CN107025335A - Emulated computation method and analogue system based on state variable discretization - Google Patents
Emulated computation method and analogue system based on state variable discretization Download PDFInfo
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Abstract
The invention discloses a kind of emulated computation method based on state variable discretization and analogue system, wherein, analogue system includes：Systematic parameter obtains processing module, for when carrying out kth step simulation calculation, the system input and unique variable condition variable that are changed according to kth step compared to the step of kth 1 to obtain state variable matrix when kth walks simulation calculation；Simulation numerical computing module, for performing the emulated computation method based on state variable discretization；Simulation Control module, for judging that the system emulation that updates after kth step simulation calculation calculates the magnitude relationship at current time and system emulation finish time, if greater than equal to then terminating to emulate and export simulation result.Thus, the mode based on state variable discretization carries out simulation calculation, improves the degree of accuracy of simulation result, realizes the raising in terms of simulation velocity and numerical stability.
Description
Technical field
The present invention relates to simulation of power electronic technical field, more particularly to a kind of emulation meter based on state variable discretization
Calculation method and analogue system.
Background technology
At present, it is considered to which the simulation of power electronic model of power semiconductor non-ideal model and circuit stray parameter has
The features such as system complex, discontinuity point are more, non-linear and rigid strong, use conventional numeric computational methods (such as trapezoidal method, Long Geku
Tower method etc.) when, not only need to be iterated or interpolation drags slow simulation velocity to judge discontinuity point, seriously, and can face tight
The numerical value wild effect of weight, Algorithm Convergence is poor.So conventional simulation of power electronic software (MATLAB, PSIM, PSpice
Deng) account for non-ideal factor power electronic system emulate when speed and constringent problem occurs.
In correlation technique, to solve the numerical stability issues in rigid system, neutrality network analysis, E Kofman
Et al. propose quantify status system numerical computation method (QSS methods).
However, when have strong rigid power electronic system emulation using tradition QSS methods (such as QSS1 methods), due to
Each state variable change speed difference is huge, and the Q functions of fast variable can be in the continuous saltus step of up-and-down boundary, and this causes waveform to occur such as
The small size higher-order of oscillation shown in Fig. 1 (a)；To accelerate simulation velocity, larger quantization length vector Δ Q modulus value is often chosen, this
Phantom error is caused to increase, the significantly low-frequency oscillation as shown in Fig. 1 (b) occurs in simulation waveform.Two kinds of vibrations are respectively to emulation
Speed and simulation accuracy are adversely affected.In this way consider non-ideal factor Technics of Power Electronic Conversion system emulation in
Simulation performance it is unsatisfactory.
The content of the invention
The purpose of the present invention is intended at least solve one of above-mentioned technical problem to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of emulated computation method based on state variable discretization,
Mode of this method based on state variable discretization carries out simulation calculation, improves the degree of accuracy of simulation result, realizes imitative
Raising in terms of true velocity and numerical stability.
Second object of the present invention is to propose a kind of analogue system based on state variable discretization.
To achieve these goals, what first aspect present invention embodiment was proposed is a kind of imitative based on state variable discretization
True computational methods, comprise the following steps：When carrying out kth step simulation calculation, the state that each state variable derivative value is constituted is obtained
Matrix of variables, wherein, each state variable derivative value calculates the state variable letter of obtained each state variable according to the step of kth -1
Several composition vectors, and, obtained according to the composition vector that kth walks all inputs of system, wherein, k is the positive integer more than 1；Sentence
Each state variable derivative value of breaking it is positive and negative, and each state variable calculated according to judged result respectively reach next border
Required each transformation period；Compare each transformation period, determine the minimum change time；According to the minimum change time more
New system simulation calculating current time, and the shape according to the minimum change time corresponding unique variable condition variable update
State variable matrix.
