Post-disaster power distribution network power restoration method based on satellite communication vehicle scheduling

Abstract

The invention belongs to the technical field of post-disaster power distribution network power supply recovery, and particularly relates to a post-disaster power distribution network power supply recovery method based on satellite communication vehicle scheduling. Comprising the steps that a satellite communication vehicle is scheduled to move in a power distribution network area, communication gears are switched according to load requirements, and first-class loads and second-class loads are activated through the communication coverage area of the satellite communication vehicle; constructing a day-ahead scheduling model with the minimum daily operation cost of the post-disaster power distribution network as a target; processing nonlinear constraints by adopting an adaptive piecewise linearization method so as to solve the day-ahead scheduling model; and controlling a moving path, gear switching and a load activation strategy of the satellite communication vehicle according to a solving result of the day-ahead scheduling model. The load is flexibly activated through the satellite communication vehicle, and the system toughness is improved; by distinguishing load types and optimizing communication resource utilization, the total operation cost of the system is reduced, and the post-disaster power supply recovery efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of power supply restoration technology for post-disaster power distribution networks, and specifically relates to a method for power supply restoration of post-disaster power distribution networks based on satellite communication vehicle dispatching. Background Technology

[0002] Extreme weather events are increasingly frequent in power distribution networks, leading to severe load disruptions. Research has found that a large number of adjustable loads possess excellent capabilities for coordinating energy supply and demand balance. Therefore, the need to enhance the resilience of power distribution networks after disasters by scheduling controllable loads is becoming increasingly urgent. However, existing research typically only flexibly deploys loads to provide power support to the power distribution network when needed. This strategy will fail if ground communication networks are damaged.

[0003] Therefore, there is an urgent need to develop a method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatching, so as to achieve a load restoration method that does not rely on ground communication. Summary of the Invention

[0004] The purpose of this invention is to provide a method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle scheduling. This invention activates Class I and Class II loads by scheduling mobile satellite communication vehicles, constructs a scheduling model with the goal of minimizing system operating costs, and solves the model using a precise sensing adaptive piecewise linearization method, thereby achieving efficient and economical post-disaster power supply restoration.

[0005] To address the aforementioned technical problems, this invention provides a method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatching, comprising:

[0006] The satellite communication vehicle moves within the power distribution network area and switches communication modes according to load demand. Through the communication coverage area of ​​the satellite communication vehicle, Class I and Class II loads are activated. Class I loads are adjustable loads that only need to communicate once within the dispatch cycle to transmit instructions and can strictly follow the instructions in subsequent periods. Class II loads are adjustable loads that rely on communication for operation. Class III loads are conventional loads that do not require communication.

[0007] A day-ahead dispatch model is constructed with the goal of minimizing the daily operating cost of the post-disaster power distribution network. The daily operating cost includes: the fuel consumption cost of the satellite communication vehicle, the satellite communication fee, the load interruption cost, and the power generation cost of the micro generator.

[0008] The day-ahead scheduling model is solved by using an adaptive piecewise linearization method to handle nonlinear constraints.

[0009] Based on the solution results of the day-ahead scheduling model, the movement path, gear switching, and load activation strategy of the satellite communication vehicle are controlled.

[0010] Preferably, the objective function of the day-ahead scheduling model includes:

[0011]

[0012] In the formula, T represents the scheduling period, and F t scv F represents the cost of a mobile satellite communication vehicle. t sa,I and F t sa,II Let F represent the communication costs of Class I and Class II loads at time t, respectively. t nel and F t mt Let p represent the load penalty cost and the cost of micro gas turbine power generation at time t, respectively. scv P represents the price unit coefficient for measuring the working hour of a satellite communication vehicle. t c and P t mov p represents the hourly fuel cost of the mobile satellite communication vehicle and the price of maintaining coverage, respectively. sa,I ψ represents a type of load communication price coefficient. ij,t and ψ ij,t-1 These represent the activation regions of a certain type of load on road ij at time t and time t-1, respectively. p represents the real-time response scale of a type of load on road ij at time t. sa,II and These represent the price and activation ratio for Category II load communication, respectively; p int and These represent the load penalty price and load demand, respectively. and Let p represent the operating power of Class I load, Class II load, and Class III load at node i at time t, respectively. mt and These represent the electricity price and power output of the micro gas turbine, respectively.

[0013] Preferably, the day-ahead scheduling model includes: spatiotemporal empowerment constraints for satellite communication vehicles, load activation constraints, and post-disaster distribution network constraints; wherein the spatiotemporal empowerment constraints for satellite communication vehicles include: spatiotemporal transfer constraints and communication coverage empowerment constraints; and the load activation constraints include: type I load activation constraints and type II load activation constraints.

[0014] Preferably, the spatiotemporal transition constraints include:

[0015]

[0016] In the formula, the Boolean variable z ii,t and z ii,t+1The Boolean variable z represents whether the mobile satellite communication vehicle is located at station i at time t and time t+1, respectively. ij,t and z ij,t+1 The Boolean variable z represents whether the mobile satellite communication vehicle is located on road ij at time t and t+1, respectively. jj,t+1 and z jk,t+1 A represents whether the mobile satellite communication vehicle is located at station j and on an adjacent route at time t+1, respectively. - and A + Let A represent the set of stations and the set of road links, respectively, and let A represent the set of all links; Boolean variable. The constant P represents the communication gear of the satellite communication vehicle on road ij at time t. mov P represents the hourly movement cost. t mov P represents the price per hour that a mobile satellite communication vehicle maintains coverage, i.e., the total cost of moving the communication vehicle. t c P represents the hourly fuel cost of a mobile satellite communication vehicle. c,n This indicates the cost of maintaining coverage areas at different gear levels.

