Cyber-physical power distribution system oriented star-ground fusion post-disaster recovery method and device

Abstract

The application discloses a star-ground fusion post-disaster recovery method and device for an information-physical power distribution system, comprising the following steps: constructing a post-disaster recovery object model comprising a power distribution network, a ground communication network, a satellite communication network and a traffic network, and identifying various types of fault information; establishing a satellite emergency communication model, temporarily expanding the observable and controllable range of the post-disaster system by using a satellite communication link; establishing a power distribution network reconstruction and multi-source island operation coordination mechanism, allowing only the nodes with electrical availability and communication controllability to participate in network reconstruction and switch operation; obtaining traffic state information to plan a repair path, and establishing a physical repair and communication repair parallel scheduling model; adopting a two-stage recovery strategy, prioritizing load power supply recovery to minimize the weighted load loss, and completing all fault clearance to minimize the total remaining fault repair time. The recovery operation can be implemented in advance when the ground communication has not been completely restored, and the system power supply resilience is improved.

Description

Technical Field

[0001] This application relates to the field of power distribution network disaster recovery and cyber-physical fusion control technology, and in particular to a satellite-ground fusion disaster recovery method and device for cyber-physical power distribution systems. Background Technology

[0002] With the high proportion of renewable energy integration, the improvement of distribution network automation, and the deep integration of communication and control technologies, traditional power distribution systems are gradually evolving into cyber-physical distribution systems. These systems, through the coordinated operation of power and communication networks, significantly improve the system's sensing capabilities, control capabilities, and operational efficiency. However, the distribution lines, switching equipment, communication links, terminal equipment, and road traffic networks of this system may all be damaged simultaneously, leading to decreased system observability, weakened controllability, and reduced repair efficiency, severely restricting the efficiency and scope of post-disaster power restoration.

[0003] For disaster recovery of power distribution networks, existing technologies mainly focus on single-physical-layer recovery operations, such as restoring power supply to loads through distribution network reconfiguration, islanded operation of distributed power sources, or dispatch of emergency repair teams. Some studies further consider the supporting role of terrestrial communication networks, establishing communication links based on fiber optics, private wireless networks, or cellular networks between the control center and field terminals to achieve status monitoring and remote control. In addition, some solutions introduce emergency communication vehicles or drones as temporary communication methods to alleviate information loss caused by damaged terrestrial communications.

[0004] However, existing methods still have significant shortcomings in real-world extreme disaster scenarios. First, most existing solutions assume that the control center can reliably acquire on-site information and implement remote control. However, under extreme disasters, terrestrial fiber optic, wireless private networks, and cellular communication links are often easily damaged or congested, making it difficult to implement traditional recovery schemes that rely on terrestrial communication in a timely manner. Second, although some research has introduced measures such as emergency communication vehicles or drone communication, the unified coordination between satellite communication, GPS-assisted repair, communication restoration, network reconstruction, and multi-source isolated operation is still insufficient. There is a lack of an overall framework that considers satellite communication networks as a temporary support layer after terrestrial communication is damaged and coordinates them with repair scheduling and load restoration. Therefore, how to quickly restore the system's considerable and controllable capabilities and achieve efficient power restoration under conditions of large-scale terrestrial communication failure caused by extreme disasters is a pressing technical problem to be solved in the field of cyber-physical distribution system post-disaster recovery. Summary of the Invention

[0005] Based on the above problems, this application provides a method and apparatus for post-disaster recovery of cyber-physical distribution systems that integrates space and ground, enabling recovery operations to be performed in advance when ground communication has not been fully restored, thereby improving the resilience of the system power supply.

[0006] In a first aspect, embodiments of this application provide a space-ground integrated disaster recovery method for cyber-physical distribution systems. The method includes: constructing a disaster recovery object model, which includes a distribution network, a terrestrial communication network, a satellite communication network, and a transportation network; wherein, the distribution network includes power supply nodes, load nodes, operable switching equipment, and distributed power sources; the terrestrial communication network includes a control center, communication links, and terminal equipment; and the transportation network is used to describe the travel routes of emergency repair teams and the road traffic status.

[0007] After a disaster, identify information on power distribution network failures, ground communication network failures, and damage to transportation networks to determine the power equipment, communication equipment, and affected road sections that need to be repaired.

[0008] Establish a satellite emergency communication model, configure satellite communication terminals at some nodes, and use satellite communication links to temporarily restore the information transmission capability between some nodes in the disaster area and the control center, thereby expanding the observable and controllable range of the post-disaster system.

[0009] Establish a coordination mechanism for distribution network reconfiguration and multi-source islanding operation. Under the condition of meeting the distribution network operation constraints, coordinate the optimization of switch status and network reconfiguration scheme to restore load power supply. Among them, a node is only allowed to participate in network reconfiguration and switch operation when it has both electrical availability and communication controllability.

[0010] By using the Global Navigation Satellite System to obtain information on the location of emergency repair vehicles and road traffic conditions, an emergency repair route planning model is established to determine the travel routes and arrival times of physical and communication emergency repair teams at each fault point.

[0011] Establish a parallel emergency repair scheduling model to enable physical emergency repair teams and communication emergency repair teams to work in parallel on a unified time axis, and update the system topology, observable and controllable range, and recoverable load set after each maintenance event is completed;

[0012] A two-stage recovery strategy is adopted for post-disaster recovery: the first stage aims to minimize weighted load loss by prioritizing the restoration of power supply to the loads; after all loads are restored, the second stage begins, which aims to minimize the total time for repairing remaining faults by clearing the remaining physical and communication faults until the system returns to normal operation.

[0013] In one possible implementation, a satellite emergency communication model is established, including:

[0014] By accessing the low-Earth orbit satellite communication network through a satellite communication terminal, a temporary information transmission link is established between the control center and the target node when ground communication is damaged, enabling the target node to perform monitoring, status uploading, and control command reception.

[0015] In one possible implementation, establishing a satellite emergency communication model also includes:

[0016] A coverage area model is established for nodes configured with satellite communication terminals, and their first-level and second-level neighbor nodes are identified based on the relationship between adjacent nodes. Under the conditions of meeting the limitations of satellite bandwidth and the number of nodes that can access at the same time, the controllability of the first-level and second-level neighbor nodes is temporarily restored.

