CN110580371A - Motor model parameter conversion calculation method suitable for electromagnetic transient simulation program - Google Patents
Motor model parameter conversion calculation method suitable for electromagnetic transient simulation program Download PDFInfo
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Abstract
the invention provides a motor model parameter conversion calculation method suitable for an electromagnetic transient simulation program, which comprises the steps of establishing a motor dynamic time domain equation and an equivalent circuit model; then establishing induction motor model parameter calculation of an EMTP-RV electromagnetic transient simulation program; then, establishing equivalent impedance of an electromagnetic transient simulation model of the motor; finally, induction motor model parameters of PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs are deduced based on the equivalent impedance; the model parameters of the induction motor calculated by the method can more accurately evaluate the power consumed by the induction motor, the load carrying capacity, the short-time overload capacity and the starting characteristic of the motor, thereby verifying the accuracy and the engineering practical value of the method and the effectiveness of the method.
Description
Technical Field
The invention relates to the field of load modeling of a power system, in particular to a motor model parameter conversion calculation method suitable for an electromagnetic transient simulation program.
background
The induction motor is widely applied to the field of industrial production due to low price, and plays an important role in transient stability calculation and system safety evaluation of a power system. The induction motor can be divided into a squirrel-cage type and a winding type according to the structure of a rotor winding, and the squirrel-cage type induction motor can be divided into a single cage type, a double cage type and a deep slot type. Wound-rotor induction motors are generally simulated using the same single-cage model as single-cage induction motors; deep slot and double cage induction motors are typically simulated using a double cage model. When the rotor slip variation range is large, the accuracy of the single-cage model for simulating the dynamic characteristics is not high.
The induction motor load models adopted in different time domain simulation programs are different, the induction motor models of the three electromechanical transient simulation programs BPA, PSASP and PSS/E are dynamic models considering the electromechanical transient process of the induction motor, the transient characteristics of a stator winding are ignored, only the transient characteristics of a rotor winding and the motion state of a rotor are considered, and the influence of an electromagnetic transient on electromagnetic torque can be accurately reflected; the steady-state equivalent circuit of the induction motors of BPA and PSASP adopts a single cage model; the steady-state equivalent circuit of the induction motor of the PSS/E adopts a double-cage model; the single-cage model and the double-cage model of the electromechanical transient simulation program can be mutually converted. The induction motor models of the three electromagnetic transient simulation programs of EMTP-RV, PSCAD/EMTDC and ATP/EMTP consider the electromagnetic transient characteristics of stator windings and rotor windings and the mechanical transient characteristics of rotors, the influence of electromagnetic transient on electromagnetic torque can be accurately reflected, the steady-state equivalent circuit adopts a double-cage model, but the double-cage models of EMTP-RV, PSCAD/EMTDC and ATP/EMTP have a point difference in inner-cage rotor representation. The electromechanical transient simulation program of the power system which is mainstream at home and abroad basically adopts a single cage type motor model, and the model is simple and can meet certain simulation precision for simulating the electromechanical transient process of a power grid. Although the double-cage model can accurately simulate the starting characteristic, the working performance index of the double-cage model is highly nonlinear in relation with the model parameter, so that the equivalent circuit model parameter is difficult to determine. According to statistics, more than 70% of the loads of the power system are motor loads, and the load dynamic characteristics within seconds after the system is in failure are mainly derived from the comprehensive response characteristics of the motor loads. Therefore, accurate induction motor model parameters are important for dynamic behavior analysis such as power system stability analysis, transient calculation, voltage sag and the like.
disclosure of Invention
the invention provides an effective motor model parameter conversion calculation method suitable for an electromagnetic transient simulation program.
In order to achieve the technical effects, the technical scheme of the invention is as follows:
a motor model parameter conversion calculation method suitable for an electromagnetic transient simulation program is characterized by comprising the following steps:
S1: establishing a dynamic time domain equation and an equivalent circuit model of the motor;
S2: establishing an induction motor model parameter calculation of an EMTP-RV electromagnetic transient simulation program;
S3: establishing equivalent impedance of an electromagnetic transient simulation model of the motor;
s4: and deducing induction motor model parameter conversion calculation of PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs based on the equivalent impedance.
