CN115329582A - Active power distribution network multi-real-time simulator interconnection synchronization system and method - Google Patents
Active power distribution network multi-real-time simulator interconnection synchronization system and method Download PDFInfo
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Abstract
An active power distribution network multi-real-time simulator interconnection synchronization system and method includes: a plurality of real-time simulators in the simulation management workstation and the active power distribution network; all real-time simulators are interconnected through an optical fiber network card to form a real-time simulator array; the simulation management workstation divides the real-time simulator into a master machine side subnet or a slave machine side subnet by using a node splitting method according to the topological structure of the active power distribution network; when the time scales are consistent, the network voltages of the sub-networks on the master side and the slave side are added to obtain the network voltage of the active power distribution network; the real-time simulator in the host side subnet carries out slow network simulation based on the simulation task and outputs network voltage; performing time synchronization and data interaction on a real-time simulator in a slave side subnet, performing rapid network simulation based on a simulation task, and outputting network voltage; performing time setting and data interaction in the simulation process; the interconnection of a plurality of real-time simulators is realized through the optical fiber network card, a real-time simulator array is constructed, multi-speed parallel calculation is realized, and the simulation scale and the simulation speed are improved.
Description
Technical Field
The invention relates to the field of power distribution network simulation, in particular to an active power distribution network multi-real-time simulator interconnection synchronization system and method.
Background
The complex active power distribution network has the advantages of large node scale, multiple equipment types, complex transient process, large calculated amount and high complexity during the simulation of typical transient processes such as failure, power restoration, electric energy quality, grid connection and disconnection of a distributed power supply and the like, and huge calculation resource demand for solving in the simulation.
At present, the solution of small-step real-time simulation for large-scale complex active power distribution networks mainly includes 2 solutions: the first scheme is that the simulation scale is influenced by simulation step length and calculation resources, the high-frequency part content in a complex power distribution network detailed model is ignored by averaging equivalence or equivalence of the complex power distribution network detailed model, the model is simplified, reduced in dimension and reduced in order, and the simulation is carried out by adopting a method for increasing the step length, so that the real-time simulation scale can be increased under certain calculation resources; the second scheme is that the complex power distribution network is subjected to partition decoupling, and the power distribution networks in different partitions are placed in different CPUs or FPGA cores of the same simulator board card for calculation, so that the scale of small-step real-time simulation of the complex active power distribution network is expanded through parallel calculation. The first scheme essentially realizes the improvement of the real-time simulation scale of the complex active power distribution network by reducing the calculation amount and the calculation complexity, and has the defect that the simulation precision is correspondingly reduced; the second scheme is to increase simulation calculation resources and parallel calculation to realize the improvement of simulation scale, and has the advantage of not reducing simulation precision. Therefore, in order to ensure the simulation precision, the second scheme for the small-step simulation of the complex active power distribution network is a research hotspot at present.
However, the number of cores of CPUs or FPGAs on a small-step-size real-time simulator of a complex active power distribution network has an upper limit, and when the scale of the complex active power distribution network is further enlarged, an independent simulator has a bottleneck through core-division parallel computation, and cannot meet the real-time simulation requirement. In order to meet the requirement of large-scale real-time simulation, a solution of multi-machine parallel synchronous calculation is an important way for realizing small-step real-time simulation of a large-scale complex active power distribution network, and the current scheme is still blank in the small-step real-time simulation of the large-scale complex active power distribution network.
Disclosure of Invention
In order to solve the problem of how to improve the simulation scale and the simulation precision in the prior art, the invention provides an active power distribution network multi-real-time simulator interconnection synchronization system, which comprises the following components: a plurality of real-time simulation machines in the simulation management workstation and the active power distribution network; all real-time simulators are interconnected through an optical network card to form a real-time simulator array;
the simulation management workstation is used for dividing all real-time simulators into a master side subnet or a slave side subnet by using a node splitting method according to the active power distribution network topology structure; the network voltage acquisition module is also used for adding the network voltage acquired from the host side sub-network and the network voltage acquired from the slave side sub-network to obtain the network voltage of the active power distribution network under the condition that the time scales are consistent;
the real-time simulator in the host side subnet is used for simulating a slow network based on a simulation task of the host side subnet and outputting the network voltage of the host side subnet; the simulation system is also used as a master controller to carry out time synchronization and data interaction with each real-time simulation machine in the slave side subnet in the simulation process;
each real-time simulator in the slave side subnet is used for carrying out simulation and predictive interpolation of the fast network based on the simulation task of the slave side subnet and outputting the network voltage of the slave side subnet; and the system is also used for performing time synchronization and data interaction with the real-time simulation machine in the host side subnet as each node machine in the simulation process.
Preferably, the real-time emulator in the host subnet includes:
the master synchronous simulation module is used for setting a simulation step length to simulate a slow network, synchronously simulating the slow network with each real-time simulator in the slave side subnet and outputting the network voltage of the master side subnet;
and the master timing module is used for regularly calibrating the master control machine by using Beidou time service, and the calibrated master control machine sends data to each node machine and controls each node machine to calibrate a clock and receive the data sent by each node machine.
