量测量的时延差对状态估计的影响及其对策

监控和数据采集(SCADA)系统的量测量没有统一的时标,更新周期长,而且时延较大。同步采样的相量测量单元(PMU)正成为电力系统中另一种重要的数据采集装置,它可以反映动态响应且时延较小;由于带有精确时标,即使通道传输存在时延也能保证时间断面的一致性。为在状态估计中协调这两种量测量,处理各量测量不同的时延,建立了SCADA量测时延的均匀分布模型,分析了各量测数据所反映的时间断面不一致性对状态估计精度的影响,提出了对时延不同的量测量的处理方法。通过对IEEE14节点电网和一个366节点的实际电网的仿真,验证了该方法的有效性。     

Robust Load Frequency Control with Dynamic Demand Response for Deregulated Power Systems Considering Communication Delays

Communication networks are used in load frequency control (LFC) for transmitting remote measurements and control commands, and in demand side response (DSR) for aggregating small-scale controllable loads. This paper investigates modeling and controller design for LFC together DSR in a deregulated environment, considering multiple time delays introduced by the usage of communication channels. Time delay model of the deregulated multi-area LFC with dynamic demand control (DDC) is obtained at first, in which a typical thermostatically controlled appliance, air conditioner, is used for DDC. A robust proportional integral derivative (PID) load frequency controller is designed, through the H_∞ performance analysis and the particle swarm optimization (PSO) searching algorithm, to deal with the load disturbances and multiple delays in the LFC loop and the DDC loop. Case studies based on a three-area deregulated LFC system demonstrate the effectiveness of the proposed load frequency controller and the performance improvement from the DDC. Simulation results show that the DDC can increase the delay margin of the LFC scheme. Moreover, several delay stable regions are revealed via simulation method.     

广域阻尼控制延迟特性分析及其多项式拟合补偿

基于广域测量系统(WAMS)的互联电网区间阻尼控制能够有效抑制区间低频振荡,提高互联系统的传输容量.采用远方反馈信号的广域阻尼控制系统需要解决的工程问题之一是研究数据传输过程中引入的延迟对控制性能的影响及其补偿方法.文中根据我国部分WAMS工程的通信延迟实测数据分析了WAMS延迟的特点,并针对广域阻尼控制设计了基于多项式拟合的预测方法补偿滞后的远方反馈信号.以一个典型的2区域4机系统为例研究了不同延迟条件对阻尼控制的影响和补偿效果.仿真表明:所提出的延迟补偿方法能够在一定延迟范围内有效地维持采用远方反馈信号的广域阻尼控制效果,为其工程应用奠定了基础.     

Stability analysis of a generator excitation control system with time delays

This paper investigates the effect of time delays on the stability of generator excitation control system. The time delays are due to the use of measurement devices, communication links for data transfer, and controller processing time. The stability with respect to the time delay is theoretically analyzed and a formula to determine the maximum amount of time delay known as delay margin that the system can tolerate without losing its stability is presented. It is found that the excitation control system becomes unstable when the time delay crosses certain critical values, delay margins for stability. The time-domain simulations of Matlab/Simulink are used to validate theoretical delay margin results.     

广域测量系统的延迟分析及其测试

简要介绍了电力系统中基于全球定位系统／相量测量单元的广域测量／监视系统(WAMS)的体系结构,分析了延迟产生的机制并指出了影响实时性的主要因素,提出广域测量系统的延迟评估模型;根据评估模型建立了基于TCP／IP协议广域网络下的WAMS通信延迟测试方法;通过实测获得了基于国家电力数据网(SPDNet)的WAMS的通信延迟特性。根据该延迟评估模型和测试体系,能够有效、合理地进行WAMS的相量测量单元优化选点和通信布局的权衡,并进一步为广域实时动态监测和控制奠定基础。     

Fast estimation of RL‐loaded microelectronic interconnections delay for the signal integrity prediction

