CN106647324B - Hardware in loop hybrid real-time simulation system interface stability improvement method - Google Patents
Hardware in loop hybrid real-time simulation system interface stability improvement method Download PDFInfo
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- CN106647324B CN106647324B CN201610874304.XA CN201610874304A CN106647324B CN 106647324 B CN106647324 B CN 106647324B CN 201610874304 A CN201610874304 A CN 201610874304A CN 106647324 B CN106647324 B CN 106647324B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
The invention discloses a kind of hardware in loop hybrid real-time simulation system interface stability improvement methods.Changed by the output power of measuring device, it is fed forward to the inner ring current control of rectifier terminal, the dynamic change of bearing power is reacted directly into the vertical compression control process of rectifier terminal, to control rectification side and inverter side power flow is equal, to reduce the energy difference of rectifier and inverter in the unit time, make DC voltage fluctuation within the allowable range, achieve the purpose that reduce DC capacitor, improve the dynamic property of power interface device, and then the stability of entire power assemblage on-orbit platform is improved, the stable operation for high-power interface equipment provides technological improvement.
Description
Technical field
The present invention relates to power interface stability control technical field, specifically a kind of hardware in loop mixing is imitative in real time
True system interface stability improvement method.
Background technique
Digital physical mixed emulation is also known as hardware in loop (hardware-in-the-loop, HIL) emulation, this method
Actual physics is placed in by test system (hardware under test, HUT) by the virtual of real time data display foundation
Closed-loop simulation is carried out in electric system (virtual electrical system, VES).HIL system is divided into signal type hardware and exists
Ring (control hardware-in-the-loop CHIL) emulation and power connecting-type hardware in loop (power hardware-
In-the-loop, PHIL) emulation.Compared to other emulation technologies, HIL emulation has many advantages, it passes through real-time simulator
Part can carry out accurate, stable experimental study repeatedly to true electrical component, it minimizes and reduces even if various
Emulation cost and risk under extreme condition, maximumlly have detected the defect of simulated electrical equipment, avoid and be difficult to bear
Loss.
In digital physical mixed real-time simulation, power interface carries connection real time data display and physics is tested
The important function of system.Its precision exported and dynamic property are directly related to the validity and stabilization of whole system and platform
Property.Power interface mostly uses this topology of back-to-back four quadrant convertor, and connecting between two current transformers has a vertical compression electricity
Hold.When interface accesses equipment under test or plant capacity is mutated, the energy of rectifier and inverter fails to put down in synchronization
Weighing apparatus, and then leads to DC voltage fluctuation, influence the stability of entire digital physical hybrid simulation system, therefore vertical compression control is set
It counts particularly important.
Industrially mostly using increase vertical compression capacitive way to alleviate, vertical compression is unstable, and at high cost, equipment volume is big, and transport is not
Just.
In order to which not only effectively control vertical compression was stablized, but also cost can be reduced, the present invention is by introducing power feedforward control method energy
The homeostasis energy of rectifier and inverter is enough better achieved, realizes that vertical compression is stablized, improves HIL emulation stability.And
And volume is smaller, cost is lower.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of the prior art, it is mixed to provide a kind of hardware in loop based on feedforward control
Close real-time emulation system interface stability improvement method.
The principle of the invention lies in: pass through sampled output current signal ioutWith output voltage signal UoutCalculate load function
Rate, bearing power feedover to rectification side current inner loop control, so that rectification side is controlled and inverter side power flow is equal, to reduce list
The energy difference of rectifier and inverter, makes DC voltage fluctuation within the allowable range in the time of position, reaches and reduces DC capacitor
Purpose, and then improve the dynamic property and stability of vertical compression, i.e. power feedforward control methods.
A kind of hardware in loop hybrid real-time simulation system interface stability improvement method of the present invention, includes the following steps:
Step 1 is built power hardware in ring hybrid simulation system platform, is emulated to true electric power system model
Simulation；
Step 2 carries out analogue simulation to actual electric network model using RTDS digital simulator；
Step 3 amplifies reduction using node voltage signal of the power interface device to RTDS digital simulator, so
After load at equipment under test both ends；
Step 4, in power interface device, double PWM converters use respective independent control, and rectifier uses two close cycles
PI control carries out vertical compression control, and inverter controls the common amplification for realizing current and voltage signals using Repetitive controller and active damping
Reduction；
Step 5 is detected the voltage and current value of load end input by Hall sensor, is calculated by ARM chip negative
Carry power；By the bearing power acquired by feedforward controller, it is added to rectifier current inner loop control and makees disturbance feedforward benefit
It repays.