[0017] Preferably, the communication coverage enabling constraints include:

[0018]

[0019]

[0020] In the formula, constants v and Δt represent the moving speed of the satellite communication vehicle and the minimum load activation time, respectively, and L min The chord length representing the minimum coverage area of ​​the satellite communication vehicle is a constant R. n and h n These represent the coverage radius and effective coverage length, respectively, with L representing the travel distance of the satellite communication vehicle; these are Boolean variables. This indicates the gear position of the communication vehicle at station i at time t. The variable S represents the gear position of the communication vehicle on road ij at time t. ij,t and ζ ij,t Let represent the effective coverage area and effective connection duration of road ij at time t, respectively. S represents the connection duration at different levels of station i. ii,t and ζ ii,t These represent the effective coverage area and effective connection duration at site i at time t, respectively.

[0021] Preferably, the type of load activation constraint includes:

[0022]

[0023]

[0024] In the formula, S ij,1 and ψ ij,1 S represents the effective coverage area and the actual activated area on the road at time 1, respectively. ii,1 and ψ ii,1 The wind represents the effective coverage area and actual active area at station i at time 1, and the Boolean variable u. ij,t and u ii,t These represent whether the areas of road ij and station i increase at time t, respectively. The constant M represents an infinite quantity, and the variable S... ij,t ψ represents the effective coverage area of ​​road ij at time t. ij,t and ψ ij,t-1 S represents the actual activation regions on road ij at time t and t-1, respectively. ii,t ψ represents the effective coverage area at station i at time t. ii,t and ψ ii,t-1 These represent the actual active regions at station i at time t and t-1, respectively, and are constants. and These represent the actual response scale of a type of load at time t on road ij and station i, respectively, and are continuous variables. and These represent the actual activation amounts of a certain type of load on road ij and station i at time t, respectively. This represents the active power of a type of load transfer at time t. This represents the initial load demand at time t, a continuous variable. This indicates that a certain type of load activation quantity is transferred from time t to time τ. This represents the active power of a type of load operating and transferring at time t. The constant θ represents the reactive power of operation and transfer at time t, and the constant θ represents the power factor angle of active and reactive power.

[0025] Preferably, the second type of load activation constraint includes:

[0026]

[0027] In the formula, ζ ij,t and ζ ii,t These represent the communication connection times of the two types of loads on road ij and station i at time t, respectively. and These represent the actual response scales of the second type of load at time t on road ij and station i, respectively. and These represent the actual activation amounts of type II loads on road ij and station i at time t, respectively. This represents the initial load demand at time t. and Let t represent the active and reactive power of the Class II load at time t, and let θ represent the power factor angle of the active and reactive power.

[0028] Preferably, the post-disaster distribution network constraints include:

[0029]

[0030]

[0031] In the formula, the Boolean variable v ij,t Let E represent the set of branches, and N and Nij represent the number of branches. sou Let μ represent the set of nodes and the set of power nodes, respectively, and be a Boolean variable. ij,t and μ ji,t Let Ω(i) represent the direction of power flow at time t, Ω(i) represent the branch connected to node i, and y be a Boolean variable. ij,t Indicates whether the branch is controlled at time t; a Boolean variable. This indicates the active transmission mode of the communication satellite vehicle; the constant M represents an infinite quantity; and the Boolean variable u... ij,t and u ij,t-1 These represent whether road ij changes at time t and time t-1, respectively. and Let represent the active power of wind energy and the active power of photovoltaic energy at node i at time t, respectively. and These represent the active power of the micro gas turbine and the operating power of the three types of loads, respectively. and P represents the active power of Class I and Class II loads. ij,t This represents the active power on road ij at time t. and Let represent the reactive power of wind energy and photovoltaic power at node i at time t, respectively. and These represent the reactive power of the micro gas turbine and the three types of operating loads, respectively. and Q represents the reactive power of Class I and Class II operating loads, respectively. ij,t V represents the reactive power on road ij at time t. j,t and V i,t Let r represent the voltage magnitudes at node j and node i at time t, respectively. ij and x ij Vij represents the resistance and reactance on the road, V0 represents the reference voltage, and S is a constant. ij,mThis indicates the maximum transmission power on the line. and Let represent the demand load and the active power of a type-one load transfer at node i at time t, respectively. This indicates the reactive power of the three types of loads. This indicates the maximum apparent power of the gas turbine. The value of the predictable active power of photovoltaic and wind power at node i at time t is represented by θ, and the constant θ represents the power factor angle of active and reactive power. pv / wt V represents the power factor angle for photovoltaic and wind power. min and V m This indicates the minimum and maximum allowable values ​​for node voltage.

[0032] Preferably, the adaptive piecewise linearization method includes:

[0033] Define the boundary function of actual active power and its first derivative

[0034] Based on the endpoints of the segmented intervals and active power related to the maximum error To calculate the approximate active power boundary function

[0035] Ensure that the maximum error occurs only when the boundary slopes of the actual active power and the approximate active power are equal;

[0036] Specifically, the following algorithm models are included:

[0037]

[0038] In the formula, and Let represent the active power and apparent power of the micro gas turbine at node i at time t, respectively, and Δe represent the maximum linearization approximation error.