[0017] In one possible implementation, the distribution network operation constraints include radial operation constraints, node power supply constraints, line interruption state constraints, voltage constraints, power flow constraints, and distributed generation output constraints; wherein, distributed generation is allowed to supply power to outage loads as islanded power sources.

[0018] In one possible implementation, physical repair teams are used to repair faults in power distribution lines, switching equipment, and power nodes, while communication repair teams are used to repair faults in communication terminals and communication links. The two types of repair teams work in parallel on a unified timeline, and a new recovery decision is triggered after each repair is completed.

[0019] In one possible implementation, a repair route planning model is established, including:

[0020] The Floyd algorithm was used to optimize the routes for both physical and communication repair teams, thereby shortening the time to fault arrival and the total repair time.

[0021] In one possible implementation, the first stage aims to minimize weighted load loss by prioritizing the restoration of power supply to the load. The objective function is:

[0022]

[0023] in, Indicates that node i at time... The load recovery status, Indicates load priority weight. This represents the load power of node i. This represents the time length corresponding to the k-th recovery event;

[0024] The second phase aims to minimize the total remaining fault repair time, with the objective function being:

[0025]

[0026] in, This represents the uniform time length corresponding to the k-th maintenance event.

[0027] Secondly, embodiments of this application provide a space-ground fusion disaster recovery device for cyber-physical distribution systems. This device includes: a construction module, an identification module, a first establishment module, a second establishment module, a third establishment module, a fourth establishment module, and an execution module, wherein:

[0028] The construction module is used to build a post-disaster recovery object model, which includes a power distribution network, a terrestrial communication network, a satellite communication network, and a transportation network. The power distribution network includes power supply nodes, load nodes, operable switching equipment, and distributed power sources. The terrestrial communication network includes a control center, communication links, and terminal equipment. The transportation network is used to describe the travel routes of the repair teams and the road conditions.

[0029] The identification module is used to identify power distribution network failures, ground communication network failures, and transportation network damage information after a disaster occurs, and to determine the power equipment, communication equipment, and affected road sections that need to be repaired.

[0030] The first module is used to establish a satellite emergency communication model, configure satellite communication terminals at some nodes, and use satellite communication links to temporarily restore the information transmission capability between some nodes in the disaster area and the control center, thereby expanding the observable and controllable range of the post-disaster system.

[0031] The second module is used to establish a coordination mechanism for distribution network reconfiguration and multi-source islanding operation. Under the condition of meeting the distribution network operation constraints, it coordinates and optimizes the switch status and network reconfiguration scheme to restore load power supply. Among them, a node is only allowed to participate in network reconfiguration and switch operation when it has both electrical availability and communication controllability.

[0032] The third module is used to obtain information on the location of emergency repair vehicles and road traffic conditions using the global navigation satellite system, establish an emergency repair route planning model, and determine the travel routes and arrival times of the physical and communication emergency repair teams at each fault point.

[0033] The fourth module is used to establish a parallel emergency repair scheduling model, enabling physical emergency repair teams and communication emergency repair teams to work in parallel on a unified time axis, and updating the system topology, observable and controllable range, and recoverable load set after each maintenance event.

[0034] The execution module is used to perform post-disaster recovery using a two-stage recovery strategy: the first stage aims to minimize weighted load loss by prioritizing the restoration of load power; after all loads are restored, the second stage aims to minimize the total time for repairing remaining faults by clearing remaining physical and communication faults until the system returns to normal operation.

[0035] Thirdly, embodiments of this application provide a computer storage medium storing multiple instructions adapted for loading by a processor and executing the steps of the above-described method.

[0036] Fourthly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being adapted to be loaded by the processor and to execute the steps of the above-described method.

[0037] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following: by constructing a unified recovery framework encompassing the power distribution network, terrestrial communication network, satellite communication network, and transportation network, the system's considerable and controllable range can be temporarily extended using satellite communication terminals after a disaster. This ensures that nodes only participate in network reconstruction and islanded operation when they simultaneously possess both electrical availability and communication controllability. Simultaneously, road traffic conditions are obtained based on the Global Navigation Satellite System for parallel emergency repair scheduling, and a two-stage recovery strategy is adopted to prioritize restoring power supply to the load before completely eliminating the fault. The purpose of this invention is to implement recovery operations in advance, even before terrestrial communication is fully restored, thereby shortening the overall network recovery time, reducing load loss, and improving the power supply resilience and recovery efficiency of the cyber-physical distribution system under extreme disasters. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 An exemplary architecture diagram of a space-ground integrated disaster recovery method for cyber-physical distribution systems provided in this application embodiment;

[0040] Figure 2 A schematic flowchart illustrating the space-ground fusion disaster recovery method for cyber-physical distribution systems provided in this application embodiment;

[0041] Figure 3 A schematic diagram of GNSS-based emergency repair team positioning and road perception provided for embodiments of this application;

[0042] Figure 4 This is a structural block diagram of a space-ground fusion disaster recovery device for cyber-physical power distribution systems provided in an embodiment of this application.

[0043] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0044] To make the features and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0046] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0047] As mentioned earlier, extreme disasters often result in simultaneous damage to power distribution networks, terrestrial communication networks, and transportation networks. Traditional recovery methods heavily rely on terrestrial communication links for status monitoring and remote control. When terrestrial fiber optic, wireless private network, or cellular communication links fail, control centers struggle to obtain on-site information and issue commands, hindering the timely execution of recovery measures such as network reconstruction and isolated operation. Furthermore, existing research lacks sufficient consideration of the unified coordination between satellite communication, global navigation satellite system-assisted repair, and communication and power restoration. It lacks an overall framework that integrates satellite communication networks as a temporary support layer with repair scheduling and load restoration, leading to low post-disaster recovery efficiency and significant load losses.

