CN106777827A - A kind of electromechanical electromagnetism hybrid simulation method and system - Google Patents
A kind of electromechanical electromagnetism hybrid simulation method and system Download PDFInfo
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Abstract
The invention provides a kind of electromechanical electromagnetism hybrid simulation method and system, including：It is determined that being hybrid simulation interface position in the bus that electro-magnetic transient network side is connected with the power transmission line for meeting pre-conditioned；Electromagnetic Wave Propagation postpones τ more than electromagnetic transient simulation step delta t on the power transmission line；The k sides connection electromechanical transient network of the power transmission line, the j sides of the power transmission line connect remaining network of electro-magnetic transient network；It is following three parts by remaining network of the electro-magnetic transient network, the power transmission line and electromechanical transient Equivalent Network：The equivalent circuit part of remaining network portion, power transmission line k side and electromechanical transient network of the power transmission line j sides with electro-magnetic transient network and the equivalent circuit of electro-magnetic transient network and electromechanical transient network portion；The electric network state for obtaining electro-magnetic transient network and electromechanical transient network is solved respectively to above-mentioned three part.The technical scheme that the present invention is provided can greatly reduce interface amount of calculation, improve computational efficiency.
Description
Technical field
The present invention relates to digital dummy method of power system, and in particular to a kind of electromechanics-electromagnetism hybrid simulation method and be
System.
Background technology
The frequency range of practical power systems transient process and dynamic process response from zero hertz to several megahertzs, covering from
Low-frequency oscillation, sub-synchronous oscillation, transient process, the physical process of secondary transient process to the different time scales such as system traveling wave.Pin
Detailed Mathematical Modeling is set up to large-scale actual electric network come simulate whole physical processes both without may and also it is unnecessary, when traditional
Domain emulation is the transient state or dynamic process to different time scales, is divided respectively using different Mathematical Modeling and simulation algorithm
Analysis, forms the distinct methods such as electromagnetic transient simulation, electromechanical transient simulation and long term dynamics emulation.
As the fast development of China's extra-high voltage alternating current-direct current serial-parallel power grid and Power Electronic Technique are in power system
Extensive use, the transient process of different time scales is interweaved and influences, and strong coupling feature is presented, using single time scale
Simulation means carry out electricity net safety stable analysis and the limitation of control decision is more and more obvious, and take into account simulation scale and emulation
The electromechanical transient of precision-electromagnetic transient hybrid simulation technology has obtained very fast development.
Electromechanical transient-electromagnetic transient hybrid simulation refers to, by the power network object of research according to opening up in a simulation process
Flutter and be divided into electromechanical transient network and electro-magnetic transient network to be respectively calculated, by electromechanical transient-electromagnetic transient hybrid simulation
Interface carries out data exchange, realizes united simulation process.Topological partitioning scheme is with the difference of research purpose and interface algorithm
It is different.Electromechanical transient-electromagnetic transient hybrid simulation is combination and the technical characterstic of electromechanical transient simulation and electromagnetical transient emulation method
Complementation.From in terms of electromechanical transient simulation angle, more detailed mathematical modulo is used equivalent to the part in electromechanical transient network
Type and simulation algorithm improve the simulation accuracy of partial electric grid；Said from electromagnetic transient simulation angle, needed equivalent to by script
The external network of value letter replaces with electromechanical transient network, and then accurately reflects oscillation mode, system damping, the failure of bulk power grid
The characteristics such as disturbance, for the simulation analysis of electro-magnetic transient network provide necessary system background, are ensureing the same of grid simulation scale
When also improve Bulk power system simulation precision.
The key of electromechanical transient-electromagnetic transient hybrid simulation is how to solve the data interaction of electromechanical transient and electro-magnetic transient
Interface problem, specifically includes three aspect problems：1) interface position system of selection；2) offside Equivalent Network method and value information is waited
Update method；3) data interactive mode and interface error processing method.For these problems, the solution of difference mixing simulation software
Thinking is each has something to recommend him.The software development of China's development electromechanical transient-electromagnetic transient hybrid simulation and practical application are more early, accumulation
A large amount of experiences, occur in that the hybrid simulation program as representative with ADPSS, PS-MODEL etc., and its technology path is essentially identical, but
Existing electromechanical transient-electromagnetic transient hybrid simulation method and had the following disadvantages with ADPSS to represent：
Existing electromechanical transient-electromagnetic transient hybrid simulation interface equivalent circuit as shown in Figure 1, calculates electro-magnetic transient net
During network, electromechanical transient network is carried out into Thevenin's equivalence；When calculating electromechanical transient network, electro-magnetic transient network is carried out into promise etc.
Value.
