CN108181834B - Semi-physical simulation method and system based on PSCAD/EMTDC - Google Patents
Semi-physical simulation method and system based on PSCAD/EMTDC Download PDFInfo
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Abstract
The invention provides a PSCAD/EMTDC-based semi-physical simulation method, a PSCAD/EMTDC-based semi-physical simulation system, computer equipment and a computer-readable storage medium, and relates to the technical field of simulation. The method comprises the following steps: the simulation equipment carries out primary electromagnetic transient offline simulation in a preset simulation period, and after the electromagnetic transient offline simulation is finished, generated simulation data are sent to the control equipment through a communication platform; the control equipment receives the simulation data and outputs a control instruction according to the simulation data; and the communication platform collects the control instructions to generate a data input file, and the data input file is sent to the simulation equipment so that the simulation equipment can perform next electromagnetic transient off-line simulation in the next simulation period. The invention realizes the function of real-time closed-loop simulation of the material object controller based on PSCAD/EMTDC.
Description
Technical Field
The invention relates to the technical field of simulation, in particular to a PSCAD/EMTDC-based semi-physical simulation method, a PSCAD/EMTDC-based semi-physical simulation system, computer equipment and a computer readable storage medium.
Background
This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.
Semi-physical simulation (digital-in-the-loop) is formed by mixing digital simulation and physical simulation, wherein the physical part is mainly divided into 2 types, one type is an electrical element which is not familiar with the characteristics of the electrical element or has very complex characteristics, and the characteristics of the electrical element can not be accurately described by a proper mathematical model and can be researched by adopting a mode of connecting a physical object with a simulation system in an equal-scale reduction or even a full size; and the other is that the control system is accessed into the simulation system by a real object, and the system feedback characteristic of the control equipment is researched. The requirements of semi-physical simulation on simulation speed are real-time simulation, and the semi-physical simulation is widely applied to the research of control and protection of power systems, direct-current transmission converters and FACTS devices at present.
Emtdc (electromagnetic transitions including dc) is a numerical computation tool that solves a system of differential equations that describe electromagnetic and electromechanical systems in the time domain. The EMTDC is used for solving a time domain instantaneous value of the system by setting a fixed step length and applying a trapezoidal integration algorithm, and is converted into a phasor amplitude value and a phasor angle by a sensor and a measurement function which are arranged in the PSCAD, so that the EMTDC is most suitable for calculating the time domain instantaneous response (namely the electromagnetic transient process) of the system. PSCAD (Power System Computer Aided design) is a Graphical User Interface (GUI) for EMTDC that allows a user to graphically build circuits, run simulations, analyze results, and manage data in a fully integrated graphical environment. Because the calculation speed of the simulation system cannot reach the real-time performance of physical simulation, and data output can only be generated after the simulation is finished, data is written in when the simulation is started, and the data cannot be read and written in the operation, the PSCAD/EMTDC simulation software does not support accessing a physical controller for real-time simulation.
With the development of microprocessor and DSP (Digital Signal Processing) technology, the development of parallel Processing technology and parallel computing algorithm of power system makes the simulation computing speed consistent with the response speed of actual power system, so that it can be connected to actual physical device to perform closed loop experiment. However, the technology has the disadvantages of high modeling difficulty, high requirement on hardware and high manufacturing cost of a simulator.
Therefore, how to provide a new solution, which can solve the above technical problems, is a technical problem to be solved in the art.
Disclosure of Invention
In view of this, the invention provides a semi-physical simulation method based on a PSCAD/EMTDC, a semi-physical simulation system based on a PSCAD/EMTDC, a computer device, and a computer-readable storage medium, which implement a real-time closed-loop simulation function for a physical controller based on a PSCAD/EMTDC.
In order to achieve the above object, the present invention provides a method for semi-physical simulation based on PSCAD/EMTDC, which comprises:
the simulation equipment carries out primary electromagnetic transient offline simulation in a preset simulation period, and after the electromagnetic transient offline simulation is finished, generated simulation data are sent to control equipment through a communication platform;
the control equipment receives the simulation data and outputs a control instruction according to the simulation data;
and the communication platform collects the control instructions to generate a data input file, and the data input file is sent to the simulation equipment so that the simulation equipment can perform next electromagnetic transient off-line simulation in the next simulation period.
Preferably, the time interval between the control device receiving simulation data generated by two adjacent electromagnetic transient offline simulations is the simulation period.
Preferably, the method further comprises:
the simulation equipment generates a psc file;
analyzing the psc file to obtain an f file, and compiling the f file to obtain an exe file and a map file;
and executing the exe file and the map file to obtain a snap snapshot data file and simulation data generated by the first electromagnetic transient offline simulation.
Preferably, the method further comprises:
the simulation equipment receives a data input file returned by the communication platform;
and performing electromagnetic transient off-line simulation for one time according to the exe file, the map file, the snap snapshot data file generated by electromagnetic transient off-line simulation for each time, the data input file and a preset parameter value.