Preferably, the master synchronization simulation module is specifically configured to:
the step length setting submodule is used for setting the simulation step length of the host side subnet to be delta T;
the Jacobian matrix calculation submodule is used for calculating the correction quantity of the host side sub-network in one step length based on the network equation function, the current, the voltage and the integral step length of the power distribution system and combining the Jacobian matrix;
the network voltage calculation submodule is used for carrying out iterative solution on the correction quantity of the host side subnet to obtain the correction state quantity of the host side subnet and the network voltage of the host side subnet;
and the convergence judgment submodule is used for judging whether the network voltage is converged or not, outputting the network voltage as a host side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta T is reduced.
Preferably, the jacobian matrix calculation submodule is specifically configured to:
initializing simulation parameters of a host side subnet at a time t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system, and obtaining a state variable residual error of the subnet at the host side;
and calculating the correction quantity of the host side subnet based on the state variable residual of the host side subnet and the Jacobian matrix.
Preferably, each of the real-time simulation machines in the slave-side subnet includes:
the slave synchronous simulation module is used for setting simulation step length to carry out rapid network simulation, carrying out synchronous simulation with a real-time simulator in the subnet at the host side and outputting network voltage of the subnet at the slave side;
and the slave time synchronization module is used for receiving the data sent by the master control machine, carrying out clock calibration and sending the data to the master control machine.
Preferably, the slave synchronization simulation module includes:
the step length setting submodule is used for setting the simulation step length of the slave side subnet to be delta t;
the prediction interpolation submodule is used for calculating to obtain an output quantity prediction value of the master side subnet in each step length of the slave side subnet by adopting an iterative interpolation method and a Lagrange interpolation method based on the received simulation data;
the Jacobian matrix calculation submodule is used for calculating the correction quantity of the slave side sub-network in one step based on a power distribution system network equation function, current, voltage, integral step length and the output quantity predicted value of the master side sub-network in each step length of the slave side sub-network by combining a Jacobian matrix;
the network voltage calculation submodule is used for carrying out iterative solution on the correction quantity of the slave machine side sub-network to obtain the correction state quantity of the slave machine side sub-network and the network voltage of the slave machine side sub-network;
the convergence judgment submodule is used for judging whether the network voltage is converged or not, outputting the network voltage as a slave side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta t is reduced;
and the step length judgment submodule is used for judging whether the simulation step length delta T of the master side subnet is equal to k times of the simulation step length delta T of the slave side subnet, if the delta T = k delta T, a slave side simulation result is generated, and if the delta T = k +1, the result is returned to the predictive interpolation submodule.
Preferably, the prediction interpolation sub-module is specifically configured to:
based on the received simulation data of the host side subnet at the T-delta T moment and the T moment, an iterative interpolation method is adopted to calculate to obtain an output quantity predicted value of the host side subnet at the T + delta T moment;
and calculating the output quantity predicted value of the host side subnet in each step of the slave side subnet by adopting a Lagrange interpolation method based on the output quantity predicted value of the host side subnet at the T + delta T moment.
Preferably, the jacobian matrix calculation submodule is specifically configured to:
initializing simulation parameters of a slave side subnet at a moment t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system and the output quantity predicted value of the master machine side sub-network in each step length of the slave machine side sub-network, and obtaining a state variable residual error of the slave machine side sub-network;
and calculating the correction quantity of the slave side subnet based on the state variable residual of the slave side subnet and the Jacobian matrix.
Based on the same inventive concept, the invention also provides an interconnection synchronization method of the multiple real-time simulators of the active power distribution network, which comprises the following steps:
performing simulation of a slow network based on a simulation task of the host side subnet, and outputting a network voltage of the host side subnet;
and in the simulation process, the master control machine is used as a master control machine to carry out time synchronization and data interaction with each real-time simulation machine in the slave machine side subnet.
Preferably, the simulating task based on the host side subnet performs slow network simulation, and outputs the network voltage of the host side subnet, including:
setting the simulation step length of the host side subnet as delta T;
calculating the correction quantity of the host side sub-network based on a distribution system network equation function, current, voltage and integral step length in one step length by combining a Jacobian matrix;
iteratively solving the correction quantity of the host side subnet to obtain the correction state quantity of the host side subnet and the network voltage of the host side subnet;
and judging whether the network voltage is converged, outputting the network voltage as a host side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta T is reduced.
Preferably, the calculating the correction amount of the host-side subnet based on the network equation function, the current, the voltage and the integration step of the power distribution system in one step and the jacobian matrix includes:
initializing simulation parameters of a host side subnet at a time t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system, and obtaining a state variable residual error of the subnet at the host side;
and calculating the correction quantity of the host side subnet based on the state variable residual of the host side subnet and the Jacobian matrix.
Preferably, the performing time synchronization and data interaction with each real-time simulation machine in the slave side subnet as the master controller in the simulation process includes:
and the master control machine is calibrated regularly by using Beidou time service, and the calibrated master control machine sends data to each node machine, controls each node machine to calibrate a clock and receives the data sent by each node machine.
On the other hand, the invention also provides an interconnection synchronization method of the multiple real-time simulators of the active power distribution network, which comprises the following steps:
performing simulation and predictive interpolation of the fast network based on the simulation task of the slave side sub-network, and outputting the network voltage of the slave side sub-network;
and in the simulation process, the real-time simulation machine serving as each node machine and the subnet on the host side performs time synchronization and data interaction.
