CN102708260A - Electromagnetic transient state simulation method and device - Google Patents

Electromagnetic transient state simulation method and device Download PDF

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CN102708260A
CN102708260A CN2012101728178A CN201210172817A CN102708260A CN 102708260 A CN102708260 A CN 102708260A CN 2012101728178 A CN2012101728178 A CN 2012101728178A CN 201210172817 A CN201210172817 A CN 201210172817A CN 102708260 A CN102708260 A CN 102708260A
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陈来军
陈颖
梅生伟
许寅
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Tsinghua University
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Abstract

The invention discloses an electromagnetic transient state simulation method and device, relating to the technical field of time domain simulation of a power system. The method comprises the following steps: setting different simulation steps for child partitions in the current power system respectively, setting the simulation steps of coordination partitions in the current power system to be common divisor of those of the child partitions, and utilizing the simulation steps of the child partitions and the simulation steps of the coordination steps to conduct simulation with the help of an EMTP (electromagnetic transient program) method. By setting different simulation steps for the child partitions in the current power system respectively, the electromagnetic transient simulation efficiency of the power system is improved.

Description

Electromagnetical transient emulation method and device
Technical field
The present invention relates to electric system time-domain-simulation technical field, particularly a kind of electromagnetical transient emulation method and device.
Background technology
As everyone knows, comprehensive, detailed, quickly and accurately the dynamic process of electric system is analyzed and emulation, be the important foundation that ensures the power system safety and stability operation.Along with the widespread use of Power Electronic Technique in electric system, increasing dynamic process need adopt the accurately portrayal of electromagnetic transient simulation based on detailed modeling and little step-length, and this scale that makes electric system simulation calculate enlarges rapidly.
The main task of electro-magnetic transient analysis is to find the solution the differential algebraic equations group of descriptive system dynamic perfromance in discrete moment point, and its typical case's representative is the EMTP method.In said EMTP method,, make that each element in the system all is expressed as the form of Norton equivalent circuit, and then obtain the equivalent system of original system that its transformational relation is as shown in Figure 1 through carrying out differencing to describing the dynamic differential equation of element.Through conversion, the dynamic process of original system can use the Algebraic Equation set shown in the formula (1) to describe, and through the formula of finding the solution (1) in each discrete moment point, can obtain the time-domain-simulation result of original system.
YU＝I （1）
Wherein, Y is the bus admittance matrix of system, and U is the node voltage vector, and I is a node injection current vector.
Consider the layering and zoning characteristic on the electric system space, the spatial parallelism algorithm is used to quicken electromagnetic transient in power system emulation.Its typical case's representative is based on the spatial parallelism algorithm of multiport Dai Weinan equivalence.In Fig. 2, system is divided into 3 sub-partition by the coordination division that 6 branch roads constitute.The Extended Nodal Voltage Equation of system is suc as formula shown in (2):
Y 1 0 0 P 1 0 Y 2 0 P 2 0 0 Y 3 P 3 P 1 T P 2 T P 3 T - Z l U 1 U 2 U 3 I l = I 1 I 2 I 3 - E l - - - ( 2 )
In the formula, Y iIt is the bus admittance matrix of each child partition; P iIt is the incidence matrix between each node of child partition and the coordination subregion cutting branch road; I iIt is the node injection current vector of child partition; U iIt is the node voltage vector of child partition; I=1,2,3.Z lFor coordinating the Dai Weinan equiva lent impedance matrix of subregion; E lIt is the Dai Weinan equivalent voltage vector of coordinating subregion; I lBe cutting branch current vector.
Find the solution constantly at each, can be divided into following 3 steps based on the parallel solution procedure of the electro-magnetic transient of multiport Dai Weinan equivalence and accomplish.
