CN109245108A - distributed state estimation method and system - Google Patents
distributed state estimation method and system Download PDFInfo
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- CN109245108A CN109245108A CN201811427770.9A CN201811427770A CN109245108A CN 109245108 A CN109245108 A CN 109245108A CN 201811427770 A CN201811427770 A CN 201811427770A CN 109245108 A CN109245108 A CN 109245108A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/04—Circuit arrangements for ac mains or ac distribution networks for connecting networks of the same frequency but supplied from different sources
- H02J3/06—Controlling transfer of power between connected networks; Controlling sharing of load between connected networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2203/00—Indexing scheme relating to details of circuit arrangements for AC mains or AC distribution networks
- H02J2203/20—Simulating, e g planning, reliability check, modelling or computer assisted design [CAD]
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Abstract
The embodiment of the present invention provides a kind of distributed state estimation method and system, which comprises the state estimation that each sub-district calculate node carries out multiple sub-districts parallel in partition layer calculates, and the first sensitivity matrix and the second sensitivity matrix is calculated；Each interconnection region calculate node building estimation zoning, completes interconnection state estimation in cooperation layer, obtains interconnection and measures estimated value；After the state estimation for completing sub-district and interconnection estimation region parallel calculates, each sub-district calculate node receives interconnection and measures estimated value in partition layer, and calculates the mismatch amount of boundary interconnection estimated value and measure change vector to form sub-district；Change vector is measured according to the first sensitivity matrix, the second sensitivity matrix, sub-district, quantity of state and power measurement estimated value to each sub-district carry out coordination corrected Calculation；According to the convergence threshold of setting, judge whether the mismatch amount of interconnection estimated value meets convergence criterion, if so, obtaining coordinating calculated result.
Description
Technical field
The present invention relates to state estimation fields, in particular to a kind of distributed state estimation method and system.
Background technique
With the fast development of generation of electricity by new energy, it is desirable that power grid further increases the ability of consumption generation of electricity by new energy, in addition
The coupling and globality for regulating and controlling operation between regional power grid are increasingly promoted, and carry out interconnected network multi-area control center global monitoring
It is increasingly urgent to the demand of analysis.
For the extensive interconnected network with more control areas, network size and metric data amount are huge, traditional
It is global that centralized state estimation (centralized state estimation, CSE) method is applied to extensive interconnected network
When state estimation, the predicament of " dimension disaster " is easily trapped into, calculating speed is slower, it is difficult to meet power grid regulation operation real-time and want
It asks.
Summary of the invention
To overcome the technical problems existing in the prior art, the embodiment of the present invention is designed to provide a kind of distributed shape
State estimation method and system.
In a first aspect, the embodiment of the present invention provides a kind of distributed state estimation method, it is applied to interconnected network system, institute
Stating interconnected network system includes cooperation layer and partition layer double-layer structure, includes multiple interconnection regions in the cooperation layer, described
It include multiple independent reciprocity sub-districts in partition layer, which comprises
In the partition layer, the state estimation that each sub-district calculate node carries out multiple sub-districts parallel is calculated, in calculating
To the first sensitivity matrix and the second sensitivity matrix；Wherein, first sensitivity matrix is spirit of the quantity of state to measurement
Sensitive matrix, second sensitivity matrix are sensitivity matrix of the power measurement estimated value to the quantity of state；
In the cooperation layer, each interconnection region calculate node building estimation zoning is completed interconnection state and is estimated
Meter obtains interconnection and measures estimated value；
After the state estimation for completing sub-district and interconnection estimation region parallel calculates, each sub-district calculate node in partition layer
Receive the interconnection and measure estimated value, and calculate the mismatch amount of boundary interconnection estimated value with formed sub-district measure variation to
Amount；
Change vector is measured according to first sensitivity matrix, second sensitivity matrix, the sub-district, to each son
The quantity of state and power measurement estimated value in area carry out coordination corrected Calculation；
According to the convergence threshold of the corrected Calculation of setting, judge whether the mismatch amount of the interconnection estimated value meets receipts
Criterion is held back, if so, obtaining coordinating calculated result.
Optionally, independence, concurrently progress interconnection region and sub-district state between this double-layer structure of cooperation layer, partition layer
Estimation, will not interact, and after double-layer structure is respectively completed zone state estimation calculating, be estimated according to what double-layer structure obtained
Meter result carries out coordination corrected Calculation, to reduce the corresponding mismatch amount for measuring estimated value between double-layer structure.
After obtaining coordinating calculated result, which can be sent to the calculate node of cooperation layer, then pass through
Summarize, normalized, overall calculation result can be obtained.
Second aspect, the embodiment of the present invention also provide a kind of distributions estimating system, and the system comprises cooperation layers
With partition layer double-layer structure；Include multiple interconnection regions in the cooperation layer, includes multiple independent right in the partition layer
Etc. sub-districts；Wherein, nonoverlapping relationship between each reciprocity sub-district, two end nodes in each interconnection region are located at
Different adjacent subareas；Slave Parallel computation model is formed between the cooperation layer and the partition layer.
