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Real-time Controller Hardware-in-the-Loop Co-simulation Testbed for Cooperative Control Strategy for Cyber-physical Power System

2021-07-06

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电力信息物理系统（CPPS）是建设能源互联网的核心基础之一，电力信息物理系统的控制与融合水平是决定能源互联网发展阶段的重要因素。当前，分布式协同控制算法已广泛应用于电力信息物理系统中，其仅需地理邻居节点间的本地通信即可完成设定的控制目标。但在复杂CPPS场景下评估分布式控制算法的性能，易受到被控物理目标特性和真实通信条件的影响。为了解决这个潜在的问题，本文提出了一种含硬件控制器在环的联合仿真平台，在RT-LAB实时仿真器中对CPPS物理侧仿机进行仿真，在OPNET软件中对CPPS信息侧进行仿真，并在这两者之间设置多个硬件分布式控制器，实时对RT-LAB中电力系统模型运行数据的实时测量与本地控制，控制器间通过以太网接口接入OPNET通信模型中，实现相邻控制器之间的通信。硬件控制器的加入为分布式算法在CPPS场景下的验证提供了新的方法，同时可高速精确地仿真CPPS的动态特性。

Real-time Controller Hardware-in-the-Loop Co-simulation Testbed for Cooperative Control Strategy for Cyber-physical Power System

面向电力信息物理系统协同控制的实时硬件控制器在环联合仿真平台

Zhenyu Wang, Donglian Qi, Jingcheng Mei, Zhenming Li, Keting Wan, Jianliang Zhang

（College of Electrical Engineering, Zhejiang University, Hangzhou, Zhejiang, 310027, P.R. China）

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Abstract

Various distributed cooperative control schemes have been widely utilized for cyber-physical power system (CPPS), which only require local communications among geographic neighbors to fulfill certain goals. However, the process of evaluating the performance of an algorithm for a CPPS can be affected by the physical target characteristics and real communication conditions. To address this potential problem, a testbed with controller hardware-in-the-loop (CHIL) is proposed in this paper. On the basis of a power grid simulation conducted using the real-time simulator RT-LAB developed by the company OPAL-RT, along with a communication network simulation developed with OPNET, multiple distributed controllers were developed with hardware devices to directly collect the real-time operating data of the power system model in RT-LAB and provide local control. Furthermore, the communication between neighboring controllers was realized using the cyber system model in OPNET with an Ethernet interface. The hardware controllers produced a real-world control behavior instead of a digital simulation, and precisely simulated the dynamic features of a CPPS with high speed. A classic cooperative control case for active power output was studied to explain the integrated simulation process and validate the effectiveness of the co-simulation testbed.

Keywords

Cyber-physical power system, Cooperative control, Co-simulation testbed, Hardware-in-the-loop.

Fig.1 Framework of cyber-physical power system

Fig.2 Structure diagram of simulation platform

Fig.3 Power system model in RT-LAB

Fig.4Communication model in OPNET network simulation

Fig.5 Hardware controllers in framework of co-simulation testbed

Fig.6 Cooperative control strategy for PV arrays connected to grid

Fig.7 Output voltage of single PV array with changing duty cycle

Fig.8 Comparison of results between experimental testbed and MATLAB simulation

Fig.9 Convergence curves of αi in MATLAB with delay

Fig.10 Convergence curves of αi on testbed for case 2 Output voltage of single PV array with changing duty cycle

Fig.11 Output power of PV arrays on testbed for case 2

Fig.12 Convergence curves of αi on testbed for case 3

Fig.13 Output power of PV arrays on testbed for case 3

本文引文信息

Wang Z, Qi D, Mei J, Li Z, Wan K, Zhang J J (2021) Real-time Controller Hardware-in-the-Loop Co-simulation Testbed for Cooperative Control Strategy for Cyber-physical Power System. Global Energy Interconnection, 4(2): 214-224

王震宇，齐冬莲，梅竞成，李真鸣，万克厅，于淼，张建良 (2021) 面向电力信息物理系统协同控制的实时硬件控制器在环联合仿真平台. 全球能源互联网（英文），4(2): 214-224

Biographies

Zhenyu Wang

Zhenyu Wang received B.S degree from Jiangnan University, Wuxi, China, in 2017. He is currently pursuing the Ph.D. degree with the College of Electrical Engineering, Zhejiang University, Hangzhou, China. His current research interests include power system state estimation and cyber-physical security with application in distribution network.

Donglian Qi

Donglian Qi received the Ph.D. degree in control theory and control engineering from Zhejiang University, Hangzhou, China, in March 2002. Since then, she has been with the College of Electrical Engineering, Zhejiang University where she is currently a Professor. Her current research interests include the basic theory and application of cyber physical power

system (CPPS), digital image processing, artificial intelligence, and electric operation and maintenance robots. She is an Editor for the Clean Energy, the IET Energy Conversion and Economics, and the Journal of Robotics, Networking and Artificial Life.

Jingcheng Mei

Jingcheng Mei received M.S degree from the College of Electrical Engineering at Wuhan University in 2014. He is currently pursuing the Ph.D. degree with the College of Electrical Engineering, Zhejiang University, Hangzhou, China. His current research interests include discrete optimization, distributed optimization, with applications to energy/power systems.

Zhenming Li

Zhenming Li received B.E.E degree in Zhejiang University, Hangzhou, China, in 2017. She is currently pursuing the Ph.D degree with the College of Electrical Engineering, Zhejiang University, Hangzhou, China. Her current research interests include voltage optimization and control of renewable energy and cyber- physical security with application in smart grid.

Keting Wan

Keting Wan received B.E.E degree at Xian Jiaotong University, Xi’an, China, in 2019. He is currently pursuing the Ph.D. degree with the College of Electrical Engineering, Zhejiang University, Hangzhou, China. His current research interests include distributed cooperative control of DC microgrid and safe operation of power cyber-physical system.

Jianliang Zhang

Jianliang Zhang received his Ph.D degree in control theory and control engineering from Zhejiang University, Hangzhou, China, in June 2014. Since then, he has been working with College of Electrical Engineering, Zhejiang University. He was a visiting scholar at Hongkong Polytechnic University(PolyU) (2016-2017). His current research interests include distributed optimization, with applications to energy/power systems, and cyber-physical security with application in smart grid, etc.

编辑：王闻昊王彦博

审核：王伟

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