One of the purposes of the invention is to provide a system based on PSCAD/EMTDC semi-physical simulation, which comprises a simulation device, a communication platform and a control device,
the simulation equipment is used for performing electromagnetic transient offline simulation once in a preset simulation period, and after the electromagnetic transient offline simulation is finished, the generated simulation data is sent to the control equipment through the communication platform;
the control equipment is used for receiving the simulation data and outputting a control instruction according to the simulation data;
and the communication platform is used for summarizing the control instructions to generate a data input file and sending the data input file to the simulation equipment so as to enable the simulation equipment to perform next electromagnetic transient off-line simulation in a next simulation period.
Preferably, the time interval between the control device receiving simulation data generated by two adjacent electromagnetic transient offline simulations is the simulation period.
Preferably, the simulation device:
the file generation module is used for generating a psc file;
the file compiling module is used for analyzing the psc file to obtain an f file, and compiling the f file to obtain an exe file and a map file;
and the primary simulation module is used for executing the exe file and the map file to obtain a snp snapshot data file and simulation data generated by the first electromagnetic transient offline simulation.
Preferably, the simulation apparatus further includes:
the instruction receiving module is used for receiving the data input file returned by the communication platform;
and the physical simulation module is used for performing electromagnetic transient off-line simulation for one time according to the exe file, the map file, the snp snapshot data file of each semi-physical simulation, the data input file and a preset parameter value.
One of the objects of the present invention is to provide a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method for PSCAD/EMTDC based semi-physical simulation when executing the computer program.
One of the objects of the present invention is to provide a computer readable storage medium storing a method of performing a PSCAD/EMTDC-based semi-physical simulation.
The invention has the advantages that the invention provides a semi-physical simulation method based on PSCAD/EMTDC, a semi-physical simulation system based on PSCAD/EMTDC, computer equipment and a computer readable storage medium, generated simulation data is sent to actual control equipment through a communication platform after the electromagnetic transient off-line simulation of a simulation period is finished, the control equipment receives the simulation data and generates a new control instruction, and a data input file generated after the control instruction is summarized by the communication platform is used as an initialization file when the electromagnetic transient off-line simulation of the next simulation period is started, so that the function of real-time closed-loop simulation of a physical controller is realized based on PSCAD/EMTDC.
In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a system for semi-physical simulation based on PSCAD/EMTDC according to an embodiment of the present invention;
fig. 2 is a block diagram of a first embodiment of a simulation device in a system for semi-physical simulation based on PSCAD/EMTDC according to an embodiment of the present invention;
fig. 3 is a structural block diagram of a second embodiment of simulation equipment in a system for semi-physical simulation based on PSCAD/EMTDC according to an embodiment of the present invention;
FIG. 4 is a flowchart of a PSCAD/EMTDC-based semi-physical simulation method according to an embodiment of the present invention;
fig. 5 is a schematic diagram of first semi-physical simulation in a semi-physical simulation method based on PSCAD/EMTDC according to an embodiment of the present invention;
fig. 6 is a schematic diagram of next semi-physical simulation in the method for semi-physical simulation based on PSCAD/EMTDC according to the embodiment of the present invention;
FIG. 7 is a diagram illustrating a PSCAD simulation process according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating a flow of data output from the EMTDC being automatically invoked in an embodiment of the present invention;
FIG. 9 is a diagram of a step-by-step pseudo real-time simulation step in an embodiment provided by the present invention;
FIG. 10 is a schematic diagram of a PSCAD-based step-by-step quasi-real-time semi-physical simulation mechanism in an embodiment of the present invention;
FIG. 11 is a diagram illustrating simulation curves of an application example in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be embodied as a system, apparatus, method or computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
In the prior art, because the PSCAD/EMTDC simulation software has various standard models, high calculation reliability, friendly interface and convenient use, the PSCAD/EMTDC simulation software can be widely applied, and researchers only need one PC with a Windows system, and can independently research the transient stability of the power system after the PSCAD/EMTDC and related software are installed. However, the calculation speed of the PSCAD/EMTDC simulation software cannot reach the real-time performance of the physical simulation, and data output can only be generated after the simulation is finished, data is written in when the simulation is started, and data cannot be read and written in the operation, so that the PSCAD/EMTDC simulation software does not support accessing the physical controller for real-time simulation.
