CN110277780A - Non-linear direct-current grid elasticity control method - Google Patents
Non-linear direct-current grid elasticity control method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
This application provides a kind of non-linear direct-current grid elasticity control methods, are related to power system controller design field.The described method includes: establishing the direct-current grid control system model under DoS attack based on event trigger mechanism, the direct-current grid includes Q constant power load system and an energy-storage system；Obtain the condition for making the direct-current grid control system model stable operation；Triggering matrix and gain matrix are solved, determines controller gain；And building controller, and controller perturbation is carried out to the non-linear direct-current grid according to the controller.In the case where being likely to occur DoS attack, guarantee system can safely, smoothly be run the application, while reduce the transmission quantity of redundant signals, alleviate network transmission pressure, the energy needed for saving communication.
Description
Technical field
The application belongs to power system controller design field, in particular to a kind of non-linear DC micro-electric elasticity of net
Control method.
Background technique
As user is various to the attention rate continuous improvement of power supply reliability and power quality and solar energy, wind energy etc.
The renewable energy of form largely utilizes, and micro-capacitance sensor has obtained domestic and international as the effective way of distributed generation resource access power grid
The extensive concern of person.All kinds of distributed generation resources in micro-capacitance sensor, such as photovoltaic cell, super capacitor and wind-driven generator, mostly
It is all output direct current (or there are the intermediate links of direct current)；And numerous household electrical appliance and office equipment etc. are substantially
Requiring DC power supply could work normally.Therefore, if transmission form of the micro-capacitance sensor using direct current as electric energy, it can reduce and turn
Change link, improves efficiency of energy utilization.In direct-current grid, a variety of electronic power convertors are connected by different control modes
The stabilization of busbar voltage is realized on DC bus.Wherein there is a kind of power converter to show as invariable power feature, presents negative
Impedance and nonlinear characteristic have an adverse effect to the stability of direct-current micro-grid.Therefore, most to the destabilizing effect of constant power load
Smallization is the necessary condition of effective control direct-current micro-grid, needs to be designed control power buffer that carry out stable DC micro- thus
Net.
With the increase of constant power load quantity, the point-to-point communication from each constant power load to power buffer is not
Economical.It is therefore preferable that controlling large-scale distributed direct-current micro-grid by communication network.However, the opening with network is got over
Carry out higher, a possibility that this just will definitely increase network attack.For example, spoofing attack and Denial of Service attack (DoS attack) etc.,
Denial of Service attack can occupy communication channel, and consumption network bandwidth causes normally communication to be blocked；Signal transmission is blocked just
It is unstable to may cause entire electric system.How when there is attack systems stabilisation, ensure operation, increase controller elasticity control
Performance processed is particularly important.At the same time, in direct current micro-grid system, multiple nodes share same limited bandwidth resources how
Bandwidth is saved, avoids congestion, the timeliness for increasing control is also critically important.Traditional periodic sampling mode can generate a large amount of redundancy
Signal increases network pressure, how to design effective control strategy, guarantee system it is stable and it is intended that performance condition
Under, the quantity forwarded of data packet is reduced, saving valuable bandwidth resources is also urgent problem now.
Summary of the invention
At least one in order to solve the above-mentioned technical problem, this application provides a kind of non-linear direct-current grid controller perturbations
Method, comprising:
Establish the direct-current grid control system model under DoS attack based on event trigger mechanism, the DC micro-electric
Net includes Q constant power load system and an energy-storage system；
Obtain the condition for making the direct-current grid control system model stable operation；
Triggering matrix and gain matrix are solved, determines controller gain；And
Controller is constructed, and controller perturbation is carried out to the non-linear direct-current grid according to the controller.
According at least one embodiment of the application, the foundation is under DoS attack based on the straight of event trigger mechanism
Flowing micro grid control system model includes:
Establish the direct-current micro-grid model with Q constant power load system and an energy-storage system；
DoS attack model is introduced in the direct-current micro-grid model；And
Event trigger mechanism is introduced in the direct-current micro-grid model with DoS attack model.
