CN109657276A - Electromagnetical transient emulation method and system - Google Patents
Electromagnetical transient emulation method and system Download PDFInfo
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Abstract
The embodiment of the invention provides electromagnetical transient emulation method and systems, it is realized by the analytic signal of electric current and voltage and the electromagnetic transient simulation of electric system is analyzed, the result that simulation analysis obtains is analytic signal, it is complex signal, it can be very good to realize the hybrid simulation that the measures model is combined with electro-magnetic transient, realize the border coordination with the measures model.And lossless data conversion may be implemented during hybrid simulation, the difficulty that two kinds of emulation modes are converted in interface signal is reduced, and then greatly reduce the handover error of two kinds of emulation modes, improves interface precision.
Description
Technical Field
The embodiment of the invention relates to the technical field of transient simulation of power systems, in particular to an electromagnetic transient simulation method and system.
Background
Along with the enlargement of the scale of the power system, in the field of modeling simulation of the power system, a phasor model simulation method and an electromagnetic transient simulation method can be included, two different mathematical models are respectively adopted for representation, and the two mathematical models are physical processes with different time constants.
The traditional phasor model simulation method is rapid in calculation, but cannot accurately simulate the electromagnetic transient of the local dynamic response of the power system; although the traditional electromagnetic transient simulation method can accurately simulate the electromagnetic transient of the local dynamic response of the power system, the traditional electromagnetic transient simulation method is difficult to accurately simulate the electromagnetic transient of the full-network dynamic response of the large-scale power system. Therefore, in order to make up for the above deficiencies, a phasor model and an electromagnetic transient hybrid simulation mode are often adopted to simulate the power system at present.
However, limited by the modeling theory applied by the hybrid simulation, interface handover errors often exist in the simulation process, so that the calculated simulation result is inaccurate. This is because the conventional electromagnetic transient simulation method is a modeling simulation method based on an instantaneous value physical model established in a real number domain, and the calculation result is an instantaneous value real signal of the physical model; in the conventional phasor model simulation method, the calculation result is mostly complex phasor or complex envelope signal of the actual signal. When the boundary interface is constructed by adopting the two modeling simulation methods, lossless data conversion between real signals and complex signals is difficult to realize, and handover errors are difficult to avoid.
Therefore, it is desirable to provide an electromagnetic transient simulation method and system that can reduce the handover error in the hybrid simulation.
Disclosure of Invention
To overcome the above problems or at least partially solve the above problems, embodiments of the present invention provide an electromagnetic transient simulation method and system.
In a first aspect, an embodiment of the present invention provides an electromagnetic transient simulation method, including:
acquiring a transient norton equivalent current analytic signal of each element in the power system, and determining a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element;
determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector;
and determining internal parameters of the power system based on the node injection current analytic signal vector and the node voltage analytic signal vector.
In a second aspect, an embodiment of the present invention provides an electromagnetic transient simulation system, including:
the node injection current analytic signal vector determining module is used for acquiring a transient norton equivalent current analytic signal of each element in the power system and determining a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element;
a node voltage analytic signal vector determination module for determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector;
and the internal parameter determining module is used for determining the internal parameters of the power system based on the node injection current analytic signal vector and the node voltage analytic signal vector.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor, at least one memory, a communication interface, and a bus; wherein,
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, which invokes the program instructions to perform the electromagnetic transient simulation method provided by the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the electromagnetic transient simulation method provided in the first aspect.
The electromagnetic transient simulation method and system provided by the embodiment of the invention comprise the steps of obtaining a transient norton equivalent current analytic signal of each element in a power system, and determining a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element; determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector; and determining internal parameters of the power system based on the node injection current analytic signal vector and the node voltage analytic signal vector. According to the electromagnetic transient simulation method provided by the embodiment of the invention, the electromagnetic transient simulation analysis of the power system is realized through the analytic signals of the current and the voltage, and the results obtained by the simulation analysis are all analytic signals, namely all complex signals, so that the hybrid simulation combining the phasor model and the electromagnetic transient can be well realized, and the boundary coordination with the phasor model is realized. And lossless data conversion can be realized in the hybrid simulation process, the difficulty of signal conversion at the interface of the two simulation methods is reduced, the handover error of the two simulation methods is greatly reduced, and the interface precision is improved.