The inventor of the present invention has studied in work and found that the data interaction between the actual power system and the control device is a closed-loop feedback process having a relatively fixed time period T0This time period is substantially comprised of three parts:
1) actual data transfer (power system sensing element-controller) round trip time t1
2) Actual controller internal calculation time t2
3) The opening time (or the actual response time of other components) t of the circuit breaker in the actual power system3
The power system is arranged at intervals of a period T0Preset data is transmitted to a control device in the system, the control device performs calculation according to the system sampling data, and then corresponding control instructions are sent to receiving units (such as an AFC function, an AVC function and a load shedding function of a generator) in the power system, so that the power system is adjusted. For the simulation device, the simulation device designed by PSCAD/EMTDC not only needs to meet the requirements of the system characteristics to be researched in modeling, but also needs to synchronize the calculation time with the real time if the simulation device is connected with an actual controller, namely 100ms in the simulation is equal to 100ms in the real world, but the PSCAD/EMTDC does not have such fast calculation speed, and the simulation device is completed by utilizing a PC with ordinary calculation capabilityThe PSCAD/EMTDC can only generate output data after the simulation is finished, input data is written in when the simulation is started, data cannot be read and written in the operation, and data cannot be mutually transmitted with the controller in the operation.
In view of the above, the present invention provides a system for PSCAD/EMTDC-based semi-physical simulation, as shown in fig. 1, comprising a simulation device 100, a communication platform 200 and one or more control devices 300,
the simulation device 100 is configured to perform primary electromagnetic transient offline simulation within a preset simulation period, and after the electromagnetic transient offline simulation is finished, send generated simulation data to the control device through the communication platform 200;
in one embodiment of the present invention, the simulation period T is presetSAccording to the actual system interaction period T0＝t1+t2+t3And presetting a simulation calculation step length t0Are jointly decided.
The control device 300 is configured to receive the simulation data and output a control instruction according to the simulation data;
the communication platform 200 is configured to summarize the control instructions to generate a data input file, and send the data input file to the simulation device 100, so that the simulation device performs next electromagnetic transient offline simulation in a next simulation period.
As above, the invention adopts a step-by-step simulation mode to solve the technical problem that the PSCAD/EMTDC can not be applied to the physical simulation. The simulation equipment carries out electromagnetic transient offline simulation once in a simulation period, after the simulation is stopped, an sn p snapshot data file is generated to serve as an initialization file of the next simulation, simulation data generated by the simulation are sent to actual control equipment, the control equipment receives the simulation data and generates a new control instruction, a communication platform collects the control instruction to generate a data input file, and the data input file is sent to the simulation equipment, so that the simulation equipment carries out the next simulation in the next simulation period, and therefore the real-time closed-loop simulation of the real-object controller is realized based on PSCAD/EMTDCThe true function. Because the simulation process is stopped once, the whole control instruction generation process does not occupy the simulation time, and the process can be regarded as the last simulation period T no matter how long the process issThe internal completion is performed, and the simulation system is acted upon after the next simulation cycle is started, which is the same as the actual system data interaction process.
In order to cooperate with the step-by-step operation of the simulation equipment, the control equipment also needs to cooperate with the step-by-step operation, therefore, the invention appoints the interval time of the control equipment receiving the simulation data sent by the simulation equipment every two times as T0Therefore, the internal clock of the system is synchronously controlled.
The step-by-step simulation can solve the data interaction problem between the PSCAD/EMTDC and the actual control equipment, the synchronization of the control equipment ensures that the simulation equipment and the control equipment are in the same time axis, and the interaction characteristic of the controller and the system cannot be influenced even if the actual simulation duration is far longer than the actual time, so that the real-time problem is solved. Therefore, if the data reading and writing links in the simulation process can be accurately and carefully processed, the time sequence and the result of the simulation calculation and the actual power system in the data interaction can be ensured to be consistent.
Fig. 2 is a block diagram of a first embodiment of a simulation apparatus in a system for semi-physical simulation based on PSCAD/EMTDC according to an embodiment of the present invention, and referring to fig. 2, in the first embodiment, the simulation apparatus includes:
a file generation module 101, configured to generate a psc file;
the file compiling module 102 is configured to parse the psc file to obtain an f file, and compile the f file to obtain an exe file and a map file;
and the primary simulation module 103 is configured to execute the exe file and the map file to obtain a snp snapshot data file and simulation data generated by the first electromagnetic transient offline simulation.
That is, when the simulation device of the present invention performs semi-physical simulation in the first simulation cycle, the file generation module 101 builds a simulation model on the PSCAD to generate a psc file with a suffix name of psc, the file compiling module analyzes the psc file to generate an f file with a suffix name of f, that is, a Fortran file, then compiles the f file to generate an exe file that can be executed by exe, and simultaneously generates a map file with a suffix name of map, where the map file includes a topology structure and element parameters. The primary simulation module 103 executes the exe file and the map file to call an EMTDC engine to solve, so as to obtain a snp snapshot data file and simulation data, namely a star-out data output file, generated by the first electromagnetic transient offline simulation, and the electromagnetic transient offline simulation performed in the first simulation period is finished. The simulation process of the simulation device can be seen in fig. 7.
Fig. 3 is a structural block diagram of a second implementation manner of a simulation device in a system for semi-physical simulation based on PSCAD/EMTDC according to an embodiment of the present invention, please refer to fig. 3, in the second implementation manner, the simulation device further includes:
the instruction receiving module 104 is configured to receive a data input file returned by the communication platform;
and the physical simulation module 105 is used for performing one-time semi-physical simulation according to the exe file, the map file, the snp snapshot data file generated by each electromagnetic transient off-line simulation, the data input file and a preset parameter value.
That is, in the next simulation cycle of the present invention, after the exe file of the exe and the map file of the map are generated by the simulation device, if the simulation model is not changed, only the input file is updated, when the next simulation cycle is executed, the exe file and the map file that have been generated by the file compiling module 102 are used without recompiling on the PSCAD interface, the exe file and the map file are executed to obtain the snapshot data file generated by the simulation, and the EMTDC can be called again to perform the simulation in combination with the data input file returned by the control device through the communication platform after the last simulation cycle is finished and the preset parameter value, and the specific flow can refer to fig. 8.
In a specific embodiment, the method needs to automatically call the EMTDC, can automatically write corresponding parameters according to the Runtime parameter setting executed by the x-exe, sends the x-out data output file generated by the EMTDC to a communication platform, and collects the control parameters generated by the control device to generate a data input file, thereby realizing the automatic call of the EMTDC. And the generated sn snapshot data file is an initial section value of the simulation system in the next period after the EMTDC is called for solving, and the generated out data output file is transmitted to the control device through the data platform and is transmitted to the par data output file generated by the communication platform by the control device to be used as an initial value of the variable of the simulation system in the next period, so that the preparation work of the operation in the next period is completed.
Table 1 shows the contents of parameters to be input (which need to be input in sequence one by one) in the pop-up dialog after running the exe executable file, that is, preset parameter values.
TABLE 1
As described above, in the system for semi-physical simulation based on PSCAD/EMTDC provided by the present invention, after the electromagnetic transient offline simulation of a simulation cycle is completed, the snapshot data file of the snp is generated as the initialization file for the next simulation, and the generated out data output file is sent to the control device through a communication platform, the control device receives the simulation data and generates a new control instruction, and the par data input file generated after the control instruction is summarized by the communication platform is used as the initialization file when the simulation of the next simulation cycle is started, so that the function of performing real-time closed-loop simulation on the physical controller is realized based on PSCAD/EMTDC.
Furthermore, although in the above detailed description several unit modules of the system are mentioned, this division is not mandatory only. Indeed, the features and functions of two or more of the units described above may be embodied in one unit, according to embodiments of the invention. Also, the features and functions of one unit described above may be further divided into embodiments by a plurality of units. The terms "module" and "unit" used above may be software and/or hardware that realizes a predetermined function. While the modules described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.
Having described the authentication system of the exemplary embodiments of the present invention, the method of the exemplary embodiments of the present invention will be described next with reference to the accompanying drawings. The implementation of the method can be referred to the above overall implementation, and repeated details are not repeated.
Fig. 4 is a flowchart of a method for semi-physical simulation based on PSCAD/EMTDC according to an embodiment of the present invention, where as shown in fig. 4, the method includes:
s101: the simulation equipment carries out primary electromagnetic transient offline simulation in a preset simulation period, and after the electromagnetic transient offline simulation is finished, generated simulation data are sent to the control equipment through the communication platform;
s102: the control equipment receives the simulation data and outputs a control instruction according to the simulation data;
s103: the communication platform collects the control instructions to generate a data input file, and sends the data input file to the simulation equipment;
s104: and the simulation equipment carries out next electromagnetic transient offline simulation in the next simulation period.
As above, the invention adopts a step-by-step simulation mode to solve the technical problem that the PSCAD/EMTDC can not be applied to the physical simulation. The simulation equipment carries out electromagnetic transient offline simulation once in a simulation period, after the simulation is stopped, an sn p snapshot data file is generated as an initialization file of the next simulation, a generated out data output file is sent to the control equipment through a communication platform, the control equipment receives simulation data and generates a new control instruction, the communication platform collects the control instruction to generate a par data input file, and the par data input file is sent to the simulation equipment, so that the simulation equipment inputs the control instruction into the simulation equipment for the next simulation in the next simulation period, and the PSCAD/EMTDC is used for realizing the next simulation of a real objectThe controller performs a real-time closed-loop simulation function. Because the simulation process is stopped once, the whole control instruction generation process does not occupy the simulation time, and the process can be regarded as the last simulation period T no matter how long the process is0The internal completion is performed, and the simulation system is acted upon after the next simulation cycle is started, which is the same as the actual system data interaction process.
In order to cooperate with the step-by-step operation of the simulation equipment, the control equipment also needs to cooperate with the step-by-step operation, therefore, the invention appoints the interval time of the control equipment receiving the simulation data sent by the simulation equipment every two times as T0Therefore, the internal clock of the system is synchronously controlled.
The step-by-step simulation can solve the data interaction problem between the PSCAD/EMTDC and the actual control equipment, the synchronization of the control equipment ensures that the simulation equipment and the control equipment are in the same time axis, and the interaction characteristic of the controller and the system cannot be influenced even if the actual simulation duration is far longer than the actual time, so that the real-time problem is solved. Therefore, if the data reading and writing links in the simulation process can be accurately and carefully processed, the time sequence and the result of the simulation calculation and the actual power system in the data interaction can be ensured to be consistent.
Fig. 5 is a schematic diagram of first semi-physical simulation in a semi-physical simulation method based on PSCAD/EMTDC according to an embodiment of the present invention, and referring to fig. 5, a semi-physical simulation process in a first simulation cycle includes:
s201: generating a psc file by the simulation equipment;
s202: analyzing the psc file to obtain an f file, and compiling the f file to obtain an exe file and a map file;
s203: and executing the exe file and the map file to obtain a snap snapshot data file and simulation data generated by the first electromagnetic transient offline simulation.
S204: after the first-time electromagnetic transient offline simulation is finished, the generated simulation data are sent to the control equipment through the communication platform;
s205: the control equipment receives the simulation data and outputs a control instruction according to the simulation data;
s206: and the communication platform collects the control instructions to generate a data input file and sends the data input file to the simulation equipment.
That is, when the simulation device performs the electromagnetic transient offline simulation in the first simulation cycle, a simulation model is firstly built on the PSCAD, a psc file with a suffix name of psc is generated, an f file with a suffix name of f, namely a Fortran file, is generated after the psc file is analyzed, then the f file is compiled to generate an exe file capable of being executed by exe, and a map file with a suffix name of map is generated, wherein the map file comprises a topological structure and element parameters. And executing the exe file and the map file to call an EMTDC engine to solve to obtain the snapshot data file and the out data output file generated by simulation, namely the out data output file, and ending the electromagnetic transient offline simulation in the first simulation period. The simulation process of the simulation device can be seen in fig. 7.
Fig. 6 is a schematic diagram of next semi-physical simulation in a semi-physical simulation method based on PSCAD/EMTDC according to an embodiment of the present invention, and referring to fig. 6, a semi-physical simulation process in a next simulation cycle includes:
s301: the simulation equipment receives a data input file returned by the communication platform;
s302: the method comprises the steps that simulation equipment obtains a snap snapshot data file generated by last simulation;
s303: acquiring an exe file and a map file;
s304: performing semi-physical simulation according to the exe file, the map file, the snap snapshot data file, the data input file and a preset parameter value;
s305: sending the generated simulation data to a control device through a communication platform, receiving the simulation data by the control device, and outputting a control instruction according to the simulation data;
s306: and the communication platform collects the control instructions to generate a data input file and sends the data input file to the simulation equipment.
That is, in the next simulation cycle of the present invention, after the f file is primarily compiled by the simulation device to generate the exe file of the exe and the map file of the map, if the simulation model is not changed, only the input data file is updated, when the next simulation cycle is executed, the exe file and the map file that have been generated by the initial file compiling module 102 are used, the simulation module 103 executes the exe file and the map file to obtain the sn file of the sn snapshot data file and the out data output file that have been generated by simulation, and the EMTDC can be called again to perform simulation by combining the par data input file and the preset parameter value returned by the control device through the communication platform after the last simulation cycle is finished, and the specific flow can refer to fig. 8.
In a specific embodiment, the method needs to automatically call the EMTDC, can automatically write corresponding parameters according to the Runtime parameter setting executed by the exe, sends an out data output file generated by the EMTDC to a communication platform, collects control parameters generated by a control device to generate a par data file, and realizes automatic call of the EMTDC. And the generated sn snapshot data file is an initial section value of the simulation system in the next period after the EMTDC is called for solving, the generated out data output file is transmitted to the control device through the communication platform, and the par data input file generated by the control command transmitted to the communication platform by the control device is used as an initial value of the variable of the simulation system in the next period, so that the preparation work of the operation in the next period is completed.
Table 1 shows the contents of parameters to be input (which need to be input in sequence one by one) in the pop-up dialog after running the exe executable file, that is, preset parameter values.
In other embodiments of the invention, the PSCAD has an element dedicated to reading external files, the "File Reader", which is used to read data from column text files of a specified number of variables and writing format, written directly into the PSCAD/EMTDC simulation. The "File Reader" element sets the column data of the read par File by either pre-defining a time step or defining a data sampling rate.
The manner in which the data sampling rate is defined is selected. The interactive period of the actual system is T0The simulation step length is t0Therefore, the data sampling rate is set to f, i.e.:
when generating the par file, it should be noted that the first line of the file is the annotation line and data cannot be written.
Each period T of PSCAD/EMTDCSCalculating the number of step sizes
The 'File Reader' element reads 2 columns of values each time, the 1 st is the 1 st step written value in the period, the 2 nd is the last 1 step written value in the period, but the middle n-2 step system will perform linear interpolation on the data, which will bring large errors. The invention uses a Sample and Hold element 'Sample and Hold' and a pulse Generator 'Impulse Generator' to Hold the read values of the 2 nd to the n-1 th steps, thereby ensuring the accuracy of the calculation process of the system.
PSCAD can record and Output variables measured by the Output Channel element into a column text document with the suffix name out. The 1 out file outputs 11 columns of data at most, wherein the 1 st column is simulation time added by the system, namely, the 1 st column contains 10 variables at most. And if the simulation output exceeds 10 variables, a new out file is automatically generated.
The Runtime parameter setting is the most frequently accessed Project parameter in the Project setting of the PSCAD, the semi-physical simulation needs to initialize a simulation program under a PSCAD interface initially to generate an exe execution file, and the Runtime parameter setting during initialization is shown in Table 2.
TABLE 2
Solution time step (μ s): simulation step length t0The electromagnetic transient simulation step length is 50-100 mu s;
channel plot step (μ s): data output period TS', the system operating every cycle
The steps of (1) carrying out the steps of,
startup method: a simulation starting mode, wherein a standard represents starting from 0 moment, and can also select starting from a snapshot file;
save channels to disk: selecting to output the observation data to an out file;
time snapshot(s): the snapshot shooting method is characterized in that a snapshot is shot for the first Time at the Time specified by the Time domain, then the snapshot is continuously shot by taking the Time as an interval, and a snapshot file is covered every Time of shooting and is set to be in a period T every TimeS＝n*t0The snapshot of the system section which operates for the last time in each operation is taken as an initial value, so that the simulation is ensured to be 'continuous' step-by-step operation
FIG. 9 is a diagram of a step-by-step pseudo-real-time simulation step in an embodiment of the present invention, where the par file for initialization is needed to be prepared at the beginning of the simulation, and the file may be empty. The first time, the operation is needed in the PSCAD interface, the foreign, map and snap files are generated, and each subsequent simulation does not need to enter the PSCAD interface for operation, and only the three files and the par file need to be called. And the communication platform classifies the data contained in the file and sends the data to the control device, and summarizes the instructions returned by the control device to generate a new par file.
In combination with the above steps, the following describes the real system interaction period T in detail0Simulation period TSData output period TpSimulation step length t0Data sampling frequency f and a setting method of a sample-and-hold process.
Fig. 10 is a schematic diagram of a semi-physical simulation mechanism based on a PSCAD step-by-step quasi-real-time method in an embodiment of the present invention, which is set as follows for easy understanding:
1) step length t0＝60μs
2) Actual system interaction period T0＝100ms
3) Data output period
4) Number of step of periodic calculation
5) PSCAD simulation period Ts＝n*t0＝1667*0.06＝100.02ms。
In fig. 10 (a), 0.10002s is 60 μ s × 1667, which indicates that the simulation period is 0.10002s, the simulation step size is 60 μ s, 1667 steps are calculated per period EMTDC, for example, from 0s, the simulation is stopped from the first period calculation to 1667 steps, V4.2 version generates out files and snap files at 1666 steps, the second period starts with snap, the simulation is started from 1668 steps × 60 μ s to 0.10008s, and the end is 1667 × 2 × 60 μ s to 0.20004 s. The start time of the nth simulation can thus be summarized:
end time of nth simulation:
tne＝n*1667*60μs
the nth simulation outputs out time:
tno＝(n*1667-1)*60μs
in (B) of fig. 10, 2 initial values need to be generated for the par file at 0s, the par file 1 is written into the simulation system at 0s and acts on the system from 0s to 0.10002s, the 0.09996s system generates out0 and sends the generated par file 0 to the controller; the par beginning 2 is written into the system at the end of the 1 st period, namely 0.10002s, and acts on 0.10008 s-0.20004 s, and 0.19998s system generation out1 is sent to the controller to generate par 1; by analogy par0 writes the system at 0.20004 s. ByThis may summarize the new value par generated by the n-th simulation end par filenWriting to the system at the start of the (n + 2) th simulation, that is, the (n + 2) th generation of out data by the system, is the result of the action of the par parameter generated by the controller at the nth time.
In the actual situation, the instruction sent by the nth controller can enable a certain switch or valve in the system to act after 100ms, and the controller can receive the state variable of the system after the switch or valve acts after 100ms, so that the simulation is consistent with the actual situation.
The data output period (Channel plot) T is illustrated in (C) of fig. 10pThe influence on the output data of the out file, in the figure, T _ plot is the data output period, and since V4.2 outputs the 2 nd point of the simulation period, when T _ plot is set to be the simulation period TSWhen the time is 0.10002s, the system variables at the end time of the simulation are lost, so that T _ plot is the simulation period-1 × 60 μ s-0.09996 s, so that each time out file outputs the start time value of the period and the time value 1 step before the end, and the latter is transmitted to the control device.
