CN108009375A - Control signal characterizing method and PWM modulator model, switching device model and electromagnetical transient emulation method - Google Patents
Control signal characterizing method and PWM modulator model, switching device model and electromagnetical transient emulation method Download PDFInfo
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Abstract
本发明公开了一种PWM门极控制系统的控制信号表征方法及基于该方法的PWM调制器模型、受控电力电子开关器件模型和高精度PWM变流器电磁暂态仿真方法,能够精确反映事件发生时刻,且能够在不降低内存使用效率的前提下获得并输出PWM调制器输出逻辑量的准确变化时刻,配合后续的各种插值和积分方法可实现PWM变流器的精确仿真。本发明公开的控制信号表征方法,能够同时表达PWM控制逻辑和可能存在的逻辑精确变化时刻,同时优化了内存使用和数值计算效率,提高了仿真算法程序实现的可靠性。本发明高度兼容于EMTP等基于固定步长的电磁暂态仿真方法,可在基于上述电磁暂态仿真方法的仿真软件中方便应用。
The invention discloses a control signal characterization method of a PWM gate control system, a PWM modulator model, a controlled power electronic switch device model and a high-precision PWM converter electromagnetic transient simulation method based on the method, which can accurately reflect events The time of occurrence, and the accurate change time of the output logic quantity of the PWM modulator can be obtained and output without reducing the memory usage efficiency, and the accurate simulation of the PWM converter can be realized by cooperating with various subsequent interpolation and integration methods. The control signal characterization method disclosed by the invention can simultaneously express the PWM control logic and possible precise logic change moments, optimize the memory usage and numerical calculation efficiency, and improve the reliability of the simulation algorithm program implementation. The invention is highly compatible with EMTP and other electromagnetic transient simulation methods based on fixed step size, and can be conveniently applied in simulation software based on the above electromagnetic transient simulation method.
Description
技术领域technical field
本发明涉及一种PWM门极控制系统的控制信号表征方法及基于该方法的PWM调制器模型、受控电力电子开关器件模型和高精度PWM变流器电磁暂态仿真方法,属于电力系统仿真技术。The invention relates to a control signal characterization method of a PWM gate control system and a PWM modulator model, a controlled power electronic switch device model and a high-precision PWM converter electromagnetic transient simulation method based on the method, which belong to the power system simulation technology .
背景技术Background technique
电力系统越来越呈现出电力电子化的趋势,柔性直流输电、柔性交流输电、分布式新能源发电等技术快速发展,使得电力电子设备在电力系统中的应用愈加广泛。电力电子设备一般由采用PWM(Pulse Width Modulation,脉冲宽度调制)技术的PWM变流器构成。PWM变流器中的PWM调制器作为变流器控制子系统和电气子系统的接口,既呈现出连续变化特性又具有离散事件特征,难以对其进行准确仿真这一特点给现代化电力系统的电磁暂态仿真带来了巨大的挑战。The power system is increasingly showing the trend of power electronics. The rapid development of technologies such as flexible DC transmission, flexible AC transmission, and distributed new energy generation has made power electronic equipment more widely used in power systems. Power electronic equipment is generally composed of a PWM converter using PWM (Pulse Width Modulation, pulse width modulation) technology. The PWM modulator in the PWM converter, as the interface between the converter control subsystem and the electrical subsystem, presents both continuous change characteristics and discrete event characteristics, and it is difficult to accurately simulate this characteristic. Transient simulation presents great challenges.
PWM调制器通常采用自然采样或规则采样方式并以三角波或锯齿波为载波进行调制,当输入的调制波大于等于载波时输出逻辑“1”,反之则输出逻辑“0”。电力系统目前应用最为广泛的电磁暂态仿真方法为Dommel教授提出的EMTP(Electro-Magnetic TransientProgram,电磁暂态仿真程序)方法。由于EMTP方法是基于固定积分步长进行仿真计算的,所以常规EMTP方法中PWM调制器的输出逻辑只能在整步长时刻发生改变。但由于实际中调制波和载波大小关系的变化往往发生在非整步长时刻,所以常规EMTP方法会导致PWM输出信号发生变化准确时刻的信息丢失,并且会将这个变化产生的结果延迟到下一个整步长时刻的仿真结果中反映出来,这就产生误差甚至会得出错误的结果。The PWM modulator usually adopts natural sampling or regular sampling method and modulates with triangular wave or sawtooth wave as the carrier. When the input modulation wave is greater than or equal to the carrier, it outputs logic "1", otherwise it outputs logic "0". The most widely used electromagnetic transient simulation method for power systems is the EMTP (Electro-Magnetic Transient Program) method proposed by Professor Dommel. Since the EMTP method is based on a fixed integral step size for simulation calculation, the output logic of the PWM modulator in the conventional EMTP method can only be changed at the full step size. However, since the change in the relationship between the modulating wave and the carrier size in practice often occurs at a non-integral step time, the conventional EMTP method will cause the loss of information at the exact moment when the PWM output signal changes, and will delay the result of this change to the next It is reflected in the simulation results of the whole step long time, which will cause errors and even get wrong results.
