CN111008479B - Closed-loop simulation method and system of distributed power flow controller based on ADPSS (advanced digital Power System simulator) custom model - Google Patents
Closed-loop simulation method and system of distributed power flow controller based on ADPSS (advanced digital Power System simulator) custom model Download PDFInfo
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Abstract
The invention relates to a closed-loop simulation method and a closed-loop simulation system of a distributed power flow controller based on an ADPSS custom model, which creatively utilize the characteristics of high precision and small step length of an FPGA (field programmable gate array) small-step-length simulation platform to construct a primary system of the distributed power flow controller, so that a power switch tube can be accurately simulated in real time, and meanwhile, a control system of the distributed power flow controller is constructed by combining the ADPSS user custom model, so that the real-time closed-loop simulation of the distributed power flow controller is realized. The invention fully utilizes the characteristics of high precision and small step length of the FPGA small-step-length simulation platform to simulate the power electronic equipment based on the power switch tube, and combines the user-defined model of the ADPSS to realize the construction of the control system, thereby making up for the blank of the distributed power flow controller in the real-time closed-loop simulation of the FPGA small-step-length simulation platform and providing a new method for the closed-loop simulation of the power electronic device.
Description
Technical Field
The invention belongs to the technical field of intelligent power grid operation and stability control, and particularly relates to a closed-loop simulation method and a closed-loop simulation system of a distributed power flow controller based on an ADPSS (advanced digital power system simulator) custom model.
Background
The distributed power flow controller is being deeply researched as a power electronic device with low power, high redundancy, low investment and stronger function, the mathematical model research and the off-line simulation technology of the distributed power flow controller are mature at present, but the real-time reflection of the on-off state of the power electronic device cannot be realized, namely the real-time simulation cannot be realized. Therefore, the invention provides a closed-loop real-time simulation method combining an FPGA (field programmable gate array) small-step-size simulation platform and an ADPSS (advanced digital video system simulator) server.
The FPGA small-step simulation platform is a small-step platform developed by the institute of Electrical Power science in China and based on an FPGA chip technology. The platform reduces the simulation step length of the traditional electromagnetic transient state by dozens of times through a novel heterogeneous simulation system of a CPU + FPGA, and accurately simulates the dynamic step length of the power electronic equipment based on the power switch tube by a small step length of 2 us.
The ADPSS is a full-digital real-time simulation device of a power system developed by the institute of Electrical science of China, the simulation step length is 50us, and the ADPSS has a complete electromagnetic transient simulation system, including a user-defined model for control system construction and the like.
Disclosure of Invention
The technical problem of the invention is mainly solved by the following technical scheme:
the closed-loop simulation method of the distributed power flow controller based on the ADPSS self-defined model is characterized by comprising the following steps:
And 3, building a distributed power flow controller control system in the ADPSS host server through a custom model by utilizing a human-computer interaction interface, wherein the system comprises three groups, namely:
and (3) grouping the control modules: a source _ crtl module, a shunt _ crtl module, a server _ crtl _150Hz module, and a server _ crtl _50Hz module;
the measurement and calculation module group comprises: a config module, a shunt _ feedback _ cal module and a server _ feedback _ cal module;
modulation wave generation module group: a 1phs_PWM module, a 3phs_PWM module, and a 3rd _PWMmodule.
And 4, connecting the FPGA small-step-size simulation platform where the primary system of the distributed power flow controller is located with the ADPSS server where the control system of the distributed power flow controller is located through optical fiber communication and by adopting an Aurora communication protocol, and realizing data interaction.
step 5.1, uncontrolled rectification charging is carried out on the common direct current capacitor on the parallel side;
step 5.2, after charging is finished, setting a voltage target value of the common direct current capacitor and a voltage target value of a bus phase, and inputting the voltage target values to the parallel side of the distributed power flow controller;
step 5.3, after the voltage of the common direct current capacitor and the phase voltage of the bus are stabilized, starting a control unit of the parallel side single-phase converter to generate 3 times of harmonic current;
step 5.4, setting a voltage target value of the direct current capacitor at the serial side, and putting a direct current capacitor charging module at the serial side of the distributed power flow controller;
and 5.5, after the voltage of the direct current capacitor on the series side is stable, setting an active power flow target value and a reactive power flow target value of the controlled circuit, putting the active power flow target value and the reactive power flow target value into a circuit flow control module, and meanwhile, maintaining the direct current capacitor charging module on the series side to work continuously.
And 5.6, carrying out wave recording observation on the controlled signal, comparing a given target value, and analyzing a result.
The method creatively utilizes the characteristics of high precision and small step size of the FPGA small-step-size simulation platform to construct a primary system of the distributed power flow controller, so that the power switch tube can be accurately simulated in real time, and meanwhile, the control system of the distributed power flow controller is constructed by combining with an ADPSS user-defined model, so that the real-time closed-loop simulation of the distributed power flow controller is realized.