[0048] In view of this, this application provides a satellite-ground integrated disaster recovery method and apparatus for cyber-physical distribution systems. The aim is to construct a unified recovery framework encompassing the distribution network, terrestrial communication network, satellite communication network, and transportation network. After a disaster, satellite communication terminals are used to temporarily extend the system's controllable range, ensuring that nodes only participate in network reconstruction and islanded operation when both electrical availability and communication controllability are simultaneously available. Simultaneously, road traffic status is obtained based on the Global Navigation Satellite System for parallel emergency repair scheduling, and a two-stage recovery strategy is employed to prioritize restoring load power before completely eliminating the fault. The purpose of this invention is to implement recovery operations in advance, even before terrestrial communication is fully restored, thereby shortening the overall network recovery time, reducing load loss, and improving the power supply resilience and recovery efficiency of cyber-physical distribution systems under extreme disasters.

[0049] Please see Figure 1 , Figure 1 This is an exemplary architecture diagram of a space-ground integrated disaster recovery method for cyber-physical power distribution systems provided in an embodiment of this application. Figure 1 As shown, a unified recovery architecture is constructed, consisting of a power distribution network, a communication network, a satellite communication network, and a transportation network. The power distribution network includes feeders, sectionalizing switches, tie switches, load nodes, and distributed power sources (such as diesel generators, energy storage systems, and photovoltaic power generation). These power devices are interconnected via feeders to form a reconfigurable power supply network. The communication network includes a control center, communication terminals, and fiber optic and wireless communication links, used to upload monitoring data and issue control commands between the control center and field terminals. The satellite communication network includes low-Earth orbit communication satellites, inter-satellite links, and ground-based satellite communication terminals deployed at key power nodes, serving as backup communication channels when ground communication fails. The transportation network includes the repair stations where the repair teams are located, the locations of each fault point, and the road sections connecting them, used to describe the travel routes and road conditions of the repair teams from the repair stations to the fault points. Following a disaster, the system simultaneously faces three interdependent problems: first, power outages, including broken distribution lines, damaged switching equipment, and power failures at nodes, leading to interruptions in power supply to the load; second, communication failures, including fiber optic cable breaks, damaged wireless base stations, and malfunctioning terminal communication modules, preventing the control center from sensing the on-site situation or implementing remote control; and third, traffic damage, including road collapses, bridge damage, and traffic congestion, affecting the efficiency of repair teams' passage. These three problems are mutually restrictive: communication failures limit the scope of feasible remote restoration operations, power outages increase the number of devices awaiting repair, and traffic damage delays the arrival time of repair teams. Therefore, this invention integrates these four network types into a unified recovery framework, achieving efficient power restoration after a disaster through the coordinated optimization of space-ground integrated communication, multi-source islanded operation, and parallel repair scheduling.

[0050] Please see Figure 2 , Figure 2 This is a flowchart illustrating a space-ground integrated disaster recovery method for cyber-physical distribution systems provided in an embodiment of this application. Figure 2 As shown, the space-ground integrated disaster recovery method for cyber-physical distribution systems can include at least the following:

[0051] S201. Construct a post-disaster recovery object model, which includes the power distribution network, terrestrial communication network, satellite communication network, and transportation network.

[0052] Specifically, a unified mathematical description framework for post-disaster recovery is first established. The distribution network adopts a graph theory model, abstracting each feeder, sectionalizing switch, tie switch, load node, and power node (including substation power and distributed power sources, such as diesel generators, battery storage systems, photovoltaic power systems, and wind power, or one or more of these) as a set of nodes and edges. Operable switching equipment includes electrically operated sectionalizing switches and tie switches, whose state (closed / open) can be changed by commands issued by the control center. Distributed power sources include at least diesel generators, battery storage systems, photovoltaic power systems, and wind power. In this embodiment, a combination of diesel generators and energy storage systems is preferred as the main islanded power source because its output is stable and controllable. The ground communication network is modeled as a directed graph, with the control center as the root node. Each terminal device (such as a remote terminal unit, intelligent electronic device, or fault indicator) communicates with upper-level nodes via fiber optic or wireless links. The status (normal / fault) of the communication link is obtained by the control center through periodic heartbeat detection or fault reporting. The satellite communication network records whether each power node is equipped with a satellite communication terminal (such as Iridium, Starlink, or BeiDou short message terminal), as well as parameters such as the terminal's bandwidth, maximum concurrent connections, and maximum number of accessible nodes. The transportation network is established based on actual road geographic information, mapping the repair stations where the emergency repair teams are located and the location of each piece of equipment to be repaired to road nodes, mapping the road segments connecting them to edges, and assigning each edge an initial free-flow time and a post-disaster traffic capacity attenuation coefficient. This embodiment, through the unified modeling of the above four types of networks, provides a data foundation for subsequent communication support, island reconstruction, and route planning in post-disaster recovery. Its beneficial effects are: integrating the previously isolated power, communication, satellite, and transportation information into a computable model, making satellite-ground fusion collaborative recovery possible, and solving the problems of fragmented multi-source data and the inability to uniformly optimize existing methods.

[0053] S202. After a disaster occurs, identify information on power distribution network failures, ground communication network failures, and damage to transportation networks, and determine the power equipment, communication equipment, and affected road sections that need to be repaired.

[0054] Specifically, for the distribution network, by detecting voltage and current anomalies (such as sudden changes in zero-sequence current or voltage drops below 0.2 times the rated value) and protection device operation signals uploaded by feeder terminal units, and combining this with the distribution network topology, fault location algorithms (such as matrix-based fault segment location or traveling wave ranging) are used to determine the specific location of the faulty equipment. For nodes without communication coverage, satellite communication terminals can be used to actively upload the last normal state timestamp and fault characteristics after a disaster. For terrestrial communication network failures, the control center actively sends probe frames and listens for responses to identify timed-out communication links or terminals and records them as faults. For traffic network damage information, high-resolution satellite imagery, UAV inspections, or crowdsourced data reported by the public are used to extract the location and impact radius of events such as road collapses, flooding, and bridge damage, and the affected road sections are marked as downgraded or prohibited from passage. The preferred fault identification process in this embodiment is as follows: within 30 minutes after a disaster, the control center automatically gathers all available status information to generate an initial fault set; for areas with missing information, they are temporarily marked as "unknown status" and will be supplemented after satellite communication is temporarily restored. The beneficial effect of this step is that it enables the rapid and accurate location of three types of faults in large-scale disasters, providing reliable input data for subsequent emergency repair scheduling and recovery operations.

