CN110765584A - Electromagnetic transient simulation algorithm, system, medium and equipment containing multi-switch element - Google Patents
Electromagnetic transient simulation algorithm, system, medium and equipment containing multi-switch element Download PDFInfo
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Abstract
The application provides an electromagnetic transient simulation algorithm, system, medium and equipment containing a multi-switch element, and relates to the technical field of electromagnetic transient simulation of power systems. The method comprises the following steps: if at (t- Δ t, t)]An inner switching action for a time td1Using td1+ Δ t/2 time and td1The node voltage and the voltage current of each element at the moment + delta t are interpolated; enter the next simulation step (t, t + Δ t)]When, if (t- Δ t, t)]If the switching action exists in the memory, calculating the node voltage and the voltage current of each element at the t + delta t moment by adopting two backward Euler method with the step length delta t/2 at the t moment; otherwise, calculating by adopting a trapezoidal integration method with the step length of delta t; and repeating the steps in sequence to obtain the voltage of the whole time node and the voltage and the current of each element. The electromagnetic transient simulation algorithm can process multiple switching actions of the same step length, and is high in simulation precision and universality.
Description
Technical Field
The invention relates to the technical field of transient simulation of power systems, in particular to an electromagnetic transient simulation algorithm, system, medium and equipment with multiple switch elements.
Background
Electromagnetic transient simulation is an important method for researching electromagnetic transient characteristics of a power system, and safety guarantee is provided for planning design and operation practice of the power system. With the development of power electronic technology, more and more power electronic devices are applied to power systems, such as power electronic converters, and the electromagnetic transient characteristics of the power systems are becoming more and more complex. In a power system including a power electronic switching device, the switching device frequently operates periodically due to its own characteristics and the control of a gate signal, and the topology of the power system changes accordingly. In the simulation of the power system, the following technical problems are generally encountered: 1) the switching action time is inaccurate, and if the switching action time is accurately calculated, non-characteristic harmonic waves appear in a simulation result; 2) generating extra switching power loss, wherein when forced switching action exists, simulation generates virtual power loss to influence the power calculation result of the whole system; 3) the switch state combination is incorrect, when one or more switches act, other synchronous switches can be triggered to act instantaneously, and the correct system topological structure can be obtained only by correctly detecting the synchronous switch action; 4) the numerical oscillation problem, because the system variable takes place the sudden change and the error of the trapezoidal integral method in the simulation, the simulation result will oscillate near the true value. Meanwhile, the switching device in the power electronic equipment generates high-frequency action, so that multiple switching actions can occur in one simulation, and the processing of the multiple switching actions is also a technical difficulty to be solved in the electromagnetic transient simulation.
The existing electromagnetic transient simulation algorithm is mainly an improved EMTP algorithm based on a node analysis method, and the algorithm is applied to a PSCAD simulation platform. The method comprises the steps of discretizing system elements by a trapezoidal integration method with fixed step length, and writing a node voltage equation satisfying kirchhoff's law
Y*v(t)＝i(t)+Ih(t)
In the formula, Y is a power system admittance matrix; v (t) is a node voltage vector; i (t) is a current source vector in the system; i ish(t) a current source vector for history terms. And solving a node voltage equation step by step according to a given simulation step length, and calculating variable values of system elements, thereby realizing the electromagnetic transient simulation of the power system.
However, in part of power systems, the switching action occurs in the second half step within one simulation step, the electromagnetic transient simulation algorithm of the PSCAD simulation platform still adopts the trapezoidal integration method and interpolates to the standard time grid after the switching action, and the numerical oscillation is eliminated by adopting the half-step interpolation method during the calculation of the next step, so that the numerical oscillation still exists at the moment of the calculation result and is not eliminated. In addition, the half-step interpolation method can only eliminate numerical oscillation caused by the trapezoidal integral rule, and numerical oscillation with certain amplitude still exists in a simulation result. The PSCAD simulation platform algorithm provides an additional oscillation elimination algorithm, but the numerical oscillation can be eliminated only when the voltage and current oscillation is required to reach five simulation steps, and even if the additional oscillation elimination algorithm is started, the five simulation steps of oscillation still exist in the simulation result.