Preferably, the performing the simulation of the fast network based on the simulation task of the slave-side subnet, and outputting the network voltage of the slave-side subnet includes:
setting the simulation step length of the slave side subnet as delta t;
calculating to obtain an output quantity predicted value of the master side subnet in each step of the slave side subnet by adopting an iterative interpolation method and a Lagrange interpolation method based on the received simulation data;
calculating the correction quantity of the slave side sub-network by combining a Jacobian matrix based on a power distribution system network equation function, current, voltage, integral step length and the output quantity predicted value of the master side sub-network in each step length of the slave side sub-network in one step length;
iteratively solving the correction quantity of the slave machine side sub-network to obtain the correction state quantity of the slave machine side sub-network and the network voltage of the slave machine side sub-network;
judging whether the network voltage is converged, outputting the network voltage as a slave side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta t is reduced;
and judging whether the simulation step size delta T of the master side subnet is equal to k times of the simulation step size delta T of the slave side subnet, if the simulation step size delta T = k delta T, generating a slave side simulation result, and if the simulation step size delta T = k +1, returning to the prediction interpolation submodule.
Preferably, the calculating, based on the received simulation data, an output quantity predicted value of the master side subnet in each step of the slave side subnet by using an iterative interpolation method and a lagrangian interpolation method includes:
based on the received simulation data of the host side subnet at the T-delta T moment and the T moment, calculating by adopting an iterative interpolation method to obtain an output quantity predicted value of the host side subnet at the T + delta T moment;
and calculating the output quantity predicted value of the host side subnet in each step of the slave side subnet by adopting a Lagrange interpolation method based on the output quantity predicted value of the host side subnet at the T + delta T moment.
Preferably, the correction amount of the slave side sub-network is obtained by combining a jacobian matrix calculation based on the power distribution system network equation function, the current, the voltage, the integral step length and the output quantity predicted value of the master side sub-network in each step length of the slave side sub-network in one step length, and the correction amount comprises;
initializing simulation parameters of a slave side subnet at a moment t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system and the output quantity predicted value of the master machine side sub-network in each step length of the slave machine side sub-network, and obtaining a state variable residual error of the slave machine side sub-network;
and calculating the correction quantity of the slave side subnet based on the state variable residual of the slave side subnet and the Jacobian matrix.
Preferably, the performing time synchronization and data interaction with the real-time simulation machine in the host-side subnet as each node machine in the simulation process includes:
and receiving data sent by the master control machine, performing clock calibration, and sending data to the master control machine.
On the other hand, the invention also provides an interconnection synchronization method of the multiple real-time simulators of the active power distribution network, which comprises the following steps:
the simulation management workstation divides all real-time simulators into a master side subnet or a slave side subnet by using a node splitting method according to the active power distribution network topology structure;
and under the condition that the time scales are consistent, adding the network voltage acquired from the host side sub-network and the network voltage acquired from the slave side sub-network to obtain the network voltage of the active power distribution network.
In another aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed, implements the above-mentioned system or method for synchronizing interconnection of multiple real-time simulators in an active power distribution network.
Compared with the prior art, the invention has the beneficial effects that:
the utility model provides an interconnection synchronization system of many real-time emulators of active power distribution network, includes: a plurality of real-time simulation machines in the simulation management workstation and the active power distribution network; all real-time simulators are interconnected through an optical network card to form a real-time simulator array; the invention realizes the interconnection of a plurality of real-time simulators through the optical fiber network card, and constructs a complex active power distribution network multi-real-time simulator array system; according to the simulation management workstation, all real-time simulators are divided into a master machine side subnet or a slave machine side subnet by using a node splitting method according to an active power distribution network topological structure; according to the invention, the simulation of the slow network and the simulation of the fast network are combined under the condition that the time marks are consistent through the real-time simulation machine in the master side subnet and each real-time simulation machine in the slave side subnet, so that the multi-rate parallel computation of a large-scale complex active power distribution network is realized, and the simulation scale and the simulation speed of the complex active power distribution network are greatly improved;
the invention also realizes the partition decoupling of the complex active power distribution network by a node splitting method and a prediction interpolation method.
Drawings
Fig. 1 is a schematic diagram of an overall structure of an active power distribution network multi-real-time simulator interconnection synchronization system according to the present invention;
FIG. 2 is a diagram of an active power distribution network simulator array according to the present invention;
FIG. 3 is a step-size synchronous simulation flow chart of the active power distribution network simulator array of the present invention;
FIG. 4 is a schematic diagram of an active power distribution network simulator array timing method according to the present invention;
FIG. 5 is a schematic diagram of the multi-machine step length synchronization method of the active power distribution network simulator array of the present invention;
FIG. 6 (a) is a circuit diagram of a host-side equivalent model of the present invention;
fig. 6 (b) is a circuit diagram of a slave equivalent model according to the present invention.
Detailed Description
The invention provides a method and a system for interconnecting and synchronizing multiple real-time simulators of a complex active power distribution network, wherein firstly, an active power distribution network real-time simulator array based on an optical network card is constructed; secondly, a time synchronization method among multiple real-time simulations in the simulation array is provided; finally, a step length synchronous parallel simulation method of the complex active power distribution network based on the real-time simulator array is provided, so that the rapid simulation of the large-scale complex active power distribution network is realized.
