CN103777525B - The self defined interface of wind energy turbine set replicating machine and RTDS emulator - Google Patents

Abstract

The invention discloses the self defined interface of the modeling of electric power system source net associative simulation and a kind of wind energy turbine set replicating machine run in control technology field and RTDS emulator, for the data communication between Real Time Digital Simulator RTDS and wind park analogue system.This self defined interface is connected with optical communication interface card with ac and dc systems grid simulation module after the equivalence in Real Time Digital Simulator RTDS respectively, and optical communication interface card is connected with the detailed emulation module of the wind energy turbine set in wind park analogue system; Self defined interface is for receiving upward signal data, and from the instantaneous voltage of ac and dc systems grid simulation module acquires wind field access point and the instantaneous phase angle of wind field access point after equivalence, again according to the data received and gather, calculate momentary current and described momentary current be sent to equivalent rear ac and dc systems grid simulation module.Present invention achieves the detailed replicating machine of wind energy turbine set and RTDS power grid joint emulates.

Description

The self defined interface of wind energy turbine set replicating machine and RTDS emulator

Technical field

The invention belongs to the modeling of electric power system source net associative simulation and run control technology field, particularly relating to the self defined interface of a kind of wind energy turbine set replicating machine and RTDS emulator.

Background technology

Wind-power electricity generation reaches its maturity technically, and cost of wind power generation constantly reduces, and in various renewable energy utilization, wind energy has very strong competitive power, becomes the new forms of energy that electric system growth rate is the fastest.

Wind farm grid-connected operation realizes the effective means that wind energy utilizes on a large scale, but all can run power system stability idle demand when the randomness of wind-force and intermittent and unit operation and produce harm.The impact of wind energy turbine set on voltage mainly comprises voltage fluctuation, flickering and wave form distortion, Voltage unbalance etc.In normal operation, when Reactive Compensation in Wind Farm is not enough, the possibility that meritorious and reactive power flow has generation reverse, opposite tide may cause the maloperation of protective relaying device.This will increase the assistant service such as power grid voltage regulating, traffic control burden, causes the increase of operation of power networks cost.In system frequency, the impact of wind energy turbine set depends on that wind energy turbine set capacity accounts for the ratio of overall system capacity.When the large percentage that wind energy turbine set capacity is shared in systems in which, the stochastic volatility of its output power can be relatively more remarkable on the impact of mains frequency, increases power grid frequency modulation burden, have impact on the quality of power supply of electrical network and the normal work of some frequency sensitive loads.In addition, Wind turbines easily by grid disturbance and out of service, when electrical network is short-circuited fault, also will be out of service and increase electric network active vacancy due to wind energy turbine set, and then worsen the stability of electrical network.

From the reality of operation of power networks and the long-term interest angle of large-scale development wind-powered electricity generation, the controllability improving Power Output for Wind Power Field is the important development direction of current wind generating technology.But wind power is stabilized control and is one and relates to various power supply and the interactional power system problem of electrical network, simultaneously, wind power stabilizes needs process, in this process, (stable state, low voltage crossing, off-grid etc. are comprised), control center's also various control in constantly carrying out of electrical network while wind power constantly changes.At present, the emulation tool that still neither one is suitable can carry out the power system emulation of such Process Character.

Wind park analogue system is the support system software of Large-scale professional clustering integrating modular design, exploitation, configuration, debugging, real time execution, maintenance, amendment, expansion, database (module) management, network communication and whole system operation and management towards continuous industry process simulation, can emulate the main modular such as the wind module in wind-power electricity generation, wind energy conversion system module, driving-chain module, generator module, converter module and various supplementary module, Chinese patent literature CN102593865A is the immediate prior art of the present invention.

RTDS (RealTimeDigitalSimulator; Real Time Digital Simulator) be a kind of real-time all-digital electro-magnetic transient power system simulation device; which provide nearly all conventional electric power system element model, controller model, transmission line model, FACTS and HVDC mounted cast; every sheet DSP is all furnished with switching value and analog input and output passage; these passages can supply RTDS and external physical equipment connection; realize physics and digital hybrid simulation, opertaing device and protective device are tested.

