CN113128073A - Multi-simulator joint simulation method and system - Google Patents
Multi-simulator joint simulation method and system Download PDFInfo
- Publication number
- CN113128073A CN113128073A CN202110523454.7A CN202110523454A CN113128073A CN 113128073 A CN113128073 A CN 113128073A CN 202110523454 A CN202110523454 A CN 202110523454A CN 113128073 A CN113128073 A CN 113128073A
- Authority
- CN
- China
- Prior art keywords
- simulator
- simulation
- value
- time step
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/06—Electricity, gas or water supply
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The application provides a multi-simulator joint simulation method and system. After the current time step starts, the first receiving register of the first simulator obtains the first numerical value, then the next action is carried out, and the second numerical value in the first sending register is transmitted to the second receiving register of the second simulator, so that the synchronization of the simulation time steps of the two simulators is realized. The first numerical value is limited to be used for the first simulator to perform simulation calculation in the current time step and the second numerical value is limited to be used for the second simulator to perform simulation calculation in the next time step, so that the delay time of the first simulator for obtaining the first numerical value and the delay time of the second simulator for obtaining the second numerical value are respectively fixed, and the transmission line decoupling joint simulation algorithm is guaranteed to be effective.
Description
Technical Field
The application relates to the field of simulation, in particular to a multi-simulator joint simulation method and system.
Background
With the continuous improvement of national electricity demand and the increasing and increasing of modern power system scale, a large number of power electronic devices such as wind/light/storage renewable energy power generation devices, high-voltage direct-current transmission devices, micro-grid devices and the like are connected to a power grid, so that the operation characteristic and the control characteristic of the power grid present strong nonlinear characteristics. In order to realize accurate analysis of a power electronic power system, accurate simulation reproduction of the power electronic power system needs to be performed by means of an analog or digital method.
With the development of computer technology, the digitalized power system simulation method has been widely applied to power system simulation and analysis due to its advantages of strong operability, cost saving, short development period, capability of performing any simulation test, and the like. Pure digital off-line simulation is the most common power system simulation method, for example, commercial simulation software such as simpower system and PSCAD of Matlab provides off-line electromagnetic transient simulation function, and the physical process of the actual power system is simulated by a computer by establishing mathematical models of each key element and device.
However, the real-time computing performance and the simulation scale of the real-time simulator depend on the computing capacity of the target computer, and the smaller the simulation step size is, the larger the computing pressure is, the smaller the simulation scale is. With the continuous improvement of the demand for the simulation scale of the power system, a single real-time simulator is more and more difficult to meet the requirements for the real-time performance and the scale of the simulation. The networking joint simulation of a plurality of real-time simulators is an effective means for improving the real-time simulation scale, and how to solve the problem that the communication among the plurality of simulators is a key problem which needs to be solved urgently in the current stage of the joint real-time electromagnetic transient simulation of the plurality of simulators.
Disclosure of Invention
It is an object of the present application to provide a multi-simulator co-simulation method and system to at least partially ameliorate the above problems.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a multi-simulator joint simulation method, which is applied to a multi-simulator joint simulation system, where the simulation system includes a first simulator and a second simulator, the first simulator includes a first sending register and a first receiving register, the second simulator includes a second sending register and a second receiving register, and the method includes:
after the current time step starts, the second simulator transmits a first value in a second sending register to a first receiving register of a first simulator, wherein the first value is a simulation voltage value and a simulation current value of the second simulator in the last time step, and the first value is used for simulation calculation of the first simulator in the current time step;
if the first receiving register of the first simulator obtains a first numerical value, the first simulator transmits a second numerical value in the first sending register to a second receiving register of the second simulator, wherein the second numerical value is a simulation voltage numerical value and a simulation current numerical value of the first simulator in the last time step, and the second numerical value is used for simulation calculation of the second simulator in the next time step.
In a second aspect, an embodiment of the present application provides a multi-simulator joint simulation system, where the simulation system includes a first simulator and a second simulator, the first simulator includes a first sending register and a first receiving register, and the second simulator includes a second sending register and a second receiving register;
after the current time step starts, the second simulator is used for transmitting a first value in a second sending register to a first receiving register of a first simulator, wherein the first value is a simulation voltage value and a simulation current value of the second simulator in the last time step, and the first value is used for simulation calculation of the first simulator in the current time step;
if the first receiving register of the first simulator obtains a first numerical value, the first simulator is used for transmitting a second numerical value in the first sending register to a second receiving register of the second simulator, wherein the second numerical value is a simulation voltage numerical value and a simulation current numerical value of the first simulator in the last time step, and the second numerical value is used for simulation calculation of the second simulator in the next time step.