This article presents a modelling method of the signal delays induced by microelectronic interconnections regarding RL impedance load. The method proposed is based on the RLC model of the transmission lines (TL) extracted from the equivalent S parameters. Formulation for estimating the interconnection propagation delay is established according to the behaviour of the TL unit step responses. The second order model is validated with a microstrip interconnect prototype with simulations and measurements in frequency and time domains. The developed propagation delay model was validated with SPICE computations. For that, a transient simulation was performed by considering input signals corresponding to high‐speed data of some Gbits/s. Then, accurate results were found for interconnections with different lengths in order of millimetre and also by varying the load values. It was shown that the computed 50% propagation delays present of relative errors about 5%. Copyright © 2011 John Wiley & Sons, Ltd.     

Robust economic model predictive control of nonlinear networked control systems with communication delays

In this work, we consider economic model predictive control of nonlinear networked control systems subject to external disturbances and communication delays in both sensor-to-controller and controller-to-actuator channels. The problem is addressed in the framework of the min-max model predictive control. First, a delay compensation strategy is proposed to minimize the impact of communication delays on the control performance. In the compensation strategy, once the receiver at the controller node receives a new state measurement, the controller generates a control sequence and sends the sequence to the actuator to compensate for delayed control inputs. Subsequently, the presence of disturbance is explicitly considered for robustness and the semi-feedback min-max optimization algorithm is used to design the control law based on the estimate of the current state reconstructed by the estimator. Furthermore, the input-to-state practical stability of the proposed approach is established by constructing a modified Lyapunov function. Simulation results of a numerical example and a chemical process example demonstrate the applicability and effectiveness of our approach.     

基于启动时间延迟的家庭负荷管理优化策略

针对家庭中典型温控负荷会给用户带来高峰负荷需求,提出了一种基于启动时间延迟的家庭负荷管理优化策略。首先,给出了一种智能家电负荷控制架构,以支撑负荷优化控制算法在智能家电中的应用;然后,建立了基于启动时间延迟的负荷优化控制模型,并提出了一种启发式的启动时间延迟调整算法,该算法能够在负荷高峰时刻对各个负荷的运行周期施加一个最优的相位延迟,达到均衡负荷的目标;最后,通过仿真实验对比了多种场景下的优化效果,验证了所提策略能够降低短时负荷高峰、减小峰谷差。     

Adaptive neural tracking control for high angle of attack maneuver with average dwell time

This article attempts to study the high angle of attack maneuver from the perspective of switched system control. In view of the complex aerodynamic characteristics, an improved longitudinal attitude motion model is presented, which is a switched stochastic nonstrict feedback nonlinear system with distributed delays. The significant design difficulty is the completely unknown diffusion and drift terms and distributed delays with all state variables. Based on a technical lemma and neural networks, an improved smooth state feedback control law for nonstrict feedback systems is proposed without any growth assumptions. To eliminate the influence of distributed delays, an improved Lyapunov–Krasovskii function is constructed, which skillfully removes the constraint of the upper bound of the delay change rate. Then, by combining the average dwell-time scheme and stochastic backstepping technique, an adaptive neural network tracking control law is designed, which extends a newly proposed switched system stability condition to the stochastic switched system. Theoretical analysis and flight control simulation experiments are provided to illustrate the effectiveness of the proposed control method.     

Traffic scheduling in distributed networked control systems with packet losses and delays for power systems voltage stabilization

In this paper, medium access control (MAC) sublayer data traffic scheduling in distributed networked control systems (DNCSs) with networked induced packet losses and delays is investigated for stabilization and control of system dynamics. An effective‐information‐directed distributed sensor selection algorithm is proposed to select sensors to participate in delay‐tolerant information filtering for state estimation. The distributed scheduling algorithm is based on the total amount of effective information for all measurements stored in the sensors. We consider packet loss in wireless networks as a special type of delay, so the impact of packet losses on effective information amount can also be studied for the formulation of distributed scheduling strategy in the presence of packet losses. The distributed data traffic scheduling considering packet losses and delays is carried out in a networked system with data packet dropout governed by a Markov process for voltage regulation and stabilization with distributed energy resources (DERs). Experimental results demonstrate that the scheduling algorithm with awareness of the system dynamic state can well control the power system dynamics. © 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Time-varying delays and their compensation in wide-area power system stabilizer application