The invention mainly aims to realize small-step real-time simulation of a large-scale complex power distribution network and high-precision simulation of typical transient processes of a high-proportion distributed power supply and a highly-power-electronized complex active power distribution network, such as typical scenes of single-phase earth faults, short circuits, voltage sag, grid-connection and grid-disconnection of the distributed power supply, voltage fluctuation, loop-opening and the like. A simulation array is formed by a plurality of simulation machines, so that rapid simulation is realized on the premise of not reducing simulation precision. Therefore, support is provided for the simulation calculation of the complex active power distribution network. For a better understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1:
an active power distribution network multi-real-time simulator interconnection synchronization system is shown in fig. 1 and comprises: a plurality of real-time simulation machines in the simulation management workstation and the active power distribution network; all real-time simulators are interconnected through an optical fiber network card to form a real-time simulator array;
the simulation management workstation is used for dividing all real-time simulators into a master side subnet or a slave side subnet by using a node splitting method according to the active power distribution network topological structure; the network voltage acquisition module is also used for adding the network voltage acquired from the host side sub-network and the network voltage acquired from the slave side sub-network to obtain the network voltage of the active power distribution network under the condition that the time scales are consistent;
the real-time simulator in the host side subnet is used for simulating a slow network based on a simulation task of the host side subnet and outputting the network voltage of the host side subnet; the simulation system is also used as a master controller to carry out time synchronization and data interaction with each real-time simulation machine in the slave side subnet in the simulation process;
each real-time simulator in the slave side subnet is used for carrying out simulation and predictive interpolation of the fast network based on the simulation task of the slave side subnet and outputting the network voltage of the slave side subnet; and the system is also used for performing time synchronization and data interaction with the real-time simulation machine in the host side subnet as each node machine in the simulation process.
Constructing a real-time simulator array of the complex active power distribution network:
as shown in fig. 2, the complex active power distribution network real-time simulator array adopts a special optical fiber communication data card and a multi-machine interconnection real-time communication and data processing module, so that models running computers of different nodes can be synchronously simulated, uniformly managed, uniformly debugged and uniformly monitored. The multi-machine parallel module of the real-time simulator array of the complex active power distribution network consists of the following four parts: the system comprises a special optical fiber data card, a model calculation synchronization module, a data exchange module among nodes and a unified management monitoring module. The multi-machine interconnection adopts a communication mode of ring connection.
The dotted line network is a scheduling network composed of ethernet and is used for monitoring and controlling operations such as model operation, data monitoring, dynamic parameter adjustment and the like on each simulator. The linear network is a ring real-time data exchange network consisting of optical network cards, and the parallel computing step supports 50 microsecond synchronous computing.
The model management and monitoring software can be deployed in a simulation monitoring workstation and a simulation management workstation shown in fig. 2, and can perform unified scheduling management on the node machines on the scheduling network. The main functions include: model unified modeling debugging, compiling and computing unit deployment; model variable and curve monitoring; dynamically switching the real-time curves and dynamically adjusting parameters; storing a real-time curve; the model is operated in multiple steps; customizing a user monitoring interface; real-time Ethernet is supported; an integrated real-time data scheduling support system.
Real-time emulator in host side subnet includes:
the master synchronous simulation module is used for setting simulation step length to simulate a slow network, synchronously simulating the master synchronous simulation module and each real-time simulator in the slave side subnet, and outputting the network voltage of the master side subnet;
and the master timing module is used for regularly calibrating the master control machine by using Beidou time service, and the calibrated master control machine sends data to each node machine and controls each node machine to calibrate a clock and receive the data sent by each node machine.
The master synchronization simulation module is specifically configured to:
the step length setting submodule is used for setting the simulation step length of the host side subnet to be delta T;
the Jacobian matrix calculation submodule is used for calculating the correction quantity of the host side sub-network in one step length based on the network equation function, the current, the voltage and the integral step length of the power distribution system and combining the Jacobian matrix;
the network voltage calculation submodule is used for carrying out iterative solution on the correction quantity of the host side subnet to obtain the correction state quantity of the host side subnet and the network voltage of the host side subnet;
and the convergence judgment submodule is used for judging whether the network voltage is converged or not, outputting the network voltage as a host side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta T is reduced.
The jacobian matrix calculation submodule is specifically used for:
initializing simulation parameters of a host side subnet at a time t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system, and obtaining a state variable residual error of a host side sub-network;
and calculating the correction quantity of the host side subnet based on the state variable residual of the host side subnet and the Jacobian matrix.
Each real-time emulator in the slave-side subnet includes:
the slave synchronous simulation module is used for setting simulation step length to carry out rapid network simulation, carrying out synchronous simulation with a real-time simulator in the subnet at the host side and outputting network voltage of the subnet at the slave side;
and the slave time synchronization module is used for receiving the data sent by the master control machine, carrying out clock calibration and sending the data to the master control machine.
A slave synchronization simulation module comprising:
the step length setting submodule is used for setting the simulation step length of the slave side subnet to be delta t;
the prediction interpolation submodule is used for calculating to obtain an output quantity prediction value of the master side subnet in each step length of the slave side subnet by adopting an iterative interpolation method and a Lagrange interpolation method based on the received simulation data;
the Jacobian matrix calculation submodule is used for calculating the correction quantity of the slave side sub-network in one step based on a power distribution system network equation function, current, voltage, integral step length and the output quantity predicted value of the master side sub-network in each step length of the slave side sub-network by combining a Jacobian matrix;
the network voltage calculation submodule is used for carrying out iterative solution on the correction quantity of the slave machine side sub-network to obtain the correction state quantity of the slave machine side sub-network and the network voltage of the slave machine side sub-network;
the convergence judgment submodule is used for judging whether the network voltage is converged or not, outputting the network voltage as a slave side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta t is reduced;
and the step length judgment submodule is used for judging whether the simulation step length delta T of the master side subnet is equal to k times of the simulation step length delta T of the slave side subnet, if the delta T = k delta T, a slave side simulation result is generated, and if the delta T = k +1, the result is returned to the predictive interpolation submodule.
