网络攻击下信息物理融合电力系统的弹性事件触发控制
|
摘要
本文将电动汽车(Electric vehicles, EVs)引入到典型的信息物理系统(Cyber-physical systems, CPS)智能电网中,采用负荷频率控制(Load frequency control, LFC)方法,能够快速抑制系统扰动所引发的频率变化.在考虑拒绝服务(Denial-of-Service, DoS)攻击的情况下,提出了一种弹性事件触发机制,使系统能够容忍攻击所造成的数据丢失.与此同时,PI型静态输出反馈控制器的输入按需更新,减少了通信负担.对于建立的闭环时滞系统模型,构造新型李亚普诺夫泛函,对系统进行稳定性分析,推导出系统所能承受的最大DoS攻击持续时间,并对控制器增益和弹性事件触发矩阵进行协同设计.最后,通过多域电力系统仿真,验证了所提出方法的有效性.
In this paper, the electric vehicles(EVs) are integrated into the smart grid, a class of representative cyberphysical systems(CPS), and can participate into the load frequency control(LFC) to promptly suppress the variations of system disturbances. In the case of denial-of-service(DoS) attacks, a resilient event-triggering scheme is proposed to allow the system to tolerate data loss caused by the attacks. At the same time, the PI-type static output feedback controller input is updated only when necessary so that the communication burden is reduced. For the established closed-loop time-delay system model, the new Lyapunov functional is constructed to analyze the stability and derive the maximum DoS attack duration, meanwhile the controller gain and the resilient event-triggering matrix are jointly designed. Finally,the effectiveness of the proposed method is verified through multi-area power system simulation.
In this paper, the electric vehicles(EVs) are integrated into the smart grid, a class of representative cyberphysical systems(CPS), and can participate into the load frequency control(LFC) to promptly suppress the variations of system disturbances. In the case of denial-of-service(DoS) attacks, a resilient event-triggering scheme is proposed to allow the system to tolerate data loss caused by the attacks. At the same time, the PI-type static output feedback controller input is updated only when necessary so that the communication burden is reduced. For the established closed-loop time-delay system model, the new Lyapunov functional is constructed to analyze the stability and derive the maximum DoS attack duration, meanwhile the controller gain and the resilient event-triggering matrix are jointly designed. Finally,the effectiveness of the proposed method is verified through multi-area power system simulation.
引文
1 Wang Zhong-Jie,Xie Lu-Lu.Cyber-physical systems:a survey.Acta Automatica Sinica,2011,37(10):1157-1166(王中杰,谢璐璐.信息物理融合系统研究综述.自动化学报,2011,37(10):1157-1166)
2 Liang Yao,Feng Dong-Qin,Xu Shan-Shan,Chen Si-Yuan,Gao Meng-Zhou.Feasibility analysis of encrypted transmission on security of industrial control systems.Acta Automatica Sinica,2018,44(3):434-442(梁耀,冯冬芹,徐珊珊,陈思媛,高梦州.加密传输在工控系统安全中的可行性研究.自动化学报,2018,44(3):434-442)
3 Wei Y S,Li S Y.Water supply networks as cyberphysical systems and controllability analysis.IEEE/CAA Journal of Automatica Sinica,2015,2(3):313-319
4 He H,Yan J.Cyber-physical attacks and defences in the smart grid:a survey.IET Cyber-Physical Systems:Theory&Applications,2017,1(1):13-27
5 Mo Y,Kim H J,Brancik K,Dickinson D,Lee H,Perrig A,et al.Cyber-physical security of a smart grid infrastructure.Proceedings of the IEEE,2012,100(1):195-209
6 Wen S,Yu X,Zeng Z,Wang J.Event-triggering load frequency control for multi-area power systems with communication delays.IEEE Transactions on Industrial Electronics,2016,63(2):1308-1317
7 Peng C,Zhang J,Yan H.Adaptive event-triggering H∞load frequency control for network-based power systems.IEEE Transactions on Industrial Electronics,2018,65(2):1685-1694
8 Peng C,Li J,Fei M.Resilient event-triggering H∞load frequency control for multi-area power systems with energylimited DoS attacks.IEEE Transactions on Power Systems,2017,32(5):4110-4118
9 Yang Q Y,Yang J,Yu W,An D,Zhang N,Zhao W.On false data-injection attacks against power system state estimation:modelingand countermeasures.IEEE Transactions on Parallel and Distributed Systems,2014,25(3):717-729
10 Liu S C,Liu X P,El Saddik A.Denial-of-Service(dos)attacks on load frequency control in smart grids.In:Proceedings of the 2013 IEEE PES Innovative Smart Grid Technologies Conference(ISGT).Washington,USA:IEEE,2013.1-6
11 Pham T N,Trinh H,Le V H.Integration of electric vehicles for load frequency output feedback H∞control of smart grids.IET Generation Transmission&Distribution,2016,10(13):3341-3352
12 Ko K S,Dan K S.The effect of EV aggregators with timevarying delays on the stability of a load frequency control system.IEEE Transactions on Power Systems,2018,33(1):669-680
13 Pham T N,Nahavandi S,Le V H,Trinh H,Wong K P.Static output feedback frequency stabilization of time-delay power systems with coordinated electric vehicles state of charge control.IEEE Transactions on Power Systems,2017,32(5):3862-3874