The emulated computation method based on state variable discretization of the embodiment of the present invention, passes through improved quantization status system
The intrinsic variable step property and less single step amount of calculation of numerical computation method, make its relatively conventional numerical algorithm that there is speed
Advantage, the numerical computation method of improved quantization status system is equivalent to due to adding derivative amplitude limit and limits system rigidity
The frequency of the caused numerical value higher-order of oscillation, reduces calculating step number, further improves simulation velocity, simultaneously as using amount
Change the thought of status system, often step, which is calculated, only changes state variable function, so often step is calculated it is determined that model parameter
When need only to recalculate and calculate unique state variable and the step for changing state variable function with upper step and calculate change
The relevant parameter of input value, judgement and calculation times when relatively conventional emulation mode reduces calculating parameter, this also makes emulation
Speed gets a promotion, and can effective power oscillation damping amplitude, wait quantify under length and during the contrast of tradition QSS methods it is smart
Degree is higher.
To achieve these goals, what second aspect of the present invention embodiment was proposed is a kind of imitative based on state variable discretization
True system, including：Systematic parameter obtains processing module, for when carrying out kth step simulation calculation, according to kth step compared to the
The system input of k-1 step changes and unique variable condition variable obtain state variable matrix during kth step simulation calculation；Emulate number
It is worth computing module, for performing the emulated computation method based on state variable discretization as described in claim any one of 1-5；
Simulation Control module, the system emulation calculating current time for judging to update after kth step simulation calculation terminates with system emulation
The magnitude relationship at moment, if greater than equal to then terminating to emulate and export simulation result.
The analogue system based on state variable discretization of the embodiment of the present invention, the mode based on state variable discretization is entered
Row simulation calculation, improves the degree of accuracy of simulation result, realizes the raising in terms of simulation velocity and numerical stability.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and be readily appreciated that, wherein：
Fig. 1 (a) is a numerical oscillation figure using simulation waveform during tradition QSS1 methods；
Fig. 1 (b) is another numerical oscillation figure using simulation waveform during tradition QSS1 methods；
Fig. 2 is the flow chart of the emulated computation method according to an embodiment of the invention based on state variable discretization；
Fig. 3 is the flow of the emulated computation method in accordance with another embodiment of the present invention based on state variable discretization
Figure；
Fig. 4 is the simulation time and gained simulation waveform schematic diagram using different simulation algorithms；
Fig. 5 is that the inhibitory action amplification of improvement LIQSS1 method logarithm value oscillation amplitudes according to an embodiment of the invention is shown
It is intended to；
Fig. 6 improves QSS1 methods and improves the emulation of LIQSS1 methods when being different quantization length according to an embodiment of the invention
Precision and the comparison diagram of time；
Fig. 7 is the structural representation of the analogue system according to an embodiment of the invention based on state variable discretization；
Fig. 8 is the topological structure schematic diagram of simulation object in example；
Fig. 9 is the power semiconductor non-ideal model equivalent circuit diagram used in example；
Figure 10 is the structural representation of the analogue system in accordance with another embodiment of the present invention based on state variable discretization
Figure；And
Figure 11 is the simulation contact surface according to an embodiment of the invention based on state variable discretization.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings emulated computation method based on state variable discretization and the emulation of the embodiment of the present invention described
System.
Fig. 2 is the flow chart of the emulated computation method according to an embodiment of the invention based on state variable discretization.
As shown in Fig. 2 this method includes：
S101, when carrying out kth step simulation calculation, obtains the state variable matrix that each state variable derivative value is constituted, its
In, each state variable derivative value calculates the composition vector of the state variable function of obtained each state variable according to the step of kth -1,
With, obtained according to the composition vector that kth walks all inputs of system, wherein, k is the positive integer more than 1.
It is appreciated that in the numerical computation method (QSS methods) for quantifying status system, QSS methods are blocked with the overall situation
Error by it is selected quantization length hard constraints feature, i.e., be for state equationSystem, it blocks mistake
Difference vector e (t) and quantization length vector Δ Q have following relation：
|e(t)|≤|V||Re(Λ-1)||V-1|ΔQ
A=V Λ V-1
Thus, QSS methods truncated error will not be with emulation step number superposition, better numerical value stability.Meanwhile, the algorithm was calculated
Journey is simple, and calculating process judges that discontinuity point does not need iteration and interpolation, add the variable step property of itself without iteration, existing
There is speed and convergence sexual clorminance to Conventional temporal discrete logarithm in rigid system and neutrality network analysis.
QSS methods were a kind of mathematical method originally, the quantization state thought of the invention based on this method, from system state variables
Recognize converters, the change of state variable in converters Numeral Emulation System, input quantity is turned to " thing
Part " promotes the progress of simulation calculation, is substantially to carry out power electronics Kinetic Characterization from the angle of " event ".