[0055] S203. Establish a satellite emergency communication model, configure satellite communication terminals at some nodes, and use satellite communication links to temporarily restore the information transmission capability between some nodes in the disaster area and the control center, thereby expanding the observable and controllable range of the post-disaster system.

[0056] Specifically, during the system design phase, low-Earth orbit (LEO) satellite communication terminals are pre-installed at key nodes in the distribution network (such as bus nodes connecting important loads, distributed power generation grid connection points, and multi-feeder interconnection switch nodes). Each terminal has a unique satellite communication ID and is registered with the control center's satellite gateway. After a disaster, when the control center detects that a node has lost ground communication for more than a threshold time (e.g., 5 minutes), and the node's satellite communication terminal is online, the control center sends an activation command to the node through the satellite gateway, establishing a two-way data channel. This channel can transmit the node's real-time status (voltage, current, switch position) and receive control commands (switch opening / closing, power setting).

[0057] In one possible implementation, a satellite communication terminal accesses a low-Earth orbit (LEO) satellite communication network. When terrestrial communication is disrupted, a temporary information transmission link is established between the control center and target nodes, enabling the target nodes to perform monitoring, status updates, and control command reception. Specifically, the LEO satellite communication network employs a satellite-to-ground air interface protocol (such as the 3GPP NTN standard), encapsulating the distribution network terminal as an IoT payload, with the satellite acting as a transparent or regenerative forwarding node. The control center allocates bandwidth and time slots to each active node according to a pre-set access policy. This embodiment preferably uses a LEO satellite constellation (such as Starlink or OneWeb) because its latency is less than 50ms, meeting the real-time requirements of remote control of the distribution network. The beneficial effect of this implementation is that even if all terrestrial fiber optic cables or base stations fail, monitoring of critical nodes can still be temporarily restored via the satellite link, avoiding the risk of "blind adjustments."

[0058] Furthermore, a coverage domain model is established for nodes configured with satellite communication terminals, and their first-level and second-level neighbor nodes are identified based on adjacent node relationships. Under the conditions of satisfying satellite bandwidth and the limit on the number of simultaneously accessing nodes, the considerable and controllable capabilities of the first-level and second-level neighbor nodes are temporarily restored. Specifically, for node i configured with a satellite communication terminal, nodes directly connected to it in the ground communication topology are defined as one-hop neighbors (first-level neighbor nodes), and nodes directly connected to first-level neighbor nodes but not directly connected to i are defined as second-level neighbor nodes. This embodiment uses the following formula to describe the relationship between satellite support status and node serviceability status:

[0059] (1)

[0060] (2)

[0061] In the formula, Indicates that node i at time... The serviceable state (i.e., the observable and controllable state). This indicates the communication status of node i after it has recovered via the ground communication link. This indicates the satellite support status of satellite communication terminal p for node i. Let w represent the set of satellite communication terminals and w represent the set of all nodes. Formula (1) first forces the serviceable state to be no lower than the ground communication recovery state, the second forces the serviceable state to be no lower than the support state of any satellite terminal, and the third restricts the serviceable state from exceeding the sum of the ground communication recovery state and the support state of all satellite terminals. Formula (2) requires that the serviceable state not decrease over time, meaning that once a node obtains considerable and controllable capability through the satellite, this capability will not be automatically lost. The control center calculates the serviceable state of each node in real time. A node is considered controllable in communication only when this value is 1. For nodes not directly configured with satellite terminals, if they are within the first or second-level neighbor range of a node with a configured satellite terminal, and the satellite terminal has remaining bandwidth and access capacity, the control center will temporarily allocate communication resources to them via relay through the satellite terminal. The specific relay protocol can be LoRa or ZigBee short-range wireless communication. The conditions for satisfying the satellite bandwidth and the number of simultaneously accessing nodes are: the total bandwidth required by all active satellite communication nodes does not exceed the total satellite bandwidth, and the number of nodes accessed by each satellite terminal does not exceed its maximum concurrent connection count. In this embodiment, the maximum concurrent connection count for each low-Earth orbit satellite terminal is preferably set to 200, and the minimum bandwidth per node is 2kbps. The beneficial effects of this implementation are: a single satellite terminal can cover multiple nodes (including first and second-level neighbors) within a local area, greatly expanding the observable and controllable range and reducing the deployment cost of satellite terminals; at the same time, the formulaic constraints ensure the calculability of resource allocation.

[0062] S204. Establish a coordination mechanism for distribution network reconfiguration and multi-source islanding operation. Under the condition of meeting the distribution network operation constraints, coordinate the optimization of switch status and network reconfiguration scheme to restore load power supply.

[0063] Specifically, based on the expanded set of observable and controllable nodes in step S203, collaborative optimization of network reconfiguration and islanding is performed. First, distributed power sources in the distribution network are considered potential islanded power sources. Each island must contain at least one distributed power source with black-start capability (such as an energy storage system or diesel generator), and the total load within the island must not exceed the rated capacity of that power source. The control center employs mixed-integer linear programming or heuristic optimization algorithms (such as genetic algorithms or particle swarm optimization) to maximize the recovered weighted load while satisfying distribution network operation constraints. The core threshold condition of this invention is that "a node is only allowed to participate in network reconfiguration and switching operations when it simultaneously possesses electrical availability and communication controllability": electrical availability refers to the node not experiencing a permanent fault and its connected upstream lines having the possibility of supplying power; communication controllability refers to the control center's ability to send commands to the node's switching equipment via terrestrial or satellite communication (i.e.,...). =1). For nodes that do not meet the communication controllability requirement, remote operation is not allowed even if their electrical equipment is intact, in order to avoid malfunctions caused by lost instructions.