[0039] This invention also provides a post-disaster power distribution network restoration system based on satellite communication vehicle dispatching, used to implement the post-disaster power distribution network restoration method based on satellite communication vehicle dispatching as described above, including:

[0040] The satellite communication vehicle can be dispatched and moved within the power distribution network area, and can switch communication levels according to load demand. Through the communication coverage area of ​​the satellite communication vehicle, Class I loads and Class II loads can be activated. Class I loads are adjustable loads that only need to communicate once within the dispatch cycle to transmit instructions and can strictly follow the instructions in subsequent periods. Class II loads are adjustable loads that rely on communication for operation. Class III loads are conventional loads that do not require communication.

[0041] The scheduling control module is used to solve the day-ahead scheduling model and output control commands;

[0042] The power distribution network monitoring module is used to monitor load status and network topology in real time.

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

[0044] This invention proposes a satellite communication vehicle to guide adjacent transferable loads in demand-side response. To improve the utilization efficiency of the satellite communication vehicle, loads are further divided into two categories based on their operating characteristics: Category I transferable loads (representing adjustable loads that only require one communication instruction within the scheduling cycle and can strictly follow the instruction in subsequent periods, such as smart washing machines in homes) and Category II loads (representing adjustable loads whose operation depends on communication, such as mining computers). By optimizing the spatiotemporal location and communication of the mobile satellite communication vehicle, loads of different scales can be flexibly activated. When constructing a post-disaster power distribution network load rescue model, factors such as communication costs, load demand response incentives, and load interruption penalties are considered simultaneously. In other words, this invention enhances system resilience by flexibly activating loads through satellite communication vehicles; it reduces the total system operating cost and improves post-disaster power restoration efficiency by differentiating load types and optimizing the utilization of communication resources. Simulation results verify the superiority of the proposed strategy. Attached Figure Description

[0045] Figure 1 A flowchart of a method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle scheduling, provided as an embodiment of the present invention.

[0046] Figure 2 This is a mobile empowerment model diagram of a satellite communication vehicle provided in an embodiment of the present invention.

[0047] Figure 3 An adaptive piecewise linearization approximation graph provided in an embodiment of the present invention.

[0048] Figure 4 A diagram of an improved IEEE 123 node distribution network system for an integrated satellite communication vehicle provided in an embodiment of the present invention.

[0049] Figure 5 A diagram showing the output and load demand of renewable energy provided in an embodiment of the present invention.

[0050] Figure 6 The diagram shows the movement path and gear switching operation of the satellite communication vehicle in Case 1 provided in the embodiment of the present invention.

[0051] Figure 7 This is a diagram illustrating the gradual activation and transfer process of a type I load, as provided in an embodiment of the present invention.

[0052] Figure 8The diagram shows the type II load activation characteristics provided in this embodiment of the invention.

[0053] Figure 9 The diagram shows the result of dynamic network reconfiguration of the distribution network in Case 1, which is provided in the embodiment of the present invention.

[0054] Figure 10 The diagram shows the power distribution of the power distribution network after a disaster in Case 1, which is provided as an embodiment of the present invention.

[0055] Figure 11 The diagram shows the power distribution of the power distribution network after a disaster in Case 2, which is provided as an embodiment of the present invention. Detailed Implementation

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0057] like Figure 1 As shown, this embodiment of the invention specifically provides a method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatching, including:

[0058] The satellite communication vehicle moves within the power distribution network area and switches communication modes according to load demand. Through the communication coverage area of ​​the satellite communication vehicle, Class I and Class II loads are activated. Class I loads are adjustable loads that only need to communicate once within the scheduling cycle to transmit instructions and then strictly follow the instructions in subsequent periods, such as smart washing machines in homes. Class II loads are adjustable loads that rely on communication for operation, such as computer mining. Class III loads are conventional loads that do not require communication, such as lighting.

[0059] A day-ahead dispatch model is constructed with the goal of minimizing the daily operating cost of the post-disaster power distribution network. The daily operating cost includes: the fuel consumption cost of the satellite communication vehicle, the satellite communication fee, the load interruption cost, and the power generation cost of the micro generator.

[0060] The day-ahead scheduling model is solved by using an adaptive piecewise linearization method to handle nonlinear constraints.

[0061] Based on the solution results of the day-ahead scheduling model, the movement path, gear switching, and load activation strategy of the satellite communication vehicle are controlled.

[0062] As a preferred embodiment of the present invention, the day-ahead scheduling model includes the following objective function: minimizing the daily operating cost of the system; the objective of post-disaster distribution network operation is to minimize the total cost, including the fuel consumption cost of the satellite communication vehicle, satellite communication fees, load interruption costs, and micro-generator power generation costs.

