conditions, ensure the rapid recovery and safe operation of CPDS, not only help to reduce the power outage time and loss, but also improve the resilience and reliability of the entire power system, and provide strong support for the development of smart grid;

[0066] 5. The application considers the state estimation error risk in the process of CPDS recovery decision optimization, improves the CPDS recovery net income, and in the process of recovery decision, gives priority to the important recovery target with small pre-estimation recovery risk, speeds up the observation ability of the live domain in the recovery process, and improves the success rate of the scheme recovery operation risk. BRIEF DESCRIPTION OF DRAWINGS

[0067] Figure 1 Fig. 1 shows the overall flowchart of the CPDS recovery decision method considering state estimation error risk provided by the embodiment of the application;

[0068] Figure 2 Fig. 2 shows the information physical topological relationship diagram of IEEE 123 node system provided by the embodiment of the application;

[0069] Figure 3Fig. 1 shows a comparison diagram of the net recovery of the CPDS recovery decision method provided by the embodiment of the present application and the net recovery of the prior art method.

[0070] Figure 4 Fig. 2 shows a comparison diagram of the recovery operation of the CPDS recovery decision method provided by the embodiment of the present application and the recovery operation of the prior art method. DETAILED DESCRIPTION

[0071] The technical scheme of the present application will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical scheme of the present application, but not limitations of the technical scheme of the present application. In the case of no conflict, the technical features in the embodiments and the embodiments can be combined with each other.

[0072] The term "and / or", only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / ", generally represents that the associated objects before and after it are in an "or" relationship.

[0073] Embodiment 1

[0074] As Figure 1 shown, the embodiment introduces a CPDS recovery decision method considering state estimation error risk, which at least includes the following steps:

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

[0076] The present application constructs the topology model of the CPDS by obtaining the information of the physical node, the physical edge, the information node, the information edge, the physical-information edge and the physical information coupling node of the power distribution network. At the same time, the state constraint is determined to ensure the stability and safety in the system recovery process.

[0077] Step 2: Based on the CPDS topology model and the recovery state constraint, 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.

[0078] According to the CPDS topological model and the recovery state constraint, the information system reachability matrix is constructed by using the running state of the information node, and the connection relationship between the information nodes is reflected.

[0079] Step three: 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 substitution method is used to estimate the simulation live domain of the physical system, and the measurement linear measurement Jacobian matrix of the simulation live domain in the recovery process and the rank of the measurement Jacobian matrix of the simulation live domain in the recovery process are obtained.

[0080] Based on the information system reachability matrix and the control reachability matrix, combined with the branch power measurement and the node injection power measurement, the single branch forward-backward substitution method is used to estimate the simulation live domain of the physical system, and the simulation live domain measurement linear measurement Jacobian matrix and its rank are calculated to evaluate the observability of the simulation live domain, and the estimated state and the observability information of the simulation live domain are obtained, which provides a basis for the state estimation and risk assessment in the subsequent steps.

[0081] Step four: according to the rank of the measurement Jacobian matrix of the simulation live domain in the recovery process and the total number of physical nodes of the simulation live domain, it is determined whether the simulation live domain is completely observable or there is an unobservable physical node.

[0082] If the simulation live domain has unobservable physical nodes, the unobservable node pseudo-measurement of the simulation live domain is supplemented to make the simulation live domain completely observable.

[0083] If the simulation live domain is completely observable, the weighted least square method is used for static state estimation of the simulation live domain, and the estimated value of the simulation live domain state, the state estimation error covariance matrix and the state estimation error variance are obtained, and according to the state estimation error variance, the physical edge state estimation value error standard deviation is obtained.

[0084] According to the rank of the measurement Jacobian matrix of the simulation live domain and the total number of physical nodes, it is judged whether the simulation live domain is completely observable. For the unobservable node, it is made observable by supplementing the pseudo-measurement, which ensures that the state of the simulation live domain can be completely determined by the measurement data, and provides a reliable premise for the subsequent state estimation.

[0085] Step five: according to the active power estimation value, the reactive power estimation value and the physical edge state estimation value error standard deviation of the physical edge, the running interval of the active power estimation value and the running interval of the reactive power estimation value of the physical edge are obtained.