Compared with the prior art, according to the multi-simulator joint simulation method and system provided by the embodiment of the application, after the current time step starts, the next action is performed only after the first receiving register of the first simulator obtains the first numerical value, and the second numerical value in the first sending register is transmitted to the second receiving register of the second simulator. Therefore, the problem that clock deviation exists between the timers of the first simulator and the second simulator due to the difference of clock elements such as crystal oscillators is solved, and the simulation calculation clocks of the two simulators are synchronous. The first numerical value is limited to be used for the first simulator to perform simulation calculation in the current time step and the second numerical value is limited to be used for the second simulator to perform simulation calculation in the next time step, so that the delay time of the first simulator for obtaining the first numerical value and the delay time of the second simulator for obtaining the second numerical value are respectively fixed, and the transmission line decoupling joint simulation algorithm is guaranteed to be effective.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 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 it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1(a) is a topological diagram of a power system including a long transmission line according to an embodiment of the present application;
fig. 1(b) is an equivalent circuit diagram corresponding to fig. 1(a) provided in an embodiment of the present application;
FIG. 2(a) is a schematic diagram of a simulation calculation flow of a simulator type 1 provided in the embodiment of the present application;
FIG. 2(b) is a schematic diagram of a simulation calculation flow of a simulator type 2 according to an embodiment of the present application;
fig. 3(a) is a schematic diagram of a transmitting-receiving end voltage/current for performing controlled source calculation by the simulator type 1 provided in the embodiment of the present application;
FIG. 3(b) is a schematic diagram of the voltage/current at the transmitting/receiving end for controlled source calculation by the emulator type 2 according to the embodiment of the present application
Fig. 4 is a schematic diagram of a transmission line decoupling simulation topology provided in the embodiment of the present application;
FIG. 5 is a schematic diagram of an architecture of a simulator co-simulation system according to an embodiment of the present application;
fig. 6 is a schematic flowchart of a simulator co-simulation method according to an embodiment of the present application;
FIG. 7 is a flowchart illustrating a simulator co-simulation method according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a data communication timing sequence for the co-simulation of a first simulator and a second simulator according to an embodiment of the present application;
fig. 9 is a schematic diagram of simulation computation timing of joint simulation of a first simulator and a second simulator according to an embodiment of the present application;
fig. 10 is a schematic diagram of a decoupling simulation topology of a transmission line jointly simulated by a first simulator and a second simulator according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present 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. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
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.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The decoupling technology is used for decomposing a large-scale power system into a plurality of independent subsystems, and then the independent subsystems are distributed to different computing nodes or different simulators to perform parallel computation, so that the simulation speed is increased, and the minimum simulation step length is reduced.
The key of the decoupling technology is to ensure that simulation errors before and after splitting are within an acceptable range. At present, there are five kinds of hybrid simulation interface algorithms for realizing the topology decoupling and networking functions of the power system: an ideal transformer model method, a time-varying first-order approximation method, a circuit division method, a damping impedance method, and a transmission line model method.
The ideal transformer model method is the most common method in practical engineering, and the basic principle is as follows: the coupling characteristic of the transformer is utilized to realize the connection of the two subsystems. The method has the advantages of high simulation precision and simple and reliable model structure, but the numerical stability of the method is poor.
The principle of the time-varying first-order approximation is: and establishing a mathematical model of the simulation system, and compensating the model by analyzing simulation historical data, predicting by a proper method and calculating interface errors. The essence of the method is an analysis and prediction method of a first-order linear system.
The basic theory of the circuit division method is as follows: the sparse technology has high numerical stability, but the method has low simulation precision and low adaptability.
The basic principle of the damping impedance method is as follows: and correcting the simulation error by adding damping impedance so as to correct the interface error. The method is similar to the circuit segmentation method and is an interface compensation method, so that the method has the defects of difficult parameter selection and poor simulation result adaptability.
The transmission line model method respectively performs equivalence on two ends of a transmission line by utilizing a Norton equivalent circuit related to line parameters so as to realize the splitting function of a subsystem, and has the characteristics of high numerical stability and easiness in realization. However, the algorithm has requirements on the length of the transmission line, and is not applicable to short-line and wireless models.
For large scale power systems, it is common to connect different regional grids via long transmission lines. Therefore, the transmission line model method is naturally suitable for the multi-simulator combined electromagnetic transient real-time simulation of a large-scale power system. The scheme of the application is based on a transmission line model method, provides a multi-simulator combined real-time electromagnetic transient simulation method based on a long transmission line Begon model, pays more attention to the realization of an interface model and the communication time sequence design, and has the advantages of simple interface, strong practicability, stable transmission and high simulation precision.
Regarding the sub-network construction of the long transmission line begron model, the embodiment of the present application also provides a possible implementation manner, please refer to the following.
The long transmission line decoupling method is one of the most classical interface decoupling methods, namely, when an electrical signal propagates in a transmission line at an optical speed, a delay tau due to a transmission distance is d/v, (d is the length of a transmission cable, and v is a transmission speed), if tau is greater than a time of a simulation step, subnets on two sides of the cable become relatively independent subsystems, and the calculation of the subsystems is completely dependent on a result of calculation of one step on the subsystems.