I.e. the present invention be based on existing QSS1 methods, LIQSS1 methods, for its produce high frequency, low-frequency oscillation the problem of led
Number amplitude limit and to all state variables carry out derivative linearisation estimate and state variable bring into correction etc. improve, propose it is improved
QSS methods (including improve QSS1 methods, improve LIQSS1 methods), and the method is used as to the numerical value ordinary differential based on time discretization
Equation ODE numerical solution is designed based on the Technics of Power Electronic Conversion system emulation framework for quantifying status system, is ensureing emulation
As a result on the premise of accuracy, simulation velocity is made further to be substantially improved.
Specifically, when carrying out kth step simulation calculation, numerical value ODE in traditional simulation is replaced to count using improved QSS1 methods
Part is calculated, the state variable matrix that each state variable derivative value is constituted is obtained.
Wherein, each state variable derivative value calculates the state variable letter of obtained each state variable according to the step of kth -1
Several composition vectors, and, obtained according to the composition vector that kth walks all inputs of system, and during practical application, can root
The acquisition of state variable matrix is realized according to various ways.
In one embodiment of the invention, the state that each state variable derivative value is constituted is obtained according to below equation (1)
Matrix of variables：
Wherein, Q(k-1)Obtained all state variable x of system are calculated for the step of kth -1iQ function Q (xi)(k-1)Constitute to
Amount, U(k)All input u of system in being calculated for kth stepi (k)Vector is constituted, wherein, the system state equation that kth step is calculated is
Specifically, state variable x is usediQ function Q (xi) to xiDiscretization is carried out, and replaces state variable to substitute into state
Q (x in each state variable derivative of the equation solution step, algorithmi) change be turned to " event " promote calculate progress, that is, use Q
(xi) change calculate the often corresponding analogue system time change of step computing, while only changing a state change in often step computing
The Q functions of amount, the i.e. discretized values of only one of which state variable change.
It is emphasized that in one embodiment of the invention, to suppress because of the simulation waveform height that system rigidity is produced
Frequency vibration is swung, and is often walked in calculating process to state variable derivative valueAmplitude limit is carried out, so as to reduce unnecessary " event " generation time
Number, limits frequency of oscillation, is used as a kind of possible implementation, the amplitude limit upper boundAccording to the voltage of system, current peak and wait
Electric capacity, the size estimation of inductance value are imitated, principle is to effectively filter out abnormal (can cause high frequency rigidly vibration) derivative value, simultaneously
The accuracy of simulation result is not influenceed.
In this example, amplitude limit is carried out to each state variable derivative value by below equation (2)：
Wherein, kxFor coefficient, to ensure derivative amplitude limit not failure simulation precision, kxIt has to be larger than 1.kxValue is bigger, derivative
The more impossible failure simulation precision of amplitude limit, but it is weaker to the suppression of the higher-order of oscillation, | U |maxFor system voltage peak value, | I |maxTo be
System current peak, CminFor system equivalent capacitance value, LminFor system equivalent inductance value.
In the present embodiment, amplitude is higher than according to formula (3)Derivative value zero setting：
Wherein,Constitute vector
S102, judges the positive and negative of each state variable derivative value, and calculates each state variable respectively according to judged result and reach
Each transformation period required for next border.
For example, by taking i-th of state variable as an example, the state variable of acquisition is reached under its state variable function on one side
Time Δ t used in boundaryi (k)For formula (4) Suo Shi：
Wherein, Δ qiFor constant, represent that i-th given of state variable quantifies length.
S103, relatively more each transformation period, determines the minimum change time.
S104, according to minimum change time updating system simulation calculating current time, and according to minimum change time correspondence
Unique variable condition variable update state variable matrix.
Specifically, in one embodiment of the invention, the system emulation computing current time updated in the step of kth -1
On the basis of, the minimum change time is added, using plus the time of minimum change time as system emulation computing current time, is obtained
Uniquely the corresponding unique variable condition variable function of variable condition variable, the shape of obtained each state variable is calculated in the step of kth -1
In state variable function, unique variable condition variable function is updated, is obtained according to the composition vector of each state variable function after renewal
Kth is taken to walk the state variable matrix in simulation calculation.
