CN109782625A - A kind of real-time emulation method and system of circuit model - Google Patents
A kind of real-time emulation method and system of circuit model Download PDFInfo
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Abstract
本发明提供了一种电路模型的实时仿真方法及系统，包括：针对电路系统中开关量的分布情况，将整个系统解耦成多个子网络；基于设定的状态空间方程，采用并行计算方式分别对各子网络进行计算，获得各个子网络对应的等效电路；基于各个子网络的等效电路，进行联合仿真实现所述电路系统的实时仿真，将电路进行解耦后，电路的状态空间方程被分为若干个小的状态空间方程，不仅缩减了使用内存空间及计算量，而且当电路开关状态发生变化时，无需对状态空间方程进行重新求解，大大加快了仿真速度。
The invention provides a real-time simulation method and system for a circuit model, including: according to the distribution of switching quantities in the circuit system, decoupling the whole system into multiple sub-networks; Calculate each sub-network to obtain the equivalent circuit corresponding to each sub-network; based on the equivalent circuit of each sub-network, perform joint simulation to realize the real-time simulation of the circuit system, after decoupling the circuit, the state space equation of the circuit It is divided into several small state space equations, which not only reduces the use of memory space and calculation amount, but also does not need to re-solve the state space equation when the switching state of the circuit changes, which greatly speeds up the simulation speed.
Description
Technical field
The present invention relates to DC converter fields, and in particular to a kind of real-time emulation method and system of circuit model.
Background technique
Actual circuit is usually formed by connecting by electric elements according to circuit theory, solves the problems, such as to have become by emulation
A kind of necessary ways, but some circuit model connection relationships are intricate, and Yao Shixian real-time simulation is also not easy, such as in circuit
In in order to solve system effectiveness introducing DC converter, DC converter be it is a kind of by direct current energy be transformed into load needed for
The power electronic equipment of the direct current energy of voltage or controlled current flow.It is controlled and handle by the quick on-off to power electronic devices
Constant DC voltage cuts into a series of pulse voltage, changes the arteries and veins of this train of impulses by the variation of control duty ratio
Width is rushed, to realize the adjusting of output voltage average value, then is filtered through output filter, obtains electric current or electricity in controlled load
Press controllable direct current energy.
Full-bridge direct current converter is one kind of DC converter, is suitable for high-power direct current transportation field, Er Qieke
To make full use of the parameter of transformation, Sofe Switch working condition can guarantee in full-load range, and there is constant pressure to adjust energy
Power, efficiency with higher.As high voltage dc transmission technology has obtained extensive development, DC converter is high-voltage dc transmission
Emphasis in power technology research, reason are key link of the DC converter as electric power electric transformer, are to realize entirely
Network voltage firm power balance key and control strategy it is more difficult, when system occur large-scale direct current converter it is grid-connected when, by
Too big in switching value, whole system can only calculate system as a state space equation, and this method will need larger
Memory headroom and calculation amount, and be difficult to realize model real time implementation emulation, this makes troubles to the research of DC converter.
Summary of the invention
In order to solve in the presence of the prior art since switching value is too big, whole system can only be used as a state space
Equation calculates system, needs biggish memory headroom and calculation amount, and is difficult to realize the real time implementation emulation of model not
Foot, the present invention provide the emulation mode and system of a kind of circuit model.By the way of pyrene decoupling, for works different in model
The full-bridge direct current converter topological structure of condition carries out switching value recombination, and pyrene calculates, and can solve switching value too in this way
Large-sized model is unable to the problem of real time implementation, can also increase the computational efficiency of simulation model.
Present invention provide the technical scheme that a kind of real-time emulation method of circuit model, comprising:
For the distribution situation of switching value in circuit system, whole system is decoupled into multiple sub-networks；
State space equation based on setting respectively calculates each sub-network using parallel computation mode, obtains each
The corresponding equivalent circuit of a sub-network；
Based on the equivalent circuit of each sub-network, the real-time simulation that associative simulation realizes the circuit system is carried out.
Preferably, the state space equation based on setting respectively carries out each sub-network using parallel computation mode
It calculates, obtains the corresponding equivalent circuit of each sub-network, comprising:
The state space equation that the operating parameter of each sub-network is brought into setting obtains the corresponding equivalent electricity of each sub-network
Road equation；
Parallel computation is carried out to the Equivalent circuit equations using high step integration algorithm based on multiprocessor, obtains each subnet
The equivalent circuit of network.