In the closed-loop simulation method for the distributed power flow controller based on the ADPSS custom model, the custom module specifically includes:
source _ crtl module: is a power supply control module for setting a power supply G 1 And G 2 For simulating different voltage environments, by connecting a power supply given signal to a sinusoidal signal generating element SINWAVE using a CONST element of settable level, to obtain a power supply control signal, and transmitting the resulting signal to a power supply G via an OUT element 1 And G 2 ；
A shunt _ crtl module: the module is a parallel side converter control module which adopts double-loop control and respectively controls the voltage amplitude of a parallel side common direct current capacitor and the voltage amplitude of a parallel side access point bus by utilizing n x and n x
The component realizes proportional integral, the input dq axis component signal is controlled through a proportional integral link to obtain a control signal of the corresponding parallel three-phase converter, the control signal under an ABC three-phase coordinate system is obtained through inverse dq transformation, and the OUT module is used for controlling the parallel three-phase converterOutputting the data to a 3phs _PWMmodule;
a series _ ctrl _150Hz module: the harmonic control module is a 3-th harmonic control module and is used for controlling charging of the series-side direct-current capacitor, as shown in fig. 7, a sigma AX element is used for comparing a voltage target value of the series-side direct-current capacitor with an actual value to obtain an error signal, the control is realized through a proportional-integral link, and a 3-th harmonic control signal of the series-side single-phase converter is finally obtained through an amplitude limiting module and the like;
serie _ ctrl _50Hz module: the series-side fundamental wave control module is used for controlling the power flow of a controlled line, as shown in fig. 8, a sigma AX element is used for comparing a power flow target value and an actual value of a controlled three-phase line to obtain an error signal, the control is realized through a proportional-integral link, and a fundamental wave control signal of a series-side single-phase converter is finally obtained through an amplitude limiting module and the like;
a config module: setting part control commands including time control and setting of given quantity, as shown in FIG. 9, setting target values through a CONST element, and transmitting the target values to other modules through an OUT element;
a shunt _ feedback _ cal module: providing feedback quantity required by the control of the parallel-side converter, as shown in fig. 10, comparing the voltage difference of two single electrical nodes by using a sigma AX element to obtain the voltage of a parallel-side common direct-current capacitor, and simultaneously carrying OUT dq conversion on alternating-current side current and parallel-side access point bus voltage of the three-phase converter by a dq conversion module respectively to obtain corresponding d-axis component and q-axis component, and transmitting a signal to a shoot _ crtl module by an OUT element;
a server _ feedback _ cal module: the module is a series side feedback control module and is used for providing series side feedback control calculated quantity, and the module comprises a series direct current voltage calculating part, a circuit 50Hz and 150Hz current phase locking part and a circuit load flow calculating part;
1phs _PWMmodule: as shown in fig. 12, the module mainly has two parts, one part is to generate a trigger signal of the series-side single-phase converter by using an input control signal, and the other part is to set and generate a blocking signal corresponding to the switching tube;
3phs _PWMmodule: the control module is a control module for trigger signals and locking signals of a parallel side converter bridge, and mainly realizes the switching between a trigger state and a locking state through a step module, as shown in fig. 13, the module also mainly comprises two parts, wherein one part generates the trigger signals of the parallel side three-phase converter by using input control signals, and the other part is provided with locking signals for generating a switching tube;
3rd_PWM module: the control module of the parallel-side single-phase converter mainly controls the 3rd harmonic of the neutral point of the parallel-side injection transformer, as shown in fig. 14, the module is also divided into two parts, one part generates the 3rd harmonic by using the SINWAVE module, and the other part is arranged to generate a locking signal of a switching tube of the parallel-side single-phase converter.
A closed loop simulation system of a distributed power flow controller based on an ADPSS custom model is characterized by comprising the following steps:
the two power supplies and the three nodes are controlled by a power grid system model building unit: a two-power-supply three-node controlled power grid system model is built in an FPGA (field programmable gate array) small-step system and comprises 3 voltage nodes, 4 branches and 2 transformers, wherein the voltage node I is connected with a three-phase power supply G through the branch I 1 Connected with a voltage node II and a three-phase power supply G 2 Directly connected with each other, and a ground load R is connected to a voltage node III load The delta-Y type transformer I and the Y-delta transformer II are connected to a branch III, and the impedances of the branch I, the branch II, the branch III and the branch IV are respectively Z 1 、Z 2 、Z 3 、Z 4 。
The distributed power flow controller primary system detailed model construction unit comprises: constructing a detailed primary system model of a distributed power flow controller in an FPGA (field programmable gate array) small-step system, wherein a parallel-side converter of the distributed power flow controller is of a back-to-back structure and is cascaded by a three-phase full-bridge structure and a single-phase full-bridge structure through a common direct-current capacitor; each phase of the series-side converter is a single-phase full-bridge structure, as shown in fig. 3. And (3) installing the parallel side of the distributed power flow controller on a neutral point of the voltage node I and the transformer I, and installing the serial side of the distributed power flow controller on the branch III to finish primary system installation of the distributed power flow controller in the FPGA small-step-length system.
The control system construction unit of the distributed power flow controller comprises: a distributed power flow controller control system is built in an ADPSS host server through a user-defined model by utilizing a human-computer interaction interface, and the system comprises three groups, namely:
and (3) grouping the control modules: a source _ crtl module, a shunt _ crtl module, a server _ crtl _150Hz module, and a server _ crtl _50Hz module;
measurement and calculation module group: a config module, a shunt _ feedback _ cal module and a server _ feedback _ cal module;
modulation wave generation module group: a 1phs_PWM module, a 3phs_PWM module, and a 3rd _PWMmodule.
A data connection unit: the method is used for connecting the FPGA small-step simulation platform where the primary system of the distributed power flow controller is located with the ADPSS server where the control system of the distributed power flow controller is located through optical fiber communication and by adopting an Aurora communication protocol, and data interaction is achieved.
A simulation unit: performing data setting and starting closed-loop simulation, specifically comprising:
a charging subunit: the device is used for carrying out uncontrolled rectification charging on the common direct current capacitor at the parallel side;
a parameter setting subunit one: after charging is finished, the parameter setting subunit sets a voltage target value of the common direct current capacitor and a voltage target value of a bus phase, and simultaneously inputs the voltage target values to the parallel side of the distributed power flow controller;
harmonic current generation subunit: after the voltage of the common direct current capacitor and the voltage of the bus phase are stabilized, the harmonic current generation subunit starts a control unit of the parallel side single-phase converter to generate 3 times of harmonic current;
a second parameter setting subunit: the second parameter setting subunit sets a voltage target value of the series-side direct-current capacitor, and simultaneously inputs a series-side direct-current capacitor charging module of the distributed power flow controller;
a state maintaining unit: when the voltage of the series-side direct-current capacitor is stable, the state maintaining unit sets an active power flow target value and a reactive power flow target value of the controlled line, puts the active power flow target value and the reactive power flow target value into the line current control module, and simultaneously maintains the series-side direct-current capacitor charging module to work continuously.