According at least one embodiment of the application, introduced before DoS attack model in the direct-current micro-grid model
Further comprise:
To the direct-current micro-grid model conversion with Q constant power load system and an energy-storage system, including by model
Equalization point is moved to origin, constructs with energy storage electric current iesFor the new model of control input.
According at least one embodiment of the application, the DoS attack model is aperiodic DoS attack model, comprising:
Wherein, dnIt indicates to start without attack section for n-th, signal transmission is normal, gnIt indicates without attack siding-to-siding block length, dn+gn
It is n-th of H-hour, attack timing meets dn+1>dn+gn。
According at least one embodiment of the application, the introducing event trigger mechanism includes:
The trigger condition of the event trigger mechanism is configured only to have with present sample signal and a preceding trigger signal
It closes, when meeting preset trigger condition, then present sample signal is sent to controller end, and a secondary control is updated by controller
Signal.
According at least one embodiment of the application, acquisition makes the direct-current grid control system model stable operation
Condition include:
The conditional parameter when switching point switches over is determined, so that the direct-current grid control system model can be steady
Fixed operation, the switching point refer to DoS attack section and the switching point without attack section.
According at least one embodiment of the application, the direct current under DoS attack based on event trigger mechanism is micro-
Grid control system model includes:
Wherein, DnFor non-attack section, GnTo attack section, ηk,n(t) meet following relationship 0 < σ < 1,The state of expression system is believed
Number, θ (t) is zero original state,It is non-linear matrix, A, Bes, D be constant matrices, K is control gain to be solved
Matrix, Ω are triggering matrix to be solved, Δ A, Δ D and Δ BesIt is the probabilistic unknown real square of reaction system Model Parameter
Battle array has following form: [Δ A Δ D Δ Bes]=CE [H1 H2 H3], E is to meet E in formulaTThe uncertain matrix of E≤I, C,
H1、H2And H3It is the known constant matrix for reflecting Structure with uncertain parameters information.
According at least one embodiment of the application, make the item of the direct-current grid control system model stable operation
Part includes:
P1≤u2P2,Q1i≤u3-iQ1(3-i), Q2i≤u3-iQ2(3-i),
Ri≤u3-iR3-i, Tωi≤u3-iTω3-i,
In formula, i={ 1,2 }, positive definite matrix Pi, Q1i, Q2i, Ri, TωiFor matrix to be solved, ui∈ (1, ∞), ai∈ (0,
∞), τD, ΓDFor the arbitrary constant for meeting condition, h is the sampling period.
According at least one embodiment of the application, the solution triggering matrix and gain matrix include:
To the parameter τ of given DoS attackD、ΓDAnd adjustable parameter ai、ui、σ、h、εi、ψi、Setting exists just
Determine symmetrical matrix Yi、With the matrix S of appropriate dimension,Building keeps direct current micro-
The linear matrix inequality that grid control system model operates normally；
According to the linear matrix inequality and make the condition of the direct-current grid control system model stable operation, meter
Calculate trigger parameter (σ, Ω) and matrix Y to be askedi, S；And
Calculate controller gain matrix
According at least one embodiment of the application, the controller includes:
The application aiming at the shortcomings of the prior art, provides under a kind of DoS attack containing constant power load and Parameter uncertainties
The resilient controller design method of the non-linear direct-current micro-grid of property.The above technical scheme and prior art phase that this application uses
Than there is following technical advantage: introducing aperiodic DoS attack model in view of Security Control Problem；In view of bandwidth resources
Limited status and introduce event trigger mechanism, in conjunction with the two establish mathematical model.When electric system does not encounter attack,
System operates normally；When encountering attack, switching point switches over safeguards system normal operation；Event trigger mechanism only with it is current
Sampled signal is related with last trigger signal, when sampled signal meets trigger condition, sends controller for sampled signal
End, otherwise, does not send present sample signal.In the case where being likely to occur DoS attack, guarantee system safely, can be transported smoothly
Row, while reducing the transmission quantity of redundant signals, network transmission pressure is alleviated, the energy needed for saving communication.