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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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of an electromagnetic transient simulation method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an electric power system adopted by a hybrid simulation method based on an electromagnetic transient simulation method according to an embodiment of the present invention;
fig. 3 is a comparison graph of dc voltage simulation results of a hybrid simulation method based on an electromagnetic transient simulation method and a complete electromagnetic transient simulation method according to an embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
fig. 5 is a comparison graph of thyristor voltage simulation results of a hybrid simulation method based on an electromagnetic transient simulation method and a complete electromagnetic transient simulation method according to an embodiment of the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 5;
fig. 7 is a comparison graph of thyristor current simulation results of a hybrid simulation method based on an electromagnetic transient simulation method and a complete electromagnetic transient simulation method according to an embodiment of the present invention;
FIG. 8 is an enlarged view of a portion of FIG. 7;
fig. 9 is a schematic structural diagram of an electromagnetic transient simulation system according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In the hybrid simulation process in the prior art, the traditional electromagnetic transient simulation method is based on an instantaneous value physical model established on a real number domain, and a calculation result is an instantaneous value real signal of the physical model; in the conventional phasor model simulation method, the calculation result is mostly complex phasor or complex envelope signal of the actual signal. In the hybrid simulation method based on the phasor model and the electromagnetic transient, when a boundary interface is constructed, lossless data conversion between real signals and complex signals is difficult to realize, and handover errors are difficult to avoid. Therefore, the embodiment of the invention provides an electromagnetic transient simulation method, which adopts complex signals to simulate, so that the simulation result obtained by electromagnetic transient simulation and the simulation result obtained by a phasor model simulation method can realize lossless data conversion, and the handover error is reduced.
As shown in fig. 1, an embodiment of the present invention provides an electromagnetic transient simulation method, including:
s1, acquiring a transient Nuaton equivalent current analytic signal of each element in the power system, and determining a node injection current analytic signal vector of the power system based on the transient Nuaton equivalent current analytic signal of each element;
s2, determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector;
and S3, determining the internal parameters of the power system based on the node injection current analysis signal vector and the node voltage analysis signal vector.
Specifically, the electromagnetic transient simulation method provided in the embodiment of the present invention is a method for performing electromagnetic transient simulation on a power system. For a power system, a plurality of nodes are included, a branch is formed between every two nodes, and each branch can include a plurality of elements. Thus comprising a plurality of nodes, a plurality of branches and a plurality of elements in the power system.
When the electromagnetic transient simulation needs to be performed on the power system, S1 is first performed, that is, a transient norton equivalent current analytic signal of each element in the power system is obtained, and a node injection current analytic signal vector of the power system is determined based on the transient norton equivalent current analytic signal of each element. The transient state refers to a value at a certain time, for example, i (t) may represent a transient current at time t. An Analytic Signal (AS) is a complex Signal, and specifically, under the premise of no energy change, hilbert transform is used to transform a real Signal to construct an imaginary part, so that the real Signal has only a positive frequency spectrum. For example, for real signal I (t), its Hilbert transformWhereinIndicates that the Hilbert transform is performed on I (t). The real signal I (t) is the corresponding analytic signalCan be expressed asThe node injection current analysis signal vector of the power system refers to a vector formed by injection current analysis signals at all nodes in the power system.
Preferably, in the embodiment of the present invention, when obtaining the instantaneous norton equivalent current analytic signal of each element in the power system, the instantaneous norton equivalent current analytic signal of each element may be specifically determined based on the instantaneous norton equivalent current real signal of each element in the power system.
After the transient norton equivalent current analytic signals of each element in the power system are determined, the node injection current analytic signal vector of the power system can be determined according to the transient norton equivalent current analytic signals of all elements on the branch circuit associated with each node in the power system.