Existing interface algorithm is：When zero moment is initialized, electromechanical transient network is calculated according to the whole network original state
Equivalent impedance battle array ZstWith the Equivalent admittance battle array Y of electro-magnetic transient networkemt.At each interface moment, electromechanical transient network is to electricity
Magnetic transient network sends positive and negative zero sequence equivalent potential EstIf electromechanical transient network topology change need to resend equivalent impedance battle array
Zst；Meanwhile, electro-magnetic transient network sends the positive and negative residual voltage U of boundary point to electromechanical transient networkemtWith electric current I 'emt, it is electromechanical
Transient network receive after according to electromagnetism side Equivalent admittance battle array YemtConstant hypothesis solves promise equivalent circuit Injection Current Iemt=
I′emt+Yemt*Uemt。
When progressively solving, for electromechanical transient network, directly by electromagnetism side network promise equivalent circuit Injection Current IemtWith
Admittance battle array YemtIt is merged into network equation and is solved, you can obtains electromechanical transient the whole network quantity of state；For electro-magnetic transient network,
When the positive and negative sequence impedance of electromechanical side generator is unequal or bus carries dynamic characteristic synthetic load, Thevenin's equivalence Impedance Matrix Zst
It is asy matrix in ABC phase spaces, is contradicted with the rudimentary algorithm of electromagnetic transient simulation, it is impossible to is directly merged into electro-magnetic transient net
Solved in network equation.For this problem, existing algorithm individually calculates electro-magnetic transient network and machine using node split algorithm
The boundary point electric current i of electric transient state equivalent networka, boundary point electric current solution formula is
Wherein YA、YBThe respectively admittance gust of electromagnetic network and electromechanical equivalent network, hA、hBRespectively electromagnetic network and electromechanical equivalence net
The equivalent historical current source of network, p is the reflection all nodes of electromagnetic network and bound current phasor iaIncidence relation matrix.Above formula
Middle electromagnetic network admittance battle array inverse matrixDirect solution amount of calculation it is too big, actual calculating employs Thevenin's equivalence short cut technique
SolveIts amount of calculation is related to hybrid simulation interface number.When interface number is n, calculateAmount of calculation
It is approximately equal to the system of linear equations Y for calculating 3n timesAX=b.
Existing hybrid simulation interface algorithm deposits problem both ways：
(1) when electro-magnetic transient network because the factors such as switch motion, non-linear saturation cause admittance battle array YA, it is necessary to weight during change
It is new to solveWhen emulation contains the electro-magnetic transient network of Power Electronic Circuit, admittance battle array in electromagnetism side can frequently change, and cause
Interface amount of calculation increases severely.
(2) during electromechanical side Solution To The Network, using electromagnetism side equivalent network admittance gust YemtAlways zero moment initial value, counts
No longer updated during calculation, and be simply updated the interface voltage and electric current of electromagnetism side network, therefore electro-magnetic transient network is actual opens up
Flutterring can introduce interface error when changing.
Accordingly, it is desirable to provide a kind of electromechanics based on model power line-electromagnetism hybrid simulation interface algorithm is existing to overcome
The deficiency of technology.
The content of the invention
The present invention provides a kind of electromechanics-electromagnetism hybrid simulation method, and methods described includes：
It is determined that being hybrid simulation interface position in the bus that electro-magnetic transient network side is connected with the power transmission line for meeting pre-conditioned
Put；Electromagnetic Wave Propagation postpones τ more than electromagnetic transient simulation step delta t on the power transmission line；The k sides connection of the power transmission line is electromechanical
Transient network, the j sides of the power transmission line connect remaining network of electro-magnetic transient network；The power transmission line and electro-magnetic transient network
Remaining network constitutes complete electro-magnetic transient network；
It it is following three by the decoupling of remaining network of the electro-magnetic transient network, the power transmission line and electromechanical transient network
Point：The equivalent circuit portion of remaining network portion, power transmission line k sides and electromechanical transient network of power transmission line j sides and electro-magnetic transient network
Point and electro-magnetic transient network equivalent circuit and electromechanical transient network portion；
The electric network state for obtaining electro-magnetic transient network and electromechanical transient network is solved respectively to above-mentioned three part.
The power transmission line is three phase line, to power transmission line j sides and remaining network portion when institute of electro-magnetic transient network
Some quantity of states are three-phase instantaneous value；Power transmission line when equivalent circuit part to power transmission line k sides and electromechanical transient network solves
Quantity of state be three-phase instantaneous value, the equivalent circuit of electromechanical transient network is the Thevenin's equivalence electricity of positive and negative zero sequence phasor form
Road.
The equivalent circuit obtained after the power transmission line equivalence includes alternate equivalent impedance, mutually equivalent impedance and waits threshold voltage
Source, the alternate equivalent impedance is located between two-phase, and phase ground equivalent impedance is in parallel with the equivalent voltage source, the phase ground
The homogeneous end ground connection of equivalent impedance and the equivalent voltage source, the other end as power transmission line side.
Remaining network portion to power transmission line j sides and electro-magnetic transient network is solved, including：
In d-th electromagnetic transient simulation time step t=d* Δ t, time step interpolation according to d-1 time steps and before obtains t- τ
The voltage and current quantity of state of power transmission line j, k both sides at moment；
Voltage and current quantity of state according to the power transmission line j sides calculates j sides historical current source ijk(t-τ)；
By the ijk(t- τ) substitutes into remaining Solution To The Network of electro-magnetic transient network, wherein, Δ t is walked for electromagnetic transient simulation
Long, τ is ripple propagation delay.
Equivalent circuit to power transmission line k sides and electromechanical transient network is solved, including：
The equivalent circuit of the electromechanical transient network of positive and negative zero sequence vector form is converted to the promise equivalence of ABC phasor forms
Circuit；
The promise of ABC phasor forms equivalent circuit is converted to the equivalent circuit of instantaneous value form, the instantaneous value form
Equivalent circuit meet following formula equation：
(Gline+Gst)*uk(t)=ist(t)-ihist(t-Δt)-ikj(t- τ),
Wherein, GlineIt is the admittance battle array of the power transmission line, GstIt is the promise equivalent circuit middle impedance pair of electromechanical transient network
The admittance battle array answered, ukT () is the node voltage instantaneous value of power transmission line k sides described in t, istT () is t electromechanical transient network
Promise equivalent circuit in current source instantaneous value, ihist(t- Δs t) is the promise equivalent circuit middle impedance pair of electromechanical transient network
The historical current source instantaneous value answered, ikj(t- τ) is the historical current source instantaneous value of the power transmission line k sides.