Detailed description of the invention
Fig. 1 is the flow chart of an embodiment of the non-linear direct-current grid elasticity control method of the application.
Fig. 2 is direct-current micro-grid control system architecture figure.
Fig. 3 is event trigger working principle diagram.
Fig. 4 is the direct-current micro-grid circuit diagram comprising multiple constant power loads.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application implementation clearer, below in conjunction with the application embodiment
In attached drawing, the technical solution in the application embodiment is further described in more detail.In the accompanying drawings, identical from beginning to end
Or similar label indicates same or similar element or element with the same or similar functions.Described embodiment is
A part of embodiment of the application, rather than whole embodiments.Embodiment below with reference to attached drawing description is to show
Example property, it is intended to for explaining the application, and should not be understood as the limitation to the application.Based on the embodiment in the application,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Apply for the range of protection.Presently filed embodiment is described in detail with reference to the accompanying drawing.
Due to negative impedance and nonlinear characteristic that constant power load is presented, minimize to its destabilizing effect is effectively to control
The necessary condition of direct-current micro-grid processed.For this purpose, this application provides a kind of non-linear direct-current grid elasticity control methods, firstly,
Consideration system safety and the communication resource is saved, devise the event-triggered communication scheme under a kind of aperiodic DoS interference, when utilization
Stagnant modeling and switching system modeling method, establish the segmentation augmented system model with time lag.Secondly, based on this model, adopting
With segmentation Lyapunov functional method and linear matrix inequality technology, a kind of resilient controller is devised, to guarantee system
Control performance, as shown in Figure 1, the method specifically includes that
Step S1, the direct-current grid control system model under DoS attack based on event trigger mechanism is established, it is described straight
Flowing micro-capacitance sensor includes Q constant power load system and an energy-storage system, which can indicate are as follows:
Wherein, DnFor non-attack section, GnTo attack section, ηk,n(t) meet following relationship 0 < σ < 1,The state of expression system is believed
Number, θ (t) is zero original state,It is non-linear matrix, A, Bes, D be constant matrices, K is control gain to be solved
Matrix, Ω are triggering matrix to be solved, Δ A, Δ D and Δ BesIt is the probabilistic unknown real square of reaction system Model Parameter
Battle array has following form: [Δ A Δ D Δ Bes]=CE [H1 H2 H3], E is to meet E in formulaTThe uncertain matrix of E≤I, C,
H1、H2And H3It is the known constant matrix for reflecting Structure with uncertain parameters information.
The building process of above-mentioned model mainly includes three steps, is respectively as follows:
Step S101, the direct-current micro-grid model with Q constant power load system and an energy-storage system is established.
The circuit diagram of direct-current grid comprising multiple constant power loads is as shown in figure 4, Q+1 son can be broken down into
System: Q constant power load system and an energy-storage system.The form of Q constant power load system is:
J={ 1,2 ..., Q }, s=Q+1 in formula.xj=[iL,j vC,j]T, iL,jAnd vC,jIt is the inductance in j-th of CPL respectively
The electric current of device and the voltage of capacitor, rL,j, LjRespectively line resistance and filter of the source converter to constant power load j
Inductance, CjFor the input capacitance of constant power load j,
Assuming that constant power load is preferably, i.e., performance number is constant.Energy-storage system can be written as:
Wherein xs=[iL,s vC,s]T, iL,sAnd vC,sIt is the voltage of the electric current of inductor and capacitor in energy-storage system respectively,
rL,s, LsThe inductance of line resistance and filter respectively in energy-storage system, CsFor the output capacitance of source converter, VdcFor direct current
Power supply
By Q constant power load system of augmentation and energy-storage system it can be concluded that the whole formula of direct-current micro-grid:
Wherein, x (t)=[x1(t) x2(t) ..., xQ(t) xs(t)], H (x (t))=[h1(x1(t)) h2(x2
..., h (t))Q(xQ(t))]T, and
By changing coordinate, the equalization point of system (1) can be moved to origin.With energy storage electric current iesIt is inputted for control, newly
DC micro-electric web form are as follows:
Wherein:
And
x0It is the equalization point of direct-current grid, vC0,jIt is vC,jEqualization point.