And 5.6, carrying out wave recording observation on the controlled signals, comparing the given target value, and analyzing the result.
In the closed loop simulation system of the distributed power flow controller based on the ADPSS custom model, the custom module specifically includes:
source _ crtl module: is a power supply control module for setting a power supply G 1 And G 2 For simulating different voltage environments, by connecting a power supply given signal to a sinusoidal signal generating element SINWAVE using a CONST element of settable level, to obtain a power supply control signal, and transmitting the resulting signal to a power supply G via an OUT element 1 And G 2 ；
A shunt _ crtl module: the control module is a parallel side converter control module which adopts double-loop control and respectively controls the voltage amplitude of a parallel side common direct current capacitor and the voltage amplitude of a parallel side access point bus by utilizing the voltage amplitude of the parallel side common direct current capacitor and the voltage amplitude of the parallel side access point bus
The method comprises the steps that proportional integration is achieved through elements, input dq axis component signals are controlled through a proportional integration link to obtain control signals of corresponding parallel-side three-phase converters, control signals under an ABC three-phase coordinate system are obtained through inverse dq transformation, and the control signals are output to a 3phs PWM module through an OUT module;
serie _ ctrl _150Hz module: the harmonic control module is a 3-th harmonic control module and is used for controlling charging of the series-side direct-current capacitor, as shown in fig. 7, a sigma AX element is used for comparing a voltage target value of the series-side direct-current capacitor with an actual value to obtain an error signal, the control is realized through a proportional-integral link, and a 3-th harmonic control signal of the series-side single-phase converter is finally obtained through an amplitude limiting module and the like;
serie _ ctrl _50Hz module: the series-side fundamental wave control module is used for controlling the power flow of a controlled line, as shown in fig. 8, a sigma AX element is used for comparing a power flow target value and an actual value of a controlled three-phase line to obtain an error signal, the control is realized through a proportional-integral link, and a fundamental wave control signal of a series-side single-phase converter is finally obtained through an amplitude limiting module and the like;
a config module: setting part control instructions including time control and setting of a given amount, as shown in fig. 9, setting a target value by a CONST element, and transmitting to other modules by an OUT element;
a shunt _ feedback _ cal module: providing feedback quantity required by the control of the parallel-side converter, as shown in fig. 10, comparing the voltage difference of two single electrical nodes by using a sigma AX element to obtain the voltage of a parallel-side common direct-current capacitor, and simultaneously carrying OUT dq conversion on the alternating-current side current and the parallel-side access point bus voltage of the three-phase converter through a dq conversion module respectively to obtain corresponding d-axis component and q-axis component, and transmitting a signal to a shunt _ crt module through an OUT element;
a server _ feedback _ cal module: the module is a series side feedback control module and is used for providing series side feedback control calculated quantity, and the module comprises a series direct current voltage calculating part, a line 50Hz and 150Hz current phase locking part and a line load flow calculating part;
1phs _PWMmodule: as shown in fig. 12, the module mainly has two parts, one part is to generate a trigger signal of the series-side single-phase converter by using an input control signal, and the other part is to set and generate a blocking signal corresponding to the switching tube;
3phs_PWM module: the control module is a control module for trigger signals and locking signals of a parallel side converter bridge, and mainly realizes the switching between a trigger state and a locking state through a step module, as shown in fig. 13, the module also mainly comprises two parts, wherein one part generates the trigger signals of the parallel side three-phase converter by using input control signals, and the other part is provided with locking signals for generating a switching tube;
3rd _PWMmodule: the control module of the parallel-side single-phase converter mainly controls the 3rd harmonic of the neutral point of the parallel-side injection transformer, as shown in fig. 14, the module is also divided into two parts, one part generates the 3rd harmonic by using the SINWAVE module, and the other part is arranged to generate a locking signal of a switching tube of the parallel-side single-phase converter.
Therefore, the invention has the following advantages: the invention provides a closed-loop simulation method of a distributed power flow controller based on an ADPSS (advanced digital power system simulator) custom model, which fully utilizes the characteristics of high precision and small step size of an FPGA (field programmable gate array) small-step size simulation platform to simulate power electronic equipment based on a power switch tube, realizes the construction of a control system by combining the custom model of the ADPSS, makes up the blank of the distributed power flow controller in the real-time closed-loop simulation of the FPGA small-step size simulation platform, and provides a new method for the closed-loop simulation of a power electronic device.
Drawings
Fig. 1 is a structure diagram of a closed-loop simulation test of a distributed power flow controller based on a custom model.
FIG. 2 is a schematic diagram of a tested power grid of the present invention.
Fig. 3a is a schematic diagram of a primary system model of a small-step distributed power flow controller based on an FPGA (field programmable gate array) (3 a) (parallel-side back-to-back converter).
Fig. 3b is a schematic diagram 3b of a primary system model (series side single-phase converter) of a small-step distributed power flow controller based on an FPGA.
FIG. 4 is a schematic diagram of a custom module structure according to the present invention.
FIG. 5 is a schematic diagram of a source _ crtl module according to the present invention.
Fig. 6 is a schematic structural diagram of the shunt _ crtl module according to the present invention.
FIG. 7 is a schematic diagram of a serie _ ctrl _150Hz module structure according to the present invention.
FIG. 8 is a schematic diagram of a series _ ctrl _50Hz module structure according to the present invention.
Fig. 9 is a schematic diagram of the config module structure of the present invention.
Fig. 10 is a schematic structural diagram of the shunt _ feedback _ cal module according to the present invention.
