Fast frequency response safety control method and device under DoS attack and medium

Abstract

The invention discloses a fast frequency response safety control method and device under DoS attack and a medium, and relates to the technical field of power system control. Obtaining a frequency deviation value of the power system under the DoS attack; according to the frequency deviation value, determining target power of an energy storage system of the power system participating in fast frequency response; dividing the global standby power of the energy storage system into positive standby power, attack out-of-control power and odd standby power; taking the positive standby power equal to power vacancy caused by load disturbance as a control target, and performing iterative decomposition on the positive standby power, attack out-of-control power and odd standby power through a proportionality coefficient to obtain a positive standby power target value of the energy storage system participating in fast frequency response; the proportionality coefficient of the odd standby power is iteratively updated according to the target power and the positive standby power; and controlling the energy storage system through the positive standby power target value so as to enable the power system to complete frequency recovery. The method can solve the problem that the fast frequency response power is out of control under the DoS attack.

Description

Technical Field

[0001] The present invention relates to the technical field of power system control, and particularly to a fast frequency response security control method, device, and medium under DoS attacks. Background Art

[0002] The new power system supports green energy generation and provides fast frequency response control based on high-performance computing and high-speed communication technologies to regulate the power output of energy storage systems and participate in power regulation services to maintain the safe and stable operation of the power system. However, the new power system integrating information and communication technologies exhibits the characteristics of cyber-physical integration, enabling information layer Denial of Service (DoS) attacks to penetrate and affect the security of physical devices and system stability. In particular, the high-precision second-level response requirement of fast frequency response control in multi-region interconnected power systems makes it more dependent on the integrity and availability of data transmission in information and communication systems. DoS attacks reduce the controllability of reserve power by destroying the information availability of the frequency control system, essentially causing unresponsive adjustable power, seriously affecting fast frequency response control, and causing the new power system to lose the best opportunity for frequency regulation under disturbances.

[0003] Therefore, there is an urgent need for a solution to the problem of fast frequency response security control under DoS attacks. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a fast frequency response security control method, device, and medium under DoS attacks, which can solve the problem of out-of-control fast frequency in the power system under DoS attacks.

[0005] The present invention adopts the following technical solutions:

[0006] The present invention provides a fast frequency response security control method under DoS attacks, including:

[0007] Obtaining the frequency deviation amount of the power system under a Denial of Service (DoS) attack;

[0008] Determining the target power of the energy storage system of the power system to participate in fast frequency response according to the frequency deviation amount;

[0009] Dividing the global reserve power of the energy storage system into positive reserve power, attack out-of-control power, and odd reserve power; the positive reserve power represents the actually effective output power in the energy storage system, the attack out-of-control power represents the power generation of the uncontrollable energy storage system caused by DoS attacks, and the odd reserve power represents the redundant reserve power used to make up for the shortage of the attack out-of-control power;

[0010] Taking the positive standby power equal to the power deficit caused by the load disturbance as the control target, the positive standby power, the attack out-of-control power, and the odd standby power are iteratively decomposed through a proportionality coefficient to obtain the target value of the positive standby power for the energy storage system to participate in the fast frequency response; the proportionality coefficient of the odd standby power is iteratively updated according to the target power and the positive standby power;

[0011] Controlling the energy storage system through the target value of the positive standby power so that the power system completes frequency restoration.

[0012] Optionally, determining the target power for the energy storage system of the power system to participate in the fast frequency response according to the frequency deviation amount, including:

[0013] Substituting the frequency deviation amount into the proportional integral derivative (PID) control law to obtain the target frequency; the proportional integral derivative (PID) control law is:

[0014]

[0015] where, ΔP R is the target power, Δf is the frequency deviation amount, is the derivative of the frequency deviation amount, K P is the proportional control gain, K D is the derivative control gain, K I is the integral control gain.

[0016] Optionally, dividing the global standby power of the energy storage system into positive standby power, attack out-of-control power, and odd standby power, including:

[0017] Dividing the global standby power into positive standby power, attack out-of-control power, and odd standby power according to a preset division ratio; the relationship between the global standby power and the positive standby power, the attack out-of-control power, and the odd standby power is:

[0018] ΔP RFE =ΔP D +ΔP S +ΔP I ;

[0019] where, ΔP RFE is the global standby power, ΔP D is the positive standby power, ΔP S is the attack out-of-control power, ΔP I is the odd standby power.