[0086] The application is based on the completely observable simulation charged domain, and uses the weighted least square method to perform static state estimation, to obtain state estimation value, state estimation error covariance matrix and state estimation error variance.

[0087] Step six: according to the operating interval of the active power estimation value of the physical edge and the operating interval of the reactive power estimation value, the simulation charged domain parameter out-of-limit probability of the recovery node is obtained.

[0088] The application determines the operating interval of the active power estimation value and the reactive power estimation value of the physical edge according to the active estimation value, the reactive estimation value and the physical edge state estimation value error standard deviation of the physical edge, provides basic data for evaluating the simulation charged domain parameter out-of-limit probability of the recovery node, and is helpful for subsequent risk assessment.

[0089] Step seven: according to the simulation charged domain parameter out-of-limit probability and the loss caused by the recovery failure delay power supply of the recovery node, the state estimation error risk of the recovery node is obtained.

[0090] The application calculates the state estimation error risk of the recovery node according to the physical edge power estimation value operating interval and the simulation charged domain parameter out-of-limit probability of the recovery node, and combines the loss caused by the recovery failure delay power supply, obtains the risk information of the recovery node, and provides a key basis for subsequent recovery decision.

[0091] Step eight: according to the state estimation error risk of the recovery node, a target function is established based on the estimated recovery income, the estimated recovery cost and the estimated recovery risk, with the maximum physical system load estimated recovery net income as the target.

[0092] The application establishes a target function based on the state estimation error risk of the recovery node, the estimated recovery income, the estimated recovery cost and the estimated recovery risk, with the maximum physical system load estimated recovery net income as the target, provides an explicit direction and evaluation standard for target optimization, and provides a mathematical basis for subsequent recovery decision.

[0093] Step nine: according to the target function, the idea of scheme tree is used to make recovery decision for CPDS, and the selected recovery scheme with the maximum recovery net income is taken as the recovery scheme.

[0094] The application uses the idea of scheme tree to make recovery decision for CPDS according to the target function, selects the scheme with the maximum recovery net income as the final recovery scheme by comparing the net incomes of different selected recovery schemes, obtains the optimal recovery scheme, ensures the maximization of the benefit of the recovery process, and meets the stability and safety requirements of the system.

[0095] In summary, the application proposes a CPDS recovery decision-making method considering state estimation error risk, a CPDS topology model is established by graph theory, and the recovery state constraints of the information-physical system are obtained according to the coupling mechanism of the information-physical system in the recovery process. According to the analysis of the reachability of the information system and the observability of the physical system, a model of the probability of exceeding the limit of the simulation of the live area parameters in the recovery process is established, and the influence of the system observability on the recovery decision is reflected through the state estimation error risk, and the influence of the system controllability on the recovery decision is reflected through the time consumption of the recovery operation, and a CPDS recovery control optimization decision-making method is established to maximize the net recovery benefit, and the CPDS is safely and economically recovered.

[0096] Embodiment 2

[0097] Based on the same inventive concept as Embodiment 1, this embodiment introduces specific implementation steps of a CPDS recovery decision-making method considering state estimation error risk, including:

[0098] Step 1: Obtain the physical node set of the physical system of the distribution network , the physical edge set , the information node set of the information system of the distribution network , the information edge set , the physical-information edge set of the physical information system of the distribution network and the physical information coupling node, construct the CPDS topology model and the state constraint, and the schematic diagram of the information-physical topology relationship of the IEEE 123 node system provided by the application embodiment is shown in Figure 2 , wherein represents the power supply connected to the physical node.

[0099] In this embodiment, the physical node set includes the bus and the T joint of the distribution network;

[0100] 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;

[0101] The information node set includes information measurement and transmission equipment, and the information measurement and transmission equipment includes a smart terminal, a switch and a router;

[0102] The information edge set includes a channel directly connecting two information nodes, and the information edge set includes a wired information edge set and a wireless information edge set , wherein , the wired information edge set comprising optical fiber and wireless communication, the wireless information edge set comprising General Packet Radio Service (GPRS);

[0103] the physical-information edge set of the power grid physical information system comprising a monitoring channel between the information node and the physical node with a direct exchange relationship of monitoring information;

[0104] the physical-information coupling node comprises an information node and a physical node with a direct exchange relationship of monitoring information;

[0105] The state constraints include the recovery state constraints of the physical node, the physical edge, the information node, the information edge, and the information physical system.