In one embodiment of the invention, if m-th of state variable xmReach the next border of its Q function the time required to
It is most short, i.e., as shown in formula (5)：
Δtm (k)=min { Δ ti (k)(i=1,2 ..., n) (5)
Then kth walks computing finish time t(k)And the moment each state variable value X(k)For formula (6) Suo Shi：
t(k)=t(k-1)+Δtm (k)
Thus, the Q functional values of m-th of state variable are only updated in state variable Q functions, i.e., are only updated in this calculating
The state variable Q functional values changed, the Q functions value calculating method of each state is stated shown in formula (7) as follows:
Based on above example, it is necessary to which explanation, improving QSS methods includes improving QSS1 methods and improve LIQSS1 methods,
To all state variables of system and its derivative before also being calculated except above-mentioned steps in the calculating process for improving LIQSS1 methods
Estimate, and by discreet value substitution state equation be corrected, this cause wait quantify length under, improve LIQSS1 methods emulation ripple
It is smaller that shape low-frequency oscillation amplitude is relatively improved QSS1 methods, but LIQSS1 method single step amounts of calculation are larger, so simulation velocity is relative
Improve QSS1 methods slower.
Specifically, if emulated using LIQSS1 methods are improved, Fig. 3 is base in accordance with another embodiment of the present invention
In the flow chart of the emulated computation method of state variable discretization, as shown in figure 3, before step S101 as shown in Figure 2, should
Method also includes：
S201, the state variable function of unique variable condition variable in the step of kth -1, and, unique variable condition becomes
The state variable derivative value of amount, state variable function and state variable derivative value to all state variables carry out linear predictor.
Specifically, the state variable that unique Q functions change in calculating k-1 steps is (it is assumed that xi) Q functions qiAnd
Derivative valueCarry out linearisation to estimate, it is assumed that k-1 walks the state variable that unique Q functions change in calculating and isThen any shape
State variable xjQ functions and derivative discreet value be formula (8) shown in：
Wherein, Δ qjRepresent xjQuantization length, Aj (k-1)、vj (k-1)The coefficient of linear equation is estimated for derivative, method is determined
For formula (9) Suo Shi：
S202, the state variable function value of all state variables is corrected according to preset algorithm.
As a kind of possible implementation, the function of state value of each state variable is corrected according to below equation (10)：
Wherein,For the state variable x after correctionjQ functional values, Q functional values after all corrections constitute vector
S203, according to the composition of the state variable function of all state variables after correction vector, it is all that correction is estimated
The state variable derivative value of state variable.
, will as a kind of possible implementationBring system state equation intoCorrecting state variable is led
Number, i.e., as shown in below equation (11)：
Wherein,The vector constituted for the state variable derivative after correction.
Further, kth step computing finish time t is calculated according to improvement QSS1 methods(k)And the moment each state variable value
x(k)And corresponding Q functional values.
In order to more intuitively illustrate the emulated computation method based on state variable discretization of the embodiment of the present invention imitative
Lifting in true precision, is illustrated with reference to the contrast with prior art.
In one embodiment of the invention, respectively under conventional discrete time simulation frame using MATLAB in carry
4 kinds of rigidity ODE algorithms, use the improvement proposed in tradition QSS1 methods, the present invention under based on quantization status system simulation frame
QSS1 methods and improvement LIQSS methods carry out simulation calculation to the simulation model and process of example.The simulation process of all numerical algorithms
Realized using processor host frequency 3.6GHz computers in MATLAB platforms.The simulation velocity of each algorithm is as shown in table 1.Wherein,
The step of due to based on quantifying under status system simulation frame without control relative error, so taking all state variables in each method
Quantify length composition matrix Δ Q consistent.For computing it is accurate and stable carry out, the quantization length scale of each state variable is steady with it
Amplitude must be into equal proportion relation, with this proportionality coefficient is represented, i.e., as shown in below equation (12) under state：
Table 1
Show that the QSS methods and traditional fixed step size at place, the simulation velocity of Variable Step Algorithm are contrasted from table 1, in this example
In, during using based on the improvement QSS1 methods and improvement LIQSS1 methods quantified under status system simulation frame, simulation velocity is relative to be passed
Variable step time discrete algorithm and the tradition QSS1 methods of uniting improve 2 orders of magnitude.
