This paper develops a physics-guided graph network to enhance the robustness of distribution system state estimation(DSSE)against anomalous real-time measurements,as well as a deep auto-encoder(DAE)-based detector and...This paper develops a physics-guided graph network to enhance the robustness of distribution system state estimation(DSSE)against anomalous real-time measurements,as well as a deep auto-encoder(DAE)-based detector and a Gaussian process-aided residual learning(GARL)to deal with challenges arising from topology changes.A global-scanning jumping knowledge network(GSJKN)is first designed to establish the regression rule between the measurement data and state variables.The structural information of distribution system(DS)and a global-scanning module are incorporated to guide the propagation of scarce measurements in the graph topology,contributing to valid estimation precision in sparsely measured DSs.To monitor the topology changes of the network,a DAE network is employed to learn an efficient representation of the measurements of the system under a certain topology,which can achieve online monitoring of the network structure by observing the variation tendency of the reconstruction error.When the topology change occurs,a Gaussian process with a composite kernel is applied to the modeling of the pre-trained GSJKN residual to adapt to the new topology.The embedding of the physical structural knowledge enables the proposed GSJKN method to restore the missing/noisy values utilizing the adjacent measurements,which enhances the robustness to typical data acquisition errors.The adopted DAE network and special GARL-based transfer method further allow the DSSE method to rapidly detect and adapt to the topology change,as well as achieve effective quantification of the estimation uncertainties.Comparative tests on balanced and unbalanced systems demonstrate the accuracy,robustness,and adaptability of the proposed DSSE method.展开更多
Recently,we demonstrated the success of a time-synchronized state estimator using deep neural networks(DNNs)for real-time unobservable distribution systems.In this paper,we provide analytical bounds on the performance...Recently,we demonstrated the success of a time-synchronized state estimator using deep neural networks(DNNs)for real-time unobservable distribution systems.In this paper,we provide analytical bounds on the performance of the state estimator as a function of perturbations in the input measurements.It has already been shown that evaluating performance based only on the test dataset might not effectively indicate the ability of a trained DNN to handle input perturbations.As such,we analytically verify the robustness and trustworthiness of DNNs to input perturbations by treating them as mixed-integer linear programming(MILP)problems.The ability of batch normalization in addressing the scalability limitations of the MILP formulation is also highlighted.The framework is validated by performing time-synchronized distribution system state estimation for a modified IEEE 34-node system and a real-world large distribution system,both of which are incompletely observed by micro-phasor measurement units.展开更多
A centralized framework-based data-driven framework for active distribution system state estimation(DSSE)has been widely leveraged.However,it is challenged by potential data privacy breaches due to the aggregation of ...A centralized framework-based data-driven framework for active distribution system state estimation(DSSE)has been widely leveraged.However,it is challenged by potential data privacy breaches due to the aggregation of raw measurement data in a data center.A personalized federated learningbased DSSE method(PFL-DSSE)is proposed in a decentralized training framework for DSSE.Experimental validation confirms that PFL-DSSE can effectively and efficiently maintain data confidentiality and enhance estimation accuracy.展开更多
Cyber-attacks that tamper with measurement information threaten the security of state estimation for the current distribution system.This paper proposes a cyber-attack detection strategy based on distribution system s...Cyber-attacks that tamper with measurement information threaten the security of state estimation for the current distribution system.This paper proposes a cyber-attack detection strategy based on distribution system state estimation(DSSE).The uncertainty of the distribution network is represented by the interval of each state variable.A three-phase interval DSSE model is proposed to construct the interval of each state variable.An improved iterative algorithm(IIA)is developed to solve the interval DSSE model and to obtain the lower and upper bounds of the interval.A cyber-attack is detected when the value of the state variable estimated by the traditional DSSE is out of the corresponding interval determined by the interval DSSE.To validate the proposed cyber-attack detection strategy,the basic principle of the cyber-attack is studied,and its general model is formulated.The proposed cyber-attack model and detection strategy are conducted on the IEEE 33-bus and 123-bus systems.Comparative experiments of the proposed IIA,Monte Carlo simulation algorithm,and interval Gauss elimination algorithm prove the validation of the proposed method.展开更多