The processing of time delays is one of the key challenges in the use of wide-area power system stabilizer (WPSS) in engineering. In this study, the various time delays and their sources in WPSS applications are analyzed and measured. Strategies to reduce these time delays and the data transmission delay jitter of phasor measurement unit (PMU) used in WPSS closed-loop control are also investigated. A predictive control scheme that addresses the problems caused by time-varying delays in practical WPSS closed-loop applications is proposed. The effectiveness of the proposed scheme is verified through simulation experiments of Guizhou Power Grid (GZPG) in Southwestern China using a real time digital simulator. Moreover, this novel scheme has the potential to be improved and used widely in many applications.     

A new analytical/iterative approach to statistical delay characterization of cmos digital combinational circuits

This paper is believed to be one of the first attempts to statistically characterize signal delays of basic CMOS digital building blocks. Analytic expressions in terms of the transistor geometries and technological process variations are provided for fast delay computations, to be used for manufacturing yield optimization, delay variability reduction and general VLSI circuit design for quality. the proposed approach is novel in several ways: (1) It is a combination of an accurate, semi-empirical MOS transistor model with the use of an efficient interpolation technique to link the non-physical model parameters to the ‘designable’ and ‘noise’ factors. (2) It uses several newly developed analytical delay formulae where possible and simple iterative solutions where direct analytical solutions do not exist. (3) the resulting hybrid analytical/iterative models are tuned, if necessary, to enhance the overall statistical accuracy. (4) Local delays are combined together for the analysis of complex combinational VLSI circuits. (5) C-code is generated for specific delay paths to further increase efficiency (improvement in analysis times by two to four orders of magnitude with respect to SPICE, with about 5%-10% accuracy). Examples of statistical delay characterization are used to illustrate the high accuracy of the proposed approach in modelling the influence of the ‘noise’ parameters on circuit delay relative to direct SPICE-based Monte Carlo analysis. the important impact of the proposed approach is that statistical evaluation and optimization of delays in much larger VLSI circuits will become possible.     

Nonlinear Optimal Internal-Model Control for Multiple Time-Delay Systems with Application to Vehicle Suspensions

Abstract

The paper considers the nonlinear optimal vibration control problem for systems with multiple delays, i.e. control delay, state delay, and measurement delay, under reference input. The time-delay system is transformed into an equivalent delay-free one via functional transformations. The nonlinear optimal control law is designed by solving a Riccati equation, a Sylvester equation, and an adjoint differential equation. The effects generated by nonlinearity and time-delay are compensated by the nonlinear compensator and the memory terms in the designed controller. An internal model is constructed so that the disturbance will be rejected with zero steady-state error as well as the reference is tracked, through the dynamical compensator produced from the internal model. An observer is constructed to make the controller physically realizable. The result is extended to vehicle suspension systems. It is demonstrated that the road vibration that is encountered by the suspension will be canceled entirely by the proposed control. Numerical simulations illustrate the effectiveness of the presented controller.     

存在均匀通信时滞的AGC稳定极限计算

广域复杂电力系统的通信时滞导致了系统动力学模型是带有时滞的系统模型,计算时滞系统的时滞极限是研究时滞系统的关键,也是当前亟须解决的问题。文中对带有通信时滞信号的自动发电控制（AGC）系统建立了线性定常均匀时滞系统模型,借助状态空间的分析方法和矩阵分析理论,简捷有效地定量计算出AGC时滞极限。通过对华东电网的仿真验证了该算法的有效性和正确性。     

Experimental validation of a model for an information-embedded power system

This paper develops a model of an electrical power system with its inherent embedded communication system for the purpose of studying the characteristics of power system measurement errors due to communication delays. This model is referred to as an "information-embedded power system" to emphasize the inclusion of information variables that represent measurements that have been delivered across the communication system and observed at a control center. These information variables are added to the standard power system model for the energy balance within the power system. A stochastic system model is developed, which is composed of both the physical infrastructure of the power system as well as the embedded computer network communication infrastructure. This type of analysis is an extension of traditional observability approaches, which usually only assume steady-state conditions in the power system and do not consider time delays in delivering measurements. An experimental platform has also been designed to validate the developed model.     