FIG. 11a is a schematic diagram of a series _ feedback _ cal module structure (series DC voltage calculating part) according to the present invention.
FIG. 11b is a schematic diagram of a series _ feedback _ cal module structure of the present invention (the 50Hz and 150Hz current phase-locked portions of the circuit).
FIG. 11c is a schematic diagram of a series _ feedback _ cal module structure (line load flow calculation section) according to the present invention.
FIG. 12 is a diagram of a 1phs u PWM module according to the present invention.
FIG. 13 is a schematic diagram of a 3phs _PWMmodule according to the present invention.
FIG. 14 is a schematic diagram of the 3rd_PWM module of the present invention.
Fig. 15 is a schematic structural diagram of a power grid model of a primary system with distributed power flow controllers according to the invention.
Fig. 16a is a schematic diagram of the parallel side control target of the present invention (parallel side common dc capacitor voltage).
Fig. 16b is a schematic of the parallel side control objective of the present invention (bus I voltage).
Fig. 17 is a schematic diagram of the injection neutral point 3 subharmonic current of the parallel-side single-phase converter of the present invention.
Fig. 18 is a voltage schematic of the series dc capacitors of the present invention.
Fig. 19a is a schematic diagram of the controlled line end power flow (line active power flow) of the present invention.
Fig. 19b is a schematic diagram of the end of line power flow (line reactive power flow) of the controlled line of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
the invention provides a closed-loop simulation method of a distributed power flow controller based on an all-digital real-time simulation device (ADPSS) custom model of a power system, as shown in figure 1, a control system of the distributed power flow controller is placed in an ADPSS main server, a primary system of the distributed power flow controller is placed in an FPGA small-step-size simulation platform, the control system and the primary system are communicated through an optical fiber interface, and meanwhile, the operation of the ADPSS main server and the FPGA small-step-size simulation platform is realized by means of a man-machine interaction interface. The method is used for researching and verifying the power flow regulation and control characteristics and the regulation capability of the distributed power flow controller on the controlled power grid.
The invention provides a closed loop test method which specifically comprises the following steps:
And 3, building a distributed power flow controller control system in the ADPSS host server through a user-defined model by using a human-computer interaction interface.
The custom model provided by the invention consists of 10 custom modules, and can be divided into the following three types as shown in FIG. 4:
(1) And (3) grouping the control modules: source _ crtl, shunt _ crtl, server _ crtl _150Hz, and server _ crtl _50Hz;
(2) Measurement and calculation module group: config, shunt _ feedback _ cal, server _ feedback _ cal;
(3) Group of modulated wave generation modules: 1phs _PWM, 3phs _PWM, and 3rd _PWM.
Wherein,
1) source _ crtl is a power control module for setting the power supply G 1 And G 2 To simulate different voltage environments, as shown in fig. 5, a power supply given signal is connected to a sinusoidal signal generating element SINWAVE by a set level of CONST elementsTo the power supply control signal and transmits the generated signal to the power supply G through the OUT element 1 And G 2 ；
2) The shunt _ crt module is a parallel-side converter control module, which adopts dual-loop control to respectively control the voltage amplitude of a parallel-side common direct-current capacitor and the voltage amplitude of a parallel-side access point bus, as shown in fig. 6, by using Π x and Π x
The method comprises the steps that proportional integration is achieved through elements, input dq axis component signals are controlled through a proportional integration link to obtain control signals of corresponding parallel-side three-phase converters, control signals under an ABC three-phase coordinate system are obtained through inverse dq transformation, and the control signals are output to a 3phs PWM module through an OUT module;
3) A serie _ ctrl _150Hz is a 3-order harmonic control module, which is used for controlling charging of the series-side dc capacitor, as shown in fig. 7, a sigma AX element is used to compare a voltage target value of the series-side dc capacitor with an actual value to obtain an error signal, the error signal is controlled through a proportional-integral link, and a 3-order harmonic control signal of the series-side single-phase converter is finally obtained through an amplitude limiting module and the like;
4) serie _ ctrl _50Hz is a series-side fundamental wave control module, and is used for controlling the power flow of the controlled line, as shown in fig. 8, a sigma AX element is used for comparing a power flow target value and an actual value of the controlled three-phase line to obtain an error signal, the control is realized through a proportional-integral link, and a fundamental wave control signal of the series-side single-phase converter is finally obtained through an amplitude limiting module and the like;
5) The config module mainly sets part of control commands including time control and setting of a given amount, sets a target value through a CONST element as shown in FIG. 9, and transmits the target value to other modules through an OUT element;
6) As shown in fig. 10, the sum _ feedback _ cal module is used for comparing the voltage difference between two single electrical nodes by using a sigma AX element to obtain the voltage of a parallel-side common direct-current capacitor, and meanwhile, the alternating-current side current and the parallel-side access point bus voltage of the three-phase converter are respectively subjected to dq conversion by a dq conversion module to obtain corresponding d-axis component and q-axis component, and then the signals are transmitted to the sum _ crt module by an OUT element;
7) A serie _ feedback _ cal module is a series-side feedback control module for providing a series-side feedback control calculated quantity, and the module comprises a series direct-current voltage calculating part, a 50Hz and 150Hz current phase locking part of a line and a line power flow calculating part, as shown in fig. 11, fig. 11 (a) is used for calculating a series-side direct-current capacitor voltage by using a sigma AX element, fig. 11 (b) is used for performing phase locking on a current by using a PLL element, fig. 11 (c) is used for realizing a power flow calculating function by using the sigma AX element and a Π x element, and meanwhile, a DFT element is used for performing fourier analysis on an input bus voltage and line current to obtain a phase angle and an effective value thereof, and then, a signal is transmitted through an OUT element;
8) The 1phs_pwm module is a control module of a single-phase PWM modulation wave, and mainly controls a trigger pulse of a switching tube, as shown in fig. 12, the module mainly has two parts, one part is to generate a trigger signal of a single-phase converter on the series side by using an input control signal, and the other part is to set and generate a blocking signal corresponding to the switching tube;
9) The 3phs_pwm module is a control module for a trigger signal and a blocking signal of a parallel side converter bridge, and mainly realizes the switching between a trigger state and a blocking state through a step module, as shown in fig. 13, the module also mainly has two parts, one part generates the trigger signal of the parallel side three-phase converter by using an input control signal, and the other part sets the blocking signal for generating a switch tube;
10 A 3rd \ pwm module is a control module of the parallel side single-phase converter, and mainly controls the 3rd harmonic wave injected into the neutral point of the transformer at the parallel side, as shown in fig. 14, the module is also divided into two parts, one part generates the 3rd harmonic wave by using the SINWAVE module, and the other part is configured to generate a locking signal of the switching tube of the parallel side single-phase converter.