The accuracy of distribution system state estimation(DDSE)is reduced when phasor measurement unit(PMU)measurements contain outliers because of cyber attacks or global positioning system spoofing attacks.Therefore,to e...The accuracy of distribution system state estimation(DDSE)is reduced when phasor measurement unit(PMU)measurements contain outliers because of cyber attacks or global positioning system spoofing attacks.Therefore,to enhance the robustness of DDSE to measurement outliers,approximate the target distribution of Metropolis-Hastings(MH)sampling,and judge the prediction of the long short-term memory(LSTM)network,this paper proposes an outlier reconstruction based state estimation method using the equivalent model of the LSTM network and MH sampling(E-LM model),motivated by the characteristics of the chronological correlations of PMU measurements.First,the target distribution of outlier reconstruction is derived using a kernel density estimation function.Subsequently,the reasons and advantages of the E-LM model are explained and analyzed from a mathematical point of view.The proposed LSTM-based MH sampling can approximate the target distribution of MH sampling to decrease the number of the futile iterations.Moreover,the proposed MH-based forecasting of the LSTM can judge each LSTM prediction,which is independent of its true value.Finally,simulations are conducted to evaluate the performance of the E-LM model by integrating the LSTM network and the MH sampling into the outlier reconstruction based DDSE.展开更多
Distribution state estimation(DSE)is an essential part of an active distribution network with high level of distributed energy resources.The challenges of accurate DSE with limited measurement data is a well-known pro...Distribution state estimation(DSE)is an essential part of an active distribution network with high level of distributed energy resources.The challenges of accurate DSE with limited measurement data is a well-known problem.In practice,the operation and usability of DSE depend on not only the estimation accuracy but also the ability to predict error variance.This paper investigates the application of error covariance in DSE by using the augmented complex Kalman filter(ACKF).The Kalman filter method inherently provides state error covariance prediction.It can be utilized to accurately infer the error covariance of other parameters and provide a method to determine optimal measurement locations based on the sensitivity of error covariance to measurement noise covariance.This paper also proposes a generalized formulation of ACKF to allow scalar measurements to be incorporated into the complex-valued estimator.The proposed method is simulated by using modified IEEE 34-bus and IEEE 123-bus test feeders,and randomly generates the load data of complex-valued Wiener process.The ACKF method is compared with an equivalent formulation using the traditional weighted least squares(WLS)method and iterated extended Kalman filter(IEKF)method,which shows improved accuracy and computation performance.展开更多
With the application of phasor measurement units(PMU)in the distribution system,it is expected that the performance of the distribution system state estimation can be improved obviously with the PMU measurements into ...With the application of phasor measurement units(PMU)in the distribution system,it is expected that the performance of the distribution system state estimation can be improved obviously with the PMU measurements into consideration.How to appropriately place the PMUs in the distribution is therefore become an important issue due to the economical consideration.According to the concept of efficient frontier,a value-at-risk based approach is proposed to make optimal placement of PMU taking account of the uncertainty of measure errors,statistical characteristics of the pseudo measurements,and reliability of the measurement instrument.The reasonability and feasibility of the proposed model is illustrated with 12-node system and IEEE-33 node system.Simulation results indicated that uncertainties of measurement error and instrument fault result in more PMU to be installed,and measurement uncertainty is the main affect factor unless the fault rate of PMU is quite high.展开更多
Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking perfor...Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure control.This method ensures the tracking error converges in a finite time,even when the system faces uncertainties.The method also preserves the passivity of the system.Moreover,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity signals.This observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation channels.In particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot interaction.The effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.展开更多