Further, the specific process of step S1 is:
According to Ku transformation, a time domain equation of an electromechanical transient simulation induction motor model under a synchronous reference coordinate system is as follows:
In formula (1), s is the rotor slip; ω 2 π f is the synchronous speed, UsFor induction motor terminal voltage, s is induction motor rotor slip, RsAnd XsRespectively stator resistance and reactance, Rrand Xrrespectively rotor resistance and reactance, Xmis an excitation reactance; according to the formula (1), a motor model steady-state equivalent circuit of BPA and PSASP electromechanical transient simulation programs can be obtained;
According to Ku transformation, a time domain equation of an induction motor model of an electromagnetic transient simulation program EMTP-RV under a synchronous reference coordinate system is as follows:
In the formula (2), Usfor induction motor terminal voltage, s is induction motor rotor slip, RsIAnd XsIRespectively stator resistance and reactance, XmIfor exciting reactance, Rr1IAnd Xr1Ithe inner cage resistor and the reactance are respectively used for simulating the normal working characteristics of the motor; rr2Iand Xr2IThe resistance and the reactance of the outer cage are respectively used for simulating the starting characteristic of the motor; a motor model steady-state equivalent circuit of an EMTP-RV electromagnetic transient simulation program can be obtained according to the formula (2);
According to Ku transformation, the transformation equation of an induction motor model of an electromagnetic transient simulation program PSCAD/EMTDC under a synchronous reference coordinate system is as follows:
in the formula (3), UsFor induction motor terminal voltage, s for induction motorRotor slip of (3), RsIIand XsIIrespectively stator resistance and reactance, XmIIFor exciting reactance, X12IIIs a mutual impedance, Rr1IIThe inner cage resistor is used for simulating the normal working characteristics of the motor; rr2IIand Xr2IIThe resistance and the reactance of the outer cage are respectively used for simulating the starting characteristic of the motor; a motor model steady-state equivalent circuit of PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs can be obtained according to the formula (3).
further, the specific process of step S2 is:
S21: calculating rated slip s of induction motorn：
In the formula (4), nnFor nominal rotation speed (r/min), n, of induction motors60f/P is the synchronous speed (r/min) of the induction motor; f is the system frequency (50Hz or 60 Hz); p is the number of pole pairs;
s22: calculating the rated active input power P of an induction motor1and rated reactive input power Q1：
s23: calculating stator winding resistance R according to stator copper losssI：
In the formula (6), the rated electromagnetic power P of the induction motorenCalculating as formula (7):
s24: according to the nameplate rated power P of the induction motornSlip snAnd the maximum electromagnetic torque multiple Kmof induction motorsRated electromagnetic torque TnAnd maximum electromagnetic torque TemAs shown in formula (8):
s25: carrying out Vietnam equivalence on stator impedance and excitation reactance parts of a motor double-cage model, and obtaining equivalent impedance ZthIComprises the following steps:
in the formula (9), RthIAnd XthIRespectively the real part and the imaginary part of the equivalent impedance;
S26: calculating the critical slip s according to the Thevenin equivalent circuitm：
S27: impedance Z of inner cage and outer cage of double-cage motor modelr1I(s)，Zr2IThe value of(s) is a rotor impedance ZrI(s), the expression of which is:
In formula (11), the internal and external cage impedances Zr1I(s)，Zr2IThe expression of(s) is:
s28: equivalent impedance Z viewed from the stator side of the equivalent circuit of an induction motormI(s) the expression for s is:
ZmI(s)＝ZthI(s)+ZrI(s) (13)
s29: stator current of induction motorand rotor currentThe computational expression for s is:
S210: the stator current and the rotor current of the induction motor double-cage model are calculated according to the formula (15), and the calculation expressions of the inner cage rotor current and the outer cage rotor current are as follows:
s211: electromagnetic torque TeThe computational expression of(s) is:
S212: active input power P calculated according to motor double-cage model1(s) reactive input power Q1(s) and mechanical output power Pn(s) is:
s213: rated slip s calculated by equation (4)nSubstitution of formulae (14) and (17) to give a compound corresponding to snStator current I ofs(sn) Input power P1(sn) And Q1(sn) And output mechanical power Pn(sn) Will be the critical slip smSubstituting (16) to obtain the maximum electromagnetic torque Te(sm) The locked-rotor slip s is substituted into 1 in the equation (14) and the equation (16), and the starting current I can be obtainedst(1) And starting torque Tst(1)；