14 Yang Fei-Sheng,Wang Jing,Pan Quan.A survey of networked event-triggered control.Control and Decision,2018,33(6):969-977(杨飞生,汪璟,潘泉.基于事件触发机制的网络控制研究综述.控制与决策,2018,33(6):969-977)
15 Yue D,Tian E,Han Q L.A delay system method for designing event-triggered controllers of networked control systems.IEEE Transaction Automatic Control,2013,58(2):475-481
16 Zhang X M,Han Q L,Seuret A.An improved reciprocally convex inequality and an augmented Lyapunov-Krasovskii functional for stability of linear systems with time-varying delay.Automatica,2017,84:221-226
17 Liu K,Seuret A,Xia Y.Stability analysis of systems with time-varying delays via the second-order Bessel-Legendre inequality.Automatica,2017,76:138-142
18 Zhang X M,Han Q L.Event-triggered H∞control for a class of nonlinear networked control systems using novel integral inequalities.International Journal of Robust&Nonlinear Control,2017,27(4):679-700
19 Pham T N,Trinh H,Le V H.Load frequency control of power systems with electric vehicles and diverse transmission links using distributed functional observers.IEEETransactions on Smart Grid,2015,7(1):238-252
2 Liang Yao,Feng Dong-Qin,Xu Shan-Shan,Chen Si-Yuan,Gao Meng-Zhou.Feasibility analysis of encrypted transmission on security of industrial control systems.Acta Automatica Sinica,2018,44(3):434-442(梁耀,冯冬芹,徐珊珊,陈思媛,高梦州.加密传输在工控系统安全中的可行性研究.自动化学报,2018,44(3):434-442)
3 Wei Y S,Li S Y.Water supply networks as cyberphysical systems and controllability analysis.IEEE/CAA Journal of Automatica Sinica,2015,2(3):313-319
4 He H,Yan J.Cyber-physical attacks and defences in the smart grid:a survey.IET Cyber-Physical Systems:Theory&Applications,2017,1(1):13-27
5 Mo Y,Kim H J,Brancik K,Dickinson D,Lee H,Perrig A,et al.Cyber-physical security of a smart grid infrastructure.Proceedings of the IEEE,2012,100(1):195-209
6 Wen S,Yu X,Zeng Z,Wang J.Event-triggering load frequency control for multi-area power systems with communication delays.IEEE Transactions on Industrial Electronics,2016,63(2):1308-1317
7 Peng C,Zhang J,Yan H.Adaptive event-triggering H∞load frequency control for network-based power systems.IEEE Transactions on Industrial Electronics,2018,65(2):1685-1694
8 Peng C,Li J,Fei M.Resilient event-triggering H∞load frequency control for multi-area power systems with energylimited DoS attacks.IEEE Transactions on Power Systems,2017,32(5):4110-4118
9 Yang Q Y,Yang J,Yu W,An D,Zhang N,Zhao W.On false data-injection attacks against power system state estimation:modelingand countermeasures.IEEE Transactions on Parallel and Distributed Systems,2014,25(3):717-729
10 Liu S C,Liu X P,El Saddik A.Denial-of-Service(dos)attacks on load frequency control in smart grids.In:Proceedings of the 2013 IEEE PES Innovative Smart Grid Technologies Conference(ISGT).Washington,USA:IEEE,2013.1-6
11 Pham T N,Trinh H,Le V H.Integration of electric vehicles for load frequency output feedback H∞control of smart grids.IET Generation Transmission&Distribution,2016,10(13):3341-3352
12 Ko K S,Dan K S.The effect of EV aggregators with timevarying delays on the stability of a load frequency control system.IEEE Transactions on Power Systems,2018,33(1):669-680
13 Pham T N,Nahavandi S,Le V H,Trinh H,Wong K P.Static output feedback frequency stabilization of time-delay power systems with coordinated electric vehicles state of charge control.IEEE Transactions on Power Systems,2017,32(5):3862-3874
14 Yang Fei-Sheng,Wang Jing,Pan Quan.A survey of networked event-triggered control.Control and Decision,2018,33(6):969-977(杨飞生,汪璟,潘泉.基于事件触发机制的网络控制研究综述.控制与决策,2018,33(6):969-977)
15 Yue D,Tian E,Han Q L.A delay system method for designing event-triggered controllers of networked control systems.IEEE Transaction Automatic Control,2013,58(2):475-481
16 Zhang X M,Han Q L,Seuret A.An improved reciprocally convex inequality and an augmented Lyapunov-Krasovskii functional for stability of linear systems with time-varying delay.Automatica,2017,84:221-226
17 Liu K,Seuret A,Xia Y.Stability analysis of systems with time-varying delays via the second-order Bessel-Legendre inequality.Automatica,2017,76:138-142
18 Zhang X M,Han Q L.Event-triggered H∞control for a class of nonlinear networked control systems using novel integral inequalities.International Journal of Robust&Nonlinear Control,2017,27(4):679-700
19 Pham T N,Trinh H,Le V H.Load frequency control of power systems with electric vehicles and diverse transmission links using distributed functional observers.IEEETransactions on Smart Grid,2015,7(1):238-252