Disclosure of Invention
The method can process multiple switching actions and synchronous switching actions of the same step length, and simultaneously calculates the accurate time of the switching actions, thereby eliminating non-characteristic harmonic waves. In addition, at the moment of switching action, the power loss is correctly calculated and the correct system topology is obtained. The numerical oscillation effect of the electromagnetic transient simulation algorithm is superior to that of PSCAD simulation, and the electromagnetic transient simulation algorithm has the characteristics of high simulation precision, flexible design and strong universality.
The embodiment of the application is realized by the following steps:
an electromagnetic transient simulation algorithm including a multi-switch element, comprising: at the simulation step length (t-delta t, t)]Calculating the switch action time td1At td1The time adopts a backward Euler method with the step length of delta t/2 to calculate td1Calculating the equivalent current source history item and the equivalent resistance value of each element at the + delta t/2 moment, calculating the node voltage and the voltage current of each element at the moment by using a node voltage equation, and calculating t in the same wayd1The node voltage and the voltage current value of each element at the moment of + delta t; using td1+ Δ t/2 time and td1And (4) interpolating and calculating the node voltage and the element voltage current at the moment of + delta t. Enter the next simulation step (t, t + Δ t)]If the simulation step length is (t-delta t, t)]If the switching action exists in the memory, calculating by adopting two backward Euler method with the step length of delta t/2 at the time t to obtain the node voltage and the voltage current of each element at the time t + delta t; otherwise, calculating to obtain the node voltage and the voltage current of each element at the t + delta t moment by adopting a trapezoidal integration method with the step length delta t at the t moment. And repeating the steps in sequence to obtain the node voltage and the current of each element in the whole time. The electromagnetic transient simulation switch monitoring method can simulate a power system containing a plurality of power electronic switch devices, can detect synchronous switch actions, obtains correct switch state combination, and is more accurate in simulation. And selecting a backward Euler method with the step length of delta t/2, wherein the equivalent resistance value of each element is the same as the trapezoidal integral method with the step length of delta t, and the calculated amount is reduced when a system admittance matrix is calculated. The technical scheme provides a correct and efficient simulation thought for the simulation of the complex power system, and the design planning and the operation practice of the power system are safer and more economical.
Preferably, the simulation step length (t- Δ t, t) is detected before the moment of the switching action is calculated]The multiple switching and synchronous switching operations in the circuit specifically include: when detecting that multiple switch elements act in the simulation step length, finding the minimum value t of the switch action timed1Calculating t by linear interpolationd1Time node voltage vector v (t)d1) Outer part ofCurrent source vector i (t)d1) And equivalent current source history term vector Ih(td1) The value of the variable is equal;
using the equation of node voltage Y v (t)d1)＝i(td1)+Ih(td1) Recalculating td1Time node voltage vector v (t)d1) And the voltage and current of each element according to td1Detecting whether synchronous switching action exists at the moment by the voltage at two ends of each switching element and the gate control signal; if synchronous switching action exists, the switching state is changed, the system admittance matrix is obtained again, and the node voltage equation is solved to obtain td1Time node voltage vector v (t)d1) And repeatedly detecting the synchronous switch action until the simulation time has no synchronous switch action or reaches a preset maximum detection time ENiter. This process eliminates extra switching losses and detects the presence of synchronous switching action in the power system, resulting in the correct switching state combination. The correct switch state combination ensures the correctness of the subsequent simulation result.
Preferably, before detecting that multiple switching elements act in the simulation step length, the method further includes calculating node voltage and voltage current of each element at the time t by using a node voltage equation from the time t- Δ t, and judging whether all the switching elements act according to the voltages at two ends of the switching elements and the gate control signals at the time t.
