CN102779209B - Large-step-size multi-switch electromagnetic transient state simulation method capable of setting time in real time - Google Patents
Large-step-size multi-switch electromagnetic transient state simulation method capable of setting time in real time Download PDFInfo
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Abstract
The invention relates to a large-step-size multi-switch electromagnetic transient state simulation method capable of setting time in real time. The method includes the following steps: calculating a first step-size point state value of electromagnetic transient state and finding that the switching motion exists in the step size; performing interpolated value calculating for a first switching motion point state value; performing interpolated value calculating for a second switching motion point state value; calculating a next step-size point state value; calculating the whole step-size point state value from the state value interpolated value of the current step-size point; and calculating the whole step-size point state value from the state value extrapolated value of the current step-size point. The method can improve calculating speed of a switching subnet, is favorable for timeliness calculating, provides time margin for improvement of switching calculation accuracy, can be applied to electromagnetic transient state simulation calculating of switching characteristic circuits of real-time calculating, super real-time calculating and off-line calculating, can be compatible with various electromagnetic transient state switching algorithms, effectively improves simulation calculating speed and accuracy, and optimizes electromagnetic transient state real-time calculating performance.
Description
Technical field
The present invention relates to a kind of fixed-point simulation method, be specifically related to the many switches of a kind of large step-length electromagnetical transient emulation method of fixed point in real time.
Background technology
Time-domain-simulation has become Power System Analysis, the important tool of design and researchp, along with the widespread use of Power Electronic Technique, flexible AC transmission, D.C. high voltage transmission and distributed power generation are in interior electric system links, particularly a large amount of renewable energy power generation equipment generally all needs could access in electrical network by electronic power convertor, and this network topology structure constantly changing in time in essence of electronic power switch has proposed new requirement and challenge to traditional Power System Time Domain Simulation Under, especially the real-time simulation aspect of electro-magnetic transient, how guarantee to calculate under the prerequisite of real-time, calculate electronic power switch action frequent and the long-time point of non-synchronizing, thorny technological difficulties.
Summary of the invention
For the deficiencies in the prior art, the invention provides the many switches of a kind of large step-length electromagnetical transient emulation method of fixed point in real time, the method is on the basis of existing electromagnetic transient in power system software, when carrying out the calculating of switching characteristic circuit, can improve the computing velocity of switch subnet, be conducive to real-time and calculate; Thereby the precision of calculating for switch provides time margin, can be applicable in real time, in the electromagnetic transient simulation that comprises the switching characteristic circuit such as electronic power switch, the high frequency electrical switch calculating of super real-time, calculated off-line, can be compatible mutually with various electro-magnetic transient switching algorithms, effectively improve computing velocity and the precision of emulation, optimize the real-time calculated performance of electro-magnetic transient.
The object of the invention is to adopt following technical proposals to realize:
The many switches of large step-length are an electromagnetical transient emulation method for fixed point in real time, and its improvements are, described method comprises the steps:
A, first step-length dotted state value of electro-magnetic transient is calculated, finding has switch motion in step-length;
B, first switch motion dotted state value is carried out to interpolate value calculating;
C, second switch motion dotted state value carried out to interpolate value calculating;
D, next step-length dotted state value is calculated;
E, from step D, in the state value interpolate value of current step-length point, one calculate the long dotted state value of synchronizing;
F, from step D current step-length point state value extrapolated value next calculate the long dotted state value of synchronizing.
Preferably, in described step B, the state value x based on previous step
1with current step-length dotted state value x
2, to the state value x in first switch motion point k1 moment
k1carry out interpolate value calculating, described x
k1represent by following 1. formula:
In formula: x
k1it is first switch motion point state value in k1 moment; t
k1for k1 moment time point; t
1state value x
1the whole calculating step-length moment at place; Δ t is the time span of a whole calculating step-length of standard.
Preferably, in described step C, based on the state value x in first switch motion point k1 moment
k1with current step-length dotted state value x
2, to second switch motion point k2 moment state value x
k2carry out interpolate value calculating, described x
k2represent by following 2. formula:
In formula: x
k2to second switch motion point k2 moment state value; t
k2it is k2 moment time point; t
2state value x
2the whole calculating step-length moment at place.
