CN106325097B - A kind of Multiple Time Scales mixing real time data display - Google Patents
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- 238000002156 mixing Methods 0.000 title claims abstract description 14
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Abstract
The present invention relates to a kind of Multiple Time Scales mixing real time data displays, and protection system, Unit Level electro-magnetic transient module, device level switching transients module and the hot dynamic process module of fault-signal are sent including controller, to controller；Controller sends control command and pulse signal to Unit Level electro-magnetic transient module, sends the simulation data result of pulse signal and Unit Level electro-magnetic transient module respectively to device level switching transients module；Its simulation data result is sent to controller by Unit Level electro-magnetic transient module；Overvoltage, overcurrent and fault status information of the device level switching transients module to protection system sending device；Hot dynamic process module sends the temperature for turning off valve body of the device level switching transients module to protection system；Modules successively carry out data interaction by interface, realize the associative simulation of electro-magnetic transient, switching transients and hot dynamic process.Technical solution of the present invention to Control and protection system provide more comprehensively with true closed loop physical testing environment.
Description
Technical field:
The present invention relates to power electronics modeling and simulation technology fields, and it is real-time to be more particularly to a kind of Multiple Time Scales mixing
Digital Simulation System.
Background technique:
As technical field new in a power electronics, performance based on turn-off device power electronic equipment and reliable
Property be all concerned always, it is essential for carrying out detailed closed loop physical testing to actual control and protection system in advance
Step.Real time data display realizes controlled device and power grid with mathematical model, and with practical controller real-time, interactive,
Controller is equivalent to be connected in actual application environment in this way, to realize under complicated operating condition, disturbance or fault condition
Detailed closed loop test, comprehensive verification is carried out to controller function and performance, while assessing phase interaction of the controlled device with power grid
With having many advantages, such as that flexibility is good, accuracy is high, the period is short and small in size.
The main goal in research of power grid grade real-time simulation is relay protection and transient stability problem, power electronics real-time simulation
Main goal in research be that bottom PWM control, the control of Unit Level dynamic, system disturbance or protection control when plant failure etc. are asked
Topic, the goal in research of the two is not in a level.Low frequency, continuation property is mainly presented in power grid, and modeling and calculation method are more
Maturation, but it is for the power electronic equipment for high frequency, discrete feature is presented and improper.More level and PWM technology at
For the mainstream based on turn-off device power electronic equipment, wherein switching device is up to hundreds of, the up to upper kilohertz of switching frequency
Hereby, and simultaneously contain a large amount of reactance, capacitor, transformer equicontinuity device, existing power grid grade real-time simulation tool is to electricity
Power electronic device, which carries out simulation study, to pay very big cost, and is difficult to accomplish finely to emulate, and foundation, which is directed to, to be based on to close
The real time data display of disconnected device power electronic device is particularly significant.
There is complicated dynamic process based on turn-off device power electronic equipment, it is high-order characteristic, frequency dependent characteristic, non-linear
It is interweaved, dynamic response time span is very big, from the switching transients of nanosecond to the electro-magnetic transient of Microsecond grade, from Millisecond
System is dynamically again to the heat dynamic of minute grade, and with very close relevance, it is difficult that device models a variety of dynamic processes.
Some process is emulated in isolation, comprehensive equipment energy characteristic analysis and physical testing is cannot achieve, makes to a certain extent
Control of the China Yue Liao to field of power electronics core technology.
Therefore, it is necessary to study based on the modeling of turn-off device power electronic equipment Multiple Time Scales and real-time simulation skill
Art, for Control and protection system provide more comprehensively with true closed loop physical testing environment, to improve test confidence level, for mentioning
The reliability of scale application power electronic equipment is of great significance in high smart grid.
Summary of the invention:
The object of the present invention is to provide a kind of Multiple Time Scales mixing real time data displays, so that emulation is more acurrate,
And to Control and protection system provide more comprehensively with true closed loop physical testing environment.
To achieve the above object, the invention adopts the following technical scheme: a kind of Multiple Time Scales mixing real-timedigital simulation
System, comprising:
Protection system, Unit Level electro-magnetic transient module, the device level that controller, Xiang Suoshu controller send fault-signal are opened
Close transient state module and hot dynamic process module；
The controller sends control command and pulse signal, Xiang Suoshu device level to described device grade electro-magnetic transient module
Switching transients module sends the simulation data result of pulse signal and described device grade electro-magnetic transient module respectively；
Its simulation data result is sent to the controller by described device grade electro-magnetic transient module；
Overvoltage, overcurrent and malfunction of the device level switching transients module to the protection system sending device
Information；
What the hot dynamic process module sent the device level switching transients module to the protection system can shut-off valve
The temperature of body；
Described device grade electro-magnetic transient module, device level switching transients module and hot dynamic process module pass through interface successively
Data interaction is carried out, realizes the associative simulation of electro-magnetic transient, switching transients and hot dynamic process.