The detailed circuit of the module is shown in fig. 5 to 14:
and 4, connecting the FPGA small-step-size simulation platform where the primary system of the distributed power flow controller is located with the ADPSS server where the control system of the distributed power flow controller is located through optical fiber communication and by adopting an Aurora communication protocol, and realizing data interaction.
And 5, setting data on a human-computer interaction interface, and starting closed-loop simulation. The specific test operations proposed by the invention are as follows:
1) Carrying out uncontrolled rectification charging on the common direct current capacitor at the parallel side;
2) After charging is finished, setting a voltage target value of a common direct current capacitor and a voltage target value of a bus phase, and simultaneously inputting the voltage target values to the parallel side of the distributed power flow controller;
3) After the voltage of the common direct current capacitor and the phase voltage of the bus are stabilized, starting a control unit of the parallel side single-phase converter to generate 3-order harmonic current;
4) Setting a voltage target value of a series-side direct-current capacitor, and putting a series-side direct-current capacitor charging module of the distributed power flow controller into the distributed power flow controller;
5) When the voltage of the direct current capacitor on the series side is stable, setting an active power flow target value and a reactive power flow target value of a controlled circuit, putting the active power flow target value and the reactive power flow target value into a circuit current control module, and simultaneously maintaining the direct current capacitor charging module on the series side to work continuously.
6) And carrying out wave recording observation on the controlled signal, comparing with a given target value, and analyzing the result.
The invention has the beneficial effects that:
the invention provides a closed-loop simulation method of a distributed power flow controller based on an ADPSS custom model, which fully utilizes the characteristics of high precision and small step length of an FPGA small-step-length simulation platform to simulate power electronic equipment based on a power switch tube, and combines the ADPSS custom model to realize the construction of a control system, makes up the blank of the distributed power flow controller in the real-time closed-loop simulation of the FPGA small-step-length simulation platform, and provides a new idea for the closed-loop simulation of a power electronic device.
The present invention is described in detail below with reference to examples:
(1) A two-source three-node controlled power grid model is constructed in the FPGA small-step simulation platform, as shown in fig. 15. Wherein, the system reference voltage is 0.38kV, two 0.38kV three-phase alternating current power supplies are respectively arranged at a node I and a node II, and the voltage phases of the two power suppliesThe angular difference is 11.4317 °; the impedance of each line of the system is respectively set to Z 1 ＝0.001+j0.314Ω，Z 2 ＝0.001+j0.072Ω，Z 3 ＝0.004+j0.047Ω，Z 4 =0.001+ j0.072 Ω; the system's adjustable power load is installed at node III with a ground resistance R load It is shown that the value of the resistance in this test was taken to be 2.8 Ω; rated capacities of the transformer I and the transformer II are both 0.6MVA, the transformation ratio is 0.38/0.38kV, and the short-circuit ratio is 10%. The initial active power flow of each phase of the lines I-II is 0.056MW, the reactive power flow is-0.01 MVar, and the initial phase voltage of the bus I is 0.2202kV.
(2) Constructing a switch tube model of the distributed power flow controller in an FPGA (field programmable gate array) small-step simulation platform, and respectively connecting two ends of the parallel side of the distributed power flow controller to a node I and a Y-side neutral point of a transformer I; the series side unit is arranged on the lines I-II;
(3) Connecting an ADPSS host server with a distributed power flow controller control system with an FPGA small-step-size simulation platform with a distributed power flow controller primary system through optical fiber communication, and starting closed-loop simulation;
(4) During 0-2s, carrying out uncontrolled rectification charging on the common direct current capacitor at the parallel side;
(5) When 2s is needed, the voltage of a common direct current capacitor at the parallel side is set to be 0.9kV, the voltage of a bus phase is set to be 0.22kV, and the parallel side of the distributed power flow controller is put into operation;
(6) Starting a control unit of the single-phase converter on the parallel side to generate 3 times of harmonic current when the time is 3 s;
(7) Setting the voltage target value of the series-side direct-current capacitor to be 0.4kV when the time is 6s, and putting the series-side direct-current capacitor charging module of the distributed power flow controller;
(8) And 7s, under the condition of maintaining the series-side direct-current capacitor charging module to work, setting the active power flow target value of the controlled line to be 0.07MW and the reactive power flow target value to be-0.02 MVar, and putting the controlled line into the line current control module.
(9) As can be seen from fig. 16 (a), before 2s, the uncontrolled rectification voltage of the parallel-side three-phase converter is 0.53kV, and after 2s is input into the parallel-side three-phase converter controller, the voltage of the parallel-side common direct-current capacitor reaches a given value of 0.9kV at about 2.05s, so as to provide active power support for inversion of the parallel-side single-phase converter; as can be seen from fig. 16 (b), the initial value of the bus voltage is 0.2202kV, the maximum deviation voltage amplitude during the transient state is 0.003kV (1.37%), but reaches the given value of 0.22kV at about 2.05s, and the control of the controlled bus voltage is realized.