Fig. 4 is tradition QSS1 methods, TR-BDF2 methods in the example, improve QSS1 methods, the TB+ obtained by improvement LIQSS1 methods
Tube voltage drop and current waveform and respective simulation time.It can be seen that, simulation result obtained by the emulation mode based on quantization status system is
Accurately, and there is obvious speed advantage using when improving QSS1 methods and improvement LIQSS1 methods.Meanwhile, quantify length identical
When, improve LIQSS methods and be relatively improved QSS1 methods although simulation time is slightly longer, but it can effectively suppress tube voltage drop as shown in Figure 5
Vibration in stable state waveform, improves simulation accuracy.
QSS1 methods and improvement LIQSS1 methods simulation accuracy and time are improved when Fig. 6 is under the example using different quantization length
Contrast.Wherein, the method for expressing of simulation accuracy is：TB+ pipes obtained by TB+ tube voltage drops data obtained by QSS methods and TR-BDF2 methods
Pressure drop data carries out taking respectively the root mean square of both interpolation results difference after 2000 linear interpolations.If y,QSS side is represented respectively
The interpolation result of method and TR-BDF2 methods, then root-mean-square error RMSE is shown in below equation (13)：
It will be appreciated from fig. 6 that when quantization length Δ Q is identical, improvement LIQSS1 methods, which are relatively improved QSS1 methods, has accuracy benefits,
Root-mean-square error with respect to TR-BDF2 methods is small compared with improvement QSS1 methods, and reason is that it is served to simulation result low-frequency oscillation amplitude
Certain inhibitory action.However, when quantization length Δ Q is identical, improving LIQSS1 method simulation times and being slightly above improvement QSS1 methods.Institute
With in utilization, the speed and essence of two kinds of algorithms the need for both selections are also required to according to actual emulation and in simulation model
Degree performance makes a choice, still, no matter improve QSS1 methods or to improve LIQSS1 methods be explicit algorithm, and in the absence of any
Iteration, relatively conventional variable step Stiff algorithms program realizes and is relatively easy to that single step amount of calculation is small.
In summary, the emulated computation method based on state variable discretization of the embodiment of the present invention, passes through improved amount
Change the numerical computation method of status system intrinsic variable step property and less single step amount of calculation, calculate its relatively conventional numerical value
Method has speed advantage, and the numerical computation method of improved quantization status system is equivalent to limitation due to adding derivative amplitude limit
The frequency of the numerical value higher-order of oscillation, reduces calculating step number, further improves simulation velocity caused by system rigidity, meanwhile,
Due to using quantify status system thought, often step calculate only change a state variable function, so often step calculate it is determined that
Need only to recalculate when model parameter and calculate unique state variable and the step for changing state variable function with upper step
Calculate the relevant parameter of input value changed, judgement and calculation times when relatively conventional emulation mode reduces calculating parameter,
This also makes simulation velocity get a promotion, and can effective power oscillation damping amplitude, quantify waiting under length and traditional QSS side
Precision is higher when method is contrasted.
In order to realize above-described embodiment, the invention also provides a kind of analogue system based on state variable discretization, Fig. 7
It is the structural representation of the analogue system according to an embodiment of the invention based on state variable discretization, as shown in fig. 7, should
Analogue system based on state variable discretization includes：Systematic parameter obtains processing module 100, simulation numerical computing module 200
With Simulation Control module 300.
Wherein, systematic parameter obtains processing module 100, for when carrying out kth step simulation calculation, being compared according to kth step
State variable matrix when the system input and unique variable condition variable that the step of kth -1 changes obtain kth step simulation calculation.