Preferably, a trapezoidal integration method with the step size of delta t or two backward Euler method with the step size of delta t/2 are selected according to the control flag bit Ctrl _ CDA to calculate the equivalent current source history item I of each element at the time th(t) and equivalent resistance value Req. The integration method can be flexibly replaced by setting the flag bit Ctrl _ CDA, so that the integration method is switched from a trapezoidal integration method to a backward Euler method when the simulation step length has a switching action, and the backward Euler integration method is also adopted in the simulation step length when the previous simulation step length has a switching action. The method can eliminate the numerical oscillation existing in the trapezoidal integration method and simultaneously eliminate the small-amplitude numerical oscillation existing in the existing simulation method.
Preferably, the simulation step size (t- Δ t, t) is detected]Whether or not there is multiple switching actionThe method comprises the following steps: according to td1Detecting the voltage across each switching element and the gate control signal at the time + Δ t (t)d1，td1+Δt]Whether a switch action exists in the simulation step length or not; if the switch action exists, the switch action time is calculated again and recorded as td1Respectively calculating t by adopting two backward Euler method with step length of delta t/2 and a node voltage equationd1+ Δ t/2 time and td1The node voltage at time + Δ t and the voltage current of each element. Repeating the above steps until no switching action occurs or the calculated switching action time td1Is not (t- Δ t, t)]Within the interval. When detecting multiple heavy switching actions, the time t of two switching actionsd1The difference is at least 0.01% Δ t. Therefore, the simulation precision can be ensured, and the complex calculation when a large number of switching actions occur in the same simulation step length in a complex power system is avoided.
Preferably, the minimum value of the switching action time td1If there is a forced switching action of the switching element, td1T- Δ t, when there is no forced switching action, td1Is the minimum value of all natural switching times. The method can obtain accurate switching action time and is beneficial to eliminating non-characteristic harmonic waves in a simulation result.
Preferably, t is utilizedd1+ Δ t/2 time and td1And (4) linearly interpolating and calculating the node voltage and the voltage current of each element at the moment + delta t.
An electromagnetic transient simulation algorithm system comprising a multi-switch element, comprising: a node voltage and system element voltage and current calculation module for respectively calculating the current simulation step length (t-delta t, t)]Calculating the switch action time td1At td1The time adopts a backward Euler method with the step length of delta t/2 to calculate td1Calculating the equivalent current source history item and the equivalent resistance value of each element at the + delta t/2 moment, calculating the node voltage and the voltage and current value of each element at the moment by using a node voltage equation, and calculating t similarlyd1The node voltage and the voltage current value of each element at the moment of + delta t; using td1+ Δ t/2 time and td1Node voltage at time + Δ t and elementsVoltage and current, and node voltage at time t and voltage and current of each element are interpolated. A backward Euler method and a trapezoidal integral method selection module for entering the next simulation step length (t, t + delta t)]If the simulation step length is (t-delta t, t)]If the switching action exists in the memory, calculating by adopting two backward Euler method with the step length of delta t/2 at the time t to obtain the node voltage and the voltage current of each element at the time t + delta t; otherwise, calculating to obtain the node voltage and the voltage current of each element at the t + delta t moment by adopting a trapezoidal integration method with the step length delta t at the t moment.
A computer readable storage medium storing a computer program which when executed by a processor implements the steps of a multi-switch element-containing electromagnetic transient simulation algorithm of any of claims 1 to 8.
An electromagnetic transient simulation device including a multi-switching element, comprising: a memory for storing a computer program; a processor for implementing the steps of the multi-switch element-containing electromagnetic transient simulation algorithm of any of claims 1 to 8 when executing said computer program.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic flow chart of an electromagnetic transient simulation algorithm.
