CN106503371B - A kind of improvement power hardware is in ring hybrid real-time simulation system stability method - Google Patents
A kind of improvement power hardware is in ring hybrid real-time simulation system stability method Download PDFInfo
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Abstract
The invention discloses a kind of improvement power hardwares in ring hybrid real-time simulation system stability method, by being established to power hardware assemblage on-orbit system model, determine model intermediate power amplifier link, the model for obtaining the principal element for influencing hybrid real-time simulation is compared in analysis, by being calculated, the series compensation link in RTDS improves the stability of hybrid simulation to eliminate unstable factor.The function of improving stability is attached in the software module of RTDS by the present invention, form unified hybrid simulation system, not only help the stability for improving hybrid simulation, and it realizes flexible, it is easy to operate, the stability and bandwidth that system emulation can be improved to a certain extent, improve the Build Security of emulation platform and the robustness of operation, provide new method and approach to study the improved stability of power hardware assemblage on-orbit system.
Description
Technical field
The present invention relates to electric system hybrid simulation technical field, specifically a kind of improvement power hardware is mixed in ring
Real-time emulation system stability approach.
Background technique
With the high speed development of computer technology and power electronic technique, Power Systems hardware in loop simulation technique is got over
It is more concerned by people, it can be simulated for electric system electric network model, can also be also to new-energy grid-connected, micro- electricity
The fields such as network technology and Electric Power Network Planning provide fabulous test platform.Power hardware assemblage on-orbit is broadly divided into three parts: 1)
Real-timedigital simulation device；2) power interface device；3) equipment under test；Three formed closed-loop simulation test, but currently due to
Delay, bandwidth limitation and influence of noise of power interface device itself etc., the stability to power hardware in loop technique proposes one
Fixed challenge also proposed such as emulation interface algorithm, addition filter for this problem scholar both domestic and external and expert
Method is still, most of effective to simple linear simulation object.It is established according to small-signal model, by compensation is calculated
Module.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of the prior art, it is real-time in ring mixing to provide a kind of improvement power hardware
Analogue system stability approach, the respective advantage of integration digital simulation and dynamic model emulation carry out power hardware to electric system and exist
Ring hybrid simulation carries out real-time simulation to grid parts application real-time simulation apparatus (hereinafter referred to as RTDS) therein.
To achieve the goals above, the present invention provides include Digital Simulation work station, RTDS digital simulator, analog quantity
Output board card, analog input card, the high-power four-quadrant power amplifier based on power electronic devices, Digital Simulation backstage
Monitoring system, new-energy grid-connected in analogue simulation power grid, the grid-connected test of power electronic equipment and micro-capacitance sensor simulation etc..
A kind of improvement power hardware of the present invention includes the following steps: in ring hybrid real-time simulation system stability method
(1) analogue simulation is carried out to electric system electric network model using real-timedigital simulation device；
(2) the node voltage signal of real-time simulation side is amplified using power interface device, is added on equipment under test；
(3) power hardware is established in ring simulation model, and Accurate Model is carried out to power interface device；
(4) by the current analog signal of feedback, feedback is into Digital Simulation System by way of controlled current source；
(5) controlled current source branch series compensation link limits the delay in power hardware assemblage on-orbit system, bandwidth
Influence with noise compensates, to improve hybrid simulation stability.
The equipment under test is new-energy grid-connected, the grid-connected test of power electronic equipment or micro-capacitance sensor simulation, is put by power
In big device equipment grid integration RTDS digital simulator.
The compensation tache, to be established according to small-signal model, by compensation is calculated to power amplifier model
Module.
The stability is to change the stability of steady-state operation.
The implementation method of the compensating module specifically:
Model is established in hybrid simulation, the mould by the model foundation compensating module of power interface, after control is added
Type is as follows:
GIE(s)=GPA(s)·GDA(s) (4)
In formula, Gc(s) it is the controller of switching power amplifier, is controlled using PI, KpAnd KiFor PI control parameter, GPA
(s) be power interface equivalent model, wherein kpwmFor inverter gain, Gd(s) it is delayed for the hardware of switching power amplifier
Link, KcFor active damping control parameter；The D/A link Approximate Equivalent of platform is time delay process GDA(s), delay time Td,
Finally obtain interface model GIE(s)；
In order to eliminate influence of the interface model to the stability of emulation, it is added compensation tache ZEP (s)；
ZEP(s)==1/GIE(s) (5)
Finally compensation policy is realized in Digital Simulation side.
Compared with prior art, the beneficial effects of the present invention are: by building power hardware in ring hybrid simulation platform
And system model is established, using its analogue simulation function to electric system, the function of improving stability is attached to RTDS's
In software module, unified hybrid simulation system is formed, not only helps the stability for improving hybrid simulation, and realize spirit
It is living, it is easy to operate, the stability and bandwidth of system emulation can be improved to a certain extent, improve emulation platform builds peace
The robustness of Quan Xingyu operation provides new method and way to study the improved stability of power hardware assemblage on-orbit system
Diameter.
Detailed description of the invention
Fig. 1 is the system structure diagram of the method for the present invention.
Fig. 2 is the architecture diagram of hybrid simulation platform.
Fig. 3 is the power amplifier circuit structure chart of H bridge.
Fig. 4 is the equivalent structure block diagram of power amplifier.
Fig. 5 is the hybrid simulation overall structure block diagram being added after compensation tache.
Fig. 6 is compensating module in Digital Simulation side realization schematic diagram.
In figure, VS(s) simulated system power supply, Z are indicateds(s) simulated system internal impedance, I are indicated0(s)Indicate defeated
Electric current out, Zl(s)Indicate equipment under test side equivalent internal resistance；
VSIndicate equivalent ideal voltage source, ZsIndicate equivalent electric network impedance, ifIndicate that feedback digital emulates side electric current, U0Table
Show output voltage；UdcIndicate power interface vertical compression, u0Indicate output voltage, i0Indicate output electric current, icIndicate power interface output
The capacitance current of filtering, L0Indicate power interface filter inductance, C0Indicate power interface filter capacitor；ZlIndicate equipment under test side
Equivalent internal resistance；UrefIndicate power interface command voltage, UpwmIndicate that PWM modulation wave, SPWM indicate SPWM modulating wave；
VSC indicates inverter, LfIndicate outlet filter inductance, CfIndicate outlet filter capacitor, ioutIndicate output electric current；
Uref(s) power interface command voltage, G are indicatedc(s) power interface controller, G are indicatedd(s) time delay process is indicated,
KpwmIndicate the equivalent link of inverter, Ls indicates Digital Simulation side internal impedance inductance, KcIndicate active damping control parameter, CsIt indicates
Word emulates side internal resistance anticapacitance, Uout(s) output voltage is indicated；
HUT+IE indicates equipment under test and power interface equipment, and RTS indicates Digital Simulation side；
VI indicates virtual impedance method, I0' (s) indicates feedback current.
Specific embodiment
The invention will be further described below by way of examples and with reference to the accompanying drawings.
As shown in figs 1 to 6, a kind of improvement power hardware is in ring hybrid real-time simulation system stability method, including following
Step:
(1) analog simulation is carried out to power grid using real-timedigital simulation device.The power network object for the simulation that the present invention uses
For the model of voltage source and internal impedance, the models such as new-energy grid-connected are tested.
(2) Digital Simulation device uses Real Time Digital Simulator (RTDS), is by the research of Canadian Manitoba direct current
The heart proposes, the most mature electric system simulation device in the world.
(3) parameter designing and test are carried out to power interface device.The power interface device that the present invention uses is big by Wuhan
Electrical engineering institute is learned voluntarily to develop, as shown in Fig. 2, the back-to-back bi-directional inverter device of 100kW three-phase four-wire system, using three
A independent H bridge structure, outlet filter use LC filter, and control strategy uses the repetition control of precision and high stability
System strategy.
(4) power hardware assemblage on-orbit platform is built, system model is established.By to power hardware in ring hybrid simulation number
Word emulation is equivalent with the model of power interface, realizes to unstable factor, is such as delayed, exports the accurate equivalent of the links such as filtering.
(5) design improves stability module, equivalent by the model of front, establishes transmission function as shown in figure 4, analyzing simultaneously
And improvement link is added, the module for improving stability is finally calculated.
(6) current signal fed back by closed-loop simulation realizes that improvement system is steady in Digital Simulation side series compensation module
Qualitative method.
The equipment under test is new-energy grid-connected, the grid-connected test of power electronic equipment or micro-capacitance sensor simulation, is put by power
In big device equipment grid integration RTDS digital simulator.
The compensation tache, to be established according to small-signal model, by compensation is calculated to power amplifier model
Module.
The stability is to change the stability of steady-state operation.
The implementation method of the compensating module specifically:
Model is established in hybrid simulation, the mould by the model foundation compensating module of power interface, after control is added
Type is as follows:
GIE(s)=GPA(s)·GDA(s) (4)
In formula, Gc(s) it is the controller of switching power amplifier, is controlled using PI, KpAnd KiFor PI control parameter, GPA
(s) be power interface equivalent model, wherein kpwmFor inverter gain, Gd(s) it is delayed for the hardware of switching power amplifier
Link, KcFor active damping control parameter；The D/A link Approximate Equivalent of platform is time delay process GDA(s), delay time Td,
Finally obtain interface model GIE(s)；
In order to eliminate influence of the interface model to the stability of emulation, it is added compensation tache ZEP (s)；
ZEP(s)==1/GIE(s) (5)
Finally compensation policy is realized in Digital Simulation side.
As shown in Fig. 2, power hardware assemblage on-orbit platform of the present invention includes 1, RTDS digital simulator 2, power amplifier
Device 3, equipment under test 4, power amplifier control system 5, stabiloity compensation link 6D/A interface module.The present invention exists first
Tested node voltage is output to power amplifier 2 by analog output card by the simulation model that power grid is built in RTDS1
In, the grid nodes voltage in RTDS is simulated by power amplifier, is added in equipment under test 3, is sampled in output voltage
Feedback current improves link 5 by grid stability and is added in voltage node in the virtual power grid into RTDS.
As shown in Fig. 2, the framework of hybrid simulation platform is divided into 5 parts, (1) is Digital Simulation side, such as RTDS is imitated
True equipment establishes virtual electric network model；It (2) is power interface device, the structure of H bridge, outlet is by the way of LC filtering；
(3) it is equipment under test side, is actual electric device, testing load；It (4) is the master control set of power interface, setting control plan
Slightly, signal amplification is realized；(5) it is compensation tache, is established according to small-signal model, by calculating to power amplifier model
To compensating module.
As shown in fig. 4-5, its model and transmission function are established based on power hardware assemblage on-orbit, passes through the benefit in Fig. 5
It repays the error that the virtual impedance that link Zep (s) is indicated generates power amplifier link to eliminate, obtains compensated mould
Type.By obtaining implementation method shown in fig. 6 after equivalent, in Digital Simulation side by the current signal series compensation link of feedback,
To realize the function of improving power hardware assemblage on-orbit stability.
Fig. 6 is the realization rate of compensation tache, and compensation tache is added by way of controlled current source in Digital Simulation side,
Realize compensation.
Claims (3)
1. a kind of improvement power hardware is in ring hybrid real-time simulation system stability method, it is characterised in that include the following steps:
(1) analogue simulation is carried out to electric system electric network model using real-timedigital simulation device；
(2) the node voltage signal of real-time simulation side is amplified using power interface device, is added on equipment under test；
(3) power hardware is established in ring simulation model, and Accurate Model is carried out to power interface device；
(4) by the current analog signal of feedback, feedback is into Digital Simulation System by way of controlled current source；
(5) controlled current source branch series compensation link limits and makes an uproar to the delay in power hardware assemblage on-orbit system, bandwidth
The influence of sound compensates, to improve hybrid simulation stability；The compensation tache passes through to be established according to small-signal model
It crosses and compensating module is calculated to power amplifier model；
The implementation method of the compensating module specifically:
Model is established in hybrid simulation, by the model foundation compensating module of power interface, the model after control is added is such as
Under:
GIE(s)=GPA(s)·GDA(s) (4)
In formula, Gc(s) it is the controller of switching power amplifier, is controlled using PI, KpAnd KiFor PI control parameter, GPA(s) it is
The equivalent model of power interface, wherein kpwmFor inverter gain, GdIt (s) is the hardware time delay process of switching power amplifier,
KcFor active damping control parameter；The D/A link Approximate Equivalent of platform is time delay process GDA(s), delay time Td, finally
To interface model GIE(s)；
In order to eliminate influence of the interface model to the stability of emulation, it is added compensation tache ZEP (s)；
ZEP(s)==1/GIE(s) (5)
Finally compensation policy is realized in Digital Simulation side.
2. the method as described in claim 1, it is characterised in that: the equipment under test is new-energy grid-connected, power electronic equipment
Grid-connected test or micro-capacitance sensor simulation, in power amplifier apparatus grid integration RTDS digital simulator.
3. the method as described in claim 1, it is characterised in that: the stability is to change the stability of steady-state operation.
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| CN107133404B (en) * | 2017-05-08 | 2019-07-19 | 华中科技大学 | A kind of numerical model analysis analogue system suitable for DC grid |
| CN107330168B (en) * | 2017-06-14 | 2020-07-17 | 国网浙江省电力公司电力科学研究院 | Turbine valve regulation quick closing simulation modeling method based on machine network coupling |
| CN109818366B (en) * | 2017-11-22 | 2023-05-23 | 中国电力科学研究院有限公司 | New energy generation power hardware-in-loop simulation method and system |
| CN108011391B (en) * | 2017-12-13 | 2019-09-17 | 武汉大学 | The flexible DC transmission hybrid simulation system power interface algorithm of virtual resistance compensation |
| CN109188151A (en) * | 2018-09-30 | 2019-01-11 | 上海科梁信息工程股份有限公司 | A kind of small signaling interface test macro and method |
| CN109325305B (en) * | 2018-10-12 | 2022-09-27 | 合肥工业大学 | Modeling method and parameter design method of power hardware-in-the-loop system |
| CN110661280B (en) * | 2019-08-27 | 2021-11-16 | 中国电力科学研究院有限公司 | Method and system for determining virtual impedance of multi-level converter hybrid simulation system |
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