针对上述问题,大量研究往往只关注在得知PWM输出信号发生变化的准确时刻之后如何利用各种插值和积分方法来获得更为精确的仿真结果并同时使可能存在的数值振荡现象得到抑制,然而常规EMTP方法会丢失PWM输出信号发生变化的准确时刻这一关键现象却常常被忽略。而仅有的少数解决方法也都或多或少存在精度较差或内存使用效率较低的问题。下面就现有的两种解决方案及其优缺点进行说明。Aiming at the above problems, a large number of studies often only focus on how to use various interpolation and integration methods to obtain more accurate simulation results and at the same time suppress possible numerical oscillations after knowing the exact moment when the PWM output signal changes. The critical phenomenon that the conventional EMTP method misses the exact moment when the PWM output signal changes is often overlooked. And the few solutions that are available are more or less less accurate or memory efficient. Two existing solutions and their advantages and disadvantages are described below.
方案一:Do V Q,McCallum D,Giroux P,et al.A backward-forwardinterpolation technique for a precise modeling of power electronics inHYPERSIM[C].Proc.Int.Conf.Power System Transients,Rio de Janeiro,Brazil,2001.提出了一种PWM调制器的建模方法,在PWM调制器模型中增加了输出逻辑量发生变化的准确时刻的计算功能并增加一个用来表达的double型输出变量,同时在与之匹配的IGBT、MOSFET、GTO等受控电力电子开关器件的模型上相应的增加一个double型的输入变量。Solution 1: Do V Q, McCallum D, Giroux P, et al.A backward-forward interpolation technique for a precise modeling of power electronics in HYPERSIM[C].Proc.Int.Conf.Power System Transients,Rio de Janeiro,Brazil,2001. A modeling method of PWM modulator is proposed. In the PWM modulator model, the calculation function of the exact moment when the output logic quantity changes is added, and a double-type output variable is added to express it. At the same time, the matching IGBT , MOSFET, GTO and other controlled power electronic switching device models correspondingly add a double type input variable.
优点:该方法可使PWM调制器模型获得并输出逻辑量准确的变化时刻,配合后续的各种插值和积分方法就可实现更为精确的仿真。Advantages: This method enables the PWM modulator model to obtain and output the exact change time of the logic quantity, and cooperate with various subsequent interpolation and integration methods to achieve more accurate simulation.
缺点:在PWM调制器和IGBT、MOSFET、GTO等电力电子开关器件模型上都要增加一个double型变量,增加了仿真软件的内存负担。Disadvantages: A double variable must be added to the PWM modulator and IGBT, MOSFET, GTO and other power electronic switching device models, which increases the memory burden of the simulation software.
方案二:中国专利ZL201310119795.3提出了一种适用PWM变流器平均模型的改进EMTP算法,改算法省略了传统EMTP方法中复杂的开关处理子模块,同时增加了2个子模块用于预测分段平均模型的参数和矫正参数不准确带来的仿真误差。Solution 2: Chinese patent ZL201310119795.3 proposes an improved EMTP algorithm suitable for the average model of PWM converters. The modified algorithm omits the complex switch processing sub-module in the traditional EMTP method, and adds 2 sub-modules for predicting segmentation The simulation error caused by the inaccurate parameters of the average model and correction parameters.
优点:由于采用平均模型,PWM变流器的仿真速度将得到较大的提升。Advantages: Due to the use of the average model, the simulation speed of the PWM converter will be greatly improved.
缺点:(1)采用平均模型,丧失了模型在微观时间尺度上的变化特征,仿真结果不够精确;(2)无法反映某些采用软开关技术PWM变流器的软开关工作特性;(3)预测和矫正模块会增加仿真计算工作量。Disadvantages: (1) The average model is used, which loses the change characteristics of the model on the microscopic time scale, and the simulation results are not accurate enough; (2) It cannot reflect the soft switching characteristics of some PWM converters using soft switching technology; (3) Prediction and correction modules increase the computational workload of the simulation.
发明内容Contents of the invention
发明目的:为了克服现有技术中存在的不足,本发明提供一种PWM门极控制系统的控制信号表征方法及基于该方法的PWM调制器模型、受控电力电子开关器件模型和高精度PWM变流器电磁暂态仿真方法,能够精确反映事件发生时刻,且能够在不降低内存使用效率的前提下获得并输出PWM调制器输出逻辑量的准确变化时刻,配合后续的各种插值和积分方法可实现PWM变流器的精确仿真。Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a control signal characterization method of a PWM gate control system and a PWM modulator model, a controlled power electronic switching device model and a high-precision PWM transformer based on the method. The current electromagnetic transient simulation method can accurately reflect the time when the event occurs, and can obtain and output the accurate change time of the output logic quantity of the PWM modulator without reducing the memory usage efficiency. Accurate simulation of PWM converters is achieved.