It is illustrated in (D) in fig. 10 that the input file par generated by the controller return instruction is always input at the beginning of the cycle, which coincides with reality.
The interval range of the hold samples is illustrated in (E) in fig. 10, and the use of the hold sample module eliminates 1667 times of iterative computation in a single cycle, and only the par values are input at the 1 st time and the last 1 time, which results in linear interpolation of the 2 par values in the 2 nd to 1666 times of iterative computation, which brings a great error to the simulation system, and results in unpredictable results. For this reason, a sampling pulse period 0.10002s is set, and the par obtained by interpolation in step 2 per cycle is kept until the simulation is finished, and since the interpolation points are 1666, the difference between the par value obtained by interpolation in step 2 and the par value input at the beginning of the simulation is small and is not enough to influence the system.
The invention is already applied to the simulation test work of the isolated network control system of the power system of a certain large steel mill in China, a more complex power grid model is built by using PSCAD/EMTDC, and the tested controllers come from two factories. The controller of one manufacturer has two functions, one is a generator set control system and has AFC (automatic generator frequency adjustment) and AVC (automatic generator voltage adjustment) functions; the other is a dynamic load control system. The controller of another manufacturer has the functions of fast load shedding and low-frequency load shedding.
In the experiment, a data real-time interactive platform is established by using real-time object simulation, and a program for automatically calling the EMTDC is written by using C + + language.
Because the EMTDC is not called through a PSCAD interface, a data visualization window is established on a data platform, and important power grid parameters, data curves and models are displayed.
The simulation result is very successful, and the simulation experiment for testing various functions and controllers of different manufacturers in real time is completed by using 1 real-time object simulator, 1 PC and 1 display.
Fig. 11 is a simulation curve completed using the present invention. In order to verify the accuracy of the step-by-step simulation result, firstly forming a complete input data file par _ step by all instructions fed back by a controller after a certain semi-physical simulation is finished according to a time sequence, and forming an output data file out _ step by all data output by PSCAD/EMTDC according to the time sequence; then, the PSCAD/EMTDC model is operated in a non-real-time manner under the completely same initial conditions, namely the PSCAD model is continuously operated for the same simulation time without adopting the method of the invention, the data reading element 'File Reader' still reads the data in the data File par _ step according to the same sampling frequency, and finally the PSCAD forms a data output File out _ continue with the same simulation time length; comparing the data output files out _ step and out _ continue, the data quantity and the numerical value are completely the same, and the data curve displayed by the step-by-step simulated real-time simulation display screen is the same as the data curve operated by the PSCAD in non real time, which shows that the result of the step-by-step simulated real-time simulation is consistent with the result of the PSCAD offline simulation.
The invention also provides computer equipment which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize a PSCAD/EMTDC-based semi-physical simulation method.
The present invention also provides a computer-readable storage medium storing a method of performing a PSCAD/EMTDC-based semi-physical simulation.
The technical scheme of the invention has the beneficial effects that:
the problem that the PSCAD/EMTDC cannot achieve real-time performance of physical simulation due to the fact that the calculation speed of the PSCAD/EMTDC cannot achieve real-time performance of physical simulation, data output can only be generated after the simulation is finished, data are written in when the simulation is started, data cannot be read and written in during operation, and real-time simulation of accessing a physical controller is not supported is solved.
For scientific research units, design houses and electric network controller manufacturers, the real-time closed-loop simulation of the physical controller is accessed to research the regulation characteristics of the physical controller on the electric network, so that the real-time closed-loop simulation of the physical controller and the completion of the PSCAD/EMTDC with high acceptance is of great significance.
The simulation scheme of the invention has low requirements on hardware and fields, can carry any communication platform with a real-time data interaction function to carry out semi-physical simulation, and finishes research and production work with low cost.
Improvements to a technology can clearly be distinguished between hardware improvements (e.g. improvements to the circuit structure of diodes, transistors, switches, etc.) and software improvements (improvements to the process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Language Description Language), traffic, pl (core unified Programming Language), HDCal, JHDL (Java Hardware Description Language), langue, Lola, HDL, laspam, hardbyscript Description Language (vhr Description Language), and the like, which are currently used by Hardware compiler-software (Hardware Description Language-software). It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory.
Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of software products, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a computer system (which may be a personal computer, a server, or a network system, etc.) to execute the methods described in the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The application is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable systems, tablet-type systems, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics systems, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or systems, and the like.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing systems that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage systems.
While the present application has been described with examples, those skilled in the art will appreciate that there are numerous variations and permutations of the present application without departing from the spirit of the application, and it is intended that the appended claims encompass such variations and modifications as fall within the true spirit of the application.