After determining the node injection current analytic signal vector of the power system, S2 is executed, that is, the node voltage analytic signal vector of the power system is determined according to the node injection current analytic signal vector. The node voltage analysis signal vector of the power system refers to a vector formed by voltage analysis signals at all nodes in the power system. And determining the node voltage analysis signal vector of the power system according to the mathematical relation between the node injection current analysis signal vector and the node voltage analysis signal vector in the power system.
After determining the node voltage analytic signal vector of the power system, S3 is executed, i.e. the internal parameters of the power system are determined based on the node injection current analytic signal vector and the node voltage analytic signal vector. The internal parameters of the power system may include: port voltage, port current, motor electromagnetic torque, rotor current, power angle, rotation speed and the like of elements in the power system can be determined by node injection current analysis signal vectors and node voltage analysis signal vectors of the power system, a specific determination method can be realized by a determination method in the prior art, and the method is not particularly limited in the embodiment of the invention.
The electromagnetic transient simulation method provided by the embodiment of the invention obtains a transient norton equivalent current analytic signal of each element in the power system, and determines a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element; determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector; and determining internal parameters of the power system based on the node injection current analytic signal vector and the node voltage analytic signal vector. According to the electromagnetic transient simulation method provided by the embodiment of the invention, the electromagnetic transient simulation analysis of the power system is realized through the analytic signals of the current and the voltage, and the results obtained by the simulation analysis are all analytic signals, namely all complex signals, so that the hybrid simulation combining the phasor model and the electromagnetic transient can be well realized, and the boundary coordination with the phasor model is realized. And lossless data conversion can be realized in the hybrid simulation process, the difficulty of signal conversion at the interface of the two simulation methods is reduced, the handover error of the two simulation methods is greatly reduced, and the interface precision is improved.
On the basis of the above embodiment, the electromagnetic transient simulation method provided in the embodiment of the present invention, which is used for acquiring a transient norton equivalent current analytic signal of each element in the power system, specifically includes:
acquiring a transient state Nutton equivalent current real signal of each element in the power system;
and converting the transient Nuton equivalent current real signal of each element in the power system into a transient Nuton equivalent current analytic signal based on Hilbert transform.
Specifically, the embodiment of the present invention provides a method for obtaining a transient norton equivalent current analytic signal of each element in an electric power system, specifically, a transient norton equivalent current real signal of each element in the electric power system is obtained first, and then the obtained transient norton equivalent current real signal of each element is converted into a transient norton equivalent current analytic signal through hilbert transformation. For example, a real signal of transient norton equivalent current I for any element I in a power systemi(t) by Hilbert transform, i.e. Ii(t) the frequency signal is phase-shifted by 90 degrees to obtain Ii(t) Hilbert transformThe transient norton equivalent current analytic signal of any element i can be expressed as
The electromagnetic transient simulation method provided by the embodiment of the invention is based on the traditional electromagnetic transient simulation algorithm under the node analysis framework. On the basis of original electromagnetic transient simulation, by introducing imaginary part calculation, Hilbert transformation of a real part signal is constructed in real time, so that an analytic signal is formed. Different from the traditional electromagnetic transient simulation, the electromagnetic transient simulation analysis under the analytic signal framework is carried out in a complex domain, so that the hybrid simulation of combining a phasor model and an electromagnetic transient can be well realized, lossless data conversion can be realized in the hybrid simulation process, and the handover error of two simulation methods is greatly reduced.
On the basis of the above embodiments, in the electromagnetic transient simulation method provided in the embodiments of the present invention, when performing electromagnetic transient simulation on a power system, the determination of the switching operation is based on only the real part of the analytic signal. When the real part system topology of the analytic signal changes, the corresponding imaginary part system topology also changes correspondingly.
On the basis of the foregoing embodiment, the electromagnetic transient simulation method provided in an embodiment of the present invention is a method for determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector, and specifically includes:
determining a real part of the node voltage analytic signal vector according to a real part of the node injection current analytic signal vector;
and determining the imaginary part of the node voltage analytic signal vector according to the imaginary part of the node injection current analytic signal vector.