Compared with prior art, the distributed state estimation method and system of the embodiment of the present invention, the method by pair
Interconnection region and sub-district in cooperation layer, partition layer double-layer structure separately carry out state estimation calculating, double-layer structure
It will not interact when carrying out state estimation calculating respectively, after double-layer structure is respectively completed state estimation calculating, according to
The estimated result that double-layer structure obtains carries out coordination corrected Calculation, to reduce the mismatch amount between double-layer structure, realizes two layers
Coordination amendment between structure.This method can be realized the computational efficiency and meter that state estimation is carried out to interconnection estimation region
The equilibrium for calculating precision, in the coordination corrected Calculation for combining interconnection measurement estimated value, sensitivity matrix to complete each sub-district boundary number
Afterwards, the coordination calculated result high reliablity obtained.Due to being parallel independent progress state estimation calculating, tool between double-layer structure
There is higher calculating speed.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, special embodiment below, and appended by cooperation
Attached drawing is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the configuration diagram of distributions estimating system provided in an embodiment of the present invention.
Fig. 2 is the extended model of certain interacted system subregion and interconnection region in an example provided in an embodiment of the present invention
Figure.
Fig. 3 is the flow chart of distributed state estimation method provided in an embodiment of the present invention.
Fig. 4 is the flow chart of the distributed state estimation method in an example provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
It is slow in view of the calculating speed of existing system architecture and method for estimating state, in addition in previous algorithm for estimating
Do not consider that sub-district coordinates the acquisition methods of reference value and the coordination correcting action of node voltage amplitude mismatch amount, therefore, this
Invention provides a set of complete distributions suitable for master-slave mode regulation and administration mode and estimates structure system, to realize simultaneously
Row is independent to be calculated, and is improved computational efficiency, is effectively improved the state estimation performance of interconnected network.
First embodiment
The present embodiment provides a kind of distributions estimating system 10, the Sub-region and hierarchical structure of the system please refers to Fig. 1.Its
In, there are a large amount of calculate nodes in the distributions estimating system 10, can for the executing subject of each calculate node
To be that server, personal computer, mobile device etc. can connect network and with the equipment of calculation processing power.
As shown in Figure 1, the distributions estimating system 10 includes cooperation layer and partition layer double-layer structure, the cooperation layer
And Slave Parallel computation model is formed between the partition layer.Partition layer itself can carry out state estimation calculating, coordinate
The tasks such as corrected Calculation, cooperation layer itself can carry out state estimation calculating, can also to partition layer carry out task schedule, two layers
Between there are a small amount of data interactions.
It include multiple interconnection regions in the cooperation layer, each interconnection region is available corresponding after region extends
Interconnection estimation region (interconnection estimation region 1, interconnection estimation region 2 ... interconnection estimation region M in Fig. 1),
It include multiple independent reciprocity sub-districts (sub-district 1, sub-district 2 ... sub-district N in Fig. 1) in the partition layer.Wherein, each equity
It is not overlapped between area, two end nodes in each interconnection region are located at different adjacent subareas.
There are at least two nodes to be located at adjacent sub-district in each interconnection region, correspondingly, each sub-district
Inside there are multiple internal nodes, the same sub-district can be connect with multiple interconnection regions.
Wherein, an interconnection estimation region at least covers an interconnection region, and an interconnection region includes at least
One interconnection.One interconnection estimation region only carries out data interaction with two sub-districts, but each region is being estimated
It can independently be carried out parallel when calculating.
In an example, as shown in Fig. 2, the distributions estimating system 10 includes adjacent sub-district i and sub-district j.
It is not overlapped between sub-district i and sub-district j, can independently carry out operation.There can be a plurality of interconnection between sub-district i and sub-district j, often
One interconnection can correspond to an interconnection region, and the node at the interconnection both ends is located in sub-district i and sub-district j.Example
Such as, it is located in sub-district i and sub-district j in interconnection region A corresponding for the m articles interconnection there are two node a, b.
In Fig. 2, " a, a1、a2、a3、a4、a5、a6、a7、a8、b、b1、b2、b3、b4、b5、refi、refj" indicate node.
In one embodiment, sub-district i and sub-district j can independently carry out state estimation calculating, obtain corresponding
Sub-district estimated result, moreover it is possible to corresponding sub-district sensitivity matrix be calculated.Meanwhile sub-district being made full use of to estimate calculating opportunity,
Each interconnection region also can independently carry out estimation calculating parallel.
The state estimation calculating process of sub-district i and sub-district j is estimated with interconnection in cooperation layer in partition layer in the above-mentioned stage
The state estimation calculating process in region will not influence each other, and the state estimation calculating between double-layer structure can execute parallel.
About the buffer area in Fig. 2, sensitive area, it is understood that being the contact extended by interconnection region
Line estimation region, i.e. the interconnection estimation region can only cover from boundary node expand a node, can also cover from
Multiple nodes that boundary node extension extends.That is, interconnection estimation region can be changed with dynamic expansion.As a kind of implementation
Mode, when adding node into interconnection estimation region, can with the connection relationship of integrated network topology and level of sensitivity into
Row addition, specific adding method be according to breadth search method, can also use others modes certainly add node with
Change interconnection estimation region.
The interconnection estimation obtained by the interconnection region divided in the distributions estimating system 10 and extension
Region can carry out state estimation calculating to cooperation layer.
As an implementation, to each interconnection estimation region in cooperation layer and to each son in partition layer
It, can be real using weighted least square method (Weighted Least Squares, WLS) when area carries out state estimation calculating
Present condition estimation calculates.
