CN108347060A - A kind of power electronics interface power Reduced Modeling Methods and system - Google Patents
A kind of power electronics interface power Reduced Modeling Methods and system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/26—Arrangements for eliminating or reducing asymmetry in polyphase networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
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Abstract
The present invention provides a kind of power electronics interface power Reduced Modeling Methods and system, the Reduced Modeling Methods include：Obtain systematic parameter, according to the systematic parameter, build power electronics interface power electrical-magnetic model, according to the power electronics interface power electrical-magnetic model, the reduced-order model of power electronics interface power is established, wherein the reduced-order model of the power electronics interface power includes power systems with nonlinear differential algebraic system equation model and hybrid simulation differential algebraic equations model based on fast dynamics process simplification.Technical solution proposed by the present invention greatly reduces the complexity of the transient Model of existing power electronics interface in practical applications, is convenient for practical application, and versatility is good, is suitable for system-level calculating, is suitble to promote the use of.
Description
Technical field
The invention belongs to power system modelings and control technology field, and in particular to a kind of power electronics interface power drop
Rank modeling method and system.
Background technology
With the extensive development of power electronic technique and renewable energy power generation, a large amount of power supplys/load equipment passes through electricity
Power electrical interface is connected to the grid, and the trend of power electronics is presented in electric system, it is to be understood that power electronics interface power moves
State models the electric power system transient stability mechanism with the power electronic equipment containing high proportion.
The existing main problem of power electronics interface power modeling is in transient stability problem, existing model or excessively detailed
It is unfavorable for Analysis on Mechanism, or excessively simplifies and lose precision, and applicable elements are fuzzy, there has been no ripe theoretical systems at present.
Existing method, which is focused primarily upon, calculates with electrical-magnetic model and observes various stability indexs, or according to extension equal-area method
Then, in the injecting power of wind-power electricity generation is equivalent, to be merged into synchronous machine electromagnetic power, damped coefficient or mechanical inertia, with this
As explanation mechanism, but the system of traditional angle stability is not broken away from still.From the perspective of from modeling angle, power electronics interface power
Characteristic time scale is far below conventional power source, and control method, strategy are various, and can not include rotation in power electronic equipment
Inertia element so that classical slow dynamics generator rotor angle concept disappears.Very ripe machine-electricity transient model in conventional electric power network analysis
System is mismatched with new-type power supply.The transient state generator rotor angle of local AC system, voltage stabilization become to be mutually coupled after new energy access
And it is sufficiently complex, the basic principle stablized after capable of intuitively explaining grid height power electronics is there is no, this undoubtedly hampers electricity
Dispatcher is netted to understand, with the stability features of new energy.It is generally observed in existing research, intermodal system unstability not only table
It is now mutually arranging for synchronous machine generator rotor angle, it is also possible to the rapid divergence of voltage occur.In addition, power grid there is also fault traversing with
And pass through the Dynamic voltage stability problem of rear longer period of time.
It needs to provide a kind of power electronics interface power Reduced Order Modeling based on quasi- power source singular perturbation characteristic thus
Method, for obtaining " quasi- power source characteristic " Reduced Order Modeling based on singular perturbation theory power electronics interface power, next gram
The transient Model of the existing power electronics interface excessively high deficiency of complexity in practical applications is taken,
Invention content
The present invention proposes that a kind of power electronics interface power Reduced Modeling Methods, the Reduced Modeling Methods include as follows
Step：
Obtain systematic parameter；
According to the systematic parameter, power electronics interface power electrical-magnetic model is built；
According to the power electronics interface power electrical-magnetic model, the depression of order mould of power electronics interface power is established
The reduced-order model of type, wherein power electronics interface power includes the power systems with nonlinear differential algebraic system side based on fast dynamics process simplification
Journey model and hybrid simulation differential algebraic equations model.
The electrical-magnetic model includes state variable as follows：
[ixL,iyL,ix,iy,ux,uy,ix_f,iy_f,ux_f,uy_f,x1,x2,x3,x4,θPLL]T (1)
Wherein, ixL+jiyLIt is line current, ix+jiyIt is output current, ux+juyIt is set end voltage, ix_f+jiy_fIt is output
Current measurement value, ux_f+juy_fIt is set end voltage measured value, x1~x4The integration variable of device in order to control, θPLLFor phase-locked loop pll
State variable is the phase locked.
Building power electronics interface power electrical-magnetic model includes：
External network/inner couplings circuit link, measuring equipment first-order low-pass wave link, locking phase link and control
Device integration variable link.
The model of the external network/inner couplings circuit link includes：Selected referential is overall situation xy coordinate systems, structure
Include external network and the dynamic electrical quantity equation of inner couplings circuit as shown in following formula (2)：
Wherein, ixL+jiyLIt is line current, ix+jiyIt is output current, ux+juyIt is set end voltage, ωBFor angular frequency base
Value, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, RCFor generator terminal stray resistance, Ex+jEyTo become
Flow the output internal e.m.f. of device, U0For system side voltage.
Shown in the model such as following formula (3) of the measuring equipment first-order low-pass wave link：
In formula, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value, ix+jiyIt is output electricity
Stream, ux+juyIt is set end voltage, TfFor the time constant of the first-order low-pass wave link.