Claims (6)
1. A semi-physical simulation system based on PSCAD/EMTDC is characterized by comprising simulation equipment, a communication platform and one or more control devices,
the simulation equipment is used for performing electromagnetic transient offline simulation once in a preset simulation period, and after the electromagnetic transient offline simulation is finished, the generated simulation data is sent to the control equipment through the communication platform; wherein the preset period TSAccording to the actual system interaction period T0And presetting a simulation calculation step length t0Co-determined;
wherein, T0＝t1+t2+t3；t1Detecting actual data transmission round trip time between the element and the controller for the power system; t is t2Calculating time for the inside of the actual controller; t is t3The actual switching-off time of a circuit breaker or the actual response time of other components in the actual power system;
in the semi-physical simulation process in the first simulation cycle,
the simulation equipment is used for building a simulation model on the PSCAD and generating a psc file with a suffix name of psc;
f file with suffix name f is generated after the psc file is analyzed;
compiling the f file to generate an exe file capable of being executed by the exe, and simultaneously generating a map file with a suffix name of map, wherein the map file comprises a topological structure and element parameters;
executing the exe file and the map file to call an EMTDC engine to solve to obtain a snp snapshot data file and a x, out data output file generated by the first electromagnetic transient off-line simulation; the generated sn snapshot data file is an initial section value of the next simulation period after the EMTDC is called for solving, and the generated out data output file is transmitted to the control equipment through the data platform;
the control equipment is used for receiving the data output file and outputting a control instruction according to the data output file;
the communication platform is used for collecting the control instructions and then generating a par data output file which is used as an initial value of a next period simulation system variable and is sent to the simulation equipment so that the simulation equipment can perform next electromagnetic transient off-line simulation in a next simulation period;
in the semi-physical simulation process in the next simulation cycle,
the simulation equipment is used for receiving the data input file returned by the communication platform;
the method comprises the steps that simulation equipment obtains a snap snapshot data file generated by last simulation;
acquiring an exe file and a map file;
performing semi-physical simulation according to the exe file, the map file, the snap snapshot data file, the data input file and a preset parameter value;
sending the generated simulation data to a control device through a communication platform;
the control equipment is used for receiving the simulation data and outputting a control instruction according to the simulation data;
and the communication platform is used for summarizing the control instructions, generating a data input file and sending the data input file to the simulation equipment.
2. The system of claim 1, wherein the simulation data generated by two adjacent electromagnetic transient offline simulations is received by the control device at a time interval corresponding to the simulation period.
3. A semi-physical simulation method based on PSCAD/EMTDC is characterized by comprising the following steps:
the simulation equipment carries out primary electromagnetic transient offline simulation in a preset simulation period, and after the electromagnetic transient offline simulation is finished, generated simulation data are sent to the control equipment through a communication platform; wherein the preset period TSAccording to the actual system interaction period T0And presetting a simulation calculation step length t0Co-determined;
wherein, T0＝t1+t2+t3；t1Detecting actual data transmission round trip time between the element and the controller for the power system; t is t2Calculating time for the inside of the actual controller; t is t3The actual switching-off time of a circuit breaker or the actual response time of other components in the actual power system;
in the semi-physical simulation process in the first simulation cycle,
the simulation equipment builds a simulation model on the PSCAD to generate a psc file with a suffix name of psc;
f file with suffix name f is generated after the psc file is analyzed;
compiling the f file to generate an exe file capable of being executed by the exe, and simultaneously generating a map file with a suffix name of map, wherein the map file comprises a topological structure and element parameters;
executing the exe file and the map file to call an EMTDC engine to solve to obtain a snp snapshot data file and a x, out data output file generated by the first electromagnetic transient off-line simulation; the generated sn snapshot data file is an initial section value of the next simulation period after the EMTDC is called for solving, and the generated out data output file is transmitted to the control equipment through the data platform;
the control equipment receives the data output file and outputs a control instruction according to the data output file;
the communication platform collects the control instructions and then generates a par data output file which is used as an initial value of a next period simulation system variable and is sent to the simulation equipment so that the simulation equipment can perform next electromagnetic transient off-line simulation in a next simulation period;
in the semi-physical simulation process in the next simulation cycle,
the simulation equipment receives a data input file returned by the communication platform;
the method comprises the steps that simulation equipment obtains a snap snapshot data file generated by last simulation;
acquiring an exe file and a map file;
performing semi-physical simulation according to the exe file, the map file, the snap snapshot data file, the data input file and a preset parameter value;
sending the generated simulation data to a control device through a communication platform;
the control equipment receives the simulation data and outputs a control instruction according to the simulation data;
and the communication platform collects the control instructions to generate a data input file and sends the data input file to the simulation equipment.
4. The method of claim 3, wherein the simulation data generated by two adjacent electromagnetic transient offline simulations is received by the control device at a time interval of the simulation period.
5. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of claim 3 or 4 when executing the computer program.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of claim 3 or 4.
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