Step S102, DoS attack model is introduced in the direct-current micro-grid model.
The introducing of DoS attack model is mainly used to build as shown in Fig. 2, Fig. 2 is the control system architecture figure of direct-current micro-grid
Erection system mathematical model.In step S102, DoS attack model is constructed, DoS signal is the signal to attack of one group of finite energy, meeting
Occupy limited carrier frequency channel break communication, expression formula are as follows:
Wherein n is number of times of attack, dnIt indicates to start without attack section for n-th, signal transmission is normal, gnIndicate no attack area
Between length.That is dn+gnIt is n-th of H-hour.Attack timing meets dn+1>dn+gn, therefore, it is capped that section is not had.
Control input under the influence of DoS attack, in expression formula (2)Form can be written as follow:
Wherein { tk,nH } indicate that a series of control signals are successfully updated the momentI.e. event trigger mechanism generates
Control signal, h is the sampling period,With
Convenient succinct, the definition in order to be described below
In conjunction with the above, the direct current micro-grid system expression formula that there is attack is considered are as follows:
Step S103, event trigger mechanism is introduced in the direct-current micro-grid model with DoS attack model.
Following event trigger mechanism is designed for DoS attack, guarantees system (2) asymptotically stability under controller action
Meanwhile reducing network communication pressure.Trigger conditions are as follows:
In formula, k is positive integer, and Ω is the positive definite weighting matrix with appropriate dimension, and σ is bounded positive real number, and h is sampling week
Phase,It is present sample signal,It is the sampled signal for the trigger last time sending controller to.If trigger condition at
It is vertical, then the sampled value at phasor measurement unit (Phasor Measurement Unit, PMU) current time is recorded, and transmitted
To controller.If not, do not record the sampled value at current time then.But when there is signal to attack to occur, this trigger condition
It cannot directly use.The present invention has carried out adjustment appropriate to above-mentioned trigger condition thus, and present invention definition goes out when signal to attack
Current event triggering moment should meet
Define two segmentation equations:
Based on ∈k,n(t) and ηk,n(t) definition, and consider the uncertainty of parameter, final system model are as follows:
Event trigger mechanism can be expressed as 0<σ<1。
(3) formula shows: trigger condition is only related with present sample signal and a preceding trigger signal, when satisfaction is preset
Trigger condition when, then present sample signal is sent to controller end, and a secondary control signal is updated by controller.
The purpose of step S102 and step S103 are to introduce aperiodic DoS attack and event trigger mechanism and establish final
Model (6).Compared with traditional Design of Network Control System, the model that above-mentioned steps S102 is constructed is in view of security control is asked
Topic, introduces a kind of specific network attack, and complete the foundation of challenge model.
Step S103 constructs trigger mechanism, as shown in figure 3, trigger model is added, passes through triggering in normal controller
Function value calculates to determine when be updated control signal, compared with traditional periodic sampling, since event triggers machine
The introducing of system, reduces the transmission times of sampled signal, and then reduces the renewal frequency of control signal, alleviates communication pressure
Power has saved valuable bandwidth resources.
Step S2, the condition for making the direct-current grid control system model stable operation is obtained.
Condition should be met to ensure that DC micro power grid system is stable under DoS attack:
P1≤u2P2,Q1i≤u3-iQ1(3-i), Q2i≤u3-iQ2(3-i),
Ri≤u3-iR3-i, Tωi≤u3-iTω3-i,
Wherein, { 1,2 } i=, positive definite matrix Pi, Q1i, Q2i, Ri, TωiFor matrix to be solved, ui∈ (1, ∞), ai∈ (0,
∞), τD, ΓDFor the arbitrary constant for meeting condition, h is the sampling period.The present invention uses switching system, switches in switching point
When need to meet conditions above, the elastic event trigger controller solved can when there is aperiodic Denial of Service attack, protect
Hinder DC micro power grid system stable operation, is not destroyed by signal to attack.