For this reason, can consider in wind park analogue system, build the detailed realistic model in large-scale wind power field, for emulating wind energy turbine set working condition, the power system simulation model of the ac and dc systems of wind energy turbine set is comprised after Real Time Digital Simulator RTDS builds equivalence, for the working condition of electrical network of simulation package containing wind energy turbine set ac and dc systems, thus realize the process simulation that wind power stabilizes.And at this moment, in order to realize the detailed realistic model in large-scale wind power field data and comprise wind energy turbine set ac and dc systems power system simulation model data between mutual, need to design a kind of self defined interface.

Summary of the invention

The object of the invention is to, the self defined interface of a kind of wind energy turbine set replicating machine and RTDS emulator is provided, detailed for wind energy turbine set power supply emulation is combined with the electrical network carrying out electromagnetic transient simulation with RTDS, form wind energy turbine set and RTDS power grid joint analogue system, for large-scale wind power and the research of network process provides real-time simulation instrument.

To achieve these goals, the technical scheme that the present invention proposes is, the self defined interface of a kind of wind energy turbine set replicating machine and RTDS emulator, for the data communication between Real Time Digital Simulator RTDS and wind park analogue system, it is characterized in that, described self defined interface is connected with optical communication interface card with ac and dc systems grid simulation module after the equivalence in Real Time Digital Simulator RTDS respectively, and described optical communication interface card is connected with the detailed emulation module of the wind energy turbine set in wind park analogue system;

After described equivalence, ac and dc systems grid simulation module is used for downlink data to be sent to the detailed emulation module of wind energy turbine set by optical communication interface card; Described downlink data comprises that wind field access point on off state, wind field access dotted line voltage, wind energy turbine set are actually exerted oneself, AGC instruction and synchronizing signal;

The detailed emulation module of described wind energy turbine set is used for downlink data receiving, and emulates the duty of wind energy turbine set according to downlink data, thus generates upstream data, then upstream data is sent to self defined interface by optical communication interface card; Described upstream data comprises the real-time active power of wind energy turbine set, wind energy turbine set reactive power power and synchronizing signal;

Described self defined interface is for receiving upstream data, and after receiving upstream data, the instantaneous voltage of ac and dc systems grid simulation module acquires wind field access point and the instantaneous phase angle of wind field access point after equivalence, again according to the instantaneous voltage of wind field access point, the instantaneous phase angle of wind field access point, the real-time active power of wind energy turbine set and wind energy turbine set reactive power power, calculate momentary current and described momentary current is sent to equivalent after ac and dc systems grid simulation module.

The self defined interface of wind energy turbine set replicating machine provided by the invention and RTDS emulator, can be applicable to source net associative simulation and with multi-stage scheduling closed-loop control system, detailed for wind energy turbine set power supply emulation is combined with the electrical network carrying out electromagnetic transient simulation with RTDS, realize while the detailed replicating machine of wind energy turbine set and RTDS power grid joint emulate, can reflect accurately and follow the changed power of the detailed replicating machine of wind energy turbine set; In addition, the present invention also can be used for the grid-connected various impacts brought to electrical network of simulation large-scale wind power, for large-scale wind power and the research of network process provides real-time simulation instrument, for the research of AGC (Automatic Generation Control) algorithm comprising wind energy turbine set provides condition.

Accompanying drawing explanation

Fig. 1 is the self defined interface structural representation of wind energy turbine set replicating machine and RTDS emulator;

Fig. 2 is the interface realizing method process flow diagram of large-scale wind power field replicating machine and RTDS emulator;

Fig. 3 is the tables of data that RTDS power system simulation model gives the detailed realistic model of wind energy turbine set;

Fig. 4 is the tables of data that RTDS power system simulation model given by the detailed realistic model of wind energy turbine set;

The detailed replicating machine of wind energy turbine set and the RTDS electrical network module combined simulation system Booting sequence figure of Fig. 5 to be power grid of West Inner Mongolia be prototype;

Fig. 6 is wind energy turbine set self defined interface three-phase system test pattern;

Fig. 7 is the actual tables of data of exerting oneself of wind energy turbine set self defined interface;

Fig. 8 is the power control instruction of wind energy turbine set self defined interface and actual contrast table of exerting oneself.