A prediction interpolation sub-module, specifically configured to:
based on the received simulation data of the host side subnet at the T-delta T moment and the T moment, calculating by adopting an iterative interpolation method to obtain an output quantity predicted value of the host side subnet at the T + delta T moment;
and calculating the output quantity predicted value of the host side subnet in each step of the slave side subnet by adopting a Lagrange interpolation method based on the output quantity predicted value of the host side subnet at the T + delta T moment.
The jacobian matrix calculation submodule is specifically used for:
initializing simulation parameters of a slave side subnet at a moment t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system and the output quantity predicted value of the master machine side sub-network in each step length of the slave machine side sub-network, and obtaining a state variable residual error of the slave machine side sub-network;
and calculating the correction quantity of the slave side subnet based on the state variable residual of the slave side subnet and the Jacobian matrix.
Example 2:
an interconnection synchronization method for multiple real-time simulators in an active power distribution network, as shown in fig. 3, includes:
and 2, performing time synchronization and data interaction with each real-time simulation machine in the slave side subnet as a master control machine in the simulation process.
In step 1, the simulating task based on the host side subnet performs the simulation of the slow network, and outputs the network voltage of the host side subnet, including:
the invention further provides a step synchronous parallel simulation method for the active power distribution network based on the multi-simulation real-time simulation array of the complex active power distribution network, which comprises the following steps:
step 1: entering a host side simulation program;
step 2: setting a simulation step length delta T of a host side simulation model; setting a principle that a simulation step length delta T of a host side is k times of a simulation step length delta T of a slave side, wherein k is a positive integer;
step 3: simulation parameter U for initializing host side subnet t moment m (t)；
Step 4: time synchronization is carried out between the host and the slave, and time-synchronization simulation data of the slave are received;
step 5: judging whether time synchronization and interaction between the host and the slave are finished or not, and if not, turning to Step 4; if the process is finished, the process goes to Step 6;
step 6: calculating a Jacobian matrix:
in the formula, A G ,B G ,C G Y is a block Jacobian matrix; f is a network equation function of the power distribution system; i represents a current; u represents a voltage; h is the integration step.
Step 7: calculating the State variable residual F m (t+ΔT),G m (t+ΔT)；
Step 8: calculating correction amount DeltaX m (t+ΔT),ΔU m (T + Δ T), the formula is as follows:
wherein A, B, C, Y + Y D Representing the respective block matrices of the jacobian matrix, Y D Each nonlinear element in the system is shown to be incorporated into the admittance matrix portion of the system.
Step 9: calculating a corrected state quantity X m (T + Δ T), the formula is as follows:
X m (t+ΔT)＝ΔX m (t+ΔT)+X m (t)
step 10: calculating and solving network voltage U m (T + Δ T), the formula is as follows:
U m (t+ΔT)＝ΔU m (t+ΔT)+U m (t)
step 11: judging whether convergence occurs or not, and if not, switching to Step 7; if the convergence is achieved, the Step 12 is carried out;
step 12: generating a host side simulation result U m (t+ΔT)。
In step 2, as a master controller, performing time synchronization and data interaction with each real-time simulation machine in the slave side subnet in the simulation process, including:
a multi-machine time synchronization method in a complex active power distribution network real-time simulator array comprises the following steps:
a synchronization method for multiple real-time simulators of an array of complex active power distribution networks is shown in figure 4, clock synchronization among the multiple simulators is also called 'clock alignment', all node machines and a Beidou time service clock are aligned, the most intuitive method is clock alignment, a main control machine can be used for clock alignment, the node machine clocks are all aligned with a supervisor clock, and a reference time scale of the supervisor is calibrated by a GPS.
The main control node controls the measurement of each real-time integral step length, sends data to the node machines participating in calculation and starts a calculation command of each step, after each step of calculation of each node machine is completed, the data are returned to the main control node machine, and the main control node machine measures the real-time step length and continuously circulates until the simulation is terminated. The clock synchronization of the simulation array can be realized by periodically calibrating the management machine by using Beidou time service, and then calibrating the clock of each node machine by the management machine. The step length metering precision of the main control node computer in the calculation is determined by the clock measuring precision, namely the reference crystal oscillator of the computer, is generally less than 1 mu s, and can meet the requirement of real-time simulation calculation.
Example 3:
a method for synchronizing interconnection of multiple real-time simulators of an active power distribution network comprises the following steps:
and 2, performing time synchronization and data interaction with the real-time simulator in the host side subnet as each node machine in the simulation process.