FIG. 2 is a circuit diagram of a Buck circuit;
FIGS. 3(a) and 3(b) are schematic diagrams of RL branch voltage comparison and absolute error in Buck circuit;
FIG. 4 is a circuit diagram of a single-phase fully-controlled rectifier bridge;
FIG. 5 is a graph illustrating voltage comparison at node ③ of a single-phase bridge rectifier;
Detailed Description
The technical solution in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Description of related Art:
1. the meaning of the multi-switching operation is different from that of the synchronous switching operation, and the multi-switching operation is the operation of a plurality of switching elements existing in the simulation step length td1Is the minimum value of the time for which the plurality of switching elements operate, assuming that the corresponding switch 1 operates; the synchronous switching action is at td1At time t, since the synchronous switch may be operated at that moment after the corresponding switch 1 is operated, t is td1And detecting the synchronous switch action at any time.
2. The meanings expressed by the simulation step length and the simulation time are different:
the multiple switching actions are detected within the simulation step size, i.e. the multiple switching actions are detected within the simulation step size. The synchronous switching action is at td1The moment detection, i.e. the action of the switch 1 with the minimum multiple switching action time, causes the synchronous switch to instantaneously act at that moment by the action of the switch 1.
When the corresponding switch is at td1After the moment action, when judging the multiple switch action of the other switches, the minimum value of the switch action time is still recorded as td1Repeating the above calculation until there is no switching action or td1Is not (t- Δ t, t)]Within the interval. In addition, td1<t<td1+Δt。
3. The switching action refers to the switching action of the switching device within the simulation step length.
The first embodiment is as follows: the algorithm process of the invention, referring to fig. 1, includes:
step S1, simulating step length (t-delta t, t)]Calculating the switch action time td1At td1The time adopts a backward Euler method with the step length of delta t/2 to calculate td1Calculating the equivalent current source history item and the equivalent resistance value of each element at the + delta t/2 moment, calculating the node voltage and the voltage current of each element at the moment by using a node voltage equation, and calculating t in the same wayd1The node voltage and the voltage current value of each element at the moment of + delta t; using td1+ Δ t/2 time and td1The node voltage and each element voltage current at the time of + delta t are interpolatedthe node voltage and the voltage and current of each element at the time t;
step S2, when entering the next simulation step length (t, t + delta t), if there is a switch action in the simulation step length (t-delta t, t), calculating to obtain the node voltage and each element voltage and current at the t + delta t moment by adopting two backward Euler method with the step length delta t/2 at the t moment;
in step S3, the above steps are repeated in sequence to obtain the entire time node voltage and the voltage and current of each element.
Example two: on the basis of the embodiment, the simulation step length (t-delta t, t) is detected before the switching action moment is calculated]The multiple switching and synchronous switching operations in the circuit specifically include: when detecting that multiple switching elements act in the simulation step length, finding the minimum value t of the switching action timed1. Obtaining t by linear interpolationd1Time node voltage vector v (t)d1) External current source vector i (t)d1) And equivalent current source history term vector Ih(td1) And (5) the variable values are equal, and the calculation formula is as follows:
v(td1)＝v(t-Δt)+ratio*(v(t)-v(t-Δt))
i(td1)＝i(t-Δt)+ratio*(i(t)-i(t-Δt))
Ih(td1)＝Ih(t-Δt)+ratio*(Ih(t)-Ih(t-Δt))
using the equation of node voltage Y v (t)d1)＝i(td1)+Ih(td1) Recalculating td1Time node voltage vector v (t)d1) And the voltage and current of each element according to td1Detecting whether synchronous switching action exists at the moment by the voltage at two ends of each switching element and the gate control signal; if synchronous switching action exists, the switching state is changed, the system admittance matrix is obtained again, and the node voltage equation is solved to obtain td1Time node voltage vector v (t)d1) And repeatedly detecting the synchronous switch action until the simulation time has no synchronous switch action or reaches a preset maximum detection time ENiter. Wherein, the value range of the maximum detection times ENiter is ENiter>3, a good detection effect can be obtained.