In the system, cooperation layer, partition layer in addition to can parallel independent progress state estimation calculating, system can also be right
The estimated result that cooperation layer, partition layer respectively obtain carries out coordination corrected Calculation.This is because double-layer structure is for the same side
The estimated value that boundary's node obtains may be different, such as the interconnection estimated result and son about node a that interconnection region A is obtained
The sub-district estimated result about node a that area i is obtained may be different, it is therefore desirable to the difference of two estimated results is modified,
Coordination amendment is carried out to the mismatch amount of estimated value.When being modified calculating, in addition to power estimation value to be considered
Other than mismatch amount, coordination amendment can also be carried out to sub-district bound power and interconnection node voltage amplitude, this can improve
Only consider to coordinate modified computational accuracy in the case of the mismatch amount of corresponding power estimated value.
By above system, state estimation calculating independently can be carried out to cooperation layer, partition layer this double-layer structure respectively, two
Layer structure is independent of each other when carrying out state estimation calculating respectively, after double-layer structure is respectively completed state estimation, Neng Gougen
Coordination amendment is carried out according to the estimated result that double-layer structure obtains, to reduce the mismatch amount between double-layer structure.
Further, the whole network can effectively be obtained and estimate by carrying out summarizing normalizing by the coordination calculated result for obtaining the system
Count calculated result.Due to being independently to carry out state estimation calculating parallel between double-layer structure, arithmetic speed with higher, and
Local bad data and unobservable factor do not interfere with the estimated result in other regions, can reduce local bad data and can not
Influence of the observation for total system estimated result improves power grid regulation operation real-time and accuracy.
Second embodiment
A kind of distributed state estimation method is present embodiments provided, is specifically properly termed as, one kind is decoupled based on interconnection
Distributed state estimation method.This method is applied to interconnected network system, and about the framework of the interconnected network system, come in one
Walk the framework refering to distributions system 10 described in first embodiment.
Referring to Fig. 3, being provided in an embodiment of the present invention applied to Fig. 1 and the estimation of the distributions of system shown in Figure 2
The flow chart of method.Detailed process shown in Fig. 3 will be described in detail below.
Step S310: in the partition layer, the state estimation that each sub-district calculate node carries out multiple sub-districts parallel is calculated,
The first sensitivity matrix and the second sensitivity matrix are obtained in calculating.Wherein, first sensitivity matrix is quantity of state to amount
The sensitivity matrix of measurement, second sensitivity matrix are sensitivity matrix of the power measurement estimated value to the quantity of state.
Step S320: in the cooperation layer, each interconnection region calculate node constructs itself estimation zoning, completes
Interconnection state estimation obtains interconnection and measures estimated value.
Specifically, each interconnection region calculate node makes full use of sub-district to estimate calculating opportunity, comprehensive topological connection relation
Equal many factors building estimation zoning, completes interconnection state estimation, obtains interconnection and measure estimated value.Wherein, this is estimated
It counts zoning and is referred to as interconnection estimation region in embodiments of the present invention.
Step S330: after the state estimation for completing sub-district and interconnection estimation region parallel calculates, each son in partition layer
Area's calculate node receives the interconnection and measures estimated value, and calculates the mismatch amount of boundary interconnection estimated value to form sub-district
Measure change vector.
Step S340: according to first sensitivity matrix, second sensitivity matrix, the sub-district measure variation to
Amount, quantity of state and power measurement estimated value to each sub-district carry out coordination corrected Calculation.
Step S350: according to the convergence threshold of the coordination corrected Calculation of setting, judge the interconnection estimated value not
Whether dosage meets convergence criterion, if so, obtaining coordinating calculated result.Wherein, which includes coordinating amendment meter
The quantity of state and power measurement estimated value (specifically can be refering to formula (8)) obtained after calculation.
Wherein, before step S310, the management of power system delamination and subarea perpendicular control and power grid measurement acquisition point can be followed
Interconnected power grid is divided into several reciprocity sub-districts and interconnection based on power grid control region division by the characteristics of area converges
Estimation region constitutes the parallel computational model and regulation and administration mode of master-slave mode.
As an implementation, before carrying out state estimation, node tearing algorithm can be used interconnected network system
It is divided into cooperation layer, partition layer, so as to which independent parallel state estimation calculating can be carried out between the double-layer structure.
Wherein, the step of step S310, step S320 carries out state estimation calculating respectively as partition layer, cooperation layer, step
Rapid S310, step S320 can be performed simultaneously.Wherein, cooperation layer formed interconnection estimation zoning when can there are many realize
Mode, the specific choice mode about interconnection estimation region in the present invention should not be construed as limiting the invention.It is with Fig. 2
End node region can be directly used in example, interconnection estimation region, can also use buffer area, can also use sensitivity area
Domain, certain interconnection estimation region can also be the estimation zoning that other modes determine.It should be noted that being formed
Although the first sensitivity matrix from sub-district can be used when sensitive area, since first sensitivity matrix is sub-district
Estimation calculates the constant sensitivity matrix obtained in the primary iteration stage, and the connection in cooperation layer can be quickly formed according to this matrix
Winding thread estimation region, therefore, cooperation layer can almost be completed parallel with the state estimation calculating in partition layer.