The 1st step: child partition calculates the Dai Weinan equivalent parameters
Z i=P i TY i -1P i,i＝1,2,3 （1）
E i＝P i TY i -1I i,i＝1,2,3 （2）
The 2nd step: coordinate subregion and find the solution cutting branch current vector
Z c = Z l + Σ i = 1 3 Z i - - - ( 5 )
E c = E l + Σ i = 1 3 E i - - - ( 6 )
I l＝Z c -1*E c （7）
The 3rd step: child partition is found the solution internal node voltages
U i＝Y i -1(I i-P i*I l)，i＝1,2,3 （8）
In the above-mentioned steps, the 1st step can parallel processing with the 3rd step, and the 2nd to go on foot be the serial part in the whole solution procedure, wherein, and Z iBe the Dai Weinan equiva lent impedance matrix of child partition, E iIt is the Dai Weinan equivalent voltage vector of child partition.
It is to be noted; In the above-mentioned method for solving, each child partition and coordination subregion all need adopt identical simulation step length, and this makes the simulation step length of system often be limited by the minimum subregion of dynamic time constant in the system; Usually obtain comparatively conservatively, be unfavorable for the raising of simulation efficiency.The dynamic process time scale of each element there are differences in the electric system, and is very fast like the power electronic equipment dynamic process, and the dynamic process of elements such as generator, motor is relatively slow, is a typical rigid system.For the dynamic process of accurate description rigid system, need usually to adopt very little step-length to carry out simulation calculation, make that the calculated amount of emulation is very huge.
Summary of the invention
The technical matters that (one) will solve
The technical matters that the present invention will solve is: the electromagnetic transient simulation efficient that how to improve electric system.
(2) technical scheme
For solving the problems of the technologies described above, the invention provides a kind of electromagnetical transient emulation method, said method comprises:
Each sub-partition in the current power system is provided with different simulation step length respectively, and the simulation step length of coordinating subregion in the said current power system is set to the common divisor of the simulation step length of said each sub-partition;
Utilize the simulation step length of said each sub-partition and said coordination subregion to adopt the EMTP method to carry out emulation.
Preferably, utilizing the simulation step length of said each sub-partition and said coordination subregion to adopt the EMTP method to carry out emulation specifically comprises:
S1: with simulation step length said each sub-partition of calculating of said each sub-partition and said coordination subregion and the Dai Weinan equivalent parameters of said coordination subregion, said Dai Weinan equivalent parameters comprises: Dai Weinan equiva lent impedance matrix and Dai Weinan equivalent voltage vector;
S2: utilize the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion to calculate the cutting branch current vector of coordinating subregion;
S3: the internal node voltages of utilizing said each sub-partition of said cutting branch current vector calculation.
Preferably, further comprising the steps of after the step S3:
S4: judge whether simulation time reaches home, if, process ends then, otherwise return step S2.
Preferably, among the step S2, the cutting branch current of coordinating subregion through computes is vectorial,
I l(t)＝Z c -1(h c)*E c(t)，
Wherein,
Figure BDA00001698777500041
T=mh c, m is a natural number, h cFor coordinating the simulation step length of subregion; Z c -1(h c) be Z c(h c) inverse,
Figure BDA00001698777500042
Z i(h c)=P i TY i -1(h c) P i, Y i -1(h c) be Y i(h c) inverse, Y i(h c) for simulation step length be h cThe time, the bus admittance matrix of i sub-partition, i=1,2,3 ..., N; P iBe the node of i sub-partition and the incidence matrix between the coordination subregion cutting branch road; Z l(h c) for simulation step length be h cThe time, the Dai Weinan equiva lent impedance matrix of coordination subregion; Z i(h c) for simulation step length be h cThe time, the Dai Weinan equiva lent impedance matrix of i sub-partition; E l(t) be the Dai Weinan equivalent voltage vector that t coordinates subregion constantly; E i(t) be the t Dai Weinan equivalent voltage vector of i sub-partition constantly; I l(t) cut the branch current vector constantly for t.