Embodiment

Below in conjunction with accompanying drawing, preferred embodiment is elaborated.It is emphasized that following explanation is only exemplary, instead of in order to limit the scope of the invention and apply.

Embodiment 1

Fig. 1 is the self defined interface structural representation of wind energy turbine set replicating machine and RTDS emulator.As shown in Figure 1, self defined interface provided by the invention is connected with optical communication interface card with ac and dc systems grid simulation module after the equivalence in Real Time Digital Simulator RTDS respectively.Wherein, optical communication interface card is connected with the detailed emulation module of wind energy turbine set.

After equivalent, ac and dc systems grid simulation module is used for downlink data to be sent to the detailed emulation module of wind energy turbine set by optical communication interface card.Downlink data comprises that wind field access point on off state, wind field access dotted line voltage, wind energy turbine set are actually exerted oneself, AGC instruction and synchronizing signal.

The detailed emulation module of wind energy turbine set is used for downlink data receiving, and emulates the duty of wind energy turbine set according to downlink data, thus generates upstream data, then upstream data is sent to self defined interface by optical communication interface card.Upstream data comprises the real-time active power of wind energy turbine set, wind energy turbine set reactive power power and synchronizing signal.

Self defined interface is for receiving upstream data, and after receiving upstream data, the instantaneous voltage of ac and dc systems grid simulation module acquires wind field access point and the instantaneous phase angle of wind field access point after equivalence, again according to the instantaneous voltage of wind field access point, the instantaneous phase angle of wind field access point, the real-time active power of wind energy turbine set and wind energy turbine set reactive power power, calculate momentary current and described momentary current is sent to equivalent after ac and dc systems grid simulation module.

Based on said structure, the build process of the self defined interface of wind energy turbine set replicating machine and RTDS emulator is:

Step 1: build the detailed emulation module in large-scale wind power field in wind park analogue system.

The detailed emulation module of wind energy turbine set utilizes server cluster to realize the emulation of hundreds of Wind turbines, and simulation object comprises main modular and the various supplementary modules such as wind module, wind energy conversion system module, driving-chain module, generator module, converter module.

Step 2: simultaneously on Real Time Digital Simulator RTDS, build the grid simulation module comprising the ac and dc systems of wind energy turbine set after equivalence.

The power system simulation model of ac and dc systems comprises: engine block module, dynamo governor module, generator excited system module, Generator electrical system stabilizer module, busbar modules, transformer module, transmission line of alternation current module, straight-flow system module, loading module, breaker module and required operation control module.

Step 3: according to the functional requirement of the grid simulation module interface of the ac and dc systems on the detailed emulation module in large-scale wind power field and RTDS, determine the interface realizing method of large-scale wind power field replicating machine and RTDS emulator.

In the present invention, need to convert the active power of the real-time change from the detailed emulation module of extensive wind energy turbine set and reactive power to instantaneous current value, access RTDS real-time simulator.Fig. 2 is the interface realizing method process flow diagram of large-scale wind power field replicating machine and RTDS emulator, and as shown in Figure 2, the method that active power and reactive power convert instantaneous current value to comprises:

Steps A 1: self defined interface receives real-time active-power P and the reactive power power Q of the transmission of wind energy turbine set detailed emulation module.

Steps A 2: the amplitude U calculating each phase fundamental voltage _iand phase place it comprises again following sub-step:

Sub-step A201: make k=0, setting initial acquisition moment t.

Sub-step A202: the current time each phase voltage instantaneous value U gathering wind energy turbine set access point _i(t+k Δ t) and phase angle instantaneous value

Wherein, Δ t is the simulation step length of Real Time Digital Simulator RTDS, is also sample frequency.I=A, B and C, represent A phase, B phase and C phase respectively.

Sub-step A203: if k=N, then perform sub-step A204; Otherwise, make k=k+1, return sub-step A202.Wherein, t is the cycle of fundamental voltage signal.

Sub-step A204: calculate each phase fundamental voltage phasor semiperiod d axle mean value and q axle mean value.