In the present embodiment, about step S310, respective first sensitivity matrix and respective is can be obtained in each sub-district
Second sensitivity matrix.Each sub-district can read the correlation model data inside each sub-district according to acquisition range is measured, parallel to count
It calculates and obtains corresponding first sensitivity matrix of each sub-district, the second sensitivity matrix.
The state estimation that each sub-district calculate node carries out multiple sub-districts parallel calculates, and can obtain the estimation meter of multiple sub-districts
Calculate result, wherein each sub-district can carry out estimation calculating using the WLS estimation technique.
In the present embodiment, about step S320, each interconnection region in cooperation layer is selecting suitable zone of estimate
State estimation calculating is carried out behind domain, the node for including in different estimation regions is different.In the present embodiment, which is claimed
For interconnection estimation region.
In order to determine suitable interconnection estimation region, the present embodiment additionally provides a kind of based on interconnection estimation region
State estimation calculation method.The specific implementation form multiplicity of interconnection estimation region in this method.
In one embodiment, when interconnection both ends measurement information is sufficient and more accurate, interconnection can directly be chosen
Realize that estimation calculates as interconnection estimation region in the end node region in Fig. 2 that two end nodes are constituted.
In another embodiment, it is extended to the outside centered on interconnection end node, interconnection region is extended to the outside
Obtain interconnection extended area, and using the interconnection extended area as interconnection estimation region, dynamic construction different range
Interconnection estimation region realizes that estimation calculates.Extended mode mainly includes two kinds: one is pass through each interconnection node tyre one
Grade neighbour's buffer joint forms the interconnection buffer area in Fig. 2；Another way is comprehensive topological connection relation and quantity of state
To the sensitivity relation of measurement, interconnection state estimation sensitive nodes are determined, form the sensitive area being connected in Fig. 2.
It should be noted that other than above embodiment, those skilled in the art can also using other modes come
Determine interconnection estimation region, the specific choice mode of interconnection estimation region should not be construed as limiting the invention.
Further, interconnection state estimation is completed using WLS after determining interconnection estimation region to calculate.
About step S330, cooperation layer, subregion can be obtained in conjunction with above-mentioned sub-district estimated result and interconnection estimated result
The mismatch amount of boundary interconnection estimated value between this double-layer structure of layer.This is because the same interconnection region in cooperation layer
It is associated with two adjacent sub-districts, it is past for the boundary interconnection node in each region in the estimation calculation of whole system
Toward different estimated values can be obtained, it is therefore desirable in conjunction with cooperation layer estimation calculated result (i.e. interconnection measurement estimated value) and
Sub-district in partition layer estimates calculated result, obtains the difference between the two (i.e. the mismatch amount of boundary interconnection estimated value), and to this
Mismatch amount carries out coordination amendment.The mismatch amount can be the mismatch amount of power estimation value, be also possible to voltage estimated value
Mismatch amount.It carries out coordinating modified purpose being to minimize the mismatch amount.
Available sub-district, which is combined, by the mismatch amount to multiple boundary interconnection estimated values measures change vector,
The sub-district, which measures change vector, can be used as the subsequent parameter coordinated during corrected Calculation.
About step S340, it is the step of carrying out coordination corrected Calculation between cooperation layer, partition layer this double-layer structure, as
A kind of embodiment, step S340 can be executed by each sub-district calculate node in partition layer.First sensitivity matrix, second
Sensitivity matrix can be used as the macroelement in entire estimation calculation, measure change vector in conjunction with the sub-district being calculated
The estimated result of sub-district can be modified, which includes to each sub-district quantity of state, power measurement estimated value
Carry out coordination corrected Calculation.
During carrying out coordination corrected Calculation, step S350 can be executed, according to the convergence criterion of setting, judgement is
The no estimation calculated result for obtaining meeting convergent requirement can directly obtain most if so, illustrating that iterated revision process is up to standard
Coordinate corrected Calculation result eventually；If it is not, above-mentioned makeover process is then continued to execute, so that result restrains.As an implementation,
Before every execution an iteration corrected Calculation, condition of convergence judgement need to be carried out.
In the present embodiment, after obtaining coordinating calculated result, the method also includes step S360.
Step S360: obtained coordination calculated result is uniformly sent to interconnection region and calculates section by each sub-district calculate node
Point.Again by summarizing, normalized, the overall calculation result of final the whole network distributions estimation can be obtained.
By the above method, the state estimation calculating process that WLS is respectively adopted to cooperation layer, partition layer is independently held parallel
Row, in conjunction with the coordination makeover process of partition layer, when taking full advantage of each sub-district of partition layer and independently carrying out the calculating of state estimation
Machine, the parallel state estimation for carrying out each interconnection estimation region in cooperation layer calculate, and reach interconnection estimation computational efficiency and meter
Calculate the equilibrium of precision.Then the interconnection being calculated based on interconnection measures estimated value and sensitivity matrix (first
Sensitivity matrix, the second sensitivity matrix) complete parallel each sub-district boundary estimated value mismatch amount coordination amendment.It is final to converge
Available the whole network estimated result after total normalizing.Entire method realizes the streaming computing processing of distributions estimation, parallel
The estimation for being independently completed each sub-district and interconnection region calculates, and parallelization degree is high, calculating speed is fast, realizes complex electric network
Dimensionality reduction calculate and sub-district estimation decoupling, reduce the pollution of local bad data, can be as far as possible when local sub-district measures bad
Estimation section on a large scale is obtained, there is preferable application value.And it can reduce local bad data and unobservability pair
In the influence of the whole network system estimation calculated result, power grid regulation operation real-time and accuracy are improved.