Preferably, the state space equation, as shown below:
Y=Cnx+Dnu
In formula:Input vector；Y: output vector；X: the state variable in circuit model；U: current or voltage variable；
An: matrix A；Bn: matrix B；Cn: Matrix C；Dn: matrix D；N: the order of coefficient matrix.
Preferably, the Equivalent circuit equations, are shown below:
yt+Δt=yh+Wnut+Δt
In formula, yt+Δt: Equivalent circuit equations；yh: the output of state space group history；Wn: admittance matrix；ut+Δt: subsequent time
Voltage quantities；Δ t: the step-length of discrete sampling；
Wherein, the state space group history exports yhWith admittance matrix WnIt is calculated as follows:
In formula:Matrix A after discretization；xt: the current time value of intermediate variable；Matrix B after discretization；
ut: the voltage quantities at current time.
It is preferably, described that whole system is decoupled into multiple sub-networks, comprising:
The circuit system is handled according to the decoupling mode of setting；
Treated circuit system is decoupled into multiple sub-networks according to the distribution situation of switching value.
Preferably, the decoupling mode, comprising: the first decoupling mode and the second decoupling mode；
The first decoupling mode is to be carried out using series direct current voltage source and controllable AC electric current source in parallel to each switch
Separation；
The second decoupling mode is that concatenated two IGBT are equivalent to S function algorithm, reduce number of switches.
Preferably, the equivalent circuit based on each sub-network carries out the reality that associative simulation realizes the circuit system
When emulate, comprising:
Each sub-network is summarized as multiple subsystems based on the topological structure of circuit system；
In a simulation time step-length, based on the equivalent circuit of each sub-network in each subsystem, using rear Europe
It draws discrete integration algorithm to carry out associative simulation and obtains the electrical communications signal of the subsystem；
It is based on Transmission Lines electrical communications signal between each subsystem, realizes the real-time simulation of the circuit system.
Preferably, it is based on Transmission Lines electrical communications signal between each subsystem, realizes the real-time imitative of the circuit system
Very, comprising:
Signal between each subsystem transmits after the simulation step length that is delayed, based on the electric signal received into
Row emulation, until the real-time simulation of the entire circuit of acquisition is completed in emulation.
Preferably, it is based on Transmission Lines electrical communications signal between each subsystem, realizes the circuit system
Real-time simulation after, further includes:
Topological structure and the real-time simulation of circuit model are verified by external controller.
Based on the same inventive concept, the present invention also provides a kind of real-time emulation systems of circuit model, comprising:
Whole system is decoupled into multiple subnets for the distribution situation for switching value in circuit system by decoupling module
Network；
Equivalent circuit module is obtained, for the state space equation based on setting, using parallel computation mode respectively to each
Sub-network is calculated, and the corresponding equivalent circuit of each sub-network is obtained；
Circuit-simulation module carries out associative simulation and realizes the circuit system for the equivalent circuit based on each sub-network
The real-time simulation of system.
Preferably, the acquisition equivalent circuit module, comprising:
Equivalent circuit equations unit is obtained for the operating parameter of each sub-network to be brought into the state space equation of setting
The corresponding Equivalent circuit equations of each sub-network；
Equivalent circuit unit, for being carried out simultaneously using high step integration algorithm to the Equivalent circuit equations based on multiprocessor
Row calculates, and obtains the equivalent circuit of each sub-network.
Compared with the immediate prior art, technical solution provided by the invention is had the advantages that
1, technical solution provided by the invention decouples whole system for the distribution situation of switching value in circuit system
At multiple sub-networks；State space equation based on setting respectively calculates each sub-network using parallel computation mode, obtains
Obtain the corresponding equivalent circuit of each sub-network；Based on the equivalent circuit of each sub-network, carries out associative simulation and realize the circuit
The real-time simulation of system, after circuit is decoupled, it is empty that the state space equation of entire circuit is divided into several small states
Between equation, not only reduce using memory headroom and calculation amount, but also when circuit switch state changes, without to state
Space equation is solved again, greatly accelerates simulation velocity.
2, pyrene decoupling algorithm provided by the invention can solve asking for extensive full-bridge direct current converter model real time implementation
Topic may be simultaneously used for the decoupling of any extensive electronic power switch device, solve because model switching value greatly can not very much
The problem of implementation model real time implementation emulates, and improve simulation efficiency.