Suppose that the instantaneous voltage of t interface bus place A phase is respectively U _at (), voltage phase angle is φ _at (), adopts dq conversion, then can obtain,

Ask for U _adthe mean value X of (t) signal first-harmonic half period _afor:

$X_A=\frac{2}{T}{\∫}_{t_0}^{t_0+\frac{T}{2}}2U_A\left(t\right){\mathrm{sin\φ}}_A\left(t\right)dt---\left(2\right)$

Ask for U _aqthe mean value Y of (t) signal first-harmonic half period _afor:

$Y_A=\frac{2}{T}{\∫}_{t_0}^{t_0+\frac{T}{2}}2U_A\left(t\right){\mathrm{cos\φ}}_A\left(t\right)dt---\left(3\right)$

It can thus be appreciated that the computing formula of each phase fundamental voltage phasor semiperiod d axle mean value is:

$X_i=\frac{2}{T}{\∫}_{t_0}^{t_0+\frac{T}{2}}2U_i\left(t\right){\mathrm{sin\φ}}_i\left(t\right)dt---\left(4\right)$

The computing formula of each phase fundamental voltage phasor semiperiod q axle mean value is:

$Y_i=\frac{2}{T}{\∫}_{t_0}^{t_0+\frac{T}{2}}2U_i\left(t\right){\mathrm{cos\φ}}_i\left(t\right)dt---\left(5\right)$

Sub-step A205: the amplitude U calculating each phase fundamental voltage respectively _iand phase place

The amplitude U of each phase fundamental voltage _icomputing formula be:

$U_i=\sqrt{\frac{X_i^2+Y_i^2}{2}}---\left(6\right)$

The phase place of each phase fundamental voltage computing formula be:

According to above-mentioned sub-step A201-A205, calculate the amplitude U of each phase fundamental voltage _iand phase place after, utilize the amplitude U of fundamental voltage _icalculate each sequence voltage phasor of first-harmonic.

Steps A 3: calculate fundamental positive sequence voltage phasor U ₁.Its computing formula is:

U _E(1,2,0)＝C _TU _E(A,B,C)(8)

In formula (5), U _e(1,2,0)=[U ₁u ₂u ₀], U ₁for fundamental positive sequence voltage phasor, U ₂for first-harmonic negative sequence voltage phasor, U ₀for zero-sequence fundamental voltage phasor.U _e(A, B, C)=[U _au _bu _c], U _afor the amplitude of A phase fundamental voltage, U _bfor the amplitude of B phase fundamental voltage, U _cfor the amplitude of C phase fundamental voltage.C _tfor transition matrix, its value is:

$C_T=\left[\begin{array}{ccc}1& \mathrm{\α}& {\mathrm{\α}}^2\\ 1& {\mathrm{\α}}^2& \mathrm{\α}\\ 1& 1& 1\end{array}\right]---\left(9\right)$

In formula (6), α=e ^{j120 °}, j is imaginary unit.

Steps A 4: calculate fundamental positive sequence electric current phasor, its computing formula is:

$I_1=\frac{P}{3U_{1}cos\left(\arctan \frac{Q}{P}\right)}---\left(10\right)$

Steps A 5: make fundamental negative sequence current phasor I ₂with fundamental wave zero sequence electric current phasor I ₀be zero, calculate each phase fundamental current phasor, its computing formula is:

$I_E(A,B,C)=C_T^{-1}{I}_E(1,2,0)---\left(11\right)$

In formula (11), I _e(A, B, C)=[I _ai _bi _c], I _afor A phase fundamental current phasor, I _bfor B phase fundamental current phasor, I _cfor C phase fundamental current phasor, I _e(1,2,0)=[I ₁i ₂i ₀], C _tnamely the transition matrix in formula (8).

Step 4: draw self defined interface outward appearance, the parameter setting self defined interface and inputoutput section vertex type on RTDS/CBuilder platform, generates header file rtds_windport.h and the defined file rtds_windport.def of self defined interface.

