CN106372373A - Method and system for hybrid simulation - Google Patents
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Abstract
The embodiment of the invention provides a method and system for hybrid simulation of electromechanical transient simulation and electromagnetic transient simulation and relates to the technical field of electromagnetic simulation of a power system. The hybrid simulation can be implemented under the conditions that two sets of simulation software can be kept relatively independent. The concrete scheme is that an ESP obtains Thevenin equivalent data and reads a boundary node name from the Thevenin equivalent data and establishes a mapping relationship with a voltage source relevant with a corresponding Thevenin equivalent; the ESP is controlled to perform a flow of electromechanical transient simulation; after the ESP performs one-step electromechanical transient simulation, a current Iabc injected into an external system equivalent is saved, and positive sequence fundamental wave injection current is extracted by utilizing Iabc data of a recent cyclic wave; positive sequence fundamental wave injection current Ipos data is sent to a DSP, and an equivalent parameter returned by the DSP is received; and a Thevenin equivalent power source is updated. The method and the system are used for hybrid simulation of electromechanical transient simulation and electromagnetic transient simulation.
Description
Technical field
Embodiments of the invention are related to power system electromagnetic simulation technique field, more particularly, to a kind of electromechanical transient simulation and
The hybrid simulation method of electromagnetic transient simulation and system.
Background technology
As the important component part of electric system simulation, electromagnetic transient simulation has phenomenon and portrays accurately, is widely used,
The features such as better numerical value stability, its application covers the many aspects such as Power System Planning, design, operation and scientific research, is
Understand the essential tool of electrical power system transient complex behavior.
Hybrid simulation technological synthesiss electromechanical transient simulation and the respective advantage of electromagnetic transient simulation, but existing electromagnetism
It is commonly stand-alone development and maintenance with electromechanical transient simulation software.If a simulation software nesting in the invention of hybrid simulation
To another simulation software as one of module, platform will be led to excessively to couple, destroy existing exploitation and safeguard
Independence, leads to future platform difficult in maintenance and poor expandability.
Content of the invention
The hybrid simulation method of a kind of embodiments of the invention electromechanical transient simulation of offer and electromagnetic transient simulation and system,
Can keep realizing hybrid simulation under conditions of Liang Ge simulation software is relatively independent.
In order to reach above-mentioned purpose, embodiments herein adopts the following technical scheme that
In a first aspect, providing the hybrid simulation method of a kind of electromechanical transient simulation and electromagnetic transient simulation, comprising:
Esp obtains Thevenin's equivalence data, therefrom reads boundary node title and sets up related to corresponding Thevenin's equivalence
The mapping relations of voltage source；
Control esp to carry out the flow process of electromagnetic transient simulation, after esp carries out a step electromagnetic transient simulation, preserve outside being injected into
The electric current iabc of portion's system equivalent, the iabc data using a nearest cycle extracts positive sequence fundamental current injection electric current；
By positive sequence fundamental current injection electric current ipos data is activation to dsp, and receive the equivalent parameters of dsp return；
Update Thevenin's equivalence voltage source.
Second aspect, provides the hybrid simulation system of a kind of electromechanical transient simulation and electromagnetic transient simulation, for execution the
On the one hand the method being provided.
Electromechanical transient simulation and the hybrid simulation method of electromagnetic transient simulation and system that embodiments of the invention are provided,
Esp and dsp keeps relatively independent, is respectively completed electromechanical transient simulation and electromagnetic transient simulation.In simulation process, both pass through number
Carry out data interaction according to interactive interface.Data interaction interface does not change existing simulation software code, is intended only as simulation software
Extension is it is easy to implement and highly versatile.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
In required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these
Figure obtains other accompanying drawings.
Fig. 1 is the explanation schematic diagram of emulation platform framework；
Electromechanical transient simulation and the hybrid simulation method stream of electromagnetic transient simulation that Fig. 2 is provided by embodiments of the invention
Journey schematic diagram；
Fig. 3 is to the explanation schematic diagram extracting positive sequence fundamental current injection current course in embodiments of the invention；
Electromechanical transient simulation and the hybrid simulation system knot of electromagnetic transient simulation that Fig. 4 is provided by embodiments of the invention
Structure schematic diagram.