The locking phase link includes：
With the phase theta of lockingPLLVoltage, electric current are coordinately transformed, and calculate instantaneous power；
According to the instantaneous power being calculated, the command value of active and reactive electric current is calculated.
(4) use the phase theta of locking as the following formulaPLLVoltage, electric current are coordinately transformed：
Wherein, ud、uqRespectively set end voltage d axis and q axis components, id、iqRespectively d shaft currents and q shaft currents, ix_f+
jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
The phase theta of lockingPLLIt is shown below：
dθPLL/ dt=ωBKp_PLLuq (6)
Wherein, ωBFor angular frequency base value, uqFor set end voltage q axis components, Kp_PLLFor locking phase link parameter.
Shown in the instantaneous power P+jQ such as following formulas (5)：
Wherein, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
Shown in the command value such as following formula (7) of the active and reactive electric current：
In formula, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and idle work(are corresponded to respectively
Rate ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, i are corresponded to respectivelyd_ref、iq_ref
For d shaft currents command value and q shaft current command values, x1And x3The integration variable of device in order to control, P+jQ are instantaneous power.
Shown in the dynamical equation such as following formula (8) of each controller integration variable of controller integration variable link：
Wherein, x1~x4The integration variable of corresponding controller, Pref、QrefFor active power and reactive power reference qref,
id_ref、iq_refFor d shaft currents command value and q shaft current command values, P+jQ is instantaneous power, id、iqFor d shaft currents and q axis electricity
Stream.
Under dq coordinate systems, shown in the output internal e.m.f. such as following formula (9) of current transformer：
Wherein, Ed、EqFor d axis potential and q axis potentials, ud、uqFor set end voltage d axis and q axis components, Kp2、Kp4It corresponds to respectively
Watt current and reactive current ratio controlling unit parameter, Ki2、Ki4Watt current and reactive current integration control ring are corresponded to respectively
Save parameter, x2And x4The integration variable of device in order to control, XfFor termination power reactance.
Change the output internal e.m.f. contravariant of current transformer into modulating wave phasor under the xy coordinate systems described in following formula (10)：
Wherein, Ex+jEyFor the output internal e.m.f. of current transformer, Ed、EqFor d axis potential and q axis potentials, θPLLFor locking
Phase.
Establishing the power systems with nonlinear differential algebraic system equation model based on fast dynamics process simplification includes：When by Different Dynamic feature
Between scale the power electronics interface power electrical-magnetic model is divided into leading slow dynamics, servo-actuated fast dynamics two types.
Keep slow dynamics number equal with slow characteristic root number, the state of the power systems with nonlinear differential algebraic system equation model becomes
It measures shown in x such as following formulas (11)：
X=[x1,x2,x3,x4]T (11)
Wherein, x1~x4The integration variable of device in order to control.
The power systems with nonlinear differential algebraic system equation model of the foundation based on fast dynamics process simplification include：To reduce algebraically about
Beam complexity ignores measuring equipment first-order low-pass wave link dynamic, and it is zero to enable formula (3), obtains following formula (12)：
Wherein, ix+jiyIt is output current, ux+juyIt is set end voltage, ix_f+jiy_fIt is output current measured value, ux_f+
juy_fIt is set end voltage measured value.
The power systems with nonlinear differential algebraic system equation model of the foundation based on fast dynamics process simplification include：Because phaselocked loop is rung
Its dynamic should quickly be ignored, enable set end voltage q axis components uq=0, then formula (6) is 0, obtains following formula (13)：
Wherein, θPLLFor the phase of locking, udFor set end voltage d axis components, ux+juyFor set end voltage；
According to formula (12) and (13), the electrical quantity such as following formula (14) of intermediate variable y：
Y=[ixL,iyL,ux,uy,ix,iy]T (14)
Shown in power systems with nonlinear differential algebraic system equation model such as following formula (15)-(17) based on fast dynamics process simplification：
Wherein, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and idle work(are corresponded to respectively
Rate ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, x are corresponded to respectively1And x3For control
The integration variable of device processed, id、iqRespectively d shaft currents and q shaft currents, ixL+jiyLIt is line current, ix+jiyIt is output current,
ux+juyIt is set end voltage, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, Ex+jEyFor current transformer
Output internal e.m.f., U0For system side voltage.
Establishing hybrid simulation differential algebraic equations model includes：
Ignore the voltage dynamic of line inductance and capacitance, the state variable x of the hybrid simulation differential algebraic equations model
As shown in following formula (18)：
X=[x1,x2,x3,x4,ix,iy]T (18)
Shown in power electronics interface power state equation such as following formula (19)：
Wherein,
x1~x4The integration variable of device in order to control, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Respectively
Corresponding active power and reactive power ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integral control are corresponded to respectively
Link parameter processed, id、iqRespectively d shaft currents and q shaft currents, ix+jiyIt is output current, ux+juyIt is set end voltage, Rf+jXf
Termination power impedance, Ex+jEyFor the output internal e.m.f. of current transformer.
A kind of power electronics interface power Reduced Order Modeling system, the system comprises：
Parameter collection module, for obtaining systematic parameter；
Electrical-magnetic model module, for building power electronics interface power electrical-magnetic model；
Reduced-order model module, the reduced-order model for building power electronics interface power, the reduced-order model module include
Power systems with nonlinear differential algebraic system equation model module based on fast dynamics process simplification and hybrid simulation differential algebraic equations pattern die
Block.
