基于混合量测的电力系统分布式状态估计研究
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摘要
精确的状态信息对电力系统调度、安全分析和运行控制至关重要,但由于电力系统规模庞大且结构复杂,难以通过直接测量手段完整地得到精确的系统状态。普遍的做法是以SCADA量测为基础,通过最优估计方法来尽可能准确地估计出系统当前时刻的状态。然而,随着电网规模的不断扩大,以及电网建设环境、运行管理环境的日趋复杂化,电网安全运行面临着更加严峻的形势,对状态估计结果的准确性水平和估计计算的效率均提出了更高的要求,迫切需要对传统的以SCADA量测为基础的静态状态估计方法进行改进,以便为在线的安全分析及运行控制提供精度更高、实时性更、好的数据支持。
与静态状态估计相比,动态状态估计具有预测功能,能够为系统安全评估、状态预测、预防控制等在线功能提供更好的支持,因而具有更大的应用价值,值得深入研究。WAMS系统的出现带来了精度更高、更新速度更快且时间上严格同步的相量量测,为动态状态估计的发展带来了新的契机,但出于技术经济性考虑,短期内还难以达到电网完全可观测的水平,如何在动态状态估计中有效利用WAMS量测数据是当前必须面对和解决的问题。此外,由于动态状态估计具有更高的计算复杂度,为保证其计算效率满足在线应用的需要,如何利用有效的计算技术来提高状态估计的效率也是当前应该重点研究的课题。并行处理技术的发展为提高状态估计的计算效率带来了希望,其中,分布式计算作为并行处理技术的一个分支,由于计算模式本身更适合于电力系统自身分层分区控制的现状,因而具有更好的发展前景。基于以上认识,本文主要开展了以下几个方面的工作：
首先,回顾了电力系统状态估计的历史,总结了当前主要的状态估计算法；通过分析现代大电网的特点及其面临的安全生产局面,指出动态状态估计研究和分布式状态估计研究的必要性和重要性。
结合WAMS系统研究、开发实际,对WAMS系统相关技术进行全面的研究,针对频率漂移和发电机参数误差分别给出了相应的相角和功角测量修正算法；提出并实现了利用发电机鉴相信号实现发电机内电势测量从而实现发电机功角直接测量的方法；针对SPDNet各个传输环节的特点建立了改进的传输延迟时间评估模型,提出并建立了2M数字专线和SPDNet互为补充的WAMS系统通信方式。
对国内外PMU布点优化思想和实际系统布点建设情况进行了全面的分析,首次将PMU布点工作归纳、划分为四个阶段,并明确界定了国内同类工作所处的阶段；提出并建立了线性可观测度的概念和定义；建立了PMU装置的概念模型,并基于该模型建立了PMU布点方案相关的投资函数；从投资回报的角度,建立了考虑投资回报比最大化的寻优目标函数,为现阶段PMU布点工作建立了合理的评价标准,并通过不同算例的研究说明了如何基于投资回报比的适应度函数来决定投资规划。研究的目的是为PMU布点理论研究和实际的工程建设之间建立定量分析的数学桥梁,研究成果对PMU布点工作具有现实指导意义。
对现有基于混合量测的状态估计和分布式状态估计研究成果进行了全面的分析,确定了适用于本文的混合量测系统构建方法；针对现有分布式状态估计研究成果的不足,提出了一种新的分布式状态估计计算方案,通过将计算任务按照地域分布自然分解,实现了各区域量测等效变换的独立、并行处理,有效地提高了状态估计的计算效率；此外,充分考虑到量测延迟对状态估计的影响,基于考虑随机时延的动态状态估计算法,以各区域量测延迟统计特性为基础,通过为各区域量测引入不同的量测延迟概率矩阵α,有效地解决了不同区域量测延迟的问题,提高了状态估计的性能。
最后,将多智能体(Agent)技术应用于本文课题,提出了适用于课题研究内容的Agent定义,构建了基于多Agent的分布式状态估计系统框架,研究了各Agent的结构模型并完成了其功能设计；对系统的运行机制进行了深入的研究,提出了进一步提高系统运行效率的思路。本文对系统关键部分的功能和算法实现了Agent级的封装,通过Agent之间的协作实现了计算任务的合理分解,能够在不改变现有各系统结构的情况下,仅增加部分软件模块即可实现分布式状态估计系统,对实际系统的开发具有借鉴意义。
The accurate information of the operating state of the power system is quite important for the power system dispatching, security analysis and control. However, since the power system is normally very large and its structure is also very complex, it is difficult to obtain the status of the power system precisely. Generally, based on the measurement of the SCADA, the state of the power system is estimated using the optimal state estimation algorithm. With the development of the modern power system, the construction and management of the power system become more and more complex, and it is subsequently difficult to run the power system safely. In this condition, the accuracy and the efficiency of the state estimation (SE) have to be improved, so as to supply better information of the power system for the on-line stability analysis and operation control.