In a third embodiment, on the basis of the first and second embodiments, before detecting that multiple switching elements act in the simulation step, the method further includes calculating node voltage and current of each element at the time t by using a node voltage equation from the time t- Δ t, and at the time t, determining whether all the switching elements act according to voltages at two ends of the switching elements and gate control signals, wherein the specific process includes:
at the time t-delta t, calculating the equivalent current source history item I of each element at the time th(t) and equivalent resistance value Req；
Using the node voltage equation Y x v (t) I + Ih(t) obtaining the node voltage v (t) and the voltage current of each element at the time t; wherein Y is a system admittance matrix formed by an equivalent resistance ReqCalculated as I (t) is the known vector of the external current source, Ih(t) is a known equivalent current source history term vector;
and judging whether all the switch elements act or not according to the voltages at the two ends of the switch elements and the gate control signals sent out by the control system at the moment t.
In a fourth embodiment, based on the first to third embodiments, a trapezoidal integration method with a step size of Δ t or a backward euler method with two step sizes of Δ t/2 is selected according to the control flag bit Ctrl _ CDA to calculate the equivalent current source history I of each element at time th(t) and equivalent resistance value Req。
The initial value definition process is as follows:
if the last simulation step length has the switching action, Ctrl _ CDA is 1, and if the last simulation step length has no switching action, Ctrl _ CDA is 0.
The specific process of selecting different integration methods according to the control flag bit Ctrl _ CDA includes: at the time t-delta t, discretizing the electric element to be equivalent to a Norton equivalent circuit.
(1) When Ctrl _ CDA>When 0, selecting two backward Euler method with step length of delta t/2; it calculates the equivalent current source history item I of each open element at the time th(t) and equivalent resistance value ReqThe specific process comprises the following steps:
for the inductive element, iLIs an inductive current, vLIs the inductor voltage, and L is the inductance value.
As can be seen from the above formula, at time t- Δ t/2, the equivalent current source history term I of the inductive elementh(t-Δt/2)＝iL(t- Δ t); at time t, the equivalent current source history term of the inductive element is Ih(t) ═ iL (t- Δ t/2), equivalent resistance value Req＝Δt/2L。
For the capacitive element, iCIs a capacitance current, vCIs the capacitance voltage and C is the capacitance value.
As can be seen from the above backward Euler equation, at time t- Δ t/2, the equivalent current source history term of the capacitive element
At time t, the equivalent current source history term of the capacitive element is
Resistance value R of equivalent resistoreq＝2C/Δt。
(2) When Ctrl _ CDA is 0, the trapezoidal integration method with the step size Δ t is selected. It is composed ofCalculating the equivalent current source history item I of each open element at the time th(t) and equivalent resistance value ReqThe specific process comprises the following steps:
for the inductive element, iLIs an inductive current, vLIs the inductor voltage, and L is the inductance value.
From the above equation, at time t, the equivalent current source history term of the inductive element isThe equivalent resistance is Req＝Δt/2L。
For the capacitive element, iCIs a capacitance current, vCIs the capacitance voltage and C is the capacitance value.
From the above formula, at time t, the equivalent current source history term of the capacitive element is
Resistance value R of equivalent resistoreq＝2C/Δt。
Fifth embodiment, the simulation step size (t- Δ t, t) is detected based on the first to fourth embodiments]Whether there is multiple switching activity within includes: according to td1Detecting the simulation step length (t) of the voltage across each switching element and the gate control signal at the time + Δ td1，td1+Δt]Whether there is a switch action in it; if the switch action exists, the switch action time is calculated again and recorded as td1Respectively calculating t by adopting two backward Euler method with step length of delta t/2d1+ Δ t/2 time and td1The node voltage at time + Δ t and the voltage current of each element. Repeating the above steps until no switching action occurs or the calculated switching action time td1Is not (t- Δ t, t)]Within the interval. In which two switching actions are detected during multiple reclosing actionsTime td1The difference is at least 0.01% Δ t.