技术方案:为实现上述目的,本发明采用的技术方案为:Technical scheme: in order to achieve the above object, the technical scheme adopted in the present invention is:
一种PWM门极控制系统的控制信号表征方法,该控制信号为数字变量,其取值范围和内存占用情况设置成与双精度浮点型数据完全相同,不仅能够表达逻辑“1”和逻辑“0”,还能够提供逻辑量的准确变化时刻这一重要信息,同时与基于固定步长的电磁暂态仿真算法兼容;记当前仿真时刻为tk,前一固定步长仿真时刻为tk-1,根据tk时刻的控制信号yk的取值情况,将其表征为如下事件扩展逻辑变量:A control signal characterization method for a PWM gate control system. The control signal is a digital variable, and its value range and memory usage are set to be exactly the same as double-precision floating-point data. It can not only express logic "1" and logic "0", it can also provide the important information of the accurate change time of the logic quantity, and is compatible with the electromagnetic transient simulation algorithm based on the fixed step size; record the current simulation time as t k , and the previous fixed step size simulation time as t k- 1. According to the value of the control signal y k at time t k , it is represented as the following event extended logic variable:
①当yk∈(1.0,+∞)时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为1;① When y k ∈ (1.0,+∞), the event expansion logic variable of the control signal within the time range t ∈ (t k-1 ,t k ] is represented as 1;
②当yk∈(0.0,1.0]时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为0→1的上升沿跳变,且跳变时刻为ts=y·tk+(1-y)·tk-1;② When y k ∈ (0.0,1.0], the event expansion logic variable of the control signal within the time range of t ∈ (t k-1 ,t k ] is represented as a rising edge transition from 0→1, and the transition time is t s =y·t k +(1-y)·t k-1 ;
③当yk=0.0时,表明控制信号t∈(tk-1,tk]时间范围内无事件扩展逻辑变量变化,维持上一步长结束时刻的事件扩展逻辑变量;③ When y k = 0.0, it indicates that there is no change in the event expansion logic variable within the time range of the control signal t∈(t k-1 ,t k ], and the event expansion logic variable at the end of the previous step is maintained;
④当yk∈[-1.0,0.0)时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为0→1的下降沿跳变,且跳变时刻为ts=-y·tk+(1+y)·tk-1;④ When y k ∈ [-1.0,0.0), the event expansion logic variable of the control signal within the time range t ∈ (t k-1 , t k ] is represented as a falling edge transition from 0→1, and the transition The moment is t s =-y·t k +(1+y)·t k-1 ;
⑤当yk∈(-∞,-1.0)时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为0。⑤ When y k ∈ (-∞, -1.0), the event expansion logic variable of the control signal in the time range of t ∈ (t k-1 , t k ] is represented as 0.
一种基于上述控制信号表征方法的PWM调制器模型,该PWM调制器模型包括输入端子和输出端子;所述输入端子用于输入调制波信号u;调制波信号u和载波信号C比较后产生PWM控制信号y;所述输出端子与受控电力电子开关器件模型相连,用于输出PWM控制信号y;记当前仿真时刻为tk,tk时刻的输入和输出分别为uk和yk,前一固定步长仿真时刻为tk-1,tk-1时刻的输入和输出分别为uk-1和yk-1,载波周期为T,则tk时刻的PWM控制信号yk的更新过程为:A PWM modulator model based on the above-mentioned control signal characterization method, the PWM modulator model includes an input terminal and an output terminal; the input terminal is used to input a modulated wave signal u; the modulated wave signal u is compared with the carrier signal C to generate PWM control signal y; the output terminal is connected to the model of the controlled power electronic switching device for outputting PWM control signal y; record the current simulation time as t k , and the input and output at time t k are uk and y k respectively . The simulation time with a fixed step size is t k-1 , the input and output at time t k-1 are u k-1 and y k-1 respectively, and the carrier period is T, then the update of PWM control signal y k at time t k The process is:
(a)计算tk时刻在载波周期内的时间偏移toff=tk-floor(tk/T),其中floor(·)表示向下取整;进入步骤(b);(a) calculate the time offset to ff =t k -floor(t k /T) in the carrier period at the time t k, wherein floor ( ) represents rounding down; enter step (b);
(b)根据载波的类型和toff,计算tk时刻的载波信号值Ck;进入步骤(c);(b) according to the type of the carrier and t off , calculate the carrier signal value C k at t k moment; enter step (c);
(c)根据Ck与uk的大小关系计算yk:(c) Calculate y k according to the relationship between C k and u k :
(c1)若uk>Ck且uk-1≥Ck-1,表明t∈(tk-1,tk]时间范围内调制波都大于载波,置yk>1.0,例如yk=2.0;(c1) If u k > C k and u k-1 ≥ C k-1 , it means that the modulated wave is larger than the carrier in the time range of t∈(t k-1 ,t k ], set y k > 1.0, for example, y k = 2.0;