Equivalent circuit and electromechanical transient Solution To The Network to electro-magnetic transient network, including：
During initialization, electromechanical transient network receives the admittance battle array Y of the equivalent circuit of electro-magnetic transient networkemt；
It is t=c* Δ T in c-th electromechanical transient simulation time step, Δ T is electromechanical transient simulation step-length, electro-magnetic transient network
N number of time step according to c-1 time step and before, calculates the positive negative zero of electro-magnetic transient network and electromechanical transient network boundary point
Sequence voltage UemtWith positive and negative zero-sequence current I 'emt, electromechanical transient network is then sent to, N is electromechanical transient simulation step-length and electromagnetism
The ratio of transient emulation step-length；
The Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+Yemt*Uemt, by the injection electricity
Stream IemtSubstitute into electromechanical transient Solution To The Network.
Equivalent circuit and electromechanical transient Solution To The Network to electro-magnetic transient network, including：
The equivalent circuit of the electro-magnetic transient network of the power transmission line k sides is converted into positive and negative zero sequence phasor form, machine is substituted into
Electric transient network is calculated；
During initialization, electromechanical transient network receives the Equivalent admittance battle array Y of the power transmission lineline；
It is t=c* Δ T in c-th electromechanical transient simulation time step, electro-magnetic transient network is according to c-1 time step and before
Time step, calculate the positive and negative residual voltage U of electro-magnetic transient network and electromechanical transient network boundary pointemtWith positive and negative zero-sequence current
I′emt, electromechanical transient network is then sent to, Δ T is electromechanical transient simulation step-length；
The Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+Yline*Uemt, by the injection electricity
Stream IemtSubstitute into electromechanical transient Solution To The Network.
The hybrid simulation interface exist it is a plurality of meet pre-conditioned power transmission line, every side connection electricity of power transmission line
The bus of magnetic transient state remaining network, opposite side connect the bus of electromechanical transient network side, the equivalent circuit of electro-magnetic transient network
Impedance Matrix is the multiport Thevenin's equivalence Impedance Matrix for being retracted to interface, the grade threshold voltage of the equivalent circuit of electro-magnetic transient network
Source is the open-circuit voltage of electromechanical electromagnetism hybrid simulation interface.
A kind of electromechanics-electromagnetism hybrid simulation system, the system includes：
Interface determining module, the bus for determining to be connected with electro-magnetic transient network side the power transmission line for meeting pre-conditioned
It is hybrid simulation interface position；Electromagnetic Wave Propagation postpones τ more than electromagnetic transient simulation step delta t on the power transmission line；It is described defeated
The k sides connection electromechanical transient network of electric wire, the j sides of the power transmission line connect remaining network of electro-magnetic transient network；The transmission of electricity
Line constitutes complete electro-magnetic transient network with remaining network of electro-magnetic transient network；
Decoupling module, for by remaining network of the electro-magnetic transient network, the power transmission line and electromechanical transient network
It is following three parts to decouple：Remaining network portion of power transmission line j sides and electro-magnetic transient network, power transmission line k sides and electromechanical transient net
The equivalent circuit part of network and the equivalent circuit of electro-magnetic transient network and electromechanical transient network portion；
Computing module, for solving the electricity for obtaining electro-magnetic transient network and electromechanical transient network respectively to above-mentioned three part
Net state.
The computing module, including：
First computing unit, in d-th electromagnetic transient simulation time step t=d* Δ t, according to d-1 time steps and before
Time step interpolation obtain the t- τ moment power transmission line j, k both sides voltage and current quantity of state；
Second computing unit, for calculating j sides historical current source according to the voltage and current quantity of state of the power transmission line j sides
ijk(t-τ)；
3rd computing unit, for by the ijk(t- τ) substitutes into remaining Solution To The Network of electro-magnetic transient network, wherein, Δ t
It is electromagnetic transient simulation step-length, τ is ripple propagation delay.
The computing module, including：
First modular converter, for the equivalent circuit of the electromechanical transient network of positive and negative zero sequence vector form to be converted into ABC
The promise of phasor form equivalent circuit；
Second modular converter, the equivalence electricity for the promise of ABC phasor forms equivalent circuit to be converted to instantaneous value form
Road, the equivalent circuit of the instantaneous value form meets following formula equation：
(Gline+Gst)*uk(t)=ist(t)-ihist(t-Δt)-ikj(t- τ),
Wherein, GlineIt is the admittance battle array of the power transmission line, GstIt is the promise equivalent circuit middle impedance pair of electromechanical transient network
The admittance battle array answered, ukT () is the node voltage instantaneous value of power transmission line k sides described in t, istT () is t electromechanical transient network
Promise equivalent circuit in current source instantaneous value, ihist(t- Δs t) is the promise equivalent circuit middle impedance pair of electromechanical transient network
The historical current source instantaneous value answered, ikj(t- τ) is the historical current source instantaneous value of the power transmission line k sides.