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

[0107] ;

[0108] ;

[0109] In the formula, , and respectively represent the running state of the physical node , the physical node , and the physical edge at time t, wherein ; ; , at time t , and take the value 1, respectively representing the running of the physical node , the physical node , and the physical edge , at time t , and take the value 0, respectively representing the non-fault shutdown of the physical node , the physical node , and the physical edge , and max{} represents the maximum value.

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

[0111] ;

[0112] ;

[0113] In the formula, denotes the set of edges connected to the physical node , denotes the running state of the physical node at time min{}

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

[0115] ;

[0116] ;

[0117] In the formula, , and respectively denote the running state of the information node , the information node , and the information edge at time denotes the running state of the information edge at time , wherein ; ; At time , , , the values of 1 respectively indicate that the information node , the information node , and the information edge are running, At time , , , the values of 0 respectively indicate that the information node , the information node , and the information edge are not in fault outage; At time , the value of 1 indicates that the information edge is running, At time , the value of 0 indicates that the information edge is not in 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, denotes time information node running state; denotes information node path to information node contains a set of nodes, wherein information node is a communication substation node, and information node is a communication master station node; , , denotes information node contains information nodes in the path from information node to information node denotes the total number of information nodes in the path from information node to information node ; denotes the logical symbol "or", denotes the logical symbol "and".

[0122] In this embodiment, the information-physical system recovery state constraint is represented 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, denotes the running state of the physical-information edge , wherein ; When the value of is 1, it indicates that the physical-information edge is running; denotes the outage time, denotes the maximum power supply duration of the backup power supply of information node ; is the unit step function, denotes the non-fault edge existence state of the physical-information edge .

[0126] Step 2: Based on the CPDS topology model and the recovery state constraint, the information system reachability matrix is established according to the running 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 the recovery state constraint, the information system running state matrix is established according to the running state of the information node;

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

[0129] ;

[0130] Where, express The operational status matrix of the information system at all times, ” is Hadamard; express The running state vector of the moment information node, 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 There is no channel or the channel 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] Where, express The moment information system accessibility matrix, express The operation status matrix of the information system at all times, 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 any time. A value of 0 indicates There is no running communication path between the two physical nodes at the moment. Represents the logical symbol "and";

[0135] Establish information system control matrix according to the type of channel transmission information ,in, , express Time information node and information nodes The existence of the edge that can transmit measurement and control information, when 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] Where, express The moment information system controls the accessibility matrix, express Time information system control matrix, express The power of 2 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 moment, the two physical nodes are not connected or are connected only to transmit measurement information.

[0140] Step 3: Based on the information system reachability matrix and the information system control reachability matrix, and based on the branch power measurement and node injection power measurement, a single-branch forward-backward substitution method is used to estimate the branch power on the physical system simulated charged domain. 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 edges , physical node For physical nodes The parent node of the physical node inflow physical edges power of the state quantity;

[0142] transforming the power measurement of the physical edge and the injection power measurement of the physical node into equivalent measurements equivalent to the power measurement of the physical edge and the injection power measurement of the physical node obtaining an equivalent measurement function reflecting the relationship between the equivalent measurements and the state quantity according to the linear measurement Jacobian matrix obtained by the transformation;

[0143] based on the equivalent measurement function reflecting the relationship between the equivalent measurements and the state quantity, performing observability analysis on the simulation energized domain of the recovery scheme at a certain time based on the measurement Jacobian matrix based on the edge power measurement and the node injection power measurement, establishing the measurement Jacobian matrix of the simulation energized domain, obtaining the simulation energized domain measurement linear measurement Jacobian matrix in the recovery process and the rank of the simulation energized domain measurement Jacobian matrix in the recovery process;

[0144] performing observability analysis on the simulation energized domain of the recovery scheme at a certain time based on the measurement Jacobian matrix based on the edge power measurement and the node injection power measurement.