The large power network shown in fig. 1(a) is decomposed by using a long transmission line begron model, and an equivalent circuit diagram of a sub-network (including a sub-network 1 and a sub-network 2) is shown in fig. 1(b), wherein both ends of the transmission line are represented in the form of decoupled admittance matrix and norton equivalent current sources.
It should be noted that the electromagnetic transient simulation topology generally includes an electrical element and a control element, wherein the simulation result of the electrical element is transmitted to the control element, and the control result of the control element is fed back to the electrical element. Existing real-time electromagnetic transient simulation tools include simulator type 1 and simulator type 2. The resolving sequence is different when the simulator type 1 and the simulator type 2 are simulated. Simulator type 1: calculating the control system and then calculating the electrical system; simulator type 2: the electrical system is calculated first and then the control system. The calculation flows of the simulator type 1 and the simulator type 2 when the transmission line split simulation is constructed by solely using the transmission line decoupling principle are shown in fig. 2(a) and 2 (b). Fig. 2(a) is a calculation flow of the simulator type 1, and fig. 2(b) is a calculation flow of the simulator type 2.
As shown in fig. 2, τ is the time that the voltage/current of the transmitting/receiving terminal needs to be delayed theoretically in the transmission line decoupling algorithm, τ is an integral multiple of the simulation step length T (τ is n Δ T), the initial value of the delay element is 0, VIs/VIr is the voltage/current of the transmitting/receiving terminal, its initial value is 0, and Ihs/Ihr is the controlled source current of the transmitting/receiving terminal. With continued reference to fig. 2, the actual delay time of the voltage/current at the transmitting/receiving end is different between the simulator type 1 and the simulator type 2, where the former is τ - Δ T and the latter is τ, because the simulator type 1 first performs delay calculation and writes the initial value (0) of the voltage/current at the transmitting/receiving end into the corresponding delay sequence. Simulator type 1 and simulator type 2 the transmit/receive terminal voltages/currents used for controlled source calculations are shown in fig. 3. Fig. 3(a) is a schematic diagram of the voltage/current of the transmitting and receiving terminal used by the simulator type 1 for performing controlled source calculation, and fig. 3(b) is a schematic diagram of the voltage/current of the transmitting and receiving terminal used by the simulator type 2 for performing controlled source calculation.
When simulator type 1 is used for simulating subnetwork 1 and subnetwork 2 in fig. 1, or simulator type 2 is used for simulating subnetwork 1 and subnetwork 2 in fig. 1, the transmission line decoupling simulation topology is schematically shown in fig. 4.
Wherein τ' is the final calculated delay of the simulation system, and τ - Δ T for simulator type 1; for simulator type 2, τ' ═ τ; vis is the voltage/current of the sending end; VIr is the receiving end voltage/current; ihs is the controlled source current of the sending end; ihr is the controlled source current at the sending end. It should be noted that the controlled source current is the controllable current source value in fig. 4.
However, when simulator type 2 is used to simulate subnetwork 1 in fig. 1, as the transmitting end, simulator type 1 is used to simulate subnetwork 2 in fig. 1, as the receiving end. The delay lengths of the simulation models are not uniform, and how to ensure that a simulation system formed by combining the simulators corresponding to the simulator type 1 and the simulator type 2 can effectively operate under the working condition becomes a difficult point which puzzles the technical personnel in the field.
The inventor proposes a multi-simulator co-simulation system for this purpose. FIG. 5 is a schematic diagram of an architecture of a multi-simulator co-simulation system. Each real-time simulator comprises an upper computer and a real-time simulation target machine, and the upper computer and the real-time simulation target machine perform information interaction through optical fibers. The upper computer is used for constructing a simulation topology, performing simulation control, data monitoring and the like. And coding the simulation topology constructed by the upper computer, and entering a real-time simulation target machine for simulation operation. And the simulation computation kernel of the real-time simulator is connected with the peripheral FPGA and other peripheral interfaces through the PCIE interface. The other peripheral interfaces can be analog-to-digital conversion boards such as AO/AI/DO/DI and the like. The peripheral FPGA is internally provided with an Aurora transceiving protocol and control logic, and is connected with an SFP (Small Form-factor plug) interface of another real-time simulator through an optical fiber and communicated by utilizing the SFP interface. The Aurora protocol is a point-to-point high-speed serial data transmission protocol developed by Xilinx corporation, and the SFP is an interface device capable of converting gigabit electric signals into optical signals.
The emulation system includes a first emulator (emulator type 1) including a first transmission register and a first reception register, and a second emulator (emulator type 2) including a second transmission register and a second reception register. The first sending register, the first receiving register, the second sending register and the second receiving register can be a peripheral FPGA.