In step 1, performing simulation and predictive interpolation of the fast network based on the simulation task of the slave side subnet, and outputting the network voltage of the slave side subnet, including:
step 1: entering a slave machine side simulation program;
step 2: setting a slave machine side simulation step length delta t;
step 3: initializing the parameter U of the t step s (t)；
Step 4: receiving simulation data of starting a host and T, wherein the step length delta T of a host side simulation program is k times of the simulation step length delta T of a slave side;
step 5: judging whether time synchronization and interaction between the host and the slave are finished or not, and if not, turning to Step 4; if the process is finished, the process goes to Step 5;
step 6: in the prediction interpolation, since the step size Δ T of the master side simulation program is k times of the slave side simulation step size Δ T, it is necessary to interpolate the simulation data of the master side for each slave side simulation step size Δ T, and the present invention provides an improved linear interpolation algorithm, as shown in fig. 5, the specific steps are as follows:
firstly, based on the received simulation data U of the host side T-delta T and T moment m (T- Δ T) and U m (t); output quantity U of host side at time T + delta T by adopting iterative interpolation m (T + Δ T) and the prediction formula is as follows:
second, combine the predicted results U m (T + Δ T), predicting the output quantity of the small step Δ T of the master side at each slave side from T to T + Δ T by using a lagrangian interpolation method, namely:
step 7: calculating a Jacobian matrix;
step 8: calculating the State variable residual F s (t+kΔt),G s (t+kΔt)；
Step 9: calculating a correction amount DeltaX s (t+kΔt),ΔU s (t+kΔt)；
Step 10: calculating a corrected state quantity X s (t+(k+1)Δt)；
Step 11: calculating and solving network voltage U s (t+(k+1)Δt)；
Step 12: judging whether convergence occurs or not, and if not, switching to Step 8; if the convergence is achieved, the Step 13 is carried out;
step 13: determine k Δ T = Δ T? If not, k = k +1, and Step 6 is carried out; if yes, turning to Step 14;
step 14: generating a host side simulation result U s (t+ΔT)。
Example 4:
an active power distribution network multi-real-time simulator interconnection synchronization method comprises the following steps:
and 2, adding the network voltage acquired from the master side subnet and the network voltage acquired from the slave side subnet under the condition of consistent time scale to obtain the network voltage of the active power distribution network.
In step 1, the simulation management workstation divides all real-time simulators into a master side subnet or a slave side subnet by using a node splitting method according to the topology structure of the active power distribution network, and the method comprises the following steps:
step 1: starting;
step 2: inputting a topological structure and parameters of an active power distribution network, wherein the topological structure and parameters comprise a wiring mode of a network, static parameters of equipment elements such as a distributed power supply, a transformer and a line, and dynamic parameters such as a switching state and a load;
step 3: and partitioning is performed based on a node splitting method according to the network scale of the active power distribution network. The invention provides a network equivalent partition model based on different interface electric quantities. The core of the method is to set a split node, divide an active power distribution network into two parts, respectively correspond to the subnets on two sides, establish virtual electrical connection for the nodes on two sides by imaginary one conductor, and use the current flowing on the virtual conductor as the injection current of the subnets on two sides at the split node. And the sub-network on the slave side is equivalent to a controlled current source by using a Norton equivalent model on the master side, and the sub-network on the slave side is equivalent to a controlled voltage source by using a Thevenin equivalent model on the slave side.
Fig. 6 (a) shows a host equivalent model using an injection current as a coordinated variable. Wherein i s The current is injected equivalently for the outer net at the split node. The master-side subnet external characteristics are expressed as follows:
fig. 6 (b) is a slave-side subnet equivalent model using the node voltage as a coordinated variable. Wherein u is s For outer nets at split nodes, etcThe effective node voltage. The slave-side subnet outer characteristics are expressed as follows:
in step 2, adding the network voltage obtained from the master-side subnet and the network voltage obtained from the slave-side subnet under the condition of consistent time scale to obtain the network voltage of the active power distribution network, including:
step 1: in the simulation monitoring work, a host simulation result U at the time of T + delta T is received simultaneously m (T + DeltaT) and slave simulation result U s (T + delta T) so as to form a complete simulation result of the active power distribution network at the T + delta T moment;
step 2: judging whether the simulation time reaches a set value, if not, T = T + Δ T, and the host and the slave respectively switch to the embodiment 2 and the embodiment 3 to continue simulation; if the value is reached, the Step 3 is carried out;
step 3: and outputting a simulation result.
Step 4: and (6) ending.
Meanwhile, it should be noted that, because the host and the slave perform parallel computation, embodiments 2 and 3 perform parallel and simultaneous computation.
According to the invention, interconnection among a plurality of real-time simulators is realized through the optical fiber network card, a complex active power distribution network multi-real-time simulator array system is constructed, synchronous calculation among the multiple simulators of 50 microseconds is supported, and time synchronization error is reduced to be within 1 microsecond through Beidou time service and a soft synchronization mechanism among the multiple simulators; the step length synchronous parallel simulation method for the complex active power distribution network based on the real-time simulator array is provided, the partition decoupling of the complex active power distribution network is realized through a node splitting method and a prediction interpolation method, the multi-step length coordinated simulation among multiple simulators is realized, the multi-rate parallel calculation of the large-scale complex active power distribution network is realized, and the simulation scale and the simulation speed of the complex active power distribution network are greatly improved.
Example 5:
based on the same inventive concept, in yet another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a Memory device in a computer device and is used for storing programs and data. It is understood that the computer readable storage medium herein can include both built-in storage medium in the computer device and, of course, extended storage medium supported by the computer device. The computer-readable storage medium provides a storage space storing an operating system of the terminal. Also, one or more instructions, which may be one or more computer programs (including program code), are stored in the memory space and are adapted to be loaded and executed by the processor. It should be noted that the computer-readable storage medium may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory. One or more instructions stored in the computer-readable storage medium can be loaded and executed by the processor to implement the corresponding steps of the interconnection and synchronization system of multiple real-time simulators for the active power distribution network in the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention are included in the scope of the claims of the present invention.
