Model and Application of Cyber-Physical System in ... · PDF file2014.10 Liu Dong Shanghai Jiao Tong University Model and Application of Cyber-Physical System in Distribution Network

2014.10

Liu DongShanghai Jiao Tong University

Model and Application of Cyber-Physical System in Distribution Network

CPS Modeling of Distribution Network

H-S Model in Distribution Network

Implementation Frame of DCPS

CPS for Distribution Network

Cyber-Physical System，CPS

Orchestrating networked computational resources with physical systems

Cyber-Physical System，CPS

Orchestrating networked computational resources with physical systems

1、CPS for Distribution Network

The traditional embedded systems problem:Embedded software is software on small computers. The technical problem is one of optimization (coping with limited resources and extracting performance).

The CPS problem:Computation and networking integrated with physical processes. The technical problem is managing dynamics, time, and concurrency in networked

computational + physical systems.

Integration of Cyber and Physical


No mechanism solutionNo mechanism solution

The development process of modern industryThe development process of modern industry

Single DeviceSingle Device Unit IntegrationUnit Integration Systematic SolutionSystematic Solution

Synthetic System consisted of information and physical processSynthetic System consisted of information and physical process

Spontaneous CPSSpontaneous CPS

Two ProblemsTwo Problems

Insufficient Information Utilization Insufficient Information Utilization

The gap between C and P The gap between C and P

Lack of recognition of physical processLack of recognition of physical processLack of mathematic toolsLack of mathematic tools

Lack of unified description methodLack of unified description methodLack of research for interconnectionLack of research for interconnection


Distribution network gradually converts to high-order form which information

and energy flow co-exist

Distribution network gradually converts to high-order form which information

and energy flow co-exist

traditional distribution networktraditional distribution network centralized distribution automationcentralized distribution automation

coexistence of concentration and distribution coexistence of concentration and distribution

Active Distribution Network consuming high-capacity distributed resourcesActive Distribution Network consuming high-capacity distributed resources

Active Distribution NetworkActive Distribution Network Contains distributed

resources

Contains distributed

resources Consumes clean energy，

reduces feed-in energy

Consumes clean energy，

reduces feed-in energy

Hierarchical distribution

system of information

collection and control

Hierarchical distribution

system of information

collection and control

Cyber-Physical System Cyber-Physical System


Infor

mation

Value

Smart Grid

Passive

Network Function

Network

MicroReliable

AutonomousActive

Sustainable

Efficient

Flexible

Energ

y

Value

Intelligent

Challenges faced by construction of Cyber-Physical System Challenges faced by construction of Cyber-Physical System

1. Construct a unified information exchange system1. Construct a unified information exchange system

form an information exchange system to meet the requirements of system control form an information exchange system to meet the requirements of system control

form an unified information exchange model of secondary system form an unified information exchange model of secondary system

2. Construct Cyber-Physical System model 2. Construct Cyber-Physical System model

meet the requests of component and function description in distribution system meet the requests of component and function description in distribution system

meet the requests of controlling the operation of distribution system meet the requests of controlling the operation of distribution system

3. Improve capabilities of obtainment and application of information 3. Improve capabilities of obtainment and application of information

expand and optimize information collection system in distribution network expand and optimize information collection system in distribution network

fully apply bulk data techniques in distribution network fully apply bulk data techniques in distribution network


Shanghai Jiao Tong University – Smart Grid LaboratoryShanghai Jiao Tong University – Smart Grid Laboratory


Research Fields

Active Distribution Network Cyber-Physical System

Distribution Network Automation Information Model

The research fields above may all contribute to CPSThe research fields above may all contribute to CPS

Major Projects

National High Technology Research and Development of China 863 Program (2014AA051902): Active Distribution Network in Guizhou

National High Technology Research and Development of China 863 Program (2012AA050212): Active Distribution Network in Guangdong

National High Technology Research and Development of China 863 Program (2012AA050803): Cyber-Physical System





abstract framework of physical entityabstract framework of physical entity

There are three types of modeling approaches of Cyber-Physical System at home and abroad：

2、CPS Modeling of Distribution Network

SJTU Smart Grid Laboratory：Two layers framework of DCPSSJTU Smart Grid Laboratory：Two layers framework of DCPS

2、CPS Modeling of Distribution Network




CPS of Distribution Network

The Hybrid-System method is suitable for modeling of DCPSThe Hybrid-System method is suitable for modeling of DCPS

Hybrid-System：Discrete State Model + Continuous Dynamic ModelHybrid-System：Discrete State Model + Continuous Dynamic Model

Distribution System： Secondary System + Primary SystemDistribution System： Secondary System + Primary System

3、H-S Model in Distribution Network

Unit model and coordinated combination of modelsUnit model and coordinated combination of models

Connection of dynamic characteristics for single CP module

Split dynamic characteristics of components to obtain permission of required variables

Multiple methods of CP module integration


Component1DynamicCharacter

…

CP input CPComponent2

DynamicCharacter

Component3DynamicCharacter

input2 input3 output

…

CP 输出2 CPVariableinput outputComponent1

DynamicCharacter

input2Component3

DynamicCharacter

Part2-1

Part2-2

PV Cyber-Physical model based on Hybrid-System: Continuous ModelPV Cyber-Physical model based on Hybrid-System: Continuous Model

PV array simulation model based on M-function

Im

Vpn

Ps

6Pbattery

5Qe

4SOC3

DOC

2Voltage

1Cell Temp - theta

theta_a

Pstheta

Thermal Model

1

Gain

Divide

Im I1

Compute for I1

SOC

ImR2

fcn

Compute R2

DOC R1fcn

Compute R1

SOC R0fcn

Compute R0

Vpn

thetaIp

fcn

Compute Ip

SOC

thetaEm

fcn

Compute Em

theta

Im

DOC

SOC

Qe

Change and Capacity

I

R1

I1

Em

R0

R2

Ip

V

Ps

Im

Vpn

Battery Circuit Equations

2theta_a

1I

R1(Ohm)

Em(V)

R0(Ohm)

R2(Ohm)

Ip(A)

Ps

SOC

SOC

SOC

SOC

SOC

Im

Im

Im

DOCDOC

I1

Pbattery

Block diagram of simulation for energy storage battery module

Continuous model describes the behavior of sequential actions ofcoordination control under various control modes.