Preferably, in described step D, from second switch motion point x
k2adopt electromagnetic switch algorithm to next step-length dotted state value x
k2scalculate.
More preferably, described electromagnetic switch algorithm adopts trapezoidal integration, retreats Euler method, trapezoidal integration or its amendment with damping change combination.
Preferably, in described step e, from the state value x of the current step-length point of step D
k2sin interpolate value, one calculates the long dotted state value of synchronizing x
2, described x
2represent by following 3. formula:
In formula: x
2it is the long dotted state value of a upper calculating synchronizing.
Preferably, in described step F, from the state value x of the current step-length point of step D
k2snext calculates the long dotted state value of synchronizing x extrapolated value
3, described x
3represent by following 4. formula:
In formula: x
3that next calculates the long dotted state value of synchronizing; t
3state value x
3the whole calculating step-length moment at place.
Preferably, described method after each step is calculated, be no matter adopt retreat Euler method, implicit expression trapezoidal integration, combination is changed in trapezoidal integration or its amendment with damping, all will carry out event searching and processing.Event searching is to calculate after a step-length, will detect in this step-length whether have switch motion, the network structure variation etc. in calculating, do not considered, if had, will process, and so-called processing is exactly to adopt method interpolate value of the present invention or extrapolated value to calculate.
The amount to be asked of interpolation algorithm is at the state value in certain calculating moment of the step-length cycle inside of current calculating, adopts known state value to carry out linear interpolation calculating to certain state value in step-length span; The amount to be asked of extrapolated value algorithm is at the state value in certain calculating moment of the step-length cycle outside of current calculating, adopts known state value to carry out linear interpolation calculating to the state value outside step-length span.
Compared with the prior art, the beneficial effect that the present invention reaches is:
1, the present invention proposes the many switches of a kind of large step-length electromagnetical transient emulation method of fixed point in real time, can not meet calculation requirement in electromagnetic transient simulation medium velocity and precision and propose the present invention for solving electric system circuit that multiple switch motions occur in a step-length, the present invention adopts switch to calculate method for designing, tackle the situation that many switch motions occur in a step-length, can significantly reduce calculated amount and the computing time of calculating containing the electro-magnetic transient of switching characteristic circuit, and can ensure the fixed point output of former step size computation point, thereby ensure the numerical stability of real-time simulation numeral physical interface, can be applicable in real time, super real-time, calculated off-line comprise electronic power switch, during the electromagnetic transient simulation of the switching characteristic circuit such as high frequency electrical switch calculates, can be compatible mutually with various electro-magnetic transient switching algorithms, effectively improve computing velocity and the precision of emulation, optimize the real-time calculated performance of electro-magnetic transient.
2, the present invention is on the basis of existing electromagnetic transient in power system software etc., when carrying out the calculating of switching characteristic circuit, can improve the computing velocity of switch subnet, being conducive to real-time calculates, thereby the precision of calculating for switch provides time margin, can be applicable in real time, super real-time, calculated off-line comprise electronic power switch, during the electromagnetic transient simulation of the switching characteristic circuit such as high frequency electrical switch calculates, wherein whole step size computation can be compatible and be not limited to as trapezoidal integration mutually with various electro-magnetic transient switching algorithms, retreat Euler method, combination etc. is changed in trapezoidal integration with damping or its amendment, can effectively improve computing velocity and the precision of emulation, optimize the real-time calculated performance of electro-magnetic transient.
3, the present invention, the in the situation that of a multiple switch motion of step-length, adopts the algorithm of interpolate value can calculate fast the quantity of state of each switch, because the speed of interpolation calculation is very fast, can improve computing velocity, is conducive to the realization of calculating in real time.
4, the present invention is the in the situation that of a multiple switch motion of step-length, because the uncertainty in switch motion moment causes calculating the uncertainty of step-length point, the former integer step point after next step electromagnetism step-length can be normally exported in the long calculation level of former synchronizing and the calculating of employing extrapolated value that the present invention adopts interpolate value to calculate after normally output switch action; It is significant that the data docking of this computational stability for electro-magnetic transient under the many switches of large step-length and digital-digital, numeral-physical mixed emulation interface stable realized.