Specifically, in the embodiment of the present invention, since the analytic signal is a complex signal, and there are an imaginary part and a real part, when the node voltage analytic signal vector is determined by injecting the node current analytic signal vector, the imaginary part and the real part of the node voltage analytic signal vector may be determined respectively, that is, the real part of the node voltage analytic signal vector is determined by injecting the real part of the node current analytic signal vector; and determining the imaginary part of the node voltage analytic signal vector according to the imaginary part of the node injection current analytic signal vector.
It should be noted that the real part of the node injection current analysis signal vector in the embodiment of the present invention is also a vector, and specifically refers to a vector formed by the real part of each node injection current analysis signal in the node injection current analysis signal vector. Similarly, the imaginary part of the node injection current analytic signal vector is also a vector, specifically, the imaginary part of each node injection current analytic signal in the node injection current analytic signal vector is a vector. The real part of the node voltage analytic signal vector is also a vector, and specifically refers to a vector formed by the real parts of each node voltage analytic signal in the node voltage analytic signal vector. The imaginary part of the node voltage analytic signal vector is also a vector, and specifically refers to a vector formed by the imaginary parts of each node voltage analytic signal in the node voltage analytic signal vector.
On the basis of the above embodiment, in the electromagnetic transient simulation method provided in the embodiment of the present invention, the real part of the node voltage analytic signal vector is determined according to the real part of the node injection current analytic signal vector; determining the imaginary part of the node voltage analytic signal vector according to the imaginary part of the node injection current analytic signal vector, specifically comprising:
determining real and imaginary parts of the node voltage resolved signal vector by:
wherein,a signal vector is resolved for the node voltage,injecting a current-resolving signal vector for the node, y being a node admittance matrix of the power system,the real part of the signal vector is resolved for the node voltage,the imaginary part of the signal vector is resolved for the node voltage,the injected current for the node resolves the real part of the signal vector,the imaginary part of the current-resolved signal vector is injected for the node.
Specifically, in the embodiment of the present invention, the real part and the imaginary part of the node voltage analytic signal vector are determined according to the node admittance matrix of the power system. The node admittance matrix of the power system may be calculated according to a matrix structure and element parameters of the power system, which is not specifically limited in this embodiment of the present invention.
On the basis of the above embodiment, the electromagnetic transient simulation method provided in the embodiment of the present invention includes that the power system includes a plurality of inductance-resistance branches; accordingly, the number of the first and second electrodes,
for any impedance-inductance branch in the power system, the following relationship is satisfied between the transient current analysis signal flowing through the impedance-inductance branch and the transient voltage analysis signal at the two ends of the impedance-inductance branch:
wherein,analyzing the signal for the transient voltage at two ends of any of the inductance-resistance branches,the transient current analysis signal flowing through any one of the inductance-resistance branches is obtained, wherein R is a resistance value of a resistance element in any one of the inductance-resistance branches, and L is an inductance value of an inductance element in any one of the inductance-resistance branches.
Specifically, the power system provided in the embodiment of the present invention includes a plurality of resistive and inductive branches, where a resistive and inductive branch includes a resistive element and an inductive element. Then for any of the resistive-inductive branches, the dynamic equation can be expressed by the following formula:
wherein, v (t) represents the transient electric compaction signal at the two ends of any one of the resistive-inductive branches, i (t) represents the transient current real signal of any one of the resistive-inductive branches, R represents the resistance value of the resistive element in any one of the resistive-inductive branches, and L is the inductance value of the inductive element in any one of the resistive-inductive branches.
Replacing v (t) and i (t) in the formula (3) with analysis signals respectively to obtain the formula (2).
Because R and L are real numbers and the node admittance matrix y of the electric power system formed after discretization is also a real number matrix, the calculation of real part and imaginary part network equations in the electric power system, namely the calculation of the formula (1), is completely decoupled, so that the real part and the imaginary part calculation can be completely parallelized, the complex matrix operation is avoided, and the calculation efficiency is improved.
On the basis of the above embodiments, the electromagnetic transient simulation method provided in the embodiments of the present invention can be used in combination with a phasor model simulation method to realize hybrid simulation of an electric power system. The phasor model simulation method comprises an electromechanical transient simulation method, a dynamic phasor simulation method and a frequency shift analysis simulation method.
The electromagnetic transient simulation method provided in the embodiment of the present invention is combined with a phasor model simulation method to perform hybrid simulation, a power system adopted by the hybrid simulation is shown in fig. 2, a sending end 21 is specifically a rectification side of a back-to-back direct current transmission test system of an international Large power grid conference (international council on Large Electric systems, CIGRE), and a basic topology structure of the rectification side is a rectification part of a 12-pulse conventional LCC-HVDC system; the ac region is a 39-node ac system of 10 machines in the new england region, and the sending end 21 in fig. 2 specifically includes 39 nodes (i.e., bus bars, horizontal line segments in fig. 2) numbered 1-39 and 10 motors numbered G1-G10. The boundary bus of the transmission end 21 is the No. 13 bus of the ac system. The boundary bus of the transmitting end 21 is connected to the input end of the receiving end 22. In the receiving end 22, the input end is further connected with a filter, the upper bridge arm of the input end is connected with the inductance branch circuit through a thyristor and a 6-pulse bridge, and the lower bridge arm of the input end is grounded through the thyristor and the 6-pulse bridge. The other side of the inductance branch circuit is connected with a capacitance branch circuit and a direct current load, and the capacitance branch circuit and the direct current load are connected in parallel and are all grounded.
In the power system provided in fig. 2, a sending end 21 of the power system provided in the hybrid simulation framework is simulated by using a frequency shift analysis simulation method based on phase component modeling, and nodes in the sending end 21 are simulated by using an integral algorithm, specifically, a Backward Eular (BE) method is used; the receiving end 22 performs simulation by using the electromagnetic transient simulation method provided in the embodiment of the present invention, and the integration algorithm uses a trapezoidal integration method including Critical Damping Adjustment (CDA) to suppress numerical oscillation generated in the switching process. For the power system provided in fig. 2, another simulation was performed by using a complete electromagnetic transient simulation method provided in the prior art as a comparison.
The same simulation step length (20 mus) is set for both the sending end 21 and the receiving end 22, the short-circuit to ground fault occurs in the direct current line at 0.7s, and the fault time lasts for 0.02 s. The current, the direct current voltage, the thyristor voltage and the current waveform of the upper arm of the receiving end 22 of the tie line (i.e., the dashed connection line between the bus 13 and the input end of the receiving end 22 in fig. 2) in the power system are selected for comparison.
For comparative analysis of tie line current, in the embodiment of the present invention, a reference waveform obtained by full electromagnetic transient simulation is selected to be compared with a waveform obtained when the frequency shift in the hybrid simulation is 0 (i.e., SFA (0)) and 50Hz (i.e., SFA (50 Hz)). The comparison results are: in the mixed simulation, coincidence degree between the real part waveform of the tie line current obtained in SFA (0) and SFA (50Hz) and the reference waveform is high. Specifically, the real part waveform of the tie-line current obtained at SFA (0) in the hybrid simulation, the real part waveform of the tie-line current obtained at SFA (50Hz) in the hybrid simulation, and the reference waveform substantially coincide; the imaginary part waveform of the tie line current obtained when SFA (0) in the hybrid simulation is basically superposed with the imaginary part waveform of the tie line current obtained when SFA (50Hz) in the hybrid simulation; the envelope waveform of the tie line current obtained in the SFA (0) in the hybrid simulation substantially coincides with the envelope waveform of the tie line current obtained in the SFA (50Hz) in the hybrid simulation. Maximum relative error err due to substantial registrationmax＜10-5Magnitude.
It should be noted that the envelope curve obtained in the hybrid simulation is not a completely smooth straight line, and includes a plurality of distinct peaks, which may respectively correspond to the low-order characteristic harmonics of the transmitting end 21. Therefore, the electromagnetic transient simulation method based on the analytic signals provided by the embodiment of the invention can realize the conversion from phasors to transient signals without loss, thereby ensuring the simulation precision.
For the comparative analysis of the dc voltage, the reference waveform obtained by the complete electromagnetic transient simulation and the waveform obtained when the frequency shift is 0 (i.e. SFA (0)) in the hybrid simulation are selected for comparison in the embodiment of the present invention. The comparison results are: as shown in fig. 3 and 4, fig. 3 is a graph comparing simulation results of dc voltage, and the ordinate is a voltage value in V. Fig. 4 is a partially enlarged view of fig. 3. As can be seen from FIG. 3, the real part waveform (i.e., the waveform) obtained when SFA (0) is mixed in simulationThe real part of the hybrid simulated SFA (0) in fig. 3) coincides with the reference waveform (i.e., both are the solid black lines in fig. 3). In FIG. 4, the maximum relative error err generated by the coincidence of the two can be seenmax＜10-5Magnitude.
For comparative analysis of voltage waveforms of thyristors, a reference waveform obtained by full electromagnetic transient simulation and a waveform obtained when the frequency shift is 0 (i.e., SFA (0)) in hybrid simulation are selected for comparison in the embodiment of the present invention. The comparison results are: as shown in fig. 5 and 6, fig. 5 is a graph comparing simulation results of voltage waveforms of the thyristor, and the ordinate is a voltage value in V. Fig. 6 is a partially enlarged view of fig. 5. As can be seen from fig. 5, the real part waveform obtained when SFA (0) in the hybrid simulation (i.e., the real part of SFA (0) in the hybrid simulation in fig. 5) coincides with the reference waveform (i.e., both are the black solid lines in fig. 5). The maximum relative error err generated by the coincidence of the two can be seen in FIG. 6max＜10-5Magnitude.
For comparative analysis of the current waveform of the thyristor, a reference waveform obtained by complete electromagnetic transient simulation and a waveform obtained when the frequency shift in hybrid simulation is 0 (namely, SFA (0)) are selected for comparison in the embodiment of the invention. The comparison results are: as shown in fig. 7 and 8, fig. 7 is a graph comparing simulation results of thyristor currents, and the ordinate is the current value in a. Fig. 8 is a partially enlarged view of fig. 7. As can be seen from fig. 7, the real part waveform obtained when SFA (0) in the hybrid simulation (i.e., the real part of SFA (0) in the hybrid simulation in fig. 7) coincides with the reference waveform (i.e., both are the black solid lines in fig. 7). In FIG. 8, the maximum relative error err generated by the coincidence of the two can be seenmax＜10-5Magnitude.
To sum up, as can be seen from the comparison result of the current waveform and the voltage of the thyristor on the upper arm of the receiving end 22 and the current waveform of the tie line in the power system, the electromagnetic transient simulation analysis method provided in the embodiment of the present invention and the phasor model are used for hybrid simulation, and the obtained real part waveform is substantially coincident with the reference waveform obtained in the prior art.
As shown in fig. 9, on the basis of the above embodiments, an electromagnetic transient simulation system is provided in an embodiment of the present invention, which includes: an injection current resolved signal vector determination module 91, a voltage resolved signal vector determination module 92 and an internal parameter determination module 93. Wherein,
the injection current analytic signal vector determination module 91 is configured to obtain a transient norton equivalent current analytic signal of each element in the power system, and determine a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element;
the voltage analytic signal vector determination module 92 is configured to determine a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector;
the internal parameter determining module 93 is configured to determine an internal parameter of the power system based on the node injection current analytic signal vector and the node voltage analytic signal vector.
Specifically, in the embodiment of the present invention, when the electromagnetic transient simulation needs to be performed on the power system, first, the injection current analytic signal vector determination module 91 needs to obtain the transient norton equivalent current analytic signal of each element in the power system, and determine the node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element. The transient state refers to a value at a certain time, for example, i (t) may represent a transient current at time t. An Analytic Signal (AS) is a complex Signal, and specifically, under the premise of no energy change, hilbert transform is used to transform a real Signal to construct an imaginary part, so that the real Signal has only a positive frequency spectrum. For example, for real signal I (t), its Hilbert transformWhereinIndicates that the Hilbert transform is performed on I (t). The real signal I (t) is the corresponding analytic signalCan be expressed asThe node injection current analysis signal vector of the power system refers to a vector formed by injection current analysis signals at all nodes in the power system.
After determining the node injection current analytic signal vector of the power system, the node voltage analytic signal vector of the power system is determined by the voltage analytic signal vector determination module 92 according to the node injection current analytic signal vector. The node voltage analysis signal vector of the power system refers to a vector formed by voltage analysis signals at all nodes in the power system. And determining the node voltage analysis signal vector of the power system according to the mathematical relation between the node injection current analysis signal vector and the node voltage analysis signal vector in the power system.
After the node voltage analytic signal vector of the power system is determined, the internal parameter of the power system is determined by the internal parameter determination module 93 based on the node injection current analytic signal vector and the node voltage analytic signal vector. The internal parameters of the power system may include: port voltage, port current, motor electromagnetic torque, rotor current, power angle, rotation speed and the like of elements in the power system can be determined by node injection current analysis signal vectors and node voltage analysis signal vectors of the power system, a specific determination method can be realized by a determination method in the prior art, and the method is not particularly limited in the embodiment of the invention.
According to the electromagnetic transient simulation system provided by the embodiment of the invention, the electromagnetic transient simulation analysis of the power system is realized through the analytic signals of the current and the voltage, and the results obtained by the simulation analysis are all analytic signals, namely all complex signals, so that the hybrid simulation combining the phasor model and the electromagnetic transient can be well realized, and the boundary coordination with the phasor model is realized. And lossless data conversion can be realized in the hybrid simulation process, the difficulty of signal conversion at the interface of the two simulation methods is reduced, the handover error of the two simulation methods is greatly reduced, and the interface precision is improved.
On the basis of the foregoing embodiment, in the electromagnetic transient simulation system provided in the embodiment of the present invention, the node injection current analytic signal vector determination module is specifically configured to:
acquiring a transient state Nutton equivalent current real signal of each element in the power system;
converting the transient norton equivalent current real signal of each element in the power system into a transient norton equivalent current analytic signal based on Hilbert transform;
determining a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element.
On the basis of the foregoing embodiment, in the electromagnetic transient simulation system provided in the embodiment of the present invention, the node voltage analytic signal vector determination module is specifically configured to:
determining a real part of the node voltage analytic signal vector according to a real part of the node injection current analytic signal vector;
and determining the imaginary part of the node voltage analytic signal vector according to the imaginary part of the node injection current analytic signal vector.
On the basis of the foregoing embodiment, in the electromagnetic transient simulation system provided in the embodiment of the present invention, the node voltage analytic signal vector determination module is specifically configured to: the real and imaginary parts of the node voltage resolved signal vector are determined by equation set (1).
Specifically, the functions of the modules in the electromagnetic transient simulation system provided in the embodiment of the present invention correspond to the processes and the operation steps in the above method embodiments one to one, and the generated effects are also completely the same, which is not described herein again in the embodiment of the present invention.
As shown in fig. 10, on the basis of the above embodiment, an embodiment of the present invention provides an electronic device, including: a processor (processor)101, a memory (memory)102, a communication Interface (Communications Interface)103, and a bus 104; wherein,
the processor 101, the memory 102 and the communication interface 103 are communicated with each other through a bus 104. The memory 102 stores program instructions executable by the processor 101, and the processor 101 is configured to call the program instructions in the memory 102 to perform the method provided by the above-mentioned embodiments of the method, for example, including: s1, acquiring a transient Nuaton equivalent current analytic signal of each element in the power system, and determining a node injection current analytic signal vector of the power system based on the transient Nuaton equivalent current analytic signal of each element; s2, determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector; and S3, determining the internal parameters of the power system based on the node injection current analysis signal vector and the node voltage analysis signal vector.
The logic instructions in memory 102 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone article of manufacture. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
On the basis of the foregoing embodiments, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions, which cause the computer to execute the method provided by the foregoing method embodiments, for example, including: s1, acquiring a transient Nuaton equivalent current analytic signal of each element in the power system, and determining a node injection current analytic signal vector of the power system based on the transient Nuaton equivalent current analytic signal of each element; s2, determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector; and S3, determining the internal parameters of the power system based on the node injection current analysis signal vector and the node voltage analysis signal vector.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An electromagnetic transient simulation method, comprising:
acquiring a transient norton equivalent current analytic signal of each element in the power system, and determining a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element;
determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector;
and determining internal parameters of the power system based on the node injection current analytic signal vector and the node voltage analytic signal vector.
2. The electromagnetic transient simulation method of claim 1, wherein the obtaining transient norton equivalent current analytic signals of each element in the power system specifically comprises:
acquiring a transient state Nutton equivalent current real signal of each element in the power system;
and converting the transient Nuton equivalent current real signal of each element in the power system into a transient Nuton equivalent current analytic signal based on Hilbert transform.
3. The electromagnetic transient simulation method of claim 1, wherein determining a node voltage resolved signal vector of the power system based on the node injection current resolved signal vector comprises:
determining a real part of the node voltage analytic signal vector according to a real part of the node injection current analytic signal vector;
and determining the imaginary part of the node voltage analytic signal vector according to the imaginary part of the node injection current analytic signal vector.
4. The method of electromagnetic transient simulation of claim 3, wherein said determining the real part of the node voltage resolved signal vector from the real part of the node injection current resolved signal vector; determining the imaginary part of the node voltage analytic signal vector according to the imaginary part of the node injection current analytic signal vector, specifically comprising:
determining real and imaginary parts of the node voltage resolved signal vector by:
wherein,a signal vector is resolved for the node voltage,and injecting a current analysis signal vector for the node, wherein y is a node admittance matrix of the power system.
5. The electromagnetic transient simulation method of any of claims 1-4, wherein the power system comprises a plurality of resistive-inductive branches; accordingly, the number of the first and second electrodes,
for any impedance-inductance branch in the power system, the following relationship is satisfied between the transient current analysis signal flowing through the impedance-inductance branch and the transient voltage analysis signal at the two ends of the impedance-inductance branch:
wherein,analyzing the signal for the transient voltage at two ends of any of the inductance-resistance branches,the transient current analysis signal flowing through any one of the inductance-resistance branches is obtained, wherein R is a resistance value of a resistance element in any one of the inductance-resistance branches, and L is an inductance value of an inductance element in any one of the inductance-resistance branches.
6. An electromagnetic transient simulation system, comprising:
the node injection current analytic signal vector determining module is used for acquiring a transient norton equivalent current analytic signal of each element in the power system and determining a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element;
a node voltage analytic signal vector determination module for determining a node voltage analytic signal vector of the power system based on the node injection current analytic signal vector;
and the internal parameter determining module is used for determining the internal parameters of the power system based on the node injection current analytic signal vector and the node voltage analytic signal vector.
7. The electromagnetic transient simulation system of claim 6, wherein the node injection current analytic signal vector determination module is specifically configured to:
acquiring a transient state Nutton equivalent current real signal of each element in the power system;
converting the transient norton equivalent current real signal of each element in the power system into a transient norton equivalent current analytic signal based on Hilbert transform;
determining a node injection current analytic signal vector of the power system based on the transient norton equivalent current analytic signal of each element.
8. The electromagnetic transient simulation system of claim 6, wherein the node voltage-resolved signal vector determination module is specifically configured to:
determining a real part of the node voltage analytic signal vector according to a real part of the node injection current analytic signal vector;
and determining the imaginary part of the node voltage analytic signal vector according to the imaginary part of the node injection current analytic signal vector.
9. An electronic device, comprising:
at least one processor, at least one memory, a communication interface, and a bus; wherein,
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the electromagnetic transient simulation method of any of claims 1-5.
10. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the electromagnetic transient simulation method of any of claims 1-5.
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