Preferably, E i(t) confirm through following steps:
If t is the integral multiple of i sub-partition simulation step length, then E constantly just i(t) calculate through following formula,
E i(t)＝E i(wh i)；
If t is constantly also to the integral multiple of i sub-partition simulation step length, E then i(t) calculate through following formula,
E i ( t ) = E i [ ( w - 1 ) h i ] + E i ( wh i ) - E i [ ( w - 1 ) h i ] h i [ t - ( w - 1 ) h i ]
Wherein, t ∈ ((w-1) h i, wh i), w is a natural number, h iIt is the simulation step length of i sub-partition.
Preferably, step S3 passes through the internal node voltages of said each sub-partition of computes,
U i(t n)＝Y i -1(h i)[I i(t n)-P i*I l(t n)]
Wherein, Y i -1(h c) be Y i(h c) inverse, Y i(h i) for simulation step length be h iThe time, the bus admittance matrix of i sub-partition; h iIt is the simulation step length of i sub-partition; I l(t n) be current time t nThe time, cutting branch current vector; t n=kh i, k is a natural number; I i(t n) be current time t nThe time, the node injection current vector of i sub-partition; P iBe the node of i sub-partition and the incidence matrix between the coordination subregion cutting branch road; U i(t n) be current time t nThe time, the internal node voltages of i sub-partition.
The invention also discloses a kind of electromagnetic transient simulation device, said device comprises:
Step-length is provided with module, be used for each sub-partition of current power system is provided with different simulation step length respectively, and the simulation step length of coordinating subregion in the said current power system is set to the common divisor of the simulation step length of said each sub-partition;
Emulation module is used for adopting the EMTP method to carry out emulation through the simulation step length of said each sub-partition and said coordination subregion.
Preferably, emulation module specifically comprises:
The calculation of parameter submodule; Be used for calculating with the simulation step length of said each sub-partition and said coordination subregion the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion, said Dai Weinan equivalent parameters comprises: Dai Weinan equiva lent impedance matrix and Dai Weinan equivalent voltage vector;
The galvanometer operator module is used to utilize the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion to calculate the cutting branch current vector of coordinating subregion;
The node voltage calculating sub module is used to utilize the internal node voltages of said each sub-partition of said cutting branch current vector calculation.
(3) beneficial effect
The present invention has improved the electromagnetic transient simulation efficient of electric system through each sub-partition in the current power system is provided with different simulation step length respectively.
Description of drawings
Fig. 1 is the transformational relation synoptic diagram of a ball bearing made using and equivalent system thereof;
Fig. 2 is the system partitioning synoptic diagram;
Fig. 3 is the process flow diagram according to the electromagnetical transient emulation method of one embodiment of the present invention;
Fig. 4 is the structured flowchart according to the electromagnetic transient simulation device of one embodiment of the present invention;
Fig. 5 is three partition system synoptic diagram of test usefulness;
Fig. 6 is a simulation waveform comparison diagram under first group of test parameter;
Fig. 7 is a simulation waveform comparison diagram under second group of test parameter;
Fig. 8 is a simulation waveform comparison diagram under the 3rd group of test parameter.
Embodiment
Below in conjunction with figure and embodiment, specific embodiments of the invention describes in further detail.Following examples are used to explain the present invention, but are not used for limiting scope of the present invention.
Fig. 3 is the process flow diagram according to the electromagnetical transient emulation method of one embodiment of the present invention; With reference to Fig. 3, said method comprises:
Each sub-partition in the current power system is provided with different simulation step length respectively; And the simulation step length of coordinating subregion in the said current power system is set to the common divisor (in the present embodiment, the simulation step length of said coordination subregion is preferably the greatest common divisor of the simulation step length of said each sub-partition) of the simulation step length of said each sub-partition;
Utilize the simulation step length of said each sub-partition and said coordination subregion to adopt the EMTP method to carry out emulation.