The realization of the joint simulation of the simulator type 1 and the simulator type 2 needs to solve the following problems: (1) due to the difference of clock elements such as crystal oscillators, clock deviation exists between the timers of the simulator type 1 and the simulator type 2, and a certain measure is needed to be adopted to synchronize the simulation calculation clocks of the two simulators; (2) the simulation calculation flows of the two types of simulators are different, and the influence of the characteristics on the selection of the delay time needs to be considered; (3) the data transmission delay of the two simulators needs to be a fixed value so as to ensure that the transmission line decoupling joint simulation algorithm is effective.
It should be understood that the configuration shown in FIG. 5 is merely a structural schematic of a portion of a simulation system, and that a simulation system may also include more or fewer components than shown in FIG. 5, or have a different configuration than shown in FIG. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
The multi-simulator combination method provided in the embodiment of the present application can be applied to, but is not limited to, the simulation system shown in fig. 5, and please refer to fig. 6:
s201, after the current time step starts, the second emulator transmits the first value in the second sending register to the first receiving register of the first emulator.
The first value is a simulation voltage value and a simulation current value of the second simulator in the previous time step, and the first value is used for the first simulator to perform simulation calculation in the current time step.
And S102, if the first receiving register of the first simulator obtains the first numerical value, the first simulator transmits a second numerical value in the first sending register to a second receiving register of the second simulator, wherein the second numerical value is a simulation voltage numerical value and a simulation current numerical value of the first simulator in the last time step, and the second numerical value is used for simulation calculation of the second simulator in the next time step.
To sum up, the embodiment of the present application provides a multi-simulator joint simulation method, where after a current time step starts, a first receiving register of a first simulator obtains a first numerical value, and then performs a next action, and transmits a second numerical value in a first sending register to a second receiving register of a second simulator. Therefore, the problem that clock deviation exists between the timers of the first simulator and the second simulator due to the difference of clock elements such as crystal oscillators is solved, and the simulation calculation clocks of the two simulators are synchronous. The first numerical value is limited to be used for the first simulator to perform simulation calculation in the current time step and the second numerical value is limited to be used for the second simulator to perform simulation calculation in the next time step, so that the delay time of the first simulator for obtaining the first numerical value and the delay time of the second simulator for obtaining the second numerical value are respectively fixed, and the transmission line decoupling joint simulation algorithm is guaranteed to be effective.
Optionally, after S201, the first emulator executes S101, and the first receiving register of the first emulator receives the first value transferred by the second sending register of the second emulator. After S102, the second emulator executes S207, and the second receiving register of the second emulator receives the second value transmitted by the first sending register of the first emulator.
On the basis of fig. 6, regarding simulation computation timing of the first simulator and the second simulator, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 7 and fig. 8, and the multi-simulator joint simulation method further includes:
s103, the first simulator adds a first value to the first sequence, wherein the delay degree of the first sequence is a first delay degree, and the difference between the standard delay length and the first delay length is a simulation time step length.
Optionally, the standard delay length is τ, Δ T is a simulation time step length, and the first delay length is τ - Δ T.
And S104, adding a second numerical value to a second sequence by the first simulator, wherein the delay degree of the second sequence is the first delay degree.
The first value is the simulation voltage value and the simulation current value of the second simulator in the previous time step, and the second value is the simulation voltage value and the simulation current value of the first simulator in the previous time step. And respectively adding the first value and the second value to the corresponding sequences at the current time step, so that the delay degrees of the first sequence and the second sequence are the same.
Optionally, the delay of the sequence indicates a length of which the numerical padding is 0, for example, if the delay of the second sequence is 3, the values of the first 3 time steps of the second sequence are padded to 0, and the first obtained second numerical value is added to a position corresponding to the fourth time step of the second sequence.
And S105, the first simulator carries out simulation calculation according to the first sequence and the second sequence to obtain a first controlled source current, wherein the first controlled source current is a controlled source current simulation value of the first simulator at the current time step.
Alternatively, referring to fig. 9, assuming that the nth-1 time step is the current time step and the first controlled source current is Ihr (1), before calculating Ihr (1), VIs (1) (the first value) is added to the first sequence, VIr (1) (the second value) is added to the second sequence, and then simulation calculation is performed according to the first sequence and the second sequence to obtain the first controlled source current Ihr (1).
And S106, the first simulator obtains a simulation voltage value and a simulation current value of the first simulator in the current time step according to the first controlled source current.
With continued reference to fig. 9, the simulated voltage and current values of the first simulator at the current step are VIr (2).
S107, the first simulator writes the simulation voltage value and the simulation current value of the first simulator in the current time step into the first sending register.
Optionally, in the current time step (time N-1), VIr (2) is written into the first sending register, and the first emulator sends VIr (2) to the second receiving register of the second emulator in the next time step (time N). With respect to the nth time step, VIr (2) is the second value, the simulated voltage value and the simulated current value of the first simulator in the previous time step.
S202, after the current time step starts, the second simulator obtains a third numerical value according to a second controlled source current, wherein the third numerical value is a simulation voltage numerical value and a simulation current numerical value of the second simulator in the current time step, and the second controlled source current is a controlled source current simulation value of the second simulator in the previous time step;
with continued reference to fig. 9, assume that the current time step is the nth time step and the third value is VIs (3).