Described device grade electro-magnetic transient module, for establishing the Microsecond grade model of reflection device electro-magnetic transient；
The device level switching transients module, for establishing the nanosecond model of reflection IGBT switching transients；
The hot dynamic process module, for establishing the dynamic second grade model of reflection temperature.
The Microsecond grade model includes MMC submodule, and described device grade electro-magnetic transient module is imitated the MMC submodule
True output result is sent to the controller.
The device level switching transients module includes IGBT submodule, controlled voltage model and current source model；
The controlled voltage model and current source model are established according to the simulation data result；Pass through the controlled voltage
Model and the current source model send IGBT device over-voltage signal and over-current signal to protection system and hot dynamic process module,
And the junction temperature of the IGBT device is received from the hot dynamic process module.
The system also includes system-level electro-magnetic transient modules, for establishing the Millisecond of reflection electric system electromechanics transient state
Model；The system-level electro-magnetic transient module passes through size step-length transmission line or interface transformer and described device grade electro-magnetic transient
Model connection.
The controller includes master controller and communication module；The master controller is to described device grade electro-magnetic transient module
Send control command；The communication module receives the simulation data of described device grade electro-magnetic transient module as a result, and will be described imitative
True result is sent to the device level switching transients module；The communication module respectively to described device grade electro-magnetic transient module and
The device level switching transients module sends pwm pulse signal.
The hot dynamic process module include can shut-off valve thermodynamical model；And according to it is described can shut-off valve thermodynamics
The heat distribution of model determinator part dynamic junction temperature and valve.
It is described can shut-off valve thermodynamical model by establish IGBT module thermal impedance model and establish can shut-off valve
Heat transfer model emulation fitting determines.
The simulation data result includes each semi-bridge type submodule or each bridge-type submodule of the submodule of MMC
Capacitance voltage, bridge arm current and output voltage.
Compared with the nearest prior art, the technical scheme provide by that invention has the following excellent effect
1, it outside the various control strategies of technical solution of the present invention accurate validation, can be protected with the over-voltage of accurate validation inverter
The strategies such as shield, overcurrent protection, overheating protection；
2, the technical scheme is that power electronic equipment Physical Characteristic Analysis, Control protection system closed loop test provide
The l-G simulation test means of fining；
3, technical solution of the present invention is set for power electronic devices, power electronic equipment and all of Control protection system
Count link；
4, technical solution of the present invention supports extensive, multinode UPFC Control protection system closed loop test；
5, technical solution of the present invention improves test confidence level, for improving scale application power electronics in smart grid
The reliability of device is of great significance.
Detailed description of the invention
Fig. 1 is system structure diagram provided in an embodiment of the present invention；
Fig. 2 is nanosecond provided in an embodiment of the present invention and Microsecond grade hybrid simulation algorithm implementation flow chart；
Fig. 3 is FPGA SoPC structural schematic diagram provided in an embodiment of the present invention；
Fig. 4 is that schematic diagram is realized in Microsecond grade real-time simulation provided in an embodiment of the present invention；
Fig. 5 is system structure diagram provided in an embodiment of the present invention.
Specific embodiment
Below with reference to embodiment, the invention will be described in further detail.
Embodiment 1:
The invention of this example provides a kind of Multiple Time Scales mixing real time data display, as shown in Figure 1 and Figure 5, including
Controller, Xiang Suoshu controller send protection system, the Unit Level electro-magnetic transient module, device level switching transients mould of fault-signal
Block and hot dynamic process module；
The controller sends control command and pulse signal, Xiang Suoshu device level to described device grade electro-magnetic transient module
Switching transients module sends the simulation data result of pulse signal and described device grade electro-magnetic transient module respectively；
Its simulation data result is sent to the controller by described device grade electro-magnetic transient module；The device level switch
Overvoltage, overcurrent and fault status information of the transient state module to the protection system sending device；The hot dynamic process mould
Block sends the temperature for turning off valve body of the device level switching transients module to the protection system；
Described device grade electro-magnetic transient module, device level switching transients module and hot dynamic process module pass through interface successively
Data interaction is carried out, realizes the associative simulation of electro-magnetic transient, switching transients and hot dynamic process.