Sixth embodiment, the minimum value t of the switching operation time is based on the first to fifth embodimentsd1If there is a forced switching action of the switching element, td1If there is no forced switching operation, t- Δ td1Is the minimum value of all natural switching times.
Time t of natural switching operation of switching elementdThe method is calculated by using a linear interpolation method, and specifically comprises the following steps:
where v (t- Δ t) represents a voltage value across the switching element at time t- Δ t, and v (t) represents a voltage value across the switching element at time t.
Example seven, based on examples one to six, using td1+ Δ t/2 time and td1And (4) linearly interpolating and calculating the node voltage and the voltage current of each element at the moment + delta t. The calculation formula is as follows,
wherein v (t), I (t), IhAnd (t) respectively representing a node voltage vector, an external current source vector and an equivalent current source history term vector at the time t.
Eighth embodiment, on the basis of the first to seventh embodiments, the algorithm proposed by the present patent is tested by using a Buck circuit, and a circuit diagram is shown in fig. 2. The Buck circuit comprises synchronous switching action, when the inductive current is not zero, the IGBT is turned off, and the diode is instantly conducted to continue current.
In the Buck circuit, the simulation time is set to be 0.06s, the simulation step length is 10 mus, the voltage waveform of the RL branch in the Buck circuit is measured and compared with the simulation result of the existing commercial software PSCAD, and the comparison graphs are shown in fig. 3(a) and fig. 3(b), so that the algorithm provided by the invention is consistent with the PSCAD simulation result, the error is in an allowable range, and the algorithm provided by the invention can be verified to be capable of correctly detecting the synchronous switching action.
Example nine: on the basis of the first to the eighth embodiments, the algorithm proposed by the patent is tested by using a single-phase fully-controlled rectifier bridge circuit, and the circuit is shown in fig. 4. The single-phase full-control rectifier bridge comprises a plurality of switching actions, and numerical value oscillation is generated when the switching actions occur.
In a single-phase fully-controlled rectifier bridge circuit, the simulation time is set to be 0.06s, the simulation step length is 1 mus, the voltage of a node ③ in the circuit is measured, a node ③ is marked in figure 4, and compared with the PSCAD simulation of the existing commercial software, as shown in figure 5, the comparison shows that the algorithm provided by the invention effectively eliminates small-amplitude oscillation of a numerical value, so that the numerical value oscillation suppression effect is superior to the PSCAD simulation.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. An electromagnetic transient simulation algorithm including a multi-switch element, comprising:
at the simulation step length (t-delta t, t)]Calculating the switch action time td1At td1The time adopts a backward Euler method with the step length of delta t/2 to calculate td1Calculating the equivalent current source history item and the equivalent resistance value of each element at the + delta t/2 moment, calculating the node voltage and the voltage current of each element at the moment by using a node voltage equation, and calculating t in the same wayd1The node voltage and the voltage current of each element at the moment of + delta t; using td1+ Δ t/2 time and td1The node voltage and the voltage current of each element at the moment + delta t are interpolated;
when entering the next simulation step length (t, t + delta t), if the switch action exists in the simulation step length (t-delta t, t), calculating to obtain the node voltage and the voltage current of each element at the t + delta t moment by adopting a backward Euler method with two step lengths of delta t/2 at the t moment;
and repeating the steps in sequence to obtain the voltage of the whole time node and the voltage and the current of each element.
2. Algorithm as defined in claim 1, characterized in that the simulation step (t- Δ t, t) is detected before the moment of switching action is calculated]The multiple switching and synchronous switching operations in the circuit specifically include: when detecting that multiple switch elements act in the simulation step length, finding the minimum value t of the switch action timed1Calculating t by linear interpolationd1Node voltage vector v (t) at timed1) External current source vector i (t)d1) And equivalent current source history term vector Ih(td1) The value of the variable is equal;
using the equation of node voltage Y v (t)d1)＝i(td1)+Ih(td1) Recalculating td1Time node voltage vector v (t)d1) And the voltage and current of each element according to td1Detecting whether synchronous switching action exists at the moment by the voltage at two ends of each switching element and the gate control signal; if synchronous switching action exists, the switching state is changed, the system admittance matrix is obtained again, and the node voltage equation is solved to obtain td1Time node voltage vector v (t)d1) And repeatedly detecting the synchronous switch action until the simulation time has no synchronous switch action or reaches a preset maximum detection time ENiter.