S214: based on the consideration of various technical indexes of the nameplate, the invention identifies the stator current, the input reactive power, the maximum electromagnetic torque and the startingTorque and starting current equal to corresponding nameplate value are used as equality constraint conditions, the minimum relative deviation between the calculation efficiency and the nameplate value is used as a target function, then the outer cage resistance is larger than the inner cage resistance in the induction motor double-cage model, the inner cage reactance is larger than the outer cage reactance, and the parameters to be identified are all positive and real numbers, so that the parameter X of the induction motor double-cage model is formed as [ X ═ X [ ]s，Xm，Rr1，Xr1，Rr2，Xr2]Are given by the mathematical models of (18) and (19):
S215: method for identifying induction motor double-cage model parameter X ═ R by SQP algorithms，Xs，Xm，Rr1，Xr1，Rr2，Xr2]When R issIs calculated as equation (6); xm、Rr1、Rr2、Xs、Xr1、Xr2The initial value of (A) is as follows:
S uses SQP algorithm to identify and obtain model parameters of induction motor, and uses rated voltage Unand rated mechanical power PnThe named value of the parameter is reduced to a per unit value as a reference value, and finally, the inertia time constant T of the motor is calculatedj：
further, the specific process of step S3 is:
Suppose that:
the equivalent circuit input impedance of the induction motor rotor is as follows:
Equation (23) can be simplified as:
In the formula (24), AI，BI，CI，DIIs represented by equation (25):
The equivalent circuit input impedance of the induction motor rotor is as follows:
Equation (26) can be simplified as:
in the formula (27), AII，BII，CII，DIIIs represented by equation (28):
Then there are:
Further, the specific process of step S4 is:
In PSCAD/EMTDC and ATP/EMTP, equation (27) is converted to:
equation (27) compares with equation (30):
Comparing equations (24) and (31) the motor model parameter equations for calculating PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs based on the EMTP-RV motor model parameters are as follows:
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
The method comprises the steps of establishing a dynamic time domain equation and an equivalent circuit model of the motor; then establishing induction motor model parameter calculation of an EMTP-RV electromagnetic transient simulation program; then, establishing equivalent impedance of an electromagnetic transient simulation model of the motor; finally, induction motor model parameters of PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs are deduced based on the equivalent impedance; the model parameters of the induction motor calculated by the method can more accurately evaluate the power consumed by the induction motor, the load carrying capacity, the short-time overload capacity and the starting characteristic of the motor, thereby verifying the accuracy and the engineering practical value of the method and the effectiveness of the method.
drawings
FIG. 1 is a steady-state equivalent circuit of a motor model of a BPA and PSASP electromechanical transient simulation program;
FIG. 2 is a steady-state equivalent circuit of an EMTP-RV electromagnetic transient simulation program motor model;
FIG. 3 is a steady-state equivalent circuit of a PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation program motor model;
FIG. 4 is a motor model rotor equivalent circuit for two electromagnetic transient simulation programs;
FIG. 5 is a Te-s curve for each 10kV induction motor;
Fig. 6 is an I-s curve of each 10kV induction motor.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
For the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
It will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
A motor model parameter conversion calculation method suitable for an electromagnetic transient simulation program comprises the following steps:
A. Establishing motor dynamic time domain equation and equivalent circuit model
According to Ku transformation, a time domain equation of an electromechanical transient simulation induction motor model under a synchronous reference coordinate system is as follows:
In formula (1), s is the rotor slip; ω 2 π f is the synchronous speed, Usfor induction motor terminal voltage, s is induction motor rotor slip, RsAnd XsRespectively stator resistance and reactance, RrAnd XrRespectively rotor resistance and reactance, XmIs an excitation reactance; the motor model steady-state equivalent circuit of the BPA and PSASP electromechanical transient simulation programs can be obtained according to equation (1), as shown in fig. 1.