S203, the second simulator adds a third value to a third sequence, wherein the delay length of the third sequence is the standard delay length (tau).
And S204, the second simulator adds a fourth numerical value in the second receiving register to a fourth sequence, wherein the delay length of the fourth sequence is the second delay length, the difference between the standard delay length and the second delay length is two simulation time step lengths, and the fourth numerical value is a simulation voltage numerical value and a simulation current numerical value of the first simulator in two time steps before the current time step.
With continued reference to FIG. 9, assume that the current time step is the Nth time step, the fourth values are the simulated voltage and current values of the first simulator at the Nth-2 time step, and the fourth value is VIr (1). When the fourth numerical value is obtained at the current time step, 2 simulation time steps have passed since the fourth numerical value was obtained by the first simulator. In order to enable the transmission line decoupling joint simulation algorithm of the second simulator to be effective, the delay length corresponding to the fourth value is adjusted to be the second delay length, and the second delay length is tau-2 delta T.
And S205, the second simulator carries out simulation calculation according to the third sequence and the fourth sequence to obtain a controlled source current simulation value of the second simulator at the current time step.
With continued reference to FIG. 9, the controlled source current simulation value of the second simulator at the current time step is Ihs (3).
S206, the second simulator writes the third numerical value into the second sending register.
Optionally, in the nth time step, the third value of the second sending register is the simulated voltage value and the simulated current value of the second simulator in the previous time step, relative to the (N + 1) th time step.
And in the current time step (Nth time step), the simulation voltage value and the simulation current value of the second simulator in the current time step are VIs (3) and are written into a second sending register, and the second simulator can send the VIs (3) to a first receiving register of the first simulator in the next time step (the (N + 1) th time step). And relative to the (N + 1) th time step, VIs (3) is a first value, and the simulation voltage value and the simulation current value of the second simulator in the previous time step are obtained.
It should be noted that the execution order of S201, S202, and S203 is not limited, and may be executed synchronously, and the execution order of S102, S103, and S104 is not limited, and may be executed synchronously.
Optionally, based on the above-mentioned multi-simulator joint simulation system, the transmission line decoupling transmitting-receiving end simulation topology schematic respectively constructed in the simulator type 2 (second simulator) and the simulator type 1 (first simulator) is shown in fig. 10. The delay length of the first sequence and the second sequence corresponding to the simulator type 1 is tau-delta T, the delay length of the third sequence corresponding to the simulator type 2 is tau, and the delay length of the fourth sequence is tau-2 delta T.
Referring to fig. 5, fig. 5 is a schematic diagram of an architecture of a multi-simulator co-simulation system according to an embodiment of the present application, and optionally, the multi-simulator co-simulation system may implement the multi-simulator co-simulation method described above.
The multi-simulator joint simulation system comprises a first simulator and a second simulator, wherein the first simulator comprises a first sending register and a first receiving register, and the second simulator comprises a second sending register and a second receiving register;
after the current time step starts, the second simulator is used for transmitting a first numerical value in the second sending register to a first receiving register of the first simulator, wherein the first numerical value is a simulation voltage numerical value and a simulation current numerical value of the second simulator in the previous time step, and the first numerical value is used for the first simulator to perform simulation calculation in the current time step;
if the first receiving register of the first simulator obtains the first numerical value, the first simulator is used for transmitting a second numerical value in the first sending register to a second receiving register of the second simulator, wherein the second numerical value is a simulation voltage numerical value and a simulation current numerical value of the first simulator in the last time step, and the second numerical value is used for simulation calculation of the second simulator in the next time step.
Optionally, after the current time step starts, if a first receiving register of the first simulator obtains a first value, the first simulator is further configured to add the first value to the first sequence, where a delay degree of the first sequence is a first delay degree, and a difference between the standard delay length and the first delay length is a simulation time step length;
the first simulator is also used for adding a second numerical value to a second sequence, wherein the delay degree of the second sequence is the first delay degree;
the first simulator is further used for carrying out simulation calculation according to the first sequence and the second sequence to obtain a first controlled source current, wherein the first controlled source current is a controlled source current simulation value of the first simulator at the current time step;
the first simulator is further used for obtaining a simulation voltage value and a simulation current value of the first simulator at the current time step according to the first controlled source current.
Optionally, the first emulator is further configured to write the emulated voltage value and emulated current value of the first emulator at the current time step to the first send register.