State model describes the logic of control mode transition.


The CP model for Photovoltaic-Storage based on Hybrid-System: State ModelThe CP model for Photovoltaic-Storage based on Hybrid-System: State Model

PTOLEMY: Outer Structure of Control Model

State Model of Control Module

Refined Model for State full/empty


Photovoltaic-Storage Cyber-Physical unit model and coordinated combination Photovoltaic-Storage Cyber-Physical unit model and coordinated combination

Flowchart of integration of physical and informational model

CP model of PV cell module, the solid line is physical quantity, the dotted line is internal and external information


CP control module for Photovoltaic Energy Storage CP control module for Photovoltaic Energy Storage



Active power control of the DGs integration distribution networkActive power control of the DGs integration distribution network

EP1DGP 2DGP

Plan outputDisturbance event

Control Target：

Normal---DGs output as planed

Disturbance---keep power balance with less external power

Active power control of the DGs integration distribution networkActive power control of the DGs integration distribution network

LoadP LoadP

1Time 2Time

1.5Time 2.5Time State Transition

0 0.5 10

0.51

0 0.5 1 1.5 2 2.5 30

1

2

3

4

5

6

7

8

9

10x 10

5

State1 State2 State3

Disturbance 1 Disturbance 2

State Transition 2

State Transition 1

External Power Curve

0 0.5 1 1.5 2 2.5 3-1

-0.5

0

0.5

1

1.5

2

2.5

3

3.5

4x 10

5

simulation time/s

Disturbance 1

State Transition 1

Disturbance 2 State Transition 2

State2 State3State1

DG1 Output CurveDG2 Output Curve

0 0.5 1 1.5 2 2.5 3-2

-1

0

1

2

3

4

5

6

7x 10

5

Disturbance 1

State Transition 1 Disturbance 2 State Transition 2

State1 State2 State3






4、 Implementation Frame of DCPS

Framework of Cyber-Physical

collection and control systemDistribution system with different primary

equipment and region, controlled by

distributed controller;

Multi-level control hierarchy unifies

functions of distributed controllers;

Mass distributed monitoring points form the

integration of physics and information;

Meet the need of system expansion, can be

used to monitor distributed Social SCADA;

Decentralized monitoring functions reduce

the burden of main station and communication

networks;

Framework of Cyber-Physical

collection and control systemDistribution system with different primary

equipment and region, controlled by

distributed controller;

Multi-level control hierarchy unifies

functions of distributed controllers;

Mass distributed monitoring points form the

integration of physics and information;

Meet the need of system expansion, can be

used to monitor distributed Social SCADA;

Decentralized monitoring functions reduce

the burden of main station and communication

networks;

Information exchange framework of

CPS distribution networkUnified information model standards;

Different information flows map to different

transport protocols;

Different information streams transmitted

through different channels;

Consider the condition that user side access

active load and distributed generation with

small capacity;

Transport layer protocol takes the possibility

of data transition with model ;

Information exchange framework of

CPS distribution networkUnified information model standards;

Different information flows map to different

transport protocols;

Different information streams transmitted

through different channels;

Consider the condition that user side access

active load and distributed generation with

small capacity;

Transport layer protocol takes the possibility

of data transition with model ;


DCPS Simulation Control Station-Terminal SystemDCPS Simulation Control Station-Terminal System

Function

Plug and Play；

Based on Hybrid-

System unit model；

Terminal self-

recognition；

Terminal safety

certification;

Simulation Control；

Function

Plug and Play；

Based on Hybrid-

System unit model；

Terminal self-

recognition；

Terminal safety

certification;

Simulation Control；


DCPS Simulation Control Station: CPS PlatformDCPS Simulation Control Station: CPS Platform

Model SemanticModel

SemanticCIM

ExtensionModel

Formalization（Specification）

Formalizatoin(Verification)

ModelingRule

ModelingRule

ConstraintConditon

ConstraintConditon

FeedbackFeedback

Renew

ConsistencyConsistency

IntegrityIntegrityDeduce

PTMATLABExpression

MATLAB

1、PT启动MATLAB；传入参数；

Simulink

MATLAB Workspace

2、将PT参数和控制变量；写入工作空间；

3、MATALB从工作空间读取PT参数；更新Simulink模型状态；

启动Simulink仿真；

8、MATLAB返回函数的计算结果；

4、执行单步仿真，得到仿真结果；5、修改工作空间控制变量；6、将仿真结果放到工作空间；

7、从工作空间读取控制变量；提取仿真结果；

Information model

formal verification；

Interaction between

information model

and physical model；

Interaction between

control model and

physical model；


Thank You！

Documents

Model and Application of Cyber-Physical System in ... · PDF file2014.10 Liu Dong Shanghai Jiao Tong University Model and Application of Cyber-Physical System in Distribution Network