[0063] The objective function is as follows:

[0064]

[0065]

[0066] In the formula, T represents the scheduling period, and F t scv F represents the cost of a mobile satellite communication vehicle. t sa,I and F t sa,II Let F represent the communication costs of Class I and Class II loads at time t, respectively. t nel and F t mt Let p represent the load penalty cost and the cost of micro gas turbine power generation at time t, respectively. scv P represents the price unit coefficient for measuring the working hour of a satellite communication vehicle. t c and P t mov These represent the hourly fuel cost of the mobile satellite communication vehicle and the price for maintaining coverage, respectively; p sa,I ψ represents a type of load communication price coefficient. ij,t and ψ ij,t-1 These represent the activation regions of a certain type of load on road ij at time t and time t-1, respectively. p represents the real-time response scale of a type of load on road ij at time t. sa,II and These represent the price and activation ratio for Category II load communication, respectively; p int and These represent the load penalty price and load demand, respectively. and Let p represent the operating power of Class I load, Class II load, and Class III load at node i at time t, respectively. mt and These represent the electricity price and power output of the micro gas turbine, respectively.

[0067] As a preferred embodiment of the present invention, the day-ahead scheduling model includes spatiotemporal enabling constraints for satellite communication vehicles, which include spatiotemporal transfer constraints and communication coverage enabling constraints.

[0068] Furthermore, the mobile satellite communication vehicle can move between different regions, and its spatiotemporal transfer constraints are shown in equations (7)-(12). Among them, constraint (7) stipulates that the satellite communication vehicle must choose to stop at station i or move along route ij at time t. Constraint (8) clarifies that when the satellite communication vehicle is at a station, it can choose to stay there or enter an adjacent route at the next time. Constraint (9) indicates that when the satellite communication vehicle is on route ij, it can choose to enter station j or turn to an adjacent route at the next time. Constraint (10) quantifies the energy consumption required for the satellite communication vehicle to complete the inter-station transfer. Constraint (11) ensures that multiple signal transmission modes of the satellite communication vehicle cannot occur simultaneously. Constraint (12) establishes the mathematical relationship between signal transmission modes and corresponding power consumption.

[0069]

[0070] In the formula, the Boolean variable z ii,t and z ii,t +1 indicates whether the mobile satellite communication vehicle is located at station i at time t and t+1, respectively; the Boolean variable z... ij,t and z ij,t+1 The Boolean variable z represents whether the mobile satellite communication vehicle is located on road ij at time t and t+1, respectively. jj,t+1 and z jk,t+1 A represents whether the mobile satellite communication vehicle is located at station j and on an adjacent route at time t+1, respectively. - and A + These represent the sets of stations and road links, respectively, while A represents the entire set of links; Boolean variable. The constant P represents the communication gear of the satellite communication vehicle on road ij at time t. mov This indicates the hourly travel cost. This indicates the price charged per hour for a mobile satellite communication vehicle to maintain coverage, which is the total cost of moving the vehicle. P represents the hourly fuel cost of the mobile satellite communication vehicle; c,n This indicates the cost of maintaining coverage areas at different gear levels.

[0071] Specifically, the communication coverage enabling constraints are as follows:

[0072] Satellite communication vehicles can support load relief by sending commands and transmitting information. Figure 2An enabling model for the communication vehicle SCV is presented, with constraints as shown in equations (13)-(18). Constraint (13) defines the chord length of the arc required to satisfy the minimum communication duration during SCV movement. Constraint (14) specifies the effective width of the communication coverage area during SCV movement. Constraint (15) characterizes the effective communication coverage area per hour during SCV movement. Constraint (16) calculates the equivalent communication connectivity duration during SCV movement. Constraints (17) and (18) express the communication coverage area and communication connectivity duration of the SCV at the station, respectively.

[0073]

[0074]

[0075] In the formula, constants v and Δt represent the moving speed of the satellite communication vehicle and the minimum load activation time, respectively, and L min Represents the chord length of the minimum coverage area of ​​the satellite communication vehicle; constant R n and h n These represent the coverage radius and effective coverage length, respectively, with L representing the travel distance of the satellite communication vehicle; these are Boolean variables. This indicates the gear position of the communication vehicle at station i at time t. The variable S represents the gear position of the communication vehicle on road ij at time t. ij,t and ζ ij,t Let represent the effective coverage area and effective connection duration of road ij at time t, respectively; S represents the connection duration at different levels of station i. ii,t and ζ ii,t These represent the effective coverage area and effective connection duration at site i at time t, respectively.

[0076] As a preferred embodiment of the present invention, the day-ahead scheduling model also includes load activation constraints; the number of activated Type I loads depends on the communication coverage area of ​​the satellite communication vehicle, and the specific constraints are shown in (19)-(33). Constraint (19) stipulates that: in the first hour, the activated area is equal to the real-time communication coverage area. Constraints (20)-(22) indicate that: if the real-time communication area S ij,t Increase (at this time u) ij,t =1), the activation region ψij,t-1 at time t will be updated; otherwise (when u = 1), the activation region ψij,t-1 will be updated; ij,tWhen = 0), the active region will remain unchanged. Constraints (23)-(25) follow the same logic as constraints (19)-(22). Constraints (27)-(29) limit the actual response scale of Type I load at time t based on the communication area and load density, where the earliest response time is set to the next hour after activation during SCV movement. Constraint (29) clarifies the relationship between Type I load power and actual response scale. Constraint (30) requires that the response power equals the sum of actual electricity consumption in subsequent periods. Constraint (31) limits the boundary range of actual electricity consumption in subsequent periods. Constraint (32) calculates the actual total electricity consumption of Type I load transferred in the early stage. Constraint (33) characterizes the relationship between active power and reactive power of Type I load.