Optionally, after the current time step starts, the second simulator is further configured to obtain a third value according to a second controlled source current, where the third value is a simulation voltage value and a simulation current value of the second simulator at the current time step, and the second controlled source current is a controlled source current simulation value of the second simulator at the previous time step;
the second simulator is also used for adding a third numerical value to a third sequence, wherein the delay length of the third sequence is the standard delay length;
the second simulator is also used for adding a fourth value in the second receiving register to a fourth sequence, wherein the delay length of the fourth sequence is the second delay length, the difference between the standard delay length and the second delay length is two simulation time step lengths, and the fourth value is a simulation voltage value and a simulation current value of the first simulator in two time steps before the current time step;
the second simulator is also used for carrying out simulation calculation according to the third sequence and the fourth sequence so as to obtain a controlled source current simulation value of the second simulator at the current time step.
Optionally, the second emulator is further configured to write a third value to the second send register.
It should be noted that, the multi-simulator joint simulation system provided in the present embodiment may execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.
The above description is only a preferred embodiment of the present application and is not intended to limit 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 will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A multi-simulator co-simulation method is applied to a multi-simulator co-simulation system, the simulation system comprises a first simulator and a second simulator, the first simulator comprises a first sending register and a first receiving register, the second simulator comprises a second sending register and a second receiving register, and the method comprises the following steps:
after the current time step starts, the second simulator transmits a first value in a second sending register to a first receiving register of a first simulator, wherein the first value is a simulation voltage value and a simulation current value of the second simulator in the last time step, and the first value is used for simulation calculation of the first simulator in the current time step;
if the first receiving register of the first simulator obtains a first numerical value, the first simulator transmits a second numerical value in the first sending register to a second receiving register of the second simulator, wherein the second numerical value is a simulation voltage numerical value and a simulation current numerical value of the first simulator in the last time step, and the second numerical value is used for simulation calculation of the second simulator in the next time step.
2. The multi-simulator co-simulation method of claim 1, wherein the method further comprises:
after the current time step starts, if a first receiving register of the first simulator obtains the first numerical value, the first simulator adds the first numerical value to a first sequence, wherein the delay degree of the first sequence is a first delay length, and the difference between a standard delay length and the first delay length is a simulation time step length;
the first simulator adds the second numerical value to a second sequence, wherein the second sequence has the first degree of delay;
the first simulator carries out simulation calculation according to the first sequence and the second sequence to obtain a first controlled source current, wherein the first controlled source current is a controlled source current simulation value of the first simulator at the current time step;
and the first simulator acquires a simulation voltage value and a simulation current value of the first simulator at the current time step according to the first controlled source current.
3. The multi-simulator co-simulation method of claim 2, after the first simulator obtains the simulated voltage value and the simulated current value of the first simulator at the current time step from the first controlled source current, the method further comprising:
and the first simulator writes the simulation voltage value and the simulation current value of the first simulator at the current time step into the first sending register.
4. The multi-simulator co-simulation method of claim 1, wherein the method further comprises:
after the current time step starts, the second simulator obtains a third value according to a second controlled source current, wherein the third value is a simulation voltage value and a simulation current value of the second simulator in the current time step, and the second controlled source current is a controlled source current simulation value of the second simulator in the previous time step;
the second simulator adds the third numerical value to a third sequence, wherein the delay length of the third sequence is a standard delay length;
the second simulator adds a fourth value in a second receiving register to a fourth sequence, wherein the delay length of the fourth sequence is a second delay length, the difference between the standard delay length and the second delay length is two simulation time step lengths, and the fourth value is a simulation voltage value and a simulation current value of the first simulator in two time steps before the current time step;
and the second simulator carries out simulation calculation according to the third sequence and the fourth sequence so as to obtain a controlled source current simulation value of the second simulator at the current time step.
5. The multi-simulator co-simulation method of claim 4, wherein after the second simulator obtains a third value as a function of a second controlled source current, the method further comprises:
the second emulator writes the third value to the second send register.
6. A multi-simulator co-simulation system, wherein the simulation system comprises a first simulator and a second simulator, the first simulator comprises a first sending register and a first receiving register, the second simulator comprises a second sending register and a second receiving register;
after the current time step starts, the second simulator is used for transmitting a first value in a second sending register to a first receiving register of a first simulator, wherein the first value is a simulation voltage value and a simulation current value of the second simulator in the last time step, and the first value is used for simulation calculation of the first simulator in the current time step;
if the first receiving register of the first simulator obtains a first numerical value, the first simulator is used for transmitting a second numerical value in the first sending register to a second receiving register of the second simulator, wherein the second numerical value is a simulation voltage numerical value and a simulation current numerical value of the first simulator in the last time step, and the second numerical value is used for simulation calculation of the second simulator in the next time step.
7. The multi-simulator co-simulation system of claim 6,
after the current time step starts, if a first receiving register of the first simulator obtains the first numerical value, the first simulator is further configured to add the first numerical value to a first sequence, where a delay degree of the first sequence is a first delay length, and a difference between a standard delay length and the first delay length is a simulation time step length;
the first simulator is further configured to add the second value to a second sequence, wherein the second sequence has the first delay;
the first simulator is further configured to perform simulation calculation according to the first sequence and the second sequence to obtain a first controlled source current, where the first controlled source current is a simulated value of the controlled source current of the first simulator at the current time step;
the first simulator is further used for obtaining a simulation voltage value and a simulation current value of the first simulator at the current time step according to the first controlled source current.