[0064] In one possible implementation, the distribution network operation constraints include radial operation constraints, node power supply constraints, line interruption state constraints, voltage constraints, power flow constraints, and distributed generation output constraints; wherein, distributed generation is allowed to supply power to outage loads as islanded power sources. Specifically, the radial operation constraints require that each reconstructed subgraph (island) has a tree structure without loops, and the topological legality after each switching operation is verified using the spanning tree algorithm in graph theory. Node power supply constraints ensure that each load node is powered by at most one power source (main grid or distributed generation). Line interruption state constraints require that the switch state variables be 0 / 1 integers and cannot violate the rated number of interruptions of the equipment. Voltage constraints require that the voltage amplitude of each node be within the range of 0.95 to 1.05 pu (which can be adjusted according to standards). Power flow constraints are based on the DistFlow model and satisfy Kirchhoff's laws. Distributed generation output constraints set upper and lower limits for active and reactive power based on real-time meteorological conditions (PV / wind power) and fuel reserves (diesel). This embodiment preferably uses a power flow relaxation method based on second-order cone programming to transform the nonlinear constraints into a convex optimization problem, improving solution efficiency. The beneficial effects of this step are: under limited communication conditions, multiple isolated islands can be safely and automatically formed to restore as many important loads as possible, while avoiding the risk of misoperation caused by uncontrollable nodes.

[0065] S205. Utilize the Global Navigation Satellite System to obtain information on the location of emergency repair vehicles and road traffic conditions, establish an emergency repair route planning model, and determine the travel routes and arrival times of the physical and communication emergency repair teams at each fault point.

[0066] Specifically, please refer to Figure 3 , Figure 3 A schematic diagram of GNSS-based emergency repair team positioning and road perception provided for embodiments of this application, as shown below. Figure 3As shown, each emergency repair team (the physical repair team is responsible for repairing power equipment, and the communication repair team is responsible for repairing communication equipment) is equipped with a vehicle-mounted GNSS receiver. Their positioning data is received from the Global Navigation Satellite System (GNSS) via 4G / 5G or satellite communication and transmitted back to the control center in real time. The control center uses map matching methods to identify the road segment where the vehicle is located. Specifically, it performs Hidden Markov Model matching based on the GNSS coordinate sequence and the road geographic information database, projecting the point coordinates onto the nearest road arc. Optionally, the GNSS includes any one of the following: Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Global Navigation Satellite System (GNSS), or Galileo Satellite Navigation System (GSNS). This embodiment does not limit the specific system used. Simultaneously, real-time post-disaster road conditions are obtained by accessing a third-party traffic information platform, including the congestion index, closure status, and average traffic speed of each road. The control center models the road network as a directed weighted graph, with edge weights representing the estimated post-disaster travel time. Travel time is calculated using a modified BPR (Bureau of Public Roads) function, expressed as:

[0067]

[0068] in, This represents the actual travel time from node i to node j after the disaster. Indicates the time of free circulation. Indicates post-disaster traffic flow. This indicates road capacity, with p and q being calibration parameters. When a road is interrupted due to a disaster... If the value is set to 0 and the travel time is set to infinity, the route planning will automatically avoid this section of road. For both physical repair teams and communication repair teams, the task sequence is determined according to the fault type of the equipment to be repaired, and then the optimal path is solved using a multiple traveling salesman problem (mTSP) model.

[0069] Furthermore, the Floyd algorithm is used to optimize the routes for both physical and communication repair teams to shorten the arrival time of faults and the total repair time. Specifically, the Floyd algorithm calculates the shortest path matrix between all fault points through dynamic programming, and then, combined with the initial positions of the repair teams, uses a greedy strategy to determine the access order of each team. Since the time complexity of the Floyd algorithm is O(n^3), when the number of fault points exceeds 100, the A* algorithm or Dijkstra's algorithm can be used to improve computational efficiency. This embodiment prefers the Floyd algorithm because it is simple to implement and suitable for small and medium-sized power distribution networks with no more than 50 nodes. The output of the route planning is the specific driving route of each team and the estimated arrival time at each fault point. The beneficial effects of this step are: fully utilizing GNSS and real-time traffic information, combined with map matching methods and BPR function models, effectively avoiding post-disaster congestion or road interruptions, significantly shortening the arrival time of repair teams, and thus accelerating the overall recovery progress.

[0070] S206. Establish a parallel emergency repair scheduling model to enable physical emergency repair teams and communication emergency repair teams to work in parallel on a unified time axis, and update the system topology, observable and controllable range, and recoverable load set after each maintenance event.

[0071] Specifically, time is discretized into an event-driven sequence, with each event corresponding to a repair team completing the repair of a faulty piece of equipment. The control center maintains a global timeline, with the initial time t=0 representing the moment the disaster occurred. Each repair task includes: team type, target faulty equipment, shortest travel time from the current location to the target, and standard operating time required for repair (e.g., replacing a transformer takes 2 hours, splicing a fiber optic cable takes 0.5 hours). The core logic of the parallel scheduling model is: at any given time, all idle repair teams are immediately assigned to the highest priority task that has not yet been assigned. Each team moves and repairs independently without blocking others. When a repair event is completed, the system triggers a "recovery decision update". The updates include: ① Distribution network topology: Returning repaired lines or switches to normal status and re-performing network connectivity analysis; ② Communication network topology: Returning repaired communication links or terminals to normal status and recalculating the communication controllability of each node; ③ Due to the improved communication controllability, new observable and controllable nodes may be added, allowing more loads to be restored through reconfiguration or islanding; ④ The set of recoverable loads expands accordingly, and the control center immediately re-executes the optimization of S204 to restore as many loads as possible without waiting for other teams to complete their work.

[0072] In one possible implementation, physical repair teams are used to repair faults in power distribution lines, switching equipment, and power nodes, while communication repair teams are used to repair faults in communication terminals and communication links. Both types of repair teams operate in parallel on a unified timeline, triggering a new recovery decision after each repair is completed. Specifically, this embodiment assigns a unique ID to each team and distinguishes their skill tags. Physical repair teams are equipped with power repair tools (insulated poles, spare clamps, portable generators, etc.), while communication repair teams are equipped with optical time-domain reflectometers, fusion splicers, spare optical modules, etc. Both teams follow the same traffic rules when operating on the same road network, but their tasks are mutually exclusive. When a physical repair team completes a power fault repair, it may make a switch that previously required communication to control operational, allowing for immediate reconfiguration; similarly, after a communication repair team repairs a communication base station, it may make multiple nodes in an area controllable again. The beneficial effect of this step is that, through event-driven real-time updates and decisions, it avoids the inefficiency of traditional scheduling that waits for all teams to return before making plans, achieving tight coupling between the recovery and repair processes, and significantly shortening the load recovery delay.