The computing module includes：
First receiving unit, in initialization, electromechanical transient network to receive the equivalent circuit of electro-magnetic transient network
Admittance battle array Yemt；
4th computing unit, for being t=c* Δ T in c-th electromechanical transient simulation time step, Δ T is electromechanical transient simulation
Step-length, N number of time step of the electro-magnetic transient network according to c-1 time step and before calculates electro-magnetic transient network and electromechanical transient
The positive and negative residual voltage U of network boundary pointemtWith positive and negative zero-sequence current I 'emt, electromechanical transient network is then sent to, N is electromechanics
The ratio of transient emulation step-length and electromagnetic transient simulation step-length；
5th computing unit, for the Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+Yemt*
Uemt, by the Injection Current IemtSubstitute into electromechanical transient Solution To The Network.
The computing module, including：
6th computing unit, for the equivalent circuit of the electro-magnetic transient network of the power transmission line k sides to be converted into positive negative zero
Sequence phasor form, substitutes into electromechanical transient network calculations；
Second receiving unit, during for initializing, electromechanical transient network receives the Equivalent admittance battle array Y of the power transmission lineline；
7th computing unit, for being t=c* Δ T in c-th electromechanical transient simulation time step, electro-magnetic transient network is according to the
C-1 time step and time step before, calculate the positive and negative residual voltage U of electro-magnetic transient network and electromechanical transient network boundary pointemt
With positive and negative zero-sequence current I 'emt, electromechanical transient network is then sent to, Δ T is electromechanical transient simulation step-length；
8th computing unit, for the Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+
Yline*Uemt, by the Injection Current IemtSubstitute into electromechanical transient Solution To The Network.
With immediate prior art ratio, the present invention provide technical scheme have the advantages that：
(1) present invention provide technical scheme, using power transmission line as emulation interface a part, when electromagnetism side network change
When, it is corresponding with electromechanical transient promise equivalent circuit middle impedance without solving the admittance battle array of power transmission line of interface circuit equation again
Admittance battle array, can greatly reduce interface amount of calculation, be particularly suited for the presence of a large amount of hybrid simulation interfaces or electro-magnetic transient admittance battle array
The simulating scenes for frequently changing, computational efficiency lifting is obvious.The present invention will be helpful to realize by the application side of voltage class subnetting
Formula.
(2) technical scheme that the present invention is provided, is calculated emulation interface based on model power line, works as transmission line of electricity
Ripple propagation delay when being more than electromagnetic transient simulation step-length, it is possible to achieve the natural decoupling of circuit both sides power network, will not introduce times
What phantom error.In this case, the technical scheme that the present invention is provided is to electro-magnetic transient equivalent network and electromechanical transient net
When network is solved, positive and negative zero sequence phasor form is converted into using by the electro-magnetic transient equivalent circuit of transmission line of electricity k sides, substitutes into machine
The method that electric transient network is calculated, its essence is that the dynamic phasor model of transmission line of electricity is used for into hybrid simulation interface circuit, when
During electro-magnetic transient network topology change, the method need not change the admittance battle array of electro-magnetic transient equivalent network, solve electro-magnetic transient
Emulation medium value network is difficult to the problem of dynamic renewal, can obtain more accurate simulation result.
Brief description of the drawings
Fig. 1 is existing electromechanical transient-electromagnetic transient hybrid simulation interface diagram；
Fig. 2 is the equivalent circuit of existing electromechanical transient-electromagnetic transient hybrid simulation interface；
Fig. 3 is the electro-magnetic transient equivalent circuit of three phase transmission line,
Wherein ZppIt is alternate equivalent impedance, ZpgIt is phase ground equivalent impedance, τ is the ripple propagation delay of power transmission line.
Electromechanical transient-electromagnetic transient hybrid simulation interface circuit schematic diagram that Fig. 4 is provided for the present invention；
The equivalent circuit of electromechanical transient-part of electromagnetic transient hybrid simulation interface circuit three that Fig. 5 is provided for the present invention；
Fig. 6 be the present invention be converted into the power transmission line k sides of electro-magnetic transient instantaneous value form and electromechanical transient equivalent network etc.
Value circuit diagram；
Fig. 7 is the equivalent circuit and electromechanical transient network of the electro-magnetic transient network that the present invention is converted into positive and negative zero sequence form
Equivalent circuit diagram；
Fig. 8 is the processing example figure that hybrid simulation interface of the present invention has a plurality of transmission line of electricity；
Fig. 9 is one machine infinity bus system electromechanical transient-electromagnetic transient hybrid simulation illustraton of model；
Figure 10 is the Bus2-Bus5 double loops conveying power schematic diagram of one machine infinity bus system.
Specific embodiment
The present invention will be further described in detail below in conjunction with the accompanying drawings：
The present invention provides a kind of electromechanics-electromagnetism hybrid simulation method, selects electro-magnetic transient network side to be connected with power network
The bus of pre-conditioned transmission line of electricity is met as hybrid simulation interface position, and power transmission line collectively forms hybrid simulation with bus
Interface circuit, as shown in Figure 4, end node of power transmission line two is respectively j and k defined in it.
The general principle of power transmission line electrical-magnetic model is passed to there is Electromagnetic Wave Propagation process on the power transmission line of power system
The light velocity of the speed close in vacuum is broadcast, therefore the traveling wave of circuit side travels to opposite side in the presence of delay.According to Bergeron's
Distributed parameter line modeling method, the isotimic computing electric circuit of three phase line, it can be seen that the shape of either side network t
State of the state only with the offside network t- τ moment is relevant.If ripple propagation delay τ is more than electromagnetic transient simulation step delta t, can use defeated
Electric line decouples j sides and k sides nature network.Power transmission line refers to that can meet the power transmission line that electro-magnetic transient decoupling is required, i.e. ripple is passed
Broadcast and postpone power transmission lines of the τ more than electromagnetic transient simulation step delta t.