Switching condition in step S2 is introduced into DC micro-electric network control system, and switching condition is attack section and nothing
The condition that attack section must satisfy when switching over, the condition electric system of satisfaction just can stable operations.
Step S3, triggering matrix and gain matrix are solved, controller gain is determined, specifically includes:
Step S301, to the parameter τ of given DoS attackD、ΓDAnd adjustable parameter ai、ui、σ、h、εi、ψi、
There are positive definite symmetric matrices Y for settingi、With the matrix S of appropriate dimension, The linear matrix inequality that building operates normally direct-current grid control system model；
Step S303, according to the linear matrix inequality and make the direct-current grid control system model stable operation
Condition, calculate trigger parameter (σ, Ω) and matrix Y to be askedi, S；And
Step S303, controller gain matrix is calculated
In step S301, the linear matrix inequality packet for operating normally direct-current grid control system model of building
It includes:
Wherein
And
Yi, S is matrix to be asked, and I is the unit matrix of appropriate dimension, and * is corresponding transposition item in matrix.
Later in step S302 and step S303, according to above-mentioned MATRIX INEQUALITIES calculate trigger parameter (σ, Ω) and
Matrix Y to be askedi, then S calculates controller gain matrix
Step S4, controller is constructed, and controller perturbation is carried out to the non-linear direct-current grid according to the controller.
Resilient controller constructed by the step can indicate are as follows:
The application introduces aperiodic DoS attack model in view of Security Control Problem；In view of limited bandwidth resources
Status and introduce event trigger mechanism, in conjunction with the two establish mathematical model.When electric system does not encounter attack, system is just
Often operation；When encountering attack, switching point switches over safeguards system normal operation；Event trigger mechanism is only believed with present sample
It is number related with last trigger signal, when sampled signal meets trigger condition, controller end is sent by sampled signal, it is no
Then, present sample signal is not sent.In the case where being likely to occur DoS attack, guarantee system can safely, smoothly be run, together
When reduce the transmission quantities of redundant signals, alleviate network transmission pressure, the energy needed for saving communication.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Within the technical scope of the present application, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
Cover within the scope of protection of this application.Therefore, the protection scope of the application should be with the scope of protection of the claims
It is quasi-.
Claims (10)
1. non-linear direct-current grid elasticity control method characterized by comprising
Establish the direct-current grid control system model under DoS attack based on event trigger mechanism, the direct-current grid packet
Include Q constant power load system and an energy-storage system；
Obtain the condition for making the direct-current grid control system model stable operation；
Triggering matrix and gain matrix are solved, determines controller gain；And
Controller is constructed, and controller perturbation is carried out to the non-linear direct-current grid according to the controller.
2. non-linear direct-current grid elasticity control method as described in claim 1, which is characterized in that the foundation is in DoS
Direct-current grid control system model under attack based on event trigger mechanism includes:
Establish the direct-current micro-grid model with Q constant power load system and an energy-storage system；
DoS attack model is introduced in the direct-current micro-grid model；And
Event trigger mechanism is introduced in the direct-current micro-grid model with DoS attack model.
3. non-linear direct-current grid elasticity control method as claimed in claim 2, which is characterized in that in the direct-current micro-grid
Further comprise before introducing DoS attack model in model:
To the direct-current micro-grid model conversion with Q constant power load system and an energy-storage system, including by the balance of model
Point is moved to origin, constructs with energy storage electric current iesFor the new model of control input.