(c2)若uk>Ck且uk-1<Ck-1,表明t∈(tk-1,tk]时间范围内调制波与载波的大小关系发生了变化,令yk=(Ck-1-uk-1)/(uk-Ck+Ck-1-uk-1);(c2) If u k > C k and u k-1 < C k-1 , it indicates that the relationship between the modulating wave and the carrier has changed within the time range of t∈(t k-1 ,t k ], let y k = (C k-1 -u k-1 )/(u k -C k +C k-1 -u k-1 );
(c3)若uk=Ck且uk-1>Ck-1,表明t∈(tk-1,tk)时间范围内调制波都大于载波,tk时刻调制波和载波恰好相等,令yk=-1.0;(c3) If u k =C k and u k-1 >C k-1 , it means that the modulating wave is larger than the carrier in the time range of t∈(t k-1 ,t k ), and the modulating wave and the carrier are exactly equal at time t k , let y k =-1.0;
(c4)若uk=Ck且uk-1=Ck-1,非正常情况,令yk=yk-1;(c4) If u k =C k and u k-1 =C k-1 , it is abnormal, let y k =y k-1 ;
(c5)若uk=Ck且uk-1<Ck-1,表明t∈(tk-1,tk)时间范围内调制波都小于载波,tk时刻调制波和载波恰好相等,令yk=1.0;(c5) If u k =C k and u k-1 <C k-1 , it means that the modulating wave is smaller than the carrier in the time range of t∈(t k-1 ,t k ), and the modulating wave and the carrier are exactly equal at time t k , let y k =1.0;
(c6)若uk<Ck且uk-1>Ck-1,表明t∈(tk-1,tk]时间范围内调制波与载波的大小关系发生了变化,令yk=-(uk-1-Ck-1)/(Ck-uk+uk-1-Ck-1);(c6) If u k <C k and u k-1 >C k-1 , it indicates that the relationship between the modulation wave and the carrier wave has changed within the time range of t∈(t k-1 ,t k ], let y k = -(u k-1 -C k-1 )/(C k -u k +u k-1 -C k-1 );
(c7)若uk<Ck且uk-1≤Ck-1,表明t∈(tk-1,tk]时间范围内调制波都小于载波,置yk<-1.0,例如yk=-2.0。(c7) If u k <C k and u k-1 ≤ C k-1 , it means that the modulated wave is smaller than the carrier in the time range of t∈(t k-1 ,t k ], set y k <-1.0, for example, y k = -2.0.
所述载波可以为三角波、前向锯齿波或后向锯齿波,且载波周期、上下限幅值皆可设置。The carrier wave can be a triangle wave, a forward sawtooth wave or a backward sawtooth wave, and the carrier period and upper and lower limit values can be set.
一种基于上述控制信号表征方法的受控电力电子开关器件模型,该受控电力电子开关器件模型与PWM调制器模型相连,接收PWM调制器模型输出的PWM控制信号y,并根据PWM控制信号y的逻辑值和跳变时刻进行插值或积分计算,获得自身后续开关动作指令,以实现再初始化并抑制数值振荡;该受控电力电子开关器件模型,通过在每个固定仿真步长时刻读取并处理来自PWM调制器模型输出的PWM控制信号,可获得PWM调制器模型的精确变化时刻,以便利用各种插值和积分方法进行后续的开关动作处理。记当前仿真时刻为tk,前一固定步长仿真时刻为tk-1,根据tk时刻的PWM控制信号yk判断受控电力电子开关器件模型的开关动作状态:A controlled power electronic switching device model based on the above control signal characterization method, the controlled power electronic switching device model is connected to the PWM modulator model, receives the PWM control signal y output by the PWM modulator model, and according to the PWM control signal y Interpolation or integral calculation is performed on the logic value and jump time to obtain its own follow-up switching action command, so as to realize reinitialization and suppress numerical oscillation; the controlled power electronic switching device model, by reading and By processing the PWM control signal output from the PWM modulator model, the precise change moment of the PWM modulator model can be obtained, so that various interpolation and integration methods can be used for subsequent switching action processing. Note that the current simulation time is t k , and the previous fixed-step simulation time is t k-1 , and the switching action state of the controlled power electronic switching device model is judged according to the PWM control signal y k at time t k :
①若yk∈(1.0,+∞),表明t∈(tk-1,tk]时间范围内不存在开关动作,且为开通状态;① If y k ∈ (1.0,+∞), it means that there is no switching action within the time range of t ∈ (t k-1 ,t k ], and it is in the open state;
②若yk∈(0.0,1.0],表明t∈(tk-1,tk]时间范围内由关断变为开通,且变化时刻为ts=yk·tk+(1-yk)·tk-1;② If y k ∈ (0.0,1.0], it means that t ∈ (t k-1 ,t k ] changes from off to on within the time range, and the change time is t s = y k t k + (1-y k )·t k-1 ;
③若yk=0.0,表明t∈(tk-1,tk]时间范围内不存在开关动作;③ If y k = 0.0, it means that there is no switching action within the time range of t∈(t k-1 ,t k ];
④若yk∈[-1.0,0.0),表明t∈(tk-1,tk]时间范围内由开通变为关断,且变化时刻为ts=-yk·tk+(1+yk)·tk-1;④ If y k ∈ [-1.0,0.0), it means that t ∈ (t k-1 ,t k ] time range changes from on to off, and the change time is t s = -y k t k + (1 +y k )·t k-1 ;
⑤若yk∈(-∞,-1.0),表明t∈(tk-1,tk]时间范围内不存在开关动作,且为关断状态。⑤ If y k ∈ (-∞, -1.0), it means that there is no switching action within the time range of t ∈ (t k-1 , t k ], and it is in the off state.