Referring to Fig. 4, below in conjunction with the full instance implementation steps that the present invention will be described in detail, with adjacent in Fig. 2
It is illustrated for sub-district i, sub-district j and interconnection region A.In this example, using node tearing algorithm or Branch cutting method to power grid
Region is divided to obtain interconnection subregion Decoupled Model, so that each equity sub-district is not overlapped, the end node in interconnection region
It is located at different adjacent subareas.Wherein, Fig. 1, Fig. 2 are please referred to about the corresponding system architecture of the model.Then basis point
Multiple sub-districts and interconnection region are disposed and are run in the computing capability of different calculate nodes in cloth network computing environment, distribution
State estimation and coordination calculate.
It realizes that state estimation calculates using this system architecture, there is tripartite's face to ring: first, so that the calculating mould of each sub-district
Type measures that acquisition range is consistent, and independence is strong with it, external sub-district or it is global estimate not convergent situation under, still can be with
Obtain the estimated result of this sub-district；Second, the estimated result of each sub-district by the interference of the measuring quality of adjacent subarea, can not subtract
The residual contamination in few subinterval；Third, each subinterval do not have information exchange, and cooperation layer, partition layer carry out state estimation parallel,
Parallelization degree is high, and calculating speed is fast.
Referring to Fig. 4, the calculating process of cooperation layer, partition layer can execute parallel.
Interconnection, which is estimated, to be further determined that after determining the corresponding network topology connection relationship of system architecture for cooperation layer
Region is counted, and realizes that estimation calculates using WLS.After completing an interconnection estimation and calculating, interconnection is estimated into calculated result
In interconnection measure estimated value and be distributed to the sub-district in partition layer, and wait/restart the activation stage into suspend mode.Carry out under
Before interconnection estimation calculates, receives the modified calculated result of coordination of sub-district and obtain the whole network by summarizing normalization
Overall estimation result.
For partition layer, then execute cooperation layer interconnection estimation calculate when, the WLS state of each sub-district can be carried out parallel
Estimation and sensitivity matrix calculate, and obtain sub-district estimated result.Estimated value is measured in the interconnection for receiving cooperation layer transmission
Afterwards, the sensitivity matrix for completing each mismatch amount coordinates corrected Calculation, until each mismatch amount meets convergence criterion, is coordinated
Calculated result.The coordination calculated result can be sent to cooperation layer and carry out summarizing normalization to obtain the whole network estimated result.
It will introduce respectively below and carry out the mistake for obtaining the first sensitivity, the second sensitivity in estimation calculation in sub-district
Journey.By taking sub-district i as an example, if the m of sub-district iiDimension initial measurement vector is zi0, 2 (ni- 1) dimension initial state vector is xi0.If measuring
Change Δ z occurs for vectori, will lead to state vector and change Δ x also occuri。
In order to analyze the sensitivity relation between quantity of state and measurement, first in xi0Nearby to m in non-linear measurement equationi
Tie up nonlinear function vector hi(xi) Taylor expansion is carried out, ignore nonlinear terms more than two times.Expansion is substituted into WLS's again
Objective function Ji(xi) in, it enables and measures vector zi=zi0+Δzi, and after formula is unfolded, it is known that if making Ji(xi) reach minimum value, portion
Subitem should be zero, can obtain following formula (1).
Wherein, 2 (ns of the quantity of state to measurementi-1)×miSensitivity matrix is to refer to formula (2).
Besides the sensitivity relation between bright power measurement estimated value and quantity of state, the power measurement estimated value of sub-district i with
Relationship refers to formula (3) between quantity of state.
zwi=hwi(xi) (3)
Enable mwiTie up power measurement vector zwi=zwi0+Δzwi, in xi0Nearby between power measurement vector and quantity of state
Nonlinear function vector hwi(xi) carry out Taylor expansion, after ignoring nonlinear terms, available Δ zwi=Hwi(xi0)Δxi.Then
M of the power measurement estimated value to quantity of statewi×2(ni- 1) sensitivity matrix refers to formula (4).
Wherein, in above-mentioned formula (1)-formula (4),Indicate the first sensitivity matrix,Indicate the second sensitivity square
Battle array, ziIndicate the m of sub-district iiDimension measures vector, xiIndicate the 2 (n of sub-district ii- 1) state vector is tieed up,Indicate Hi
(xi0) transposed matrix, whereinhi(xi) table
Show miThe nonlinear function vector of dimension, hwiIndicate the nonlinear function vector between quantity of power measurement and quantity of state.RiIndicate mi×
miMeasurement variance matrix are tieed up, and
While each sub-district carries out sub-district estimation calculating, each interconnection region calculate node can be with reading area inside phase
(trend) model and metric data are closed, interconnection is completed in many factors building estimation such as comprehensive topological connection relation zoning
State estimation.Each equity sub-district and the state estimation of interconnection estimation region use Distributed Parallel Computing, and any letter is not present
Breath interaction.