According to Ku transformation, a time domain equation of an induction motor model of an electromagnetic transient simulation program EMTP-RV under a synchronous reference coordinate system is as follows:
In the formula (2), UsFor induction motor terminal voltage, s is induction motor rotor slip, RsIand XsIRespectively stator resistance and reactance, XmIfor exciting reactance, Rr1IAnd Xr1IThe inner cage resistor and the reactance are respectively used for simulating the normal working characteristics of the motor; rr2IAnd Xr2IThe resistance and the reactance of the outer cage are respectively used for simulating the starting characteristic of the motor; the motor model steady-state equivalent circuit of the EMTP-RV electromagnetic transient simulation program can be obtained according to the formula (2), as shown in FIG. 2
According to Ku transformation, the transformation equation of an induction motor model of an electromagnetic transient simulation program PSCAD/EMTDC under a synchronous reference coordinate system is as follows:
In the formula (3), UsFor induction motor terminal voltage, s is induction motor rotor slip, RsIIAnd XsIIrespectively stator resistance and reactance, XmIIfor exciting reactance, X12IIIs a mutual impedance, Rr1IIThe inner cage resistor is used for simulating the normal working characteristics of the motor; rr2IIand Xr2IIThe resistance and the reactance of the outer cage are respectively used for simulating the starting characteristic of the motor; the steady-state equivalent circuit of the motor model of the PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs obtained according to equation (3) is shown in FIG. 3.
When the outer cage parameter R is shown in FIGS. 2 and 3r2and Xr2When ∞ is taken, the models of fig. 2 and 3 are converted to the model of fig. 1. The invention provides a conversion calculation method for model parameters of an induction motor for calculating an electromagnetic transient simulation program shown in fig. 2 and 3, namely, if the model parameters of the induction motor shown in fig. 2 are known, the model parameters of the induction motor shown in fig. 3 can be calculated; conversely, if the induction motor model parameters of fig. 3 are known, the induction motor model parameters of fig. 2 can also be calculated.
B. Induction motor model parameter calculation method of EMTP-RV electromagnetic transient simulation program
Induction motor factory nameplate data packet generally provided by manufacturerComprises the following steps: rated mechanical power Pn(kW), rated voltage Un(V), rated current In(A) rated speed nn(r/min), nominal efficiency ηn(%), rated power factor cos θnMaximum torque multiple Km(Km＝Tem/Tn，TnFor rated torque, TemMaximum or critical electromagnetic torque), locked rotor or starting torque multiple Kst(Kst＝Tst/Tn，TstFor starting torque), stalling or starting current multiple KIst(KIst＝Ist/In，IstFor starting current, InRated current). In induction motor nameplate data, Un、nnAre basic parameters. Input power P1And Q1Dependent on stator current and power factor, KmIt is an important performance indicator that characterizes the motor overload capability. The induction motor double-cage model of the EMTP-RV electromagnetic transient simulation program in fig. 2 has 7 parameters to be identified. If the method for solving the equation set is adopted, 5 independent equations can be listed and written, 2 approximate equations need to be added manually, and the method is more advantageous by adopting a mathematical optimization algorithm. The Sequence Quadratic Programming (SQP) algorithm is widely applied to solving the nonlinear optimization problem due to its strong nonlinear processing capability and good numerical stability, and the step of calculating the motor model parameters of the EMTP-RV electromagnetic transient simulation program is as follows:
B.1) calculating the rated slip s of the induction motorn。
In the formula (4), nnfor nominal rotation speed (r/min), n, of induction motors60f/P is the synchronous speed (r/min) of the induction motor; f is the system frequency (50Hz or 60 Hz); p is the number of pole pairs.
B.2) calculating the rated active input power P of the induction motor1And rated reactive input power Q1。
B.3) calculating the stator winding resistance R according to the stator copper losssI。
in the formula (6), the rated electromagnetic power P of the induction motorencalculating as formula (7):
b.4) according to the nameplate rated power P of the induction motornslip snAnd the maximum electromagnetic torque multiple KmCalculating a rated electromagnetic torque T of the induction motornand maximum electromagnetic torque TemAs shown in formula (8):
B.5) carrying out Vietnam equivalence on the stator impedance and the excitation reactance part of the motor double-cage model, and obtaining equivalent impedance ZthIcomprises the following steps:
In the formula (9), RthIand XthIThe real and imaginary parts of the equivalent impedance, respectively.