所述受控电力电子开关器件可以为SCR、IGBT、MOSFET、GTO或理想开关。The controlled power electronic switching device can be SCR, IGBT, MOSFET, GTO or ideal switch.
一种基于上述控制信号表征方法的高精度PWM变流器电磁暂态仿真方法,包括如下步骤:A high-precision PWM converter electromagnetic transient simulation method based on the above-mentioned control signal characterization method, comprising the following steps:
(1)仿真初始化,包括控制子模型排序、电气方程矩阵和状态量初始化,以及初始仿真时间设置;(1) Simulation initialization, including control sub-model sorting, electrical equation matrix and state quantity initialization, and initial simulation time setting;
(2)对所有控制子系统模型进行一步仿真计算,获得调制波信号;(2) Perform one-step simulation calculation on all control subsystem models to obtain modulated wave signals;
(3)对所有PWM调制器模型进行一步仿真计算,获得PWM控制信号的逻辑值和跳变时间;(3) Carry out one-step simulation calculation to all PWM modulator models, obtain the logic value and transition time of PWM control signal;
(4)根据PWM控制信号的逻辑值和跳变时刻,进行插值或积分计算,获得受控电力电子开关器件模型的后续开关动作指令,以实现再初始化并抑制数值振荡,最终获得更为精确的PWM变流器仿真结果;(4) According to the logic value and transition time of the PWM control signal, interpolation or integral calculation is performed to obtain the subsequent switching action instructions of the controlled power electronic switching device model, so as to realize reinitialization and suppress numerical oscillation, and finally obtain more accurate Simulation results of PWM converter;
(5)结束当前步长的仿真计算,将仿真时刻推进一步并判断仿真是否结束:若是,则结束;否则,返回步骤(2)。(5) End the simulation calculation of the current step length, push the simulation time one step further and judge whether the simulation is over: if yes, end; otherwise, return to step (2).
有益效果:本发明提供的PWM门极控制系统的控制信号表征方法及基于该方法的PWM调制器模型、受控电力电子开关器件模型和高精度PWM变流器电磁暂态仿真方法,与现有技术相比,具有如下优势:1、本发明采用的控制信号表征方法,既能表达PWM控制逻辑又能表达其精确变化时刻,为后续利用各种插值和积分方法实现更精确的PWM变流器仿真建立了必要有效前提;2、本发明在实现PWM变流器高精度建模仿真的基础上,优化了内存使用和数值计算效率,对事件扩展逻辑类型变量的值乘以负号即实现了逻辑非运算,提高了仿真算法程序实现的可靠性;3、本发明对现有PWM调制器、受控电力电子开关器件的模型改动很小,高度兼容于EMTP等基于固定步长的电磁暂态仿真方法,可在基于上述电磁暂态仿真方法的仿真软件中方便应用。Beneficial effects: the control signal characterization method of the PWM gate control system provided by the present invention and the PWM modulator model, the controlled power electronic switching device model and the high-precision PWM converter electromagnetic transient simulation method based on the method are different from the existing Compared with technology, it has the following advantages: 1. The control signal characterization method adopted by the present invention can not only express the PWM control logic but also express its precise change time, and realize more accurate PWM converters for subsequent use of various interpolation and integration methods The simulation has established a necessary and effective premise; 2. On the basis of realizing the high-precision modeling and simulation of the PWM converter, the present invention optimizes memory usage and numerical calculation efficiency, and multiplies the value of the event expansion logic type variable by a negative sign to realize Logical non-operation improves the reliability of simulation algorithm program implementation; 3. The present invention has very little changes to the models of existing PWM modulators and controlled power electronic switching devices, and is highly compatible with electromagnetic transients based on fixed step sizes such as EMTP The simulation method can be conveniently applied in the simulation software based on the above electromagnetic transient simulation method.
附图说明Description of drawings
图1为高精度PWM变流器电磁暂态仿真方法的实施流程图;Fig. 1 is the implementation flowchart of the electromagnetic transient simulation method of high-precision PWM converter;
图2为本发明的PWM控制信号的变量分布及其表达含义示意图;Fig. 2 is the variable distribution of the PWM control signal of the present invention and the schematic diagram of expression meaning thereof;
图3为本发明的PWM调制模型的示意图;Fig. 3 is the schematic diagram of the PWM modulation model of the present invention;
图4为本发明的受控电力电子开关器件模型示意图。Fig. 4 is a schematic diagram of a model of a controlled power electronic switching device of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明作更进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.
一种PWM门极控制系统的控制信号表征方法,该控制信号为数字变量,其取值范围和内存占用情况设置成与双精度浮点型数据完全相同,记当前仿真时刻为tk,前一固定步长仿真时刻为tk-1,根据tk时刻的控制信号yk的取值情况,将其表征为如下事件扩展逻辑变量:A control signal characterization method for a PWM gate control system. The control signal is a digital variable, and its value range and memory usage are set to be exactly the same as the double-precision floating-point data. The current simulation time is t k , and the previous one The fixed-step simulation time is t k-1 , and according to the value of the control signal y k at time t k , it is represented as the following event extended logic variable:
①当yk∈(1.0,+∞)时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为1;① When y k ∈ (1.0,+∞), the event expansion logic variable of the control signal within the time range t ∈ (t k-1 ,t k ] is represented as 1;
②当yk∈(0.0,1.0]时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为0→1的上升沿跳变,且跳变时刻为ts=y·tk+(1-y)·tk-1;② When y k ∈ (0.0,1.0], the event expansion logic variable of the control signal within the time range of t ∈ (t k-1 ,t k ] is represented as a rising edge transition from 0→1, and the transition time is t s =y·t k +(1-y)·t k-1 ;
③当yk=0.0时,表明控制信号t∈(tk-1,tk]时间范围内无事件扩展逻辑变量变化,维持上一步长结束时刻的事件扩展逻辑变量;③ When y k = 0.0, it indicates that there is no change in the event expansion logic variable within the time range of the control signal t∈(t k-1 ,t k ], and the event expansion logic variable at the end of the previous step is maintained;
④当yk∈[-1.0,0.0)时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为0→1的下降沿跳变,且跳变时刻为ts=-y·tk+(1+y)·tk-1;④ When y k ∈ [-1.0,0.0), the event expansion logic variable of the control signal within the time range t ∈ (t k-1 , t k ] is represented as a falling edge transition from 0→1, and the transition The moment is t s =-y·t k +(1+y)·t k-1 ;
⑤当yk∈(-∞,-1.0)时,将控制信号在t∈(tk-1,tk]时间范围内的事件扩展逻辑变量表征为0。⑤ When y k ∈ (-∞, -1.0), the event expansion logic variable of the control signal in the time range of t ∈ (t k-1 , t k ] is represented as 0.
采用上述控制信号表征方法,既能表达PWM门极控制系统的逻辑,又能同时有效表达逻辑发生变化的准确时刻。对事件扩展逻辑变量进行常见的逻辑非运算可通过简单的乘以负号实现,提高了计算效率同时不额外增加内存消耗。配合后续的各种插值和积分方法可实现PWM变流器的精确仿真。By adopting the above control signal characterization method, it is possible not only to express the logic of the PWM gate control system, but also to effectively express the exact moment when the logic changes. The common logical NOT operation on the event extension logic variable can be realized by simply multiplying by the negative sign, which improves the calculation efficiency and does not increase memory consumption. Cooperating with various subsequent interpolation and integration methods, accurate simulation of the PWM converter can be realized.
图1是一种高精度PWM变流器电磁暂态仿真方法流程图,虚线框外为传统电力系统电磁暂态仿真流程,虚线框内为本发明核心。对含有PWM变流器的电力系统进行电磁暂态仿真主要有以下流程:在初始化结束后,进行一步控制子系统的仿真计算从而获得调制波信号,接着进行一步PWM调制器的仿真,然后判断当前步长内是否存在控制逻辑跳变并进行相应的处理,最后将仿真时刻向前推进一步直到仿真结束。设当前仿真时刻为tk,前一固定步长仿真时刻为tk-1,具体包括步骤如下:Fig. 1 is a flow chart of an electromagnetic transient simulation method for a high-precision PWM converter. Outside the dotted line frame is the electromagnetic transient simulation process of a traditional power system, and inside the dotted line frame is the core of the present invention. The electromagnetic transient simulation of a power system containing a PWM converter mainly has the following process: after the initialization, a step of simulation calculation of the control subsystem is performed to obtain the modulated wave signal, and then a step of PWM modulator simulation is performed, and then the current Whether there is a control logic jump in the step size and corresponding processing is carried out, and finally the simulation time is pushed forward one step until the end of the simulation. Let the current simulation time be t k , and the previous fixed-step simulation time be t k-1 , the specific steps are as follows:
步骤一、仿真初始化,包括控制子模型排序、电气方程矩阵和状态量初始化,以及初始仿真时间设置。Step 1, simulation initialization, including control sub-model sorting, electrical equation matrix and state quantity initialization, and initial simulation time setting.
步骤二、对所有控制子系统模型进行一步仿真计算,获得调制波信号u。Step 2: Perform one-step simulation calculation on all control subsystem models to obtain the modulated wave signal u.
步骤三、对所有PWM调制器模型进行一步仿真计算,获得PWM控制信号的逻辑值和跳变时间;这里的PWM控制信号即采用上述方法进行表征,事件扩展逻辑变量分布及其所表达的逻辑变化情况具体如图2所示。Step 3: Perform a one-step simulation calculation on all PWM modulator models to obtain the logic value and transition time of the PWM control signal; the PWM control signal here is characterized by the above method, and the event expands the distribution of logic variables and the logic changes expressed The situation is shown in Figure 2.
所述PWM调制器模型如图3所示,包括输入端子和输出端子;所述输入端子用于输入调制波信号u;调制波信号u和载波信号C比较后产生PWM控制信号y;所述输出端子与受控电力电子开关器件模型相连,用于输出PWM控制信号y;记当前仿真时刻为tk,tk时刻的输入和输出分别为uk和yk,前一固定步长仿真时刻为tk-1,tk-1时刻的输入和输出分别为uk-1和yk-1,载波周期为T,则tk时刻的PWM控制信号yk的更新过程为:Described PWM modulator model as shown in Figure 3, comprises input terminal and output terminal; Described input terminal is used for input modulation wave signal u; Produces PWM control signal y after modulation wave signal u compares with carrier signal C; Said output The terminal is connected to the model of the controlled power electronic switching device to output PWM control signal y; record the current simulation time as t k , the input and output at time t k are u k and y k respectively, and the previous fixed step simulation time is t k-1 , the input and output at time t k-1 are u k-1 and y k-1 respectively, and the carrier cycle is T, then the update process of PWM control signal y k at time t k is:
(a)计算tk时刻在载波周期内的时间偏移toff=tk-floor(tk/T),其中floor(·)表示向下取整;进入步骤(b);(a) calculate the time offset to ff =t k -floor(t k /T) in the carrier period at the time t k, wherein floor ( ) represents rounding down; enter step (b);
(b)根据载波的类型和toff,计算tk时刻的载波信号值Ck;进入步骤(c);(b) according to the type of the carrier and t off , calculate the carrier signal value C k at t k moment; enter step (c);
(c)根据Ck与uk的大小关系计算yk:(c) Calculate y k according to the relationship between C k and u k :
(c1)若uk>Ck且uk-1≥Ck-1,表明t∈(tk-1,tk]时间范围内调制波都大于载波,置yk>1.0;(c1) If u k >C k and u k-1 ≥C k-1 , it means that the modulated wave is larger than the carrier wave within the time range of t∈(t k-1 ,t k ], set y k >1.0;
(c2)若uk>Ck且uk-1<Ck-1,表明t∈(tk-1,tk]时间范围内调制波与载波的大小关系发生了变化,令yk=(Ck-1-uk-1)/(uk-Ck+Ck-1-uk-1);(c2) If u k > C k and u k-1 < C k-1 , it indicates that the relationship between the modulating wave and the carrier has changed within the time range of t∈(t k-1 ,t k ], let y k = (C k-1 -u k-1 )/(u k -C k +C k-1 -u k-1 );
(c3)若uk=Ck且uk-1>Ck-1,表明t∈(tk-1,tk)时间范围内调制波都大于载波,tk时刻调制波和载波恰好相等,令yk=-1.0;(c3) If u k =C k and u k-1 >C k-1 , it means that the modulating wave is larger than the carrier in the time range of t∈(t k-1 ,t k ), and the modulating wave and the carrier are exactly equal at time t k , let y k =-1.0;
(c4)若uk=Ck且uk-1=Ck-1,非正常情况,令yk=yk-1;(c4) If u k =C k and u k-1 =C k-1 , it is abnormal, let y k =y k-1 ;
(c5)若uk=Ck且uk-1<Ck-1,表明t∈(tk-1,tk)时间范围内调制波都小于载波,tk时刻调制波和载波恰好相等,令yk=1.0;(c5) If u k =C k and u k-1 <C k-1 , it means that the modulating wave is smaller than the carrier in the time range of t∈(t k-1 ,t k ), and the modulating wave and the carrier are exactly equal at time t k , let y k =1.0;
(c6)若uk<Ck且uk-1>Ck-1,表明t∈(tk-1,tk]时间范围内调制波与载波的大小关系发生了变化,令yk=-(uk-1-Ck-1)/(Ck-uk+uk-1-Ck-1);(c6) If u k <C k and u k-1 >C k-1 , it indicates that the relationship between the modulation wave and the carrier wave has changed within the time range of t∈(t k-1 ,t k ], let y k = -(u k-1 -C k-1 )/(C k -u k +u k-1 -C k-1 );
(c7)若uk<Ck且uk-1≤Ck-1,表明t∈(tk-1,tk]时间范围内调制波都小于载波,置yk<-1.0,例如yk=-2.0。(c7) If u k <C k and u k-1 ≤ C k-1 , it means that the modulated wave is smaller than the carrier in the time range of t∈(t k-1 ,t k ], set y k <-1.0, for example, y k = -2.0.