[0073] S207. A two-stage recovery strategy is adopted to perform post-disaster recovery: the first stage aims to minimize weighted load loss and prioritizes restoring power supply to the load; after all loads are restored, the second stage begins, which aims to minimize the total repair time of remaining faults and completes the clearing of remaining physical and communication faults until the system returns to normal operation.

[0074] Specifically, this step divides the entire recovery process into two logically consecutive phases. The first phase begins at the onset of the disaster and continues until all load nodes (including ordinary and critical loads) receive power at least once. The objective function for this phase is to minimize the weighted load loss, where the weights ω_i are set according to the importance of the loads: 100 for primary loads (e.g., hospitals, emergency command centers), 10 for secondary loads (e.g., commercial areas), and 1 for tertiary loads (residential areas). After each event is triggered, the control center uses the current set of observable and controllable nodes and the available distributed power supply capacity as input to solve for the optimal solution for island partitioning and reconfiguration, prioritizing the restoration of high-weight loads. If a load node cannot be restored remotely due to a lack of communication controllability, but manual operation is possible on-site, a physical repair team is dispatched to temporarily switch to manual reconnection (considered as part of a maintenance event). The first phase ends when the power restoration status flags of all load nodes are 1. The system then enters the second phase, where the primary objective is no longer to restore the load (since everything is already powered on), but rather to minimize the total time required to repair the remaining faults. This involves queuing all unrepaired physical and communication faults into the maintenance queue and dispatching all emergency repair teams to perform their work with the shortest possible completion time.

[0075] Specifically, the objective function for the first stage is:

[0076]

[0077] in, Indicates that node i at time... The load recovery status (0 indicates not recovered, 1 indicates recovered). Indicates load priority weight. This represents the load power of node i. This represents the time length corresponding to the k-th recovery event.

[0078] The second phase aims to minimize the total remaining fault repair time, with the objective function being:

[0079]

[0080] in, This represents the uniform time length corresponding to the k-th maintenance event. In the specific implementation, Determined by the results of recovery optimization. This represents the time interval between adjacent events. The first stage of the solution uses mixed-integer quadratic constraint programming, while the second stage is equivalent to a parallel machine scheduling problem, which can be solved using a list scheduling algorithm or branch and bound method to obtain the optimal repair order. In this embodiment, the preferred solution tools are Gurobi or CPLEX. When high real-time requirements are needed, priority-based heuristic algorithms (such as the longest processing time priority rule) can be used. The beneficial effects of this two-stage strategy are: in the first stage, all resources are concentrated to restore power to the load as quickly as possible, even if some communication and power equipment has not been fully repaired; in the second stage, all hidden dangers are steadily eliminated, ultimately achieving complete system normalization. This strategy conforms to the emergency principle of "restoring power first, then repairing the network" after a disaster, which can minimize economic and social losses as quickly as possible while ensuring the final system integrity.

[0081] This application provides a satellite-ground integrated disaster recovery method for cyber-physical distribution systems. By constructing a unified object model that includes the distribution network, terrestrial communication network, satellite communication network, and transportation network, and combining the coverage expansion and resource constraint formulas in the satellite emergency communication model, nodes are only allowed to participate in network reconstruction and islanding operation when they simultaneously possess electrical availability and communication controllability. GNSS and BPR functions are used to optimize repair paths, and the parallel operation and event-driven updates of physical and communication repair teams are coordinated under a unified timeline. Finally, a two-stage recovery strategy is adopted, first minimizing weighted load loss and then minimizing the remaining total fault repair time. This enables the early implementation of switching operations, feeder reconstruction, and islanding power supply before terrestrial communication is fully restored, shortening the overall network recovery time, reducing load loss, and improving the power supply resilience and recovery efficiency of cyber-physical distribution systems under extreme disasters.

[0082] Please see Figure 4 , Figure 4 This is a structural block diagram of a space-ground fusion disaster recovery device for cyber-physical power distribution systems provided in an embodiment of this application. Figure 4 As shown: The space-ground integrated disaster recovery device 400 for cyber-physical distribution systems includes: a construction module 410, an identification module 420, a first establishment module 430, a second establishment module 440, a third establishment module 450, a fourth establishment module 460, and an execution module 470, wherein:

[0083] Module 410 is used to build a post-disaster recovery object model, which includes a power distribution network, a terrestrial communication network, a satellite communication network, and a transportation network. The power distribution network includes power supply nodes, load nodes, operable switching equipment, and distributed power sources. The terrestrial communication network includes a control center, communication links, and terminal equipment. The transportation network is used to describe the travel routes of the repair teams and the road conditions.

[0084] The identification module 420 is used to identify information on power distribution network failures, ground communication network failures, and traffic network damage after a disaster occurs, and to determine the power equipment, communication equipment, and affected road sections that need to be repaired.

[0085] The first module 430 is used to establish a satellite emergency communication model, configure satellite communication terminals at some nodes, and use satellite communication links to temporarily restore the information transmission capability between some nodes in the disaster area and the control center, thereby expanding the observable and controllable range of the post-disaster system.

[0086] The second module 440 is used to establish a coordination mechanism for distribution network reconfiguration and multi-source islanding operation. Under the condition of meeting the distribution network operation constraints, it coordinates and optimizes the switch status and network reconfiguration scheme to restore load power supply. Among them, a node is only allowed to participate in network reconfiguration and switch operation when it has both electrical availability and communication controllability.

[0087] The third module 450 is used to obtain information on the location of emergency repair vehicles and road traffic conditions using the global navigation satellite system, establish an emergency repair route planning model, and determine the travel routes and arrival times of the physical emergency repair team and the communication emergency repair team at each fault point.

[0088] The fourth module 460 is used to establish a parallel emergency repair scheduling model, enabling physical emergency repair teams and communication emergency repair teams to work in parallel on a unified time axis, and updating the system topology, observable and controllable range, and recoverable load set after each maintenance event is completed.