b.6) calculating the critical slip s according to the Thevenin equivalent circuitm：
B.7) impedance Z of inner and outer cages of the motor double-cage modelr1I(s)，Zr2IThe value of(s) is a rotor impedance ZrI(s), the expression of which is:
In formula (11), the internal and external cage impedances Zr1I(s)，Zr2IThe expression of(s) is:
B.8) equivalent impedance Z as viewed from the stator side of the equivalent circuit of the induction motormI(s) the expression for s is:
ZmI(s)＝ZthI(s)+ZrI(s) (13)
B.9) stator currents of induction motorsand rotor currentthe computational expression for s is:
b.10) calculating the stator current and the rotor current of the induction motor double-cage model according to the formula (15), wherein the calculation expressions of the inner cage rotor current and the outer cage rotor current are as follows:
B.11) electromagnetic torque Tethe computational expression of(s) is:
B.12) calculating the active input power P according to the motor double-cage model1(s) reactive input power Q1(s) and mechanical output power Pn(s) is:
B.13) calculating the rated slip s obtained by the formula (4)nSubstitution of formulae (14) and (17) to give a compound corresponding to snstator current I ofs(sn) Input power P1(sn) And Q1(sn) And output mechanical power Pn(sn) Will be the critical slip smSubstituting (16) to obtain the maximum electromagnetic torque Te(sm) The locked-rotor slip s is substituted into 1 in the equation (14) and the equation (16), and the starting current I can be obtainedst(1) And starting torque Tst(1)。
B.14) based on consideration of various technical indexes of nameplates, in the identification, the stator current, the input reactive power, the maximum electromagnetic torque, the starting torque and the starting current are equal to corresponding nameplate values to serve as equality constraint conditions, the relative deviation between the calculation efficiency and the nameplate values is minimum to serve as an objective function, then in an induction motor double-cage model, the resistance of an outer cage is larger than that of an inner cage, the reactance of the inner cage is larger than that of the outer cage, and the parameters to be identified are required to be positive real numbers, so that the parameter X ═ X [ X ] of the identification motor double-cage model is formeds，Xm，Rr1，Xr1，Rr2，Xr2]Are expressed as equations (18) and (19).
b.15) identifying induction motor double-cage model parameter X ═ R by SQP algorithms，Xs，Xm，Rr1，Xr1，Rr2，Xr2]When R issis calculated as equation (6); xm、Rr1、Rr2、Xs、Xr1、Xr2the initial value of (A) is as shown in equation (20).
b.16) identifying and obtaining model parameters of the induction motor by using SQP algorithm, and then using rated voltage UnAnd rated mechanical power PnAnd for the reference value, the named value of the parameter is reduced to a per unit value. Finally, calculating the inertia time constant T of the motorj。
C. equivalent impedance calculation of rotor of electromagnetic transient simulation model of motor
The two induction motor models shown in fig. 2 and 3 are widely used in an electromagnetic transient simulation program; to simplify the computational complexity of the transformation of the two model parameters, we assume that:
Equivalent circuits of the induction motor rotor of FIGS. 2 and 3 are shown in FIGS. 4(a) and 4(b)
In fig. 4(a), the equivalent circuit input impedance of the rotor of the induction motor is:
equation (23) can be simplified as:
In the formula (24), AI，BI，CI，DIIs represented by equation (25):
In fig. 4(b), the equivalent circuit input impedance of the induction motor rotor is:
Equation (26) can be simplified as:
in the formula (27), AII，BII，CII，DIIIs represented by equation (28):
The values of FIGS. 4(a) and (b) are:
D. Motor model parameter conversion calculation method for PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs
In PSCAD/EMTDC and ATP/EMTP, the motor model is shown in FIG. 3, the rotor equivalent circuit is shown in FIG. 4(b), and equation (27) is converted into:
Equation (27) compares with equation (30):
In the rotor equivalent circuits of fig. 4(a) and 4(b), the rotor equivalent impedances are equal, and comparing equations (24) and (31) yields the following motor model parameter equations for calculating PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs based on the motor model parameters of EMTP-RV:
Example verification
Table 1 shows factory nameplate data of 5 induction motors, wherein the power change range of the induction motors is 22-1400 kW, and the change range of the rotational inertia is 0.76-673 kg.m2The rated voltage is 10kV, and the rated working frequency is 50 Hz. The calculation method provided by the step B of the invention is adopted to calculate the model parameters of the induction motor of the EMTP-RV electromagnetic transient simulation program in the table 1, and the result is shown in the table 2.