Step 5: the computing method of self defined interface determined according to step 3 and the header file rtds_windport.h of step 4 generation, the program circuit of design wind-powered electricity generation interface module, writes and the real-time simulation program rtds_windport.c of Compile interface module.

Step 6: the period determining RTDS and the detailed replicating machine interactive information of wind energy turbine set, installing optical fibres communication interface card GTFPGA on RTDS also builds its configuration module; Wherein, the interactive information of RTDS and the detailed emulation module of wind energy turbine set refers to that RTDS grid simulation module gives the wind field access point on off state of the detailed replicating machine of wind energy turbine set by optical communication interface card GTFPGA, wind field accesses dotted line voltage, wind energy turbine set is actually exerted oneself, AGC instruction, synchronizing signal, and the detailed replicating machine of wind energy turbine set gives meritorious, idle instruction and the synchronizing signal of RTDS grid simulation module.

Step 7: determine the input control order between the detailed replicating machine of wind energy turbine set and wind-powered electricity generation interface custom block rtds_windport, each variable by the self defined interface in the detailed replicating machine of wind energy turbine set and RTDS power system simulation model carries out one_to_one corresponding.In the ac and dc systems grid simulation module that step 2 is built, add wind-powered electricity generation interface control module, form the source net combined simulation system comprising the detailed replicating machine of wind energy turbine set and RTDS electrical network module.

Embodiment 2

Below for power grid of West Inner Mongolia, the present invention will be further described.Power grid of West Inner Mongolia after equivalence has 31 525KV nodes, 63 230KV nodes (containing 7 wind energy turbine set access points), 47 generators, and its concrete steps are as follows:

Step 1: at the upper detailed realistic model building large-scale wind power field of Power Plant Simulation System (STAR-90 graphical simulation support system), utilize 11 station server emulation 1000MW level wind energy turbine set, 11 station servers can cover 7 the 230kV wind energy turbine set access points in west by independent assortment flexible access, 7 wind energy turbine set access points be respectively cover coulomb, Meng Qitai, illiteracy temperature all, cover emerging wide, cover in joint, cover Desheng, Meng Tangwu.The simulation object of the detailed emulation module of wind energy turbine set comprises main modular and the various supplementary modules such as wind module, wind energy conversion system module, driving-chain module, generator module, converter module.

Step 2: use BPA to carry out dynamic equivalent to power grid of West Inner Mongolia prototype real system, the software platform RSCAD of Real Time Digital Simulator RTDS builds and covers 31 the 525kV nodes in west, the power system simulation model of 63 230kV nodes, build engine block module, dynamo governor module, generator excited system module, Generator electrical system stabilizer module, busbar modules, transformer module, transmission line of alternation current module, loading module in detail, breaker module and required operation control module, take altogether 6 RACK (cabinet).

Step 3: the interface realizing method determining large-scale wind power field replicating machine and RTDS emulator.Get instantaneous voltage and the phase angle of wind field access point; Carry out dq conversion, try to achieve voltage fundamental phasor; Carry out Phase-Sequence Transformation, try to achieve voltage fundamental positive sequence phasor; Using meritorious, the idle performance number of exerting oneself of the real-time change from the detailed replicating machine of wind energy turbine set as fundamental power value, try to achieve current first harmonics positive sequence phasor; Carry out sequence phase inversion, try to achieve current first harmonics phasor, with the form of momentary current access primary system.

Step 4: determine that wind-powered electricity generation interface module is primary system custom block, drafting module outward appearance, the parameter setting interface module and inputoutput section vertex type on the self-defined platform of RTDS/CBuilder, generate header file rtds_windport.h and the defined file rtds_windport.def of interface module.

Step 5: the computing method of wind-powered electricity generation interface module determined according to step 3 and the header file rtds_windport.h of step 4 generation, the program circuit (as shown in Figure 2) of design wind-powered electricity generation interface module, writes and the real-time simulation program rtds_windport.c of Compile interface module.

Step 6: name variable and the period thereof of determining RTDS power grid of West Inner Mongolia realistic model and the detailed realistic model interactive information of wind energy turbine set, shown in following Fig. 3 and Fig. 4, installing optical fibres communication interface card GTFPGA on RTDS also builds its configuration module, is realized the data interaction of RTDS power grid of West Inner Mongolia emulation module and the detailed replicating machine of wind energy turbine set by GTFPGA.

Step 7: using the input of detailed for wind energy turbine set replicating machine meritorious in real time, without work value and synchronizing signal (as shown in Figure 4) input value as wind-powered electricity generation self defined interface module rtds_windport, wind-powered electricity generation interface control module is added in the ac and dc systems grid simulation module that step 2 is built, form the detailed replicating machine of wind energy turbine set and RTDS electrical network module combined simulation system, the Booting sequence of this combined simulation system as shown in Figure 5.

Embodiment 3

The present embodiment is the test to wind energy turbine set self defined interface.Wind energy turbine set self defined interface module be connected with infinitely great power supply, its three-phase test macro as shown in Figure 6.S is the ideal voltage source of frequency 50Hz, rated line voltage 230kV, and R is the resistance of 0.001 Ω, U _a, U _b, U _cfor the phase voltage of three-phase bus, bus connects faulty generators, Ph _a, Ph _b, Ph _cby U _a, U _b, U _cobtain through phase measurement element, for the three-phase voltage initial phase of wind energy turbine set self defined interface module inputs, P ₀, Q ₀for meritorious, the idle input of wind energy turbine set self defined interface module, I _a, I _b, I _cfor wind energy turbine set self defined interface module flows into the electric current of system, P, Q are U _a, U _b, U _cand I _a, I _b, I _cthrough actual the exerting oneself of the wind energy turbine set self defined interface module that power measurement component obtains.

Run this test macro, setting P ₀, Q ₀be respectively 100MW, 100Mvar, after system stable operation, bus add the three-phase ground fault that the duration is 0.4s.When system is normally run, in failure process, after fault recovery, actual the exerting oneself of wind energy turbine set self defined interface module is illustrated in fig. 7 shown below respectively.As can be seen here, wind energy turbine set self defined interface also can be exerted oneself by accurate stable in the process of fault.

Embodiment 4

The practical application of wind energy turbine set self defined interface in power grid of West Inner Mongolia is the detailed emulation module of wind energy turbine set of prototype and RTDS electrical network module combined simulation system.

When the detailed replicating machine of wind energy turbine set and RTDS grid simulation module realize synchronous after, change meritorious, the idle steering order that the detailed replicating machine of wind energy turbine set before and after each wind field wind speed sends into RTDS grid simulation module and gain merit with the reality of RTDS power grid wind field self defined interface module, idlely exert oneself contrast situation as shown in Figure 8.

The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (1)

1. the self defined interface of a wind energy turbine set replicating machine and RTDS emulator, for the data communication between Real Time Digital Simulator RTDS and wind park analogue system, it is characterized in that, described self defined interface is connected with optical communication interface card with ac and dc systems grid simulation module after the equivalence in Real Time Digital Simulator RTDS respectively, and described optical communication interface card is connected with the detailed emulation module of the wind energy turbine set in wind park analogue system;

After described equivalence, ac and dc systems grid simulation module is used for downlink data to be sent to the detailed emulation module of wind energy turbine set by optical communication interface card; Described downlink data comprises that wind field access point on off state, wind field access dotted line voltage, wind energy turbine set are actually exerted oneself, AGC instruction and synchronizing signal;

The detailed emulation module of described wind energy turbine set is used for downlink data receiving, and emulates the duty of wind energy turbine set according to downlink data, thus generates upstream data, then upstream data is sent to self defined interface by optical communication interface card; Described upstream data comprises the real-time active power of wind energy turbine set, wind energy turbine set reactive power power and synchronizing signal;

Described self defined interface is for receiving upstream data, and after receiving upstream data, the instantaneous voltage of ac and dc systems grid simulation module acquires wind field access point and the instantaneous phase angle of wind field access point after equivalence, again according to the instantaneous voltage of wind field access point, the instantaneous phase angle of wind field access point, the real-time active power of wind energy turbine set and wind energy turbine set reactive power power, calculate momentary current and described momentary current is sent to equivalent after ac and dc systems grid simulation module.