As can be seen from fig. 17, before 3s, the 3rd harmonic current is 0kA, after the 3s parallel side single-phase converter control module, the parallel side single-phase converter starts to inject the 3rd harmonic current into the neutral point of the transformer, and reaches a stable state at about 3.05s, the effective current value is about 0.141kA, at this time, the voltage of the parallel side common dc capacitor remains unchanged, and the parallel side single-phase converter is equivalent to a power supply of an energy exchange channel between the series side and the parallel side.
After the 3-time harmonic wave is injected into the circuit, in order to avoid charging failure caused by inaccurate phase locking of the 3-time harmonic wave current phase angle, a certain time is needed to ensure accurate phase locking of the series capacitor controller. Therefore, in this test, the series-side dc capacitor is charged after 3 th harmonic is injected into the line 3s (i.e., at 6 s). As can be seen from fig. 18, at 6s, the dc capacitor charging module of the series-side converter is started, which is to control the 3rd harmonic voltage of the series-side converter, the series-side capacitor starts to be charged from 0kV, and the series-side converters of the a, B, and C phases respectively reach the given value of 0.4kV at about 6.2s and are always constant at 0.4kV; at 7s, the series side starts to control the line power flow, and the fundamental voltage and the 3rd harmonic voltage which need to be inverted by the series side are correspondingly increased, so that the ripple of the direct current capacitor voltage at the series side starts to be increased, 2-frequency and 6-frequency pulse quantities start to be generated, but the ripple quantity is still maintained at 0.4kV. Therefore, the series side not only controls the fundamental wave and the 3-order harmonic voltage, but also can effectively realize the conversion between the fundamental wave power and the 3-order harmonic active power, and ensures that the series side can effectively invert the fundamental wave voltage with variable amplitude and phase, thereby regulating the line tide.
As can be seen from fig. 19 (a), at 7s, after the line current control module is started, the series-side converter responds instantaneously, the three-phase active power currents of the lines a, B and C start to rise smoothly from the initial value of 0.056MW, and reach the regulation demand given value of 0.07MW at about 7.7 s; meanwhile, as can be seen from fig. 19 (B), the three-phase reactive power flows of the lines a, B and C start to smoothly drop from the initial value of-0.01 MVar and reach the given value of-0.02 MVar at about 7.2 s.
From the simulation results, it can be seen that the bus voltage control module of the distributed power flow controller takes about 50ms for the controlled bus voltage to reach the target value after receiving the control instruction; the voltage of a common direct current capacitor at the parallel side of the distributed power flow controller reaches a target value in about 50 ms; the voltage of the direct current capacitor on the series side reaches a target value about 200 ms; after a control instruction is sent to a single-phase converter controller on the parallel side of the distributed power flow controller, the single-phase converter on the parallel side of the distributed power flow controller immediately injects 3 times of harmonic current into a neutral point of a transformer, and the stability is achieved after 20 ms; after a series side power flow control module of the distributed power flow controller is started, the distributed power flow controller instantly responds to a power flow regulation and control instruction to carry out line power flow tracking; about 700ms, the distributed power flow controller can stabilize the active power flow of the controlled line to a target value; and about 200ms, the reactive power flow of the controlled line can be stabilized to the control target value.
And (4) removing overshoot, wherein the fluctuation of the test result is within a reasonable range and basically consistent with a theoretical value, and the closed-loop simulation method is proved to be correct and feasible.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments, or alternatives may be employed, by those skilled in the art, without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (4)
1. The closed-loop simulation method of the distributed power flow controller based on the ADPSS self-defined model is characterized by comprising the following steps:
step 1, constructing a two-power-supply three-node controlled power grid system model in an FPGA (field programmable gate array) small-step-length system, wherein the two-power-supply three-node controlled power grid system model comprises 3 voltage nodes, 4 branches and 2 transformers, and the voltage node I and a three-phase power supply G are connected through a branch I 1 Connected with a voltage node II and a three-phase power supply G 2 Directly connected with each other, the voltage node III is connected with a load R to the ground load The delta-Y type transformer I and the Y-delta transformer II are connected on a branch circuit III, and the impedances of the branch circuits I, II, III and IV are respectively Z 1 、Z 2 、Z 3 、Z 4 ；
Step 2, constructing a detailed system model of the distributed power flow controller in the FPGA small-step system, wherein a parallel-connection side converter of the distributed power flow controller is of a back-to-back structure and is cascaded by a three-phase full bridge structure and a single-phase full bridge structure through a common direct-current capacitor; each phase of the series-side converter is of a single-phase full-bridge structure, the parallel side of the distributed power flow controller is installed on a neutral point of a voltage node I and a transformer I, and the series side of the distributed power flow controller is installed on a branch III, so that one-time system installation of the distributed power flow controller in the FPGA small-step-length system is completed;
step 3, a distributed power flow controller control system is built in an ADPSS host server through a user-defined model by utilizing a human-computer interaction interface, and the system comprises three groups, wherein the three groups are respectively as follows:
and (3) grouping the control modules: a source _ crtl module, a shunt _ crtl module, a server _ crtl _150Hz module, and a server _ crtl _50Hz module;
the measurement and calculation module group comprises: a config module, a shunt _ feedback _ cal module and a series _ feedback _ cal module;
group of modulated wave generation modules: a 1phs_PWM module, a 3phs_PWM module, and a 3rd_PWM module;
step 4, connecting an FPGA (field programmable Gate array) small-step simulation platform where the primary system of the distributed power flow controller is located with an ADPSS (advanced digital Power System simulator) server where the control system of the distributed power flow controller is located through optical fiber communication and by adopting an Aurora communication protocol, and realizing data interaction;
step 5, data setting is carried out on a human-computer interaction interface, closed-loop simulation is started, and the method specifically comprises the following steps:
step 5.1, carrying out uncontrolled rectification charging on the common direct current capacitor at the parallel side;
step 5.2, after charging is finished, setting a voltage target value of the common direct current capacitor and a voltage target value of a bus phase, and inputting the voltage target values to the parallel side of the distributed power flow controller;
step 5.3, after the voltage of the common direct current capacitor and the phase voltage of the bus are stabilized, starting a control unit of the parallel side single-phase converter to generate 3 times of harmonic current;
step 5.4, setting a voltage target value of the direct current capacitor at the serial side, and putting a direct current capacitor charging module at the serial side of the distributed power flow controller;
step 5.5, after the voltage of the direct current capacitor at the series side is stable, setting an active power flow target value and a reactive power flow target value of a controlled circuit, putting the active power flow target value and the reactive power flow target value into a circuit flow control module, and simultaneously maintaining the charging module of the direct current capacitor at the series side to work continuously;
and 5.6, carrying out wave recording observation on the controlled signal, comparing a given target value, and analyzing a result.