4. non-linear direct-current grid elasticity control method as claimed in claim 2, which is characterized in that the DoS attack mould
Type is aperiodic DoS attack model, comprising:
Wherein, dnIt indicates to start without attack section for n-th, signal transmission is normal, gnIt indicates without attack siding-to-siding block length, dn+gnIt is n-th
A H-hour, attack timing meet dn+1>dn+gn。
5. non-linear direct-current grid elasticity control method as claimed in claim 2, which is characterized in that the introducing event touching
Hair mechanism includes:
The trigger condition of the event trigger mechanism be configured only to it is related with present sample signal and a preceding trigger signal, when
When meeting preset trigger condition, then present sample signal is sent to controller end, and a secondary control signal is updated by controller.
6. non-linear direct-current grid elasticity control method as described in claim 1, which is characterized in that acquisition makes the direct current
Micro grid control system model stability operation condition include:
The conditional parameter when switching point switches over is determined, so that the direct-current grid control system model can stablize fortune
Row, the switching point refer to DoS attack section and the switching point without attack section.
7. non-linear direct-current grid elasticity control method as described in claim 1, which is characterized in that described in DoS attack
Under the direct-current grid control system model based on event trigger mechanism include:
Wherein, DnFor non-attack section, GnTo attack section, ηk,n(t) meet following relationship 0 < σ < 1,The status signal of expression system, θ
It (t) is zero original state,It is non-linear matrix, A, Bes, D be constant matrices, K is control gain matrix to be solved,
Ω is triggering matrix to be solved, Δ A, Δ D and Δ BesIt is the probabilistic unknown real matrix of reaction system Model Parameter, tool
There is following form: [Δ A Δ D Δ Bes]=CE [H1 H2 H3], E is to meet E in formulaTThe uncertain matrix of E≤I, C, H1、H2With
H3It is the known constant matrix for reflecting Structure with uncertain parameters information.
8. such as the described in any item non-linear direct-current grid elasticity control methods of claim 7, which is characterized in that make described straight
Flowing the condition that micro grid control system model stability is run includes:
P1≤u2P2,Q1i≤u3-iQ1(3-i), Q2i≤u3-iQ2(3-i),
Ri≤u3-iR3-i, Tωi≤u3-iTω3-i,
In formula, i={ 1,2 }, positive definite matrix Pi, Q1i, Q2i, Ri, TωiFor matrix to be solved, ui∈ (1, ∞), ai∈ (0, ∞), τD,
ΓDFor the arbitrary constant for meeting condition, h is the sampling period.
9. non-linear direct-current grid elasticity control method as claimed in claim 8, which is characterized in that the solution triggers square
Battle array and gain matrix include:
To the parameter τ of given DoS attackD、ΓDAnd adjustable parameter ai、ui、σ、h、εi、ψi、There are positive definites pair for setting
Claim matrix Yi、With the matrix S of appropriate dimension,Building makes direct-current grid
The linear matrix inequality that control system model operates normally；
According to the linear matrix inequality and make the condition of the direct-current grid control system model stable operation, calculates
Trigger parameter (σ, Ω) and matrix Y to be askedi, S；And
Calculate controller gain matrix
10. non-linear direct-current grid elasticity control method as claimed in claim 9, which is characterized in that the controller packet
It includes:
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| CN110797857A (en) * | 2019-11-13 | 2020-02-14 | 南京邮电大学 | Switching fuzzy model prediction control method for uncertain direct-current micro-grid |
| CN110797855A (en) * | 2019-11-13 | 2020-02-14 | 南京邮电大学 | Uncertain direct-current micro-grid fuzzy switch control method with constant power load |
| CN112838616A (en) * | 2021-01-11 | 2021-05-25 | 辽宁工业大学 | Switching system-based hybrid microgrid alternating current-direct current bus voltage stability control method |
| CN113488980A (en) * | 2021-07-07 | 2021-10-08 | 南京邮电大学 | Attack tolerance control method of direct-current micro-grid under denial of service attack |
| CN113573317A (en) * | 2021-07-29 | 2021-10-29 | 咪咕文化科技有限公司 | Filter design method and device of network singular system in satellite system |
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