Micro-phasor measurement units(μPMUs)with a micro-second resolution and milli-degree accuracy capability are expected to play an important role in improving the state estimation accuracy in the distribution network w...Micro-phasor measurement units(μPMUs)with a micro-second resolution and milli-degree accuracy capability are expected to play an important role in improving the state estimation accuracy in the distribution network with increasing penetration of distributed generations.Therefore,this paper investigates the problem of how to place a limited number ofμPMUs to improve the state estimation accuracy.Combined with pseudo-measurements and supervisory control and data acquisition(SCADA)measurements,an optimalμPMU placement model is proposed based on a two-step state estimation method.The E-optimal experimental criterion is utilized to measure the state estimation accuracy.The nonlinear optimization problem is transformed into a mixed-integer semidefinite programming(MISDP)problem,whose optimal solution can be obtained by using the improved Benders decomposition method.Simulations on several systems are carried out to evaluate the effective performance of the proposed model.展开更多
State estimation plays a vital role in the stable operation of modern power systems,but it is vulnerable to cyber attacks.False data injection attacks(FDIA),one of the most common cyber attacks,can tamper with measure...State estimation plays a vital role in the stable operation of modern power systems,but it is vulnerable to cyber attacks.False data injection attacks(FDIA),one of the most common cyber attacks,can tamper with measure-ment data and bypass the bad data detection(BDD)mechanism,leading to incorrect results of power system state estimation(PSSE).This paper presents a detection framework of FDIA for PSSE based on graph edge-conditioned convolutional networks(GECCN),which use topology information,node features and edge features.Through deep graph architecture,the correlation of sample data is effectively mined to establish the mapping relationship between the estimated values of measurements and the actual states of power systems.In addition,the edge-conditioned convolution operation allows processing data sets with different graph structures.Case studies are undertaken on the IEEE 14-bus system under different attack intensities and degrees to evaluate the performance of GECCN.Simulation results show that GECCN has better detection performance than convolutional neural networks,deep neural net-works and support vector machine.Moreover,the satisfactory detection performance obtained with the data sets of the IEEE 14-bus,30-bus and 118-bus systems verifies the effective scalability of GECCN.展开更多
With the rapid development of the smart grid and increasingly integrated communication networks,power grids are facing serious cyber-security problems.This paper reviews existing studies on the impact of false data in...With the rapid development of the smart grid and increasingly integrated communication networks,power grids are facing serious cyber-security problems.This paper reviews existing studies on the impact of false data injection attacks on power systems from three aspects.First,false data injection can adversely affect economic dispatch by increasing the operational cost of the power system or causing sequential overloads and even outages.Second,attackers can inject false data to the power system state estimator,and this will prevent the operators from obtaining the true operating conditions of the system.Third,false data injection attacks can degrade the distributed control of distributed generators or microgrids inducing a power imbalance between supply and demand.This paper fully covers the potential vulnerabilities of power systems to cyber-attacks to help system operators understand the system vulnerability and take effective countermeasures.展开更多
基金supported in part by Fundamental Research Funds for the Central Universities(No.ZYGX2024J014)in part by the National Natural Science Foundation of China(No.52277083).
文摘This paper develops a physics-guided graph network to enhance the robustness of distribution system state estimation(DSSE)against anomalous real-time measurements,as well as a deep auto-encoder(DAE)-based detector and a Gaussian process-aided residual learning(GARL)to deal with challenges arising from topology changes.A global-scanning jumping knowledge network(GSJKN)is first designed to establish the regression rule between the measurement data and state variables.The structural information of distribution system(DS)and a global-scanning module are incorporated to guide the propagation of scarce measurements in the graph topology,contributing to valid estimation precision in sparsely measured DSs.To monitor the topology changes of the network,a DAE network is employed to learn an efficient representation of the measurements of the system under a certain topology,which can achieve online monitoring of the network structure by observing the variation tendency of the reconstruction error.When the topology change occurs,a Gaussian process with a composite kernel is applied to the modeling of the pre-trained GSJKN residual to adapt to the new topology.The embedding of the physical structural knowledge enables the proposed GSJKN method to restore the missing/noisy values utilizing the adjacent measurements,which enhances the robustness to typical data acquisition errors.The adopted DAE network and special GARL-based transfer method further allow the DSSE method to rapidly detect and adapt to the topology change,as well as achieve effective quantification of the estimation uncertainties.Comparative tests on balanced and unbalanced systems demonstrate the accuracy,robustness,and adaptability of the proposed DSSE method.