5, the present invention has reduced the number of times of the whole step size computation of multistep to the full extent, no matter switch motion how many times in a step-length, on off state point interpolation calculation, and the step number of whole step size computation is determined, the whole step size computation step number of switch motion is consistent with not having, because the time consumption of whole step size computation is maximum, and interpolation algorithm time consumption is very little, the time reliability that method of the present invention designs this speed for raising simulation calculation and real-time simulation calculating has very important meaning, can not cause the calculating real-time in certain step-length to be damaged because of the too much or uncertain of switch motion in a step-length.
Brief description of the drawings
Fig. 1 is the many switches of the large step-length provided by the invention electromagnetical transient emulation method calculation procedure schematic diagram of fixed point in real time, wherein: 1. for fixed point fixed step size calculates; 2. be and 5. interpolate value calculating; 4. for unfixed point fixed step size calculates;
for switch motion moment point;
for fixed point step-length tie-time point; 3. be and 6. extrapolated value calculating;
Fig. 2 is the many switches of the large step-length provided by the invention electromagnetical transient emulation method workflow diagrams of fixed point in real time;
Fig. 3 is the calculation procedure figure having in a step-length of specific embodiment provided by the invention in the situation of more switch motions, wherein: 1. for fixed point fixed step size calculates; 2. be and 7. interpolate value calculating; 6. for calculating for unfixed point fixed step size;
for switch motion moment point;
for fixed point step-length tie-time point; 3., 4., 5. and 8. for extrapolated value is calculated.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Respectively as illustrated in fig. 1 and 2, the method comprises the steps: for the calculation procedure figure of the electromagnetical transient emulation method that the many switches of large step-length provided by the invention are fixed a point in real time and workflow diagram
A, first step-length dotted state value of electro-magnetic transient is calculated, finding has switch motion in step-length;
B, first switch motion dotted state value is carried out to interpolate value calculating: the state value x based on previous step
1with current step-length dotted state value x
2, to the state value x in first switch motion point k1 moment
k1carry out interpolate value calculating, x
k1represent by following 1. formula:
In formula: x
k1it is first switch motion point state value in k1 moment; t
k1it is k1 moment time point; t
1state value x
1the whole calculating step-length moment at place; Δ t is the time span of a whole calculating step-length of standard.
C, second switch motion dotted state value carried out to interpolate value calculating: based on the state value x in first switch motion point k1 moment
k1with current step-length dotted state value x
2, to second switch motion point k2 moment state value x
k2carry out interpolate value calculating, x
k2represent by following 2. formula:
In formula: x
k2to second switch motion point k2 moment state value; t
k2it is k2 moment time point; t
2state value x
2the whole calculating step-length moment at place.
D, next step-length dotted state value is calculated: from second switch motion point x
k2adopt electromagnetic switch algorithm to next step-length dotted state value x
k2scalculate; Electromagnetic switch algorithm adopts trapezoidal integration, retreats Euler method, combination is changed in trapezoidal integration with damping or its amendment.
E, from step F, in the state value interpolate value of current step-length point, one calculate the long dotted state value of synchronizing: from the state value x of the current step-length point of step D
k2sin interpolate value, one calculates the long dotted state value of synchronizing x
2, x
2represent by following 3. formula:
In formula: x
2for the long dotted state value of a upper calculating synchronizing.
F, from step F current step-length point state value extrapolated value next calculate the long dotted state value of synchronizing: from the state value x of the current step-length point of step D
k2snext calculates the long dotted state value of synchronizing x extrapolated value
3, x
3represent by following 4. formula:
In formula: x
3for next calculates the long dotted state value of synchronizing; t
3state value x
3the whole calculating step-length moment at place.
After each step is calculated, be no matter adopt retreat Euler method, implicit expression trapezoidal integration, combination is changed in trapezoidal integration or its amendment with damping, all will carry out event searching and processing.Event searching is to calculate after a step-length, will detect in this step-length whether have switch motion, the network structure variation etc. in calculating, do not considered, if had, will process, and so-called processing is exactly to adopt method interpolate value of the present invention or extrapolated value to calculate.
The amount to be asked of interpolation algorithm is at the state value in certain calculating moment of the step-length cycle inside of current calculating, adopts known state value to carry out linear interpolation calculating to certain state value in step-length span; The amount to be asked of extrapolated value algorithm is at the state value in certain calculating moment of the step-length cycle outside of current calculating, adopts known state value to carry out linear interpolation calculating to the state value outside step-length span.