3. The algorithm of claim 1 or 2, wherein before detecting the presence of multiple switching element actions in the simulation step, the method further comprises calculating a node voltage and a voltage current of each element at time t from time t- Δ t by using a node voltage equation, and determining whether all the switching elements are actuated at time t according to voltages at two ends of the switching elements and the gate control signal.
4. The algorithm of claim 3, wherein the trapezoidal integration method with step size Δ t or the backward European method with two step sizes Δ t/2 are selected according to the control flag bit Ctrl _ CDACalculating equivalent current source history item I of each element at time t by using Czochralski methodh(t) and equivalent resistance value Req。
5. The algorithm of claim 2, characterized in that said detecting the simulation step size (t- Δ t, t)]Whether there is multiple switching activity within includes: according to td1Detecting the simulation step length (t) of the voltage across each switching element and the gate control signal at the time + Δ td1，td1+Δt]Whether there is a switch action in it; if there is a switch action, calculating the minimum value of the switch action time again and recording as td1Respectively calculating t by adopting two backward Euler method with step length of delta t/2d1+ Δ t/2 time and td1The node voltage and the voltage current of each element at the moment of + delta t; repeating the steps until no switching action occurs or the minimum value t of the switching action time is obtained through calculationd1Is not (t- Δ t, t)]Within the interval; when detecting multiple switching actions, the time t of two switching actionsd1The difference is at least 0.01% Δ t.
6. The algorithm of claim 1, 2, 4 or 5, wherein the minimum value of switching time td1Calculating (1); if there is a forced switching action of the switching element, td1T- Δ t, when there is no forced switching action, td1Is the minimum value of all natural switching times.
7. The algorithm of claim 1, wherein t is utilizedd1+ Δ t/2 time and td1And (4) linearly interpolating and calculating the node voltage and the voltage current of each element at the moment + delta t.
8. An electromagnetic transient simulation system including a multi-switch element, comprising:
a node voltage and system element voltage and current calculation module, which is mainly used for respectively calculating the current simulation step length (t-delta t, t)]Calculating the switch action time td1At td1The time adopts a backward Euler method with the step length of delta t/2 to calculate td1Calculating the equivalent current source history item and the equivalent resistance value of each element at the + delta t/2 moment, calculating the node voltage and the voltage and current value of each element at the moment by using a node voltage equation, and calculating t similarlyd1The node voltage and the voltage current value of each element at the moment of + delta t; using td1+ Δ t/2 time and td1The node voltage at the moment + delta t and the voltage and current of each element are interpolated to calculate the node voltage at the moment t and the voltage and current of each element;
and the backward Euler integral method and trapezoidal integral method selection module is used for calculating to obtain the node voltage and each element voltage and current at the t + delta t moment by adopting two backward Euler methods with the step length delta t/2 at the t moment if the switching action exists in the simulation step length (t-delta t, t) when entering the next simulation step length (t, t + delta t), or calculating to obtain the node voltage and each element voltage and current at the t + delta t moment by adopting the trapezoidal integral method with the step length delta t at the t moment.
9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of a multi-switch element-containing electromagnetic transient simulation algorithm according to any one of claims 1 to 8.
10. An electromagnetic transient simulation device including a multi-switch element, comprising: a memory for storing a computer program; a processor for implementing the steps of the multi-switch element containing electromagnetic transient simulation algorithm of any of claims 1 to 8 when executing said computer program.
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