3, technical solution provided by the invention, the real time implementation of full-bridge direct current converter model can be verified by external controller
The reasonability and access control device effect of the topological structure of model are applied to actually lay the foundation for subsequent theory.
4, using technical solution provided by the invention, two-part simulation calculation is realized in the same simulation step length,
At the initial stage of calculating, the calculating between each sub-network is mutually indepedent, by carrying out parallel computation to improve computational efficiency；It calculates
Later period, the meshed network associative simulation of integrated circuit improve the precision sum number of emulation to avoid artificial delay brought by decoupling
It is worth stability.
5, technical solution provided by the invention, circuit carry out decoupling according to switching value and generate multiple sub-networks, each subnet
Network, which can be assigned in multiple cores, carries out parallel computation, considerably increases the simulation velocity of model.
6, technical solution provided by the invention can be asked in two resolving for stage using different discrete integration algorithms
High step integration algorithm can be used in solution, calculating initial stage, and when the equivalent circuit to each sub-network carries out connection solution, it can be used
The discrete integrations such as Euler algorithms solves afterwards, calculates so as to common interpolation in being resolved using classical nodal method and iteration
Method is effectively eliminated because of system input variable mutation bring numerical value concussion.
7, technical solution provided by the invention, for there are a large amount of switched power electronic devices real time implementation occurs in model
Decoupling is difficult, and the case where the verifying of influence model cootrol strategy.
Detailed description of the invention
Fig. 1 is emulation mode flow chart provided by the invention；
Fig. 2 is the first decoupling schematic diagram provided by the invention；
Fig. 3 is the second decoupling schematic diagram provided by the invention；
Fig. 4 is route decoupling module schematic diagram provided by the invention；
Fig. 5 is the structural topology figure of circuit model in the embodiment of the present invention；
Fig. 6 is the topological diagram of two-way full-bridge direct current converter in the embodiment of the present invention；
Fig. 7 is the effect picture after being converted two-way full-bridge direct current converter in the embodiment of the present invention；
Fig. 8 is the topological diagram of unidirectional full-bridge direct current converter in the embodiment of the present invention；
Fig. 9 is the effect picture after being converted unidirectional full-bridge direct current converter in the embodiment of the present invention；
Figure 10 is in the embodiment of the present invention using the effect picture after pyrene decoupling method.
Specific embodiment
For a better understanding of the present invention, the contents of the present invention are done further with example with reference to the accompanying drawings of the specification
Explanation.
Embodiment 1
Fig. 1 is a kind of real-time emulation method flow chart of circuit model provided by the invention, comprising:
Step S1, for the distribution situation of switching value in circuit system, whole system is decoupled into multiple sub-networks；
Step S2, based on the state space equation of setting, each sub-network is calculated respectively using parallel computation mode,
Obtain the corresponding equivalent circuit of each sub-network；
Step S3, the equivalent circuit based on each sub-network carries out associative simulation and realizes the real-time imitative of the circuit system
Very.
Pyrene decoupling algorithm basic principle provided by the invention is that circuit model is divided into multiple subsystems, according to switching value
Distribution situation by each subsystem decoupled at the sub-network of several sizes, each sub-network is based on MATLAB software and uses respectively
State space method is modeled and is calculated, and solve each sub-network wears dimension peace equivalent circuit；Then each subnet
The network node equation solved is established between network using classical nodal method；Finally, the equivalent circuit to subsystems carries out
Associative simulation obtains the calculated result of entire circuit.
Decoupling algorithm realizes two-part simulation calculation in the same simulation step length, calculates initial stage, each sub-network
Between calculating it is mutually indepedent, can according to the configuring condition of replicating machine using multiple processor cores carry out parallel computation i.e. point
Core independently calculates, to improve computational efficiency.The later period is calculated, associative simulation is complete in the same simulation step length in integral subsystem
At, to avoid decoupling brought by delay, influence final simulation result, improve the precision and numerical stability of emulation.