8. The multi-simulator co-simulation system of claim 7,
the first simulator is also used for writing the simulation voltage value and the simulation current value of the first simulator in the current time step into the first sending register.
9. The multi-simulator co-simulation system of claim 6,
after the current time step starts, the second simulator is further configured to obtain a third value according to a second controlled source current, where the third value is a simulation voltage value and a simulation current value of the second simulator at the current time step, and the second controlled source current is a controlled source current simulation value of the second simulator at the previous time step;
the second simulator is further configured to add the third numerical value to a third sequence, wherein a delay length of the third sequence is a standard delay length;
the second simulator is further configured to add a fourth value in a second receiving register to a fourth sequence, where a delay length of the fourth sequence is a second delay length, a difference between the standard delay length and the second delay length is two simulation time step lengths, and the fourth value is a simulation voltage value and a simulation current value of the first simulator in two time steps before the current time step;
and the second simulator is also used for carrying out simulation calculation according to the third sequence and the fourth sequence so as to obtain a controlled source current simulation value of the second simulator at the current time step.
10. The multi-simulator co-simulation system of claim 9,
the second emulator is further configured to write the third value to the second send register.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110523454.7A CN113128073B (en) | 2021-05-13 | 2021-05-13 | Multi-simulator joint simulation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110523454.7A CN113128073B (en) | 2021-05-13 | 2021-05-13 | Multi-simulator joint simulation method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113128073A true CN113128073A (en) | 2021-07-16 |
| CN113128073B CN113128073B (en) | 2022-07-08 |
Family
ID=76781738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110523454.7A Active CN113128073B (en) | 2021-05-13 | 2021-05-13 | Multi-simulator joint simulation method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113128073B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110264436A1 (en) * | 2010-04-21 | 2011-10-27 | Vixs Systems, Inc. | Clock synchronization in a modular circuit emulation system |
| CN105930580A (en) * | 2016-04-19 | 2016-09-07 | 国家电网公司 | Time synchronization and data exchange apparatus and method used for combined simulation of power system and information communication system |
| CN106372373A (en) * | 2016-10-21 | 2017-02-01 | 中国南方电网有限责任公司电网技术研究中心 | Method and system for hybrid simulation |
| CN106529056A (en) * | 2016-11-17 | 2017-03-22 | 东南大学 | Master-slave power communication integrated simulation platform and simulation method |
| CN106951646A (en) * | 2017-03-23 | 2017-07-14 | 南方电网科学研究院有限责任公司 | Multi tate interface method and device in a kind of power system real-time simulation |
| CN107273618A (en) * | 2017-06-20 | 2017-10-20 | 北京京东尚科信息技术有限公司 | Method and apparatus for information transfer between simulation model |
| CN107590352A (en) * | 2017-10-12 | 2018-01-16 | 贵州电网有限责任公司电力科学研究院 | A kind of power network and power station union simulation platform communication interface and communication simulation method |
| CN108664751A (en) * | 2018-05-23 | 2018-10-16 | 全球能源互联网研究院有限公司 | A kind of emulation mode, emulation main control platform and the analogue system of more emulator collaborations |
| CN109033560A (en) * | 2018-07-05 | 2018-12-18 | 南方电网科学研究院有限责任公司 | A kind of emulation mode of power electronic circuit |
| CN109460575A (en) * | 2018-10-09 | 2019-03-12 | 武汉大学 | A kind of hybrid simulation interface system and interpolation algorithm based on Bei Jielong equivalence route |
| CN111783279A (en) * | 2020-06-08 | 2020-10-16 | 中国电力科学研究院有限公司 | Joint simulation method and device of system, electronic equipment and readable storage medium |
| CN112631144A (en) * | 2020-11-20 | 2021-04-09 | 国网山东省电力公司电力科学研究院 | Comprehensive energy real-time digital physical hybrid simulation system |
-
2021
- 2021-05-13 CN CN202110523454.7A patent/CN113128073B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110264436A1 (en) * | 2010-04-21 | 2011-10-27 | Vixs Systems, Inc. | Clock synchronization in a modular circuit emulation system |
| CN105930580A (en) * | 2016-04-19 | 2016-09-07 | 国家电网公司 | Time synchronization and data exchange apparatus and method used for combined simulation of power system and information communication system |
| CN106372373A (en) * | 2016-10-21 | 2017-02-01 | 中国南方电网有限责任公司电网技术研究中心 | Method and system for hybrid simulation |