Specifically, each step computing only changes the Q functional values of a state variable, Q (x under the simulation framej)(k-1)For
K-1 calculates the state variable Q functions uniquely changed,Walk to input with respect to the system that the step of kth -1 changes in calculating for kth and constitute
Vector,Size and Q (x in being calculated for kth stepj)(k-1)WithThe matrix that related parameter value is constituted, itself and Q (xj)(k-1)
WithRelation for shown in formula (14)：
Wherein,Size and Q (x in being calculated for kth stepj)(k-1)WithThe matrix that incoherent parameter value is constituted, it is actual
During calculating, the system parameter variations of the step " event " influence need to be only considered, then calculation method of parameters is shown in formula (15)：
Three-phase two is loaded using the band star resistance sense for considering power semiconductor non-ideal model and circuit stray parameter
Level shifter circuit carries out sample calculation analysis, and artificial circuit topology is as shown in figure 8, the IGBT and diode non-ideal model that use
Equivalent circuit it is as shown in Figure 9.Simulation process is the single switch cycle, and wherein TA+ pipes are off stable state, and TC+ pipes, which are in, to be opened
Logical stable state, TB+ pipes undergo shut-off at 1, open two processes, and its switch periods is 0.2ms, and dutycycle is 50%.
In the simulation model, model variable element includes each IGBT gate electrode resistance R during kth step is calculatedg_x, base resistance
RPN_x, gc interpolar stray capacitances Cgc_x, equivalent current source IT_xExpression formula, the dynamic capacity C of each IGBT diodesd_x, dynamic electric
Hinder Rd_x, static resistance rd_x；Input variable is each IGBT gate drive voltage Ug_xAnd each current source IT_xElectric current；It is above-mentioned
" _ x " represents its corresponding IGBT or diode numbering to the subscript respectively measured；System state variables for each equivalent capacity terminal voltage and
Flow through the electric current of inductance.The computational methods of systematic parameter under the example are exemplified below.
Assuming that unique state variable for changing Q functional values is that numbering is T in the step computing of kth -1A+IGBT ce interpolars electricity
Press Uce_TA+, associated variable element is only Cgc_TA+And rd_DA-(diode and numbering that numbering is DA- are TA+'s
IGBT carries out the change of current)；The input variable U that kth step is calculated simultaneouslyg_TB-Change, associated parameter is only Rg_TB-、
Cd_TB-、Rd_TB-(IGBT that the diode and numbering that numbering is DB+ are TB- carries out the change of current).Then kth walks the ginseng in simulation calculation
Number calculating method is shown in formula (16)：
It should be noted that keeping constant when remaining parameter is with respect to the step computing of kth -1, without calculating.
More specifically, Figure 10 is the analogue system in accordance with another embodiment of the present invention based on state variable discretization
Structural representation, as shown in Figure 10, on the basis of as shown in Figure 7, the systematic parameter obtains processing module 100 and obtained including first
Take unit 110, second acquisition unit 120, processing unit 130, determining unit 140 and computing unit 150.
Wherein, first acquisition unit 110, for obtaining each state variable x that the step simulation calculation of kth -1 is obtainediState
Variable function Q function Q (xi)(k-1)Constitute vector Q(k-1), wherein, Q (xi)(k-1)It can be obtained by below equation (17)：
Wherein, Δ qiIt is i-th of state variable xiQuantization length, Q (xi)(k-2)It is all state variable x of the step of kth -2i's
State variable function, xi (k-1)It is the step state variable of kth -1；
Second acquisition unit 120, for obtaining all system input u in kth step simulation calculationi (k)Constitute vector U(k), and
Vector U (change) is constituted relative to the system input that the step of kth -1 changes(k)。
Processing unit 130, for by Q (x (change))(k-1)With U (change)(k)It is defined as " the thing during kth step is calculated
Part " " event(k)", wherein, such as shown in formula (18)：
event(k)={ Q (x (change))(k-1),U(change)(k)} (18)
Wherein, x (change) is the state variable uniquely changed during the step of kth -1 is calculated, and its Q function is Q (x (change)
)(k-1)。
Specifically, all input u of system during kth step is calculatedi (k)Constitute vector U(k), and the step of kth -1 relatively changes
Input constitute vector U (change)(k), then Q (x (change))(k-1)With U (change)(k)U(change)(k)Constitute kth step
" event " in calculating.
Determining unit 140, for kth to be walked to system parameter values c all in calculatingi (k)The model reference vector C of composition(k)It is defined as C(k)=f { event(k)}。
Computing unit 150, for calculating state variable matrix during kth step simulation calculation according to equation below (19),
Wherein, matrix A (C(k))(k)With B (C(k))(k)By C(k)Determine, x is all state variables,It is that institute is stateful to become
The state variable that the derivative value of amount is constituted.