Table 15 induction motor factory nameplate data
| Model number | Number (C) | Pn/kW | Un/kV | In/A | n(r/min) | ηn/％ | cosθn | Km | Kst | KIst | J/kg.m2 | P |
| YKK5603-4 | 1 | 1400 | 10.0 | 95.0 | 1492 | 95.9 | 0.890 | 2.38 | 0.85 | 6.43 | 510.0 | 2 |
| YKK5602-4 | 2 | 1250 | 10.0 | 85.0 | 1492 | 95.9 | 0.890 | 2.29 | 0.86 | 6.04 | 455.5 | 2 |
| YKK5601-4 | 3 | 1000 | 10.0 | 68.1 | 1492 | 95.3 | 0.890 | 2.30 | 0.68 | 5.84 | 352.0 | 2 |
| YKK5005-4 | 4 | 900 | 10.0 | 61.8 | 1490 | 96.6 | 0.870 | 2.00 | 0.80 | 6.50 | 295.0 | 2 |
| YKK5003-5 | 5 | 710 | 10.0 | 49.6 | 1488 | 96.0 | 0.860 | 2.00 | 0.80 | 6.50 | 255.0 | 2 |
Table 2 calculated 5 induction motor model parameters suitable for EMTP-RV electromagnetic transient simulation program
| Numbering | Pn/kw | Un/kV | Rs/pu | Xs/pu | Rr1/pu | Xr1/pu | Rr2/pu | Xr2/pu | Xm/pu | H/s |
| M1 | 1400 | 10.0 | 0.0763 | 0.0403 | 0.0046 | 0.0638 | 0.2833 | 0.0574 | 2.9589 | 4.4439 |
| M2 | 1250 | 10.0 | 0.0271 | 0.1122 | 0.0052 | 0.0926 | 0.0278 | 0.0216 | 2.7980 | 4.4453 |
| M3 | 1000 | 10.0 | 0.0316 | 0.1102 | 0.0051 | 0.0835 | 0.0305 | 0.0348 | 2.6976 | 4.2940 |
| M4 | 900 | 10.0 | 0.0201 | 0.0036 | 0.0070 | 0.3145 | 0.0377 | 0.2092 | 2.9569 | 3.9878 |
| M5 | 710 | 10.0 | 0.0229 | 0.0004 | 0.0091 | 0.3864 | 0.0295 | 0.1884 | 2.7244 | 4.3578 |
Calculating rated active power P of the motor according to 5 induction motor model parameters of the EMTP-RV electromagnetic transient simulation program obtained by calculation in the table 21(kW), rated reactive power Q1(kVar) rated current In(A) Rated mechanical power Pn(kW) and rated efficiency etanrated power factor cosnmaximum torque multiple KmAnd starting torque multiple KstStarting current multiple KIstand comparing the data with the factory nameplate data, and the results are shown in tables 3 to 5.
table 3 comparison of model calculated performance index of induction motor with factory nameplate value 1
| Numbering | P1Rated value | P1calculated value | Q1Rated value | Q1calculated value | InRated value | Incalculated value |
| M1 | 1464.4490 | 1464.1865 | 750.2595 | 750.2743 | 95.0000 | 94.9869 |
| M2 | 1310.2964 | 1309.6370 | 671.2848 | 671.2702 | 85.0000 | 84.9657 |
| M3 | 1049.7787 | 1048.4451 | 537.8176 | 537.4351 | 68.1000 | 68.0214 |
| M4 | 931.2544 | 932.2252 | 527.7662 | 527.8536 | 61.8000 | 61.8512 |
| M5 | 738.8236 | 739.8513 | 438.3922 | 439.0779 | 49.6000 | 49.6712 |
table 4 comparison of calculated performance index of induction motor model with factory nameplate value 2
TABLE 5 comparison of Induction Motor double-cage model calculated Performance index with factory nameplate value 3
As can be seen from the results in the table, the motor performance index calculated from the motor model parameters is substantially equal to the factory nameplate data given in Table 1. The electromagnetic torque-slip characteristic and the current-slip characteristic curves calculated from the induction motor model parameters of table 2 are shown in fig. 5 and 6. As can be seen from the figure, when the rotor slip of the induction motor model is larger than the critical slip, the electromagnetic torque of the induction motor decreases slowly as the rotor slip increases; when the slip is equal to 1.0, the starting torque multiple and the starting current multiple of the motor are basically equal to the factory nameplate data. This shows that the model parameters of the induction motor calculated by this method can accurately simulate the starting characteristics.
The induction motor model parameters of the PSCAD/EMTDC and ATP-EMTP electromagnetic transient simulation programs in the table 1 are calculated by adopting the calculation method provided by the step D of the invention, and the result is shown in the table 6.