2. The ADPSS custom model-based closed-loop simulation method for a distributed power flow controller according to claim 1, wherein the custom module specifically comprises:
source _ crtl module: is a power supply control module for setting a power supply G 1 And G 2 By connecting a power supply given signal to a sinusoidal signal generating element SINWAVE by means of a CONST element of settable level, obtaining a power supply control signal, and transmitting the resulting signal to the power supply G via an OUT element 1 And G 2 ；
A shunt _ crtl module: the control module is a parallel side converter control module which adopts double-loop control and respectively controls the voltage amplitude of a parallel side common direct current capacitor and the voltage amplitude of a parallel side access point bus by utilizing the voltage amplitude of the parallel side common direct current capacitor and the voltage amplitude of the parallel side access point bus
The method comprises the steps that proportional integration is achieved through elements, input dq axis component signals are controlled through a proportional integration link to obtain control signals of a corresponding parallel-side three-phase converter, control signals under an ABC three-phase coordinate system are obtained through inverse dq conversion, and the control signals are output to a 3phs_PWM module through an OUT module;
a series _ ctrl _150Hz module: the 3-order harmonic control module is used for charging control over the direct current capacitor on the serial side, an sigma AX element is used for comparing a voltage target value with an actual value of the direct current capacitor on the serial side to obtain an error signal, control is achieved through a proportional-integral link, and finally a 3-order harmonic control signal of the single-phase converter on the serial side is obtained through the amplitude limiting module;
a serie _ ctrl _50Hz module: the series-side fundamental wave control module is used for controlling the power flow of a controlled line, a sigma AX element is used for comparing a power flow target value and an actual value of the controlled three-phase line to obtain an error signal, the control is realized through a proportional-integral link, and a limiting module is used for finally obtaining a fundamental wave control signal of the series-side single-phase converter;
a config module: setting part control commands including time control and setting of given quantity, setting target values through a CONST element, and transmitting the target values to other modules through an OUT element;
a shunt _ feedback _ cal module: providing feedback quantity required by the control of the parallel-side converter, comparing the voltage difference of two single electrical nodes by using a sigma AX element to obtain the voltage of a parallel-side common direct-current capacitor, carrying OUT dq conversion on alternating-current side current and parallel-side access point bus voltage of the three-phase converter through a dq conversion module respectively to obtain corresponding d-axis component and q-axis component, and transmitting a signal to a shoot _ crtl module through an OUT element;
a server _ feedback _ cal module: the module is a series side feedback control module and is used for providing series side feedback control calculated quantity, and the module comprises a series direct-current voltage calculating part, a circuit 50Hz and 150Hz current phase locking part and a circuit load flow calculating part;
1phs u PWM Module: the module is a control module of a single-phase PWM modulation wave and used for controlling a trigger pulse of a switching tube, and comprises two parts, wherein one part is used for generating a trigger signal of a single-phase converter at the series side by using an input control signal, and the other part is used for setting and generating a locking signal corresponding to the switching tube;
3phs_PWM module: the control module is used for controlling a trigger signal and a locking signal of a parallel side converter bridge, and switching between a trigger state and a locking state is realized through a step module, wherein one part of the module generates the trigger signal of the parallel side three-phase converter by using an input control signal, and the other part of the module generates the locking signal of a switching tube;
3rd _PWMmodule: the control module is a parallel side single-phase converter control module and is used for controlling 3-order harmonic waves injected into a neutral point of a transformer at the parallel side, the module is divided into two parts, one part generates the 3-order harmonic waves by using the SINWAVE module, and the other part is used for generating a locking signal of a switching tube of the parallel side single-phase converter.