Claims (19)
1. The utility model provides an interconnection synchronization system of many real-time emulators of active power distribution network which characterized in that includes: a plurality of real-time simulation machines in the simulation management workstation and the active power distribution network; all real-time simulators are interconnected through an optical fiber network card to form a real-time simulator array;
the simulation management workstation is used for dividing all real-time simulators into a master side subnet or a slave side subnet by using a node splitting method according to the active power distribution network topology structure; the network voltage acquisition module is also used for adding the network voltage acquired from the host side sub-network and the network voltage acquired from the slave side sub-network to obtain the network voltage of the active power distribution network under the condition that the time scales are consistent;
the real-time simulator in the host side subnet is used for simulating a slow network based on a simulation task of the host side subnet and outputting the network voltage of the host side subnet; the simulation system is also used as a master controller to carry out time synchronization and data interaction with each real-time simulation machine in the slave side subnet in the simulation process;
each real-time simulator in the slave side subnet is used for carrying out simulation and predictive interpolation of the fast network based on the simulation task of the slave side subnet and outputting the network voltage of the slave side subnet; and the system is also used for performing time synchronization and data interaction with the real-time simulation machine in the host side subnet as each node machine in the simulation process.
2. The system of claim 1, wherein the real-time emulator in the host-side subnet comprises:
the master synchronous simulation module is used for setting a simulation step length to simulate a slow network, synchronously simulating the slow network with each real-time simulator in the slave side subnet and outputting the network voltage of the master side subnet;
and the master timing module is used for regularly calibrating the master control machine by using Beidou time service, and the calibrated master control machine sends data to each node machine and controls each node machine to calibrate a clock and receive the data sent by each node machine.
3. The system of claim 2, wherein the master synchronization simulation module is specifically configured to:
the step length setting submodule is used for setting the simulation step length of the host side subnet to be delta T;
the Jacobian matrix calculation submodule is used for calculating the correction quantity of the host side sub-network in one step length based on the network equation function, the current, the voltage and the integral step length of the power distribution system and combining the Jacobian matrix;
the network voltage calculation submodule is used for carrying out iterative solution on the correction quantity of the host side subnet to obtain the correction state quantity of the host side subnet and the network voltage of the host side subnet;
and the convergence judgment submodule is used for judging whether the network voltage is converged or not, outputting the network voltage as a host side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta T is reduced.
4. The system of claim 2, wherein the jacobian computation submodule is configured to:
initializing simulation parameters of a host side subnet at a time t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system, and obtaining a state variable residual error of the subnet at the host side;
and calculating the correction quantity of the host side subnet based on the state variable residual of the host side subnet and the Jacobian matrix.
5. The system of claim 1, wherein each real-time simulation machine in the slave-side subnet comprises:
the slave synchronous simulation module is used for setting simulation step length to carry out rapid network simulation, carrying out synchronous simulation with a real-time simulator in the subnet at the host side and outputting network voltage of the subnet at the slave side;
and the slave time synchronization module is used for receiving the data sent by the master control machine, carrying out clock calibration and sending the data to the master control machine.
6. The system of claim 5, wherein the slave synchronization simulation module comprises:
the step length setting submodule is used for setting the simulation step length of the slave side subnet to be delta t;
the prediction interpolation submodule is used for calculating to obtain an output quantity prediction value of the master side subnet in each step length of the slave side subnet by adopting an iterative interpolation method and a Lagrange interpolation method based on the received simulation data;
the Jacobian matrix calculation submodule is used for calculating the correction quantity of the slave side subnet by combining a Jacobian matrix based on a power distribution system network equation function, current, voltage, integral step length and the output quantity predicted value of the master side subnet in each step length of the slave side subnet in one step length;
the network voltage calculation submodule is used for carrying out iterative solution on the correction quantity of the slave machine side sub-network to obtain the correction state quantity of the slave machine side sub-network and the network voltage of the slave machine side sub-network;
the convergence judgment submodule is used for judging whether the network voltage is converged or not, outputting the network voltage as a slave side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta t is reduced;
and the step length judgment submodule is used for judging whether the simulation step length delta T of the master side subnet is equal to k times of the simulation step length delta T of the slave side subnet, if the delta T = k delta T, a slave side simulation result is generated, and if the delta T = k +1, the result is returned to the predictive interpolation submodule.
7. The system of claim 6, wherein the predictive interpolation sub-module is configured to:
based on the received simulation data of the host side subnet at the T-delta T moment and the T moment, calculating by adopting an iterative interpolation method to obtain an output quantity predicted value of the host side subnet at the T + delta T moment;
and calculating the output quantity predicted value of the host side subnet in each step of the slave side subnet by adopting a Lagrange interpolation method based on the output quantity predicted value of the host side subnet at the T + delta T moment.
8. The system of claim 6, wherein the Jacobian matrix computation submodule is configured to:
initializing simulation parameters of a slave side subnet at a moment t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system and the output quantity predicted value of the master machine side sub-network in each step length of the slave machine side sub-network, and obtaining a state variable residual error of the slave machine side sub-network;
and calculating the correction quantity of the slave side subnet based on the state variable residual of the slave side subnet and the Jacobian matrix.