Preferably, utilizing the simulation step length of said each sub-partition and said coordination subregion to adopt the EMTP method to carry out emulation specifically comprises:
S1: with simulation step length said each sub-partition of calculating of said each sub-partition and said coordination subregion and the Dai Weinan equivalent parameters of said coordination subregion, said Dai Weinan equivalent parameters comprises: Dai Weinan equiva lent impedance matrix and Dai Weinan equivalent voltage vector;
S2: utilize the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion to calculate the cutting branch current vector of coordinating subregion;
S3: the internal node voltages of utilizing said each sub-partition of said cutting branch current vector calculation.
Preferably, further comprising the steps of after the step S3:
S4: judge whether simulation time reaches home, if, process ends then, otherwise return step S2.
Preferably, among the step S2, the cutting branch current of coordinating subregion through computes is vectorial,
I l(t)＝Z c -1(h c)*E c(t)，
Wherein,
Figure BDA00001698777500061
T=mh c, m is a natural number, h cFor coordinating the simulation step length of subregion; Z c -1(h c) be Z c(h c) inverse,
Figure BDA00001698777500062
Z i(h c)=P i TY i -1(h c) P i, Y i -1(h c) be Y i(h c) inverse, Y i(h c) for simulation step length be h cThe time, the bus admittance matrix of i sub-partition, i=1,2,3 ..., N; P iBe the node of i sub-partition and the incidence matrix between the coordination subregion cutting branch road; Z l(h c) for simulation step length be h cThe time, the Dai Weinan equiva lent impedance matrix of coordination subregion; Z i(h c) for simulation step length be h cThe time, the Dai Weinan equiva lent impedance matrix of i sub-partition; E l(t) be the Dai Weinan equivalent voltage vector that t coordinates subregion constantly; E i(t) be the t Dai Weinan equivalent voltage vector of i sub-partition constantly; I l(t) cut the branch current vector constantly for t.
Because the simulation step length of coordinating subregion in the said current power system is set to the common divisor of the simulation step length of said each sub-partition, therefore exist the emulation of coordinating subregion also not reach the situation of the integral multiple of i sub-partition simulation step length constantly, preferably, E i(t) confirm through following steps:
If t is the integral multiple of i sub-partition simulation step length, then E constantly just i(t) calculate through following formula,
E i(t)＝E i(wh i)；
If t is constantly also to the integral multiple of i sub-partition simulation step length, E then i(t) calculate through following formula,
E i ( t ) = E i [ ( w - 1 ) h i ] + E i ( wh i ) - E i [ ( w - 1 ) h i ] h i [ t - ( w - 1 ) h i ]
Wherein, t ∈ ((w-1) h i, wh i), w is a natural number, h iIt is the simulation step length of i sub-partition.
Preferably, step S3 passes through the internal node voltages of said each sub-partition of computes,
U i(t n)＝Y i -1(h i)[I i(t n)-P i*I l(t n)]
Wherein, Y i -1(h c) be Y i(h c) inverse, Y i(h i) for simulation step length be h iThe time, the bus admittance matrix of i sub-partition; h iIt is the simulation step length of i sub-partition; I l(t n) be current time t nThe time, cutting branch current vector; t n=kh i, k is a natural number; I i(t n) be current time t nThe time, the node injection current vector of i sub-partition; P iBe the node of i sub-partition and the incidence matrix between the coordination subregion cutting branch road; U i(t n) be current time t nThe time, the internal node voltages of i sub-partition.
Fig. 4 is the structured flowchart according to the electromagnetic transient simulation device of one embodiment of the present invention; With reference to Fig. 4, the invention also discloses a kind of electromagnetic transient simulation system, said system comprises:
Step-length is provided with module, be used for each sub-partition of current power system is provided with different simulation step length respectively, and the simulation step length of coordinating subregion in the said current power system is set to the common divisor of the simulation step length of said each sub-partition;
Emulation module is used for adopting the EMTP method to carry out emulation through the simulation step length of said each sub-partition and said coordination subregion.