步骤四、根据PWM控制信号的逻辑值和跳变时刻,进行插值或积分计算,获得受控电力电子开关器件模型的后续开关动作指令,以实现再初始化并抑制数值振荡,最终获得更为精确的PWM变流器仿真结果。Step 4. Perform interpolation or integral calculation according to the logic value and transition time of the PWM control signal to obtain the subsequent switching action instructions of the controlled power electronic switching device model, so as to realize reinitialization and suppress numerical oscillation, and finally obtain a more accurate PWM converter simulation results.
所述受控电力电子开关器件模型如图4所示,该受控电力电子开关器件模型与PWM调制器模型相连,接收PWM调制器模型输出的PWM控制信号y,并根据PWM控制信号y的逻辑值和跳变时刻进行插值或积分计算,获得自身后续开关动作指令,以实现再初始化并抑制数值振荡;记当前仿真时刻为tk,前一固定步长仿真时刻为tk-1,根据tk时刻的PWM控制信号yk判断受控电力电子开关器件模型的开关动作状态:The controlled power electronic switching device model is shown in Figure 4, the controlled power electronic switching device model is connected to the PWM modulator model, receives the PWM control signal y output by the PWM modulator model, and according to the logic of the PWM control signal y Interpolation or integral calculation is performed on the value and jump time to obtain its own subsequent switch action instructions to realize reinitialization and suppress numerical oscillation; record the current simulation time as t k , and the previous fixed step simulation time as t k-1 , according to t The PWM control signal y k at time k judges the switching action state of the controlled power electronic switching device model:
①若yk∈(1.0,+∞),表明t∈(tk-1,tk]时间范围内不存在开关动作,且为开通状态;① If y k ∈ (1.0,+∞), it means that there is no switching action within the time range of t ∈ (t k-1 ,t k ], and it is in the open state;
②若yk∈(0.0,1.0],表明t∈(tk-1,tk]时间范围内由关断变为开通,且变化时刻为ts=yk·tk+(1-yk)·tk-1;② If y k ∈ (0.0,1.0], it means that t ∈ (t k-1 ,t k ] changes from off to on within the time range, and the change time is t s = y k t k + (1-y k )·t k-1 ;
③若yk=0.0,表明t∈(tk-1,tk]时间范围内不存在开关动作;③ If y k = 0.0, it means that there is no switching action within the time range of t∈(t k-1 ,t k ];
④若yk∈[-1.0,0.0),表明t∈(tk-1,tk]时间范围内由开通变为关断,且变化时刻为ts=-yk·tk+(1+yk)·tk-1;④ If y k ∈ [-1.0,0.0), it means that t ∈ (t k-1 ,t k ] time range changes from on to off, and the change time is t s = -y k t k + (1 +y k )·t k-1 ;
⑤若yk∈(-∞,-1.0),表明t∈(tk-1,tk]时间范围内不存在开关动作,且为关断状态。⑤ If y k ∈ (-∞, -1.0), it means that there is no switching action within the time range of t ∈ (t k-1 , t k ], and it is in the off state.
步骤五、结束当前步长的仿真计算,将仿真时刻推进一步并判断仿真是否结束:若是,则结束;否则,返回步骤二。Step 5. End the simulation calculation of the current step length, push the simulation time one step further and judge whether the simulation is over: if yes, end; otherwise, return to Step 2.
以上所述仅是本发明的优选实施方式,应当指出:对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.
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