Specific 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 description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
The application provides a kind of hybrid simulation method, and embodiments of the invention are taking the hybrid simulation based on dsp-esp as a example
Illustrate.Esp is electromagnetic transient simulation kernel program and electromechanics-electromagnetism hybrid simulation interface routine, and dsp is electromechanical transient
Simulated program, both are south electric network independent development, are easy to be extended according to the actual requirements.
The hybrid simulation technological synthesiss of dsp-esp electromechanical transient simulation and the respective advantage of electromagnetic transient simulation, to big
Scale typical power system carries out electromechanical transient simulation, then adopts electricity to the regional area wherein paid close attention to or particular element
Magnetic transient emulation.The problems such as by the scale of coordination system emulation, accuracy and speed, for stablizing of research large-scale electrical power system
Property and dynamic characteristic provide new method and approach.
As shown in figure 1, esp and dsp keeps relatively independent, the two all includes a data to the emulation platform framework of the present invention
Interactive interface, data interaction interface does not change existing simulation software code, but the extension to existing simulation software, by code
Modularity can ensure software code quality and extensibility.
In the hybrid simulation Interface design of the embodiment of the present application, including data interaction interface and the grade Value Data of electromagnetism side
Interactive communication designs two parts, but does not include data interaction interface and the hybrid simulation platform courses platform part of dynamo-electric side.Fig. 1
It show the situation that equivalent data interaction communication is specially tcp/ip socket communication.With reference to embodiments the application is carried
For hybrid simulation method be specifically described.
Embodiment
Embodiments of the invention provide the hybrid simulation method of a kind of electromechanical transient simulation and electromagnetic transient simulation, in conjunction with figure
Shown in 2, comprise the following steps:
201st, esp obtains Thevenin's equivalence data.
When electromagnetism side is emulated, external system is entered using the multiport Thevenin's equivalence circuit based on positive sequence network
Row is equivalent.In view of electromechanical transient simulation yv=i is described as to network, when dynamo-electric side is emulated, to electromagnetism one side-line
System is proposed with current source and carries out equivalent so that equivalent need not carry out extra conversion, can be used directly to network modelling.
Additionally, the larger difference of presence of the phantom that adopted of electromagnetism and electromechanical transient simulation and Simulation result data form
Different: electromagnetic transient simulation adopts triphase flow and instantaneous value, and electromechanical transient simulation adopts positive sequence single phase model and vector value.?
Mutually need the modeling demand changed to meet two kinds of softwares of esp and dsp carrying out waiting Value Data and model in equivalence course.
Esp carries out data storage required for electromagnetic transient simulation in the middle of data file.In conjunction with shown in Fig. 2, in step
Before 201, original Thevenin's equivalence data can be generated by step 200-1, step 200-2 and step 200-3, and
The data file being incorporated to esp prepares to use in emulation.
200-1, dsp input holonomic system data, according to boundary definition, system are split.
200-2, be divided into the part of electro-magnetic transient and adopt current source equivalent in boundary node, ask under stable state dynamo-electric temporarily
The Thevenin's equivalence data of state side.During actual emulation, needed complete to dynamo-electric side before asking for Thevenin's equivalence data
Become transient stability initialization.
200-3, in electro-magnetic transient side, the Thevenin's equivalence data asking for obtaining is incorporated to the data file of esp, esp
When being emulated, read Thevenin's equivalence data from data file.
202nd, read boundary node title and set up the mapping relations with corresponding Thevenin's equivalence associated voltage source.
During hybrid simulation, Electromagnetic Simulation every time and motor side interactive reception to renewal Thevenin's equivalence
It is required for afterwards updating amplitude and the phase angle of Thevenin's equivalence voltage source.In view of esp interior joint and power supply be independently modeling and
Storage, needs to obtain the mapping relations in node and associated voltage source, to realize the modification to voltage source.
Additionally, in the case that dynamo-electric side system topological structure changes, Thevenin's equivalence circuit parameter also can change,
Need to regenerate conductance matrix [g] and carry out ldu decomposition to it.Under normal circumstances, reasonable arrangement electro-magnetic transient side can be passed through
The scale of system and modeling scope make fault occur in electro-magnetic transient internal network, thus big in the case of avoiding multiport modeling
The amount transmission of Thevenin's equivalence parameter and the modification to [g] matrix and ldu are decomposed.