Compared with the static state estimation, the dynamic state estimation (DSE) can predict the status of the power system in the next time step, which supports the implementation of the on-line system security evaluation, status prediction and preventive control. Hence, it is more suitable for engineering application, and worth to be investigated further. With the development of the wide area measurement system (WAMS), the phasor of the state variables can be measured with higher accuracy and quicker updating speed. If the measurement of the WAMS can be employed in the DSE, the accuracy of the state estimation can be significant improved. Presently, for the reasons of the economics and techniques, the WAMS system has not covered all the power grid and the status of the power system can not be fully measured by the WAMS system. Hence, how to apply the measurement of the WAMS to the DSE effectively needs to be studied further. Additionally, since the computation burden of the DSE is quite heavy, the efficiency of the computation of the DSE needs to be improved so as to satisfy the on-line system analysis. The distributed computation technique is a branch of the parallel process technique, and developed very quickly in the past few decades. Since the structure of the distributed computation is similar to that of the control system of the power grid, it is quite suitable for the power system analysis. The researches carried out in this thesis are as follows.
Firstly, the history of the power system state estimation is reviewed, and the SE algorithms are also presented. The characteristics of the modern power grid and the challenge of the security of the power system are analyzed. Based on the results of the analysis, it is pointed out that the DSE and distributed state estimation are very important for operation and control of the modern power system.
Researches are carried out to construct a WAMS system, and the phasor measurement unit (PMU) and communication are developed. For the PMU, the errors in the phasor angle caused by the frequency deviation and parameters of the generator are compensated, and the position signal of the rotor of the synchronous generator is employed in the measurement of the rotor angle. Hence, the accuracy of the phasor angle is improved. For the communication system, the improved model of the SPDNet is built to evaluate the time delayed, and a digital communication channel with 2M bandwidth mixed with SPDNet is proposed for communication in the WAMS system.
The algorithms of the distribution of PMUs are studied, and the distribution of the PMUs in the practical power grid is also analyzed. Four steps of the distribution of the PMUs are concluded at the first time, and the distribution of the PMUs in the practical power grid is being carried out from step 2 to step 3. Based on the analysis result, the definition of the linear observation and the model of PMU are proposed. Using the model of PMU, the investment function of the distribution of PMU is built. The fitness function is constructed, which try to obtain maximum ratio between the benefit and the investment. Simulations are carried to demonstrate the application of the fitness function in the distribution of PMUs. The optimization of the distribution of the PMUs is valuable for the engineering implementation.
The mixed measurements based SE and DSE are reviewed. A mixed measurement based DSE is proposed in this thesis. The mixed measurement system is built firstly, and a algorithm of the DSE is also proposed. The computations of the SE are distributed geographically, so that the transformations of the measurement are carried independently and simultaneously in each part of the power grid. Hence, the efficiency of the DSE can be improved significantly. Since the time delay of the measurement has significant effect on the SE, the random characteristic of the time delay is considered in the DSE. Using the statistic characteristics of the time delay, the statistic matrixαof the time delay of the measurement for each area is introduced to release the problem of different time delay in different area, and the capability of the SE can be improved.