[0145] In the embodiment, the linear measurement Jacobian matrix is represented as:

[0146] ;

[0147] ;

[0148] ;

[0149] In the formula, , respectively represent the active power measurement and the reactive power measurement of the physical edge at the physical node , , respectively represent the active power measurement and the reactive power measurement of the physical edge at the physical node , , respectively represent the equivalent measurement of the physical edge at the physical node , , respectively represent the equivalent measurement of the physical edge at the physical node , and the positive directions of the power of the above-mentioned physical edge and the physical edge are both from the physical node to the physical edge. , represent the active and reactive power losses of the physical edges, respectively; , represent the active and reactive power injections of the physical nodes, respectively; , represents the reactive power injected by the shunt capacitor connected to the physical node , , represent the equivalent measurements of and , respectively, and the physical node power measurements are all positive in the direction of flow out of the physical node.

[0150] In this embodiment, the equivalent measurement functions reflecting the relationship between the equivalent measurements and the state variables are represented as:

[0151] ;

[0152] ;

[0153] ;

[0154] wherein, , represent the equivalent measurement functions of the active and reactive power measurements at the physical node side of the physical edge , , represent the equivalent measurement functions of the active and reactive power measurements at the physical node side of the physical edge ; , represent the equivalent measurement functions of the active and reactive power injections of the physical nodes, respectively; , and , , represent the active and reactive state variables of the physical edges, , represent the state variables of the physical edges, , wherein the physical node , represents the adjacent node set of the physical node without the physical node .

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

[0156]

[0157] wherein, represent the active and reactive measurement Jacobian matrices composed of 0, 1 and -1 respectively; represent the active and reactive state vectors respectively.

[0158] In the embodiment, the linear measurement Jacobian matrix of the simulation of the energized domain in the restoration process is expressed as follows:

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

[0160] wherein, represents the linear measurement Jacobian matrix of the simulation of the energized domain in the restoration process, represent the active and reactive measurement Jacobian matrices composed of 0, 1 and -1 respectively, and 0 represents a virtual measurement.

[0161] In the embodiment, the rank of the linear measurement Jacobian matrix of the simulation of the energized domain in the restoration process is expressed as follows:

[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] wherein, represents the rank of the linear measurement Jacobian matrix of the simulation of the energized domain in the restoration process; represents the total number of physical nodes; represents the operating state of the physical node ; represents the total number of information nodes; represents the existence state of the non-fault edge between the physical node and the information node ; represents the existence state of the operating communication path between the information node and the information node , wherein, represents a communication substation node, represents a communication master station node; represents the existence coefficient of the power measurement of the physical edge , represents the measurement, wherein, when the value of is 1, it represents the existing power measurement of the physical edge ​​​​​​0, which means the physical edge There is no power measurement; 0, which means the running state of the physical edge 0, which means the running state of the physical edge 0, which means the non-fault edge between the physical node 0, which means the non-fault edge between the physical node 0, which means the non-fault edge between the physical node 0, which means the unit step function.

[0164] Among them, the nodes without connecting power and load belong to zero injection nodes, and the virtual measurements of the linear measurement Jacobian matrix of the simulation live area during the recovery process need to be considered.

[0165] Step 4: According to the rank of the simulation live area during the recovery process and the total number of simulation live area physical nodes, it is determined whether the simulation live area is completely observable or there is an unobservable physical node.

[0166] If there is an unobservable physical node in the simulation live area, the unobservable node pseudo-measurement of the simulation live area is supplemented to make the simulation live area completely observable;

[0167] If the simulation live area is completely observable, the weighted least squares method is used for static state estimation of the simulation live area to obtain the estimated value of the state of the simulation live area, the state estimation error covariance matrix and the state estimation error variance, and according to the state estimation error variance, the standard deviation of the error of the physical edge state estimation value is obtained.