The step 5 specifically: pass through Hall sensor sampled output current signal i firstoutAnd output voltage signal
Uout, the power P such as formula (1) of load end is acquired by multiplier, input power P, which is acquired corresponding input power by formula (2), is
The peak value i of output electric current when PPF, by iPFWith the electric current i after vertical compression controlrefMultiplied by cos ω t after addition, formed with reference to electricity
Stream, the product for the electric network voltage phase information that reference current and phase-locked loop pll are obtained is as the given i of current inner loopPref,
P=Uout*Iout (1)
iPref=(iref+iPF)cosωt (3)
UsFor the virtual value of network voltage；The effect of cos ω t is to generate the waveform in the same direction with voltage.
The producer of RTDS digital simulator in the step 2 is Canada's Manitoba direct current research center.
Electric network model in the step 2 is the model of voltage source and internal impedance.
Compared with prior art, the beneficial effects of the present invention are:
The present invention introduces the feedforward realization pair of load-side power on the basis of existing rectifier double-close-loop direct pressure controller
The tracking of load signal realizes rectification side and inverter side power flow is equal is mutated this dynamic process in bearing power to reaching
Middle DC voltage maintenance is stablized, and the dynamic response performance of entire digital physical simulation system is improved, with more at low cost, realization
Simple and easy equal remarkable advantages.
Detailed description of the invention
Fig. 1 is hardware in loop hybrid real-time simulation system construction drawing of the invention；
Fig. 2 is the power interface structure chart of the invention based on back-to-back four quadrant convertor；
Fig. 3 is power interface rectifying part vertical compression control block diagram of the invention；
Fig. 4 is the DC voltage waveform effect picture for increasing vertical compression capacitor；
Fig. 5 is the DC voltage waveform effect picture using power feedforward control method；
Fig. 6 is the flow chart of step five of the invention；
In figure, H1~H6- IGBT power switch tube；US- Digital Simulation System issues signal；T1The isolation of-rectifier terminal becomes
Depressor；C-DC capacitor；iL2- filter inductance L2Electric current；iL3、Uout- load end Current Voltage；C1- filter capacitor；
Udc- DC capacitor voltage；Km- feedforward control coefficient；Ua- rectification input terminal voltage；Gu(s)- outer voltage PI control transmitting
Function；Gi(s)- current inner loop PI controls transmission function；GPWM- PWM controller transmission function；GH- H bridge current transfer function.
Specific embodiment
The invention will be further described below by way of examples and with reference to the accompanying drawings.
As Figure 1-Figure 5, a kind of hardware in loop hybrid real-time simulation system interface stability improvement method, including it is following
Step:
(1) analog simulation is carried out to part power grid using real-timedigital simulation device.The power grid for the simulation that the present invention uses
Object is the model of voltage source and internal impedance, is tested by power interface new-energy grid-connected equipment.Used RTDS
Digital simulator is filled by the proposition of Canadian Manitoba direct current research center, electric system simulation the most mature in the world
It sets.
(2) corresponding parameter designing and bug check are carried out to power interface device.The power used in the present invention connects
Mouth device is voluntarily developed by electrical engineering institute, Wuhan University, as shown in Fig. 2, the back-to-back two-way change of 100kW three-phase four-wire system
Device device is flowed, using three independent H bridge structures, filter is exported and uses LCL filter, control strategy, which uses, is based on internal model
The Repetitive Control of principle.
(3) after putting up power hardware assemblage on-orbit platform, base of the present invention in the existing voltage-controlled system of rectifier terminal double-close-loop direct
On plinth, output loading power is introduced to the feedforward control of rectifier terminal, as shown in Figure 3.It is sampled and is exported by Hall sensor first
Current signal ioutWith output voltage signal Uout, the power P such as formula (1) of load end is acquired by multiplier, and input power P is led to
Cross the peak value i for the output electric current that (2) are acquired when corresponding input power is PPF, by iPFWith the electric current i after vertical compression controlrefAfter addition
Multiplied by cos ω t, form reference current, the product of the electric network voltage phase information that reference current and phase-locked loop pll are obtained as
The given i of current inner loopPref。
P=Uout*Iout (1)
iPref=(iref+iPF)cosωt (3)
UsFor the virtual value of network voltage；The effect of cos ω t is to generate the waveform in the same direction with voltage.Using power
Feedforward control can establish input power and export the direct connection of electric current, directly will input when input power changes
The change information of power is transmitted to grid-connected current controlling unit, improves the dynamic response that whole system changes output power
Can, to improve the stability of power interface.
It is flat in the digital physical mixed emulation of the 100KVA built in order to verify the feasibility and validity of the present invention program
Compliance test result test is carried out on platform.DC voltage is 400V, network voltage 220V/50Hz, the parameters of interface arrangement
Are as follows: input terminal inductance L1=0.02mH, vertical compression capacitor C=10000uF, output inductor L2=0.2mH, filter capacitor C1=
60uF, equivalent filter inductive resistance R2=0.0001 Ω, equivalent filter capacitance resistance Rc=0 Ω, sampling/switching frequency=
1MHZ, Repetitive controller parameter Kr=2, Repetitive controller parameter Ks=1.5, Repetitive controller parameter Kf=0.9, active damping control ginseng
Number Kc=8.
Fig. 4 is the DC voltage waveform for not adding power feedforward, and Fig. 5 is the direct current that power feedforward proposed by the present invention is added
Corrugating.The DC voltage that can be seen that the two methods when bearing power is mutated from Fig. 4 comparison can all generate different degrees of
Fluctuation, however the DC voltage fluctuation that power feedforward is not added is obvious, even results in system trip protection, and power feedforward is added
DC voltage fluctuation it is very small, and can be returning momentarily to work normally stable state, it can be seen that be added power
Feedforward can effectively control DC voltage stability, improve the dynamic property and stability of power interface, the present invention of verifying mentions
The validity of improved method out.
Claims (3)
1. a kind of hardware in loop hybrid real-time simulation system interface stability improvement method, it is characterised in that include the following steps:
Step 1 builds power hardware in ring hybrid simulation system platform, carries out analogue simulation to true electric power system model；
Step 2 carries out analogue simulation to actual electric network model using RTDS digital simulator；
Step 3 amplifies reduction using node voltage signal of the power interface device to RTDS digital simulator, then plus
It is loaded in equipment under test both ends；
Step 4, in power interface device, double PWM converters use respective independent control, and rectifier is controlled using two close cycles PI
System carries out vertical compression control, and inverter controls the common amplification for realizing current and voltage signals also using Repetitive controller and active damping
It is former；
Step 5 is detected the voltage and current value of load end input by Hall sensor, calculates load function by ARM chip
Rate；The bearing power acquired is passed through into feedforward controller, rectifier current inner loop control is added to and makees disturbance feedback compensation；
The step 5 specifically: input current signal I is sampled by Hall sensor firstoutWith input voltage signal Uout,
The power P such as formula (1) that load end is acquired by multiplier, by input power P by formula (2) acquire corresponding input power be P when
Output electric current peak value iPF, by iPFWith the electric current i after vertical compression controlrefMultiplied by cos ω t after addition, current inner loop is formed
Given iPref,
P=Uout*Iout (1)
iPref=(iref+iPF)cosωt (3)
UsFor the virtual value of network voltage；The effect of cos ω t is to generate the waveform with arc in phase.
2. the method as described in claim 1, it is characterised in that: the producer of the RTDS digital simulator in the step 2 is to add
It puts on airs Manitoba direct current research center.
3. the method as described in claim 1, it is characterised in that: the electric network model in the step 2 is voltage source and internal impedance
Model.
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| 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 |
| CN108536925B (en) * | 2018-03-21 | 2021-03-16 | 武汉大学 | Isolated dynamic whole-process real-time hybrid simulation interface system |
| TWI746196B (en) * | 2020-10-05 | 2021-11-11 | 財團法人工業技術研究院 | Hardware-in-the-loop simulation device |
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| CN102447268B (en) * | 2011-12-19 | 2013-07-17 | 湖南大学 | Robust dicyclic photovoltaic grid-connected control method based on power feedforward |
| CN102799113A (en) * | 2012-08-01 | 2012-11-28 | 中国电子科技集团公司第十研究所 | Method for controlling servo system of active disturbance rejection control technology |
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| CN105849570B (en) * | 2013-06-20 | 2021-03-02 | 曼尼托巴大学 | Closed loop simulation of computer model and actual real-time hardware components of physical system |
| CN103699013B (en) * | 2013-09-28 | 2017-02-08 | 北京工业大学 | Method for effectively improving speed and precision of in-loop real-time simulation of motor hardware |
| CN104201721B (en) * | 2014-09-12 | 2016-09-14 | 广西师范大学 | A kind of single-phase grid-connected inverter control method based on compound control mode |
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| CN105244919B (en) * | 2015-08-07 | 2017-09-01 | 湖南大学 | A kind of robust compensation of delay grid-connected control method of LCL type inverter |
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