3. A closed loop simulation system of a distributed power flow controller based on an ADPSS custom model is characterized by comprising the following steps:
the two power supplies and the three nodes are controlled by a power grid system model building unit: a two-power-supply three-node controlled power grid system model is built in an FPGA (field programmable gate array) small-step system and comprises 3 voltage nodes, 4 branches and 2 transformers, wherein the voltage node I is connected with a three-phase power supply G through the branch I 1 Connected with a voltage node II and a three-phase power supply G 2 Directly connected with each other, the voltage node III is connected with a load R to the ground load The delta-Y type transformer I and the Y-delta transformer II are connected on a branch circuit III, and the impedances of the branch circuits I, II, III and IV are respectively Z 1 、Z 2 、Z 3 、Z 4 ；
The distributed power flow controller primary system detailed model building unit comprises: constructing a detailed primary system model of a distributed power flow controller in an FPGA (field programmable gate array) small-step system, wherein a parallel-side converter of the distributed power flow controller is of a back-to-back structure and is cascaded by a three-phase full-bridge structure and a single-phase full-bridge structure through a common direct-current capacitor; each phase of the series-side converter is of a single-phase full-bridge structure, the parallel side of the distributed power flow controller is installed on a neutral point of a voltage node I and a transformer I, and the series side of the distributed power flow controller is installed on a branch III, so that one-time system installation of the distributed power flow controller in the FPGA small-step-length system is completed;
the control system construction unit of the distributed power flow controller comprises: a distributed power flow controller control system is built in an ADPSS host server through a custom model by utilizing a human-computer interaction interface, and comprises three groups, namely:
and (3) grouping the control modules: a source _ crtl module, a shunt _ crtl module, a server _ crtl _150Hz module, and a server _ crtl _50Hz module;
measurement and calculation module group: a config module, a shunt _ feedback _ cal module and a server _ feedback _ cal module;
group of modulated wave generation modules: a 1phs_PWM module, a 3phs_PWM module, and a 3rd_PWM module;
a data connection unit: the system is used for connecting an FPGA (field programmable gate array) small-step simulation platform where a primary system of the distributed power flow controller is located with an ADPSS (advanced digital power system simulator) server where a control system of the distributed power flow controller is located through optical fiber communication and by adopting an Aurora communication protocol to realize data interaction;
a simulation unit: performing data setting and starting closed-loop simulation, specifically comprising:
a charging subunit: the device is used for carrying out uncontrolled rectification charging on the common direct current capacitor at the parallel side;
a parameter setting subunit I: after charging is finished, the parameter setting subunit sets a voltage target value of the common direct current capacitor and a voltage target value of a bus phase, and simultaneously puts the common direct current capacitor and the bus phase into a parallel side of the distributed power flow controller;
harmonic current generation subunit: after the voltage of the common direct current capacitor and the voltage of the bus phase are stabilized, the harmonic current generation subunit starts a control unit of the parallel side single-phase converter to generate 3 times of harmonic current;
a second parameter setting subunit: the second parameter setting subunit sets a voltage target value of the series-side direct-current capacitor, and simultaneously inputs a series-side direct-current capacitor charging module of the distributed power flow controller;
a state maintaining unit: when the voltage of the series side direct current capacitor is stable, the state maintaining unit sets an active power flow target value and a reactive power flow target value of a controlled line, puts the active power flow target value and the reactive power flow target value into a line flow control module, and simultaneously maintains the series side direct current capacitor charging module to continuously work;
and 5.6, carrying out wave recording observation on the controlled signal, comparing a given target value, and analyzing a result.
4. The ADPSS custom model-based closed-loop simulation system of distributed power flow controllers as claimed in claim 3, wherein the custom module specifically comprises:
source _ crtl module: is a power supply control module for setting a power supply G 1 And G 2 By connecting a power supply given signal to a sinusoidal signal generating element SINWAVE by means of a CONST element of settable level, obtaining a power supply control signal, and transmitting the resulting signal to the power supply G via an OUT element 1 And G 2 ；
A shunt _ crtl module: the module is a parallel side converter control module which adopts double-loop control and respectively controls the voltage amplitude of a parallel side common direct current capacitor and the voltage amplitude of a parallel side access point bus by utilizing n x and n x
The method comprises the steps that proportional integration is achieved through elements, input dq axis component signals are controlled through a proportional integration link to obtain control signals of corresponding parallel-side three-phase converters, control signals under an ABC three-phase coordinate system are obtained through inverse dq transformation, and the control signals are output to a 3phs PWM module through an OUT module;
a series _ ctrl _150Hz module: the 3-order harmonic control module is used for charging control over the direct current capacitor on the serial side, an sigma AX element is used for comparing a voltage target value with an actual value of the direct current capacitor on the serial side to obtain an error signal, control is achieved through a proportional-integral link, and finally a 3-order harmonic control signal of the single-phase converter on the serial side is obtained through the amplitude limiting module;
serie _ ctrl _50Hz module: the system comprises a series side fundamental wave control module, a limit module and a control module, wherein the series side fundamental wave control module is used for controlling the power flow of a controlled line, a sigma AX element is used for comparing a power flow target value and an actual value of the controlled three-phase line to obtain an error signal, the control is realized through a proportional-integral link, and a fundamental wave control signal of a series side single-phase converter is finally obtained through the limit module;
a config module: setting part control instructions, including time control and setting of given quantity, setting target values through a CONST element, and transmitting the target values to other modules through an OUT element;
a shunt _ feedback _ cal module: providing feedback quantity required by the control of the parallel-side converter, comparing the voltage difference of two single electrical nodes by using a sigma AX element to obtain the voltage of a parallel-side common direct-current capacitor, carrying OUT dq conversion on the alternating-current side current and the parallel-side access point bus voltage of the three-phase converter through a dq conversion module respectively to obtain corresponding d-axis component and q-axis component, and transmitting signals to a shunt _ crt module through an OUT element;
a server _ feedback _ cal module: the module is a series side feedback control module and is used for providing series side feedback control calculated quantity, and the module comprises a series direct current voltage calculating part, a line 50Hz and 150Hz current phase locking part and a line load flow calculating part;
1phs _PWMmodule: the module is a control module of single-phase PWM modulation waves and used for controlling trigger pulses of a switching tube, and comprises two parts, wherein one part is used for generating trigger signals of a single-phase converter on the serial side by using input control signals, and the other part is used for setting and generating locking signals corresponding to the switching tube;
3phs_PWM module: the control module for the trigger signal and the blocking signal of the parallel-side converter bridge realizes the switching between the trigger state and the blocking state through a step module, and the module has two parts, wherein one part generates the trigger signal of the parallel-side three-phase converter by using the input control signal, and the other part is provided with the blocking signal for generating a switch tube;
3rd_PWM module: the control module is a parallel side single-phase converter control module and is used for controlling 3-order harmonic waves injected into a neutral point of a transformer at the parallel side, the module is divided into two parts, one part generates the 3-order harmonic waves by using the SINWAVE module, and the other part is used for generating a locking signal of a switching tube of the parallel side single-phase converter.
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