The electrical-magnetic model module is used to build power electronics interface power electrical-magnetic model, including：
External network/inner couplings circuit link, measuring equipment first-order low-pass wave link, locking phase link and control
Device integration variable link.
The model of the external network/inner couplings circuit link includes：Selected referential is overall situation xy coordinate systems, structure
Include external network and the dynamic electrical quantity equation of inner couplings circuit as shown in following formula (2)：
Wherein, ixL+jiyLIt is line current, ix+jiyIt is output current, ux+juyIt is set end voltage, ωBFor angular frequency base
Value, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, RCFor generator terminal stray resistance, Ex+jEyTo become
Flow the output internal e.m.f. of device, U0For system side voltage.
Shown in the model such as following formula (3) of the measuring equipment first-order low-pass wave link：
In formula, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value, ix+jiyIt is output electricity
Stream, ux+juyIt is set end voltage, TfFor the time constant of the first-order low-pass wave link.
The locking phase link includes：
With the phase theta of lockingPLLVoltage, electric current are coordinately transformed, and calculate instantaneous power；
According to the instantaneous power being calculated, the command value of active and reactive electric current is calculated.
(4) use the phase theta of locking as the following formulaPLLVoltage, electric current are coordinately transformed：
Wherein, ud、uqRespectively set end voltage d axis and q axis components, id、iqRespectively d shaft currents and q shaft currents, ix_f+
jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
The phase theta of lockingPLLIt is shown below：
dθPLL/ dt=ωBKp_PLLuq (6)
Wherein, ωBFor angular frequency base value, uqFor set end voltage q axis components, Kp_PLLFor locking phase link parameter.
Shown in the instantaneous power P+jQ such as following formulas (5)：
Wherein, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
Shown in the command value such as following formula (7) of the active and reactive electric current：
In formula, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and idle work(are corresponded to respectively
Rate ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, i are corresponded to respectivelyd_ref、iq_ref
For d shaft currents command value and q shaft current command values, x1And x3The integration variable of device in order to control.
Shown in the dynamical equation such as following formula (8) of each controller integration variable of controller integration variable link：
Wherein, x1~x4The integration variable of corresponding controller, Pref、QrefFor active power and reactive power reference qref,
id_ref、iq_refFor d shaft currents command value and q shaft current command values, P+jQ is instantaneous power, id、iqFor d shaft currents and q axis electricity
Stream.
Under dq coordinate systems, shown in the output internal e.m.f. such as following formula (9) of current transformer：
Wherein, Ed、EqFor d axis potential and q axis potentials, ud、uqFor set end voltage d axis and q axis components, Kp2、Kp4It corresponds to respectively
Watt current and reactive current ratio controlling unit parameter, Ki2、Ki4Watt current and reactive current integration control ring are corresponded to respectively
Save parameter, x2And x4The integration variable of device in order to control, XfFor termination power reactance.
Change the output internal e.m.f. contravariant of current transformer into modulating wave phasor under the xy coordinate systems described in following formula (10)：
Wherein, Ex+jEyFor the output internal e.m.f. of current transformer, Ed、EqFor d axis potential and q axis potentials, θPLLFor locking
Phase.
Power systems with nonlinear differential algebraic system equation model module based on fast dynamics process simplification is specifically used for establishing based on snap-action
The power systems with nonlinear differential algebraic system equation model of state process simplification, including：
The power electronics interface power electrical-magnetic model is divided into leading slow motion by Different Dynamic characteristic time scale
State, servo-actuated fast dynamics two types.
Keep slow dynamics number equal with slow characteristic root number, the state of the power systems with nonlinear differential algebraic system equation model becomes
It measures shown in x such as following formulas (11)：
X=[x1,x2,x3,x4]T (11)
Wherein, x1~x4The integration variable of device in order to control.
Ignore measuring equipment first-order low-pass wave link dynamic to reduce Algebraic Constraint complexity, it is zero to enable formula (3), is obtained
Following formula (12)：
Wherein, ix+jiyIt is output current, ux+juyIt is set end voltage, ix_f+jiy_fIt is output current measured value, ux_f+
juy_fIt is set end voltage measured value.
The power systems with nonlinear differential algebraic system equation model of the foundation based on fast dynamics process simplification include：Because phaselocked loop is rung
Its dynamic should quickly be ignored, enable set end voltage q axis components uq=0, then formula (6) is 0, obtains following formula (13)：
Wherein, θPLLFor the phase of locking, udFor set end voltage d axis components, ux+juyFor set end voltage；
According to formula (12) and (13), the electrical quantity such as following formula (14) of intermediate variable y：
Y=[ixL,iyL,ux,uy,ix,iy]T (14)
Shown in power systems with nonlinear differential algebraic system equation model such as following formula (15)-(17) based on fast dynamics process simplification：
Wherein, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and idle work(are corresponded to respectively
Rate ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, x are corresponded to respectively1And x3For control
The integration variable of device processed, id、iqRespectively d shaft currents and q shaft currents, ixL+jiyLIt is line current, ix+jiyIt is output current,
ux+juyIt is set end voltage, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, Ex+jEyFor current transformer
Output internal e.m.f., U0For system side voltage.
The hybrid simulation differential algebraic equations model is wrapped specifically for establishing hybrid simulation differential algebraic equations model
It includes：
Ignore the voltage dynamic of line inductance and capacitance, the state variable x of the hybrid simulation differential algebraic equations model
As shown in following formula (18)：
X=[x1,x2,x3,x4,ix,iy]T (18)
Shown in power electronics interface power state equation such as following formula (19)：
Wherein,
x1~x4The integration variable of device in order to control, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Respectively
Corresponding active power and reactive power ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integral control are corresponded to respectively
Link parameter processed, id、iqRespectively d shaft currents and q shaft currents, ix+jiyIt is output current, ux+juyIt is set end voltage, Rf+jXf
Termination power impedance, Ex+jEyFor the output internal e.m.f. of current transformer.
Compared with the latest prior art, technical solution provided by the invention has following excellent effect：
Technical solution proposed by the present invention is realized and obtains " the quasi- work(based on singular perturbation theory power electronics interface power
Rate source characteristic " Reduced Modeling Methods overcome the transient Model of existing power electronics interface complexity mistake in practical applications
High deficiency, this method are convenient for being applied to reality, and versatility is preferable, is suitable for system-level calculating, is suitble to promote the use of.
Description of the drawings
Fig. 1 is a kind of flow chart of power electronics interface power Reduced Modeling Methods of the present invention；
Fig. 2 is the schematic diagram of power electronics interface power electric part of the present invention.
Specific implementation mode
The present invention proposes a kind of power electronics interface power Reduced Modeling Methods based on quasi- power source singular perturbation characteristic,
It proposes a kind of power electronics interface power Reduced Modeling Methods based on quasi- power source singular perturbation characteristic, overcomes existing electric power electricity
The transient Model of the sub-interface excessively high deficiency of complexity in practical applications.
Flow of the present invention is as shown in Figure 1, technical solution used by solving its technical problem includes the following steps：
Obtain real system parameter；
Build power electronics interface power electrical-magnetic model；
According to the power electronics interface power electrical-magnetic model, the depression of order mould of power electronics interface power is established
Type；
The reduced-order model of wherein power electronics interface power includes the electric system differential based on fast dynamics process simplification
Algebraic equation model and hybrid simulation differential algebraic equations model.
Building power electronics interface power electrical-magnetic model includes：
According to power electronics interface power actual physical situation, full rank electrical-magnetic model is built, in electrical-magnetic model
Contain following state variable：
[ixL,iyL,ix,iy,ux,uy,ix_f,iy_f,ux_f,uy_f,x1,x2,x3,x4,θPLL]T (1)
In formula, wherein ixL+jiyLIt is line current, ix+jiyIt is output current, ux+juyIt is set end voltage, ix_f+jiy_f
It is output current measured value, ux_f+juy_fIt is set end voltage measured value, x1~x4The integration variable of device in order to control, θPLLFor phaselocked loop
The state variable of PLL is the phase locked, U0∠θ0It is system side voltage, U ∠ θ are set end voltages.Each variable respective figure 2.
When establishing electrical-magnetic model, mainly consider that external network/inner couplings circuit link, measuring equipment single order are low
Pass filter link, locking phase link (phase-locked loop pll), controller integration variable link etc..DC battery voltage is approximately permanent
Definite value can not consider its dynamic.
Referential selected first is overall situation xy coordinate systems, and electrical quantity equation includes that external network and inner couplings circuit are dynamic
State：
In formula, ixL+jiyLIt is line current, ix+jiyIt is output current, ux+juyIt is set end voltage, ωBFor angular frequency base
Value, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, RCFor generator terminal stray resistance, Ex+jEyTo become
The output internal e.m.f. of stream device is made of controlled quentity controlled variable, U0For system side voltage.
There are first-order low-pass wave links in measurement link：
Wherein, ud、uqRespectively set end voltage d axis and q axis components, id、iqRespectively d shaft currents and q shaft currents, ix_f+
jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
Then the phase theta locked with phase-locked loop pllPLLVoltage, electric current are coordinately transformed：
According to link measurand is measured, can obtain instantaneous power P+jQ is：
Wherein, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
The equation of phase-locked loop pll state variable meets：
dθPLL/ dt=ωBKp_PLLuq (6)
And then the command value for obtaining active and reactive electric current is：
Wherein, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and idle work(are corresponded to respectively
Rate ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, i are corresponded to respectivelyd_ref、iq_ref
For d shaft currents command value and q shaft current command values, x1And x3The integration variable of device in order to control.
The dynamical equation of each controller integration variable is：
Wherein, x1~x4 corresponds to the integration variable of controller, Pref、QrefFor active power and reactive power reference qref,
id_ref、iq_refFor d shaft currents command value and q shaft current command values, P+jQ is instantaneous power, id、iqFor d shaft currents and q axis electricity
Stream.
Under dq coordinate systems, the output internal e.m.f. of current transformer is：
Wherein, Ed、EqFor d axis potential and q axis potentials, ud、uqFor set end voltage d axis and q axis components, Kp2、Kp4It corresponds to respectively
Watt current and reactive current ratio controlling unit parameter, Ki2、Ki4Watt current and reactive current integration control ring are corresponded to respectively
Save parameter, x2And x4The integration variable of device in order to control, XfFor the imaginary part of termination power impedance.
It finally changes internal e.m.f. contravariant into modulating wave phasor under xy coordinate systems, and substitutes into formula (2) and solve：
Formula (2) constitutes the basic electrical-magnetic model of power electronics interface power to formula (10).
Establish the differential algebraic equations DAE models based on fast dynamics process simplification
Power electronics interface power transient state Different Dynamic characteristic time scale is divided into leading slow dynamics, servo-actuated fast dynamics two
Type, some fast dynamics are reduced to Algebraic Constraint, to which depression of order obtains the DAE equation depression of order moulds of power electronics interface power
Type, characteristic time scale can be obtained by characteristic root real part, and detailed process is as follows：
Since the adjustment of power electronics interface power internal e.m.f. is largely determined by controller integration variable x1~x4Dynamic
Response speed, according to x1~x4The characteristic root real part of strong correlation can determine whether its characteristic time scale.In power electronics interface power
Slow dynamics number is more than slow feature radical, belongs to non-classical singular perturbation system, can move mixing when carrying out reduced order equivalent
State ix、iyIt is reduced to intermediate variable, referred to as " classical DAE models ".
Keep slow dynamics number equal with slow characteristic root number.State variable x only retains 4 controller integration variables：
X=[x1,x2,x3,x4]T (11)
Data measurement link dynamic can be ignored to reduce Algebraic Constraint complexity, it is zero to enable formula (3)：
Its dynamic can be ignored in PLL response quicklies, it is believed that its moment is to set end voltage phase accurate lock, that is, uq=0, in this way
Formula (6) is 0
To sum up, intermediate variable y only retains electrical quantity：
Y=[ixL,iyL,ux,uy,ix,iy]T (14)
Other coordinate conversion relations are constant, then the differential algebraic equations DAE models based on fast dynamics process simplification are
Differential algebraic equations DAE models based on fast dynamics process simplification make model order be greatly lowered, can be more smart
Really retain the power external characteristics of real system, and can simulate occur it is unusual at the time of, clearly show that quasi- power source what
Shi Bixu switchs to include faster dynamic electrical-magnetic model.
Establish hybrid simulation differential algebraic equations DAE models
In order to reflect the mixing dynamic attribute of output current, and handle when controller reaches amplitude limitation in dynamic process
The integral of controller variable will suspend, and propose hybrid simulation DAE models accordingly.
Include using the shortcomings that differential algebraic equations DAE models based on fast dynamics process simplification：It cannot reflect output electricity
Flow ix+jiyMixing dynamic attribute, thus the time-domain-simulation waveform misalignment of part slow motion state variable.In addition, for containing interior limit
The power electronics interface power of width controller, when controller reaches amplitude limitation in dynamic process, the product of the controller variable
Dividing will suspend, and master mould has been converted into another DAE.It is multi-mode due to there are multiple controllers, needing to write in advance
DAE and corresponding transfer criterion, increase programming complexity.Finally, the differential algebraic equations DAE based on fast dynamics process simplification
The algebraic equation constraint of model is nonlinear, thus cannot be guaranteed the solution that intermediate variable is centainly solved in each time step.It is special
It is not at the time of the external parameters saltus step such as failure generation or removing, if it is specific to show that the reasonable value of subsequent time depends on
Numerical integration method.The present invention uses classics DAE models in the case where studying certain ideal scenarios, to assist verifying quasi- power source
The basic principle of transient voltage unstability occurs.
Hybrid simulation DAE models are proposed accordingly：Only ignore line inductance and capacitance voltage dynamic, network constraint side algebraically
Equation describes；Reservation internal generator electrical amount is state variable, refers to i in power electronics interface powerx+jiy.Hybrid simulation
State variable is in DAE models：
X=[x1,x2,x3,x4,ix,iy]T (18)
Power electronics interface power state equation is
In formula, amount U, i after coordinate transformdAnd iqIt can be obtained by quantity of state x and input quantity u (voltage)；Internal e.m.f. Ex、
EyThe same formula of computational methods (8) and formula (9).
The advantages of model is：It is remarkably improved simulation accuracy；Depression of order process is disposable, can be directly from electrical-magnetic model
It obtains, fast, slow dynamics need not be selected；It is easy to and Network Side Interface；Model is continuous, can simulate the interior amplitude limit effect of each controller
It answers；Each simulation step length need not solve the nonlinear equation constraint of high-order, demand solution network linear equation.
Understand to have considered with the present invention various electrical, controls in power electronics interface power from above-mentioned calculating process
Dynamic characteristic time scale fine structure, has studied the special singular perturbation characteristic of fast dynamics.Due to part mixing dynamic with
Although the coupling of controller slow dynamics can cause using good to power external characteristics simulation precision when classical DAE model reductions
The waveform misalignment of certain slow dynamics.
Improved depression of order hybrid simulation DAE models are had also been proposed to improve simulation accuracy.The model is easy to encapsulate, and is easy to real
Existing interface, and the interior limiting effect of each controller can be emulated, it is suitable for system-level calculating.The model commonality is preferable, is suitble to
It promotes the use of.
A kind of power electronics interface power Reduced Order Modeling system, the system comprises：
Parameter collection module, for obtaining systematic parameter；
Electrical-magnetic model module, for building power electronics interface power electrical-magnetic model；
Reduced-order model module, the reduced-order model for building power electronics interface power, the reduced-order model module include
Power systems with nonlinear differential algebraic system equation model module based on fast dynamics process simplification and hybrid simulation differential algebraic equations pattern die
Block.
The electrical-magnetic model module is used to build power electronics interface power electrical-magnetic model, including：
External network/inner couplings circuit link, measuring equipment first-order low-pass wave link, locking phase link and control
Device integration variable link.
The model of the external network/inner couplings circuit link includes：Selected referential is overall situation xy coordinate systems, structure
Include external network and the dynamic electrical quantity equation of inner couplings circuit as shown in following formula (2)：
Wherein, ixL+jiyLIt is line current, ix+jiyIt is output current, ux+juyIt is set end voltage, ωBFor angular frequency base
Value, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, RCFor generator terminal stray resistance, Ex+jEyTo become
Flow the output internal e.m.f. of device, U0For system side voltage.
Shown in the model such as following formula (3) of the measuring equipment first-order low-pass wave link：
In formula, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value, ix+jiyIt is output electricity
Stream, ux+juyIt is set end voltage, TfFor the time constant of the first-order low-pass wave link.
The locking phase link includes：
With the phase theta of lockingPLLVoltage, electric current are coordinately transformed, and calculate instantaneous power；
According to the instantaneous power being calculated, the command value of active and reactive electric current is calculated.
(4) use the phase theta of locking as the following formulaPLLVoltage, electric current are coordinately transformed：
Wherein, ud、uqRespectively set end voltage d axis and q axis components, id、iqRespectively d shaft currents and q shaft currents, ix_f+
jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
The phase theta of lockingPLLIt is shown below：
dθPLL/ dt=ωBKp_PLLuq (6)
Wherein, ωBFor angular frequency base value, uqFor set end voltage q axis components, Kp_PLLFor locking phase link parameter.
Shown in the instantaneous power P+jQ such as following formulas (5)：
Wherein, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
Shown in the command value such as following formula (7) of the active and reactive electric current：
In formula, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and idle work(are corresponded to respectively
Rate ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, i are corresponded to respectivelyd_ref、iq_ref
For d shaft currents command value and q shaft current command values, x1And x3The integration variable of device in order to control.
Shown in the dynamical equation such as following formula (8) of each controller integration variable of controller integration variable link：
Wherein, x1~x4The integration variable of corresponding controller, Pref、QrefFor active power and reactive power reference qref,
id_ref、iq_refFor d shaft currents command value and q shaft current command values, P+jQ is instantaneous power, id、iqFor d shaft currents and q axis electricity
Stream.
Under dq coordinate systems, shown in the output internal e.m.f. such as following formula (9) of current transformer：
Wherein, Ed、EqFor d axis potential and q axis potentials, ud、uqFor set end voltage d axis and q axis components, Kp2、Kp4It corresponds to respectively
Watt current and reactive current ratio controlling unit parameter, Ki2、Ki4Watt current and reactive current integration control ring are corresponded to respectively
Save parameter, x2And x4The integration variable of device in order to control, XfFor termination power reactance.
Change the output internal e.m.f. contravariant of current transformer into modulating wave phasor under the xy coordinate systems described in following formula (10)：
Wherein, Ex+jEyFor the output internal e.m.f. of current transformer, Ed、EqFor d axis potential and q axis potentials, θPLLFor locking
Phase.
Power systems with nonlinear differential algebraic system equation model module based on fast dynamics process simplification is specifically used for establishing based on snap-action
The power systems with nonlinear differential algebraic system equation model of state process simplification, including：
The power electronics interface power electrical-magnetic model is divided into leading slow motion by Different Dynamic characteristic time scale
State, servo-actuated fast dynamics two types.
Keep slow dynamics number equal with slow characteristic root number, the state of the power systems with nonlinear differential algebraic system equation model becomes
It measures shown in x such as following formulas (11)：
X=[x1,x2,x3,x4]T (11)
Wherein, x1~x4The integration variable of device in order to control.
Ignore measuring equipment first-order low-pass wave link dynamic to reduce Algebraic Constraint complexity, it is zero to enable formula (3), is obtained
Following formula (12)：
Wherein, ix+jiyIt is output current, ux+juyIt is set end voltage, ix_f+jiy_fIt is output current measured value, ux_f+
juy_fIt is set end voltage measured value.
The power systems with nonlinear differential algebraic system equation model of the foundation based on fast dynamics process simplification include：Because phaselocked loop is rung
Its dynamic should quickly be ignored, enable set end voltage q axis components uq=0, then formula (6) is 0, obtains following formula (13)：
Wherein, θPLLFor the phase of locking, udFor set end voltage d axis components, ux+juyFor set end voltage；
According to formula (12) and (13), the electrical quantity such as following formula (14) of intermediate variable y：
Y=[ixL,iyL,ux,uy,ix,iy]T (14)
Shown in power systems with nonlinear differential algebraic system equation model such as following formula (15)-(17) based on fast dynamics process simplification：
Wherein, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and idle work(are corresponded to respectively
Rate ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, x are corresponded to respectively1And x3For control
The integration variable of device processed, id、iqRespectively d shaft currents and q shaft currents, ixL+jiyLIt is line current, ix+jiyIt is output current,
ux+juyIt is set end voltage, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, Ex+jEyFor current transformer
Output internal e.m.f., U0For system side voltage.
The hybrid simulation differential algebraic equations model is wrapped specifically for establishing hybrid simulation differential algebraic equations model
It includes：
Ignore the voltage dynamic of line inductance and capacitance, the state variable x of the hybrid simulation differential algebraic equations model
As shown in following formula (18)：
X=[x1,x2,x3,x4,ix,iy]T (18)
Shown in power electronics interface power state equation such as following formula (19)：
Wherein,
x1~x4The integration variable of device in order to control, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Respectively
Corresponding active power and reactive power ratio controlling unit parameter, Ki1、Ki3Active power and reactive power integral control are corresponded to respectively
Link parameter processed, id、iqRespectively d shaft currents and q shaft currents, ix+jiyIt is output current, ux+juyIt is set end voltage, Rf+jXf
Termination power impedance, Ex+jEyFor the output internal e.m.f. of current transformer.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, the application can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to method, the flow of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Present invention combination Figure of description is described in detail and describes to the embodiment of the present invention, but this field skill
Art personnel are it should be understood that above example is only the preferred embodiments of the invention, and explanation is intended merely to help reader in detail
More fully understand spirit of that invention, and it is not intended to limit the protection scope of the present invention, on the contrary, any invention essence based on the present invention
Any improvement or modification made by god all should be within protection scope of the present invention.
Claims (15)
1. a kind of power electronics interface power Reduced Modeling Methods, which is characterized in that the Reduced Modeling Methods include as follows
Step：
Obtain systematic parameter；
According to the systematic parameter, power electronics interface power electrical-magnetic model is built；
According to the power electronics interface power electrical-magnetic model, the reduced-order model of power electronics interface power is established, wherein
The reduced-order model of the power electronics interface power includes the power systems with nonlinear differential algebraic system equation mould based on fast dynamics process simplification
Type and hybrid simulation differential algebraic equations model.
2. Reduced Modeling Methods as described in claim 1, which is characterized in that the electrical-magnetic model includes shape as follows
State variable：
[ixL,iyL,ix,iy,ux,uy,ix_f,iy_f,ux_f,uy_f,x1,x2,x3,x4,θPLL]T
Wherein, ixL+jiyLIt is line current, ix+jiyIt is output current, ux+juyIt is set end voltage, ix_f+jiy_fIt is output current
Measured value, ux_f+juy_fIt is set end voltage measured value, x1~x4The integration variable of device in order to control, θPLLFor the state of phase-locked loop pll
Variable is the phase locked.
3. Reduced Modeling Methods as claimed in claim 2, which is characterized in that structure power electronics interface power electro-magnetic transient
Model includes：External network/inner couplings circuit link, measuring equipment first-order low-pass wave link, locking phase link and control
Device integration variable link processed.
4. Reduced Modeling Methods as claimed in claim 3, which is characterized in that the external network/inner couplings circuit link
Model include：Selected referential is overall situation xy coordinate systems, and it includes that external network and inner couplings are electric to build be shown below
The dynamic electrical quantity equation in road：
Wherein, ixL+jiyLFor line current, ix+jiyFor output current, ux+juyFor set end voltage, ωBFor angular frequency base value, RL+
jXLFor line impedance, Rf+jXfFor termination power impedance, C is generator terminal capacitance, RCFor generator terminal stray resistance, Ex+jEyFor current transformer
Output internal e.m.f., U0For system side voltage.
5. Reduced Modeling Methods as claimed in claim 3, which is characterized in that the measuring equipment first-order low-pass wave link
Model is shown below：
In formula, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value, ix+jiyIt is output current, ux
+juyIt is set end voltage, TfFor the time constant of the first-order low-pass wave link.
6. Reduced Modeling Methods as claimed in claim 3, which is characterized in that the locking phase link includes：
With the phase theta of lockingPLLVoltage, electric current are coordinately transformed, and calculate instantaneous power；
According to the instantaneous power being calculated, the command value of active and reactive electric current is calculated.
7. Reduced Modeling Methods as claimed in claim 6, which is characterized in that as the following formula with the phase theta of lockingPLLTo voltage, electricity
Stream is coordinately transformed：
Wherein, ud、uqRespectively set end voltage d axis and q axis components, id、iqRespectively d shaft currents and q shaft currents, ix_f+jiy_fIt is
Output current measured value, ux_f+juy_fIt is set end voltage measured value；
The phase theta of lockingPLLIt is shown below：
dθPLL/ dt=ωBKp_PLLuq
Wherein, ωBIt is angular frequency base value, uqIt is set end voltage q axis components, Kp_PLLIt is locked out phase link parameter.
8. Reduced Modeling Methods as claimed in claim 6, which is characterized in that the instantaneous power (P+jQ) is shown below：
Wherein, ix_f+jiy_fIt is output current measured value, ux_f+juy_fIt is set end voltage measured value.
9. Reduced Modeling Methods as claimed in claim 8, which is characterized in that the command value of the active and reactive electric current is as follows
Shown in formula：
In formula, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and reactive power ratio are corresponded to respectively
Example controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, i are corresponded to respectivelyd_ref、iq_refFor d
Shaft current command value and q shaft current command values, x1And x3The integration variable of device in order to control, P+jQ are instantaneous power.
10. Reduced Modeling Methods as claimed in claim 3, which is characterized in that the controller integration variable link respectively controls
The dynamical equation of device integration variable is shown below：
Wherein, x1~x4The integration variable of corresponding controller, Pref、QrefFor active power and reactive power reference qref, id_ref、
iq_refFor d shaft currents command value and q shaft current command values, P+jQ is instantaneous power, id、iqFor d shaft currents and q shaft currents；
Under dq coordinate systems, the output internal e.m.f. of current transformer is shown below：
Wherein, Ed、EqFor d axis potential and q axis potentials, ud、uqFor set end voltage d axis and q axis components, Kp2、Kp4It corresponds to respectively active
Electric current and reactive current ratio controlling unit parameter, Ki2、Ki4Watt current and reactive current integration control link ginseng are corresponded to respectively
Number, x2And x4The integration variable of device in order to control, XfFor the reactance of termination power.
The output internal e.m.f. contravariant of current transformer is changed into the modulating wave phasor under the xy coordinate systems described in following formula：
Wherein, Ex+jEyFor the output internal e.m.f. of current transformer, Ed、EqFor d axis potential and q axis potentials, θPLLFor the phase of locking.
11. Reduced Modeling Methods as described in claim 1, which is characterized in that establish the electric power based on fast dynamics process simplification
System differential algebraic equation model includes：By Different Dynamic characteristic time scale by the power electronics interface power electro-magnetic transient
Model is divided into leading slow dynamics, servo-actuated fast dynamics two types, keeps slow dynamics number equal with slow characteristic root number, the electricity
The state variable x of Force system differential algebraic equations model is shown below：
X=[x1,x2,x3,x4]T
Wherein, x1~x4The integration variable of device in order to control.
12. Reduced Modeling Methods as claimed in claim 11, it is characterised in that establish the electric power based on fast dynamics process simplification
System differential algebraic equation model includes：
Ignore measuring equipment first-order low-pass wave link dynamic, it is zero to enable formula, obtains following formula：
Wherein, ix+jiyFor output current, ux+juyFor set end voltage, ix_f+jiy_fFor output current measured value, ux_f+juy_fFor
Set end voltage measured value.
13. Reduced Modeling Methods as claimed in claim 12, which is characterized in that the foundation is based on fast dynamics process simplification
Power systems with nonlinear differential algebraic system equation model includes：
The dynamic for ignoring phaselocked loop enables set end voltage q axis components uq=0, obtain following formula：
Wherein, θPLLFor the phase of locking, udFor set end voltage d axis components, ux+juyIt is set end voltage；
According to above-mentioned formula, the electrical quantity such as following formula of intermediate variable y：
Y=[ixL,iyL,ux,uy,ix,iy]T
Power systems with nonlinear differential algebraic system equation model such as following formula based on fast dynamics process simplification
Wherein, Pref、QrefFor active power and reactive power reference qref, Kp1、Kp3Active power and reactive power ratio are corresponded to respectively
Example controlling unit parameter, Ki1、Ki3Active power and reactive power integration control link parameter, x are corresponded to respectively1And x3Device in order to control
Integration variable, id、iqRespectively d shaft currents and q shaft currents, ixL+jiyLIt is line current, ix+jiyIt is output current, ux+
juyIt is set end voltage, RL+jXLFor line impedance, Rf+jXfTermination power impedance, C are generator terminal capacitance, Ex+jEyFor current transformer
Export internal e.m.f., U0For system side voltage.
14. Reduced Modeling Methods as described in claim 1, which is characterized in that establish hybrid simulation differential algebraic equations model
Including：
Ignore the voltage dynamic of line inductance and capacitance, the state variable x such as following formula institutes of hybrid simulation differential algebraic equations model
Show：
X=[x1,x2,x3,x4,ix,iy]T
Shown in power electronics interface power state equation such as following formula (19)：
Wherein,x1~x4The integration variable of device in order to control, Pref、QrefFor active power and reactive power reference
Value, Kp1、Kp3Active power and reactive power ratio controlling unit parameter, K are corresponded to respectivelyi1、Ki3Active power and nothing are corresponded to respectively
Work(power integral controlling unit parameter, id、iqRespectively d shaft currents and q shaft currents, ix+jiyIt is output current, ux+juyIt is machine
Terminal voltage, Rf+jXfTermination power impedance, Ex+jEyFor the output internal e.m.f. of current transformer.
15. a kind of power electronics interface power Reduced Order Modeling system, which is characterized in that the system comprises：
Parameter collection module, for obtaining systematic parameter；
Electrical-magnetic model module, for building power electronics interface power electrical-magnetic model；
Reduced-order model module, the reduced-order model for building power electronics interface power, the reduced-order model module include being based on
The power systems with nonlinear differential algebraic system equation model module and hybrid simulation differential algebraic equations model module of fast dynamics process simplification.
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