[0089] The execution module 470 is used to perform post-disaster recovery using a two-stage recovery strategy: the first stage aims to minimize weighted load loss by prioritizing the restoration of load power supply; after all loads are restored, the second stage aims to minimize the total repair time of remaining faults by clearing the remaining physical and communication faults until the system returns to normal operation.

[0090] It should be noted that the above-described examples of the space-ground converged disaster recovery device for cyber-physical distribution systems, when executing the space-ground converged disaster recovery method for cyber-physical distribution systems, are only illustrative examples of the above-described functional module divisions. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the space-ground converged disaster recovery device for cyber-physical distribution systems and the space-ground converged disaster recovery method embodiments for cyber-physical distribution systems belong to the same concept, and their implementation process is detailed in the method embodiments, which will not be repeated here.

[0091] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0092] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 may include: at least one processor 501, at least one network interface 504, user interface 503, memory 505, and at least one communication bus 502.

[0093] The communication bus 502 is used to enable communication between these components.

[0094] The user interface 503 may include a display screen, and the optional user interface 503 may include a standard wired interface or a wireless interface.

[0095] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0096] The processor 501 may include one or more processing cores. The processor 501 connects to various parts within the electronic device 500 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and by calling data stored in the memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 501 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.

[0097] The memory 505 may include random access memory (RAM) or read-only memory. Optionally, the memory 505 may include a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 505 may also be at least one storage device located remotely from the aforementioned processor 501. Figure 5 As shown, the memory 505, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a space-ground fusion disaster recovery application for cyber-physical distribution systems.

[0098] exist Figure 5 In the illustrated electronic device 500, the user interface 503 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 501 can be used to call the space-ground fusion disaster recovery application for cyber-physical distribution systems stored in the memory 505, and specifically perform the following operations:

[0099] A post-disaster recovery object model is constructed, which includes a power distribution network, a terrestrial communication network, a satellite communication network, and a transportation network. The power distribution network includes power supply nodes, load nodes, operable switching equipment, and distributed power sources. The terrestrial communication network includes a control center, communication links, and terminal equipment. The transportation network is used to describe the travel routes of the repair teams and the road conditions.

[0100] After a disaster, identify information on power distribution network failures, ground communication network failures, and damage to transportation networks to determine the power equipment, communication equipment, and affected road sections that need to be repaired.

[0101] Establish a satellite emergency communication model, configure satellite communication terminals at some nodes, and use satellite communication links to temporarily restore the information transmission capability between some nodes in the disaster area and the control center, thereby expanding the observable and controllable range of the post-disaster system.

[0102] Establish a coordination mechanism for distribution network reconfiguration and multi-source islanding operation. Under the condition of meeting the distribution network operation constraints, coordinate the optimization of switch status and network reconfiguration scheme to restore load power supply. Among them, a node is only allowed to participate in network reconfiguration and switch operation when it has both electrical availability and communication controllability.

[0103] By using the Global Navigation Satellite System to obtain information on the location of emergency repair vehicles and road traffic conditions, an emergency repair route planning model is established to determine the travel routes and arrival times of physical and communication emergency repair teams at each fault point.

[0104] Establish a parallel emergency repair scheduling model to enable physical emergency repair teams and communication emergency repair teams to work in parallel on a unified time axis, and update the system topology, observable and controllable range, and recoverable load set after each maintenance event is completed;

[0105] A two-stage recovery strategy is adopted for post-disaster recovery: the first stage aims to minimize weighted load loss by prioritizing the restoration of power supply to the loads; after all loads are restored, the second stage begins, which aims to minimize the total time for repairing remaining faults by clearing the remaining physical and communication faults until the system returns to normal operation.

[0106] In some possible embodiments, processor 501 performs the establishment of a satellite emergency communication model, specifically for the following purposes:

[0107] By accessing the low-Earth orbit satellite communication network through a satellite communication terminal, a temporary information transmission link is established between the control center and the target node when ground communication is damaged, enabling the target node to perform monitoring, status uploading, and control command reception.

[0108] In some possible embodiments, processor 501 performs the establishment of a satellite emergency communication model, and is also used to perform:

[0109] A coverage domain model is established for nodes configured with satellite communication terminals, and their first-level and second-level neighbor nodes are identified based on the relationship between adjacent nodes. Under the conditions of meeting the limitations of satellite bandwidth and the number of nodes that can be accessed at the same time, the observable and controllable capabilities of the first-level and second-level neighbor nodes are temporarily restored.

[0110] In some possible embodiments, distribution network operation constraints include radial operation constraints, node power supply constraints, line interruption state constraints, voltage constraints, power flow constraints, and distributed generation output constraints; wherein, distributed generation is allowed to supply power to outage loads as an islanded power source.

[0111] In some possible embodiments, physical repair teams are used to repair faults in power distribution lines, switching equipment, and power nodes, while communication repair teams are used to repair faults in communication terminals and communication links. The two types of repair teams work in parallel on a unified timeline and trigger a new recovery decision after each repair is completed.

[0112] In some possible embodiments, processor 501 executes the establishment of an emergency repair path planning model, specifically for performing:

[0113] The Floyd algorithm was used to optimize the routes for both physical and communication repair teams, thereby shortening the time to fault arrival and the total repair time.

[0114] In some possible embodiments, the first phase aims to minimize the weighted load loss by prioritizing the restoration of power supply to the load, and the objective function is:

[0115]

[0116] in, Indicates that node i at time... The load recovery status, Indicates load priority weight. This represents the load power of node i. This represents the time length corresponding to the k-th recovery event;

[0117] The second phase aims to minimize the total remaining fault repair time, with the objective function being:

[0118]

[0119] in, This represents the uniform time length corresponding to the k-th maintenance event.

[0120] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the above-described instructions. Figure 2 One or more steps in the illustrated embodiment. If the constituent modules of the aforementioned space-ground integrated disaster recovery device for cyber-physical distribution systems are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0121] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid state disks (SSDs)).

[0122] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation schemes can be combined arbitrarily.