[0168] In this embodiment, if the simulation live area is completely observable, the iteration equation for static state estimation of the simulation live area by the weighted least squares method is:

[0169] [ P ( l + 1 ) Q ( l + 1 ) ] = ( G ) − 1 H T Wz ( 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, , are the active and reactive vectors of the physical edge in the iteration of the th time; , are the active and reactive vectors of the edge in the iteration of the th time; denotes the equivalent measurement matrix, , are the active and reactive measurement matrices; denotes the inverse matrix of the order information matrix , , are the inverse matrices of the active and reactive information matrices thereof; represents a diagonal matrix, diagonal elements are set according to direct measurement error or pseudo measurement error of related physical nodes, and the direct measurement error is 0.3%, and the pseudo measurement error is 30%, represents total number of physical nodes in the simulated live domain, 、 respectively represent active measurement weight matrix and reactive measurement weight matrix; represents transposed matrix of the linear measurement Jacobian matrix of the simulated live domain in the recovery process, 、 respectively represent transposed matrix of the active measurement Jacobian matrix and the reactive measurement Jacobian matrix.

[0172] In the embodiment, if , the simulated live domain is completely observable;

[0173] if , the simulated live domain has unobservable physical nodes;

[0174] wherein, represents rank of the measurement Jacobian matrix of the simulated live domain in the recovery process, represents total number of physical nodes in the simulated live domain.

[0175] Step 5: obtaining the operating interval of the active power estimation value and the operating interval of the reactive power estimation value of the physical edge according to the active estimation value, the reactive estimation value and the state estimation error standard deviation of the physical edge.

[0176] In the embodiment, diagonal elements of the physical edge state estimation error covariance matrix are estimation error variances of each state quantity, i.e. power of each parent node inflow physical edge, and the physical edge state estimation error covariance matrix is:

[0177] ;

[0178] In the formula, represents the physical edge state estimation error covariance matrix, and respectively represent true value and estimation value of the physical edge state estimation, and diagonal elements are estimation error variances of each state quantity, represents transposition; represents a unit matrix.

[0179] Step 6: obtaining the parameter out-of-limit probability of the simulated live domain of the recovery 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.

[0180] Supposing that the voltage of the reference physical node in the simulated live domain is 1, the voltage of the i-th physical node in the simulated live domain is calculated according to the iterative equation physical edges in the second iteration power of the physical nodes in the second iteration voltage vector in the second iteration voltage vector in the second iteration whether the convergence condition is met wherein, voltage vector in the second iteration voltage vector in the second iteration is the convergence target, if the convergence condition is met, the iteration calculation is stopped, otherwise, .

[0181] active power estimated value of the physical edge and reactive power estimated value of the physical edge and the estimated value error standard deviation of the physical edge , determine the operation interval of the active real value of the physical edge [ P ij ( 1 + σ ij ), P ij ( 1 − σ ij )] and the operation interval of the reactive real value of the physical edge [ Q ij ( 1 + σ ij ) , Q ij ( 1 − σ ij ) ] .

[0182] In this embodiment, according to the operation interval of the active power estimated value of the physical edge and the operation interval of the reactive power estimated value of the physical edge, the simulation over-limit probability of the analog charged domain parameter of the recovery node is obtained, wherein the simulation over-limit probability of the analog charged domain parameter of the recovery node is represented as:

[0183] ;

[0184] In the formula, represents the simulation over-limit probability of the analog charged domain parameter of the recovery node, wherein the recovery node is the physical node , , respectively represent the over-limit amount of the upper limit of the operation interval of the active power real value and the upper limit of the operation interval of the reactive power real value of the physical edge relative to the active power rating and the reactive power rating operation interval upper limit; , respectively represent the over-limit amount of the lower limit of the operation interval of the active power real value and the lower limit of the operation interval of the reactive power real value of the physical edge relative to the active power rating and the reactive power rating operation interval lower limit; , respectively represent the upper limit and the lower limit of the active power rating operation interval of the physical edge , , ​​​​​respectively represent the upper limit and the lower limit of the reactive power rated operation interval; 、 respectively represent the over-limit coefficient and the under-limit coefficient of the real value operation interval, the value 1 represents power over-limit, the value 0 represents no over-limit, if the real value operation interval does not overlap with the rated value operation interval, then , if the real value operation interval is contained in the rated value operation interval, then .

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

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

[0187] ;

[0188] In the formula, represents the state estimation error risk of the recovery node, wherein the recovery node is a physical node ; represents the loss caused by the recovery failure of the delay power supply of the physical node .