[0077]

[0078]

[0079] In the formula, S ij,1 and ψ ij,1 S represents the effective coverage area and the actual activated area on the road at time 1, respectively. ii,1 and ψ ii,1 The wind represents the effective coverage area and actual active area at station i at time 1; the Boolean variable u ij,t and u ii,t These represent whether the areas of road ij and station i increase at time t, respectively; the constant M represents an infinite quantity; the variable S ij,t ψ represents the effective coverage area of ​​road ij at time t; ij,t and ψ ij,t-1 S represents the actual activation regions on road ij at time t and t-1, respectively. ii,t ψ represents the effective coverage area at station i at time t. ii,t and ψ ii,t-1 These represent the actual active regions at station i at time t and t-1, respectively, and are constants. and These represent the actual response scale of a type of load at time t on road ij and station i, respectively; continuous variables. and Let represent the actual activation amount of a certain type of load on road ij and station i at time t, respectively; This represents the active power of a type of load transfer at time t. Represents the initial load demand at time t; a continuous variable. This indicates that a certain type of load activation quantity is transferred from time t to time τ; This represents the active power of a type of load operating and transferring at time t. The constant θ represents the reactive power of operation and transfer at time t, and the constant θ represents the power factor angle of active and reactive power.

[0080] The response capability of Type II loads depends on the communication connectivity duration, and its operational constraints are:

[0081]

[0082] In the formula, ζ ij,t and ζ ii,t These represent the communication connection times of the two types of loads on road ij and station i at time t, respectively. and These represent the actual response scales of the second type of load at time t on road ij and station i, respectively. and These represent the actual activation amounts of type II loads on road ij and station i at time t, respectively. This represents the initial load demand at time t; and This represents the active and reactive power of the Class II load at time t. The constant θ represents the power factor angle of the active and reactive power.

[0083] As a preferred embodiment of the present invention, the day-ahead dispatch model also includes post-disaster distribution network constraints; similar to Type I loads, remote switches also need to be activated in order to flexibly respond to the post-disaster distribution network demand in subsequent periods. Based on this, the post-disaster distribution network can achieve flexible network reconfiguration to accelerate load recovery, and the specific constraints are as follows. Constraints (38) and (39) restrict the radial structure and branch connectivity of the distribution network based on the spanning tree theory. Constraint (40) requires that the micro-generator access node must be a root node without a parent node. Constraint (41) limits other nodes to have only one parent node. Constraints (42)-(43) constrain the activation of branch switches according to the signal transmission mode and spatial correlation of the satellite communication vehicle. Constraint (44) allows branch switches to change their operating state while in the activated state. Constraints (45) and (46) respectively characterize the active power and reactive power balance constraints. Constraints (47) and (48) limit the voltage drop amplitude of nodes. Constraints (49) and (50) limit the branch transmission capacity and the active power range of uninterrupted loads other than Type I / II loads. Constraint (51) calculates the reactive power of other uninterrupted loads. Constraints (52) and (53) limit the active and reactive power output of microgenerators. Constraints (54) and (55) represent the renewable energy generation power boundaries. Constraints (56) and (57) specify the allowable fluctuation range of node voltage amplitude.

[0084]

[0085]

[0086] In the formula, the Boolean variable v ij,t Indicates whether road ij is connected at time t; E represents the set of branches, N and N'. sou Let μ represent the set of nodes and the set of power nodes, respectively, and be a Boolean variable. ij,t and μ ji,t Let Ω(i) represent the direction of power flow at time t, Ω(i) represent the branch connected to node i, and y be a Boolean variable. ij,t Indicates whether the branch is controlled at time t; a Boolean variable. This indicates the active transmission mode of the communication satellite vehicle; the constant M represents an infinite quantity; the Boolean variable u ij,t and u ij,t-1 This indicates whether road ij has changed at time t and time t-1, respectively; and Let represent the active power of wind energy and the active power of photovoltaic energy at node i at time t, respectively. and These represent the active power of the micro gas turbine and the operating power of the three types of loads, respectively. and P represents the active power of Class I and Class II loads. ij,t This represents the active power on road ij at time t; and Let represent the reactive power of wind energy and photovoltaic power at node i at time t, respectively. and These represent the reactive power of the micro gas turbine and the three types of operating loads, respectively. and Q represents the reactive power of Class I and Class II operating loads, respectively. ij,t V represents the reactive power on road ij at time t; j,t and V i,t Let r represent the voltage magnitudes at node j and node i at time t, respectively. ij and x ij Vij represents the resistance and reactance on the road, while V0 represents the reference voltage; constant S ij,m This indicates the maximum transmission power on the line. and Let represent the demand load and the active power of a type-one load transfer at node i at time t, respectively. This indicates the reactive power of three types of loads; This indicates the maximum apparent power of the gas turbine; The value of the predictable active power of photovoltaic and wind power at node i at time t is represented by θ, and the constant θ represents the power factor angle of active and reactive power. pv / wt V represents the power factor angle for photovoltaic and wind power.min and V m This indicates the minimum and maximum allowable values ​​for node voltage.

[0087] As a preferred embodiment of the present invention, the day-ahead scheduling model also includes the following algorithm model: When using the conventional equidistant piecewise linearization method to handle nonlinear constraints, the accuracy of each piece is different, resulting in an unclear error range.