Described device grade electro-magnetic transient module, for establishing the Microsecond grade model of reflection device electro-magnetic transient；The device
Grade switching transients module, for establishing the nanosecond model of reflection IGBT switching transients；The hot dynamic process module, for building
The vertical dynamic second grade model of reflection temperature.
The Microsecond grade model includes MMC submodule, and described device grade electro-magnetic transient module is imitated the MMC submodule
True output result is sent to the controller.
The device level switching transients module includes IGBT submodule, controlled voltage model and current source model；It is described by
Control voltage model and current source model are established according to the simulation data result；Pass through the controlled voltage model and the electric current
Source model send IGBT device over-voltage signal and over-current signal to protection system and hot dynamic process module, and dynamically from the heat
The junction temperature of the IGBT device is received in procedure module.
The system also includes system-level electro-magnetic transient modules, for establishing the Millisecond of reflection electric system electromechanics transient state
Model；The system-level electro-magnetic transient module passes through size step-length transmission line or interface transformer and described device grade electro-magnetic transient
Model connection.
The controller includes master controller and communication module；The master controller is to described device grade electro-magnetic transient module
Send control command；The communication module receives the simulation data of described device grade electro-magnetic transient module as a result, and will be described imitative
True result is sent to the device level switching transients module；The communication module respectively to described device grade electro-magnetic transient module and
The device level switching transients module sends pwm pulse signal.
As shown in Figure 1, using UPFC device as simulation object, system integration project part: the bulk power grid of the quasi- access of UPFC device
Process between electromechanical transient and UPFC device electro-magnetic transient, the Power PC Processor based on RTDS/PB5 carry out, simulation step length
For 50us.
Microsecond grade emulates part: the electromagnetic transient simulation of UPFC device inverter is based on MMC-FPGA, and simulation step length is
2.5us is attached in model using size step-length transmission line or interface transformer with system integration project, it is practical be PB5 with
Fiber optic communication between MMC-FPGA.
Nanosecond emulates part: in order to more accurately reflect the transient characterisitics of UPFC inverter inside devices switch and its right
The influence of protection carries out the emulation of three-phase MMC, by the direct current of a wherein phase MMC in UPFC inverter electromagnetic transient simulation
Pressure, bridge arm current Ipc, each sm capacitance voltage Uc simulation result take out, pass through valve control artificial card (high-speed communication module)
It is sent in the device level switching transients module of ns-FPGA, establishes controlled voltage and current source, it is each with being established in ns-FPGA
The detailed switching device model of sm.Each semi-bridge type submodule of the submodule of each phase MMC or each bridge-type submodule
Capacitance voltage, bridge arm current and output voltage.
Hot dynamic simulation part: IGBT module thermal impedance mould is established using RC equivalent network in hot dynamic simulation module
Type, according to can shut-off valve practical structures establish combine coupling can shut-off valve heat transfer model, and it is quasi- by emulation testing and curve
The method of conjunction determines the parameter of thermal impedance model, and parameter extraction process need to emulate the heat dissipation of water-cooling system under various working
With fitting, finally obtain can shut-off valve thermodynamical model.The average thermal resistance model and valve of device are established in x86 or PB5
Thermal resistance model, the devices switch voltage and current for receiving ns-FPGA are uploaded to x86 or PB5, realize hot dynamic process model emulation,
The heat distribution of calculating device dynamic junction temperature and valve, and device junction temperature is passed back in nanosecond simulation model.
During real-time simulation, the real-time simulation step-length of nanosecond artificial card uses 50ns, Microsecond grade emulator
Real-time simulation step-length uses 10~50us, is illustrated in figure 2 nanosecond and Microsecond grade associative simulation flow chart, in order to guarantee the two
The synchronization of data exchange generates clock source using unified FPGA master controller, guarantees that nanosecond emulation and Microsecond grade are imitative
Genuine synchronism.
(1) nanosecond emulates FPGA system structure
FPGA design needs to take into account following several functions:
MMC bridge arm switching transients real-time simulation function, and simulation step length is less than equal to 50ns；
With the real time data interactive function of Microsecond grade analogue system；
Receive the real time data of RTDS and the function of control instruction；
In simulation process, the real-time preservation of simulation result and echo function；
In order to enable FPGA system design can take into account above functions, design will be integrated by the way of system on chip,
By each function module design at the form of the element in FPGA embedded system, simulation computing unit as shown in Figure 3 is designed to
The form of real-time simulation IP kernel, in addition in FPGA system on chip also comprising DDR3SDRAM, MicroBlaze, CDMA controller,
The elements such as PCIe interface, Aurora interface realize interconnection by AXI bus between each element, the work of modules in system
With as follows:
Real-time simulation IP kernel: main nanosecond real-time simulation task is undertaken, and RTDS can be received by Aurora bus
The real-time simulation data and control instruction of transmission；
PCIe interface: Simulation result data is transmitted back to host computer in real time, carries out simulation result preservation；
DDR3SDRAM: it is kept in for the mass data occurred in the short time in simulation process；
32 soft nucleus CPUs of MicroBlaze:Xilinx company exploitation, are realized to FPGA system on chip
Initial configuration；
Dma controller: the burst mode data transmission between interface element and real-time simulation IP kernel is realized；
Aurora interface: the reality between nanosecond real-time emulation system and Microsecond grade real-time emulation system is realized
When data exchange.
In order to realize nanosecond simulation step length, MMC real-time simulation IP kernel would operate in the working frequency of 300MHz, and system
Rest part would operate in the frequency of 100MHz, it is ensured that entire analogue system, can while realizing nanosecond simulation step length
To guarantee the stability of work.
(2) Microsecond grade analogue system framework
Microsecond grade emulator mainly realizes the thermal resistance model emulation of MMC device, using X86 hardware platform+QNX real-time operation
System can be realized the real-time simulation step-length of 10~50us as real-time simulation computation engine.Microsecond grade emulator and nanosecond
Real Data Exchangs are realized using optical fiber between artificial card.
Microsecond grade analogue system is internally integrated IPK724FPGA board, include 2 road FMC interfaces and 4 road SFP optical fiber interfaces,
I/O module and external high-speed data channel can be extended.
As shown in Figure 4, it is shown that the method for Microsecond grade the Realization of Simulation includes three steps, is in Simulink environment respectively
Then middle modeling generates real-time simulation code using real time workshop technology, code is finally loaded into hardware platform and is carried out
Real-time simulation.
In addition, from figure it is also seen that nanosecond emulation be also required to load necessary parameter by Host computer,
The characteristic curve of such as IGBT.
(3) data transmission and display
1) nanosecond artificial card can be by the device voltage, electric current, temperature (shell, knot) and voltage, electricity of 96 IGBT modules
Stream, the maximum of temperature, minimum, average value and corresponding device number are uploaded to valve control artificial card in real time in 10us.
2) all device simulation results can be sent to host computer by nanosecond artificial card, and be continuously displayed in observing interface
All device real-time simulation data of 0.1s, upper function save the Simulation result data of 60s whole device.Simulation process card has
Recording pre-trigger function, and any IGBT can be extracted on host computer and diode shows that its switching curve, switching curve should be able to
Capture switch moment and real-time update waveform.
3) Microsecond grade emulation can by average loss in the on-state loss of each device, switching loss, switch periods it is real-time on
Host computer is reached, and continuously displays all device real-time simulation data of 0.1s in observing interface, and waveform and switching transients wave
Shape keeps simultaneous display.
4) all simulation results of converter valve heat dynamic can be uploaded to host computer by Microsecond grade emulation, and in observing interface with
The resolution ratio of 10ms continuously displays all real-time simulation data of 60s.
5) whole switching transients and heat emulation data, which can export to read for Matlab, identifies.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, institute
The those of ordinary skill in category field is although should be understood with reference to the above embodiments: still can be to a specific embodiment of the invention
It is modified or replaced equivalently, these are without departing from any modification of spirit and scope of the invention or equivalent replacement, in Shen
Within claims of the invention that please be pending.
Claims (6)
1. a kind of Multiple Time Scales mixing real time data display, it is characterised in that: include:
Protection system, Unit Level electro-magnetic transient module, the device level switch that controller, Xiang Suoshu controller send fault-signal are temporary
Morphotype block and hot dynamic process module；
The controller sends control command and pulse signal, Xiang Suoshu device level switch to described device grade electro-magnetic transient module
Transient state module sends the simulation data result of pulse signal and described device grade electro-magnetic transient module respectively；
Its simulation data result is sent to the controller by described device grade electro-magnetic transient module；
The device level switching transients module is believed to the overvoltage, overcurrent and malfunction of the protection system sending device
Breath；
The hot dynamic process module sends the valve body that turns off of the device level switching transients module to the protection system
Temperature；
Described device grade electro-magnetic transient module, device level switching transients module and hot dynamic process module are successively carried out by interface
The associative simulation of electro-magnetic transient, switching transients and hot dynamic process is realized in data interaction；
Described device grade electro-magnetic transient module, for establishing the Microsecond grade model of reflection device electro-magnetic transient；
The device level switching transients module, for establishing the nanosecond model of reflection IGBT switching transients；
The hot dynamic process module, for establishing the dynamic second grade model of reflection temperature；
The Multiple Time Scales mixing real time data display further includes system-level electro-magnetic transient module, for establishing reflection electricity
The Millisecond model of Force system electromechanical transient；The system-level electro-magnetic transient module passes through size step-length transmission line or interface transformation
Device is connect with described device grade electrical-magnetic model；
The controller includes master controller and communication module；The master controller is sent to described device grade electro-magnetic transient module
Control command；The communication module receives the simulation data of described device grade electro-magnetic transient module as a result, and tying the emulation
Fruit is sent to the device level switching transients module；The communication module is respectively to described device grade electro-magnetic transient module and described
Device level switching transients module sends pwm pulse signal.
2. a kind of Multiple Time Scales mixing real time data display as described in claim 1, it is characterised in that: the microsecond
Grade model includes MMC submodule, and the simulation data result of the MMC submodule is sent to by described device grade electro-magnetic transient module
The controller.
3. a kind of Multiple Time Scales mixing real time data display as claimed in claim 2, it is characterised in that: the device
Grade switching transients module includes IGBT submodule, controlled voltage model and current source model；The controlled voltage model and electric current
Source model is established according to the simulation data result；By the controlled voltage model and the current source model by IGBT device
Over-voltage signal and over-current signal are sent to protection system and hot dynamic process module, and receive institute from the hot dynamic process module
State the junction temperature of IGBT device.
4. a kind of Multiple Time Scales mixing real time data display as described in claim 1, it is characterised in that: the heat is dynamic
State procedure module include can shut-off valve thermodynamical model；And according to it is described can the thermodynamical model of shut-off valve determine device dynamic
The heat distribution of junction temperature and valve.
5. a kind of Multiple Time Scales mixing real time data display as claimed in claim 4, it is characterised in that: described to close
The thermodynamical model of disconnected valve by the IGBT module thermal impedance model established and establish can the emulation fitting of shut-off valve heat transfer model
It determines.
6. a kind of Multiple Time Scales mixing real time data display as claimed in claim 2, it is characterised in that: the emulation
Output result includes each semi-bridge type submodule of the submodule of MMC or capacitance voltage, the bridge arm electricity of each bridge-type submodule
Stream and output voltage.
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| CN109066612B (en) * | 2018-08-27 | 2019-09-27 | 国网湖北省电力有限公司电力科学研究院 | The switching overvoltage calculation method combined based on electromechanical transient and electro-magnetic transient |
| CN109033004B (en) * | 2018-08-27 | 2021-05-25 | 北京计算机技术及应用研究所 | Dual-computer memory data sharing system based on Aurora bus |
| CN109521691A (en) * | 2018-11-21 | 2019-03-26 | 南方电网科学研究院有限责任公司 | A kind of power grid full-view simulation system and power grid panorama emulation mode |
| CN110032086B (en) * | 2019-04-12 | 2021-08-24 | 上海交通大学 | Real-time online simulation system and method for loss and temperature of power semiconductor device |
| CN110909468B (en) * | 2019-11-22 | 2021-04-23 | 清华大学 | Thermoelectric interface interaction method for dynamic hybrid simulation of comprehensive energy network |
| CN113110099B (en) * | 2021-03-04 | 2023-03-14 | 清华大学 | Multi-mode integrated mixed real-time simulation platform |
| CN113312769B (en) * | 2021-05-27 | 2023-09-08 | 南京大学 | System dynamics and discrete event simulation hybrid simulation modeling method and system |
| CN113792419B (en) * | 2021-08-30 | 2024-02-06 | 北京市地铁运营有限公司供电分公司 | Digital twin multi-scale simulation design method for urban rail power supply system |
| CN115114227A (en) * | 2022-07-05 | 2022-09-27 | 南方电网科学研究院有限责任公司 | Electromagnetic transient real-time simulation device and system |
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| JP5189929B2 (en) * | 2008-08-19 | 2013-04-24 | ルネサスエレクトロニクス株式会社 | Semiconductor switch control device |
| CN103576561B (en) * | 2013-11-07 | 2017-01-11 | 国家电网公司 | Multi-dynamic-mixed real-time digital simulation platform and implementation method thereof |
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