| CN106529056A (en) * | 2016-11-17 | 2017-03-22 | 东南大学 | Master-slave power communication integrated simulation platform and simulation method |
| CN106951646A (en) * | 2017-03-23 | 2017-07-14 | 南方电网科学研究院有限责任公司 | Multi tate interface method and device in a kind of power system real-time simulation |
| CN107273618A (en) * | 2017-06-20 | 2017-10-20 | 北京京东尚科信息技术有限公司 | Method and apparatus for information transfer between simulation model |
| CN107590352A (en) * | 2017-10-12 | 2018-01-16 | 贵州电网有限责任公司电力科学研究院 | A kind of power network and power station union simulation platform communication interface and communication simulation method |
| CN108664751A (en) * | 2018-05-23 | 2018-10-16 | 全球能源互联网研究院有限公司 | A kind of emulation mode, emulation main control platform and the analogue system of more emulator collaborations |
| CN109033560A (en) * | 2018-07-05 | 2018-12-18 | 南方电网科学研究院有限责任公司 | A kind of emulation mode of power electronic circuit |
| CN109460575A (en) * | 2018-10-09 | 2019-03-12 | 武汉大学 | A kind of hybrid simulation interface system and interpolation algorithm based on Bei Jielong equivalence route |
| CN111783279A (en) * | 2020-06-08 | 2020-10-16 | 中国电力科学研究院有限公司 | Joint simulation method and device of system, electronic equipment and readable storage medium |
| CN112631144A (en) * | 2020-11-20 | 2021-04-09 | 国网山东省电力公司电力科学研究院 | Comprehensive energy real-time digital physical hybrid simulation system |
Non-Patent Citations (5)
| Title |
|---|
| QI WANG 等: "Architecture and Application of Real-time Co-simulation Platform for Cyber-physical Power System", 《THE 7TH ANNUAL IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION,CONTROL AND INTELLIGENT SYSTEMS》 * |
| SELIM CIRACI 等: "FNCS: A Framework for Power System and Communication Networks Co-Simulation", 《DEVS "14: PROCEEDINGS OF THE SYMPOSIUM ON THEORY OF MODELING & SIMULATION - DEVS INTEGRATIVE》 * |
| 柳勇军等: "电力系统机电暂态和电磁暂态混合仿真程序设计和实现", 《电力系统自动化》 * |
| 武志刚等: "采用混合时序的机电-电磁暂态解耦混合仿真", 《电气自动化》 * |
| 王智颖: "基于多FPGA的有源配电网可扩展实时仿真方法与系统设计", 《中国优秀博硕士学位论文全文数据库(博士)工程科技Ⅱ辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113128073B (en) | 2022-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Li et al. | Simulation of the smart grid communications: Challenges, techniques, and future trends | |
| CN111709107B (en) | Power network simulation method and system containing large-scale power electronic equipment | |
| Vanfretti et al. | SmarTS Lab—A laboratory for developing applications for WAMPAC Systems | |
| Cao et al. | Real‐time cyber− physical system co‐simulation testbed for microgrids control | |
| Naglic et al. | Synchro-measurement application development framework: An IEEE standard C37. 118.2-2011 supported MATLAB library | |
| Zhang et al. | Smart grid-oriented algorithm of data retrieval and processing based on crio | |
| Leite et al. | Development of a smart grid simulation environment, Part I: Project of the electrical devices simulator | |
| Nguyen et al. | Integration of SCADA services and power-hardware-in-the-loop technique in cross-infrastructure holistic tests of cyber-physical energy systems | |
| CN111221794A (en) | Multi-source data fusion method for wide-area measurement control system of power distribution network | |
| CN113128073B (en) | Multi-simulator joint simulation method and system | |
| Wang et al. | Multi‐objective optimisation method of power grid partitioning for wide‐area backup protection | |
| CN113836675B (en) | Emulator simulation system, method and emulator | |
| Singh et al. | Distributed power system simulation using cyber-physical testbed federation: Architecture, modeling, and evaluation | |
| Bai et al. | Automatic modeling and optimization for the digital twin of a regional multi-energy system | |
| CN103428052A (en) | Power system simulation system, communication system simulation system and joint simulation engine and system | |
| Prokhorov et al. | Hardware-in-the-loop testbed based on hybrid real time simulator | |
| CN108984847B (en) | Real-time digital hybrid simulation interface method based on frequency division impedance compensation | |
| Wang et al. | Architecture and application of real-time co-simulation platform for cyber-physical power system | |
| CN103760775A (en) | Merging unit simulator | |
| CN111783279A (en) | Joint simulation method and device of system, electronic equipment and readable storage medium | |
| Erdmann et al. | A new communication concept for efficient configuration of energy systems integration co-simulation | |
| El Hariri et al. | A Network-in-the-Loop Framework to Analyze Cyber and Physical Information Flow in Smart Grids | |
| CN113705138A (en) | Online safety assessment method for large-scale alternating current and direct current power grid | |
| CN102946109A (en) | Wide area damping control system of electric system based on event trigger | |
| Duan et al. | RTCE: Real-time co-emulation framework for EMT-based power system and communication network on FPGA-MPSoC hardware architecture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |