CN104950694B - A kind of joint RTDS and RT LAB MMC analogue systems - Google Patents
A kind of joint RTDS and RT LAB MMC analogue systems Download PDFInfo
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Abstract
The invention discloses a kind of joint RTDS and RT LAB MMC analogue systems, including：RTDS emulators and RT LAB emulators；RTDS emulators are used to simulate MMC main circuits；RTDS emulators include MMC valve emulator (1) and the alternating current-direct current emulator (2) in addition to MMC valve；RT LAB emulators are used to simulate MMC system-level controllers, station level controller and valve level controller；RT LAB emulators include station level controller simulation device (3), valve level controller emulator (4) and system-level controller emulator (5).Above technical scheme has effectively combined RTDS and RT LAB analogue systems, the Curve guide impeller and parameter tuning of controller under the controller designs of different MMC topological structures, different system scene can be applied to, and then be advantageous to expansion of the researcher to MMC related works.
Description
Technical field
The present invention relates to technical field of power system real-time simulation, more particularly to a kind of joint RTDS's and RT-LAB
MMC analogue systems.
Background technology
Modularization multi-level converter (modular multilevel converter, MMC) has ac output voltage
Percent harmonic distortion is low, and modular construction is easy to encapsulate, and the electric stress that switching device is born is small, the advantages such as switching loss is low.From
After 2002 propose, by the development in more than ten years, recognize extensively for industry.To realize high-tension transmission characteristic, each bridges of MMC
Arm is generally all in series with hundreds of submodules, and multiple power electronic devices (IGBT and diode) are included in each submodule.
For Computer Simulation, the introducing of a large amount of power electronic devices will substantially reduce the speed of calculating, while also reduce section
Learn the efficiency of research.
Therefore, the RTDS power system real-time simulations system for developing manufacture by Canadian Manitoba RTDS companies can have
Effect realizes MMC real-time analog simulation, disclosure satisfy that basic demonstration and research require.But the control program that RTDS is provided
It is to be developed based on FPGA, research staff is completely enclosed, can not meet that MMC changes in a variety of operating conditions and submodule topological structure
Adaptive application in the case of change, hinder further research and experiment of the researcher to MMC class flexible DC power transmissions.
In addition, the RT-LAB power system real-time simulations system of Canadian Opal-RT technology companys exploitation is flexible straight in MMC
Prominent performance is also shown in stream transmission of electricity.RT-LAB is based on electric power modeling tool professional in Matlab
SimPowerSystems, it is industry with reference to PC multinuclear distributed parallel computings and FPGA high-speed digital video camera technologies
Uniquely possesses the analogue system that SimPowerSystems power models are built up to real-time system ability.Opal-RT is soft for MMC
Property DC terms purposes need, develop the high-precision nanosecond emulator based on FPGA, minimum step is up to 250ns.RT-LAB
The related simulation model that company is provided opens to research staff, can greatly facilitate development of the researcher to related work.
But either RTDS power system real-time simulations system, or RT-LAB power system real-time simulation systems, it
All cannot be simultaneously suitable for the Curve guide impeller of controller under the controller designs of different MMC topological structures, different system scene
And parameter tuning, hinder expansion of the researcher to MMC related works.
The content of the invention
In view of this, the invention provides a kind of joint RTDS and RT-LAB MMC analogue systems, with suitable for difference
The Curve guide impeller and parameter tuning of controller under the controller designs of MMC topological structures, different system scene, and then be advantageous to grind
Study carefully expansion of the personnel to MMC related works.
In order to solve the above technical problems, the present invention provides a kind of joint RTDS and RT-LAB MMC analogue systems, including：
RTDS emulators, for simulating MMC main circuits；
RT-LAB emulators, for simulating MMC system-level controllers, station level controller and valve level controller；
The RTDS emulators include MMC valve emulator and the alternating current-direct current emulator in addition to the MMC valve；The RT-
LAB emulators include station level controller simulation device, valve level controller emulator and system-level controller emulator；
Wherein,
The MMC valve emulator receives the valve group parameter of the alternating current-direct current emulator output in addition to MMC valve, the valve
The submodule trigger pulse of level controller simulation device transmission, and export valve group to the alternating current-direct current emulator in addition to MMC valve
Status signal, to the valve level controller emulator transmit submodule capacitor voltage, bridge arm current and sub-module fault signal；
The alternating current-direct current emulator in addition to MMC valve receives the valve group status signal of the MMC valve emulator transmission, and
Exported to MMC valve emulator output valve group parameter, to the station level controller simulation device AC/DC voltage signal and friendship/
DC current signal；
The station level controller simulation device receives the AC/DC electricity of the alternating current-direct current emulator output in addition to MMC valve
Press signal and AC/DC current signal, the submodule status signal of valve level controller emulator output, the system-level control
The power voltage instruction of device emulator processed transmission, and to the valve level controller emulator output AC voltage modulated signal, to
The system-level controller emulator exports current conversion station status signal；
The valve level controller emulator receives the alternating voltage modulated signal of the station level controller simulation device output, institute
Submodule capacitor voltage, bridge arm current and the sub-module fault signal of MMC valve emulator transmission are stated, and to the station level controller
Emulator output sub-module status signal, to the MMC valve emulator transmit submodule trigger pulse；
The system-level controller emulator receives the current conversion station status signal of the station level controller simulation device transmission, and
To its transimission power voltage instruction.
Above-mentioned analogue system, optionally, in addition to：
It is arranged at the alternating current-direct current emulator in addition to MMC valve and the digital-to-analogue between the station level controller simulation device turns
Alias.
Above-mentioned analogue system, optionally,
The MMC valve emulator is RTDS FPGA processors；
The alternating current-direct current emulator in addition to MMC valve is RTDS PB5 processors；
The station level controller simulation device is RT-LAB OP5600 processors；
The valve level controller emulator is RT-LAB OP7020 processors；
The system-level controller emulator is MMC monitors.
Above-mentioned analogue system, optionally, the MMC valve emulator are the emulator of the bridge arm structure of three-phase six, wherein, each
Bridge arm is connected and formed by least one half-bridge submodule and a reactor.
Above-mentioned analogue system, optionally, pass through between the MMC valve emulator and the valve level controller emulator
AURORA agreements enter row data communication.
Above-mentioned analogue system, optionally, between the station level controller simulation device and the system-level controller emulator
Row data communication is entered by ICP/IP protocol.
Above-mentioned analogue system, optionally, optical fiber is utilized between the MMC valve emulator and the valve level controller emulator
Enter row data communication.
Above-mentioned analogue system, optionally, between the station level controller simulation device and the system-level controller emulator
Enter row data communication using netting twine.
Above in joint RTDS and RT-LAB provided by the invention MMC analogue systems, RTDS emulators are utilized to simulate MMC
Main circuit；Wherein, RTDS emulators include MMC valve emulator and the alternating current-direct current emulator in addition to MMC valve；Imitated using RT-LAB
True device simulation MMC system-level controllers, station level controller and valve level controller；Wherein, RT-LAB emulators control including station level
Device emulator, valve level controller emulator and system-level controller emulator；In practical application, by between above-mentioned each emulator
Carry out emulation of the conventional data interaction completion to MMC.Above technical scheme has effectively combined RTDS and RT-LAB analogue systems,
It is whole that the Curve guide impeller of controller and parameter under the controller designs of different MMC topological structures, different system scene can be applied to
It is fixed, and then be advantageous to expansion of the researcher to MMC related works.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is that a kind of structural frames of joint RTDS and RT-LAB MMC analogue systems provided in an embodiment of the present invention illustrate
It is intended to；
Fig. 2 is the structural frames of another joint RTDS and RT-LAB of the embodiment of the present invention based on Fig. 1 MMC analogue systems
Diagram is intended to；
Fig. 3 is a kind of structural representation of MMC valve emulator provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The core of the present invention is to provide a kind of joint RTDS and RT-LAB MMC analogue systems, to be opened up suitable for different MMC
The Curve guide impeller and parameter tuning of controller under the controller design of structure, different system scene are flutterred, and then is advantageous to study people
Expansion of the member to MMC related works.
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
With reference to figure 1, a kind of knot of joint RTDS and RT-LAB provided in an embodiment of the present invention MMC analogue systems is shown
Structure block diagram representation, the MMC analogue systems can specifically include following content：
RTDS emulators, for simulating MMC main circuits；
RT-LAB emulators, for simulating MMC system-level controllers, station level controller and valve level controller；
RTDS emulators include MMC valve emulator 1 and the alternating current-direct current emulator 2 in addition to MMC valve；RT-LAB emulator bags
Include station level controller simulation device 3, valve level controller emulator 4 and system-level controller emulator 5；
Wherein, in actual applications, each emulation module carries out following data interaction, to complete the emulation to MMC：
MMC valve emulator 1 receives valve group parameter, the valve level controller that the alternating current-direct current emulator 2 in addition to MMC valve exports and imitated
The submodule trigger pulse that true device 4 transmits, and export valve group status signal, to valve to the alternating current-direct current emulator 2 in addition to MMC valve
Level controller simulation device 4 transmits submodule capacitor voltage, bridge arm current and sub-module fault signal；
Specifically, submodule trigger pulse is the signal that power electronic devices is cut-off in direct control submodule；
Specifically, valve group parameter is used for providing the simulation calculating of MMC valve emulator 1 the corresponding parameter of each step-length,
Simulation calculation of the system through alternating current-direct current emulator 2 in addition to MMC valve obtains valve group parameter, and MMC valve emulator 1 is according to receiving
Valve group parameter internal each quantity of state is calculated, and partial status signal (i.e. valve group status signal) output is extremely removed into MMC valve
Alternating current-direct current emulator 2 in addition, wherein, valve group status signal includes the running status in the case of each valve group real simulation.
Alternating current-direct current emulator 2 in addition to MMC valve receives the valve group status signal of the transmission of MMC valve emulator 1, and to MMC
Valve emulator 1 exports valve group parameter, AC/DC voltage signal and AC/DC electric current letter is exported to station level controller simulation device 3
Number；
Station level controller simulation device 3 receives the AC/DC voltage signal that the alternating current-direct current emulator 2 in addition to MMC valve exports
Submodule status signal, the system-level controller emulator 5 exported with AC/DC current signal, valve level controller emulator 4 passes
Defeated power voltage instruction, and emulated to the output AC voltage modulated signal of valve level controller emulator 4, to system-level controller
Device 5 exports current conversion station status signal；
In actual applications, MMC station levels controller simulation device 3 uses inner and outer ring control strategy.Outer ring controller equipped with
Determine active power controller, determine Reactive Power Control, constant DC voltage control and determine alternating voltage control, according to running
Demand, selection use.Interior ring controller uses current decoupled control strategy, output AC voltage modulated signal；
Specifically, current conversion station status signal refers to the running status of the related device such as MMC in current conversion station, is delivered to system
After level controller simulation device 5, can directly it be observed by forms such as waveforms.Power voltage is instructed by system-level controller emulator
5 are calculated according to ac and dc systemses actual demand, are the elementary instructions of whole MMC converter Controls.
Specifically, alternating voltage modulated signal is that the MMC needs that controller is calculated according to the control requirement of system are defeated
The alternating voltage reference signal gone out；Submodule status signal includes sub-module fault signal, flows through the bridge arm current letter of submodule
Number, gather from main circuit.The generation of alternating voltage reference signal needs the feed back input of submodule bulk state, meanwhile, alternating voltage
The change of reference signal decides the corresponding change of submodule bulk state.
Valve level controller emulator 4 receives the alternating voltage modulated signal of the output of station level controller simulation device 3, MMC valve is imitated
Submodule capacitor voltage, bridge arm current and the sub-module fault signal that true device 1 transmits, and exported to station level controller simulation device 3
Submodule status signal, to MMC valve emulator 1 transmit submodule trigger pulse；
In actual applications, MMC valve level controller simulation device 4 is carried out most to the alternating voltage modulated signal received first
Nearly level approaches modulation treatment, and obtaining each bridge arm in controlling cycle needs the submodule number triggered, then by quickly arranging
Sequence algorithm carries out sequence from small to large to all submodules in each bridge arm, according to the direction of bridge arm current and submodule
The charge-discharge characteristic of electric capacity, selective triggering is carried out to the submodule in bridge arm, so as to obtain the trigger pulse of each submodule.
System-level controller emulator 5 receives the current conversion station status signal of the transmission of station level controller simulation device 3, and is passed to it
Defeated power voltage instruction；
In actual applications, MMC system-level controllers emulator 5 provides according to the running situation of whole ac and dc systemses
Corresponding power and voltage instruction, with operation characteristics of the quick regulation MMC in alternating current-direct current side, so as to meet whole analogue system
Service requirement.On the other hand, it is further equipped with Wave data observer, is capable of the response condition of real-time monitored analogue system.
In the present invention, it is preferable that also include：The alternating current-direct current emulator 2 and station level controller being arranged in addition to MMC valve are imitated
Digital-to-analogue conversion interface 6 between true device 3.
To sum up, above technical scheme has effectively combined RTDS and RT-LAB analogue systems, can be applied to different MMC topologys
The Curve guide impeller and parameter tuning of controller under the controller design of structure, different system scene, and then be advantageous to researcher
Expansion to MMC related works.
With reference to figure 2, the MMC emulation for showing another joint RTDS and RT-LAB of the embodiment of the present invention based on Fig. 1 is
The structured flowchart schematic diagram of system, in actual applications, it is utilized respectively following processor and is emulated：
The MMC valve emulator 1 is RTDS FPGA processors；
The alternating current-direct current emulator 2 in addition to MMC valve is RTDS PB5 processors；
The station level controller simulation device 3 is RT-LAB OP5600 processors；
The valve level controller emulator 4 is RT-LAB OP7020 processors；
The system-level controller emulator 5 is MMC monitors.
Data are carried out in the present invention, between MMC valve emulator 1 and valve level controller emulator 4 by AURORA agreements to lead to
Letter；Meanwhile enter row data communication using optical fiber.In addition, in actual applications, MMC valve emulator 1 and valve level controller emulator
A pair of corresponding series/parallel signal processors are additionally provided between 4, to meet the conversion between string, parallel data demand, and
And data (submodule capacitor voltage, bridge arm current and the son that will be exchanged between MMC valve emulator 1 and valve level controller emulator 4
Module failure signal, and submodule trigger pulse) according to the packing of AURORA protocol datas handle after be transmitted again.
In the present invention, carried out between station level controller simulation device 3 and system-level controller emulator 5 by ICP/IP protocol
Data communicate；Meanwhile enter row data communication using netting twine.
In the present invention, Fig. 3 is refer to, MMC valve emulator 1 is the emulator of the bridge arm structure of three-phase six, wherein, each bridge arm
Connect and to be formed by least one half-bridge submodule and a reactor.
Specifically, for the three-phase alternating current of AC network to be converted into direct current.Half-bridge submodule output voltage is present
Just the bridge arm change of current can be suppressed with 0 two kinds of level, bridge arm reactor, played in DC Line Fault and suppress fault current rising, protected
Protect the effect of the devices such as IGBT.Half-bridge submodule is by two IGBT pipes T1~T2Formed with an electric capacity C.In figure 3, except MMC valve
Beyond the part of emulator 1, the part of the alternating current-direct current emulator 2 in addition to MMC valve is belonged to.
Joint RTDS and RT-LAB provided by the present invention MMC analogue systems are described in detail above.Herein
In apply specific case to the present invention principle and embodiment be set forth, the explanation of above example is only intended to help
Assistant solves the method and its core concept of the present invention.It should be pointed out that for those skilled in the art, not
On the premise of departing from the principle of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification is also fallen into
In the protection domain of the claims in the present invention.