Electromagnetic transient simulation step-length is smaller, by taking typical step-length 50us as an example, corresponding electromagnetic wave propagation distance less than 20km,
It is easily found in actual electric network and meets the power transmission line of condition and carry out decoupling computation.
For interface circuit, its corresponding equivalent circuit form is derived, as shown in Figure 5, and give outgoing interface equivalent electricity
The solution throughway of three parts is mutually decoupled in road.
It is illustrated in figure 3 the electro-magnetic transient equivalent circuit of three phase transmission line；
As shown in figure 4, the k sides connection electromechanical transient network of the power transmission line, the j sides connection electro-magnetic transient of the power transmission line
Remaining network；
Remaining network constitutes complete electro-magnetic transient network to the power transmission line with electro-magnetic transient；
The hybrid simulation interface algorithm includes：
Part 1：Decoupled with remaining circuit after power transmission line j sides and electro-magnetic transient remaining network Unified Solution；
Part 2：Decoupled with remaining circuit after power transmission line k sides and electromechanical transient equivalent network Unified Solution；
Part 3：Decoupled with remaining circuit after electro-magnetic transient equivalent network and electromechanical transient network Unified Solution.
Part 1：The power transmission line j sides and remaining network Unified Solution of electro-magnetic transient, the quantity of state of the power transmission line and institute
The quantity of state for stating electro-magnetic transient remaining network is three-phase instantaneous value.
The power transmission line j sides and remaining network Unified Solution of electro-magnetic transient, including：
The traditional EMTP electromagnetic transient simulations algorithm that can be proposed according to H.W.Dommel is solved, and d-th electromagnetism is temporary
State emulates time step t=d* Δ t, and the result interpolation of time step according to d-1 time steps and before obtains power transmission line j, the k two at t- τ moment
The voltage and current quantity of state of side, and then it is calculated j sides historical current source ijk(t- τ), by ijk(t- τ) substitutes into electro-magnetic transient
Remaining network according to EMTP electromagnetic transient simulation Algorithm for Solving, wherein, Δ t be electromagnetic transient simulation step-length, τ be ripple propagate prolong
Late.
Part 2：The power transmission line k sides and electromechanical transient equivalent network Unified Solution, the quantity of state of the power transmission line is three
Phase instantaneous value, the electromechanical transient equivalent network is the Thevenin's equivalence circuit of positive and negative zero sequence phasor form.
The power transmission line k sides and electromechanical transient equivalent network Unified Solution, including：
Electromechanical transient equivalent network is converted to the promise equivalent circuit form of ABC phasor forms, it is temporary according to EMTP electromagnetism
State simulation algorithm, the promise of ABC phasor forms equivalent circuit is converted to the equivalent circuit of instantaneous value form as shown in Figure 6,
The equivalent circuit of the instantaneous value form meets following equations：
(Gline+Gst)*uk(t)=ist(t)-ihist(t-Δt)-ikj(t- τ),
In above formula, Gline+GstDo not change with electro-magnetic transient network topology change, only in electromechanical transient equivalent network impedance
Can just change during battle array change, if hybrid simulation interface number is n, Gline+GstMatrix dimension be 3n；
Wherein, GlineIt is the admittance battle array of power transmission line, GstIt is the corresponding admittance battle array of electromechanical transient promise equivalent circuit middle impedance,
ukT () is the node voltage instantaneous value of t power transmission line k sides, istT () is electric current in t electromechanical transient promise equivalent circuit
Source instantaneous value, ihist(t- Δs t) is the electromechanical transient promise corresponding historical current source instantaneous value of equivalent circuit middle impedance, ikj(t-
τ) it is the historical current source instantaneous value of power transmission line k sides.
Part 3：The electro-magnetic transient equivalent network and electromechanical transient network Unified Solution include following two kinds of improvement sides
Method：
Improved method one：
The quantity of state of the electro-magnetic transient equivalent network and the quantity of state of electromechanical transient network are positive and negative zero sequence phasor shape
Formula.
During initialization, electromechanical transient network receives the admittance battle array Y of electro-magnetic transient equivalent networkemt, c-th electromechanical transient imitate
True time step is t=c* Δ T, and Δ T is electromechanical transient simulation step-length, and electro-magnetic transient network is N number of according to c-1 time step and before
The result of electromagnetism time step, N is the ratio of electromechanical transient simulation step-length and electromagnetic transient simulation step-length, calculate electro-magnetic transient network and
The positive and negative residual voltage U of electromechanical transient network boundary pointemtWith positive and negative zero-sequence current I 'emt, electromechanical transient network is then sent to,
Electromechanical transient network calculations promise equivalent circuit Injection Current Iemt=I 'emt+Yemt*Uemt, by Injection Current IemtSubstitute into electromechanical temporary
State network is solved according to electromechanical transient simulation algorithm.