[0088] Therefore, this invention proposes a precise sensing adaptive piecewise linearization approximation method, the details of which are as follows: Figure 3 As shown in constraints (58)-(62), where equations (58) and (59) define the actual active power boundary functions respectively. and its first derivative Equation (62) is based on the endpoints of the segmented intervals. and active power related to the maximum error Calculate the approximate active power boundary function Equation (60) shows that the maximum error only occurs when the slope of the boundary between the actual and approximate active power is equal; Equation (61) defines the maximum linearization approximation error Δe; Equation (62) specifies the endpoints of all segmented intervals.

[0089]

[0090] In the formula, and Let t be the active power and apparent power of the micro gas turbine at node i at time t, and Δe be the relative error.

[0091] As a preferred embodiment of the present invention, the embodiments of the present invention also include the following simulation content; the embodiments of the present invention employ as follows Figure 4 An improved IEEE 123-node distribution network system is shown to verify the superiority of the proposed strategy. The scheduling cycle is set to 24 hours, and the time step is 1 hour. All numerical simulations are implemented using MATLAB programming, and the model is solved using the Gurobi solver called by the Yalmip toolbox.

[0092] (1) Simulation parameters;

[0093] This invention uses an improved IEEE 123-node distribution network system to verify the superiority of the proposed strategy. The system architecture is as follows: Figure 4As shown in the diagram, branch 8-13 is in a fault state, while branches 18-121, 13-120, 54-94, 60-119, 97-117, and 115-116 can be remotely controlled by the satellite communication vehicle. The satellite communication vehicle can freely switch between the first and second gears to adjust the transmission power. The load activation coverage range corresponding to each gear is different: the coverage range of the first gear is smaller than that of the second gear, which means that the proportion of load activated when the satellite communication vehicle is working in the first gear mode will be lower than that in the second gear mode.

[0094] The system is equipped with three gas turbines, two wind turbines, and one photovoltaic power generation unit, all of which are connected to the power grid. Figure 5 The characteristic curves of wind power, photovoltaic power output, and conventional power load are displayed. The average power load interruption price is set at 3,700 yuan / MWh. Based on the mobile energy consumption of the post-disaster mobile satellite communication vehicle, the energy consumption of the coverage area, and the communication tariff standards, the hourly mobile cost of the satellite communication vehicle is set at 109.97 yuan; the hourly cost of maintaining the first and second level of coverage power is 14.91 yuan and 29.82 yuan, respectively; the hourly communication cost for Class I and Class II loads is 1,100 yuan.

[0095] (2) Analysis of simulation results;

[0096] Case 1) The proposed strategy was used to dispatch a satellite communication vehicle for load relief. Figure 6 This demonstrates the movement path and hierarchical switching status of the satellite communication vehicle in Case 1. Figure 6 As can be seen, the satellite communication vehicle travels along the route of stations 4→3→1→7→6→5, traversing multiple roads along the way. During the scheduling cycle, the satellite communication vehicle activates its first gear at time 6, and then remains stationed at station 7 from time 8 to 13, maintaining its second gear in an active state. This indicates that station 7 has a high load demand at this time, requiring the satellite communication vehicle to continuously activate the Type II load at that location. This phenomenon demonstrates that the satellite communication vehicle can flexibly switch gears or remain inactive based on the network structure and operational status.

[0097] Figure 7 This demonstrates the gradual activation and transfer process of Type I loads. (By...) Figure 7As can be seen, the total load curve fluctuated continuously over 24 hours, reaching a peak of 13.56 MW at 20:00. Simultaneously, the Type I load response gradually increased from 0 MW at t=0, reaching 1.9153 MW at 14:00, and finally peaking at 5.23 MW at t=23, exhibiting a step-like growth trend. In contrast, the Type I load transfer volume showed a completely different pattern: not all activated Type I loads were immediately transferred, but rather strategically adjusted based on subsequent grid availability and load fluctuations to ensure system reliability. Therefore, the transfer volume exhibited dynamic fluctuation characteristics—both rising and falling, even dropping to 0 MW at one point, which precisely reflects the control effect of the coordinated operation strategy. Figure 8 This demonstrates the activation characteristics of type II loads, by Figure 8 It is known that during the dispatch period, Category II loads were activated by the communication satellite vehicle at 6:00, 8:00-13:00, and 17:00. At 6:00, the first-level communication coverage was activated, continuously activating the load until the vehicle left. From 8:00 to 13:00, the communication vehicle remained at site 7 and continuously activated Category II loads in the second-level mode. Its subsequent departure from site 7 caused Category II loads to cease activation. During the entire dispatch period, a total of 0.84767MW of Category II loads were activated. This confirms the immediate response characteristic of Type II loads—activation only when the satellite communication vehicle opened its coverage area, in stark contrast to the continuous activation of Type I loads.

[0098] like Figure 9 As shown, the distribution network effectively improved the resilience of the system after a disaster through dynamic reconfiguration. The satellite communication vehicle adaptively adjusted its operating level according to changes in the power grid topology. The experimental results verified the collaborative mechanism between the satellite communication vehicle and the line switches, achieving seamless switching between different operating levels.

[0099] The operating power distribution of the post-disaster distribution network in Case 1 is as follows: Figure 10 As shown, the satellite communication vehicle, micro gas turbine, wind and photovoltaic power generation devices, and Type I, II, and III loads in the system achieve power balance through coordinated scheduling.