基金supported in part by the Department of Energy(No.DE-AR-0001001,No.DE-EE0009355)the National Science Foundation(NSF)(No.ECCS-2145063)。
文摘Recently,we demonstrated the success of a time-synchronized state estimator using deep neural networks(DNNs)for real-time unobservable distribution systems.In this paper,we provide analytical bounds on the performance of the state estimator as a function of perturbations in the input measurements.It has already been shown that evaluating performance based only on the test dataset might not effectively indicate the ability of a trained DNN to handle input perturbations.As such,we analytically verify the robustness and trustworthiness of DNNs to input perturbations by treating them as mixed-integer linear programming(MILP)problems.The ability of batch normalization in addressing the scalability limitations of the MILP formulation is also highlighted.The framework is validated by performing time-synchronized distribution system state estimation for a modified IEEE 34-node system and a real-world large distribution system,both of which are incompletely observed by micro-phasor measurement units.
基金supported by the National Natural Science Foundation of China under Grant 72331008,and PolyU research project 1-YXBL.
文摘A centralized framework-based data-driven framework for active distribution system state estimation(DSSE)has been widely leveraged.However,it is challenged by potential data privacy breaches due to the aggregation of raw measurement data in a data center.A personalized federated learningbased DSSE method(PFL-DSSE)is proposed in a decentralized training framework for DSSE.Experimental validation confirms that PFL-DSSE can effectively and efficiently maintain data confidentiality and enhance estimation accuracy.
基金supported in part by the National Key Research and Development Program of China(No.2017YFB0902900)the State Grid Corporation of China
文摘Cyber-attacks that tamper with measurement information threaten the security of state estimation for the current distribution system.This paper proposes a cyber-attack detection strategy based on distribution system state estimation(DSSE).The uncertainty of the distribution network is represented by the interval of each state variable.A three-phase interval DSSE model is proposed to construct the interval of each state variable.An improved iterative algorithm(IIA)is developed to solve the interval DSSE model and to obtain the lower and upper bounds of the interval.A cyber-attack is detected when the value of the state variable estimated by the traditional DSSE is out of the corresponding interval determined by the interval DSSE.To validate the proposed cyber-attack detection strategy,the basic principle of the cyber-attack is studied,and its general model is formulated.The proposed cyber-attack model and detection strategy are conducted on the IEEE 33-bus and 123-bus systems.Comparative experiments of the proposed IIA,Monte Carlo simulation algorithm,and interval Gauss elimination algorithm prove the validation of the proposed method.
基金supported by the National Key Research and Development Program(No.2017YFB0902900).
文摘The accuracy of distribution system state estimation(DDSE)is reduced when phasor measurement unit(PMU)measurements contain outliers because of cyber attacks or global positioning system spoofing attacks.Therefore,to enhance the robustness of DDSE to measurement outliers,approximate the target distribution of Metropolis-Hastings(MH)sampling,and judge the prediction of the long short-term memory(LSTM)network,this paper proposes an outlier reconstruction based state estimation method using the equivalent model of the LSTM network and MH sampling(E-LM model),motivated by the characteristics of the chronological correlations of PMU measurements.First,the target distribution of outlier reconstruction is derived using a kernel density estimation function.Subsequently,the reasons and advantages of the E-LM model are explained and analyzed from a mathematical point of view.The proposed LSTM-based MH sampling can approximate the target distribution of MH sampling to decrease the number of the futile iterations.Moreover,the proposed MH-based forecasting of the LSTM can judge each LSTM prediction,which is independent of its true value.Finally,simulations are conducted to evaluate the performance of the E-LM model by integrating the LSTM network and the MH sampling into the outlier reconstruction based DDSE.
文摘Distribution state estimation(DSE)is an essential part of an active distribution network with high level of distributed energy resources.The challenges of accurate DSE with limited measurement data is a well-known problem.In practice,the operation and usability of DSE depend on not only the estimation accuracy but also the ability to predict error variance.This paper investigates the application of error covariance in DSE by using the augmented complex Kalman filter(ACKF).The Kalman filter method inherently provides state error covariance prediction.It can be utilized to accurately infer the error covariance of other parameters and provide a method to determine optimal measurement locations based on the sensitivity of error covariance to measurement noise covariance.This paper also proposes a generalized formulation of ACKF to allow scalar measurements to be incorporated into the complex-valued estimator.The proposed method is simulated by using modified IEEE 34-bus and IEEE 123-bus test feeders,and randomly generates the load data of complex-valued Wiener process.The ACKF method is compared with an equivalent formulation using the traditional weighted least squares(WLS)method and iterated extended Kalman filter(IEKF)method,which shows improved accuracy and computation performance.