Improved method two：
The electro-magnetic transient equivalent circuit of power transmission line k sides is converted into positive and negative zero sequence phasor form as shown in Figure 7, machine is substituted into
Electric transient network is calculated,
During initialization, electromechanical transient network receives the Equivalent admittance battle array Y of power transmission lineline, c-th electromechanical transient simulation time step
It is t=c* Δ T, Δ T is electromechanical transient simulation step-length, during N number of electromagnetism of the electro-magnetic transient network according to c-1 time step and before
The result of step, N is the ratio of electromechanical transient simulation step-length and electromagnetic transient simulation step-length, calculates electro-magnetic transient network and electromechanics is temporary
The positive and negative residual voltage U of state network boundary pointemtWith positive and negative zero-sequence current I 'emt, it is then sent to electromechanical transient network；It is electromechanical temporary
State network calculations promise equivalent circuit Injection Current Iemt=I 'emt+Yline*Uemt, by Injection Current IemtSubstitute into electromechanical transient net
Network is solved according to electromechanical transient simulation algorithm.
If electromechanical transient-electromagnetic transient hybrid simulation interface has an a plurality of transmission line of electricity, improved method still can be with
Promote the use of.By taking system shown in accompanying drawing 8 as an example, electromechanical transient side has 2 buses bus1 and bus2 to feed back electric wire by 5 respectively
It is connected with 4 bus bus3~bus6 of electro-magnetic transient side, hybrid simulation interface number is 2, now electro-magnetic transient equivalent network
Impedance Matrix is the multiport Thevenin's equivalence Impedance Matrix for being retracted to interface, and equivalent voltage source is interface open-circuit voltage.
Computational efficiency checking is carried out to algorithm proposed by the present invention to be included：
Using " two China+East China " the whole network example, electromechanical transient containing 7 telegram in reply magnetic transient DCs (14 hybrid simulation interfaces)
Simulation step length 10ms, electromagnetic transient simulation step-length 50us, emulation duration 5s.Parallel artificial is done using two CPU cores, wherein 1
CPU core calculates electromechanical transient subnet, another 1 CPU core and calculates electro-magnetic transient subnet.Using former interface algorithm and two kinds of improved methods
The time-consuming contrast of calculating be shown in Table 1, it is seen that in the case of there are 14 three interfaces, calculating can be greatly improved using improved method
Efficiency, and two kinds of improved method interface computational efficiencies are substantially suitable.
The computational efficiency of table 1 is contrasted
| Calculate averagely time-consuming (s) | Speed-up ratio | |
| Former interface algorithm | 404 | / |
| Improved method one | 197 | 2.05 |
| Improved method two | 196 | 2.06 |
Computational accuracy checking is carried out to the algorithm that the present invention is provided to be included：
Using one machine infinity bus system electromechanical transient-electromagnetic transient hybrid simulation example, as shown in Figure 9.Systematic steady state
Operation, cuts off generator Bus1 during 5s, observe the double loop conveying power sum of Bus2 to Bus5, two kinds of improved methods of contrast
Simulation result such as accompanying drawing 10.As can be seen that the conveying direction for cutting double loop active power before machine is Bus2 to Bus5, work(after machine is cut
Rate is reverse.Accompanying drawing 10 (a) shows that the simulation result of two kinds of improved methods is basically identical, but the power of 7s~7.2s time periods is bent
After line amplification as shown in accompanying drawing 10 (b), it can be seen that the simulation result of improved method one has fluctuation, and period of waves is electromechanical transient
Simulation step length 10ms, the error that this fluctuation is introduced just because of electro-magnetic transient network topology change；The emulation knot of improved method two
Fruit is more steady, does not substantially fluctuate, as a result more accurate.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of electromechanics-electromagnetism hybrid simulation system, the system
System includes：
Interface determining module, the bus for determining to be connected with electro-magnetic transient network side the power transmission line for meeting pre-conditioned
It is hybrid simulation interface position；Electromagnetic Wave Propagation postpones τ more than electromagnetic transient simulation step delta t on the power transmission line；It is described defeated
The k sides connection electromechanical transient network of electric wire, the j sides of the power transmission line connect remaining network of electro-magnetic transient network；The transmission of electricity
Line constitutes complete electro-magnetic transient network with remaining network of electro-magnetic transient network；
Decoupling module, for by remaining network of the electro-magnetic transient network, the power transmission line and electromechanical transient network
It is following three parts to decouple：Remaining network portion of power transmission line j sides and electro-magnetic transient network, power transmission line k sides and electromechanical transient net
The equivalent circuit part of network and the equivalent circuit of electro-magnetic transient network and electromechanical transient network portion；
Computing module, for solving the electricity for obtaining electro-magnetic transient network and electromechanical transient network respectively to above-mentioned three part
Net state.
In implementation, the computing module can include：
First computing unit, in d-th electromagnetic transient simulation time step t=d* Δ t, according to d-1 time steps and before
Time step interpolation obtain the t- τ moment power transmission line j, k both sides voltage and current quantity of state；
Second computing unit, for calculating j sides historical current source according to the voltage and current quantity of state of the power transmission line j sides
ijk(t-τ)；
3rd computing unit, for by the ijk(t- τ) substitutes into remaining Solution To The Network of electro-magnetic transient network, wherein, Δ t
It is electromagnetic transient simulation step-length, τ is ripple propagation delay.