Wherein, base of the estimated value as sub-district coordination corrected Calculation is measured from the interconnection that cooperation layer is sent to partition layer
Standard will have a direct impact on the subsequent calculating accuracy for coordinating correction algorithm.It is therefore desirable to select suitable interconnection estimation region,
The interference of bad data is excluded, determines accurately interconnection estimated value.
In this example, the interconnection estimation region of selection can be interconnection extended area, i.e., from interconnection region end segment
The region that point extends outwardly.The specific implementation form of a variety of interconnection estimation regions is provided in this example.It is obtained from adjacent subarea
Sensitivity matrix (the first sensitivity matrix) needed for taking estimation, carries out the state estimation of interconnection.Wherein, the state of interconnection
Estimation and the state estimation of each sub-district use Distributed Parallel Computing, and any information exchange is not present.It should be noted that each connection
The process that winding thread obtains the first sensitivity matrix should not be construed as the estimation between double-layer structure and calculate interaction.
In this example, the selection mode of a variety of interconnection estimation regions is provided.The first, in interconnection both ends measurement information
When sufficient and more accurate, the end node region in directly Fig. 2 of selection two end node of interconnection composition realizes that estimation calculates, but
This embodiment can cause system inconsiderable or estimation inaccuracy, interconnection is estimated at this time in measurement information amount deficiency
Zoning needs to extend to the outside.Second, be outside according to topological connection relation and breadth search mode to interconnection region
Extension.Extended mode mainly includes two kinds of ways of realization: a kind of form is buffered by each interconnection node tyre level-one neighbour
Node forms the interconnection buffer area in Fig. 2, but the method lacks rigorous theoretical direction and estimation quality may not be best；Separately
A kind of form is the sensitivity relation of comprehensive topological connection relation and quantity of state to measurement, determines that interconnection state estimation is sensitive
Node forms the sensitive area being connected in Fig. 2, equal between main consideration estimation computational accuracy and computational efficiency during this
Weighing apparatus.
According to the numerous embodiments of above-mentioned interconnection estimation region, determines interconnection estimation region and completed using WLS
Interconnection state estimation calculates, and available interconnection measures estimated value, and is sent to each sub-district of partition layer.
Wherein, the determination process of interconnection estimation region and the state estimation calculating process of interconnection estimation region can
It remains parallel independent substantially with the estimation calculation with each sub-district, estimation calculating can be carried out using WLS method.Due to contact
The calculation scale of line estimation region is not more than sub-district calculation scale, therefore will not reduce the computational efficiency of distributions estimation.
After sub-district, interconnection region are respectively completed estimation calculating, each sub-district calculate node obtains interconnection estimation and calculates
The interconnection obtained afterwards measures estimated value, and the benchmark for coordinating corrected Calculation as sub-district is modified.It should be noted that
In the method for the embodiment of the present invention, each sub-district calculate node need to only obtain an interconnection measurement estimated value from cooperation layer and be
Can, computation rate is able to ascend with this, without the estimation calculated result for repeating acquisition interconnection.
Certainly, if needing to obtain multiple the whole network estimation calculated result, it can repeatedly obtain interconnection and measure estimated value, with
Obtain the estimated result of different moments metric data section.
Coordination makeover process is described below.Assuming that having l interconnection between adjacent subarea i, sub-district j, contact is selected
The m articles interconnection in the A of line region, sub-district i include interconnection headend node a, and sub-district j includes endpoint node b, such as Fig. 2 institute
Show.To illustrate to coordinate makeover process for the estimation region of sub-district i and interconnection region A.Before being modified, need to obtain
Basic parameter: the first sensitivity matrix, the second sensitivity matrix, sub-district measure change vector.
Calculating process about the first sensitivity matrix, the second sensitivity matrix please refers to above, and details are not described herein, under
Face will illustrate that sub-district measures the calculating process of change vector.
Sub-district i calculate node receives the interconnection from interconnection region A calculate node and measures estimated value, calculates interconnection
The mismatch of region A and the boundary sub-district i interconnection branch power estimated value mismatch amount and node voltage amplitude estimated value
Amount.
Then by the interconnection branch power estimated value mismatch amount between sub-district i and all adjacent interconnections, node electricity
The mismatch amount of pressure amplitude value estimated value is used as sub-district to measure variable quantity, and obtains sub-district and measure change vector, and calculating process is such as
Under:
Wherein,Indicate the measurement change vector of sub-district i,Respectively indicate the m articles
The mismatch amount of the branch active power estimated value at the end node a of interconnection, the mismatch amount of branch reactive power estimated value, section
The mismatch amount of point voltage magnitude estimated value, k indicate the number of iterations for carrying out coordinating corrected Calculation, represent when k=0 and coordinate amendment
The initial value of calculating.
It is explained below the calculating process for illustrating each mismatch amount.
The m articles end interconnection a branch power, voltage magnitude are estimated by sub-district i and the corresponding interconnection of interconnection region A respectively
It counts region and carries out state estimation calculating, interconnection a end line power is calculated in sub-district i and voltage magnitude is respectively(branch active power),(branch reactive power),(node voltage amplitude).And interconnection region A estimates
Interconnection a end line power is calculated and voltage magnitude is respectively Pa,m,A(branch active power), Qa,m,A(branch is idle function
Rate), Ua,m,A(node voltage amplitude), these values are fixed as amendment target value, value.