Simulation numerical computing module 200, for perform above-mentioned reference picture 2- Fig. 6 description based on state variable discretization
Emulated computation method.
Specifically, it is Q to calculate input(k-1)、x(k-1)Determine the matrix A (C of the step state equation(k))(k)With B (C(k))(k)
And the step of kth -1 calculates finish time t(k-1), calculate and be output as all state variable x of system that kth step calculating is obtainediQ functions Q
(xi)(k)The vectorial Q of composition(k), the vector x that constitutes of all state variables(k)Finish time t is calculated with kth step(k), the number used
Value ODE algorithms are improvement QSS methods proposed by the present invention (including improve QSS1 methods and improve LIQSS1 methods).
Simulation Control module 300, the system emulation for judging to update after kth step simulation calculation calculates current time with being
The magnitude relationship of system emulation finish time, if greater than equal to then terminating to emulate and export simulation result.
In one embodiment of the invention, t is judged(k)With the emulation end time T of setting magnitude relationship, if t(k)<T
Then proceed the step computing of kth+1, if t(k)>=T, then terminate emulation, exports simulation result.
For the workflow of the analogue system based on state variable discretization of the more clear explanation embodiment of the present invention
Journey, below in conjunction with the accompanying drawings, is illustrated to the calculation process of the analogue system.
Figure 11 is the simulation contact surface according to an embodiment of the invention based on state variable discretization.Such as Figure 11 institutes
Show, the emulated computation method includes：
During initial k=0, the state variable function Q of the 0th step is inputted(0), state variable x(0), state variable quantization length
Δ q and simulation calculation initial time t(0)(S301), wherein, initial " event " event(0)Change and first for the first time of input
It is secondary have certain state variable reach first occur in the event of two, its adjacent quantization border that determine.Work as entry event
event(k)(S302), according to formula C(k)=f { event(k)Systematic parameter calculating (S303) is carried out, write according to systematic parameter row
System state equation is generatedAnd then, implement tradition into improved QSS methods
ODE computing functions (S305) in technology, and then, judge whether to reach the end time (S306) of emulation, tied if reaching
Beam emulates and exports simulation result.
If not reaching emulation end time, k=k+1 (S307) is performed, into the emulation of next step, is now obtained
In kth step simulation calculation, the composition vector U of all inputs of system(k), and the input composition vector that the step of kth -1 relatively changes
U(change)(k)(S308), know in kth step simulation calculation, the Q functions Q of the state variable uniquely changed relative to the step of kth -1
(x(change))(k-1)(S309) time that kth walks computing, is constituted, the progress of simulation calculating is pushed.
Thus, in the simulation computing system of the embodiment of the present invention, relatively conventional numerical value emulation method, using system input and
The change of quantity of state promotes the progress of emulation and the change of model parameter, and only changes a state variable in each step computing.
Example shows that this method can not only obtain accurate simulation result, and relative in terms of simulation velocity and numerical stability
Traditional numerical simulation computational methods based on time discrete have a clear superiority.
In summary, the analogue system based on state variable discretization of the embodiment of the present invention, discrete based on state variable
The mode of change carries out simulation calculation, improves the degree of accuracy of simulation result, realizes in terms of simulation velocity and numerical stability
Raising.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. a kind of emulated computation method based on state variable discretization, it is characterised in that comprise the following steps：
When carrying out kth step simulation calculation, the state variable matrix that each state variable derivative value is constituted is obtained, wherein, it is described each
State variable derivative value calculates the composition vector of the state variable function of obtained each state variable according to the step of kth -1, and, according to
The composition vector of kth step all inputs of system is obtained, wherein, k is the positive integer more than 1；
Judge the positive and negative of each state variable derivative value, and calculated respectively according to judged result under each state variable reaches
Each transformation period required for one border；
Compare each transformation period, determine the minimum change time；
According to the minimum change time updating system simulation calculating current time, and it is corresponding according to the minimum change time
State variable matrix described in unique variable condition variable update.