9. A method for synchronizing interconnection of multiple real-time simulators of an active power distribution network is characterized by comprising the following steps:
performing simulation of a slow network based on a simulation task of the host side subnet, and outputting a network voltage of the host side subnet;
and in the simulation process, the master control machine is used as a master control machine to carry out time synchronization and data interaction with each real-time simulation machine in the slave machine side subnet.
10. The method of claim 9, wherein the performing the slow network simulation based on the host-side subnet simulation task and outputting the network voltage of the host-side subnet comprises:
setting the simulation step length of the host side subnet as delta T;
calculating the correction quantity of the host side sub-network based on a distribution system network equation function, current, voltage and integral step length in one step length by combining a Jacobian matrix;
iteratively solving the correction quantity of the host side subnet to obtain the correction state quantity of the host side subnet and the network voltage of the host side subnet;
and judging whether the network voltage is converged, outputting the network voltage as a host side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta T is reduced.
11. The method of claim 10, wherein calculating the correction for the host-side subnet based on the distribution system network equation function, the current, the voltage, and the integration step size in combination with the jacobian matrix in one step comprises:
initializing simulation parameters of a host side subnet at a time t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system, and obtaining a state variable residual error of the subnet at the host side;
and calculating the correction quantity of the host side subnet based on the state variable residual of the host side subnet and the Jacobian matrix.
12. The method of claim 9, wherein the performing time synchronization and data interaction with each real-time simulation machine in the slave-side subnet as a master during the simulation process includes:
and the master control machine is regularly calibrated by utilizing Beidou time service, and the calibrated master control machine sends data to each node machine, controls each node machine to calibrate a clock and receives the data sent by each node machine.
13. A method for synchronizing interconnection of multiple real-time simulators of an active power distribution network is characterized by comprising the following steps:
performing simulation and predictive interpolation of the fast network based on the simulation task of the slave side sub-network, and outputting the network voltage of the slave side sub-network;
and in the simulation process, the time synchronization and data interaction are carried out between each node machine and the real-time simulation machine in the host side subnet.
14. The method of claim 13, wherein the performing fast network simulation and predictive interpolation based on the slave-side subnet simulation task outputs the slave-side subnet network voltage, comprising:
setting the simulation step length of the slave side subnet as delta t;
calculating to obtain an output quantity predicted value of the master side subnet in each step of the slave side subnet by adopting an iterative interpolation method and a Lagrange interpolation method based on the received simulation data;
calculating the correction quantity of the slave side sub-network by combining a Jacobian matrix based on a power distribution system network equation function, current, voltage, integral step length and the output quantity predicted value of the master side sub-network in each step length of the slave side sub-network in one step length;
iteratively solving the correction quantity of the slave side subnet to obtain the correction state quantity of the slave side subnet and the network voltage of the slave side subnet;
judging whether the network voltage is converged, outputting the network voltage as a slave side simulation result when the network voltage is converged, and otherwise, continuing to calculate until the network voltage is converged after the simulation step length delta t is reduced;
and judging whether the simulation step size delta T of the master side subnet is equal to k times of the simulation step size delta T of the slave side subnet, if the simulation step size delta T = k delta T, generating a slave side simulation result, and if the simulation step size delta T = k +1, returning to the prediction interpolation submodule.
15. The method of claim 14, wherein the calculating the predicted output value of the master subnet in each step of the slave subnet by iterative interpolation and lagrangian interpolation based on the received simulation data comprises:
based on the received simulation data of the host side subnet at the T-delta T moment and the T moment, calculating by adopting an iterative interpolation method to obtain an output quantity predicted value of the host side subnet at the T + delta T moment;
and calculating the output quantity predicted value of the host side subnet in each step of the slave side subnet by adopting a Lagrange interpolation method based on the output quantity predicted value of the host side subnet at the T + delta T moment.
16. The method of claim 14, wherein the step size is calculated by combining a jacobian matrix to obtain a correction amount of the slave-side subnet based on the network equation function of the power distribution system, the current, the voltage, the integration step size and the predicted output value of the master-side subnet in each step size of the slave-side subnet, including;
initializing simulation parameters of a slave side subnet at a moment t;
calculating to obtain a Jacobian matrix based on the obtained network equation function, current, voltage and integral step length of the power distribution system and the output quantity predicted value of the master machine side sub-network in each step length of the slave machine side sub-network, and obtaining a state variable residual error of the slave machine side sub-network;
and calculating the correction quantity of the slave side subnet based on the state variable residual of the slave side subnet and the Jacobian matrix.
17. The method of claim 13, wherein performing time synchronization and data interaction with a real-time emulator in the host-side subnet as each node machine during the emulation process comprises:
and receiving data sent by the master control machine, performing clock calibration, and sending data to the master control machine.
18. A method for synchronizing interconnection of multiple real-time simulators of an active power distribution network is characterized by comprising the following steps:
the simulation management workstation divides all real-time simulators into a master side subnet or a slave side subnet by using a node splitting method according to the active power distribution network topology structure;
and under the condition that the time scales are consistent, adding the network voltage acquired from the host side sub-network and the network voltage acquired from the slave side sub-network to obtain the network voltage of the active power distribution network.
19. A computer-readable storage medium, having stored thereon a computer program which, when executed, implements the functions provided by an active distribution network multi-real-time simulator interconnection synchronization system according to any one of claims 1 to 8 or an active distribution network multi-real-time simulator interconnection synchronization method according to any one of claims 9 to 18.
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