基金The author Min Liu received the grant of the National Natural Science Foundation of China(http://www.nsfc.gov.cn/)(51967004).
文摘With the application of phasor measurement units(PMU)in the distribution system,it is expected that the performance of the distribution system state estimation can be improved obviously with the PMU measurements into consideration.How to appropriately place the PMUs in the distribution is therefore become an important issue due to the economical consideration.According to the concept of efficient frontier,a value-at-risk based approach is proposed to make optimal placement of PMU taking account of the uncertainty of measure errors,statistical characteristics of the pseudo measurements,and reliability of the measurement instrument.The reasonability and feasibility of the proposed model is illustrated with 12-node system and IEEE-33 node system.Simulation results indicated that uncertainties of measurement error and instrument fault result in more PMU to be installed,and measurement uncertainty is the main affect factor unless the fault rate of PMU is quite high.
基金supported by the National Natural Science Foundation of China(Grant Nos.91648112,52375506)。
文摘Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure control.This method ensures the tracking error converges in a finite time,even when the system faces uncertainties.The method also preserves the passivity of the system.Moreover,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity signals.This observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation channels.In particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot interaction.The effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.
基金supported by the Science and Technology Project of State Grid Corporation of China (No.5204JY20000B)。
文摘Micro-phasor measurement units(μPMUs)with a micro-second resolution and milli-degree accuracy capability are expected to play an important role in improving the state estimation accuracy in the distribution network with increasing penetration of distributed generations.Therefore,this paper investigates the problem of how to place a limited number ofμPMUs to improve the state estimation accuracy.Combined with pseudo-measurements and supervisory control and data acquisition(SCADA)measurements,an optimalμPMU placement model is proposed based on a two-step state estimation method.The E-optimal experimental criterion is utilized to measure the state estimation accuracy.The nonlinear optimization problem is transformed into a mixed-integer semidefinite programming(MISDP)problem,whose optimal solution can be obtained by using the improved Benders decomposition method.Simulations on several systems are carried out to evaluate the effective performance of the proposed model.
基金supported in part by the Key-Area Research and Development Program of Guangdong Province under Grant 2020B010166004in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2020A1515111100+1 种基金in part by the National Natural Science Foundation of China under Grant 52207106in part by the Open Fund of State Key Laboratory of Operation and Control of Renewable Energy&Storage Systems(China Electric Power Research Institute)under Grant KJ80-21-001.
文摘State estimation plays a vital role in the stable operation of modern power systems,but it is vulnerable to cyber attacks.False data injection attacks(FDIA),one of the most common cyber attacks,can tamper with measure-ment data and bypass the bad data detection(BDD)mechanism,leading to incorrect results of power system state estimation(PSSE).This paper presents a detection framework of FDIA for PSSE based on graph edge-conditioned convolutional networks(GECCN),which use topology information,node features and edge features.Through deep graph architecture,the correlation of sample data is effectively mined to establish the mapping relationship between the estimated values of measurements and the actual states of power systems.In addition,the edge-conditioned convolution operation allows processing data sets with different graph structures.Case studies are undertaken on the IEEE 14-bus system under different attack intensities and degrees to evaluate the performance of GECCN.Simulation results show that GECCN has better detection performance than convolutional neural networks,deep neural net-works and support vector machine.Moreover,the satisfactory detection performance obtained with the data sets of the IEEE 14-bus,30-bus and 118-bus systems verifies the effective scalability of GECCN.
文摘With the rapid development of the smart grid and increasingly integrated communication networks,power grids are facing serious cyber-security problems.This paper reviews existing studies on the impact of false data injection attacks on power systems from three aspects.First,false data injection can adversely affect economic dispatch by increasing the operational cost of the power system or causing sequential overloads and even outages.Second,attackers can inject false data to the power system state estimator,and this will prevent the operators from obtaining the true operating conditions of the system.Third,false data injection attacks can degrade the distributed control of distributed generators or microgrids inducing a power imbalance between supply and demand.This paper fully covers the potential vulnerabilities of power systems to cyber-attacks to help system operators understand the system vulnerability and take effective countermeasures.