203rd, esp is controlled to carry out the flow process of electromagnetic transient simulation, esp carries out a step electromagnetic transient simulation.
Esp needs to ensure system initialization success and reach steady statue before entering hybrid simulation pattern.The present embodiment
Middle propose time-based from pure electromagnetism to the switching of hybrid simulation pattern, and define the start time (t_ of hybrid simulation
Hybrid_start), user realizes simulation initialisation and hybrid simulation are controlled by setting t_hybrid_start.
This also means that electro-magnetic transient one side system must complete to initialize and enter into steady statue before reaching this moment, therefore
Suggestion user arranges this parameter according to passing emulation experience and with reference to concrete system situation.Additionally, esp and electromechanical transient simulation
Interaction only occur in Fixed Time Interval (dt_hybrid), this time interval is set in current hybrid simulation temporary with electromechanics
State simulation step length equal (i.e. dt_hybrid=dtts), usually 1-10 millisecond.Temporary in view of electromagnetism in hybrid simulation and electromechanics
State is not iterated, this time interval it is not recommended that more than half cycle, to control simulation accuracy in engineering zone of reasonableness.
The entire flow of electromagnetic transient simulation may include multistep electromagnetic transient simulation, often carries out a step and is carried out a step
204, until t ＞ t_hybrid_start and t=n*dt_hybrid.
After simulation time is more than tmax, Output simulation result.
204th, preserve and be injected into the equivalent electric current iabc of external system.
205th, the iabc data utilizing a nearest cycle extracts positive sequence fundamental current injection electric current.
Because electromagnetism side adopts abc triphase flow and instantaneous value, and electromechanical transient simulation is using the uniphase mode based on positive sequence
Type.In order to obtain electromagnetism side equivalent circuit, the conversion from abc three-phase instantaneous value to positive sequence phasor need to be realized.In conjunction with shown in Fig. 3,
First pass through fast Fourier transform (fft) the single-phase instantaneous value in the cycle period is extracted with obtain fundamental frequency to
Amount, is then based on symmetrical component method and extracts positive-sequence component from abc three-phase fundamental frequency vector.
206th, by positive sequence fundamental current injection electric current ipos data is activation to dsp, and the equivalent parameters of dsp return are received.
Positive sequence fundamental current injection electric current ipos data is activation to dsp, dsp are added to the forward-order current receiving accordingly by esp
Boundary node, carries out a step electromechanical transient simulation and calculates thevenin equivalent circuit, then returns equivalent parameters to esp.
Electromagnetism and electromechanical transient simulation program keep independent, and in the application scenarios of hybrid simulation, this two independent journeys
Need between sequence to realize the data interaction by certain sequential rule, be referred to as interprocess communication (English: inter- in computer realm
process communication).
In the present embodiment, esp and dsp carries out data interaction by the data exchange interface based on tcp/ip socket.
Esp passes through this data exchange interface and sends positive sequence fundamental current injection electric current ipos data to dsp, and is connect by this data exchange interface
Receive the equivalent parameters that dsp returns.
Data exchange interface for hybrid simulation includes mutually equivalent data-interface data interactive communication mechanism two
Aspect.The versatility of data-interface is mainly defined by data itself and determines and it needs to consider that different programming languages are determined to data
Justice and the similarities and differences explained, and data interaction communication mechanism mainly involves two software emulation interprocess communications.In conjunction with above two
Point, using the socket communication mechanism based on tcp/ip in the present embodiment, interface data adopts comma-separated value, and (English is complete
Claim: comma separated values, English abbreviation: csv) plain text definition, to realize the versatility of interface.
Socket communication based on tcp/ip can be realized two programs and realize data by a two-way communication connection
Exchange, for realizing a kind of more ripe technology of interprocess communication.Socket communication mechanism is in mainstream operation system and c, c+
+, the programming language such as java has the realization of standard, has preferable interoperability.Additionally, socket possesses is being not connected to situation
Lower hang-up place process simultaneously continues waiting for receiving the characteristic of next connection request, can meet electromagnetism and electromechanical transient hybrid simulation
Interactive timing requirements.