Cooperation layer, partition layer double-layer structure correspondence interconnection measure after estimated value subtracts each other, the end available interconnection a branch
The mismatch amount of road power (including active power and reactive power) and voltage magnitude estimated value refers to formula (7).
In formula (7),The branch for respectively indicating the end node a of the m articles interconnection is active
The mismatch amount of power estimation value, the mismatch amount of branch reactive power estimated value, the mismatch of node voltage amplitude estimated value
Amount.
After obtaining the first sensitivity matrix, the second sensitivity matrix, sub-district and measuring change vector, according to following formula (8)
It is iterated amendment, quantity of state and power measurement estimated value after available sub-district i coordination corrected Calculation.Please refer to formula (8).
In formula (8),The quantity of state of iterative calculation front and back twice is respectively indicated,Table respectively
Show the power measurement estimated value of iterative calculation front and back twice,Indicate the measurement change vector of sub-district i,Indicate son
The state change vector of area i.Indicate the first sensitivity matrix,Indicate the second sensitivity matrix.
Wherein, before being iterated amendment each time, according to the convergence criterion of the corrected Calculation of setting, judge that interconnection is estimated
Whether the mismatch amount of evaluation restrains, and specifically includes: by the absolute value of the mismatch amount of estimated value be less than convergence threshold, as point
Each sub-district coordinates the convergence criterion of corrected Calculation in region layer, judges mismatch amount, the branch of branch active power estimated value respectively
Whether the mismatch amount of reactive power estimated value, the mismatch amount of node voltage amplitude estimated value restrain, if satisfied, being coordinated
Calculated result.
Wherein, convergence criterion is to please refer to formula (9).
In formula (9), ε indicates convergence threshold.
When sub-district any in entire interacted system and the interregional whole interconnection branch power estimated values of interconnection (including
Active power and reactive power), whole node voltage amplitude estimated value is when being all satisfied convergence criterion, that is, can determine whether point of the system
The calculating of cloth state estimation has reached convergence.Before convergence, sub-district only needs to obtain an interconnection from cooperation layer and measures
Estimated value calculates reference value as coordination.
After the distributions estimation calculating of the system has reached convergence, each sub-district calculate node will coordinate calculated result
It is uniformly sent to corresponding interconnection region calculate node, by summarizing, normalized, the distributed shape of the system can be obtained
The overall calculation result of state estimation.
Wherein, the state estimation of whole system is calculated, needs to provide the estimated result based on unified reference mode.Example
Such as, the ref in Fig. 2i、refjIt can be used as the reference mode that sub-district i, sub-district j carry out state estimation calculating respectively.
After sub-district i, sub-district j carry out coordination corrected Calculation, the headend node a for the m articles interconnection being calculated, end
The voltage phase angle of end node b is respectively θa,ref,i、θb,ref,j.Interconnection region be calculated about in the A of interconnection region
The m articles interconnection headend node a, endpoint node b voltage phase angle be respectively θa,A、θb,A。
It is now normalization benchmark with the voltage phase angle of the m articles interconnection, obtains with ref in sub-district iiFor the connection of reference mode
The voltage phase angle of winding thread endpoint node b are as follows: θb,ref,i=θa,ref,i-(θa,A-θb,A)。
Again with θb,ref,i、θb,ref,jBased on, it is referred to if converting node phase angles whole in sub-district j in opposite sub-district i
The phase angle of node, then by the phase angle theta of certain node ff,ref,jIn addition in sub-district j interconnection node b phase angle difference, obtain θf,ref,i=
θf,ref,j+(θb,ref,i-θb,ref,j)。
The other details of the system described in the present embodiment can be retouched with further reference to the correlation in previous embodiment
It states, details are not described herein.
In conclusion by means of the present invention, being capable of providing interconnection subregion Decoupled Model and dividing interacted system
Cloth state estimation calculates, and the parallel respective state estimation of complete independently of cooperation layer, partition layer is calculated, improves and calculates
Efficiency.On the other hand, the sensitivity matrix that the interconnection issued according to cooperation layer measures estimated value and is calculated, partition layer
Each sub-district be capable of the coordination corrected Calculation of Parallel Implementation boundary interconnection estimated value mismatch amount, finally summarizing can after normalizing
Obtain the whole network estimated result, engineering application value with higher.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of distributed state estimation method, which is characterized in that be applied to interconnected network system, the interconnected network system packet
Cooperation layer and partition layer double-layer structure are included, includes multiple interconnection regions in the cooperation layer, includes multiple in the partition layer
Independent sub-district, which comprises
In the partition layer, the state estimation that each sub-district calculate node carries out multiple sub-districts parallel is calculated, and is calculated first
Sensitivity matrix and the second sensitivity matrix；Wherein, first sensitivity matrix is sensitivity square of the quantity of state to measurement
Battle array, second sensitivity matrix are sensitivity matrix of the power measurement estimated value to the quantity of state；
In the cooperation layer, the state estimation of interconnection is completed in each interconnection region calculate node building estimation zoning
It calculates, obtains interconnection and measure estimated value；
After the state estimation for completing sub-district and interconnection estimation region parallel calculates, each sub-district calculate node in partition layer is connect
Receive the interconnection and measure estimated value, and calculate the mismatch amount of boundary interconnection estimated value with formed sub-district measure variation to
Amount；
Change vector is measured according to first sensitivity matrix, second sensitivity matrix, the sub-district, to each sub-district
Quantity of state and power measurement estimated value carry out coordination corrected Calculation；
According to the convergence threshold of setting, judge whether the mismatch amount of the interconnection estimated value meets convergence criterion, if so,
To calculated result is coordinated, which includes the quantity of state for coordinating to obtain after corrected Calculation and power measurement estimation
Value.