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

[0190] In this embodiment, according to the state estimation error risk of the recovery node, a target function is established based on the estimated recovery benefit, the estimated recovery cost and the estimated recovery risk, with the maximum physical system load estimated recovery net benefit as the target, wherein the target function is represented 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, represents the maximum value of the target function obtained by decision-making the control variable in the first step; represents the total number of steps of the overall recovery scheme of the physical system, and the power supply or the load to be recovered is taken as the recovery target, and one step scheme is a series of operations taken to recover a single recovery target; 、 and respectively represent the estimated recovery benefit, the estimated recovery cost and the estimated recovery risk of the recovery target in the first step of the overall recovery scheme of the physical system; The first step of the overall recovery plan for the physical system The physical system state variables of the step include unit electricity price, load power demand and load recovery time; The first step of the overall recovery plan for the physical system The control variables of each step include the switching on and off of power supply, line, load and power output adjustment; The first step of the overall recovery plan for the physical system The disturbance variables are used to reflect the uncertainty of the power outage scenario, external environment and restoration process.

[0193] In this embodiment, the 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] Where, Indicates the The probability of line failure during step recovery operation; Indicates the The probability of parameter exceeding the limit in the step recovery operation is Indicates the Losses caused by delayed power supply due to failure of step recovery.

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

[0197] ;

[0198] ;

[0199] Where, 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 recover the net income assessment; express Moment The recovery time of the target to be recovered; express Moment The starting 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 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] Where, , , information node and information nodes For communication substation nodes, information nodes It is the communication master node; Indicates the A set of information nodes on the recovery path of the target to be recovered; Indicates the time taken for branch remote control operation; Indicates the time consuming manual operation of the branch. Represents a physical node and physical nodes There is a non-faulty physical edge between Represents a physical node and information nodes There is a non-faulty physical-information edge between Indicates Time information node and information nodes The measurement and control information transmission capability between Indicates Time information node and information nodes The ability to transmit measurement and control information between

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

[0204] ;

[0205] Where, Indicates the Step The loss cost caused by opening and closing the switch, Indicates the 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: Based on the objective function, the restoration decision of CPDS is made using the idea of ​​the scheme tree, and the alternative restoration scheme with the maximum net recovery benefit is selected as the restoration scheme.

[0207] The recovery net income of the CPDS recovery decision method provided by the embodiment of the application is compared with the recovery net income of the prior art method, as shown in Figure 3 The recovery operation of the CPDS recovery decision method provided by the embodiment of the application is compared with the recovery operation of the prior art method, as shown in Figure 4 .

[0208] Embodiment 3

[0209] The same inventive concept as in other embodiments, this embodiment introduces a kind of CPDS recovery decision method system considering state estimation error risk, at least includes the following modules:

[0210] Data acquisition module, for obtaining the physical node set, the physical edge set of distribution network physical system, the information node set, the information edge set of distribution network information system, the physical-information edge set and physical information coupling node of distribution network physical information system, construct CPDS topological model and state constraint;

[0211] Reachability matrix construction module, for establishing information system reachability matrix according to the operating state of information node based on CPDS topological model and recovery state constraint, and establishing information system control reachability matrix according to the type of channel transmission information

[0212] Simulated live domain estimation module, for estimating the simulated live domain of branch power based on branch power measurement and node injection power measurement by using single-branch forward-backward substitution method according to information system reachability matrix and information system control reachability matrix, to obtain measurement linear measurement Jacobian matrix of simulated live domain in recovery process and rank of measurement Jacobian matrix of simulated live domain in recovery process;

[0213] Observability judgment module, for determining that simulated live domain is completely observable or there is unobservable physical node according to the rank of measurement Jacobian matrix of simulated live domain in recovery process and the total number of physical nodes of simulated live domain

[0214] Pseudo-measurement supplement module, for supplementing pseudo-measurement of unobservable nodes of simulated live domain to make simulated live domain completely observable if there is unobservable physical node in simulated live domain;

[0215] Static state estimation module, for performing static state estimation on simulated live domain by using weighted least square method to obtain the estimated value of simulated live domain state, state estimation error covariance matrix and state estimation error variance if simulated live domain is completely observable, and obtaining physical edge state estimation value error standard deviation according to state estimation error variance;

[0216] The running interval determination module is configured to obtain the running interval of the active power estimation value and the running interval of the reactive power estimation value of the physical edge according to the active power estimation value, the reactive power estimation value and the standard deviation of the state estimation value error of the physical edge;

[0217] The out-of-limit probability calculation module is configured to obtain the out-of-limit probability of the simulated live domain parameter of the recovery node according to the running interval of the active power estimation value and the running interval of the reactive power estimation value of the physical edge;

[0218] The state estimation error risk evaluation module is configured to obtain the state estimation error risk of the recovery node according to the out-of-limit probability of the simulated live domain parameter and the loss caused by the delayed power supply due to the recovery failure of the recovery node.