[0100] Case 2) No satellite communication vehicle was involved in load transfer and restoration. Supported only by micro gas turbines and renewable energy generation, part of the load in Case 2 maintained system power balance through coordinated power supply, with the following operational results: Figure 11 As shown.

[0101] (3) Economic comparison;

[0102] Table 1 shows a comparison of post-disaster power distribution network operating costs.

[0103] Table 1 Post-disaster operating costs of power distribution networks

[0104]

[0105] In Case 1, thanks to the energy transfer and activation control effects of the satellite communication vehicle, a power balance was achieved between traditional power generation, new energy sources, and various types of loads, with a total cost of RMB 198,065.88. In Case 2, however, due to the lack of load transfer and activation mechanisms, a load imbalance and severe power shortage occurred, increasing the cost to RMB 226,568.41. Compared to Case 2, Case 1 reduced costs by RMB 22,502.53 (a decrease of 12.58%), validating the superiority of the proposed strategy.

[0106] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatching, characterized in that, include: The satellite communication vehicle moves within the power distribution network area and switches communication modes according to load demand. Through the communication coverage area of ​​the satellite communication vehicle, Class I and Class II loads are activated. Class I loads are adjustable loads that only need to communicate once within the dispatch cycle to transmit instructions and can strictly follow the instructions in subsequent periods. Class II loads are adjustable loads that rely on communication for operation. Class III loads are conventional loads that do not require communication. Construct a day-ahead scheduling model with the objective of minimizing the daily operating cost of the post-disaster distribution network; The daily operating costs include: fuel consumption costs of the satellite communication vehicle, satellite communication fees, load interruption costs, and power generation costs of the micro generator; The day-ahead scheduling model is solved by using an adaptive piecewise linearization method to handle nonlinear constraints. Based on the solution results of the day-ahead scheduling model, the movement path, gear switching, and load activation strategy of the satellite communication vehicle are controlled.

2. The method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatch as described in claim 1, characterized in that, The objective function of the day-ahead scheduling model includes: F t scv =p scv (P t c +P t mov ) In the formula, T represents the scheduling period, and F t scv F represents the cost of a mobile satellite communication vehicle. t sa,I and F t sa,II Let F represent the communication costs of Class I and Class II loads at time t, respectively. t nel and F t mt Let p represent the load penalty cost and the cost of micro gas turbine power generation at time t, respectively. scv P represents the price unit coefficient for measuring the working hour of a satellite communication vehicle. t c and P t mov p represents the hourly fuel cost of the mobile satellite communication vehicle and the price of maintaining coverage, respectively. sa,I ψ represents a type of load communication price coefficient. ij,t and ψ ij,t-1 These represent the activation regions of a certain type of load on road ij at time t and time t-1, respectively. p represents the real-time response scale of a type of load on road ij at time t. sa,II and These represent the price and activation ratio for Category II load communication, respectively; pint and These represent the load penalty price and load demand, respectively. and Let p represent the operating power of Class I load, Class II load, and Class III load at node i at time t, respectively. mt and These represent the electricity price and power output of the micro gas turbine, respectively.

3. The method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatch as described in claim 1, characterized in that, The day-ahead scheduling model includes: spatiotemporal empowerment constraints for satellite communication vehicles, load activation constraints, and post-disaster distribution network constraints; wherein the spatiotemporal empowerment constraints for satellite communication vehicles include: spatiotemporal transfer constraints and communication coverage empowerment constraints; and the load activation constraints include: type I load activation constraints and type II load activation constraints.

4. The method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatch as described in claim 3, characterized in that, The spatiotemporal transition constraints include: In the formula, the Boolean variable z ii,t and z ii,t+1 The Boolean variable z represents whether the mobile satellite communication vehicle is located at station i at time t and time t+1, respectively. ij,t and z ij,t+1 The Boolean variable z represents whether the mobile satellite communication vehicle is located on road ij at time t and t+1, respectively. jj,t+1 and z jk,t+1 A represents whether the mobile satellite communication vehicle is located at station j and on an adjacent route at time t+1, respectively. - and A + Let A represent the set of stations and the set of road links, respectively, and let A represent the set of all links; Boolean variable. The constant P represents the communication gear of the satellite communication vehicle on road ij at time t. mov P represents the hourly movement cost. t mov P represents the price per hour that a mobile satellite communication vehicle maintains coverage, i.e., the total cost of moving the communication vehicle. t c P represents the hourly fuel cost of a mobile satellite communication vehicle. c,n This indicates the cost of maintaining coverage areas at different gear levels.

5. A method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatching as described in claim 3, characterized in that, The communication coverage enabling constraints include: In the formula, constants v and Δt represent the moving speed of the satellite communication vehicle and the minimum load activation time, respectively, and L min The chord length representing the minimum coverage area of ​​the satellite communication vehicle is a constant R. n and h n These represent the coverage radius and effective coverage length, respectively, with L representing the travel distance of the satellite communication vehicle; these are Boolean variables. This indicates the gear position of the communication vehicle at station i at time t. The variable S represents the gear position of the communication vehicle on road ij at time t. ij,t and ζ ij,t Let represent the effective coverage area and effective connection duration of road ij at time t, respectively. S represents the connection duration at different levels of station i. ii,t and ζ ii,t These represent the effective coverage area and effective connection duration at site i at time t, respectively.