2. the method as described in claim 1, which is characterized in that the method also includes:
Before the state estimation for carrying out sub-district and interconnection estimation region calculates, using node tearing algorithm by the interconnected network
System is divided into cooperation layer, partition layer double-layer structure.
3. the method as described in claim 1, which is characterized in that the calculation that the state estimation calculates is minimum using weighting
Two multiply the estimation technique.
4. the method as described in claim 1, which is characterized in that each sub-district calculate node receives the contact in the partition layer
Line measures estimated value, and calculates the mismatch amount of boundary interconnection estimated value and measure change vector to form sub-district, comprising:
Each sub-district calculate node receives the interconnection from interconnection region calculate node and measures estimated value, meter in partition layer
The interconnection branch power estimated value mismatch amount and node voltage amplitude for calculating the interconnection region and sub-district boundary are estimated
The mismatch amount of evaluation；
By all interconnection branch power estimated value mismatch amounts, described between any sub-district and adjacent interconnection region
The mismatch amount of node voltage amplitude estimated value is used as sub-district to measure variable quantity, and obtains sub-district and measure change vector, calculates
Process is as follows:
Wherein, describedIndicate the measurement change vector of sub-district i, it is describedRespectively indicate l
The mismatch amount of the branch active power estimated value at the end node a of interconnection, the mismatch amount of branch reactive power estimated value,
The mismatch amount of node voltage amplitude estimated value, the k indicate the number of iterations for carrying out coordinating corrected Calculation.
5. the method as described in claim 1, which is characterized in that it is described according to first sensitivity matrix, it is described second spirit
Sensitive matrix, the sub-district measure change vector, and quantity of state and power measurement estimated value to each sub-district carry out coordination amendment
It calculates, comprising:
Amendment is iterated using following calculation formula:
Wherein, describedThe quantity of state of iterative calculation front and back twice is respectively indicated, it is described Table respectively
Show the power measurement estimated value of iterative calculation front and back twice, it is describedIndicate the measurement change vector of sub-district i, it is described
Indicate the state change vector of sub-district i, it is describedIndicate the first sensitivity matrix, it is describedIndicate the second sensitivity square
Battle array, the k indicate the number of iterations for carrying out coordinating corrected Calculation.
6. the method as described in claim 1, which is characterized in that whether the mismatch amount for judging the interconnection estimated value
Meet convergence criterion, if so, obtaining coordinating calculated result, comprising:
Judge respectively the mismatch amount of interconnection branch active power estimated value, the mismatch amount of branch reactive power estimated value,
Whether the mismatch amount of node voltage amplitude estimated value meets convergence criterion, if satisfied, then obtaining coordinating calculated result；
Wherein, the convergence criterion are as follows:
Wherein, describedRespectively indicate the end the node a branch active power of the m articles interconnection
Mismatch amount, the mismatch amount of reactive power estimated value, the mismatch amount of voltage magnitude estimated value of estimated value, the k are indicated
Coordinate the number of iterations of corrected Calculation, the ε indicates convergence threshold.
7. the method as described in claim 1, which is characterized in that each interconnection region calculate node building estimation calculates area
The step of domain, comprising:
It directly chooses two end node of interconnection and constitutes end node region, and using the end node region as interconnection estimation region,
Zoning is estimated to determine.
8. the method as described in claim 1, which is characterized in that each interconnection region calculate node building estimation calculates area
Domain, further includes:
It is extended to the outside centered on interconnection end node, the interconnection extended area of dynamic construction different range, and by the contact
Line extended area estimates zoning as interconnection estimation region, to determine.
9. the method according to claim 1, which is characterized in that first sensitivity matrix passes through following meter
It obtains:
Second sensitivity matrix is calculated by following:
Wherein, the ziIndicate the m of sub-district iiDimension measures vector, the xiIndicate the 2 (n of sub-district ii- 1) state vector, institute are tieed up
It statesIndicate quantity of state xiTo measurement zi2 (ni-1)×miSensitivity matrix, it is describedIndicate Hi(xi0) turn
Set matrix, wherein describedThe hi(xi) indicate miThe nonlinear function vector of dimension, it is described
RiIndicate mi×miMeasurement variance matrix are tieed up, and
The zwiIndicate the m of sub-district iwiQuantity of power measurement is tieed up, it is describedIndicate power measurement estimated value zwiTo quantity of state xi
Mwi×2(ni- 1) sensitivity matrix, wherein describedThe hwiIndicate power measurement
Nonlinear function vector between amount and quantity of state.
10. a kind of distributions estimating system, which is characterized in that the system comprises cooperation layers and partition layer double-layer structure；
Include multiple interconnection regions in the cooperation layer, includes multiple independent reciprocity sub-districts in the partition layer；Wherein, each right
Etc. nonoverlapping relationship between sub-districts, two end nodes in each interconnection region be located at different adjacent subareas；Institute
State formation Slave Parallel computation model between cooperation layer and the partition layer.
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