[0219] The recovery decision optimization module is configured to establish a target function with the maximum physical system load estimated recovery net income as the target based on the estimated recovery income, the estimated recovery cost and the estimated recovery risk according to the state estimation error risk of the recovery node, and make a recovery decision on the CPDS by using the idea of a scheme tree, and select the alternative recovery scheme with the maximum recovery net income as the recovery scheme.

[0220] The specific function implementation of each module is referred to the related content in the method of the embodiment 1 or 2, and will not be described here.

[0221] In summary of the above embodiments, the CPDS topological model and state constraints are constructed, and the simulated live domain is accurately estimated based on the information system reachability matrix and the control reachability matrix. At the same time, the pseudo measurement of the unobservable node is supplemented to ensure 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 active power estimation value and the reactive power estimation value of the physical edge are considered, and the running interval of the active power estimation value and the running interval of the reactive power estimation value are determined in combination with the standard deviation of the state estimation value error of the physical edge, the state estimation error risk of the recovery node is obtained by calculating the out-of-limit probability of the simulated live domain parameter of the recovery node and combining the loss caused by the delayed power supply due to the recovery failure, and the recovery decision risk caused by the state estimation error is effectively reduced;

[0223] The target function is established with the maximum physical system load estimated recovery net income as the target, and the recovery decision is made on the CPDS by using the idea of a scheme tree, which can comprehensively consider the estimated recovery income, cost and risk, so as to select the alternative recovery scheme with the maximum recovery net income, which is helpful to realize the optimal allocation and efficient utilization of resources in the actual recovery process;

[0224] The application can quickly and accurately make recovery decisions in extreme disaster or failure conditions, ensure the quick recovery and safe operation of the CPDS, help reduce power outage time and loss, improve the resilience and reliability of the entire power system, and provide strong support for the development of smart grids;

[0225] The application considers the state estimation error risk of the recovery process during the optimization of the CPDS recovery decision, improves the net recovery benefit of the CPDS, preferentially considers important to-be-recovered targets with small estimated recovery risks during the recovery decision process, accelerates the observation ability of the live area during the recovery process, and improves the success rate of the operation risk of the scheme recovery.

[0226] Those skilled in the art will understand that embodiments of the application can be provided as methods, systems, or computer program products. Therefore, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can 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-ROMs, optical storage, etc.) containing computer-usable program code.

[0227] The application is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams 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 apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure One The functions specified in one or more flows and / or blocks Figure One The functions specified in one or more flows and / or blocks

[0228] These computer program instructions can also be stored in a computer-readable memory that can cause the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction devices that implement the functions specified in the flowcharts and / or block diagrams. Figure One The functions specified in one or more flows and / or blocks Figure One The functions specified in one or more flows and / or blocks

[0229] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable data processing apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus provide a device for implementing the functions specified in the flowcharts and / or block diagrams.Figure One one or more processes and / or functions specified in one or more blocks Figure One one or more blocks or any combination thereof.

[0230] The embodiments of the application described herein are illustrative rather than limiting. Many variations are possible within the spirit of the application and the general scope of the following claims. Accordingly, other embodiments of the application can be constructed without departing from the spirit, the scope and the intended broadest aspects of the disclosure as defined by the claims.