[0020] Optionally, the proportionality coefficients include the attack parameter of positive reserve power, the positive defense parameter of attack out-of-control power, and the odd control parameter of odd reserve power; with the positive reserve power equal to the power deficit caused by the load disturbance as the control target, the positive reserve power, attack out-of-control power, and odd reserve power are iteratively decomposed through the proportionality coefficients to obtain the target value of the positive reserve power for the energy storage system to participate in fast frequency response, including:

[0021] In each iteration process, the positive reserve power of the current iteration is decomposed into the first output power and the missed power through the attack parameter, the attack out-of-control power of the current iteration is decomposed into the over-constrained power and the recovery power through the positive defense parameter, and the odd reserve power of the current iteration is decomposed into the reserve power and the second output power through the odd control parameter; and the first output power and the second output power are used as the positive reserve power of the next iteration, the over-constrained power and the missed power are used as the attack out-of-control power of the next iteration, and the recovery power and the reserve power are used as the odd reserve power of the next iteration;

[0022] When the positive reserve power is equal to the power deficit caused by the load disturbance, the positive reserve power of the corresponding iteration is determined as the target value of the positive reserve power for the energy storage system to participate in fast frequency response;

[0023] Among them, the first output power refers to the actually completed power generation power, the missed power refers to the power of the power unit not responding due to the interruption of the dispatching communication under DoS attack; the over-constrained power refers to the zero reserve power regarded by the fast frequency response system when the reserve power measurement information cannot be obtained under DoS attack, and the recovery power refers to the power of the out-of-control power becoming controllable after the end of the DoS attack; the reserve power refers to the power kept in reserve to defend against potential attacks, and the second output power refers to the actual power generation power for defending against attacks.

[0024] Optionally, the decomposition formulas for the positive reserve power, attack out-of-control power, and odd reserve power are:

[0025]

[0026] Among them, ΔP RFE (k) is the global reserve power at the kth iteration, ΔP D (k), ΔP S (k), ΔP I (k) are the positive reserve power, attack out-of-control power, and odd reserve power at the kth iteration respectively, ΔP D (k + 1), ΔP S (k + 1), ΔP I (k + 1) are the positive reserve power, attack out-of-control power, and odd reserve power at the (k + 1)th iteration respectively, 1 - α k represents the attack parameter, 1 - β kDenote the positive defense parameter, and χ(k) is the odd control parameter at the k-th iteration.

[0027] Optionally, the update method of the odd control parameter includes:

[0028] For the odd control parameter of any iteration, if the target power is 0, then determine the odd control parameter of the current iteration as 0;

[0029] If the target power is not 0, then determine the candidate odd control parameter according to the target power and the standby power of the current iteration;

[0030] When the candidate odd control parameter satisfies the parameter constraint condition, determine the candidate odd control parameter as the odd control parameter of the current iteration;

[0031] When the candidate odd control parameter does not satisfy the parameter constraint condition, process the candidate odd control parameter according to the sign function to obtain the odd control parameter of the current iteration.

[0032] Optionally, the calculation formula of the candidate odd control parameter is:

[0033] χ1(k) = δ|(ΔP R -ΔP D (k)) / ΔP R |, ΔP R ≠0;

[0034] where χ1(k) is the candidate odd control parameter at the k-th iteration, δ is the reduction factor, ΔP R is the target power, ΔP D (k) is the positive standby power at the k-th iteration;

[0035]

[0036] where χ(k) is the odd control parameter at the k-th iteration, χ1(k) ≥ 1 is the parameter constraint condition, and sign(@) is the sign function.

[0037] Optionally, the safety constraints of the fast frequency response control include the energy storage power generation capacity constraint, the frequency deviation amplitude limit constraint, and the frequency change rate limit constraint:

[0038] The energy storage power generation capacity constraint is:

[0039] where ΔP s,i is the power generation of the i-th energy storage power generation unit, N is the number of energy storage power generation units, ΔP RFE is the global standby power, is the upper limit of the power generation amount of the i-th energy storage power generation unit;

[0040] The frequency deviation magnitude limit constraint is: -Δf min ≤Δf≤Δf max ;

[0041] where Δf is the frequency deviation amount, and Δf min and Δf max are the upper and lower bounds of the frequency deviation magnitude limit respectively;

[0042] The frequency change rate limit constraint is:

[0043] where is the derivative of the frequency deviation amount, and R is the upper bound of the frequency change rate limit.

[0044] The present invention provides a fast frequency response security control device under DoS attack, including:

[0045] An acquisition module, configured to acquire the frequency deviation amount of the power system under denial-of-service (DoS) attack;

[0046] A determination module, configured to determine the target power of the energy storage system of the power system to participate in fast frequency response according to the frequency deviation amount;

[0047] A division module, configured to divide the global reserve power of the energy storage system into positive reserve power, attack out-of-control power, and odd reserve power; the positive reserve power represents the actually effective output power in the energy storage system, the attack out-of-control power represents the generated power of the uncontrollable energy storage system caused by the DoS attack, and the odd reserve power represents the redundant reserve power adopted to make up for the deficit of the attack out-of-control power;

[0048] An iterative decomposition module, configured to take the positive reserve power being equal to the power deficit caused by the load disturbance as the control target, and iteratively decompose the positive reserve power, the attack out-of-control power, and the odd reserve power through a proportional coefficient to obtain the target value of the positive reserve power for the energy storage system to participate in fast frequency response; the proportional coefficient of the odd reserve power is iteratively updated according to the target power and the positive reserve power;

[0049] A control module, configured to control the energy storage system through the target value of the positive reserve power so that the power system completes frequency recovery.