Esp transient emulation program adopts fortran 77 programming language to realize, and this language itself does not provide socket technology
Primary realization.Support socket programming in view of c language, can realize being based on tcp/ with c Mixed-Programming Technology by fortran
The data exchange interface of ip socket.
Another problem of data interaction is the definition of data form.Consider the demand of distinct program language hybrid programming,
Data form is needed to have more consistent describing and explaining under different language.Therefore, the present embodiment proposes the text lattice based on csv
Formula is as the form of transmission data.For the unit definition of concrete numerical value, each data should be using imitating that data reaches
True software is for the default units of data.For example, it is delivered to the data of dynamo-electric side it should be perunit value from electromagnetism side, in turn,
The equivalent parameters that dynamo-electric side is delivered to electromagnetism side should be actual value, and should be noted the default units of electromagnetism side related data.
207th, update Thevenin's equivalence voltage source.
The general application scenarios of hybrid simulation occur in electromagnetic transient simulation internal system, dynamo-electric side external system for fault
Network topology does not change in simulation process.In this case, only need to update Dai Weinan after interacting every time equivalent for esp
The data of voltage source.Esp updates the instantaneous value of single-phase electricity potential source moment t in the subts3 subprogram of overlay16, calculates
Journey is as follows:
V=vmcos(2πf*t+θ0)
Wherein, vmFor voltage source amplitude, f is the frequency (can be set to fundamental frequency and keep constant) of voltage source place node, θ0For
The initial phase angle of voltage source.Therefore, under hybrid simulation pattern, can be mutually powered-down according to the Thevenin's equivalence set up in step 202
The v to all equivalent voltage sources for the mapping relations of potential sourcemAnd θ0This two values are updated.
Embodiments of the invention also provide the hybrid simulation system of a kind of electromechanical transient simulation and electromagnetic transient simulation, are used for
Hybrid simulation method described in execution above-described embodiment.Step performed by hybrid simulation system, with the reality corresponding to Fig. 2
The step applied described in example is identical, is only briefly described herein.
With reference to shown in Fig. 4, hybrid simulation system 40 includes: dsp41, esp42 and its expansion module, and expansion module includes electricity
Potential source management module 42-1, process control module 42-2 and positive sequence fundamental extraction module 42-3.
In conjunction with the embodiment corresponding to Fig. 2, voltage source management module 42-1 is used for execution step 201,202 and 204.Stream
Process control module 42-2 is used for controlling simulation flow, specifically for " t ＞ t_hybrid_start and t=shown in execution Fig. 2
N*dt_hybrid " and " t < tmax？" judgement step.Positive sequence fundamental extraction module 42-3 is used for execution step 205.Hereinafter
In the data exchange interface 43 based on tcp/ipsocket mentioned, for execution step 206.
Voltage source management module 42-1, for reading boundary node title in the Thevenin's equivalence data that obtains from esp42
And set up the mapping relations with corresponding Thevenin's equivalence associated voltage source.
Process control module 42-2, for controlling esp42 to carry out the flow process of electromagnetic transient simulation.
Voltage source management module 42-1, is additionally operable to after esp42 carries out a step electromagnetic transient simulation, preserve and be injected into outside system
The equivalent electric current iabc of system.
Positive sequence fundamental extraction module 42-3, for extracting positive sequence fundamental current injection electricity using the iabc data of a nearest cycle
Stream, by positive sequence fundamental current injection electric current ipos data is activation to dsp41.
Voltage source management module 42-1, is additionally operable to receive the equivalent parameters that dsp41 returns, and updates Thevenin's equivalence voltage
Source.
Optionally, dsp41 input holonomic system data, according to boundary definition, splits to system.
The part being divided into electro-magnetic transient adopts current source equivalent in boundary node.
Ask for the Thevenin's equivalence data of electromechanical transient side under stable state.
Optionally, the Thevenin's equivalence data of electromechanical transient side under stable state is incorporated to the data file of esp42 by esp42.
Voltage source management module 42-1, specifically for reading Thevenin's equivalence data from data file.
Optionally, hybrid simulation system 40 also includes the data exchange interface 43 based on tcp/ip socket, esp42 with
Connected by data exchange interface 43 between dsp41.
Positive sequence fundamental extraction module 42-3, specifically for by data exchange interface 43 by positive sequence fundamental current injection electric current ipos
Data is activation is to dsp41.
Voltage source management module 42-1, specifically for receiving, by data exchange interface 43, the equivalent parameters that dsp41 returns.
Electromechanical transient simulation and the hybrid simulation method of electromagnetic transient simulation and system that embodiments of the invention are provided,
Esp and dsp keeps relatively independent, is respectively completed electromechanical transient simulation and electromagnetic transient simulation.In simulation process, both pass through number
Carry out data interaction according to interactive interface.Data interaction interface does not change existing simulation software code, is intended only as simulation software
Extension is it is easy to implement and highly versatile.
More than, the specific embodiment of the only present invention, but protection scope of the present invention is not limited thereto, any it is familiar with
Those skilled in the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by scope of the claims.
Claims (8)
1. the hybrid simulation method of a kind of electromechanical transient simulation and electromagnetic transient simulation is it is characterised in that include:
Esp obtains Thevenin's equivalence data, therefrom reads boundary node title and sets up and corresponding Thevenin's equivalence associated voltage
The mapping relations in source；
Control esp to carry out the flow process of electromagnetic transient simulation, after esp carries out a step electromagnetic transient simulation, preserve and be injected into outside system
The equivalent electric current iabc of system, the iabc data using a nearest cycle extracts positive sequence fundamental current injection electric current；
By positive sequence fundamental current injection electric current ipos data is activation to dsp, and receive the equivalent parameters of dsp return；
Update Thevenin's equivalence voltage source.
2. hybrid simulation method according to claim 1 is it is characterised in that before esp acquisition Thevenin's equivalence data, go back
Including:
Dsp inputs holonomic system data, according to boundary definition, system is split；
The part being divided into electro-magnetic transient adopts current source equivalent in boundary node；
Ask for the Thevenin's equivalence data of electromechanical transient side under stable state.
3. hybrid simulation method according to claim 2 is it is characterised in that esp acquisition Thevenin's equivalence data includes:
The Thevenin's equivalence data of electromechanical transient side under stable state is incorporated to the data file of esp；
Read Thevenin's equivalence data from described data file.
4. hybrid simulation method according to claim 1 it is characterised in that
Esp sends positive sequence fundamental current injection electric current ipos data by the data exchange interface based on tcp/ip socket to dsp,
And the equivalent parameters that dsp returns are received by described data exchange interface.
5. a kind of electromechanical transient simulation and electromagnetic transient simulation hybrid simulation system it is characterised in that include: dsp, esp and
Its expansion module, described expansion module includes voltage source management module, process control module and positive sequence fundamental extraction module；
Described voltage source management module, for reading boundary node title and setting up in the Thevenin's equivalence data that obtains from esp
Mapping relations with corresponding Thevenin's equivalence associated voltage source；
Described process control module, for controlling esp to carry out the flow process of electromagnetic transient simulation；
Described voltage source management module, is additionally operable to after esp carries out a step electromagnetic transient simulation, preserves that to be injected into external system equivalent
Electric current iabc；
Described positive sequence fundamental extraction module, extracts positive sequence fundamental current injection electric current for the iabc data using a nearest cycle,
By positive sequence fundamental current injection electric current ipos data is activation to dsp；
Described voltage source management module, is additionally operable to receive the equivalent parameters that dsp returns, and updates Thevenin's equivalence voltage source.
6. hybrid simulation system according to claim 5 it is characterised in that
Dsp inputs holonomic system data, according to boundary definition, system is split；
The part being divided into electro-magnetic transient adopts current source equivalent in boundary node；
Ask for the Thevenin's equivalence data of electromechanical transient side under stable state.
7. hybrid simulation system according to claim 6 it is characterised in that
The Thevenin's equivalence data of electromechanical transient side under stable state is incorporated to the data file of esp by esp；
Described voltage source management module, specifically for reading Thevenin's equivalence data from described data file.
8. hybrid simulation system according to claim 5 it is characterised in that
By being connected based on the data exchange interface of tcp/ip socket between esp and dsp；
Described positive sequence fundamental extraction module, specifically for by described data exchange interface by positive sequence fundamental current injection electric current ipos number
According to being sent to dsp；
Described voltage source management module, specifically for receiving, by described data exchange interface, the equivalent parameters that dsp returns.
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