Claims (8)
- A kind of 1. joint RTDS and RT-LAB MMC analogue systems, it is characterised in that including：RTDS emulators, for simulating MMC main circuits；RT-LAB emulators, for simulating MMC system-level controllers, station level controller and valve level controller；The RTDS emulators include MMC valve emulator (1) and the alternating current-direct current emulator (2) in addition to the MMC valve；It is described RT-LAB emulators include station level controller simulation device (3), valve level controller emulator (4) and system-level controller emulator (5)；Wherein, the station level controller simulation device (3) uses inner and outer ring control strategy；The MMC valve emulator (1) receives the valve group parameter, described of alternating current-direct current emulator (2) output in addition to MMC valve The submodule trigger pulse of valve level controller emulator (4) transmission, and to the alternating current-direct current emulator (2) in addition to MMC valve Export valve group status signal, transmit submodule capacitor voltage, bridge arm current and submodule to the valve level controller emulator (4) Fault-signal；The alternating current-direct current emulator (2) in addition to MMC valve receives the valve group status signal of MMC valve emulator (1) transmission, And export valve group parameter to the MMC valve emulator (1), AC/DC voltage letter is exported to the station level controller simulation device (3) Number and AC/DC current signal；The station level controller simulation device (3) receives the AC/DC of alternating current-direct current emulator (2) output in addition to MMC valve Voltage signal and AC/DC current signal, the submodule status signal of the valve level controller emulator (4) output, the system The power voltage instruction of irrespective of size controller simulation device (5) transmission, and to valve level controller emulator (4) output AC voltage Modulated signal, to the system-level controller emulator (5) export current conversion station status signal；The alternating voltage modulated signal of valve level controller emulator (4) reception station level controller simulation device (3) output, Submodule capacitor voltage, bridge arm current and the sub-module fault signal of the MMC valve emulator (1) transmission, and to the station level Controller simulation device (3) output sub-module status signal, to the MMC valve emulator (1) transmit submodule trigger pulse；The system-level controller emulator (5) receives the current conversion station status signal of station level controller simulation device (3) transmission, And to its transimission power voltage instruction；Wherein, the station level controller simulation device (3) is RT-LAB OP5600 processors；The valve level controller emulator (4) For RT-LAB OP7020 processors；The system-level controller emulator (5) is MMC monitors.
- 2. joint RTDS and RT-LAB MMC analogue systems as claimed in claim 1, it is characterised in that also include：It is arranged at the alternating current-direct current emulator (2) in addition to MMC valve and the digital-to-analogue between the station level controller simulation device (3) Translation interface (6).
- 3. joint RTDS and RT-LAB MMC analogue systems as claimed in claim 1, it is characterised in thatThe MMC valve emulator (1) is RTDS FPGA processors；The alternating current-direct current emulator (2) in addition to MMC valve is RTDS PB5 processors.
- 4. joint RTDS and RT-LAB MMC analogue systems as claimed in claim 1, it is characterised in that the MMC valve emulation Device (1) is the emulator of the bridge arm structure of three-phase six, wherein, each bridge arm is by least one half-bridge submodule and a reactor Series connection is formed.
- 5. the MMC analogue systems of the joint RTDS and RT-LAB as described in Claims 1-4 any one, it is characterised in that institute State and row data communication is entered by AURORA agreements between MMC valve emulator (1) and the valve level controller emulator (4).
- 6. the MMC analogue systems of the joint RTDS and RT-LAB as described in Claims 1-4 any one, it is characterised in that institute State and led between station level controller simulation device (3) and the system-level controller emulator (5) by ICP/IP protocol progress data Letter.
- 7. joint RTDS and RT-LAB MMC analogue systems as claimed in claim 5, it is characterised in that the MMC valve emulation Enter row data communication using optical fiber between device (1) and the valve level controller emulator (4).
- 8. joint RTDS and RT-LAB MMC analogue systems as claimed in claim 6, it is characterised in that the station level control Enter row data communication using netting twine between device emulator (3) and the system-level controller emulator (5).
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| CN106681168A (en) * | 2015-11-10 | 2017-05-17 | 国网智能电网研究院 | Decoupling method for MMC converter valve digital-analog hybrid simulation interface network |
| CN106933116B (en) * | 2015-12-30 | 2020-03-31 | 中国科学院沈阳自动化研究所 | Micro-grid simulation debugging method with MATLB interface |
| CN106054668B (en) * | 2016-06-07 | 2018-11-27 | 中国西电电气股份有限公司 | A kind of modularization based on RT-Lab changeable half adjustment method in kind |
| CN106773796B (en) * | 2017-03-15 | 2023-06-06 | 南方电网科学研究院有限责任公司 | Electric power heterogeneous hybrid real-time simulation system and method |
| CN106845041B (en) * | 2017-03-22 | 2023-08-22 | 南方电网科学研究院有限责任公司 | MMC-based real-time simulation system, simulation method and MMC valve simulator |
| CN107168099A (en) * | 2017-05-24 | 2017-09-15 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Flexible DC power transmission all-digital real-time simulation device based on RTDS |
| CN110673508B (en) * | 2019-09-02 | 2023-04-14 | 南方电网科学研究院有限责任公司 | Method and device for building closed-loop test platform suitable for multiple scenes |
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