Step S2, based on the state space equation of setting, each sub-network is calculated respectively using parallel computation mode,
Obtain the corresponding equivalent circuit of each sub-network, comprising:
State space equation formula (1) can be used to indicate in each sub-network:
In formula: x be system state variable (number of quantity of state is that middle capacitor is opened up according to network, inductance, the feelings of transformer
Depending on condition), and u is input vector (i.e. current or voltage variable), An, Bn, Cn, DnFor coefficient matrix.N indicates coefficient matrix
Order.
Carrying out discretization to formula (1) can obtain:
In formula: Δ t is the step-length of discrete sampling,WithIt is obtained by matrix A and matrix B discretization.ut+ΔtFor lower a period of time
The voltage quantities at quarter, utFor the voltage quantities at current time.xtFor intermediate variable current time value, xt+ΔtIt is under intermediate variable one
Moment value.
Formula (2) can be further simplified merging and obtain:
That is yt+ΔtIt is made of the variable to be solved of variable and current step based on previous step-length known results.
Formula (3) can be expressed as:
yt+Δt=yh+Wnut+Δt (4)
In formula,WnFor admittance matrix, ut+ΔtWith yt+ΔtIt constitutes
One classical equivalent circuit equation；yh: the output of state space group history.
Two resolving stages of the present embodiment sub-network decoupling method can be solved using different discrete integration algorithms,
High step integration algorithm can be used in parallel computation, and when the equivalent circuit to each sub-network carries out connection solution, it can make
With rear Euler's discrete integration algorithm, common interpolation and iterative algorithm in the nodal method resolving so as to utilize classics, effectively
It eliminates because of system input variable mutation bring numerical value concussion on ground.
As shown in Figures 2 and 3, according to above-mentioned decoupling principle, two kinds have been built in the present embodiment and has been suitable for the model solution
The mode of coupling, Fig. 2 are that each switch separation is realized in the form of series direct current voltage source and controllable AC electric current in parallel source, with
The scale for reducing state space equation, achievees the effect that decoupling.Fig. 3 incites somebody to action original concatenated two IGBT by the way of equivalent,
It is indicated in the form of sfunction algorithm, the number for reducing switch in this way keeps state space equation simpler to reach
To the effect of decoupling.
Step S3, the equivalent circuit based on each sub-network carries out associative simulation and realizes the real-time imitative of the circuit system
Very, comprising:
Original state space equation is only decomposed into several state space equations by the decoupling principle of sub-network, but sub
The form that signal transmission between system and subsystem needs to decouple by route realizes the transmission of electric signal.
As shown in figure 4, this method is using N distributed line parameters of simulation, and the electrical characteristic delay of line transmission
One simulation step length is realized.Because the transmission of route both ends electric signal, the i.e. signal of input terminal are transferred to after route
Output end, this process only there are the delay of a simulation step length, what electrical characteristic did not change.
Embodiment 2
The present embodiment is illustrated emulation provided by the invention by taking the entire circuit model structural topology figure in Fig. 5 as an example
Method, the system are made of 7 DC converters, and the main grid-connected rear system global voltage for realizing full-bridge direct current converter is stablized
And power-balance control absorbs function using power control is fixed wherein having 3 for Unidirectional direct-current converter model (P3, P4, P5)
Rate is 5MW；There are 2 for Unidirectional direct-current converter model (P1, P2), power control both may be implemented or voltage control may be implemented
System, the fixed power that issues is 5MW；1 is two-way DC converter model (P6), can be real according to parallel-current source parameter difference
It is now fixed to absorb or issue power as 5MW；1 not only can be used as power control but also voltage-controlled Unidirectional direct-current change may be implemented
Parallel operation model (P7), power control issue 5MW, and voltage controls depending on specific operating condition.In addition to this, there are also 1 exchange is flat
It weighs node (P8).The circuit model includes 122 electronic power switch devices in total, should if pyrene is not used to decouple mode
Model can not be run in real-time simulation machine, and the model calculation is slow, timeout case occurs, can not external controller emulation
Operating condition is limited.
Firstly, circuit model needs to carry out pyrene optimization to model before decoupling, according to the net of the model in the present embodiment
Network topological structure is classified into three subsystems, and the first subsystem is P1, P2, P8, the second subsystem are P5, P7, third subsystem
For P3, P4, P6；Transmission between core and core decouples mode using route, this kind of pyrene mode resources occupation rate rationally and core with
Transmission between core will not cause overtime phenomenon.