[0123] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A satellite-ground integrated disaster recovery method for cyber-physical distribution systems, characterized in that, The method includes: A post-disaster recovery object model is constructed, which includes a power distribution network, a terrestrial communication network, a satellite communication network, and a transportation network. The power distribution network includes power supply nodes, load nodes, operable switching equipment, and distributed power sources. The terrestrial communication network includes a control center, communication links, and terminal equipment. The transportation network is used to describe the travel routes of the emergency repair teams and the road conditions. After a disaster, identify information on power distribution network failures, ground communication network failures, and damage to transportation networks to determine the power equipment, communication equipment, and affected road sections that need to be repaired; Establish a satellite emergency communication model, configure satellite communication terminals at some nodes, and use satellite communication links to temporarily restore the information transmission capability between some nodes in the disaster area and the control center, thereby expanding the observable and controllable range of the post-disaster system. Establish a coordination mechanism for distribution network reconfiguration and multi-source islanding operation. Under the condition of meeting the distribution network operation constraints, coordinate the optimization of switch status and network reconfiguration scheme to restore load power supply. Among them, a node is only allowed to participate in network reconfiguration and switch operation when it has both electrical availability and communication controllability. By using the Global Navigation Satellite System to obtain information on the location of emergency repair vehicles and road traffic conditions, an emergency repair route planning model is established to determine the travel routes and arrival times of physical and communication emergency repair teams at each fault point. Establish a parallel emergency repair scheduling model to enable physical emergency repair teams and communication emergency repair teams to work in parallel on a unified time axis, and update the system topology, observable and controllable range, and recoverable load set after each maintenance event is completed; A two-stage recovery strategy is adopted for post-disaster recovery: the first stage aims to minimize weighted load loss by prioritizing the restoration of power supply to the loads; after all loads are restored, the second stage begins, which aims to minimize the total time for repairing remaining faults by clearing the remaining physical and communication faults until the system returns to normal operation.

2. The satellite-ground integrated disaster recovery method for cyber-physical distribution systems according to claim 1, characterized in that, The establishment of the satellite emergency communication model includes: By accessing the low-Earth orbit satellite communication network through the satellite communication terminal, a temporary information transmission link is established between the control center and the target node when ground communication is damaged, enabling the target node to perform monitoring, status uploading, and control command reception.

3. The satellite-ground integrated disaster recovery method for cyber-physical distribution systems according to claim 2, characterized in that, The establishment of the satellite emergency communication model also includes: A coverage domain model is established for nodes configured with satellite communication terminals, and their first-level and second-level neighbor nodes are identified based on the relationship between adjacent nodes. Under the conditions of meeting the limitations of satellite bandwidth and the number of nodes that can access at the same time, the observable and controllable capabilities of the first-level and second-level neighbor nodes are temporarily restored.

4. The satellite-ground integrated disaster recovery method for cyber-physical distribution systems according to claim 1, characterized in that, The distribution network operation constraints include radial operation constraints, node power supply constraints, line opening and closing status constraints, voltage constraints, power flow constraints, and distributed generation output constraints; among them, distributed generation is allowed to supply power to outage loads as an islanded power source.

5. The satellite-ground integrated disaster recovery method for cyber-physical distribution systems according to claim 1, characterized in that, The physical repair team is used to repair faults in power distribution lines, switching equipment and power nodes, while the communication repair team is used to repair faults in communication terminals and communication links. The two types of repair teams work in parallel on a unified timeline and trigger a new recovery decision after each repair is completed.

6. The satellite-ground integrated disaster recovery method for cyber-physical distribution systems according to claim 1, characterized in that, The establishment of the emergency repair route planning model includes: The Floyd algorithm was used to optimize the routes for both physical and communication repair teams, thereby shortening the time to fault arrival and the total repair time.

7. The satellite-ground integrated disaster recovery method for cyber-physical distribution systems according to claim 1, characterized in that, The first stage aims to minimize weighted load loss by prioritizing the restoration of power supply to the loads. The objective function is: in, Indicates that node i at time... The load recovery status, Indicates load priority weight. This represents the load power of node i. This represents the time length corresponding to the k-th recovery event; The second stage aims to minimize the total remaining fault repair time, and the objective function is: in, This represents the uniform time length corresponding to the k-th maintenance event.

8. A space-ground integrated disaster recovery device for cyber-physical distribution systems, characterized in that, The device includes: The construction module is used to build a post-disaster recovery object model, which includes a power distribution network, a terrestrial communication network, a satellite communication network, and a transportation network. The power distribution network includes power supply nodes, load nodes, operable switching equipment, and distributed power sources. The terrestrial communication network includes a control center, communication links, and terminal equipment. The transportation network is used to describe the travel routes of the repair teams and the road conditions. The identification module is used to identify power distribution network failures, ground communication network failures, and transportation network damage information after a disaster occurs, and to determine the power equipment, communication equipment, and affected road sections that need to be repaired. The first module is used to establish a satellite emergency communication model, configure satellite communication terminals at some nodes, and use satellite communication links to temporarily restore the information transmission capability between some nodes in the disaster area and the control center, thereby expanding the observable and controllable range of the post-disaster system. The second module is used to establish a coordination mechanism for distribution network reconfiguration and multi-source islanding operation. Under the condition of meeting the distribution network operation constraints, it coordinates and optimizes the switch status and network reconfiguration scheme to restore load power supply. Among them, a node is only allowed to participate in network reconfiguration and switch operation when it has both electrical availability and communication controllability. The third module is used to obtain information on the location of emergency repair vehicles and road traffic conditions using the global navigation satellite system, establish an emergency repair route planning model, and determine the travel routes and arrival times of the physical and communication emergency repair teams at each fault point. The fourth module is used to establish a parallel emergency repair scheduling model, enabling physical emergency repair teams and communication emergency repair teams to work in parallel on a unified time axis, and updating the system topology, observable and controllable range, and recoverable load set after each maintenance event. The execution module is used to perform post-disaster recovery using a two-stage recovery strategy: the first stage aims to minimize weighted load loss by prioritizing the restoration of load power; after all loads are restored, the second stage aims to minimize the total time for repairing remaining faults by clearing remaining physical and communication faults until the system returns to normal operation.

9. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions adapted for loading by a processor and executing the steps of the method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method as described in any one of claims 1 to 7.

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