The computing module, including：
First modular converter, for the equivalent circuit of the electromechanical transient network of positive and negative zero sequence vector form to be converted into ABC
The promise of phasor form equivalent circuit；
Second modular converter, the equivalence electricity for the promise of ABC phasor forms equivalent circuit to be converted to instantaneous value form
Road, the equivalent circuit of the instantaneous value form meets following formula equation：
(Gline+Gst)*uk(t)=ist(t)-ihist(t-Δt)-ikj(t- τ),
Wherein, GlineIt is the admittance battle array of the power transmission line, GstIt is the promise equivalent circuit middle impedance pair of electromechanical transient network
The admittance battle array answered, ukT () is the node voltage instantaneous value of power transmission line k sides described in t, istT () is t electromechanical transient network
Promise equivalent circuit in current source instantaneous value, ihist(t- Δs t) is the promise equivalent circuit middle impedance pair of electromechanical transient network
The historical current source instantaneous value answered, ikj(t- τ) is the historical current source instantaneous value of the power transmission line k sides.
The computing module includes：
First receiving unit, in initialization, electromechanical transient network to receive the equivalent circuit of electro-magnetic transient network
Admittance battle array Yemt；
4th computing unit, for being t=c* Δ T in c-th electromechanical transient simulation time step, Δ T is electromechanical transient simulation
Step-length, N number of time step of the electro-magnetic transient network according to c-1 time step and before calculates electro-magnetic transient network and electromechanical transient
The positive and negative residual voltage U of network boundary pointemtWith positive and negative zero-sequence current I 'emt, electromechanical transient network is then sent to, N is electromechanics
The ratio of transient emulation step-length and electromagnetic transient simulation step-length；
5th computing unit, for the Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+Yemt*
Uemt, by the Injection Current IemtSubstitute into electromechanical transient Solution To The Network.
The computing module, including：
6th computing unit, for the equivalent circuit of the electro-magnetic transient network of the power transmission line k sides to be converted into positive negative zero
Sequence phasor form, substitutes into electromechanical transient network calculations；
Second receiving unit, during for initializing, electromechanical transient network receives the Equivalent admittance battle array Y of the power transmission lineline；
7th computing unit, for being t=c* Δ T in c-th electromechanical transient simulation time step, electro-magnetic transient network is according to the
C-1 time step and time step before, calculate the positive and negative residual voltage U of electro-magnetic transient network and electromechanical transient network boundary pointemt
With positive and negative zero-sequence current I 'emt, electromechanical transient network is then sent to, Δ T is electromechanical transient simulation step-length；
8th computing unit, for the Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+
Yline*Uemt, by the Injection Current IemtSubstitute into electromechanical transient Solution To The Network.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.And, the application can be used and wherein include the computer of computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) is produced
The form of product.
The application is the flow with reference to method, equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of being specified in present one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
Make the manufacture of device, the command device realize in one flow of flow chart or multiple one square frame of flow and/or block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Finally it should be noted that：Above example is merely to illustrate technical scheme rather than to its protection domain
Limitation, although being described in detail to the application with reference to above-described embodiment, those of ordinary skill in the art should
Understand：Those skilled in the art read still can be to applying after the application specific embodiment carry out a variety of changes, modification or
Person's equivalent, but these changes, modification or equivalent, are applying within pending claims.
Claims (10)
1. a kind of electromechanics-electromagnetism hybrid simulation method, it is characterised in that methods described includes：
It is determined that being hybrid simulation interface position in the bus that electro-magnetic transient network side is connected with the power transmission line for meeting pre-conditioned；Institute
State Electromagnetic Wave Propagation on power transmission line and postpone τ more than electromagnetic transient simulation step delta t；The k sides connection electromechanical transient of the power transmission line
Network, the j sides of the power transmission line connect remaining network of electro-magnetic transient network；Remaining of the power transmission line and electro-magnetic transient network
Network constitutes complete electro-magnetic transient network；
It is following three parts by the decoupling of remaining network of the electro-magnetic transient network, the power transmission line and electromechanical transient network：
The equivalent circuit part of remaining network portion, power transmission line k sides and electromechanical transient network of power transmission line j sides and electro-magnetic transient network,
And the equivalent circuit of electro-magnetic transient network and electromechanical transient network portion；
The electric network state for obtaining electro-magnetic transient network and electromechanical transient network is solved respectively to above-mentioned three part.
2. the method for claim 1, it is characterised in that the power transmission line is three phase line, to power transmission line j sides with
All of quantity of state is three-phase instantaneous value during remaining network portion of electro-magnetic transient network；To power transmission line k sides and electromechanical transient
The quantity of state of power transmission line is three-phase instantaneous value when the equivalent circuit part of network solves, and the equivalent circuit of electromechanical transient network is for just
The Thevenin's equivalence circuit of negative zero sequence phasor form.
3. method as claimed in claim 2, it is characterised in that the equivalent circuit obtained after the power transmission line equivalence includes alternate
Equivalent impedance, mutually equivalent impedance and equivalent voltage source, the alternate equivalent impedance are located between two-phase, the equivalent resistance in phase ground
Anti- in parallel with the equivalent voltage source, the phase ground equivalent impedance and the homogeneous end of the equivalent voltage source are grounded, other end conduct
The side of power transmission line.
4. the method for claim 1, it is characterised in that to power transmission line j sides and remaining Network Dept. of electro-magnetic transient network
Divide and solve, including：
In d-th electromagnetic transient simulation time step t=d* Δ t, time step interpolation according to d-1 time steps and before obtains the t- τ moment
Power transmission line j, k both sides voltage and current quantity of state；
Voltage and current quantity of state according to the power transmission line j sides calculates j sides historical current source ijk(t-τ)；
By the ijk(t- τ) substitutes into remaining Solution To The Network of electro-magnetic transient network, wherein, Δ t is electromagnetic transient simulation step-length, τ
It is ripple propagation delay.