Then, the topological structure in each subsystem for different operating condition full-bridge direct current converters is divided into multiple subnets
Network carries out Decoupling Analysis in core in each sub-network.P6 in Fig. 5 is two-way DC converter model, which includes altogether
2*8 IGBT switch, there are 2*7 switch states, are made of the topological structure in two Fig. 6, if not using pyrene to decouple
Mode, when simulation calculation, can be calculated according to the state space matrices of network topology, this kind of method extends in whole network,
State space equation is huge, and resources occupation rate is high, and simulation calculation speed is slow and cannot achieve the real time implementation of model emulation.By P6
Decoupling processing is carried out as a sub-network.
As shown in fig. 7, in the case that the real time implementation for completing model in order to reduce simulation time emulates and guarantees computational accuracy,
By the topological structure in Fig. 6 using the conversion of the form implementation model topology of decoupling module 1.This method is by original 2*8
IGBT switch is separated each switch by way of series electrical potential source or controllable AC electric current in parallel source, topology entire in this way
State space equation is divided into several small state space equations, and state space equation is solid when model computes repeatedly every time
It is fixed, the solution for additionally carrying out state space equation is not needed, the method significantly reduce the times of simulation calculation, increase model
The ability of real time implementation emulation.
It for unidirectional full-bridge direct current converter shown in Fig. 8, needs to combine Fig. 2,3 two kinds of decoupling modes are decoupled, and are had
Topological diagram after body decoupling is as shown in Figure 9.Switch close to grid entry point is decoupled in the form of the second decoupling mode, another
End is decoupled using the first decoupling mode, there was only 8 when the practical calculating of the topological decouplities of original 16 switches after decoupling, state
Space equation is simpler.
As shown in Figure 10, it needs further to carry out pyrene optimization, three subsystems to model after the completion of the decoupling of circuit model
Transmission between system decouples mode using route, this kind of pyrene mode resources occupation rate rationally and the transmission between core and core not yet
It will cause overtime phenomenon.
Specifically, the electric signal that will be obtained after the completion of the emulation of each subsystem, in next simulation step length, according to
The transmission line of connection is transferred to other subsystems, and electric signal continues to imitate each sub-network in other subsystems based on the received
Very, until emulation completion, the simulation result of entire circuit model is obtained.
Embodiment 3
Based on the same inventive concept, the present embodiment additionally provides a kind of real-time emulation system of circuit model, comprising:
Whole system is decoupled into multiple subnets for the distribution situation for switching value in circuit system by decoupling module
Network；
Equivalent circuit module is obtained, for the state space equation based on setting, using parallel computation mode respectively to each
Sub-network is calculated, and the corresponding equivalent circuit of each sub-network is obtained；
Circuit-simulation module carries out associative simulation and realizes the circuit system for the equivalent circuit based on each sub-network
The real-time simulation of system.
In embodiment, the acquisition equivalent circuit module, comprising:
Equivalent circuit equations unit is obtained for the operating parameter of each sub-network to be brought into the state space equation of setting
The corresponding Equivalent circuit equations of each sub-network；
Equivalent circuit unit, for being carried out simultaneously using high step integration algorithm to the Equivalent circuit equations based on multiprocessor
Row calculates, and obtains the equivalent circuit of each sub-network.
In embodiment, the circuit-simulation module, comprising:
Each sub-network is summarized as multiple subsystems for the topological structure based on circuit system by route decoupling unit；
Electrical communications signal element, for being based on each subnet in each subsystem in a simulation time step-length
The equivalent circuit of network carries out associative simulation using rear Euler's discrete integration algorithm and obtains the electrical communications signal of the subsystem；
Circuit Emulation Unit realizes the electricity for being based on Transmission Lines electrical communications signal between each subsystem
The real-time simulation of road system.
It should be understood by those skilled in the art that, embodiments herein can provide 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, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process 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 every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or 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 counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above is only the embodiment of the present invention, are not intended to restrict the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent substitution, improvement and etc. done, be all contained in apply pending scope of the presently claimed invention it
It is interior.
Claims (11)
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| CN111464400A (en) * | 2020-04-23 | 2020-07-28 | 中国人民解放军国防科技大学 | Double-end multi-state network reliability evaluation method based on state space decomposition |
| CN111695318A (en) * | 2020-05-29 | 2020-09-22 | 苏州复鹄电子科技有限公司 | Method for calculating semiconductor device model of circuit simulation program |
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