基于概率分布的广域测量系统时延特性分析

通信时延是广域测量系统(WAMS)应用于广域阻尼控制所需计及的重要因素,如何描述WAMS通信时延尚缺乏有效的模型,因而提出了基于概率模型的WAMS通信时延特性建模方法。在浙江电网WAMS实际运行工况下,根据WAMS数据包特点以及通信结构,对相量测量单元(PMU)子站到WAMS主站的总体通信时延进行了测定,分析了时延数据的统计特点,结果表明:各PMU子站通信时延均值都小于100ms,多数PMU子站通信时延大于100ms的数据占比小于1%。最后基于浙江电网WAMS大量实测数据对通信时延采用概率模型进行建模,表明对于不同时段,不同PMU子站,采用莱斯分布能够有效地表征WAMS通信时延的分布特性。     

A new hybrid control technique for operation of DC microgrid under islanded operating mode

This study proposes a novel combined primary and secondary control approach for direct current microgrids, specifically in islanded mode. In primary control, this approach establishes an appropriate load power sharing between the distributed energy resources based on their rated power. Simultaneously, it considers the load voltage deviation and provides satisfactory voltage regulation in the secondary control loop. The proposed primary control is based on an efficient droop mechanism that only deploys the local variable measurements, so as to overcome the side effects caused by communication delays. In the case of secondary control, two different methods are devised. In the first, low bandwidth communication links are used to establish the minimum required data transfer between the converters. The effect of communication delay is further explored. The second method excludes any communication link and only uses local variables. Accordingly, a self-sufficient control loop is devised without any communication requirement. The proposed control notions are investigated in MATLAB/Simulink platform to highlight system performance. The results demonstrate that both proposed approaches can effectively compensate for the voltage deviation due to the primary control task. Detailed comparisons of the two methods are also provided.     

State‐feedback adaptive tracking of linear systems with input and state delays

A state‐feedback Lyapunov‐based design of direct model reference adaptive control is developed for a class of linear systems with input and state delays based only on lumped delays without so‐called distributed‐delay blocks. The design procedure is based on the concept of reference trajectory prediction, and on the formulation of an augmented error. We propose a controller parametrization that attempts to anticipate the future states. An appropriate Lyapunov–Krasovskii type functional is found for the design and the stability analysis. A simulation example illustrates the new controller. Copyright © 2008 John Wiley & Sons, Ltd.     

Wide-Area Measurements-Based Two-Level Control Design Considering Signal Transmission Delay

In this paper the design of power system stabilizers for small-signal stability using phasor measurements is considered. An approach based on optimal control with structural constraints is proposed to design a two-level control structure. Time delays are included in the design. The method is combined with order reduction to ensure faster convergence of the design algorithm and to facilitate the choice of the weighting matrices for damping interarea modes. The control scheme is discussed and modal analysis and time-domain simulations of two Brazilian equivalent systems are performed to assess the control performance. The robustness to loss of communication links, topological changes, and variations of time delay is evaluated.      

长延时网络控制系统动态矩阵控制研究

在实际工程系统中,采样频率的选择取决于系统中信号的最高频率,网络传输延时取决于网络本身的传输特性。由此可见,网络传输延时不一定小于一个采样周期,但在网络控制有关的论文中往往假定网络延时小于一个采样周期。本文针对这种不合理的设定,提出了一种新型的长延时预测控制算法。首先对一类长延时网络控制系统进行了建模;接着利用动态矩阵控制原理导出了长延时网络控制系统的预测控制律。最后给出了仿真实验,结果表明在对一类长延时网络系统的控制中,提出算法的合理性和有效性。