Preferably, emulation module specifically comprises:
The calculation of parameter submodule; Be used for calculating with the simulation step length of said each sub-partition and said coordination subregion the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion, said Dai Weinan equivalent parameters comprises: Dai Weinan equiva lent impedance matrix and Dai Weinan equivalent voltage vector;
The galvanometer operator module is used to utilize the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion to calculate the cutting branch current vector of coordinating subregion;
The node voltage calculating sub module is used to utilize the internal node voltages of said each sub-partition of said cutting branch current vector calculation.
Embodiment 1
Present embodiment is used to verify method validity of the present invention, but does not limit protection scope of the present invention, and system as shown in Figure 5 is divided into 3 sub-partition and one and coordinates subregion, and the child partition numbering is seen among the figure and marked.
Adopt the method for this embodiment that the system among Fig. 5 is carried out following three groups of tests, child partition is as shown in table 1 below with the simulation step length of coordinating subregion in the test:
Each subregion simulation step length is provided with parameter in three groups of tests of table 1
Test No. Coordinate subregion Child partition 1 Child partition 2 Child partition 3
1 50us 100us 150us 300us
2 50us 100us 200us 400us
3 50us 100us 250us 500us
The total duration of emulation is set to 0.1s, is used to check the result of correctness to come from business simulation software PSCAD, adopts the simulation step length of 50us to carry out emulation.
In three groups of tests, get the maximum signal of phantom error, the simulation waveform of the method for its PSCAD simulation waveform and this embodiment is put together to be compared, respectively like Fig. 6 ~ shown in Figure 8.
Can find out when the method for this embodiment is selected different simulation step length at each subregion, still to have higher accuracy from the comparison of simulation waveform.
Above embodiment only is used to explain the present invention; And be not limitation of the present invention; The those of ordinary skill in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also be made various variations and modification; Therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.

Claims (8)

1. an electromagnetical transient emulation method is characterized in that, said method comprises:
Each sub-partition in the current power system is provided with different simulation step length respectively, and the simulation step length of coordinating subregion in the said current power system is set to the common divisor of the simulation step length of said each sub-partition;
Utilize the simulation step length of said each sub-partition and said coordination subregion to adopt the EMTP method to carry out emulation.
2. the method for claim 1 is characterized in that, utilizes the simulation step length of said each sub-partition and said coordination subregion to adopt the EMTP method to carry out emulation and specifically comprises:
S1: with simulation step length said each sub-partition of calculating of said each sub-partition and said coordination subregion and the Dai Weinan equivalent parameters of said coordination subregion, said Dai Weinan equivalent parameters comprises: Dai Weinan equiva lent impedance matrix and Dai Weinan equivalent voltage vector;
S2: utilize the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion to calculate the cutting branch current vector of coordinating subregion;
S3: the internal node voltages of utilizing said each sub-partition of said cutting branch current vector calculation.
3. method as claimed in claim 2 is characterized in that, and is further comprising the steps of after the step S3:
S4: judge whether simulation time reaches home, if, process ends then, otherwise return step S2.
4. method as claimed in claim 2 is characterized in that, among the step S2, the cutting branch current of coordinating subregion through computes is vectorial,
I l(t)＝Z c -1(h c)*E c(t)，
Wherein,
Figure FDA00001698777400011
T=mh c, m is a natural number, h cFor coordinating the simulation step length of subregion; Z c -1(h c) be Z c(h c) inverse,
Figure FDA00001698777400012
Z i(h c)=P i TY i -1(h c) P i, Y i -1(h c) be Y i(h c) inverse, Y i(h c) for simulation step length be h cThe time, the bus admittance matrix of i sub-partition, i=1,2,3 ..., N; P iBe the node of i sub-partition and the incidence matrix between the coordination subregion cutting branch road; Z l(h c) for simulation step length be h cThe time, the Dai Weinan equiva lent impedance matrix of coordination subregion; Z i(h c) for simulation step length be h cThe time, the Dai Weinan equiva lent impedance matrix of i sub-partition; E l(t) be the Dai Weinan equivalent voltage vector that t coordinates subregion constantly; E i(t) be the t Dai Weinan equivalent voltage vector of i sub-partition constantly; I l(t) cut the branch current vector constantly for t.