[0050] The present invention provides a computer-readable storage medium, where the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned fast frequency response security control method under DoS attack is implemented.

[0051] The present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the above-mentioned fast frequency response security control method under DoS attack is implemented.

[0052] The above at least one technical solution adopted by the present invention can achieve the following beneficial effects:

[0053] Since DoS attacks can hinder communication and cause the failure of traditional centralized control. The method of the present invention measures the frequency deviation amount, distributes and adjusts the global reserve power, and reduces the dependence on communication. By dividing the global reserve power and iteratively adjusting it, when some nodes become uncontrollable due to attacks, the overall system can still maintain stability. Specifically, the main deficit is covered by positive reserve power, the out-of-control power during the attack is used to handle the additional fluctuations caused by the attack, and odd reserve power is used as a supplement. Such hierarchical processing can enhance the robustness of the system, so as to maintain the frequency stability of the power system under DoS attacks and effectively solve the problem of out-of-control fast frequency response of the power system under DoS attacks. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0055] Figure 1 It is a schematic flow chart of a fast frequency response security control method under DoS attacks provided by the present invention;

[0056] Figure 2 It is a schematic flow chart of another fast frequency response security control method under DoS attacks provided by the present invention;

[0057] Figure 3 It is a centralized odd-even security control structure diagram provided by the present invention;

[0058] Figure 4 It is a schematic diagram of the dynamic evolution of reserve power under a centralized odd-even control strategy provided by the present invention;

[0059] Figure 5 It is a comparison chart of frequency deviation between the method of the present invention and the traditional method;

[0060] Figure 6 It is a load disturbance diagram of a power system provided by the present invention;

[0061] Figure 7 It is a schematic diagram of the variation of target power, positive, out-of-control and odd reserve power with time provided by the present invention;

[0062] Figure 8 It is a schematic diagram of the variation of odd control parameters with time provided by the present invention;

[0063] Figure 9Schematic diagram of a fast frequency response security control device under DoS attack provided by the present invention;

[0064] Figure 10 Schematic diagram of a computer device for implementing a fast frequency response security control method under DoS attack provided by the present invention. Specific embodiments

[0065] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0066] The traditional DoS attack time feature correlation influence mechanism has not clarified the attack vulnerability of the frequency control system, lacks consideration of the dynamic characteristics of the new power system physical layer, and cannot essentially reflect the impact on frequency security. On the other hand, there are few studies on the fast frequency response control problem of energy storage under network attacks, and no one has studied the stability analysis and defense design of the fast frequency response control system under DoS attacks.

[0067] Based on this, the present invention provides a fast frequency response security control method, device and medium under DoS attack, which can solve the problem of out-of-control fast frequency response power of the power system under DoS attack.

[0068] The following will describe in detail the technical solutions provided by each embodiment of the present invention in conjunction with the drawings.

[0069] Figure 1 Schematic diagram of the process of a fast frequency response security control method under DoS attack in the present invention, specifically including the following steps:

[0070] S101, obtaining the frequency deviation of the power system under a denial-of-service (DoS) attack.

[0071] Obtaining the frequency deviation of the power system under a denial-of-service (DoS) attack includes: obtaining the frequency deviation through sampling and transmission by a wide-area measurement system.

[0072] S102, determining the target power of the energy storage system of the power system to participate in fast frequency modulation according to the frequency deviation.

[0073] Among them, a fast frequency response system model can be constructed based on the swing equation:

[0074]

[0075] Among them, Δf is the frequency deviation, is the derivative of the frequency deviation, M and D represent the equivalent inertia and equivalent damping coefficients respectively, and ΔP D and ΔP L represent the positive reserve power and the power deficit caused by the load disturbance respectively.

[0076] In one embodiment, the security constraints of the fast frequency response control include the energy storage power generation capacity constraint, the frequency deviation amplitude limit constraint, and the frequency change rate limit constraint.

[0077] The energy storage power generation capacity constraint is: where, ΔP s,i is the power generation of the i-th energy storage power generation unit, N is the number of energy storage power generation units, ΔP RFE is the global reserve power, is the upper limit of the power generation of the i-th energy storage power generation unit.

[0078] The frequency deviation amplitude limit constraint is: -Δf min ≤Δf≤Δf max ; where, Δf is the frequency deviation, and Δf min and Δf max are the upper and lower bounds of the frequency deviation amplitude limit respectively.

[0079] The frequency change rate limit constraint is: where, is the derivative of the frequency deviation, and R is the upper bound of the frequency change rate limit.

[0080] Furthermore, analyze the impact of the DoS attack on the power output of the physical layer of the power system, which is described as that the DoS attack increases the uncontrollable constraint of the reserve power of the power system. Specifically, the DoS attack invades the communication network between the control center of the power system and the energy storage power station, causing the loss of fast frequency response control instructions, resulting in the uncontrollability of the energy storage system and the inability to provide the preset power output to support frequency recovery.

[0081] Optionally, the fast frequency response security control strategy adopts the Proportional-Integral-Derivative (PID) control law. Therefore, according to the frequency deviation, determine the target power of the energy storage system of the power system to participate in the fast frequency response, including: substituting the frequency deviation into the proportional-integral-derivative PID control law to obtain the target frequency; the proportional-integral-derivative PID control law is:

[0082]

[0083] where, ΔP R is the target power, Δf is the frequency deviation, is the derivative of the frequency deviation, and K Pis the proportional control gain, K D is the derivative control gain, K I is the integral control gain.

[0084] S103. Divide the global reserve power of the energy storage system into positive reserve power, attack out-of-control power, and odd reserve power.

[0085] Among them, the positive reserve power represents the actually effective output power in the energy storage system, the attack out-of-control power represents the power generation power of the uncontrollable energy storage system caused by DoS attacks, and the odd reserve power represents the redundant reserve power adopted to make up for the deficit of the attack out-of-control power.

[0086] Optionally, dividing the global reserve power of the energy storage system into positive reserve power, attack out-of-control power, and odd reserve power includes: dividing the global reserve power into positive reserve power, attack out-of-control power, and odd reserve power according to a preset division ratio; the relationship between the global reserve power and the positive reserve power, attack out-of-control power, and odd reserve power is:

[0087] ΔP RFE = ΔP D + ΔP S + ΔP I (3)

[0088] Among them, ΔP RFE is the global reserve power, ΔP D is the positive reserve power, ΔP S is the attack out-of-control power, ΔP I is the odd reserve power.

[0089] For example, the division ratios of the positive reserve power, attack out-of-control power, and odd reserve power can be determined according to actual needs. For example, if the division ratio of the positive reserve power is 30%, the division ratio of the attack out-of-control power is 50%, and the division ratio of the odd reserve power is 20%, then 30% of the global reserve power is used as the positive reserve power, 50% of the global reserve power is used as the attack out-of-control power, and 20% of the global reserve power is used as the odd reserve power.

[0090] S104. Taking the positive reserve power equal to the power deficit caused by load disturbances as the control target, iteratively decompose the positive reserve power, attack out-of-control power, and odd reserve power through a proportional coefficient to obtain the target value of the positive reserve power for the energy storage system to participate in fast frequency response; the proportional coefficient of the odd reserve power is iteratively updated according to the target power and the positive reserve power.

[0091] In one embodiment, the proportionality coefficient includes an attack parameter for positive reserve power, a positive defense parameter for attack out-of-control power, and an odd control parameter for odd reserve power; with the control target that the positive reserve power is equal to the power deficit caused by the load disturbance, the positive reserve power, the attack out-of-control power, and the odd reserve power are iteratively decomposed through the proportionality coefficient to obtain the target value of the positive reserve power for the energy storage system to participate in fast frequency response, including: in each iteration process, the positive reserve power of the current iteration is decomposed into the first output power and the idle power through the attack parameter, the attack out-of-control power of the current iteration is decomposed into the over-constrained power and the recovery power through the positive defense parameter, and the odd reserve power of the current iteration is decomposed into the reserve power and the second output power through the odd control parameter; and the first output power and the second output power are used as the positive reserve power of the next iteration, the over-constrained power and the idle power are used as the attack out-of-control power of the next iteration, and the recovery power and the reserve power are used as the odd reserve power of the next iteration; when the positive reserve power is equal to the disturbance power deficit, the positive reserve power of the corresponding iteration is determined as the target value of the positive reserve power for the energy storage system to participate in fast frequency response.

[0092] Among them, the decomposition formulas for the positive reserve power, the attack out-of-control power, and the odd reserve power are as follows:

[0093]

[0094] Among them, ΔP RFE (k) is the global reserve power at the kth iteration, ΔP D (k), ΔP S (k), ΔP I (k) are the positive reserve power, the attack out-of-control power, and the odd reserve power at the kth iteration respectively, ΔP D (k + 1), ΔP S (k + 1), ΔP I (k + 1) are the positive reserve power, the attack out-of-control power, and the odd reserve power at the (k + 1)th iteration respectively, 1 - α k represents the attack parameter, 1 - β k represents the positive defense parameter, and χ(k) is the odd control parameter at the kth iteration.

[0095] Among them, the first output power refers to the actually completed power generation power, the idle power refers to the power that the power unit fails to respond due to the scheduling communication interruption under the DoS attack; the over-constrained power refers to the zero reserve power regarded by the fast frequency response system when the reserve power measurement information cannot be obtained under the DoS attack, and the recovery power refers to the power that the out-of-control power recovers to be controllable after the DoS attack ends; the reserve power refers to the power kept in the standby state for defending potential attacks, and the second output power refers to the actual power generation power for defending attacks.

[0096] The above iterative process can be regarded as the dynamic evolution process of positive - attack - odd reserve power. Based on the above evolution, one - step iteration is carried out. The decomposed power is re - aggregated into a new state of reserve power. The ultimate control goal is to achieve active power balance under security and stability constraints, that is, the output of positive reserve power is equal to the power deficit ΔP D (n)=ΔP L .

[0097] Optionally, the update method of the odd control parameter includes: for the odd control parameter of any iteration, if the target power is 0, then determine that the odd control parameter of the current iteration is 0; if the target power is not 0, then determine the candidate odd control parameter according to the target power and the reserve power of the current iteration; when the candidate odd control parameter meets the parameter constraint condition, determine the candidate odd control parameter as the odd control parameter of the current iteration; when the candidate odd control parameter does not meet the parameter constraint condition, process the candidate odd control parameter according to the sign function to obtain the odd control parameter of the current iteration.

[0098] Among them, the calculation formula of the candidate odd control parameter is:

[0099] χ1(k)=δ||(ΔP R -ΔP D (k)) / ΔP R |, ΔP R ≠0 (5)

[0100] Among them, χ1(k) is the candidate odd control parameter at the k - th iteration, δ is the reduction factor, ΔP R is the target power, ΔP D (k) is the positive reserve power at the k - th iteration;

[0101]

[0102] Among them, χ(k) is the odd control parameter at the k - th iteration, χ1(k)≥1 is the parameter constraint condition, and sign(·) is the sign function.

[0103] S105, control the energy storage system through the positive reserve power target value so that the power system completes frequency recovery.

[0104] Specifically, use the positive reserve power target value as the control instruction to control the energy storage system to generate electricity and support the fast frequency response system to complete the frequency recovery of the power system.

[0105] In an exemplary embodiment, the present invention also provides a fast frequency response security control method under DoS attack, as Figure 2 described, specifically including the following steps:

[0106] S201. Establish a fast frequency response control system model.

[0107] S202. Analyze the impact of system transient frequency security constraints and DoS attacks.

[0108] S203. Based on the frequency deviation measured by feedback, calculate the target power of the energy storage system participating in fast frequency response according to the PID control law.

[0109] S204. Based on the dynamic evolution process of attack and defense, establish a centralized odd-even security controller.

[0110] Due to the power control missing caused by DoS attacks, the centralized odd-even security controller presets the global reserve power according to the target power, and divides the globally perceivable reserve power of the energy storage into positive reserve power, attack out-of-control power, and odd reserve power units. Among them, the positive and odd reserve powers are respectively controlled by the positive control strategy and the odd control strategy. Under the DoS attack strategy, the power scheduling instruction or the standby power state measurement signal cannot be obtained, resulting in part of the standby power degenerating into uncontrollable standby power. For the positive standby power for which the control instruction cannot be obtained, the odd standby power is activated. Through attack and defense deduction, the stable odd standby power output required under a certain attack is obtained to make up for the shortage of positive standby power caused by the attack out-of-control power.

[0111] The centralized odd-even attack and defense dynamic evolution process can be modeled as a class of time-varying discrete difference equations, as shown in formula (4).

[0112] S205. Establish a method for solving odd-even control parameters.

[0113] The method of the present invention includes: First, from the perspective of the power generation unit space, it reveals the impact mechanism of DoS attacks on uncontrollable power units in the physical layer, and quantitatively describes the dynamic process of its interaction with positive control and odd control. Second, it proposes an odd-even control method with a binary structure. Different from the elastic load frequency control method with a unary structure that weighs and obtains asymptotic stability and global disturbance rejection performance, the binary structure of odd-even control has flexibility in dealing with DoS attack disturbances, which is beneficial to ensuring the transient frequency security performance of the new power system.

[0114] As Figure 3 shown, Figure 3 is the structure diagram of the centralized odd-even security control system. The frequency dynamics of the fast frequency response control system are quantitatively represented by the swing equation. Under the influence of load disturbance and system low inertia, the swing equation outputs the frequency deviation, which is fed back to the centralized odd-even control center. According to the interaction between the centralized odd-even control center and the energy storage system providing fast frequency support, based on the odd-even reserve power dynamic equation, considering the attack impact power uncontrollable mechanism, the odd reserve power output is dynamically adjusted to ensure power balance and make the frequency deviation meet the transient security constraints.

[0115] Figure 4 It is a schematic diagram of the dynamic evolution of the standby power under the centralized odd-even control strategy. The blue ball RFE represents the global standby power ΔP RFE , and the white ball represents the positive standby power ΔP D (simplified to D in the figure), and the red ball represents the out-of-control power ΔP under the DoS attack S (simplified to S in the figure), and the black represents the odd standby power ΔP I (simplified to I in the figure). Under the action of the odd-even control strategy and the DoS attack strategy, the dynamic evolution process of the standby power is described as follows: The positive standby power is decomposed into the output power and the missed power at a ratio of α k , where the output power refers to the actual generated power completed, and the missed power refers to the power unit not responding due to the scheduling communication interruption under the DoS attack; the out-of-control power is decomposed into the over-constrained power and the recovery power at a ratio of β k , where the over-constrained power refers to the standby power measurement information being unavailable under the attack and being regarded as zero standby power by the fast frequency response control system, and the recovery power refers to the out-of-control power recovering controllability after the DoS attack ends; the odd standby power is decomposed into the standby power and the output power at a ratio of χ k , where the standby power refers to the power maintained in the standby state to defend against potential attacks, and the output power refers to the actual generated power for defending against attacks; Based on the above evolutionary decomposition, one-step iteration is performed, and the decomposed power is re-aggregated into a new state of the standby power. The final control goal is to achieve the active power balance under the safe and stable constraints, that is, the global positive standby power output of the energy storage is equal to the disturbance power deficit ΔP D =ΔP L .

[0116] Next, a specific power system is taken as a numerical simulation example to verify the effectiveness of the method of the present invention.

[0117] First, set the simulation time to 100 s, the sampling period to 0.001 s, the initial value of the frequency deviation Δf(0)=0.001, and the equation of the wide-area closed-loop fast frequency response control system is as follows:

[0118]

[0119] Through simulation, the frequency deviation can be obtained as Figure 5 shown. The blue trajectory is the trajectory diagram of the method of the present invention, and the red trajectory is the trajectory diagram of the traditional control method, that is, only the unary positive control is applied. By comparison, it is found that the present invention has better transient performance and safe frequency deviation performance. Therefore, compared with the traditional control, the odd-even control result has superiority, and the load disturbance ΔP L is set as a step disturbance as Figure 6 shown.

[0120] The centralized control center of the fast frequency response system adopts the PID control law to calculate the target power for energy storage to participate in fast frequency regulation. As Figure 7 shown by the red curve in the upper figure above.

[0121] The above frequency system must satisfy the following power generation capacity and transient frequency safety constraint conditions: Energy storage power generation capacity constraint: ΔP RFE = ΔP D + ΔP S + ΔP I = 1.2ΔP R , |ΔP D | ≤ 0.03, |ΔP S | ≤ 0.03, |ΔP I | ≤ 0.03, Frequency deviation amplitude safety constraint: -0.02 ≤ Δf ≤ 0.02, Frequency change rate (RoCoF) safety constraint:

[0122] The initial state of the centralized odd-even controller ΔP Dc (1) = 0.1ΔP RFE , ΔP Sc (1) = 0.4ΔP RFE , ΔP Ic (1) = 0.5ΔP RFE and the dynamic iteration process is:

[0123]

[0124] In formula (8), the update rule of the odd reserve power control parameter and the simulation results are as Figure 8 shown.

[0125]

[0126] The above calculation result u d (t) = ΔP Dc (30), u s (t) = ΔP Sc (30), u i (t) = ΔP Ic (30) will be used as the control input of the energy storage power generation result to generate positive reserve power, out-of-control power under attack and odd reserve power, as Figure 7 shown. Due to the out-of-control of the reserve power caused by the attack, the positive reserve power is less than the power deficit caused by the load disturbance, that is, the target power. At this time, the odd reserve power is converted into positive reserve power according to the designed ratio to make up for the shortage of positive reserve power, and finally the active power balance is achieved.

[0127]

[0128] From the above simulation results, it can be seen that in the case of out-of-control standby power caused by a DoS attack, through the iterative calculation of the centralized odd-even controller, the odd standby power is used as a physical layer defense means to actively eliminate the impact of the attack, enabling the transient frequency deviation of the power system to quickly recover and meet the security constraints.

[0129] When applying the fast frequency response security control method under DoS attack provided by the present invention, it is not necessary to execute according to Figure 1 the order of the steps shown. The specific execution order of each step can be determined as needed, and the present invention does not limit this.

[0130] The above is the fast frequency response security control method under DoS attack provided by one or more embodiments of the present invention. Based on the same idea, the present invention also provides a corresponding fast frequency response security control device under DoS attack, as Figure 9 shown.

[0131] Figure 9 It is a schematic diagram of a fast frequency response security control device under DoS attack provided by the present invention. The device 900 includes:

[0132] An acquisition module 901, configured to acquire the frequency deviation amount of the power system under a denial-of-service (DoS) attack.

[0133] A determination module 902, configured to determine the target power of the energy storage system of the power system to participate in fast frequency response according to the frequency deviation amount.

[0134] A division module 903, configured to divide the global standby power of the energy storage system into positive standby power, attack out-of-control power, and odd standby power; the positive standby power represents the actually effective output power in the energy storage system, the attack out-of-control power represents the power generation power of the uncontrollable energy storage system caused by the DoS attack, and the odd standby power represents the redundant standby power used to make up for the shortage of the attack out-of-control power.

[0135] An iterative decomposition module 904, configured to take the positive standby power being equal to the power shortage caused by the load disturbance as the control target, and perform iterative decomposition on the positive standby power, attack out-of-control power, and odd standby power through a proportional coefficient to obtain the target value of the positive standby power for the energy storage system to participate in fast frequency response; the proportional coefficient of the odd standby power is iteratively updated according to the target power and the positive standby power.

[0136] A control module 905, configured to control the energy storage system through the target value of the positive standby power so that the power system completes frequency recovery.

[0137] For the specific limitations of the fast frequency response security control device under DoS attacks, reference can be made to the limitations of the fast frequency response security control method under DoS attacks in the foregoing text, which will not be elaborated herein. Each module in the above-mentioned fast frequency response security control device under DoS attacks can be implemented in whole or in part by software, hardware, or a combination thereof. The above-mentioned modules can be embedded in the processor in the computer device in hardware form or be independent of the processor, or can be stored in the memory in the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to the above-mentioned modules.

[0138] The present invention also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above-mentioned Figure 1 fast frequency response security control method under DoS attacks.

[0139] The present invention also provides Figure 10 a schematic structural diagram of the computer device shown in, as Figure 10 shown, at the hardware level, the computer device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above-mentioned Figure 1 fast frequency response security control method under DoS attacks.

[0140] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided by the present invention can include at least one of non-volatile and volatile memories. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. The volatile memory can include random access memory (RAM) or an external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0141] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope recorded in the present invention.

Claims

1. A fast frequency response safety control method under DoS attack, characterized in that: include: Obtain the frequency deviation of the power system under a denial of service DoS attack; Determining, according to the frequency deviation, a target power for the energy storage system of the power system to participate in a fast frequency response; The global backup power of the energy storage system is divided into positive backup power, attack out-of-control power and odd backup power; the positive backup power represents the actual effective output power of the energy storage system, the attack out-of-control power represents the power generation power of the uncontrollable energy storage system caused by the DoS attack, and the odd backup power represents the redundant backup power used to make up for the shortage of the attack out-of-control power; Taking the positive standby power equal to the power shortage caused by the load disturbance as the control target, the positive standby power, the attack out-of-control power and the odd standby power are iteratively decomposed by the proportional coefficient to obtain the positive standby power target value of the energy storage system participating in the fast frequency response; the proportional coefficient of the odd standby power is iteratively updated according to the target power and the positive standby power; The energy storage system is controlled by the positive standby power target value so that the power system completes frequency recovery.

2. The method according to claim 1, characterized in that Determining, according to the frequency deviation, a target power for the energy storage system of the power system to participate in a fast frequency response comprises: Substitute the frequency deviation into the proportional differential integral PID control law to obtain the target frequency; the proportional differential integral PID control law is: Among them, ΔP R is the target power, Δf is the frequency deviation, is the frequency deviation derivative, K P is the proportional control gain, K D is the derivative control gain, K I is the integral control gain.

3. The method according to claim 1, characterized in that The dividing the global reserve power of the energy storage system into positive reserve power, attack out-of-control power and odd reserve power includes: The global standby power is divided into positive standby power, attack out-of-control power and odd standby power according to a preset division ratio; the relationship between the global standby power and the positive standby power, attack out-of-control power and odd standby power is: ΔP RFE =ΔP D +ΔP S +ΔP I ; Among them, ΔP RFE is the global reserve power, ΔP D is the positive standby power, ΔP S is the attack out-of-control power, ΔP I For odd standby power.

4. The method according to claim 1, characterized in that The proportional coefficient includes an attack parameter of the positive standby power, a positive defense parameter of the attack out-of-control power, and an odd control parameter of the odd standby power; the control target is that the positive standby power is equal to the power shortage caused by the load disturbance, and the positive standby power, the attack out-of-control power, and the odd standby power are iteratively decomposed by the proportional coefficient to obtain the positive standby power target value of the energy storage system participating in the fast frequency response, including: In each iteration process, the positive reserve power of the current iteration is decomposed into the first output power and the empty power through the attack parameters, the attack out-of-control power of the current iteration is decomposed into the over-constrained power and the recovery power through the positive defense parameters, and the odd reserve power of the current iteration is decomposed into the reserve power and the second output power through the odd control parameters; and the first output power and the second output power are used as the positive reserve power of the next iteration, the over-constrained power and the empty power are used as the attack out-of-control power of the next iteration, and the recovery power and the reserve power are used as the odd reserve power of the next iteration; When the positive reserve power is equal to the power shortage caused by the load disturbance, the positive reserve power of the corresponding iteration is determined as the positive reserve power target value of the energy storage system participating in the fast frequency response; Among them, the first output power refers to the actual power generation, the idle power refers to the power that the power unit does not respond to due to the interruption of scheduling communication under DoS attack; the over-constrained power refers to the zero backup power that is regarded as the fast frequency response control because the backup power measurement information is not available under DoS attack, and the recovery power refers to the power that is restored to controllable after the DoS attack ends; the backup power refers to the power that remains in standby state to defend against potential attacks, and the second output power refers to the actual power generation power for defense attacks.

5. The method according to claim 4, characterized in that The decomposition formula of the positive reserve power, the attack out-of-control power and the odd reserve power is: Among them, ΔP RFE (k) is the global reserve power at the kth iteration, ΔP D (k), ΔP S (k), ΔP I (k) are the positive reserve power, attack out-of-control power and odd reserve power at the kth iteration, ΔP D (k+1),ΔP S (k+1),ΔP I (k+1) are the positive reserve power, attack out-of-control power and odd reserve power at the k+1th iteration, 1-α k represents the attack parameter, 1-β k represents the frontal defense parameter, and χ(k) is the odd control parameter at the kth iteration.

6. The method according to claim 5, characterized in that The update methods of the odd control parameters include: For any odd control parameter of an iteration, if the target power is 0, the odd control parameter of the current iteration is determined to be 0; If the target power is not 0, determining a candidate odd control parameter according to the target power and the standby power of the current iteration; In a case where the candidate odd control parameter satisfies the parameter constraint condition, determining the candidate odd control parameter as the odd control parameter of the current iteration; In the case that the candidate odd control parameters do not satisfy the parameter constraint condition, the candidate odd control parameters are processed according to a sign function to obtain odd control parameters of a current iteration.

7. The method according to claim 6, characterized in that The calculation formula of the candidate odd control parameters is: χ1(k)=δ|(ΔP R -ΔP D (k)) / ΔP R |,ΔP R ≠0; Where χ1(k) is the candidate odd control parameter at the kth iteration, δ is the reduction factor, ΔP R is the target power, ΔP D (k) is the positive reserve power at the kth iteration; Among them, χ(k) is the odd control parameter at the kth iteration, χ1(k)≥1 is the parameter constraint, and sign(@) is the sign function.

8. The method according to claim 1, characterized in that The safety constraints of fast frequency response control include energy storage capacity constraints, frequency deviation amplitude limit constraints, and frequency change rate limit constraints: The energy storage generation capacity constraint is: Among them, ΔP s,i is the power generation of the i-th energy storage power generation unit, N is the number of energy storage power generation units, ΔP RFE is the global reserve power, is the upper limit of power generation of the i-th energy storage power generation unit; The frequency deviation amplitude limit constraint is: -Δf min ≤Δf≤Δf max ; Among them, Δf is the frequency deviation, Δf min and Δf max They are the upper and lower limits of the frequency deviation amplitude respectively; The frequency change rate limit constraint is: in, is the derivative of the frequency deviation, and R is the upper limit of the frequency change rate.

9. A fast frequency response safety control device under DoS attack, characterized in that: include: An acquisition module is used to acquire the frequency deviation of the power system under a denial of service DoS attack; A determination module, used to determine the target power of the energy storage system of the power system participating in the fast frequency response according to the frequency deviation; A division module is used to divide the global standby power of the energy storage system into positive standby power, attack out-of-control power and odd standby power; the positive standby power represents the actual effective output power in the energy storage system, the attack out-of-control power represents the power generation power of the uncontrollable energy storage system caused by the DoS attack, and the odd standby power represents the redundant standby power used to make up for the shortage of the attack out-of-control power; An iterative decomposition module is used to take the positive standby power equal to the power shortage caused by the load disturbance as the control target, and iteratively decompose the positive standby power, the attack out-of-control power and the odd standby power through the proportional coefficient to obtain the positive standby power target value of the energy storage system participating in the fast frequency response; the proportional coefficient of the odd standby power is iteratively updated according to the target power and the positive standby power; The control module is used to control the energy storage system through the positive standby power target value so that the power system completes frequency recovery.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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