2. the method as described in claim 1, it is characterised in that obtain the state change that each state variable derivative value is constituted described
Before moment matrix, in addition to：
The state variable function of unique variable condition variable in the step of kth -1, and, the shape of unique variable condition variable
State variable derivative value, state variable function and state variable derivative value to all state variables carry out linear predictor；
The state variable function value of all state variables is corrected according to preset algorithm；
According to the composition of the state variable function of all state variables after correction vector, all state variables that correction is estimated
State variable derivative value.
3. the method as described in claim 1, it is characterised in that it is described judge each state variable derivative value it is positive and negative it
Before, in addition to：
Amplitude limit is carried out to each state variable derivative value.
4. method as claimed in claim 3, it is characterised in that carried out by below equation to each state variable derivative value
Amplitude limit：
Wherein, kxFor the coefficient for the tensity for representing amplitude limit；|U|maxFor system voltage peak value；|I|maxFor system power peak value；
CminFor system equivalent capacitance value；LminFor system equivalent inductance value.
5. the method as described in claim 1, it is characterised in that state variable function is Q functions, then is obtained according to below equation
The state variable matrix that each state variable derivative value is constituted：
Wherein, A, B are the coefficient matrix of state equation, Q(k-1)Obtained all state variable x of system are calculated for the step of kth -1iQ
Function Q (xi)(k-1)Constitute vector, U(k)All input u of system in being calculated for kth stepi (k)Constitute vector.
6. the method as described in claim 1, it is characterised in that described emulated according to the minimum change time updating system is transported
Calculating current time includes：
On the basis of the system emulation computing current time updated in the step of kth -1, the minimum change time is added.
7. the method as described in claim 1, it is characterised in that described according to the minimum change time corresponding unique change
State variable, which updates the state variable matrix, to be included：
Obtain the corresponding unique variable condition variable function of unique variable condition variable；
In the state variable function that the step of kth -1 calculates obtained each state variable, unique variable condition variable letter is updated
Number；
State variable matrix in kth step simulation calculation is obtained according to the composition vector of each state variable function after renewal.
8. a kind of analogue system based on state variable discretization, it is characterised in that including：
Systematic parameter obtains processing module, for when carrying out kth step simulation calculation, being changed according to kth step compared to the step of kth -1
System input and unique variable condition variable obtain kth step simulation calculation when state variable matrix；
Simulation numerical computing module, it is imitative based on state variable discretization as described in claim any one of 1-5 for performing
True computational methods；
Simulation Control module, the system emulation for judging to update after kth step simulation calculation calculates current time and system emulation
The magnitude relationship of finish time, if greater than equal to then terminating to emulate and export simulation result.
9. system as claimed in claim 8, it is characterised in that the Simulation Control module is additionally operable to：
When the system time updated after judging kth step simulation calculation is less than the system emulation end time, continue to emulate.
10. system as claimed in claim 8, it is characterised in that the systematic parameter, which obtains processing module, to be included：
First acquisition unit, for obtaining each state variable x that the step simulation calculation of kth -1 is obtainediState variable function Q functions Q
(xi)(k-1)Constitute vector Q(k-1), wherein, Q (xi)(k-1)It can be obtained by below equation：
Wherein, Δ qiIt is i-th of state variable xiQuantization length, Q (xi)(k-2)It is all state variable x of the step of kth -2iState
Variable function, xi (k-1)It is the step state variable of kth -1；
Second acquisition unit, for obtaining all system input u in kth step simulation calculationi (k)Constitute vector U(k), and relative to
The system input that k-1 steps change constitutes vector U (change)(k)；
Processing unit, for by Q (x (change))(k-1)With U (change)(k)It is defined as " event " during kth step is calculated
“event(k)", wherein, event(k)={ Q (x (change))(k-1),U(change)(k), Q (x (change))(k-1)Represent phase
The state variable Q functions uniquely changed in being calculated for the step of kth -1；
Determining unit, for kth to be walked to system parameter values c all in simulation calculationi (k)The model reference vector C of composition(k)Really
It is set to C(k)=f { event(k)}；
Computing unit, for calculating state variable matrix during kth step simulation calculation according to equation below,
Wherein, A, B are the coefficient matrix of state equation, and x is all state variables in kth step simulation calculation, and u is kth step emulation
All system inputs in calculating,It is the state variable that the derivative value of all state variables is constituted.
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