5. the method for claim 1, it is characterised in that asked with the equivalent circuit of electromechanical transient network power transmission line k sides
Solution, including：
The equivalent electricity of promise that the equivalent circuit of the electromechanical transient network of positive and negative zero sequence vector form is converted into ABC phasor forms
Road；
The promise of ABC phasor forms equivalent circuit is converted to the equivalent circuit of instantaneous value form, the instantaneous value form etc.
Value circuit meets following formula equation：
(Gline+Gst)*uk(t)=ist(t)-ihist(t-Δt)-ikj(t- τ),
Wherein, GlineIt is the admittance battle array of the power transmission line, GstFor the promise equivalent circuit middle impedance of electromechanical transient network is corresponding
Admittance battle array, ukT () is the node voltage instantaneous value of power transmission line k sides described in t, istT () is the promise of t electromechanical transient network
Current source instantaneous value, i in equivalent circuithist(t- Δs t) is corresponding for the promise equivalent circuit middle impedance of electromechanical transient network
Historical current source instantaneous value, ikj(t- τ) is the historical current source instantaneous value of the power transmission line k sides.
6. the method for claim 1, it is characterised in that equivalent circuit and electromechanical transient network to electro-magnetic transient network
Solve, including：
During initialization, electromechanical transient network receives the admittance battle array Y of the equivalent circuit of electro-magnetic transient networkemt；
Be t=c* Δ T in c-th electromechanical transient simulation time step, Δ T is electromechanical transient simulation step-length, electro-magnetic transient network according to
C-1 time step and N number of time step before, calculate the positive and negative zero sequence electricity of electro-magnetic transient network and electromechanical transient network boundary point
Pressure UemtWith positive and negative zero-sequence current I 'emt, electromechanical transient network is then sent to, N is electromechanical transient simulation step-length and electro-magnetic transient
The ratio of simulation step length；
The Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+Yemt*Uemt, by the Injection Current Iemt
Substitute into electromechanical transient Solution To The Network.
7. the method for claim 1, it is characterised in that equivalent circuit and electromechanical transient network to electro-magnetic transient network
Solve, including：
The equivalent circuit of the electro-magnetic transient network of the power transmission line k sides is converted into positive and negative zero sequence phasor form, is substituted into electromechanical temporary
State network calculations；
During initialization, electromechanical transient network receives the Equivalent admittance battle array Y of the power transmission lineline；
Be t=c* Δ T in c-th electromechanical transient simulation time step, electro-magnetic transient network according to c-1 time step and before when
Step, calculates the positive and negative residual voltage U of electro-magnetic transient network and electromechanical transient network boundary pointemtWith positive and negative zero-sequence current I 'emt, so
After be sent to electromechanical transient network, Δ T is electromechanical transient simulation step-length；
The Injection Current I of electromechanical transient network calculations promise equivalent circuitemt=I 'emt+Yline*Uemt, by the Injection Current Iemt
Substitute into electromechanical transient Solution To The Network.
8. the method for claim 1, it is characterised in that the hybrid simulation interface exists and a plurality of meets pre-conditioned
Power transmission line, bus, the opposite side connection electromechanical transient network side of the side connection electro-magnetic transient of every power transmission line remaining network
Bus, the Impedance Matrix of the equivalent circuit of electro-magnetic transient network is the multiport Thevenin's equivalence Impedance Matrix for being retracted to interface,
The equivalent voltage source of the equivalent circuit of electro-magnetic transient network is the open-circuit voltage of electromechanical electromagnetism hybrid simulation interface.
9. a kind of electromechanics-electromagnetism hybrid simulation system, it is characterised in that the system includes：
Interface determining module, the bus for determining to be connected with the power transmission line for meeting pre-conditioned in electro-magnetic transient network side is mixed
Close emulation interface position；Electromagnetic Wave Propagation postpones τ more than electromagnetic transient simulation step delta t on the power transmission line；The power transmission line
K sides connection electromechanical transient network, the j sides of the power transmission line connect remaining network of electro-magnetic transient network；The power transmission line with
Remaining network of electro-magnetic transient network constitutes complete electro-magnetic transient network；
Decoupling module, for remaining network of the electro-magnetic transient network, the power transmission line and electromechanical transient network to be decoupled
It is following three parts：Remaining network portion of power transmission line j sides and electro-magnetic transient network, power transmission line k sides and electromechanical transient network
The equivalent circuit of equivalent circuit part and electro-magnetic transient network and electromechanical transient network portion；
Computing module, the power network shape of electro-magnetic transient network and electromechanical transient network is obtained for being solved respectively to above-mentioned three part
State.
10. system as claimed in claim 9, it is characterised in that the computing module, including：
First computing unit, in d-th electromagnetic transient simulation time step t=d* Δ t, according to d-1 time steps and before when
Step interpolation obtains the voltage and current quantity of state of power transmission line j, k both sides at t- τ moment；
Second computing unit, for calculating j sides historical current source i according to the voltage and current quantity of state of the power transmission line j sidesjk
(t-τ)；
3rd computing unit, for by the ijk(t- τ) substitutes into remaining Solution To The Network of electro-magnetic transient network, wherein, Δ t is electricity
Magnetic transient emulation step-length, τ is ripple propagation delay.
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