Table 6 shows the model parameters of 5 induction motors of the PSCAD/EMTDC electromagnetic transient simulation program
| Numbering | Pn/kW | Un/kV | Rs/pu | Rr1/pu | Rr2/pu | Xs/pu | Xm/pu | X12/pu | Xr2/pu |
| M1 | 1400 | 10.0 | 0.0634 | 0.0191 | 0.0055 | 0.0746 | 3.0548 | 0.0258 | 0.0416 |
| M2 | 1250 | 10.0 | 0.0271 | 0.0185 | 0.0057 | 0.1122 | 2.7980 | 0.0175 | 0.0838 |
| M3 | 1000 | 10.0 | 0.0316 | 0.0156 | 0.0061 | 0.1102 | 2.6976 | 0.0246 | 0.0721 |
| M4 | 900 | 10.0 | 0.0201 | 0.0147 | 0.0099 | 0.0036 | 2.9569 | 0.1256 | 0.2879 |
| M5 | 710 | 10.0 | 0.0229 | 0.0143 | 0.0135 | 0.0004 | 2.7244 | 0.1266 | 0.4146 |
The same or similar reference numerals correspond to the same or similar parts;
The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (5)
1. A motor model parameter conversion calculation method suitable for an electromagnetic transient simulation program is characterized by comprising the following steps:
S1: establishing a dynamic time domain equation and an equivalent circuit model of the motor;
S2: establishing an induction motor model parameter calculation of an EMTP-RV electromagnetic transient simulation program;
S3: establishing equivalent impedance of an electromagnetic transient simulation model of the motor;
S4: and deducing induction motor model parameter conversion calculation of PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs based on the equivalent impedance.
2. the method for calculating the transformation of the parameters of the motor model suitable for the electromagnetic transient simulation program according to claim 1, wherein the specific process of step S1 is as follows:
According to Ku transformation, a time domain equation of an electromechanical transient simulation induction motor model under a synchronous reference coordinate system is as follows:
in formula (1), s is the rotor slip; ω 2 π f is the synchronous speed, UsFor induction motor terminal voltage, s is induction motor rotor slip, RsAnd XsRespectively stator resistance and reactance, Rrand Xrrespectively rotor resistance and reactance, Xmis an excitation reactance; according to the formula (1), a motor model steady-state equivalent circuit of BPA and PSASP electromechanical transient simulation programs can be obtained;
According to Ku transformation, a time domain equation of an induction motor model of an electromagnetic transient simulation program EMTP-RV under a synchronous reference coordinate system is as follows:
In the formula (2), UsFor induction motor terminal voltage, s is induction motor rotor slip, RsIAnd XsIRespectively stator resistance and reactance, XmIFor exciting reactance, Rr1Iand Xr1Ithe inner cage resistor and the reactance are respectively used for simulating the normal working characteristics of the motor; rr2Iand Xr2IRespectively, outer cage resistance and reactance, for simulating the starting characteristics of the motorsex; a motor model steady-state equivalent circuit of an EMTP-RV electromagnetic transient simulation program can be obtained according to the formula (2);
According to Ku transformation, the transformation equation of an induction motor model of an electromagnetic transient simulation program PSCAD/EMTDC under a synchronous reference coordinate system is as follows:
In the formula (3), Usfor induction motor terminal voltage, s is induction motor rotor slip, RsIIAnd XsIIRespectively stator resistance and reactance, XmIIFor exciting reactance, X12IIIs a mutual impedance, Rr1IIThe inner cage resistor is used for simulating the normal working characteristics of the motor; rr2IIAnd Xr2IIthe resistance and the reactance of the outer cage are respectively used for simulating the starting characteristic of the motor; a motor model steady-state equivalent circuit of PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs can be obtained according to the formula (3).