6. The method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatch as described in claim 3, characterized in that, The first type of load activation constraint includes: In the formula, S ij,1 and ψ ij,1 S represents the effective coverage area and the actual activated area on the road at time 1, respectively. ii,1 and ψ ii,1 The wind represents the effective coverage area and actual active area at station i at time 1, and the Boolean variable u. ij,t and u ii,t These represent whether the areas of road ij and station i increase at time t, respectively. The constant M represents an infinite quantity, and the variable S... ij,t ψ represents the effective coverage area of ​​road ij at time t. ij,t and ψ ij,t-1 S represents the actual activation regions on road ij at time t and t-1, respectively. ii,t Let ψi,t represent the effective coverage area at station i at time t, and ψi,t represent the effective coverage area at station i. ii,t-1 These represent the actual active regions at station i at time t and t-1, respectively, and are constants. and These represent the actual response scale of a type of load at time t on road ij and station i, respectively, and are continuous variables. and These represent the actual activation amounts of a certain type of load on road ij and station i at time t, respectively. This represents the active power of a type of load transfer at time t. This represents the initial load demand at time t, a continuous variable. This indicates that a certain type of load activation quantity is transferred from time t to time τ. This represents the active power of a type of load operating and transferring at time t. The constant θ represents the reactive power of operation and transfer at time t, and the constant θ represents the power factor angle of active and reactive power.

7. The method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatch as described in claim 3, characterized in that, The second type of load activation constraints include: In the formula, ζ ij,t and ζ ii,t These represent the communication connection times of the two types of loads on road ij and station i at time t, respectively. and These represent the actual response scales of the second type of load at time t on road ij and station i, respectively. and These represent the actual activation amounts of type II loads on road ij and station i at time t, respectively. This represents the initial load demand at time t. and Let t represent the active and reactive power of the Class II load at time t, and let θ represent the power factor angle of the active and reactive power.

8. A method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatching as described in claim 3, characterized in that, The post-disaster power distribution network constraints include: In the formula, the Boolean variable v ij,t Let E represent the set of branches, and N and Nij represent the number of branches. sou Let μ represent the set of nodes and the set of power nodes, respectively, and be a Boolean variable. ij,t and μ ji,t Let Ω(i) represent the direction of power flow at time t, Ω(i) represent the branch connected to node i, and y be a Boolean variable. ij,t Indicates whether the branch is controlled at time t; a Boolean variable. This indicates the active transmission mode of the communication satellite vehicle; the constant M represents an infinite quantity; and the Boolean variable u... ij,t and u ij,t-1 These represent whether road ij changes at time t and time t-1, respectively. and Let represent the active power of wind energy and the active power of photovoltaic energy at node i at time t, respectively. and These represent the active power of the micro gas turbine and the operating power of the three types of loads, respectively. and P represents the active power of Class I and Class II loads. ij,t This represents the active power on road ij at time t. and Let represent the reactive power of wind energy and photovoltaic power at node i at time t, respectively. and These represent the reactive power of the micro gas turbine and the three types of operating loads, respectively. and Q represents the reactive power of Class I and Class II operating loads, respectively. ij,t V represents the reactive power on road ij at time t. j,t and V i,t Let r represent the voltage magnitudes at node j and node i at time t, respectively. ij and x ij Vij represents the resistance and reactance on the road, V0 represents the reference voltage, and S is a constant. ij,m This indicates the maximum transmission power on the line. and Let represent the demand load and the active power of a type-one load transfer at node i at time t, respectively. This indicates the reactive power of three types of loads. This indicates the maximum apparent power of the gas turbine. The value of the predictable active power of photovoltaic and wind power at node i at time t is represented by θ, and the constant θ represents the power factor angle of active and reactive power. pv / wt V represents the power factor angle for photovoltaic and wind power. min and V m This indicates the minimum and maximum allowable values ​​for node voltage.

9. A method for restoring power supply to a disaster-stricken power distribution network based on satellite communication vehicle dispatching as described in claim 1, characterized in that, The adaptive piecewise linearization method includes: Define the boundary function of actual active power and its first derivative Based on the endpoints of the segmented intervals and active power related to the maximum error To calculate the approximate active power boundary function Ensure that the maximum error occurs only when the boundary slopes of the actual active power and the approximate active power are equal; Specifically, the following algorithm models are included: In the formula, and Let represent the active power and apparent power of the micro gas turbine at node i at time t, respectively, and Δe represent the maximum linearization approximation error.

10. A post-disaster power distribution network restoration system based on satellite communication vehicle dispatching, used to implement the post-disaster power distribution network restoration method based on satellite communication vehicle dispatching as described in any one of claims 1 to 9, characterized in that, include: The satellite communication vehicle can be dispatched and moved within the power distribution network area, and can switch communication levels according to load demand. Through the communication coverage area of ​​the satellite communication vehicle, Class I loads and Class II loads can be activated. Class I loads are adjustable loads that only need to communicate once within the dispatch cycle to transmit instructions and can strictly follow the instructions in subsequent periods. Class II loads are adjustable loads that rely on communication for operation. Class III loads are conventional loads that do not require communication. The scheduling control module is used to solve the day-ahead scheduling model and output control commands; The power distribution network monitoring module is used to monitor load status and network topology in real time.

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