Finally, the multi-agent is introduced in the research in this thesis. The definition of the multi-agent is presented, and the structure of the multi-agent based distributed state estimation is proposed. The model of each agent is built, and their functions are also designed. The operation model of the multi-agent system is optimized, and the efficiency of the system can be improved. The core functions and the algorithm of the agent are packed, and the computation burden of the distributed state estimation is distributed by coordinating the agents. The distributed state estimation can be implemented by appending software package, while the structure of the distributed state estimation system keeps constant.
与静态状态估计相比,动态状态估计具有预测功能,能够为系统安全评估、状态预测、预防控制等在线功能提供更好的支持,因而具有更大的应用价值,值得深入研究。WAMS系统的出现带来了精度更高、更新速度更快且时间上严格同步的相量量测,为动态状态估计的发展带来了新的契机,但出于技术经济性考虑,短期内还难以达到电网完全可观测的水平,如何在动态状态估计中有效利用WAMS量测数据是当前必须面对和解决的问题。此外,由于动态状态估计具有更高的计算复杂度,为保证其计算效率满足在线应用的需要,如何利用有效的计算技术来提高状态估计的效率也是当前应该重点研究的课题。并行处理技术的发展为提高状态估计的计算效率带来了希望,其中,分布式计算作为并行处理技术的一个分支,由于计算模式本身更适合于电力系统自身分层分区控制的现状,因而具有更好的发展前景。基于以上认识,本文主要开展了以下几个方面的工作：
首先,回顾了电力系统状态估计的历史,总结了当前主要的状态估计算法；通过分析现代大电网的特点及其面临的安全生产局面,指出动态状态估计研究和分布式状态估计研究的必要性和重要性。
结合WAMS系统研究、开发实际,对WAMS系统相关技术进行全面的研究,针对频率漂移和发电机参数误差分别给出了相应的相角和功角测量修正算法；提出并实现了利用发电机鉴相信号实现发电机内电势测量从而实现发电机功角直接测量的方法；针对SPDNet各个传输环节的特点建立了改进的传输延迟时间评估模型,提出并建立了2M数字专线和SPDNet互为补充的WAMS系统通信方式。
对国内外PMU布点优化思想和实际系统布点建设情况进行了全面的分析,首次将PMU布点工作归纳、划分为四个阶段,并明确界定了国内同类工作所处的阶段；提出并建立了线性可观测度的概念和定义；建立了PMU装置的概念模型,并基于该模型建立了PMU布点方案相关的投资函数；从投资回报的角度,建立了考虑投资回报比最大化的寻优目标函数,为现阶段PMU布点工作建立了合理的评价标准,并通过不同算例的研究说明了如何基于投资回报比的适应度函数来决定投资规划。研究的目的是为PMU布点理论研究和实际的工程建设之间建立定量分析的数学桥梁,研究成果对PMU布点工作具有现实指导意义。
对现有基于混合量测的状态估计和分布式状态估计研究成果进行了全面的分析,确定了适用于本文的混合量测系统构建方法；针对现有分布式状态估计研究成果的不足,提出了一种新的分布式状态估计计算方案,通过将计算任务按照地域分布自然分解,实现了各区域量测等效变换的独立、并行处理,有效地提高了状态估计的计算效率；此外,充分考虑到量测延迟对状态估计的影响,基于考虑随机时延的动态状态估计算法,以各区域量测延迟统计特性为基础,通过为各区域量测引入不同的量测延迟概率矩阵α,有效地解决了不同区域量测延迟的问题,提高了状态估计的性能。
最后,将多智能体(Agent)技术应用于本文课题,提出了适用于课题研究内容的Agent定义,构建了基于多Agent的分布式状态估计系统框架,研究了各Agent的结构模型并完成了其功能设计；对系统的运行机制进行了深入的研究,提出了进一步提高系统运行效率的思路。本文对系统关键部分的功能和算法实现了Agent级的封装,通过Agent之间的协作实现了计算任务的合理分解,能够在不改变现有各系统结构的情况下,仅增加部分软件模块即可实现分布式状态估计系统,对实际系统的开发具有借鉴意义。
The accurate information of the operating state of the power system is quite important for the power system dispatching, security analysis and control. However, since the power system is normally very large and its structure is also very complex, it is difficult to obtain the status of the power system precisely. Generally, based on the measurement of the SCADA, the state of the power system is estimated using the optimal state estimation algorithm. With the development of the modern power system, the construction and management of the power system become more and more complex, and it is subsequently difficult to run the power system safely. In this condition, the accuracy and the efficiency of the state estimation (SE) have to be improved, so as to supply better information of the power system for the on-line stability analysis and operation control.