3. The method for calculating the transformation of the parameters of the motor model suitable for the electromagnetic transient simulation program according to claim 2, wherein the specific process of step S2 is as follows:
S21: calculating rated slip s of induction motorn：
in the formula (4), nnFor nominal rotation speed (r/min), n, of induction motors60f/P is the synchronous speed (r/min) of the induction motor; f is the system frequency (50Hz or 60 Hz); p is the number of pole pairs;
S22: calculating the rated active input power P of an induction motor1And rated reactive input power Q1：
s23: calculating stator winding resistance R according to stator copper losssI：
In the formula (6), the rated electromagnetic power P of the induction motorencalculating as formula (7):
S24: according to the nameplate rated power P of the induction motornslip snAnd the maximum electromagnetic torque multiple KmCalculating a rated electromagnetic torque T of the induction motornand maximum electromagnetic torque TemAs shown in formula (8):
S25: carrying out Vietnam equivalence on stator impedance and excitation reactance parts of a motor double-cage model, and obtaining equivalent impedance ZthIComprises the following steps:
In the formula (9), RthIand XthIrespectively the real part and the imaginary part of the equivalent impedance;
S26: calculating the critical slip s according to the Thevenin equivalent circuitm：
S27: impedance Z of inner cage and outer cage of double-cage motor modelr1I(s)，Zr2IThe value of(s) is a rotor impedance ZrI(s), the expression of which is:
In formula (11), the internal and external cage impedances Zr1I(s)，Zr2Ithe expression of(s) is:
S28: equivalent impedance Z viewed from the stator side of the equivalent circuit of an induction motormI(s) the expression for s is:
ZmI(s)＝ZthI(s)+ZrI(s) (13)
S29: stator current of induction motorAnd rotor currentthe computational expression for s is:
S210: the stator current and the rotor current of the induction motor double-cage model are calculated according to the formula (15), and the calculation expressions of the inner cage rotor current and the outer cage rotor current are as follows:
S211: electromagnetic torque TeThe computational expression of(s) is:
S212: active input power P calculated according to motor double-cage model1(s) reactive input power Q1(s) and mechanical output power Pn(s) is:
s213: rated slip s calculated by equation (4)nsubstitution of formulae (14) and (17) to give a compound corresponding to snStator current I ofs(sn) Input power P1(sn) And Q1(sn) And output mechanical power Pn(sn) Will be the critical slip smSubstituting (16) to obtain the maximum electromagnetic torque Te(sm) The locked-rotor slip s is substituted into 1 in the equation (14) and the equation (16), and the starting current I can be obtainedst(1) And starting torque Tst(1)；
S214: based on consideration of various technical indexes of nameplates, in the identification, the stator current, the input reactive power, the maximum electromagnetic torque, the starting torque and the starting current are equal to corresponding nameplate values to be taken as equality constraint conditions, the relative deviation between the calculation efficiency and the nameplate values is minimum to be taken as a target function, then the induction motor double-cage model is considered, the resistance of an outer cage is greater than that of an inner cage, the reactance of the inner cage is greater than that of the outer cage, and parameters to be identified are positive and real, so that a parameter X ═ X [ X ] of the identification motor double-cage model is formeds，Xm，Rr1，Xr1，Rr2，Xr2]are given by the mathematical models of (18) and (19):
S215: method for identifying induction motor double-cage model parameter X ═ R by SQP algorithms，Xs，Xm，Rr1，Xr1，Rr2，Xr2]When R issIs calculated as equation (6); xm、Rr1、Rr2、Xs、Xr1、Xr2OfThe initial value is as follows (20):
S uses SQP algorithm to identify and obtain model parameters of induction motor, and uses rated voltage Unand rated mechanical power PnThe named value of the parameter is reduced to a per unit value as a reference value, and finally, the inertia time constant T of the motor is calculatedj：
4. The method for calculating the transformation of the parameters of the motor model suitable for the electromagnetic transient simulation program according to claim 3, wherein the specific process of the step S3 is as follows:
suppose that:
the equivalent circuit input impedance of the induction motor rotor is as follows:
Equation (23) can be simplified as:
in the formula (24), AI，BI，CI，DIIs represented by equation (25):
The equivalent circuit input impedance of the induction motor rotor is as follows:
Equation (26) can be simplified as:
In the formula (27), AII，BII，CII，DIIIs represented by equation (28):
Then there are:
5. The method for calculating the transformation of the parameters of the motor model suitable for the electromagnetic transient simulation program according to claim 4, wherein the specific process of the step S4 is as follows:
In PSCAD/EMTDC and ATP/EMTP, equation (27) is converted to:
Equation (27) compares with equation (30):
comparing equations (24) and (31) the motor model parameter equations for calculating PSCAD/EMTDC and ATP/EMTP electromagnetic transient simulation programs based on the EMTP-RV motor model parameters are as follows:
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