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 operating 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 reachability matrix and the information system control reachability matrix, based on the branch power measurement and node injection power measurement, the single-branch forward-backward substitution method is used to estimate the branch power on 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; 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 of the simulated charged domain, it is determined whether the simulated charged domain is completely observable or has unobservable physical nodes; If there are unobservable physical nodes in the simulated charged domain, pseudo-measurements of the unobservable nodes in the simulated charged domain are supplemented to make the simulated charged domain fully observable; 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. According to the standard deviation of the errors between the active power estimation value, reactive power estimation value and 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; 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 exceeding the limit of the simulated electrified domain parameter of the restoration node is obtained; The state estimation error risk of the recovery node is obtained by simulating the probability of over-limit parameters in the powered domain and the loss caused by the delayed power supply due to the restoration failure of the recovery node. According to the state estimation error risk of the recovery node, the objective function is established based on the estimated recovery benefit, estimated recovery cost and estimated recovery risk, with the goal of maximizing the net benefit of the physical system load estimated recovery; According to the objective function, the idea of ​​scenario tree is adopted to make restoration decision for CPDS, and the alternative restoration scenario with the largest net benefit is selected as the restoration scenario.

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 that have 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 nodes, 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 all times, establish The operation status matrix of the time information system; according to Calculation of the operating status matrix of the time information system Moment information system accessibility matrix; Establish according to the type of channel transmission information 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: ； Where, express The moment information system accessibility matrix, express The operation status matrix of the information system at all times, 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 any time. A value of 0 indicates There is no running communication path between the two physical nodes at the moment. Represents the logical symbol "and"; The The control accessibility matrix of the moment information system is expressed as: ； Where, express The moment information system controls the accessibility matrix, express Time information system control matrix, express The power of 2 of the moment information system control matrix, 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 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 is characterized in that: 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 branch power is estimated on the physical system simulated charged domain using the single-branch forward-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 edges , physical node For physical nodes The parent node of the physical node Inflow physical edge The power is a state quantity; The physical edge Power measurement and physical nodes The injected power measurement is transformed into the physical edge Power measurement and the physical node An equivalent measurement function reflecting the relationship between the equivalent measurement and the state quantity is obtained; Based on the equivalent measurement function that reflects 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 the simulated charged domain measurements 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 is characterized in that: The Jacobian matrix of the linear measurement of the simulated charged domain measurement in the recovery process is expressed as: ； Where, represents the Jacobian matrix of the linear measurement of the simulated charged domain during the recovery process, 、 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 Jacobian matrix of the simulated charged domain measurement in the recovery process is expressed as: ； Where, 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 nodes The non-fault edge exists between them; Represents an information node With information nodes The running communication path between Indicates the communication substation node, Indicates the communication master node; Represents a 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 a physical edge The operating status of Represents a physical node With information nodes 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 is characterized in that: 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, it is determined whether the simulated charged domain is completely observable or has 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 is characterized in that: According to the operating range of the estimated active power value and the estimated reactive power value of the physical edge, the probability of exceeding the limit of the simulated live domain parameter of the restored node is obtained. The probability of exceeding the limit of the simulated live domain parameter of the restored node is expressed as: ； Where, Represents the probability of the simulated live domain parameter of the recovery node exceeding the limit, where the recovery node is a physical node , 、 Represent physical edges The amount by which the upper limits of the operating range of the actual value of active power and the operating range of the actual 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; 、 Represent physical edges The amount by which the lower limits of the operating range of the actual value of active power and the operating range of the actual 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; 、 Represent physical edges The upper and lower limits of the active power rated operating range, 、 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 actual 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: Based on the simulated probability of over-limit parameters in the live domain and the loss caused by delayed power supply due to restoration failure of the restoration node, the state estimation error risk of the restoration node is obtained. The state estimation error risk of the restoration node is expressed as: ； Where, 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, 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. The objective function is expressed as: ； Where, Indicates that the decision The maximum value of the objective function obtained by the step control variable; Indicates the total number of steps in the overall recovery plan for the physical system. Taking the power source or load to be restored as the target to be restored, a one-step plan is a series of operations taken to restore a single target to be restored. 、 and Represents 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 step of the overall recovery plan for the physical system The physical system state variables of the step include unit electricity price, load power demand and load recovery time; The first step of the overall recovery plan for the physical system Step-by-step control variables include power supply, line, load switching and power output adjustment; The first step of the overall recovery plan for the physical system The disturbance variables are used to reflect the uncertainty of the power outage scenario, external environment and restoration process.

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