Below in conjunction with specific embodiment, the present invention is described in further detail.
Embodiment
In a step-length of specific embodiment provided by the invention, there is calculation procedure figure in the situation of more switch motions as shown in Figure 3, comprise the steps:
(1) carry out the calculating of first step-length, finding has switch motion in step-length;
(2) carry out first switch motion dotted state value x
k1interpolate value calculate; State x based on back
1state value x with this step
2, to the state value x in first switch motion point k1 moment
k1carry out interpolate value calculating, x
k1represent by following 1. formula:
In formula: x
k1for first switch motion point state value in k1 moment; t
k1for k1 moment time point; t
1state value x
1the whole calculating step-length moment at place; Δ t is the time span of a whole calculating step-length of standard.
(3) the state value x based on the switch motion point k1 moment
k1state value x with this step
2, to the state value x in first switch motion point k2 moment
k2carry out interpolate value calculating, x
k2represent by following 2. formula:
In formula: x
k2for to second switch motion point k2 moment state value; t
k2for k2 moment time point; t
2state value x
2the whole calculating step-length moment at place.
(4) the state value x based on the switch motion point k2 moment
k2state value x with this step
2, to the state value x in the 3rd switch motion point k3 moment
k3carry out interpolate value calculating, x
k3represent by following 5. formula:
In formula: x
k3for to the 3rd switch motion point k3 moment state value; t
k3for k3 moment time point.
(5) the state value x based on the switch motion point k3 moment
k3state value x with this step
2, to the state value x in the 4th switch motion point k4 moment
k4carry out interpolate value calculating, x
k4represent by following 6. formula:
In formula: x
k4it is the state value in the 4th switch motion point k4 moment; t
k4it is k4 moment time point.
(6) from the 4th switch motion point x
k4employing is with damping implicit expression trapezoidal integration or retreat Euler method, trapezoidal integration with damping or its amendment and change combination and carry out next step-length dotted state value x
k4scalculating;
(7) from the current step-length dotted state of (6) step value x
k4sinterpolate value is calculated the long dotted state value of synchronizing x to upper one
2, x
2represent by following 3. formula:
(8) from the current step-length dotted state of (6) step value x
k4sextrapolated value is calculated the long dotted state value of synchronizing x to next
3, x
3represent by following 4. formula:
In formula: t
3state value x
3the whole calculating step-length moment at place.
After each step is calculated, be no matter adopt retreat Euler method, implicit expression trapezoidal integration, combination is changed in trapezoidal integration or its amendment with damping, all will carry out event searching and processing.
The many switches of large step-length provided by the invention are the electromagnetical transient emulation method of fixed point in real time, the electric system switching characteristic circuit that has solved the multiple switch motions of generation in a step-length can not meet the problem of calculation requirement in electromagnetic transient simulation medium velocity and precision, the present invention adopts novel switch to calculate method for designing, tackle the situation that many switches calculating occur in a step-length, can significantly reduce calculated amount and the computing time of calculating containing the electro-magnetic transient of switching characteristic circuit, and can ensure that thereby the fixed point output of former step size computation point ensures the numerical stability of real-time simulation numeral physical interface, can be applicable in real time, super real-time, calculated off-line comprise electronic power switch, during the electromagnetic transient simulation of the switching characteristic circuit such as high frequency electrical switch calculates, can be compatible mutually with various electro-magnetic transient switching algorithms, effectively improve computing velocity and the precision of emulation, optimize the real-time calculated performance of electro-magnetic transient.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit, although the present invention is had been described in detail with reference to above-described embodiment, those of ordinary skill in the field are to be understood that: still can modify or be equal to replacement the specific embodiment of the present invention, and do not depart from any amendment of spirit and scope of the invention or be equal to replacement, it all should be encompassed in the middle of claim scope of the present invention.
Claims (6)
1. the many switches of a large step-length electromagnetical transient emulation method for fixed point in real time, is characterized in that, described method comprises the steps:
A, first step-length dotted state value of electro-magnetic transient is calculated, finding has switch motion in step-length;
B, first switch motion dotted state value is carried out to interpolate value calculating;
C, second switch motion dotted state value carried out to interpolate value calculating;
D, next step-length dotted state value is calculated;
E, from step D, in the state value interpolate value of current step-length point, one calculate the long dotted state value of synchronizing;
F, from step D current step-length point state value extrapolated value next calculate the long dotted state value of synchronizing;
In described step B, the state value x based on previous step
1with current step-length dotted state value x
2, to the state value x in first switch motion point k1 moment
k1carry out interpolate value calculating, described x
k1represent by following 1. formula:
In formula: x
k1it is first switch motion point state value in k1 moment; t
k1for k1 moment time point; t
1state value x
1the whole calculating step-length moment at place; Δ t is the time span of a whole calculating step-length of standard;
In described step C, based on the state value x in first switch motion point k1 moment
k1with current step-length dotted state value x
2, to second switch motion point k2 moment state value x
k2carry out interpolate value calculating, described x
k2represent by following 2. formula:
In formula: x
k2to second switch motion point k2 moment state value; t
k2it is k2 moment time point; t
2state value x
2the whole calculating step-length moment at place.
2. the many switches of the large step-length as claimed in claim 1 electromagnetical transient emulation method of fixed point in real time, is characterized in that, in described step D, from second switch motion point x
k2adopt electromagnetic switch algorithm to next step-length dotted state value x
k2scalculate.
3. the many switches of the large step-length as claimed in claim 2 electromagnetical transient emulation method of fixed point in real time, is characterized in that, described electromagnetic switch algorithm adopts trapezoidal integration, retreats Euler method and the trapezoidal integration with damping.
4. the many switches of the large step-length as claimed in claim 1 electromagnetical transient emulation method of fixed point in real time, is characterized in that, in described step e, from the state value x of the current step-length point of step D
k2sin interpolate value, one calculates the long dotted state value of synchronizing x
2, described x
2represent by following 3. formula:
In formula: x
2it is the long dotted state value of a upper calculating synchronizing; x
k2to second switch motion point k2 moment state value; t
k2it is k2 moment time point; t
2state value x
2the whole calculating step-length moment at place; Δ t is the time span of a whole calculating step-length of standard.
5. the many switches of the large step-length as claimed in claim 1 electromagnetical transient emulation method of fixed point in real time, is characterized in that, in described step F, from the state value x of the current step-length point of step D
k2snext calculates the long dotted state value of synchronizing x extrapolated value
3, described x
3represent by following 4. formula:
In formula: x
3that next calculates the long dotted state value of synchronizing; t
3state value x
3the whole calculating step-length moment at place; Δ t is the time span of a whole calculating step-length of standard; x
k1it is first switch motion point state value in k1 moment; t
k1for k1 moment time point; x
k1sfirst switch motion point x
k1adopt electromagnetic switch algorithm to a step-length dotted state value.
6. the many switches of the large step-length as claimed in claim 1 electromagnetical transient emulation method of fixed point in real time, it is characterized in that, no matter described method, after each step is calculated, is to adopt to retreat Euler method, implicit expression trapezoidal integration and the trapezoidal integration with damping, all will carry out event searching and processing.
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101719182A (en) * | 2009-12-11 | 2010-06-02 | 中国电力科学研究院 | Parallel partition electromagnetic transient digital simulation method of AC and DC power system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101719182A (en) * | 2009-12-11 | 2010-06-02 | 中国电力科学研究院 | Parallel partition electromagnetic transient digital simulation method of AC and DC power system |
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| 《用于激光雷达回波平滑的半步长插值迭代法》;王玉诏 等;《北京理工大学学报》;20111231;第31卷(第12期);第1424-1427页 * |
| 王玉诏 等.《用于激光雷达回波平滑的半步长插值迭代法》.《北京理工大学学报》.2011,第31卷(第12期),第1424-1427页. |
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Effective date of registration: 20130424 Address after: 100192 Beijing city Haidian District Qinghe small Camp Road No. 15 Applicant after: China Electric Power Research Institute Applicant after: State Grid Corporation of China Address before: 100192 Beijing city Haidian District Qinghe small Camp Road No. 15 Applicant before: China Electric Power Research Institute |
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