5. method as claimed in claim 4 is characterized in that E i(t) confirm through following steps:
If t is the integral multiple of i sub-partition simulation step length, then E constantly just i(t) calculate through following formula,
E i(t)＝E i(wh i)；
If t is constantly also to the integral multiple of i sub-partition simulation step length, E then i(t) calculate through following formula,
E i ( t ) = E i [ ( w - 1 ) h i ] + E i ( wh i ) - E i [ ( w - 1 ) h i ] h i [ t - ( w - 1 ) h i ]
Wherein, t ∈ ((w-1) h i, wh i), w is a natural number, h iIt is the simulation step length of i sub-partition.
6. method as claimed in claim 2 is characterized in that, step S3 passes through the internal node voltages of said each sub-partition of computes,
U i(t n)＝Y i -1(h i)[I i(t n)-P i*I l(t n)]
Wherein, Y i -1(h c) be Y i(h c) inverse, Y i(h i) for simulation step length be h iThe time, the bus admittance matrix of i sub-partition; h iIt is the simulation step length of i sub-partition; I l(t n) be current time t nThe time, cutting branch current vector; t n=kh i, k is a natural number; I i(t n) be current time t nThe time, the node injection current vector of i sub-partition; P iBe the node of i sub-partition and the incidence matrix between the coordination subregion cutting branch road; U i(t n) be current time t nThe time, the internal node voltages of i sub-partition.
7. an electromagnetic transient simulation device is characterized in that, said device comprises:
Step-length is provided with module, be used for each sub-partition of current power system is provided with different simulation step length respectively, and the simulation step length of coordinating subregion in the said current power system is set to the common divisor of the simulation step length of said each sub-partition;
Emulation module is used for adopting the EMTP method to carry out emulation through the simulation step length of said each sub-partition and said coordination subregion.
8. device as claimed in claim 7 is characterized in that emulation module specifically comprises:
The calculation of parameter submodule; Be used for calculating with the simulation step length of said each sub-partition and said coordination subregion the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion, said Dai Weinan equivalent parameters comprises: Dai Weinan equiva lent impedance matrix and Dai Weinan equivalent voltage vector;
The galvanometer operator module is used to utilize the Dai Weinan equivalent parameters of said each sub-partition and said coordination subregion to calculate the cutting branch current vector of coordinating subregion;
The node voltage calculating sub module is used to utilize the internal node voltages of said each sub-partition of said cutting branch current vector calculation.
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CN104461672B (en) * 2013-09-12 2018-03-13 南京南瑞继保电气有限公司 A kind of method and device for extending power system digital simulation model emulation total duration
CN103970967A (en) * 2014-05-28 2014-08-06 山东大学 Electromagnetic transient simulation analysis system of electric power system
CN104375876A (en) * 2014-10-11 2015-02-25 清华大学 0+ error immune electromagnetic transient simulation algorithm used under sudden change of input quantity
CN104375876B (en) * 2014-10-11 2017-10-31 清华大学 Electromagnetical transient emulation method is immunized in a kind of 0+ errors under input quantity catastrophe
CN108920879A (en) * 2018-08-06 2018-11-30 清华四川能源互联网研究院 Shift frequency modeling and simulating method and device
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CN108920879B (en) * 2018-08-06 2020-11-03 清华四川能源互联网研究院 Frequency shift modeling simulation method and device
CN113128074A (en) * 2021-05-13 2021-07-16 清鸾科技(成都)有限公司 Electromagnetic transient simulation method and system, storage medium and electronic equipment
CN113128074B (en) * 2021-05-13 2023-03-14 清鸾科技(成都)有限公司 Electromagnetic transient simulation method and system, storage medium and electronic equipment
CN115795918A (en) * 2023-01-30 2023-03-14 湖南汇创玮达信息科技有限公司 FMU model simulation scheduling method, platform and electronic equipment
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