Compared with the static state estimation, the dynamic state estimation (DSE) can predict the status of the power system in the next time step, which supports the implementation of the on-line system security evaluation, status prediction and preventive control. Hence, it is more suitable for engineering application, and worth to be investigated further. With the development of the wide area measurement system (WAMS), the phasor of the state variables can be measured with higher accuracy and quicker updating speed. If the measurement of the WAMS can be employed in the DSE, the accuracy of the state estimation can be significant improved. Presently, for the reasons of the economics and techniques, the WAMS system has not covered all the power grid and the status of the power system can not be fully measured by the WAMS system. Hence, how to apply the measurement of the WAMS to the DSE effectively needs to be studied further. Additionally, since the computation burden of the DSE is quite heavy, the efficiency of the computation of the DSE needs to be improved so as to satisfy the on-line system analysis. The distributed computation technique is a branch of the parallel process technique, and developed very quickly in the past few decades. Since the structure of the distributed computation is similar to that of the control system of the power grid, it is quite suitable for the power system analysis. The researches carried out in this thesis are as follows.
Firstly, the history of the power system state estimation is reviewed, and the SE algorithms are also presented. The characteristics of the modern power grid and the challenge of the security of the power system are analyzed. Based on the results of the analysis, it is pointed out that the DSE and distributed state estimation are very important for operation and control of the modern power system.
Researches are carried out to construct a WAMS system, and the phasor measurement unit (PMU) and communication are developed. For the PMU, the errors in the phasor angle caused by the frequency deviation and parameters of the generator are compensated, and the position signal of the rotor of the synchronous generator is employed in the measurement of the rotor angle. Hence, the accuracy of the phasor angle is improved. For the communication system, the improved model of the SPDNet is built to evaluate the time delayed, and a digital communication channel with 2M bandwidth mixed with SPDNet is proposed for communication in the WAMS system.
The algorithms of the distribution of PMUs are studied, and the distribution of the PMUs in the practical power grid is also analyzed. Four steps of the distribution of the PMUs are concluded at the first time, and the distribution of the PMUs in the practical power grid is being carried out from step 2 to step 3. Based on the analysis result, the definition of the linear observation and the model of PMU are proposed. Using the model of PMU, the investment function of the distribution of PMU is built. The fitness function is constructed, which try to obtain maximum ratio between the benefit and the investment. Simulations are carried to demonstrate the application of the fitness function in the distribution of PMUs. The optimization of the distribution of the PMUs is valuable for the engineering implementation.
The mixed measurements based SE and DSE are reviewed. A mixed measurement based DSE is proposed in this thesis. The mixed measurement system is built firstly, and a algorithm of the DSE is also proposed. The computations of the SE are distributed geographically, so that the transformations of the measurement are carried independently and simultaneously in each part of the power grid. Hence, the efficiency of the DSE can be improved significantly. Since the time delay of the measurement has significant effect on the SE, the random characteristic of the time delay is considered in the DSE. Using the statistic characteristics of the time delay, the statistic matrixαof the time delay of the measurement for each area is introduced to release the problem of different time delay in different area, and the capability of the SE can be improved.
Finally, the multi-agent is introduced in the research in this thesis. The definition of the multi-agent is presented, and the structure of the multi-agent based distributed state estimation is proposed. The model of each agent is built, and their functions are also designed. The operation model of the multi-agent system is optimized, and the efficiency of the system can be improved. The core functions and the algorithm of the agent are packed, and the computation burden of the distributed state estimation is distributed by coordinating the agents. The distributed state estimation can be implemented by appending software package, while the structure of the distributed state estimation system keeps constant.
引文
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